热电厂巡检机器人障碍物识别与避让控制方法

Obstacle Recognition and Avoidance Control Method for Inspection Robot in Thermal Power Plant

为提升巡检机器人障碍物避让控制性能,提出热电厂巡检机器人障碍物识别与避让控制方法。该方法在建立机器人动力学模型的基础上,确定机器人相关参数。然后通过机器人自身安装的传感器获取机器人电机转速及电流,从而确定障碍物具体位置。最后结合小波不变矩特征完成热电厂巡检机器人障碍物的类型识别,再依据识别结果获取机器人运动学逆解,确定其运行速度和行驶角度,控制巡检机器人完成障碍物识别与避障。实验结果表明,应用该方法对机器人开展障碍物避障控制的效果较好。

In order to improve the obstacle avoidance control performance of inspection robot,this study proposed the obstacle identification and avoidance control method of inspection robot in thermal power plant.Based on the dynamic model of the robot,the relevant parameters of the robot are determined.Then,the robot motor speed and current are obtained by the sensor installed by the robot itself,so as to determine the specific location of obstacles.Finally,the type identification of obstacles of inspection robot in thermal power plant is completed by combining the wavelet invariable moment characteristics,and then the inverse kinematics solution of robot is obtained according to the identification results,and the running speed and driving Angle are determined,and the inspection robot is controlled to complete obstacle identification and obstacle avoidance.Experimental results show that the proposed method is effective for robot obstacle avoidance control.