Labyrinth pipeline robot autonomous patrolling algorithm and robot with same

A pipeline robot and robot technology, applied in the direction of instruments, adaptive control, two-dimensional position/channel control, etc., can solve the problems of cumbersome patrol routes and the inability to find the best patrol route

Inactive Publication Date: 2012-09-19
AEROSPACE SCI & IND SHENZHEN GROUP
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0006] The present invention aims to solve the technical problem that the path inspection route formed by the left-hand rule or the right-hand rule of the labyrinth pipeline robot in the prior art is c...

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  • Labyrinth pipeline robot autonomous patrolling algorithm and robot with same
  • Labyrinth pipeline robot autonomous patrolling algorithm and robot with same
  • Labyrinth pipeline robot autonomous patrolling algorithm and robot with same

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Embodiment Construction

[0045] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] Such as figure 1 As shown in the figure, the control strategy adopted in the process of the existing robot patrolling is the left-hand rule or the right-hand method. The route of the robot controlled by this control strategy is not the optimal route. The optimal route shown in the figure should be the thick solid line The route shown, therefore, the present invention provides an autonomous path inspection algorithm for a maze pipeline robot, which can realize the optimization and selection of the optimal path inspection route of a maze pipeline robot.

[0047] A ...

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Abstract

The invention provides labyrinth pipeline robot autonomous patrolling algorithm, which comprises the following steps of step 1, recording an advancing direction of the robot passing by each intersection, recording the left turning of the robot at a corresponding intersection with a letter L, recording the right turning of the robot with a letter R, recording the direct movement of the robot with a letter S, recording the U turn with a letter U, and utilizing the recorded letters to form a first path array according to the traveling sequence of the robot; step 2, substituting the letter combination SUL or the LUS in the first path array with a letter R and substituting the letter combination LUL in the first path array with the letter S when the control strategy is a left-hand rule; and substituting the letter combination SUR or RUS in the first path array with the letter L and substituting the letter combination RUR in the first path array with the letter S when the control strategy is a right-hand rule, and forming a second path array; and step 3, controlling the robot to perform a next patrol in a labyrinth pipeline according to the second path array. Due to the adoption of the algorithm and the robot, the patrolling efficiency of the robot is effectively improved.

Description

technical field [0001] The invention belongs to the field of inspection and monitoring of pipelines, and in particular relates to an autonomous route inspection algorithm of a labyrinth pipeline robot and a robot with the algorithm. Background technique [0002] The pipeline is an important facility to effectively isolate energy and signal lines from the outside world, prevent external force invasion, and ensure safe transmission. With the development of the information society and the increase in energy demand, smart grids have begun to enter people's lives. In addition to wiring and transmission, the transmission path of the smart grid has also been developed underneath. By setting up various power transmission pipelines underground, it can not only realize the transmission of power signals, but also effectively improve the utilization rate of resources. At the same time, placing the power line in the underground pipeline will not cause visual confusion and high risk. Wit...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 肖志勇王庆海
Owner AEROSPACE SCI & IND SHENZHEN GROUP
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