Title:
SLIPPAGE IDENTIFICATION AND INTELLIGENT ADAPTIVE CONTROL METHOD FOR PATROL ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/114509
Kind Code:
A1
Abstract:
Disclosed is a slippage identification and intelligent adaptive control method for a patrol robot. The patrol robot comprises a walking wheel and a pinch wheel. The walking wheel rolls on a wire to be inspected, and the pinch wheel is located below the wire and is used to press the wire on the walking wheel. The method comprises the following steps: (1) during an inspection process, the patrol robot detects in real time whether the walking wheel is slipping by means of comparing the angular velocities of the walking wheel and the pinch wheel, wherein during the detection of whether the walking wheel is slipping, the pinch wheel is in contact with the wire; (2) if no slippage is detected, then continuing to inspect, and if slippage is detected, then determining the degree of slippage according to a slippage model, wherein the degree of slippage is determined by means of the ratio between the angular velocities of the walking wheel and the pinch wheel; and (3) performing adaptive slippage control according to the degree of slippage. The control method of the present invention has the characteristics of relatively accurate control of the slippage state.
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Inventors:
LI FANG (CN)
JIA SHAOCHUN (CN)
WU JIXIAN (CN)
XUE JIAJU (CN)
FAN GUANGMIAN (CN)
ZHANG YANGYONG (CN)
JIA SHAOCHUN (CN)
WU JIXIAN (CN)
XUE JIAJU (CN)
FAN GUANGMIAN (CN)
ZHANG YANGYONG (CN)
Application Number:
PCT/CN2020/081423
Publication Date:
June 17, 2021
Filing Date:
March 26, 2020
Export Citation:
Assignee:
GUANGDONG KEYSTAR INTELLIGENCE ROBOT CO LTD (CN)
International Classes:
H02G1/02
Foreign References:
| CN103762521A | 2014-04-30 | |||
| CN107688349A | 2018-02-13 | |||
| CN205452944U | 2016-08-10 | |||
| CN207475072U | 2018-06-08 | |||
| CN209233319U | 2019-08-09 | |||
| JP2008253116A | 2008-10-16 |
Other References:
何缘 (HE, YUAN): "沿地线穿越越障的架空输电线路巡检机器人的研究 (Study on Inspection Robot Running through the Obstacles Along the Ground Wire for Overhead Transmission Lines)", 中国博士学位论文全文数据库 信息科技辑 (INFORMATION & TECHNOLOGY, CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE), no. 06, 15 June 2018 (2018-06-15), ISSN: 1674-022X
严宇 (YAN, YU): "高压输电线路巡线机器人越障与打滑控制 (Obstacle Crossing and Anti-slide Control of High Voltage Transmission Line Inspection Robot)", 中国博士学位论文全文数据库 信息科技辑 (INFORMATION & TECHNOLOGY, CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE), no. 06, 15 June 2017 (2017-06-15), ISSN: 1674-022X
严宇 (YAN, YU): "高压输电线路巡线机器人越障与打滑控制 (Obstacle Crossing and Anti-slide Control of High Voltage Transmission Line Inspection Robot)", 中国博士学位论文全文数据库 信息科技辑 (INFORMATION & TECHNOLOGY, CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE), no. 06, 15 June 2017 (2017-06-15), ISSN: 1674-022X
Attorney, Agent or Firm:
WAYNE INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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