基于ROS的巡检机器人系统设计与研究  

Design and Research of Inspection Robot System Based on ROS

作　　者：宫志强 徐世许[1] 王鹏程 GONG Zhi-qiang;XU Shi-xu;WANG Peng-cheng(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,青岛266071

出　　处：《自动化与仪表》2022年第4期51-54,80,共5页Automation & Instrumentation

摘　　要：为保障工厂地下管廊输电线路的安全,该文研究并设计了一款基于ROS的巡检机器人。巡检机器人利用激光雷达获取周围环境信息,采用改进的RBPF-SLAM算法构建环境地图并存储到工控机中。使用Q-Learning路径规划算法原理,使机器人能在环境地图中自主规划巡检路径。巡检时,机器人调用环境地图,根据相关信息,规划出最优运行路径,执行巡检任务。巡检时,红外摄像机实时获取线路温度并上传到上位计算机中。经实验验证,ROS巡检机器人方案有效可行。In order to ensure the safety of transmission lines in the underground pipe gallery of the factory,an inspection robot based on ROS is studied and designed. The inspection robot uses Lidar to obtain the surrounding environment information,and uses the improved RBPF-SLAM algorithm to construct the environment map and store it in the industrial computer. Using the principle of Q-Learning path planning algorithm,the robot can independently plan the inspection path in the environmental map. During patrol inspection,the robot calls the environment map,plans the optimal operation path according to the relevant information,and executes the patrol inspection task. During patrol inspection,the infrared camera obtains the line temperature in real-time and uploads it to the upper computer. The effectiveness of ROS inspection robot scheme is verified by experiments.

关 键 词：巡检机器人 RBPF-SLAM 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]