To improve the efficiency and accuracy of path planning for fan inspection tasks in thermal power plants,this paper proposes an intelligent inspection robot path planning scheme based on an improved A^(*)algorithm.The...To improve the efficiency and accuracy of path planning for fan inspection tasks in thermal power plants,this paper proposes an intelligent inspection robot path planning scheme based on an improved A^(*)algorithm.The inspection robot utilizes multiple sensors to monitor key parameters of the fans,such as vibration,noise,and bearing temperature,and upload the data to the monitoring center.The robot’s inspection path employs the improved A^(*)algorithm,incorporating obstacle penalty terms,path reconstruction,and smoothing optimization techniques,thereby achieving optimal path planning for the inspection robot in complex environments.Simulation results demonstrate that the improved A^(*)algorithm significantly outperforms the traditional A^(*)algorithm in terms of total path distance,smoothness,and detour rate,effectively improving the execution efficiency of inspection tasks.展开更多
Wire rope inspection robot is an important tool for wire rope condition monitoring and maintenance,which can accurately locate and judge the damage of wire rope.In addition,the wire rope inspection robot can also be u...Wire rope inspection robot is an important tool for wire rope condition monitoring and maintenance,which can accurately locate and judge the damage of wire rope.In addition,the wire rope inspection robot can also be used for cable inspection.First,the crawling structure and crawling mode of the wire rope inspection robot are reviewed,and the characteristics and existing problems of each crawling mode are analyzed separately.Next,the drive mode of the wire rope inspection robot is discussed,the types of commonly used motors are introduced,and the advantages and disadvantages of drive motors and the control modes are compared.Then,the method and principle of the non-destructive detection of the wire rope inspection robot are expounded,and the commonly used detection methods and existing deficiencies are compared.After that,the types of communication modes are compared and analyzed,and the types of wireless communication modes are also introduced.Finally,the current difficult problems of the wire rope inspection robot are summarized,and the future development trend of the wire rope inspection robot is prospected.展开更多
To address the limitations of traditional manual highway guardrail inspections,this paper proposes an obstacle-crossing and collaborative tracking control method for a rail-mounted robot.Static and dynamic analyses ve...To address the limitations of traditional manual highway guardrail inspections,this paper proposes an obstacle-crossing and collaborative tracking control method for a rail-mounted robot.Static and dynamic analyses verify the robot's structural reliability and driving feasibility.Based on the leader-follower model,a triangular collaborative tracking model is developed,and a linear time-varying model predictive controll(LTV-MPC)is designed to achieve smooth and precise collaborative control.For obstacle crossing,an acceleration reference model and a gradient-based adaptive law are proposed,leading to a model reference adaptive controll(MRAC)that effectively suppresses vibrations and ensures synchronous control.Simulation results show that the MPC achieves a 0.415%overshoot and a 0.344 m steady-state accuracy,while also reducing the intensity of speed fluctuations by 35%.The MRAC ensures smooth obstacle-crossing speeds and adaptive strategy switching,validating the reliability and practicality of the rail-mounted robot under complex working conditions.展开更多
In a high-voltage environment of 40kV where no one is working,inspection robots must have an automatic charging system to ensure continuous operation.Currently,inspection robots operating in such high-voltage environm...In a high-voltage environment of 40kV where no one is working,inspection robots must have an automatic charging system to ensure continuous operation.Currently,inspection robots operating in such high-voltage environments mostly use side-by-side alignment for docking.Given the existence of magnetic track navigation errors in robots,this docking method often fails to achieve successful docking.In response to this situation,this paper designs a new docking module.展开更多
In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s...The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.展开更多
A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- ...A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.展开更多
In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external...In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.展开更多
Structural health monitoring is essential to ensure the safe operation of infrastructure such as construction machinery andbridges, which can effectively prevent accidents, extend service life, and reduce maintenance ...Structural health monitoring is essential to ensure the safe operation of infrastructure such as construction machinery andbridges, which can effectively prevent accidents, extend service life, and reduce maintenance costs. However, traditional inspectionmethods mainly rely on manual visual inspection, which has limitations such as low efficiency, high cost, and highrisk, making it difficult to meet the demand for efficient and accurate inspection in modern engineering. As an emergingtechnology, intelligent inspection robots provide a new solution for structural health monitoring by virtue of their autonomy,flexibility, and efficiency. This paper systematically reviews the technical characteristics of intelligent detection robots instructural health monitoring and their applications in different scenarios, with a focus on analyzing their performance in actualdetection. At the same time, it summarizes their application progress in sensor technology, fault data processing and analysismethods, and fault localization technology, highlighting their ability to achieve efficient data acquisition, accurate defectidentification, and real-time health assessment in complex environments. In addition, the main technical challenges faced bycurrent inspection robots are summarized, such as stability in complex environments, data processing capability, and autonomousdecision-making level. Finally, the future development direction of inspection robots is outlooked, which mainly focuseson the deep integration of artificial intelligence and machine learning, the optimization of multi-robot collaborative technology,and the improvement of lightweight and energy efficiency. Through this review, we aim to provide theoretical support andpractical reference for further research and application of intelligent inspection robots in the field of structural healthmonitoring.展开更多
To address complex work conditions incredibly challenging to the stability of power line inspection robots,we design a walking mechanism and propose a variable universe fuzzy control(VUFC)method based on multi‐work c...To address complex work conditions incredibly challenging to the stability of power line inspection robots,we design a walking mechanism and propose a variable universe fuzzy control(VUFC)method based on multi‐work conditions for flying‐walking power line inspection robots(FPLIRs).The contributions of this paper are as follows:(1)A flexible pressing component is designed to improve the adaptability of the FPLIR to the ground line slope.(2)The influence of multi‐work conditions on the FPLIR's walking stability is quantified using three condition parameters(i.e.,slope,slipping degree and swing angle),and their measurement methods are proposed.(3)The VUFC method based on the condition parameters is proposed to improve the walking stability of the FPLIR.Finally,the effect of the VUFC method on walking stability of the FPLIR is teste.The experimental results show that the maximum climbing angle of the FPLIR reaches 29.1°.Compared with the constant pressing force of 30 N,the average value of slipping degree is 0.93°,increasing by 35%.The maximum and average values of robot's swing angle are reduced by 46%and 54%,respectively.By comparing with fuzzy control,the VUFC can provide a more reasonable pressing force while maintaining the walking stability of the FPLIR.The proposed walking mechanism and the VUFC method significantly improve the stability of the FPLIR,providing a reference for structural designs and stability controls of inspection robots.展开更多
Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to...Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.展开更多
In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by ...In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler （inspection robot） for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.展开更多
The national energy supplier （Eskom in South Africa） supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and e...The national energy supplier （Eskom in South Africa） supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and expensive. In this paper, the authors present the development of a prototype monitoring system for power line inspection in South Africa. The developed prototype monitoring system collects data （information） from the overhead power lines, is remotely accessible and fits into a power line robot. The prototype monitoring system makes use ofa PandaBoard （SBC） with GPS receiver and 5 MP camera to collect data. Hardware fatigue is the biggest problem faced on the overhead power lines and is captured by means of the 5 MP camera and is displayed on a website hosted by the PandaBoard via Wi-Fi. The monitoring system has low power consumption, is light weight, compact and easily collects data. The data obtained from the prototype monitoring system was satisfactory and provides an improved solution for monitoring power lines for Eskom in South Africa.展开更多
Previous studies have primarily focused on converting point clouds(PC)into a dense mech of 3Dfinite element models,neglecting the conversion of PCs into as-built wireframe models with two-node elements for line elemen...Previous studies have primarily focused on converting point clouds(PC)into a dense mech of 3Dfinite element models,neglecting the conversion of PCs into as-built wireframe models with two-node elements for line elements such as beams and columns.This study aims to demonstrate the feasibility of this direct conversion,utilizing building framing patterns to create wireframe models.The study also integrates the OpenSeesPy package for modal analysis and double integration for bending estimation to demonstrate the application of the presented method in robotic inspection.Results indicate the successful conversion of a 4-story mass timber building PC to a 3D structural model with an average error of 7.5%under simplified assumptions.Further,two complex mass timber shed PCs were tested,resulting in detailed wireframe models.According to resource monitoring,our method can process∼593points/second,mostly affected by the number of neighbors used in thefirst stage of sparse points removal.Lastly,our method detects beams,columns,ceilings(floors),and walls with their directions.This research can facilitate various structural modeling directly based on PC data for digital twinning and autonomous robotic inspection.展开更多
文摘To improve the efficiency and accuracy of path planning for fan inspection tasks in thermal power plants,this paper proposes an intelligent inspection robot path planning scheme based on an improved A^(*)algorithm.The inspection robot utilizes multiple sensors to monitor key parameters of the fans,such as vibration,noise,and bearing temperature,and upload the data to the monitoring center.The robot’s inspection path employs the improved A^(*)algorithm,incorporating obstacle penalty terms,path reconstruction,and smoothing optimization techniques,thereby achieving optimal path planning for the inspection robot in complex environments.Simulation results demonstrate that the improved A^(*)algorithm significantly outperforms the traditional A^(*)algorithm in terms of total path distance,smoothness,and detour rate,effectively improving the execution efficiency of inspection tasks.
基金the National Natural Science Foundation of China(No.12072362)the Priority Academic Program Development of Jiangsu Higher Education Institutions。
文摘Wire rope inspection robot is an important tool for wire rope condition monitoring and maintenance,which can accurately locate and judge the damage of wire rope.In addition,the wire rope inspection robot can also be used for cable inspection.First,the crawling structure and crawling mode of the wire rope inspection robot are reviewed,and the characteristics and existing problems of each crawling mode are analyzed separately.Next,the drive mode of the wire rope inspection robot is discussed,the types of commonly used motors are introduced,and the advantages and disadvantages of drive motors and the control modes are compared.Then,the method and principle of the non-destructive detection of the wire rope inspection robot are expounded,and the commonly used detection methods and existing deficiencies are compared.After that,the types of communication modes are compared and analyzed,and the types of wireless communication modes are also introduced.Finally,the current difficult problems of the wire rope inspection robot are summarized,and the future development trend of the wire rope inspection robot is prospected.
基金Supported by the Shaanxi Provincial Key Research and Development Program(2024GX-YBXM-288)the Science and Technology Project of Shaanxi Provincial Transportation Department(21-20K)the National Natural Science Foundation of China(52172324)。
文摘To address the limitations of traditional manual highway guardrail inspections,this paper proposes an obstacle-crossing and collaborative tracking control method for a rail-mounted robot.Static and dynamic analyses verify the robot's structural reliability and driving feasibility.Based on the leader-follower model,a triangular collaborative tracking model is developed,and a linear time-varying model predictive controll(LTV-MPC)is designed to achieve smooth and precise collaborative control.For obstacle crossing,an acceleration reference model and a gradient-based adaptive law are proposed,leading to a model reference adaptive controll(MRAC)that effectively suppresses vibrations and ensures synchronous control.Simulation results show that the MPC achieves a 0.415%overshoot and a 0.344 m steady-state accuracy,while also reducing the intensity of speed fluctuations by 35%.The MRAC ensures smooth obstacle-crossing speeds and adaptive strategy switching,validating the reliability and practicality of the rail-mounted robot under complex working conditions.
文摘In a high-voltage environment of 40kV where no one is working,inspection robots must have an automatic charging system to ensure continuous operation.Currently,inspection robots operating in such high-voltage environments mostly use side-by-side alignment for docking.Given the existence of magnetic track navigation errors in robots,this docking method often fails to achieve successful docking.In response to this situation,this paper designs a new docking module.
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
基金Project(50575165) supported by the National Natural Science Foundation of ChinaProjects(2006AA04Z202, 2005AA2006-1) supported by the National High-Tech Research and Development Program of China+1 种基金Project(20813) supported by the Natural Science Foundation of Hubei Province, ChinaProject(20045006071-28) supported by the Youth Chenguang Project of Science and Technology of Wuhan City, China
文摘The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.
文摘A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.
基金Supported by the National High Technology Research and Development Programene of China （No. 2006AA04Z234） and China Postdoctoral Science Foundation （No. 2.009（061051 ）.
文摘In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.
基金supported by the National Key Research and Development Program of China(Grant 2023YFB3408502)National Natural Science Foundation of China(Grants 52475114,52175107,52275119)+1 种基金“Unveiling and Leading”Special Science and Technology Research Project of Liaoning Province(Grants 2022JH1/10400028,2023JH1/10400043)“Unveiling and Leading”Industrial Common Technology Project of Shenyang(Grant 22–316-1–17).
文摘Structural health monitoring is essential to ensure the safe operation of infrastructure such as construction machinery andbridges, which can effectively prevent accidents, extend service life, and reduce maintenance costs. However, traditional inspectionmethods mainly rely on manual visual inspection, which has limitations such as low efficiency, high cost, and highrisk, making it difficult to meet the demand for efficient and accurate inspection in modern engineering. As an emergingtechnology, intelligent inspection robots provide a new solution for structural health monitoring by virtue of their autonomy,flexibility, and efficiency. This paper systematically reviews the technical characteristics of intelligent detection robots instructural health monitoring and their applications in different scenarios, with a focus on analyzing their performance in actualdetection. At the same time, it summarizes their application progress in sensor technology, fault data processing and analysismethods, and fault localization technology, highlighting their ability to achieve efficient data acquisition, accurate defectidentification, and real-time health assessment in complex environments. In addition, the main technical challenges faced bycurrent inspection robots are summarized, such as stability in complex environments, data processing capability, and autonomousdecision-making level. Finally, the future development direction of inspection robots is outlooked, which mainly focuseson the deep integration of artificial intelligence and machine learning, the optimization of multi-robot collaborative technology,and the improvement of lightweight and energy efficiency. Through this review, we aim to provide theoretical support andpractical reference for further research and application of intelligent inspection robots in the field of structural healthmonitoring.
基金National Natural Science Foundation of China,Grant/Award Numbers:62063030,62163032Financial Science and Technology Program of the XPCC,Grant/Award Numbers:2021DB003,2022CB002‐07,2022CB011High‐level Talent Project of Shihezi University,Grant/Award Numbers:RCZK2018C31,RCZK2018C32。
文摘To address complex work conditions incredibly challenging to the stability of power line inspection robots,we design a walking mechanism and propose a variable universe fuzzy control(VUFC)method based on multi‐work conditions for flying‐walking power line inspection robots(FPLIRs).The contributions of this paper are as follows:(1)A flexible pressing component is designed to improve the adaptability of the FPLIR to the ground line slope.(2)The influence of multi‐work conditions on the FPLIR's walking stability is quantified using three condition parameters(i.e.,slope,slipping degree and swing angle),and their measurement methods are proposed.(3)The VUFC method based on the condition parameters is proposed to improve the walking stability of the FPLIR.Finally,the effect of the VUFC method on walking stability of the FPLIR is teste.The experimental results show that the maximum climbing angle of the FPLIR reaches 29.1°.Compared with the constant pressing force of 30 N,the average value of slipping degree is 0.93°,increasing by 35%.The maximum and average values of robot's swing angle are reduced by 46%and 54%,respectively.By comparing with fuzzy control,the VUFC can provide a more reasonable pressing force while maintaining the walking stability of the FPLIR.The proposed walking mechanism and the VUFC method significantly improve the stability of the FPLIR,providing a reference for structural designs and stability controls of inspection robots.
基金the National Key R&D Plan of China(No.2021YFE0105000)the National Natural Science Foundation of China(No.52074213)+1 种基金the Shaanxi Key R&D Plan Project(No.2021SF-472)the Yulin Science and Technology Plan Project(No.CXY-2020-036).
文摘Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.
文摘In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler （inspection robot） for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.
文摘The national energy supplier （Eskom in South Africa） supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and expensive. In this paper, the authors present the development of a prototype monitoring system for power line inspection in South Africa. The developed prototype monitoring system collects data （information） from the overhead power lines, is remotely accessible and fits into a power line robot. The prototype monitoring system makes use ofa PandaBoard （SBC） with GPS receiver and 5 MP camera to collect data. Hardware fatigue is the biggest problem faced on the overhead power lines and is captured by means of the 5 MP camera and is displayed on a website hosted by the PandaBoard via Wi-Fi. The monitoring system has low power consumption, is light weight, compact and easily collects data. The data obtained from the prototype monitoring system was satisfactory and provides an improved solution for monitoring power lines for Eskom in South Africa.
文摘Previous studies have primarily focused on converting point clouds(PC)into a dense mech of 3Dfinite element models,neglecting the conversion of PCs into as-built wireframe models with two-node elements for line elements such as beams and columns.This study aims to demonstrate the feasibility of this direct conversion,utilizing building framing patterns to create wireframe models.The study also integrates the OpenSeesPy package for modal analysis and double integration for bending estimation to demonstrate the application of the presented method in robotic inspection.Results indicate the successful conversion of a 4-story mass timber building PC to a 3D structural model with an average error of 7.5%under simplified assumptions.Further,two complex mass timber shed PCs were tested,resulting in detailed wireframe models.According to resource monitoring,our method can process∼593points/second,mostly affected by the number of neighbors used in thefirst stage of sparse points removal.Lastly,our method detects beams,columns,ceilings(floors),and walls with their directions.This research can facilitate various structural modeling directly based on PC data for digital twinning and autonomous robotic inspection.
