Research On The Sensing And Control Method Of Intelligent Inspection Robot Based On Magnetic Navigation

Under the trend that all walks of life are vigorously promoting automated production,automatic inspection of machines instead of manual inspection has become a development trend.The daily inspection task of the production workshop of the enterprise is single in content and repetitive,and the inspection personnel are prone to fatigue and buried safety hazards.Based on the needs of automated inspection in oil and gas pipeline processing and production workshop,this project designs a sensor and control system based on magnetic navigation integrated inspection robot based on magnetic navigation for the actual working environment.The main work of the thesis is as follows:(1)A set of overall schemes for autonomous inspection robots were designed,which mainly included two parts: perception system and control system.The perception system mainly perceives the path,site,obstacle and environmental status;the control system realizes human-computer interaction based on the host computer software,and the main control unit realizes autonomous inspection;(2)Construct a robot kinematics model,calculate the drive cell transfer function;the path navigation control algorithm of "fuzzy PID+ differential derailment correction" is used,and the Matlab simulation analysis under different working conditions of fuzzy PID is carried out;the static obstacle Bug2 active obstacle avoidance strategy is designed;(3)Using the STM32 as the main control chip,the hardware circuit of the main control unit of the inspection robot is built;the autonomous inspection control program is written on the Keil 5 platform,mainly including: navigation tracking,site positioning and obstacle avoidance program;the human-computer interaction software is developed on the Qt Creator platform,which realizes motion attitude control,visual monitoring,data collection and analysis;(4)A single test is carried out on the core sensor of the system to ensure the functional feasibility;the experimental platform of the patrol robot is built to test the robot navigation tracking,obstacle avoidance and site positioning performance,and through the analysis of the results,it is found that the maximum turning deviation is 0.5cm and the maximum positioning deviation is 0.2cm at a speed of 0.2m/s,and the success rate of obstacle avoidance is 100% when the speed is 0.1m/s.The host computer software control function and remote human-computer interaction based on VNC technology are tested.Through the above scheme design,theoretical analysis and experimental test,it is proved that the sensing and control method of the inspection robot based on magnetic navigation designed in this paper meets the application requirements.