Design And Implementation Of Patrol Robot System Based On Position And Pose Correction

Robotic technology to get fast development in recent years,ranging from space exploration to household cleaning,robots have been widely used in many fields.The power system-based manufacturing industry mostly needs to carry out daily inspection and maintenance of instruments and equipment.For the problems of traditional manual inspection methods such as huge workload,high error rate,poor timeliness and low information level,the industry began to introduce inspection robots to assist or replace staff to complete daily inspection work.Especially with the outbreak of novel coronavirus,all industries and people’s life are in urgent need of unmanned technology,which makes the inspection robot has a broad application prospect.This paper analyzes the actual demand of manual inspection,designs and implements a set of indoor inspection robot system according to the process of manual inspection.Based on the ROS robot research and development platform,the system uses lidar radar sensor as the main environment sensing device and uses laser SLAM technology to achieve the functions of environment map construction,indoor positioning,autonomous navigation,etc.The positioning results are used to save as the information of the cruise station,so that the robot can navigate to the designated station in order to complete the patrol work.Aiming at the pose deviation of the patrol robot after navigation,the system adopts a kind of posture correction based on laser radar and calibration methods.The feature points of the calibration objects were extracted from the intensity data of lidar radar to determine the size and direction of the pose deviation,and through the control of the robot movement to effectively eliminate the deviation.In addition,the system also designed an Android APP based on intelligent terminal.The APP interacts with the inspection robot through the wireless network,has the function of visualization data and issuing control instructions,it realizes the remote control of the inspection robot,as well as the display of environmental map and motion state.The inspection robot system designed in this paper meets the needs of general inspection work and can effectively replace the traditional manual inspection.The realization of pose correction function improves the pose accuracy after the robot arrives at the station,and improves the inspection quality of the patrol work.In addition,the robot can be used in different working environments by changing the inspection equipment.Therefore,the inspection robot has a certain degree of autonomy,reliability and expansibility.It can guarantee the life safety of inspection personnel in high-risk environment,prevent the hidden danger caused by the abnormal working state of the equipment,save the cost of production and manufacturing,and provide applicable solutions for the intelligent development of various industries.