Research On Autonomous Navigation Robot For Instrument Position Finding

With the development of industrial automation and intelligent technology,robot technology is more and more widely used in industry.In the past,the industrial field indicator mainly used manual reading to obtain information.In recent years,it has gradually developed into the instrument reading method using machine vision,which improves the work efficiency.However,for the occasions where the number and types of instruments are more,such as chemical plant and refinery workshop,the previous reading method can not meet the demand.Therefore,this paper studies and designs an autonomous navigation robot with camera to cruise the instrument.This paper analyzes the environment map model,mobile robot motion model and sensor measurement mode.According to the function of the instrument position autonomous navigation robot,the distributed structure of "ROS host+ROS slave+robot base" is adopted.The overall system of robot is designed,which is composed of USB camera,mechanical screw structure;IMU,wireless communication module and other hardware.The algorithm of building indoor environment grid map is studied,the principle of particle filter algorithm is studied and simulated by MATLAB,and the Adaptive Monte Carlo positioning method based on the principle of particle filter is adopted.The principle of traditional rbpf-slam algorithm based on particle filter is studied.In order to solve the problem of reducing the diversity of particles caused by frequent resampling in traditional algorithm,the rbpf-slam algorithm is improved by combining the nearest observation model of sensor with the motion model as the recommended distribution,and using the adaptive resampling method to reduce the dissipation of particles.The feasibility of the algorithm is verified by the mapping experiments in different gazebo simulation environment.The path planning algorithm of mobile robot is studied.Based on A*global path planning method,DWA local path planning method and target point publishing algorithm,The navigation algorithm of instrument location is designed.The effectiveness of the multi-target point cruise algorithm is verified by the experiment of instrument target point navigation and dynamic obstacle avoidance in the gazebo simulation environment.The auxiliary positioning module of instrument panel is designed,and the information of instrument height at target point is obtained by two-dimensional code positioning and decoding algorithm.Using the mechanical screw structure,wireless transmission module and driving circuit,a scheme of dynamically adjusting the height of the robot camera is designed,so that it can aim at different height of the instrument panel.Finally,the robot system is built,and the ROS system environment is configured.In the actual environment,the experimental verification of the mapping algorithm,the instrument position cruise algorithm and the instrument panel auxiliary positioning module is completed.