Unmanned inspection robot and control method thereof

A technology of inspection robot and control method, which is applied in the field of inspection, can solve problems such as difficulty in path planning of unmanned inspection robots, and achieve the effect of ensuring planning accuracy and robustness, and facilitating movement

Pending Publication Date: 2022-07-19
北京能工荟智机器人有限责任公司
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to provide a method to solve the problem of difficult path planning of unmanned inspection robots in the prior art

Method used

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  • Unmanned inspection robot and control method thereof
  • Unmanned inspection robot and control method thereof
  • Unmanned inspection robot and control method thereof

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Embodiment 1

[0024] refer to figure 1 , showing a schematic flowchart of the steps of the control method for the unmanned inspection robot according to the embodiment of the present application.

[0025] The method includes the following steps:

[0026] Step S102: According to the received starting point and ending point of the partial path, use the predefined topological map of the straight line segment trajectory and the intersection segment trajectory to plan an initial partial path corresponding to the starting point and the ending point.

[0027] Step S104: Smoothing the initial local path to obtain a smoothed local path.

[0028] Step S106: Drive the unmanned inspection robot to move along the smoothed local path.

[0029] Through the above method, by predefining the trajectories that the unmanned inspection robot can travel on the wall, and planning based on the predefined trajectory when needed, the rapid planning of the local path of the unmanned inspection robot can be quickly ...

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Abstract

The invention provides an unmanned inspection robot and a control method thereof. The method comprises the following steps: planning an initial local path corresponding to a starting point and an end point by using a predefined topological graph of a straight line section track and an intersection section track according to the starting point and the end point of a received local path; performing smoothing processing on the initial local path to obtain a smoothed local path; and driving the unmanned inspection robot to move along the smoothed local path. The method is higher in planning efficiency and better in robustness.

Description

technical field [0001] The invention relates to the technical field of inspection, in particular to an unmanned inspection robot and a control method thereof. Background technique [0002] The abnormal inspection robot for the chimney wall of the cooling tower of the thermal power station is usually an unmanned inspection robot, which needs to automatically realize the chimney wall climbing under the condition of unmanned driving, and inspect the chimney wall during the climbing process. , so as to detect the dangers such as cracks in the chimney wall in time. [0003] The path planning of the existing unmanned inspection robots is difficult and the robustness is not good. SUMMARY OF THE INVENTION [0004] The main purpose of the present invention is to provide a solution to solve the problem of difficult path planning for unmanned inspection robots in the prior art. [0005] In order to achieve the above object, according to an aspect of the present invention, a control...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0255G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276G05D2201/0212
Inventor 冯书涛菅磊李志远刘杰都世龙徐立
Owner 北京能工荟智机器人有限责任公司
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