| Tunnel detection robots are used to detect hidden dangers and protect tunnels.They are of great significance to reduce the intensity of human work and avoid major accidents.Due to the limitations of intelligent control and sensor level,it is difficult to develop fully autonomous robots in complex environments.Force feedback control,which integrates local autonomy of the robot and advanced decision-making of the operator,can improve the operation ability of the robot.In this paper,the construction of tunnel detection robot system and the related problems of force feedback control are discussed.Firstly,the kinematics model of the differential-driven mobile robot is deduced.The linear model and arc odometer model are built.The remote tracked mobile robot platform and the proximal control platform are built,which communicate through wireless bridge.The robot is equipped with sensors such as lidar,camera and coder.The control platform is equipped with force feedback joystick.The multi-threading technology is adopted to design the server and client software based on TCP/IP communication protocol.Secondly,the exponential non-linear transformation between the position coordinates of the joystick and the speed of the robot is used to solve the difficult of manipulation in linear transformation.Under exponential non-linear transformation,the linear velocity and angular velocity of the robot will not be very large at the same time,and the robot will be more stable when it moves in a straight line,thus reducing the difficulty of manipulation.In order to obtain the environmental information in the process of robot operation,the polar coordinate vector method is used to establish the environmental model.The principle of rolling window is applied to recognize the obstacles in rolling window in real time.Thirdly,the improved artificial potential field method is applied to transform the force field of the robot into feedback force.The feedback force sense and motion sense are used to assist the operator to control the robot.The feedback force is adjusted by human-machine trust model to determine the degree of assistance of feedback force to operators.Passivity control method is used to solve the problem of system instability caused by time delay.Finally,the semi-physical simulation platform and the tunnel environment are built.The remote control method experiment,feedback force design method experiment and misoperation experiment of the robot physical prototype are carried out in the simulated tunnel environment of 11 m long and 1.5 m wide.The validity of the robot remote control method and force feedback control is verified.The performance evaluation experiment of force feedback control shows that the time of each experiment is shortened by 3.21 seconds and the number of collisions is reduced by 2.75 times.The average minimum distance of each sampling is increased by 0.02 m,which proves that force feedback control improves the control performance. |
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