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    基于編碼器與NFC修正融合的帶式輸送機軌道式巡檢機器人定位方法

    楊春雨 胡建兵 王國慶 馬磊 劉曉敏

    楊春雨, 胡建兵, 王國慶, 馬磊, 劉曉敏. 基于編碼器與NFC修正融合的帶式輸送機軌道式巡檢機器人定位方法[J]. 工程科學學報, 2023, 45(8): 1417-1424. doi: 10.13374/j.issn2095-9389.2022.06.12.003
    引用本文: 楊春雨, 胡建兵, 王國慶, 馬磊, 劉曉敏. 基于編碼器與NFC修正融合的帶式輸送機軌道式巡檢機器人定位方法[J]. 工程科學學報, 2023, 45(8): 1417-1424. doi: 10.13374/j.issn2095-9389.2022.06.12.003
    YANG Chun-yu, HU Jian-bing, WANG Guo-qing, MA Lei, LIU Xiao-min. Positioning method of an orbital inspection robot for belt conveyors based on encoder and NFC correction fusion[J]. Chinese Journal of Engineering, 2023, 45(8): 1417-1424. doi: 10.13374/j.issn2095-9389.2022.06.12.003
    Citation: YANG Chun-yu, HU Jian-bing, WANG Guo-qing, MA Lei, LIU Xiao-min. Positioning method of an orbital inspection robot for belt conveyors based on encoder and NFC correction fusion[J]. Chinese Journal of Engineering, 2023, 45(8): 1417-1424. doi: 10.13374/j.issn2095-9389.2022.06.12.003

    基于編碼器與NFC修正融合的帶式輸送機軌道式巡檢機器人定位方法

    doi: 10.13374/j.issn2095-9389.2022.06.12.003
    基金項目: 國家重點研發計劃資助項目(2020YFB1314100);國家自然科學基金資助項目(62003348,62073327,61873272,62203448);江蘇省自然科學基金資助項目(BK20200633,BK20200631)
    詳細信息
      通訊作者:

      E-mail: guoqingwang@cumt.edu.cn

    • 中圖分類號: TG142.71

    Positioning method of an orbital inspection robot for belt conveyors based on encoder and NFC correction fusion

    More Information
    • 摘要: 軌道式巡檢機器人的高精度定位技術是帶式輸送機智能化巡檢的重要研究方向之一,而礦用帶式輸送機距離超長,工作環境復雜,嚴重影響巡檢機器人的定位精度。針對目前的軌道式巡檢機器人定位技術在礦用帶式輸送機巡檢領域存在的問題,提出了基于編碼器和NFC雙傳感器修正融合的高精度定位方法。分析帶式輸送機軌道式巡檢機器人軌道與環境特性對編碼器系數的影響,提出軌道分段原則。利用機器人搭載的編碼器數據反饋特點,構建編碼器遞推定位方法。通過機器人運行的歷史數據,對編碼器系數進行分段分方向修正,并提出基于遞推最小二乘的編碼器系數修正方法,以提高編碼器對軌道環境的適應性。在此基礎上,根據機器人所在軌道分段的位置不同,在段端基于卡爾曼濾波算法實現編碼器和NFC數據融合,在段內利用分段分方向修正系數與編碼器信息進行遞推定位,實現軌道式巡檢機器人連續高精度的定位。針對所提方法搭建了實驗平臺并進行了實物測試,實驗結果表明,相較于編碼器定位、RFID定位和兩者融合定位三種傳統定位方式,基于編碼器和NFC的修正融合定位算法能夠有效提高軌道式巡檢機器人定位對軌道環境的適應性,同時提高軌道式巡檢機器人的定位精度。

       

    • 圖  1  帶式輸送機軌道式巡檢機器人系統

      Figure  1.  Inspection robot system of a belt conveyor

      圖  2  基于編碼器和NFC的機器人定位方案

      Figure  2.  Robot positioning scheme based on encoder and NFC

      圖  3  基于編碼器和NFC修正融合的定位算法流程

      Figure  3.  Localization algorithm of corrective fusion based on encoder and NFC

      圖  4  編碼器碼盤與軸相對位置示意圖

      Figure  4.  Relative position of the encoder disc and shaft

      圖  5  實驗系統

      Figure  5.  Experiment system

      圖  6  S型軌道分段示意圖

      Figure  6.  Schematic diagram of the S-shaped track segment

      圖  7  第1段軌道雙向修正系數

      Figure  7.  Bidirectional correction factor for the first track

      圖  8  第10次軌道各段的修正系數

      Figure  8.  Correction factors for each segment of the 10th orbit

      圖  9  四種算法第10次正向定位效果

      Figure  9.  Effect of the 10th forward positioning of the four algorithms

      圖  10  三種算法第10次正向誤差對比

      Figure  10.  Comparison of the 10th forward errors of the three algorithms

      表  1  定位傳感器參數

      Table  1.   Positioning sensor parameters

      SensorParameterValue
      EncoderFriction wheel diameter63.5 mm
      Resolution1024 (pulse per revolution)
      NFCCard read error10 mm
      下載: 導出CSV

      表  2  參數取值

      Table  2.   Parameter value

      VariableValueVariableValue
      ${\hat {\boldsymbol{k}}_j}\left( 0 \right) = k$0.1948${\boldsymbol{P}}\left( {0|0} \right)$1
      ${{\boldsymbol{P}}_j}\left( 0 \right)$$1.0 \times {10^{ - 7}}$R1
      $\hat x\left( {0|0} \right)$0.1948Q1
      下載: 導出CSV

      表  3  三種算法第10次正向精度

      Table  3.   Tenth forward accuracy of the three algorithms

      MethodRoot mean square error of positioning/ mm
      Encoder positioning72.7
      Fusion positioning22.1
      Correct fusion positioning16.6
      下載: 導出CSV
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    出版歷程
    • 收稿日期:  2022-06-12
    • 網絡出版日期:  2022-10-31
    • 刊出日期:  2023-08-25

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