500kv超高压输电线路巡检机器人现场带电巡检试验成功

在国家“863”计划以及国电东北电网有限公司的支持下，中国科学院沈阳自动化研究所自主创新，研制出具有自主知识产权的超高压输电线路巡榆机器人，并于2006年4月12日与锦州超高压局合作开展了现场带电巡检试验，在其所管辖的500kv超高压输电线路（董辽二线）上成功地完成了沿线行走、跨越障碍以及巡检作业任务。     

小型履带式移动机器人控制系统设计

针对小型履带式移动机器人,设计了遥控与自主返航模式相结合的控制体系结构,并对机器人自主定位及路径跟踪技术进行重点介绍;信号正常的情况下,机器人在遥控模式下工作,信号中断后,启动自主返航模式,机器人根据路径规划的轨迹行驶到目标点;自主返航模式下,采用传感器信息融合技术提高了机器人定位精度,基于已有路径进行点跟踪控制,设计机器人跟踪控制律;基于履带式移动机器人平台及所述控制系统,对任意给定路径进行跟踪实验;结果表明,机器人可沿给定路径到达终点,且行驶轨迹光滑,验证了定位方法的精度以及跟踪控制律的有效性。该控制系统设计简单,可移植性高,可广泛应用于地面移动机器人领域。     

地面机器人控制系统的研制

介绍了一种用于地面机器人自动驾驶与控制的自动控制系统，研制完成了车辆自动驾驶系统，无线通讯系统，遥控终端，计算机控制系统，软件设计与编制等任务，最后控制系统实现了对机器人的半自主加遥控运行控制，该地面机器人已经投入实际使用，实践表明，该控制系统是一种较好的，实用的控制系统。     

一种水上行走机器人的设计与实现

研究了水上行走机器人的设计问题,提出了机器人驱动腿设计算法,给出了机器人结构、控制系统和 软件的设计方法和实例．设计并实现了一种采用双电机驱动、能转向和调速、通过红外信号遥控的水上机器人,并 对机器人进行了性能测试．该机器人仿生水黾重量轻、体积小、功耗低．实验表明其性能超过了现有同类机器人．     

履带复合式移动机器人控制系统的设计与实现

针对六履带四摆臂履带式移动机器人的机构特点,采用Ether CAT总线技术和QNX多任务实时操作系统设计机器人控制系统。着重介绍机器人控制系统的硬件集成与软件设计。考虑到控制程序的可扩展性与可移植性需求,采用共享内存通信方式设计模块化控制软件。试验表明,该机器人可在远程遥控状态下实现行走及越障功能,验证了控制系统的可靠性与稳定性,达到设计要求。     

基于窄带物联网的巡检机器人目标跟踪控制系统设计

目前研究的巡检机器人目标跟踪控制系统存在目标位置误差大、目标跟踪控制效果差、采集的图像模糊等问题。为了解决上述问题,基于窄带物联网的巡检机器人目标跟踪控制系统。系统硬件以窄带物联网无线通信模块为基础,优化设计了Zigbee压力采集器、中央控制器和STM32主控电路,实现了巡检机器人目标跟踪控制系统的数据信息集中调度。Zigbee压力采集器主要由XBee控制模块、压力传感器两部分组成,同时设计了供电电路、晶振电路和复位电路,通过系统硬件,实现了对巡检机器人的跟踪、控制和监控,为系统提供了硬件支持。软件方面给出了系统的控制流程,设计了Zigee组网程序、嵌入式视觉处理程序和巡检机器人自主导航程序。实验结果表明,基于窄带物联网的巡检机器人目标跟踪控制系统目标位置误差较小、控制效果较好、图像更加清晰。     

超高压输电线路巡检机器人越障控制问题的研究

给出了一种超高压输电线路巡检机器人控制系统的设计与实现方法．根据机器人的作业任务,提出了基于传感器信息、约束信息以及动作反馈信息作为输入,产生式系统作为动作输出的越障控制方式．仿真结果表明此方法对于机器人的越障过程是有效的．     

煤矿探测与救援机器人分布式控制系统设计

由北京理工大学研制的煤矿探测与救援机器人采用多台可编程控制器(PLC)的分布式控制系统的形式,对该控制系统的硬件实现和软件控制流程进行了介绍,并重点介绍了控制系统的数据交换和共享,并最后实现了机器人的两种工作模式:人工遥控模式和自主运动控制模式。经实践证明,此控制系统设计是合理、可靠和实用的。     

北极冰下自主/遥控机器人控制系统设计

针对北极冰下海洋参数监测的使命要求,对水下机器人控制系统进行了相关研究,将PC104总线与CAN总线应用到自主/遥控水下机器人中,实现了一种分布式与集中式相结合的水下机器人控制系统体系结构.从硬件和软件两个方面描述北极自主/遥控水下机器人控制系统的实施方案.     

配电房轨道式自动巡检机器人控制系统设计与实现

针对配电房等室内电力系统供电设备自动巡检的需求,提出了以微控制器MSP430F5438为核心的自动巡检机器人控制系统总体设计方案;采用模块化方法完成了控制系统硬件电路设计,主要包括:主控模块、电源模块、运动控制模块、通信模块和数据采集模块;介绍了控制系统软件的总体流程,完成了控制系统嵌入式软件及其上位机监控软件的设计;实验结果表明,所设计的控制系统应用于巡检机器人可以实现对配电房供电设备的自动巡检,从而验证了控制系统的有效性与合理性,具有显著的推广应用价值。     

基于知识库的输电线路巡检机器人的越障控制

介绍了一种高压输电线路巡检机器人越障控制方法。高压输电线路巡检机器人在翻越同一障碍物时重复同一套操作动作,可通过在实验室进行越障过程示教,离线学习形成操作知识库,实际越障时自动调用操作知识库并与在线信号相结合完成自主越障动作。讨论了知识库的一般组成和功能,并分析了激光传感器定位的方法以实现巡检机器人滚动轮与导线“对中”。经过实验验证,该控制方法具有稳定可靠,硬件结构简便,能可靠地完成控制任务,实现自主越障。     

Navigating Multiple Mobile Robots without Direct Communication

A bulk of research is being done for the autonomous navigation of a mobile robot. Multirobot motion planning techniques often assume a direct communication among the robots, which makes them practically unusable. Similarly, approaches assuming the robot moving amid humans assume cooperation of humans, which may not be the case if the human is replaced by a robot. In this paper, a deliberative planning at the higher level with a new cell decomposition technique is presented, along with a reactive planning technique at the finer level, which uses fuzzy logic. Coordination among the robots in the absence of direct communication and knowledge of other robot's intent is a complex research question, which is solved using a simple fuzzy‐based modeling. Experimental results show that the multiple robots maintain comfortable distances from the obstacles, navigate by near optimal paths, can easily escape previously unseen obstacles, and coordinate with each other to avoid collision as well as maintain a large separation. This work displays a simple and easy to interpret system for solving complex coordination problem in multirobotics.     

输电线路巡检机器人远程测控系统的研究与实现

开发了一种针对输电线路巡检机器人的新型远程测控系统.该系统通过与机器人本地控制器的实时通信和多线程技术实现机器人姿态监控和机器视觉检测.通过对机器人控制器发送命令和接收数据实现对机器人的人工遥操作;采用Matlab Script节点实现Matlab与LabVIEW混合编程,完成机器人质心和多关节姿态的计算,采用共享数据库方式调用基于Visual Prolog开发的机器人行为规划应用程序,实现机器人姿态自主控制.实验结果表明,该远程测控系统运行可靠,实时性强,具有良好的人机交互能力.     

Research into the application of AI robots in community home leisure interaction

This paper focuses on comprehensive application of artificial intelligence robots for community-based leisure interaction. We propose a multiple-layer perceptron network to design and implement the intelligent interactive home robot system, which includes establishment of an environment map, autonomous navigation, obstacle-avoidance control and human–machine interaction, to complete the positioning and perception functions required by the robot in the home environment. With this system, community residents use an interactive interface to manipulate robots remotely and create an environmental map. In order for the robot to adapt in this changing environment, the robot needs to have a completely autonomous navigation and obstacle-avoidance-control system. In this study, a long-distance obstacle-avoidance fuzzy system and a short-distance anti-fall obstacle-avoidance fuzzy system were used to enable the robot to accommodate unforeseen changes. This technology proved itself capable of navigating a home environment, ensuring that the robot could instantaneously dodge nearby obstacles and correcting the robot’s path of travel. At the same time, it could prevent the robot from falling off a high dropping point and thereby effectively control the robot’s movement trajectory. After combining the above-mentioned multi-sensor and image recognition functions, the intelligent interactive home robot showed that it clearly has the ability to integrate vision, perception and interaction, and we were able to verify that the robot has the necessary adaptability in changing environments and that the design of such interactive robots can be an asset in the home.

     

Autonomous navigation system using Event Driven-Fuzzy Cognitive Maps

This study developed an autonomous navigation system using Fuzzy Cognitive Maps (FCM). Fuzzy Cognitive Map is a tool that can model qualitative knowledge in a structured way through concepts and causal relationships. Its mathematical representation is based on graph theory. A new variant of FCM, named Event Driven-Fuzzy Cognitive Maps (ED-FCM), is proposed to model decision tasks and/or make inferences in autonomous navigation. The FCM??s arcs are updated from the occurrence of special events as dynamic obstacle detection. As a result, the developed model is able to represent the robot??s dynamic behavior in presence of environment changes. This model skill is achieved by adapting the FCM relationships among concepts. A reinforcement learning algorithm is also used to finely adjust the robot behavior. Some simulation results are discussed highlighting the ability of the autonomous robot to navigate among obstacles (navigation at unknown environment). A fuzzy based navigation system is used as a reference to evaluate the proposed autonomous navigation system performance.     

Development of a steerable,wheel-type,in-pipe robot and its path planning

This paper presents the development of a steerable, wheel-type, in-pipe robot and its path planning. First, we show the construction of the robot and demonstrate its locomotion inside a pipe. The robot is composed of two wheel frames and an extendable arm which links the centers of the two wheel frames. The arm presses the frames against the interior wall of a pipe to support the robot. The wheels of the frames are steered independently so that the robot can turn within a small radius of rotation. Experimental results of the locomotion show that the steering control is effective for autonomous navigation to avoid obstacles and to enter the joint spaces of L- and T-shaped pipes. Generally, autonomous navigation is difficult for wheel-type robots because the steering angles required to travel along a desired path are not easily determined. In our previous work, the relationship between the steering angles and locomotion trajectories in a pipe has already been analyzed. Using this analysis, we propose the path planning in pipes.     

Developing a mobile robot for transport applications in the hospital domain

We have been developing MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens, and other materials. This study proposes an obstacle collision avoidance technique for the wagon truck pulling robot which uses an omni-directional wheel system as a safe movement technology. Moreover, this paper proposes a method to reach the goal along a global path computed by path planning without colliding with static and dynamic obstacles. The method is based on virtual potential fields. Several modules with different prediction times are processed in parallel to change the robot response according to its relative velocity and position with respect to the obstacles. The virtual force calculated from each potential field is used to generate the velocity command. Some experiments were carried out to verify the performance of the proposed method. From the experimental results in a hospital it was confirmed that the robot can move along its global path, and reach the goal without colliding with static and moving obstacles.     

Intelligent environment recognition and prediction for NDT inspection through autonomous climbing robot

This paper presents a novel approach to environment mapping prediction with focus on autonomous climbing robot to NDT (Non-Destructive Technique) inspection. In industrial installations, the inspection of non-planar surfaces requires that NDT probes passe on whole surface, while the autonomous robot navigates over an unknown environment based only on its perception abilities. However, the path planning of inspection is not a trivial task specially when there is no precise information about environment. In this work, a special kind of climbing robot is used to inspect large metallic surfaces such as spherical pressure vessels used to store Liquified Petroleum Gas (LPG). The robot has adherence skills that allow it to safely navigate through the internal and external surface of the vessel. As a result, robot mobility suffers from hard magnetic adhesion constraints. A new approach is proposed to environment detailed prediction, including specific characteristic (like weld beads and plates) of inspected surface. The goal is the automatic extraction of some environment characteristics to predict the storage tank dimensions and robot localization, based on a group of 3D perception sources (laser rangefinder, light detection and ranging and depth camera) mounted over a rolling platform to improve its reach. The environment prediction is carried out after the robot visually detects two or more weld beads corners. A multi-measuring environment is firstly build by Fuzzy data fusion of the different perception measurements allowing to estimate plates and weld beads based on design and safety standards. Virtual and real experiments are carried out to illustrate proposed method performance.     

一种输电线路巡检机器人越障规划方法

针对输电线路巡检机器人的局部自主与远程控制方式,提出了一种基于有限状态机的越障规划方法.将巡检机器人的越障运动过程分解成若干离散化的关键状态,建立了运动规划的有限状态机模型.采用一种基于模糊方法的产生式系统用于推理越障模式,并产生运动序列.仿真与现场实验验证了越障规划方法的正确性和有效性,该方法可应用于输电线路巡检机器人运动控制.     

Autonomous multi-mobile robot system: simulation and implementation using fuzzy logic

In an autonomous multi-mobile robot environment, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the potential value from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.