Labyrinth pipeline robot autonomous patrolling algorithm and robot with same

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...

AI Technical Summary

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 cumbersome and cannot find the best inspection path, and provides an autonomous path inspection algorithm for the maze pipeline robot. It can effectively realize the robot's selection of the best patrol path

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