环境监测及清洁路径规划机器人控制系统研究  

Research on Robot Control System for Environmental Monitoring and Clean Path Planning

作　　者：谢檬[1,2,3] 赵尤浩 徐轩 陈袁锋 袁东 贾谦[2,4] XIE Meng;ZHAO Youhao;XU Xuan;CHEN Yuanfeng;YUAN Dong;JIA Qian(Department of Electrical and Information Engineering,Xian Jiaotong University City College,Xian Shaanxi 710018,China;Shaanxi Provincial University Engineering Research Center of Robot and Intelligent Manufacturing,Xian Jiaotong University City College,Xian Shaanxi 710018,China;Shaanxi Institute of Teacher Development,Xian Shaanxi 710062,China;Department of Mechanical Engineering,Xian Jiaotong University City College,Xian Shaanxi 710018,China;Dabancheng Wind Power Co,Ltd,CPI Xinjiang Energy and Chemical Group,Urumqi Xinjiang 830000,China;School of Artificial Intelligence,Wenshan University,Wenshan Yunnan 663099,China)

机构地区：[1]西安交通大学城市学院电气与信息工程系,陕西西安710018 [2]西安交通大学城市学院机器人与智能制造陕西省高校工程研究中心,陕西西安710018 [3]陕西教师发展研究院,陕西西安710062 [4]西安交通大学城市学院机械工程系,陕西西安710018 [5]中电投新疆能源化工集团达坂城风电有限公司,新疆乌鲁木齐830000 [6]文山学院人工智能学院,云南文山663099

出　　处：《传感技术学报》2025年第3期562-570,共9页Chinese Journal of Sensors and Actuators

基　　金：2023年度陕西高等教育教学改革研究项目(23BY193);2024年度陕西省实验教学和教学实验室建设研究项目;陕西省教育科学“十四五”规划2023年度课题项目(SGH23Y2715);2022年度机器人与智能制造陕西省高校工程研究中心基金项目(2022GZ03)。

摘　　要：针对传统室内外仓库环境参数监测范围小、报警准确率低以及人工环境卫生差等缺陷,研究设计基于LabVIEW的环境监测及清洁路径规划机器人控制系统。下位机采用STC89C52单片机作为主控芯片,利用直流电机和按键实现对环境监测机器人手动控制。DTH11传感器采集温湿度数据,同时信号发生器和电位器采集风速和风向数据。上位机采用LabVIEW仿真平台实现环境监测子系统的手动控制、数据显示、温湿度曲线图显示、风速风向监测、风速曲线图显示、数据记录以及清洁路径规划子系统的运行时间、行驶速度、运行轨迹、数据记录存储功能。该系统实现了机器人自主路径巡逻导航、室内外仓库环境监测以及实时远程监控等功能,大大提高了实时环境监测的智能化管理和实时预警,具有传感器扩展性。Targeting at the shortcomings of traditional indoor and outdoor warehouse environment parameter monitoring range such as small monitoring,low alarm accuracy and poor artificial environmental hygiene,LabVIEW based environmental monitoring and cleaning path planning robot control system is designed.The lower computer adopts STC89C52 single-chip microcomputer as the main control chip,and uses DC motors and buttons to realize manual control of environmental monitoring robots.The DTH11 sensor collects tempera-ture and humidity data,while the signal generator and potentiometer collect wind speed and direction data.The upper computer adopts the LabVIEW simulation platform to realize the manual control,data display,temperature and humidity curve display,wind speed and direction monitoring,wind speed curve display,and data recording of the environment monitoring subsystem and the running time,driving speed,running trajectory and data recording and storage functions of the cleaning path planning subsystem.The system realizes the functions of robot autonomous path patrol navigation,indoor and outdoor warehouse environment monitoring and real-time remote mo-nitoring,which greatly improves the intelligent management and real-time early warning of real-time environmental monitoring,and has the advantage of sensor expansibility.

关 键 词：环境监测 多传感器 路径规划 LABVIEW 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]