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Inspection robot slip identification and intelligent self-adaptive control method

A line inspection robot and adaptive control technology, applied in the field of line inspection robots, can solve the problems of insufficient preparation for the adjustment of the pressing force of the pressing motor, insufficient smoothness of the slip control process, and affecting the efficiency of line inspection.

Pending Publication Date: 2020-04-21
GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These two types of slip control are prone to lock-up, which affects the efficiency of line inspection. Moreover, when slipping, the adjustment of the pressing force of the pressing motor is not ready enough, which makes the slipping control process not smooth enough.

Method used

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  • Inspection robot slip identification and intelligent self-adaptive control method
  • Inspection robot slip identification and intelligent self-adaptive control method
  • Inspection robot slip identification and intelligent self-adaptive control method

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Embodiment Construction

[0046] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] The invention provides a method of slip identification and intelligent self-adaptive control for a line inspection robot. The line inspection robot includes a walking wheel and a pressing wheel. The walking wheel rolls on the inspected wire, and the pressing wheel is located below the inspected wire. Then the wire to be inspected is tightly pressed on the traveling wheel; the method includes the following steps:

[0048] (1) During the inspection process, the line inspection robot detects whether the travel wheel is slipping in real time by comparing the angular velocity of the travel wheel and the pinch wheel. When detecting whether it is slipping, the pinch wheel is in contact with the inspected wire;

[0049] (2) If no slippage is found in the inspection, continue the inspection. If slippage is found in the ...

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Abstract

The invention discloses an inspection robot slip identification and intelligent self-adaptive control method. An inspection robot comprises a walking wheel and a pressing wheel, the walking wheel rolls on a patrolled wire rod, and the pressing wheel is located below the patrolled wire rod and used for pressing the patrolled wire rod on the walking wheel; the method comprises the following steps that (1) the inspection robot is used for detect whether slipping of the walking wheel is caused in real time by comparing the angular speed of the walking wheel and the angular speed of the pressing wheel in the patrol process, and in detecting of slipping, the pressing wheel is contacted with the patrolled wire rod; (2) if it is detected that slipping is not caused, inspection is continuously conducted, if slipping is found through detection, the slipping degree is judged according to a slipping model, and the slipping degree is determined through the ratio of the angular speed of the walkingwheel to the angular speed of the pressing wheel; and (3) self-adaptive slip control is carried out according to the slip degree. The control method disclosed by the invention has the characteristic of relatively accurate controlling on the slipping state.

Description

technical field [0001] The invention relates to the technical field of line inspection robots, in particular to a method for robot slip identification and intelligent self-adaptive control. Background technique [0002] The traditional transmission line inspection method is mainly based on manual inspection. The inspection efficiency is low, the labor intensity is high, the workers often work in the field, the working environment is harsh, and the inspection of the transmission line stalls across mountains, dense forests, and large rivers is difficult. bigger. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. Line inspection robot is a special robot used to inspect high-voltage transmission lines. It can be used to replace manual inspection. It has high inspection efficiency and good imaging effect. It is an inevitable trend of the combination of robot technology and tran...

Claims

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Application Information

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IPC IPC(8): B60W30/18H02G1/02
CPCB60W30/18172H02G1/02B60W2520/26B62D57/024G05D1/0011G05D1/0088G05D1/0229G05D1/0272G05D1/0891
Inventor 李方贾绍春吴积贤薛家驹樊广棉张扬勇
Owner GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD
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