摘要
采用当前方法设计医院巡视机器人时,不能精准的确定巡视机器人的医院环境中的位置,规划的巡视路径不合理,存在定位精度低、图像传输速度低、路径规划效果差等问题。为此,提出互联网环境下医院巡视机器人设计方法。采用激光传感器对视机器人的里程计算,并对医院走廊墙壁进行直线拟合处理,获取墙壁和机器人之间的夹角;根据获取的夹角对里程计角度信息进行修正,获得机器人坐标,完成巡视机器人的定位;在互联网环境中采用Dijkstra快速算法进行首次寻迹,再利用蚁群算法进行精确寻迹,获得巡视机器人巡视的最短路径,完成巡视机器人的设计。为验证所提算法的性能,设计对比实验。实验结果表明,所提方法的定位精度高,图像传输速度快,路径规划效果好。
When designing a hospital patrol robot using the current method,the position of the patrol robot in the hospital environment cannot be accurately determined.The planned patrol path is unreasonable,and there are problems such as low positioning accuracy,low image transmission speed,and poor path planning.To this end,the design method of hospital patrol robot under the Internet environment is proposed.The laser sensor is used to calculate the mileage of the robot,and the wall of the hospital corridor is straight-fitted to obtain the angle between the wall and the robot.Correct the odometer angle information according to the obtained angle,obtain the robot coordinates,and complete the positioning of the patrol robot.In the Internet environment,the Dijkstra fast algorithm is used for the first tracing,and then the ant colony algorithm is used for precise tracing.The shortest path of the patrol robot patrol is obtained,and the design of the patrol robot is completed.To verify the performance of the proposed algorithm,design a comparative experiment.The experimental results show that the proposed method has high positioning accuracy,fast image transmission speed and good path planning effect.
作者
程炜
Chen Wei(Hospital of Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《科技通报》
2020年第11期45-48,88,共5页
Bulletin of Science and Technology
基金
南京航空航天大学2019年度青年科技创新基金(人文社科类):高校多校区校医院资源配置与运行管理的研究(编号:NR2019036)
关键词
互联网
医院巡视机器人
路径规划
the Internet
Hospital inspection robot
route plan
