Research on inspection of machine room by mobile robot

Abstract

The machine room inspection robot, as a special robot, can locate and navigate in the machine room independently, and carry sensors to detect equipment faults and record instrument data instead of the machine room staff. In this paper, the relevant standards and existing inspection robots at home and abroad were investigated and the overall scheme was determined based on the actual machine room environment. The monitoring background employs B/S architecture, allowing staff to deliver inspection tasks and manage robots from any computer. The motion map is created using the GMapping algorithm, and the topology map for inspection is created based on the inspection task and feasible path. For raster map localization, the adaptive Monte Carlo localization algorithm is used. The functional layer software for the robot is designed based on the inspection function to be performed by the robot and the man-machine interaction with the monitoring background. The findings of this paper's research indicate that the inspection robot system can meet the requirements of computer room autonomous inspection.