智能消毒机器人移动平台导航系统研究  

Research on Navigation System of Mobile Platform Related to an Intelligent Disinfection Robot

作　　者：王伟[1] 王勇[1] 张晔[1] 项贺 WANG Wei;WANG Yong;ZHANG Ye;XIANG He(School of Mechanical Engineering,Hefei University of Technology,Anhui Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机械设计与制造》2024年第11期346-350,357,共6页Machinery Design & Manufacture

基　　金：安徽省科技重大专项资助项目(JZ2021AKKZ0042);安徽高校协同创新资助项目(GXXT-2019-031)。

摘　　要：新冠疫情肆虐全球,环境消毒是阻断病毒传播的首要技术手段,智能消毒机器人的研究具有重要现实意义。设计并搭建了集环境感知和导航于一体的消毒机器人移动平台,对主流的激光SLAM(同步定位与地图创建)算法进行了研究和实现;采用轮式里程计和IMU数据相融合的方法提高了移动平台定位的准确性;为实现移动平台对周围环境的感知和识别功能,提出了一种基于视觉的目标距离监测方法,提高了移动平台在实际工作中的智能化和可靠性。基于所建立的地图进行了移动平台的避障和导航实验,结果表明移动平台能有效、可靠地完成自主导航,满足消毒机器人的移动需求。As theCOVID-19 epidemic ravages the world,environmental disinfection is th primary technical means to interrupt the spread of the virus.Therefore,research on intelligent disinfection robots has important practical significance.A mobile platform of disinfection robot with integrated environmental perception and navigation was designed and built.The mainstream algorithms of laser SLAM were studied and implemented.The data fusion method of wheel odometry and IMU was used to improve the accuracy of mobile platform positioning.A vision-based target distance monitoring method was proposed in order to realize the perception and recognition function of the mobile platform to the surrounding environment.The method improved the intelligence and reliability of the mobile platform in practice.Experiments on obstacle avoidance and navigation of the mobile platform were conducted based on the created map.The results show that the mobile platform can effectively and reliably complete autonomous navigation and meet the mobile requirements of the disinfection robot.

关 键 词：移动平台 深度学习 同步定位与地图创建 环境感知 自主导航 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]