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Navigation method of electric power inspection robot

A technology of electric power inspection and navigation method, applied in the field of navigation, to achieve the effect of improving obstacle avoidance ability

Active Publication Date: 2014-08-27
STATE GRID CORP OF CHINA +2
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0004] However, for inspection robots, various obstacles are bound to be encountered during the inspection process. How to effectively avoid these obstacles, there is currently no practical navigation method

Method used

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  • Navigation method of electric power inspection robot
  • Navigation method of electric power inspection robot
  • Navigation method of electric power inspection robot

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Experimental program
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Embodiment Construction

[0032] Such as figure 1 As shown, the navigation method of the power inspection robot of the present invention comprises the following steps:

[0033] Step 1. Establish a fuzzy controller for the motion of the power inspection robot, and determine the input variables and output variables of the fuzzy controller. The specific steps are:

[0034] (1-1) Divide the 180-degree range in front of the power inspection robot into three parts: the front, the left front, and the right front, and measure the obstacle information in the three directions through the sensor, that is, the front obstacle information F, The left front obstacle information L and the right front obstacle information R, in actual collection, the distance sensor can be used to collect the obstacle distance in front, the obstacle distance in front left and the obstacle distance in front right, and the obstacle distance in front , The distance of the obstacle in front of the left and the distance of the obstacle in ...

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Abstract

The invention provides a navigation method of an electric power inspection robot. The navigation method comprises the steps that a fuzzy controller for movement of the electric power inspection robot is established, and the input variable and the output variable of the fuzzy controller are determined; a fuzzy set of the input variable and the output variable is set, and a fuzzy set of the acceptance level of the output variable is set; a qualitative reasoning principle is determined according to a fuzzy control theory, and a fuzzy control rule is established according to the input variable and the output variable of the fuzzy controller; the subordinating degree function of the input variable and the output variable is established; voting is conducted according to a subordinating degree function maximum principle, corresponding action is conducted on the electric power inspection robot, and navigation to the electric power inspection robot is achieved. A practicable navigation method can be provided for the electric power inspection robot, and the obstacle avoidance rate of the electric power inspection robot can be improved.

Description

technical field [0001] The invention relates to a navigation method, in particular to a navigation method for a power inspection robot. Background technique [0002] Navigation is an indispensable and important part of the autonomous intelligence of mobile robots. It requires the robot to independently determine the path according to the given instructions and environmental information, avoid obstacles, and achieve mission goals. Navigation is the safety guarantee for mobile robots to complete tasks, and it is also an important symbol of the intelligence of mobile robots. Especially when the accuracy of the robot hardware system cannot be solved in a short period of time, the research on navigation algorithms is even more important. It will fundamentally change the navigation performance of mobile robots, improve the intelligence level of mobile robots, reduce the uncertain state of mobile robots in the process of moving, improve the speed and activity of mobile robots, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 韦磊王春宁于阳张雳钱纪
Owner STATE GRID CORP OF CHINA
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