危险化学品仓库智能巡检机器人的设计  

Design of intelligent inspection robot for dangerous chemicals warehouse

作　　者：王丽[1] 孟玉莹 关文玲[1] 张嘉琪[1] 刘云 WANG Li;MENG Yuying;GUAN Wenling;ZHANG Jiaqi;LIU Yun(School of Environmental Science and Safety Engineering,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学环境科学与安全工程学院,天津300384

出　　处：《天津理工大学学报》2024年第6期1-7,共7页Journal of Tianjin University of Technology

基　　金：天津理工大学教材建设基金(JC23-21)。

摘　　要：为提高危险化学品仓库巡检盘点工作模式的安全性和有效性,基于物联网技术研制了一款可以对危险化学品仓库进行24小时智能巡检的机器人。该机器人主要由驱动系统、控制系统、扫描系统以及循迹系统等组成,循迹模式设计有光敏循迹和视频循迹两种。巡检机器人与上位机通过ZigBee进行通讯,用LabVIEW编写上位机控制程序,上位机可随时通过人机交互界面控制巡检机器人,实现自动循迹巡检功能。机器人在巡检过程中通过扫描危险化学品外部的二维码,并将危险化学品的信息通过ZigBee技术反馈至上位机,生成盘点结果表格,能够随时为仓库安全管理提供准确的危化品种类、数量及存储位置等信息,一旦发生事故,可为制定针对性的应急措施提供有效数据支撑。对巡检机器人的巡检速度及准确性等进行测试,结果表明该智能巡检机器人视频循迹模式下沿预设轨道行进的准确率更高,在步进电机脉冲数为25k时,设置视频循迹模式的正向角度放大比例系数为0.71,反向角度放大比例系数为1.42,能保证机器人自动巡检的稳定性、安全性和准确性。该智能巡检机器人的应用可以改变传统的以人为主的危险化学品仓库巡检盘点模式,加大仓库管理的安全性和有效性,提升危险化学品仓库安全管理的智能化信息化水平。In order to improve the safety and effectiveness of the work mode of inspection and inventory of hazardous chemicals warehouse,a robot that can conduct 24-hour intelligent inspection of hazardous chemicals warehouse is developed based on the Internet of Things technology.This robot is mainly composed of a drive system,a control system,a scanning system and a tracking system.The tracking mode is designed to be light sensitive tracking and video tracking.The patrol robot communicates with the upper computer through ZigBee,and the upper computer control program is compiled by LabVIEW.The upper computer can control the patrol robot at any time through the human-computer interface to realize the automatic tracking patrol function.In the process of patrol inspection,the robot scans the two-dimensional code outside the dangerous chemicals,feeds back the information of dangerous chemicals to the upper computer through ZigBee technology,generates the inventory result form,and can provide accurate information such as the type,quantity and storage location of dangerous chemicals for the warehouse safety management at any time.In case of an accident,it can provide effective data support for formulating targeted emergency measures.By testing the patrol speed and accuracy of the patrol robot,the results show that the intelligent patrol robot has a higher accuracy rate of moving along the preset track under the video tracking mode.When the number of pulses of the stepping motor is 25 k,the positive angle magnification factor of the video tracking mode is 0.71 and the reverse angle magnification factor is 1.42,which can ensure the stability,safety and accuracy of the robot′s automatic patrol.The application of the intelligent inspection robot can change the traditional human based inspection and inventory mode of hazardous chemicals warehouse,increase the safety and effectiveness of warehouse management,and improve the intelligent information level of hazardous chemicals warehouse safety management.

关 键 词：智能巡检机器人 仓库管理 LABVIEW ZigBee通讯技术 危化品仓库 

分 类 号：TB47[一般工业技术—工业设计]