摘要
目前我国缺乏口岸致灾因子智能查验装备,高度依赖人工作业,影响样品检验效果,对检验人员的生命安全造成威胁。基于颗粒介质地面力学模型,设计了一款新型螺旋轮式移动机器人,通过实验验证其动力学模型的准确性,在松散环境中具备较好的越障性能。使用机器人操作系统(Robot Operating System 2,ROS2)作为控制平台,搭载多种传感器实现建图、定位、导航及远程可视化等功能。实验表明,设计的移动机器人可以有效实现在松散环境中的复杂运动,为搭载采样、杂质检测等功能性平台的开发提供可行性。
At present,China lacks intelligent inspection equipment for disaster-causing factors at ports,and highly relies on manual operations,which affects the efficiency of sample inspection and safety of the inspectors.Based on the ground mechanics model of the granular environments,a novel spiral-wheeled mobile robot is designed.The accuracy of its dynamic model is verified through experiments,and it has better obstacle crossing performance in granular environments.Robot Operating System 2(ROS2)is proposed as the control platform,equipped with a variety of sensors to realize the mapping,positioning,navigation algorithm and remote visualization.The experiments show that the mobile robot can effectively realize complex movements in granular environments,and provide feasibility for carrying functional platforms such as sampling and impurity detection.
作者
朱俊达
黄磊
袁玉峰
刘海军
殷跃红
ZHU Junda;HUANG Lei;YUAN Yufeng;LIU Haijun;YIN Yuehong(School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai,200240,China;Guangzhou Customs Technology Center,Guangzhou 510623,China)
出处
《机械设计与研究》
CSCD
北大核心
2022年第3期45-51,共7页
Machine Design And Research
基金
国家重点研发计划项目(2019YFC0810900)。
