基于插补轨迹控制的变电站机器人巡检避障技术  

Obstacle Avoidance Technology of Substation Robot Patrol Based on Interpolation Trajectory Control

作　　者：张永 钱平 杨松伟 ZHANG Yong;QIAN Ping;YANG Songwei(State Grid Zhejiang Electric Power Co., Ltd.,Hangzhou 310000, China)

机构地区：[1]国网浙江省电力有限公司,浙江杭州310000

出　　处：《机械与电子》2020年第8期47-51,共5页Machinery & Electronics

基　　金：国家电网有限公司总部科技项目资助项目(520600180003)。

摘　　要：针对现有的变电站机器人巡检避障技术中,巡检路径默认将机器人的旋转角度进行线性插补,导致机器人在高速移动时无法及时避让障碍物的问题,设计了一种基于插补轨迹控制的变电站机器人巡检避障技术。为了深入了解机器人在运动中行走以及转弯等机理,需要建立运动模型,分析转弯方式;在插补算法中,通过机器人运动过程中加速减速速率和设定的匀速速度,计算出加速度的步数、总插补数和插补周期,利用路径起始点和终点坐标计算出加速终点和减速起点坐标,进而完成对整个机器人巡检轨迹的插补。通过模拟实验结果表明,设计方法在实际运行过程中,在成功避障的前提下,能够提速至90 cm/s,比传统技术提高30 cm/s,说明设计的技术具有一定的可靠性。In the existing substation robot inspection and obstacle avoidance technology,the inspection path will carry out linear interpolation of the rotation angle of the robot by default,resulting in that the robot cannot avoid obstacles in time when moving at high speed.Therefore,a substation robot inspection and obstacle avoidance technology based on interpolation trajectory control is designed.In order to deeply understand the mechanism of robot walking and turning in motion,it is necessary to establish a motion model and analyze the turning mode.In the interpolation algorithm,the number of steps,the total interpolation number and the interpolation period of the acceleration are calculated by the acceleration deceleration rate and the uniform velocity set during the robot's movement,and the coordinates of the acceleration endpoint and deceleration endpoint are calculated by using the coordinates of the starting point and the ending point of the path,so as to complete the interpolation of the entire robot’s patrol track.The simulation results show that the design method can be accelerated to 90 cm/s,which is 30 cm/s higher than the traditional technology,which shows that the design technique has certain reliability.

关 键 词：轨迹控制 机器人避障 插补误差补偿 

分 类 号：TH132.4[机械工程—机械制造及自动化]