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Research on Navigation system of Inspection Robot based on Lidar

The intelligent robot navigation systems can be set up by software to define the standard content of the lidar operating system.

1 Development of the operation of the inspection navigation system

The design of the inspection navigation system is composed of a remote monitoring platform and a robot inspection. Through the construction of the remote monitoring platform, according to the task distribution and data management two methods, the comprehensive management and control of robot and computer data is realized. The wireless network needs to implement effective communication analysis, do a good job of the division of labor and cooperation, and clarify specific inspection tasks. In accordance with the operating standards of the patrol navigation system, perform effective data analysis and improve the general design of the integrated system.

2 Effective design of inspection robot

2.1 Hardware design analysis

The inspection robot needs to be composed of four parts: environment perception module, data module, car body module, and wireless module.

The environmental perception module is based on effective navigation analysis and patrol inspection operations. According to the requirements of the environment perception module, collect and obtain relevant information about the external environment and its own installation speed. The robot is equipped with a two-dimensional lidar. It has passed a 180° full horizontal scanning test and analysis, a ranging range of 80m, and a scanning frequency analysis of 25Hz to achieve the efficient analysis of the internal and external environments. The robot driver needs to be equipped with a reasonable encoder, and in accordance with the effective data feedback requirements, clarify the visible light and infrared light carried by the robot. Through the information analysis of multi-channel images, the fusion of inspection targets is done to improve reliable detection and analysis.

In the processing and analysis of the data module, it is necessary to adopt effective inspection and analysis, establish a global path through the environment map, and clarify the standard of autonomous navigation and positioning. During the robot inspection process, through data processing and analysis, the core functions of the module such as detection, navigation and positioning, and movement control are clarified. By building an effective mechanical module, in accordance with the operating standards of the top-level controller, the application program is developed, and a variety of inspection applications are expanded. Through the core embedded motherboard operation analysis, strengthen the connection design of the external interface, expand the different sensors, and ensure that the top-level control is between efficient and stable interactive data.

The design of the vehicle-mounted module needs to be based on safety and stability, and through effective inspection and test analysis, the effective drive of the vehicle body control module is clarified to ensure the differential judgment of the machine. According to the composition of the driving wheel and the universal driven wheel, the overall complete motion control level of the robot can be effectively improved. Through precise control, the robot is equipped with a reasonable motor-driven differentiated operation to improve the control precision and accuracy. The robot realizes the communication of inspection data and control commands through the wireless communication module and the remote monitoring platform. According to the mobile communication module, the coordination of the environment switching module is strengthened, and the general operation is improved. According to the needs of communication operations, implement effective data monitoring, and strengthen the operation of the navigation system on the data through the inspection and analysis of the lidar, implement the operating standards, ensure the reasonable effectiveness of the navigation system, and deepen the operation effect of the inspection navigation system. Implement accurate inspection and analysis of operational communication technology.

2.2 Software design

During the operation of the inspection robot software, it is necessary to clarify the control layer, application layer, and drive layer. The application layer is adjusted according to the computer inspection operation platform through different application scenarios, mechanical tasks and other modes. The control layer is to establish a complete path according to the map, clearly plan the navigation positioning program standards, clarify the core content of the navigation software system, and improve the autonomous navigation level of the machine. The driving layer is an effective mobile platform control program method, through a reasonable algorithm control core analysis, to achieve the robot's stable movement and safe control.

2.3 Design analysis of inspection navigation

The inspection and navigation software is based on the core analysis of the effective inspection robot system control layer, establishes a global path through the environment map, and clarifies the autonomous navigation and planning positioning standards.

The environment map is a robot that verifies the surrounding environment through effective sensor analysis, makes accurate judgments, and ensures navigation and positioning standards. The inspection robot needs to integrate the information of the lidar and the encoder to construct a complete two-dimensional grid map and implement the necessary navigation status information processing.


3 Experimental analysis of lidar

3.1 Inspection design analysis of navigation test

In accordance with the test and test standards of patrol navigation and positioning, effective patrol analysis is adopted to improve the accuracy and reliability of the navigation system. Determine the standard level of robot positioning, clarify the randomly selected robot inspection route, do accurate optional testing, and determine the rationality of positioning. According to the selected boundary, the reference position is well defined, the key points are judged, and the rationality of the design is determined.

3.2 Analysis of test data

The robot conducts distribution analysis according to the effective boundary position, and determines the boundary positioning point through the quantitative analysis of the navigation accuracy, and clarifies the deviation range. Perform deviation analysis according to actual different boundary points to determine key elements and data. At a speed of 1m/s, it is necessary to judge and determine the error between the accurate inspection robot and the heading deviation. During the operation of the patrol navigation system, it is necessary to clarify the operating standards of the globally optimal path, determine the offline mode, and obtain accurate analysis standards for the development of autonomous path planning strategies for robots. According to the robot's unrestricted inspection method, various obstacles that may appear are detected and analyzed to improve safety and obstacle avoidance. The machine vision and inertial measurement standards are effectively integrated with the robot system to improve the accuracy of the overall positioning.www.isurestar.net