基于A*算法的油气安全智能巡检机器人设计

Design of Oil and Gas Safety Intelligent Patrol Robot Based on A*Algorithm

石油化工车间风险高且工作人员活动空间狭窄,大型巡检设备无法进入场地;设计开发一款智能巡检机器人代替工作人员对危险环境进行巡检,与原有的固定位置传感器相配合,以降低事故发生率,保证生产安全;该巡检机器人以DSP为核心控制器,利用A*算法规划巡检路径;通过旋转编码器与MPU6050配合智能算法实现自动循迹;搭载各类环境传感器,实时监测车间环境;使用C++Builder设计人机交互界面;利用WiFi模块实现机器人与上位机的数据实时互传;测试结果表明,可以实现对机器人速度和位置的精确控制,并能准确、实时地显示甲烷、一氧化碳等危险气体浓度变化,对危险提前预警,提醒工作人员处理。

The petrochemical workshop has high risks and narrow space for staff activities,and large inspection equipment cannot enter the site.Design and develop an intelligent patrol robot to replace the staff to inspect dangerous environments.It cooperates with the original fixed position sensors to reduce accident rate and improve production safety.The inspection robot takes DSP as the core controller and uses A*algorithm to plan the inspection path.Automatic tracking is realized by rotary encoder and MPU6050 with intelligent algorithm.C++Builder is used to design human-computer interaction interface.The data transmission between the robot and the host computer is realized in real time by using WiFi module.The test results show that precise control of the robot’s speed and position can be achieved,and the changes in the concentration of dangerous gases such as methane and carbon monoxide can be displayed accurately and in real time.It can make early warning of danger and remind staff to deal with it.