Fuzzy neural network-based intelligent inspection obstacle prevention method of sewage processing plant

Abstract

A fuzzy neural network-based intelligent inspection obstacle prevention method of a sewage processing plant belongs to the technical field of intelligent robots. With regard to the characteristics that an obstacle in the sewage processing plant can move and an inspection environment is complicated and changeable, the intelligent obstacle prevention control method employs environment information acquired by a front ultrasonic sensor, a rear ultrasonic sensor and a collision switch, a surrounding environment of an inspection robot is judged and a decision is made by a fuzzy neural network, intelligent control on obstacle prevention of the inspection robot is achieved, running safety and stability of the inspection robot are improved, and the problems that obstacle prevention cannot be achieved in advance by a traditional robot obstacle prevention method and an obstacle prevention effect is easy to disturb are solved; an experiment result shows that the method has more rapid response capability and has high adaptability on a complicated inspection environment, intelligent obstacle prevention control of the inspection robot is achieved, and the effectiveness and the practicability of obstacle prevention are improved.

Description

technical field [0001] The present invention uses the fuzzy neural network-based intelligent inspection and obstacle avoidance method to realize the intelligent obstacle avoidance control of the inspection robot in the sewage treatment plant. The obstacle avoidance control of the inspection robot is the key technology for completing the inspection task; The obstacle detection and avoidance method is applied in the obstacle avoidance process of the inspection robot to realize the safe and efficient completion of the inspection task; the intelligent inspection and obstacle avoidance method of the sewage treatment plant belongs to the field of intelligent robot technology; Background technique [0002] As the level of urbanization in our country is getting higher and higher, the discharge of urban sewage is increasing year by year. Various large and medium-sized sewage treatment plants are newly built or expanded across the country. is particularly important, but traditional ma...

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Problems solved by technology

[0002] As the level of urbanization in our country is getting higher and higher, the discharge of urban sewage is increasing year by year. Various large and medium-sized sewage treatment plants are newly built or expanded across the country. is particularly important, but traditional manual inspections are difficult to achieve uninterrupted inspections, and larger inspection areas also put forward higher requirements for inspection personnel; therefore, inspection robots are increasingly used in sewage treatment plants In the daily inspection work;

[0003] In the sewage treatment plant, the flow of personnel and vehicles, the movement of equipment and other movable obstacles and the complex inspection environment have always been the difficulties faced by the inspection robot in the inspection process; and the inspection robot that needs to work in an unmanned environment Inspection robots are difficult to be widely used, so inspection robots with obstacle avoidance functions are more practical in the actual working environment; however, traditional inspection robots with obstacle avoidance functions retreat, turn, etc. to avoid obstacles after touching obstacles. Operation, in the current increasingly complex and changeable working environment, it is difficult to be competent for inspection work; therefore, it is the development trend of inspection robot obstacle avoidance control to be able to distinguish obstacle types, autonomously decide obstacle avoidance methods, and quickly and accurately execute obstacle avoidance actions ;Study the intelligent inspection and obstacle avoidance method of the sewage treatment plant, collect the inspection environment information through various sensors, use the artificial neural network to learn independently and make independent decision-making obstacle avoidance methods, realize the intelligent inspection and obstacle avoidance of the inspection robot, and ensure the inspection process Efficient and stable operation has become an urgent need for the safe and stable operation of sewage treatment plants;

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