A control method of inspection robot based on man-machine collaborative system
A technology of inspection robot and control method, which is applied in the field of robots, can solve the problems of safety, reliability and flexibility that cannot be completely guaranteed, and achieve the effects of avoiding insufficient inspection or excessive inspection, accurate motion trajectory, and accurate and reliable completion
Active Publication Date: 2022-05-06
CHINA SOUTHERN POWER GRID COMPANY +1
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Problems solved by technology
At present, the safety and reliability of inspection robots without human intervention and the flexibility of timely error correction are still difficult to fully guarantee.
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[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0047] An embodiment of the present invention provides a method for controlling an inspection robot based on a human-machine collaborative system, including task-level and command-level control, and the specific steps are:
[0048] (1) Import the task model, import the scene file and construct the robot simulation environment in the virtual space;
[0049] (2) Input task entity, task body parameters and other information, retrieve and generate target instruction pa...
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The invention discloses a patrol robot control method based on a human-machine collaborative system, including task-level and instruction-level control. The specific steps are: the user describes the task to the robot system at the task level, and obtains the task based on the amount of task description and through a reasoning mechanism. The target state of the robot system obtains the current characteristic parameters of the robot from the target state, and stores them as target instructions in the background; at the command level, the user plans the execution process of the task by himself according to the feedback results in the task-level planning, and the system judges in the background The rationality of user planning, and give hints and recommended task paths. The method provided by the invention combines human planning and decision-making ability with the autonomous planning of humanoid robots, so that the robot has the ability to adapt to environmental changes, and the combination of task-level parameters and instruction-level parameters makes the trajectory of the robot more accurate. The completion of intelligent tasks is more accurate and reliable.
Description
technical field [0001] The invention relates to the field of robots, in particular to a method for controlling an inspection robot based on a human-machine collaborative system. Background technique [0002] At present, the construction of smart grid and the enhancement of power supply reliability have become a national strategy. As an emerging industry developed in recent years, the status detection and monitoring of power equipment has shown huge growth potential and development space. The smart grid construction plan will greatly promote the market demand for intelligent inspection robots and become the long-term driving force for the continuous growth of the inspection robot industry. Indoor Robot Demand Analysis Taking outdoor robots as an example, they are mainly used in substations. A substation is a power facility in a power system that transforms voltage, receives and distributes power, controls the flow of power, and adjusts voltage. In addition, according to the...
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IPC IPC(8): B25J9/16G06F3/0484G06F3/0486G06N5/04
CPCG06F3/04847G06F3/0486G06N5/04B25J9/1679
Inventor 邹林刘旭王颂朱小舟林清霖刘国梁李辉
Owner CHINA SOUTHERN POWER GRID COMPANY