Method and device for programming track of tour inspection robot

An inspection robot and trajectory planning technology, applied in two-dimensional position/channel control and other directions, can solve problems such as easy deviation from the running trajectory, unstable robot operation, and excessive robot adjustment.

Inactive Publication Date: 2015-09-09
SHANDONG JIANZHU UNIV
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AI Technical Summary

Problems solved by technology

However, at present, when the inspection robot is in the inspection operation, it is easy to slip or other reasons to cause deviation from the running track; when turning, it is also easy to deviate from the running track, resulting in a large running e

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  • Method and device for programming track of tour inspection robot
  • Method and device for programming track of tour inspection robot
  • Method and device for programming track of tour inspection robot

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Embodiment Construction

[0058] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0059]On the one hand, a method for trajectory planning of an inspection robot is provided, such as figure 1 shown, including:

[0060] Step 1: Obtain the position error E of the traveling track and the magnetic track of the inspection robot and the rate of change EC of the position error, as the fuzzy input;

[0061] During the driving process, the inspection robot continuously monitors the deviation between its own running track and the magnetic track, and determines the adjustment angle according to the size of the deviation and the speed of the deviation change, combined with the subsequent steps.

[0062] Step 2: providing the fuzzy input to the preset fuzzy controller;

[0063] Step 3: the fuzzy controller obtains the fuzzy ou...

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Abstract

The invention discloses a method and device for programming the track of a tour inspection robot, and belongs to the technical field of robot motion control. The method comprises the steps that 1) the position error E between a driving track and a magnetic track of the tour inspection robot and the change rate EC of the position error are obtained; 2) a fuzzy input is provided for a fuzzy controller which is set in advance; 3) the fuzzy controller obtains a fuzzy output U according to the preset fuzzy interference rule and program; 4) voting is carried out via the preselected membership function of the fuzzy output and the gravity center of the area enclosed by abscissa, and a clear output is obtained; and 5) the obtained clear output is converted into a practical output in a linear scale transformation method, and the practical output is transmitted to a driving motor of the tour inspection robot to adjust the rotation angle of the robot. Compared with the prior art, the method and device have the advantages that adjustment is appropriate and swinging tends not to occur in the operation process of the robot.

Description

technical field [0001] The invention relates to the technical field of robot motion control, in particular to a method and device for trajectory planning of an inspection robot. Background technique [0002] With the country's vigorous promotion of intelligent substation technology, inspection robots replace manual work to complete urgent, difficult, dangerous, heavy and repetitive tasks encountered in substation inspections, and carry out all-weather, all-round and fully self-service intelligent tasks for substations. Inspection and monitoring improve the safety of substations. The carrier of the inspection robot adopts a wheeled mobile trolley mechanism, which are 2 front driving wheels, respectively controlled by driving motors, and 2 rear universal wheels. This structure is simple, and it is easy to control the movement and direction of the inspection robot. With one of the driving wheels as the center, small radius turns are realized on the spot, the movement of the in...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 鲁守银刘存根张营李婧瑜高焕兵隋首钢
Owner SHANDONG JIANZHU UNIV
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