Research And Implementation Of Control And Positioning Algorithm For Track Connector Detection Robot

As urban rail transit construction enters a stage of rapid development,the operational testing standards for rail transit and other rail transit are also constantly improving.China has made rapid progress in the research of detection methods for track connectors,but the intelligence of walking for small-scale inspection equipment is still insufficient.The track operation detection efficiency,detection accuracy,safety of operators and the intelligence of small inspection equipment walking are closely related.Therefore,on the basis of the research and development of the robotic mechanical platform in this research group,it is of great significance to study the control and positioning algorithm of the track connecting piece detection robot.Firstly,the overall design of robot control and positioning is carried out.Through the analysis of the completed robot structure in the subway tunnel environment and the research group,the functional requirements of robot control and positioning are proposed.On this basis,the robot operation flow is designed,and the architecture of control and positioning is designed,and the corresponding composition framework is designed.In order to carry out the research smoothly,the technical route of the overall realization was further developed.In terms of control,the robot control strategy is developed for the robot's working environment,and the control priority,start-stop control strategy and safety protection mechanism are respectively formulated.Based on the control strategy,the control algorithm is designed.Further,the control software and hardware are selected and designed.After the algorithm is debugged and verified,the speed closed loop control of the robot is realized.At the same time,the robot's remote control framework is designed to realize remote communication in combination with ROS.In terms of positioning,this paper analyzes the robot positioning environment,and proposes the positioning interval,positioning coordinate system and position coordinate expression of the robot.The positioning method is researched,and the encoder and inertial measurement unit are used for data fusion.The optimal estimation value of relative positioning is obtained.The principle of sleeper positioning is explained,and the sleeper counting algorithm is proposed,and its effectiveness as absolute positioning is verified..Insufficient positioning of the sleeper,data fusion through the relationship between mileage and sleeper spacing,correction of the sleeper count and mileage,and obtain accurate positioning information of the robot.Finally,the robot's control and positioning system is integrated,and the hardware and software integration of positioning and control is performed on the control platform.The comprehensive test of positioning and control was carried out in a 1:1 full-scale simulated tunnel.The sleeper positioning test and speed control test were carried out on the Shenzhen Metro Line 9.After testing,it is proved that the robot control and positioning technology meets the design requirements.