Design And Research Of Quadruped Robot Inspection System

In the current era,artificial intelligence is developing rapidly.Especially in the industrial field,more and more robots have replaced the original manpower,performing many simple but repetitive tasks,such as welding,drilling,patrolling,etc.Therefore,firstly this article develops a fully automatic robot platform with inspection function based on the quadruped robot.This platform uses the quadruped robot as the driving chassis to realize the function of walking stably on rugged roads,and then adopts a reasonable communication protocol.The remote-control signal of the robot is simulated,and the remote control of the program is realized.Aiming at the complex automatic cruise function,an automatic cruise system under the Linux platform is designed,and the face recognition detection function is added.The main research contents are as follows:(1)Using the quadruped robot torso as the fixed coordinate system,the kinematics analysis of the quadruped robot platform is carried out,and the forward and inverse kinematics formulas of the robot legs are obtained.Use the fusion Dijkstra and trajectory smoothing algorithm to calculate a reasonable foot point,and finally get the best path between the start point and the end point.(2)In order to realize the alarm function during the inspection process of the robot platform,the robot platform is equipped with a Hikvision network camera to collect the facial images that appear during the cruise.This paper uses the Tensorflow framework to train a face recognition model,intercepts the video stream of the webcam through the RTSP function,and completes face recognition and detection in real time.The final experiment shows that the detection system can accurately identify people who do not exist in the database.Face and sound the alarm.(3)For the entire cruise system framework,select the required sensors and hardware,and determine to use the Raspberry Pi 4B as the second host computer in the system.The position and heading angle of the robot platform are confirmed by the UWB global positioning system and the WIT heading angle measuring instrument,and the ultrasonic measuring instrument is used to realize the obstacle avoidance function during cruise.While building the quadruped robot experimental platform,it also worked out an experimental plan to verify the stability of the quadruped robot platform.(4)After setting up the cruise platform,perform experiments on the programmed control system,mainly testing the accuracy of the straight,rotating,and steering trajectories in the remote control mode,and the multi-point cruise function,the diffuse cruise function and the trajectory tracking function in the autonomous cruise state.test.The experimental results show that the robot platform has good structural stability in simple straight,rotating and turning tests;the multi-point cruise,diffuse cruise and trajectory tracking experiments verify the feasibility of the cruise system in the host computer.