Method and device for programming track of tour inspection robot

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...

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 error

During the adjustment process of the inspection robot, there will be excessive or improper adjustment of the robot, which will make the robot run unstable, and the tail will swing back and forth, which will affect the working accuracy of the robot.

Images