【摘要】 为克服巡检机器人高空作业过程中易受风载荷影响而导致作业失败的难题,提出了一种基于横向摆动姿态检测的机器人作业控制算法。针对双悬臂对称布置的巡检机器人构型,对其受风载荷影响进行了分析,揭示了横向摆动原因及规律;设计了一组倾角测量单元,结合机器人实际中的摆动状况,提出了一种依据固定时间段内摆角值异号次数进行正弦拟合来计算摆动周期与频率的方法;最后依据摆动姿态优化机器人作业规划。在模拟线路和实际线路上进行大量实验,结果表明该算法提高了机器人行驶的安全性以及巡检的有效性,能够满足机器人自主运行与巡检要求。更多还原

【Abstract】 Inspection robot working at height is prone to wind load,which may make the work unachievable. To solve this problem,a robot operation control algorithm is developed that is based on lateral swing attitude detection. Principles of lateral swing are analyzed and causes and laws of wind load are revealed at the inspection robot of two-arm symmetry structure. A set of inclination angle measuring units are devised and,in consideration of the actual swinging of the robot,an approach is suggested to compute the swing period and frequency by performing sinusoidal fitting based on the times of sign change of the swing angle within a certain period of time. Finally,robot according to the swing posture optimize operation plan. By means of huge amounts of experiments in mock lines and spot lines,the results show that this method can improve the robot driving safety and effectiveness of the inspection and meet the robot autonomous operation and inspection requirements.更多还原