Design of Intelligent Early Warning Robot System for Warehouse Autonomous Patrol based on Scale Estimation Algorithm of Probability Theory

摘要

Abstract In view of the backward monitoring status in the traditional safety management of hazardous chemicals warehouse, a patrol robot for hazardous chemicals warehouse with autonomous patrol stereo detection, intelligent early warning and remote monitoring functions is designed, and the design process of related functions of autonomous patrol navigation subsystem, environmental detection subsystem and remote monitoring subsystem is discussed from two aspects of hardware and software. Because both the camera and the target may be in motion, it is necessary to consider the scale change of target influence caused by relative distance. In order to overcome the shortcoming of invariable scale in Mean Shift algorithm, this paper adopts a scale adaptive method to estimate the size of the target, adjusts the parameters of kernel function by using ellipse feature, and takes the parameters of the current frame as the initial data of the next frame, so as to achieve the effect of adaptively adjusting the target scale. The test results show that the system can effectively traverse the map of hazardous chemicals warehouse, accurately assess the leakage of hazardous chemicals and the environmental safety of warehouse, and give early warning. The remote monitoring platform greatly facilitates the remote management of the warehouse.