输煤廊道巡检机器人智能避障控制方法设计

Design of intelligent obstacle avoidance control method for coal handling corridor inspection robot

输煤廊道中环境复杂,存在很多动态或者静态的障碍物,巡检机器人巡检过程中若是无法及时规避,将会发生碰撞事故,对机器人造成严重的损伤。针对上述问题,设计一种输煤廊道巡检机器人智能避障控制方法。利用巡检机器人上配置的高清视觉系统采集输煤廊道巡检路径前方的图像,识别图像中的障碍物类型并确定障碍物参数;以此为基础,设计两种局部避障路径,包括静态规避路径以及动态预测规避路径。基于PID控制器计算巡检机器人的运动速度、运动方向的修正量,以此为依据控制巡检机器人智能避障。结果表明:在运动速度和运动方向修正后,其速度偏差小于0.15 m/s,方向偏差小于0.25°,且巡检机器人没有与障碍物发生碰撞现象,说明所研究方法避障能力较强。

The environment in the coal conveying corridor is complex,and there are many dynamic or static obstacles.If the inspection robot cannot avoid in time during the inspection process,a collision accident will occur,causing serious damage to the robot.To solve the above problems,an intelligent obstacle avoidance control method for coal handling corridor inspection robot is designed.The high-definition vision system configured on the inspection robot is used to collect the image in front of the inspection path of the coal handling corridor,identify the types of obstacles in the image and determine the obstacle parameters;On this basis,two local obstacle avoidance paths are designed,including static avoidance path and dynamic prediction avoidance path.Based on the PID controller,the movement speed and direction of the inspection robot are calculated to control the intelligent obstacle avoidance of the inspection robot.The results show that the speed deviation is less than 0.15 m·s-1,the direction deviation is less than 0.25°,and the patrol robot does not collide with the obstacles after the correction of the movement speed and direction,which indicates that the method studied has a strong obstacle avoidance ability.