Research On Self-backward Control System Of Underground Pipe Network Inspection Robot

With the rapid development of robot technology,the shadow of robots can be seen everywhere in daily life.With the improvement of the degree of intelligence and stability of robots,more and more jobs are replaced by robots,which not only completes the all-weather production process.To improve work efficiency and at the same time save a lot of investment in human resources and improve the economic benefits of enterprises and institutions.In recent years,with the development of inspection robots,in some inspections,the inspection robot can not only completely replace people,but also enter the work environment that people cannot enter,complete tasks that cannot be completed by human resources,or completely Instead of staff in high-risk environments for high-risk operations.Underground pipe network inspection robot working environment is harsh and complex,mainly working in underground pipe network with high temperature,high humidity and no light road condition.The internal communication signal quality of the pipeline is poor,and the real-time position of the robot is difficult to determine,in order to prevent the robot from moving in the underground pipe network.In the process,the signal is interrupted and lost.This paper mainly focuses on the robotic self-return control system for the robot network's self-return control system,and realizes the robot's loss of self-return function.The full text is divided into seven chapters.The main contents of each chapter are as follows:The first chapter introduces the research status of patrol robots,and then introduces the development status of robot positioning and self-return technology at home and abroad,and clarifies the main research contents and directions of this paper,and arranges the full text.The second chapter is the development of underground pipeline network inspection robot platform.Through the analysis of the working environment and mechanics of the robot,the selection and analysis of the underground pipe network inspection robot and hardware platform construction.The third chapter is the research on the motion control method of the inspection robot in the underground pipe network.First,kinematics modeling of the robot.On this basis,the fuzzy PID control algorithm is designed,and the mobile robot is controlled by the fuzzy PID controller for in-situ turning,straight walking and curve walking.The fourth chapter is based on the real-time positioning algorithm of inertial components.Using the autonomous inertial positioning technology,Kalman filtering algorithm is added to estimate the parameters such as speed,displacement,rotation direction angle and position of the robot in the geographic coordinate system to realize real-time positioning of the robot.The fifth chapter is the research on robot self-return control algorithm.By integrating each command with the pose information and state information of the robot,the robot's self-return mechanism is designed to study the method of reversely manipulating the robot's self-return using the command backtracking strategy when the robot communication is interrupted.Chapter VI Experimental verification of the self-return control system.Build a robot control system.Design robot real-time positioning experiments to verify the real-time positioning accuracy of the robot.Finally,the robot self-return experiment is designed to verify the reliability of the robot self-return algorithm.Chapter VII summary and outlook.The paper summarizes the full text and analyzes the deficiencies,and proposes the direction and method of improvement.