Title:
METHOD FOR CONTROLLING MOVEMENT TRAJECTORY OF MOBILE DEVICE ON CIRCULAR PIPE
Document Type and Number:
WIPO Patent Application WO/2023/137939
Kind Code:
A1
Abstract:
The present invention relates to the technical field of movement trajectory control. Provided is a method for controlling a movement trajectory of a mobile device on a circular pipe. The method for controlling a movement trajectory of a mobile device on a circular pipe comprises the following steps: S1, making a mobile device travel at a preset deflection angle relative to the axis of a circular pipe, and establishing a theoretical ellipse equation of a movement trajectory of the mobile device on the circular pipe, wherein the major axis of the ellipse is on an X axis, and the minor axis thereof is on a Y axis; S2, selecting any two points in an actual travelling process of the mobile device, measuring an included angle between the X axis and the direction in which the mobile device moves between the two selected points, and calculating a theoretical arc length between the two selected points in combination with the theoretical ellipse equation; and S3, comparing the calculated theoretical arc length with an actual arc length by which the mobile device travels, and if there is a deviation between the actual arc length and the theoretical arc length, adjusting the deflection angle of the mobile device relative to the axis of the circular pipe. The method for controlling a movement trajectory of a mobile device on a circular pipe can effectively control a travelling trajectory of a mobile device.
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Inventors:
ZHANG ZEQING (CN)
XU ZHENFENG (CN)
LI TONG (CN)
ZHU DONGMING (CN)
LIANG HUI (CN)
GAO BO (CN)
YU BEIBEI (CN)
ZHAN MEIJIE (CN)
ZHAO GANG (CN)
MEI JIANFENG (CN)
XU ZHENFENG (CN)
LI TONG (CN)
ZHU DONGMING (CN)
LIANG HUI (CN)
GAO BO (CN)
YU BEIBEI (CN)
ZHAN MEIJIE (CN)
ZHAO GANG (CN)
MEI JIANFENG (CN)
Application Number:
PCT/CN2022/095282
Publication Date:
July 27, 2023
Filing Date:
May 26, 2022
Export Citation:
Assignee:
CHINA RAILWAY JIUJIANG BRIDGE ENG CO LTD (CN)
CHINA RAILWAY HI TECH IND CORP LTD (CN)
CHINA RAILWAY HI TECH IND CORP LTD (CN)
International Classes:
G01C21/06; G05B19/404; G05D1/02; G05D3/12
Foreign References:
| CN101149623A | 2008-03-26 | |||
| CN113334389A | 2021-09-03 | |||
| CN110609553A | 2019-12-24 | |||
| CN113253745A | 2021-08-13 | |||
| JPS59116011A | 1984-07-04 | |||
| EP2882544A1 | 2015-06-17 |
Other References:
XU, GAOQI: "Research on Non-Contact Measurement Key Technology of Geometric Quantity of Large Diameter Pipeline", ENGINEERING SCIENCE AND TECHNOLOGY I, CHINA MASTER’S THESES FULL-TEXT DATABASE (ELECTRONIC JOURNALS), no. 4, 15 April 2021 (2021-04-15), ISSN: 1674-0246
Attorney, Agent or Firm:
TALENT PATENT & TRADEMARK FIRM (CN)
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