[1]郭建仙.基于深度视觉传感的巡检机器人行进轨迹跟踪控制[J].机械与电子,2023,41(09):53-56.
　GUO Jianxian.Tracking Control of Inspection Robot Based on Depth Vision Sensing[J].Machinery & Electronics,2023,41(09):53-56.
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基于深度视觉传感的巡检机器人行进轨迹跟踪控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年09期
页码:
53-56
栏目:
智能工程
出版日期:
2023-09-25

文章信息/Info

Title:
Tracking Control of Inspection Robot Based on Depth Vision Sensing
文章编号:
1001-2257 ( 2023 ) 09-0053-04
作者:
郭建仙
国能神福(石狮)发电有限公司,福建 泉州 362700
Author(s):
GUO Jianxian
( CHN Energy Shenfu ( Shishi ) Power Generation Co. , Ltd. , Quanzhou 362700 , China )
关键词:
巡检机器人; 运动学方程;  Kinect 深度视觉传感器; 行进轨迹; 滑模控制器
Keywords:
inspection robot ;  kinematic equation ;  Kinect depth vision sensor ;  trajectory ;  sliding mode controller
分类号:
TP242
文献标志码:
A
摘要:
巡检机器人面对不同路况时反应速度的时间差使其行进轨迹跟踪控制容易产生误差。为了提高巡检机器人复杂操作环境中的行进轨迹跟踪控制效果,提出基于深度视觉的巡检机器人行进轨迹跟踪控制方法。根据巡检机器人移动位姿和轴向运动轨迹产生的角速度和线速度,建立巡检机器人运动学方程;利用 Kinect 深度视觉传感器创建贴合实际环境的三维地图;利用滑模控制器约束巡检机器人运动学方程,实现巡检机器人行进轨迹自动化跟踪控制。实验结果表明,所提方法在障碍物环境和非障碍物环境的跟踪控制效果均较好。
Abstract:
The time difference of the reaction speed of the inspection robot when facing different road conditions makes the tracking control of its travel path prone to errors.In order to improve the tracking control effect of the inspection robot in the complex operating environment , a method based on depth vision for the tracking control of the inspection robotis proposed.Firstly , the kinematics equations of the inspection robot are established according to the angular velocity and linear velocity generated by the moving posture and axial motion trajectory of the inspection robot ; Kinect depth vision sensor is used to create a 3D map that fits the actual environment ; the sliding mode controller is used to constrain the kinematic equation of the inspection robot , and the automatic tracking control of the inspection robot ’ s travel path is realized. The experimental results show that the proposed method is effective in both obstacle and non obstacle environments.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-09-30
作者简介:郭建仙 ( 1980- ),男,福建莆田人,运行部主任助理,工程师,技师,研究方向为大型火力发电厂智能运行。
更新日期/Last Update: 2023-09-27