Research On Path Planning Of Oil And Gas Field Inspection Robot Based On SLAM

With the progress and development of computer technology and intelligent technology,a new group of "workers"-industrial robots have emerged in all walks of life in the industrial field.For example,in the process of intelligent construction of oil and gas fields,inspection robots can adapt to various external harsh working environments and realize effective operation according to procedures and instructions,which has greatly improved the work efficiency compared with manual inspection,the robot autonomous navigation technology is the top priority of the inspection robot system,so how to plan an optimal navigation path for the inspection robot more accurately and faster has become the focus of current research.Nowadays,the main navigation modes of inspection robot are magnetic stripe navigation and electromagnetic navigation,which guide the robot to move by laying magnetic stripes or wires on the ground.Although this navigation mode can effectively enable the robot to complete the inspection task,it has the disadvantages of difficult path change,high maintenance cost and inflexible inspection path.At present,SLAM technology is widely used in the field of oil and gas field patrol inspection,which enables the robot to carry out the autonomous path planning of oil and gas field patrol inspection.The main contents are as follows:(1)Aiming at the defects of visual SLAM.In this paper,the data fusion method based on RGB-D camera and laser sensor makes up for the lack of point cloud and inaccurate depth measurement of RGB-D camera in strong light environment,so as to make the map constructed by robot more complete and accurate;(2)Aiming at the low efficiency of the traditional global path planning A*algorithm.Compared with the traditional A*algorithm,the JPS path planning algorithm used in this paper effectively improves the efficiency of path planning,so that when the task point changes,the robot can reach the task point faster and complete the corresponding task;(3)Taking sugri gas gathering station as the object,the simulation of SLAM autonomous inspection of inspection robot is completed through gazebo virtual simulation platform.After understanding the environment of the gas gathering station in Sulige gas field,the environmental model of the gas gathering station is built on blender software platform(then imported into gazebo physical simulation platform),and the patrol robot model is built in ROS system;Then,the missing point cloud and inaccurate depth detection of RGB-D camera are compensated and corrected by laser data,and the 3D map construction of gas gathering station simulation environment is realized by RTAB-MAP SLAM technology;Finally,the inspection process of oil and gas field inspection robot autonomous path planning is simulated on the constructed 2D cost map,which verifies the feasibility of oil and gas field inspection robot autonomous path planning based on SLAM.