大面积施工作业中爬壁机器人轨迹自动修正智能控制  

Intelligent control for automatic trajectory correction of wall climbing robots in large-scale construction operations

作　　者：区伟斌 张鹏 张瀚夫 OU Weibin;ZHANG Peng;ZHANG Hanfu(Foshan Power Supply Bureau of Guangdong Power Grid Co.,Ltd.,Dongguan,Guangdong 528000,China)

机构地区：[1]广东电网有限责任公司佛山供电局,广东东莞528000

出　　处：《自动化与仪器仪表》2024年第9期299-303,共5页Automation & Instrumentation

基　　金：广东省南方电网基建技术创新项目(030600WS23210002)。

摘　　要：爬壁机器人进行大面积施工作业时,会受到墙体表面的不均匀性、凹凸变化或异物等环境因素的影响,传统爬壁机器人轨迹控制算法在位置内环控制上稳定性差,在减小力/位控制中的相互切换过程,导致了轨迹误差。为解决这一问题,提出大面积施工作业时,针对爬壁机器人的轨迹自动修正控制方法。通过分析爬壁机器人在大面积施工作业中的运动状态,获取准确的运动状态数据。采用蚁群算法进行机器人路径规划,蚁群算法模拟蚂蚁的运动行为寻找最优路径的行为。利用运动状态数据来评估机器人所处位置周围的环境情况,并选择适合的移动路线来规划机器人的轨迹。在规划过程中,考虑工作壁面平整度和力/位切换控制中机器人定位误差,引入反馈补偿控制结构设计一种轨迹修正补偿方法。通过控制器和误差指令的关系,根据当前机器人的运动状态和蚁群算法生成的最优轨迹之间的差异,计算出轨迹修正指令,实时纠正爬壁机器人的轨迹使跟踪误差收敛,确保其实际运动与最佳轨迹相符合。实际测试结果表明:所提方法在直线或者曲线作业时,都能保证爬壁机器人与理想轨迹误差距离最小,具有较好的修正效果。When wall climbing robots carry out large-scale construction operations,they are affected by environmental factors such as unevenness,uneven changes,or foreign objects on the wall surface.Traditional wall climbing robot trajectory control algorithms have poor stability in position inner loop control,mainly to reduce trajectory errors caused by mutual switching in force/position control.To address this issue,an automatic trajectory correction control method for wall climbing robots during large-scale construction operations is proposed.By analyzing the motion status of wall climbing robots in large-scale construction operations,accurate motion status data is obtained.Ant colony algorithm is used for robot path planning,which simulates the movement behavior of ants to find the optimal path.Use motion state data to evaluate the environmental conditions around the robot's location and select suitable movement routes to plan the robot's trajectory.In the planning process,considering the flatness of the working wall and the robot positioning error in force/position switching control,a feedback compensation control structure is introduced to design a trajectory correction compensation method.Through the relationship between the controller and error instructions,based on the difference between the current motion state of the robot and the optimal trajectory generated by the ant colony algorithm,trajectory correction instructions are calculated,and the trajectory of the climbing robot is corrected in real-time to converge the tracking error,ensuring that its actual motion matches the optimal trajectory.The actual test results show that the proposed method can ensure the minimum error distance between the wall climbing robot and the ideal trajectory when working in straight or curved lines,and has good correction effect.

关 键 词：爬壁机器人 大面积施工作业 轨迹修正 蚁群算法 参考轨迹 跟踪误差 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]