PID control-based municipal pipe network dredging robot pose deviation correcting system and method

Abstract

The invention discloses a PID control-based municipal pipe network dredging robot pose deviation correcting system and a method. According to the PID control-based municipal pipe network dredging robot pose deviation correcting system and the method of the invention, a gravity deviation correcting instrument, an encoder, a PID controller and a control unit are arranged on a wheeled robot, so that the gravity deviation correcting instrument monitors deviation correcting signals which are generated when the wheeled robot deviates during walking, and the wheel steering angle and speed of the wheeled robot are adjusted through the PID controller, and therefore, the problem of the position deviation of a robot caused by sundries, sludge, wheel slip and other reasons in the dredging process of the robot in the prior art can be solved; and the PID controller is used to drive a brushless motor to carry out deviation correction on the wheeled robot. Therefore, the PID control-based municipal pipe network dredging robot pose deviation correcting system has the advantages of simple and practical hardware, small equipment quantity, small occupied space and convenience in later-stage maintenance.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a system and method for correcting position and posture of a municipal pipe network dredging robot based on PID control. Background technique [0002] In the process of urban modernization, the important role of municipal drainage pipes has gradually been recognized by people. As a type of infrastructure in modern cities, municipal drainage pipes have always shouldered the responsibility of ensuring the stable development of the city and the safety of people's lives and property. However, there are often many problems in urban underground pipelines, such as pipeline blockage, pipeline rupture, silt deposition and so on. If these problems are not resolved in time, in the event of heavy rain, it is very likely to cause urban water accumulation, or even waterlogging. Between 2008 and 2010 alone, 62% of cities across the country experienced floods. It can be ...

AI Technical Summary

Problems solved by technology

[0011] The purpose of the present invention is to provide a position and posture correction system and method of a robot based on PID control for municipal pipe network dredging, which solves the problem of position deviation caused by debris, sludge, wheel slipping and other reasons in the current robot dredging process

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