危化品仓库安全巡检机器人系统设计与实验研究
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TP391

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国家自然科学基金(61806175);扬州大学2020年校"青蓝工程"资助项目;中国高等教育学会高等教育科学研究"十三五"规划课题2019年度实验室管理专项课题(2019SYSYB06);全国高校实验室工作研究会农业高校分会2019年研究课题(NYSY1901)


Design of a patrol robot system for safety inspection in hazardous chemical warehouse
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    摘要:

    为丰富高校危化品仓库的安全检查手段与提升应急响应能力,设计与实现了一种巡检机器人系统.首先在差速驱动的四轮移动底盘上集成里程计、单线激光雷达、带云台的彩色夜视与热成像相机、环境监测传感器套件等,构建巡检机器人移动平台.其次,融合里程计与激光雷达数据实现机器人同时定位与建图、巡检路径自定义与跟随.在巡检点处,利用图像关联分析对预定义的待观测物品进行定位及热成像测温.在巡检过程中,利用热成像相机与环境监测传感器实时感知环境参数并形成热力图轨迹,同时基于先验知识检测热图像中出现的入侵者.基于机器人操作系统集成相关算法及使用NodeJS开发远程人机交互Web系统.在真实环境下开展了有光照条件和无光照条件下的自主巡检实验,实验结果证实本文方法与系统可以满足高校危化品仓库安全巡检要求.

    Abstract:

    A patrol robot system is designed and implemented in order to enrich the means of safety inspection and improve the ability of emergency response in hazardous chemical warehouses in university.To build the patrol robot platform,multiple sensors including odometry,single line scan laser rangefinder,night vision color and thermal imaging cameras with pan-tilt unit,and environmental sensor suite are integrated and boarded on a differentially driven four-wheel mobile chassis.Data collected from odometry and laser rangefinder are merged and employed to realize Simultaneous Localization and Mapping (SLAM),patrol path definition as well as path following.At any patrol position,the pre-defined objects are located by image correlation analysis and their temperatures are measured by thermal imaging.In the patrol process,the thermal imaging camera and the environmental sensors are used to measure environmental parameters in real-time thus generate heat trajectories.Intruders which appear in the thermal images are detected based on prior knowledge.All the related algorithms are implemented into the robot operating system,while the web system for remote human-robot interaction is developed using NodeJS.The experiments of autonomous patrol are performed in environments with and without illumination.Experimental results demonstrate that the proposed patrol robot system can meet the demand of safety inspection in hazardous chemical warehouse in university.

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包加桐,丁豪,王国田,唐鸿儒,宋爱国.危化品仓库安全巡检机器人系统设计与实验研究[J].南京信息工程大学学报,2021,13(3):311~319

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  • 收稿日期:2021-02-27
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  • 在线发布日期: 2021-06-25
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