Research On Landfill Inspection Robot Based On Coupling Control

The rapid economic development since the 21 st century has led to a rapid increase in the total amount of domestic waste,and the sanitary landfill is the mainstay for the environmentally sound disposal of domestic waste in China.In the early stages of landfill construction,the impermeable layer is damaged to varying degrees by various factors,and when the impermeable layer is broken,a large amount of leachate contained in the waste leaks,which contains a large number of toxic substances that will pollute the surrounding environment and endanger human health once leaked.The current problems of landfill impermeable layer detection: traditional manual inspection and detection efficiency is low and can produce re-inspection and leakage problems.Based on the theory of infrared detection,this project uses an infrared inspection robot to replace the manual inspection,and introduces a variety of algorithms to correct the deviation of the robot’s inspection path.The main research content of this thesis is:The overall robot design is proposed for landfill inspection needs.The robot materials,dimensions and performance are designed and analyzed,and a modular design is used to build the inspection robot.Implementation plans are proposed for key technologies such as infrared,navigation and movement methods required for inspection work.This is followed by a kinematic analysis of the drive mechanism to derive a quantitative relationship between the deflection angle of the drive wheels and the rotational speed.Then,according to the deviation phenomenon of the robot inspection path,neural network,and fuzzy neural network PID control system is established for path correction.Simulation models were established in MATLAB to observe the corrective speed and anti-interference ability of each algorithm.The simulation results show that the path correction ability of the fuzzy neural network PID control algorithm is better than the first two.A simulated test site was built to test and analyze the robot’s ability to correct deflections,and to obtain the actual path correction trajectory of the robot under the fuzzy neural network PID and traditional PID control algorithms.The test results show that after the path deviation occurs,the path correction speed and deviation distance of the inspection robot with the fuzzy neural network PID control system are better than the traditional PID control system.The experimental and simulation results prove the superiority of the fuzzy neural network PID control algorithm in path correction,and its inspection accuracy and coverage have been further enhanced.The performance index of the inspection robot designed in this topic has reached the actual inspection demand of the landfill.