室外巡检机器人的磁导航系统设计及实现  

Design and implementation of a magnetic navigation system for outdoor inspection robots

作　　者：袁明新[1,2] 王彬彬 华晓彬[1,2] 谢丰 申燚 YUAN Mingxin;WANG Binbin;HUA Xiaobin;XIE Feng;SHEN Yi(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China;Zhangjiagang Industrial Technology Research Institute,Jiangsu University of Science and Technology,Zhangjiagang 215600,China)

机构地区：[1]江苏科技大学机械工程学院,镇江212003 [2]张家港江苏科技大学产业技术研究院,张家港215600

出　　处：《江苏科技大学学报（自然科学版）》2019年第4期24-30,共7页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家自然科学基金资助项目(61105071);张家港江苏科技大学产业技术研究院自主产业化项目(509914003)

摘　　要：为了提高室外巡检机器人的导航精度和稳定性,基于磁钉磁场分布特性,设计了一种新的磁导航系统.首先根据巡检机器人室外磁导航需求,确定了磁钉材料、形状、尺寸及其排布方案;接着针对磁钉磁场强度设计了磁钉检测装置;然后对检测装置输出信号进行消抖滤波,并根据磁钉磁场分布构建了磁场比值函数,以及机器人相对于磁钉的横向偏差函数;最后以横向偏差为变量设计出巡检机器人磁导航的可变参数PID控制器.3种路径环境下的实验测试结果表明:与定常PID控制相比,基于可变参数PID控制的机器人横向偏差平均减少76.8%,轨迹标准差平均提高69.8%,且无脱离路径现象,说明机器人磁钉导航的准确性和稳定性,进而验证了所设计磁钉检测装置以及导航控制算法的有效性.In order to improve the navigation precision and stability of outdoor inspection robots,a new magnetic navigation system is designed based on magnetic field distribution characteristics of magnetic nails.First,the material,shape,size and configuration scheme of magnetic nails are determined according to the needs of magnetic navigation of inspection robots.Then a magnetic nail detection device is designed based on the magnetic field strength of magnetic nails.Then the detection device output signal is subjected to chattering and filtering,and the magnetic field ratio function and the lateral deviation function of a robot relative to the magnetic nail are built according to the magnetic field distribution of magnetic nails.Finally,a variable parameter PID controller for robot magnetic navigation is designed by taking the lateral deviation as control variables.The experimental results in three path environments show that,compared with the constant PID control,the robot lateral deviation based on variable parameter PID control is reduced by an average of 76.8%,the trajectory standard deviation is increased by an average of 69.8%,with no derailment phenomenon,which shows the good navigation accuracy and stability of the proposed magnetic navigation,and further verifies the validity of the designed magnetic nail detection device and control algorithm.

关 键 词：室外巡检机器人 磁钉导航 磁场比值函数 PID控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]