摘要
在复杂地形的煤矿巡检中,针对多个机器人联合控制过程中能耗较高问题,对多机器的联合控制方法逐渐成为可能。提出基于工业物联网的煤矿巡检多机器人低能耗控制方法。通过工业物联网中的无线传感器采集多个机器人的状态数据,利用物联网特征开展机器人的联合动力学分析,确定不同机器人运动时的驱动力矩,并以此计算每个机器人作业时的相关能耗值。根据能耗值制定机器人最低能耗约束条件,利用递归模糊神经网络计算能耗值,可以提高能耗值非线性求解的速率。将计算的数值输入到构建的巡检能耗控制模型,完成巡检机器人的低能耗控制。测试实验结果表明:对比蚁群优化算法和强化学习方法,使用该方法控制巡检多机器人时,30 s内上坡、下坡移动速度均低于10 m/s。在200 unit范围时,移动步数可达39 mm,能耗控制效果较好。
In the inspection of coal mines with complex terrain,in view of the problem of high energy consumption in the process of multi robot joint control,the joint control method for multiple machines has gradually become possible.A low energy consumption control method based on industrial Internet of Things for coal mine inspection multi robot is proposed.The state data of multiple robots are collected through wireless sensors in the industrial Internet of Things,and the joint dynamic analysis of robots is carried out using the characteristics of the Internet of Things to determine the driving torque of different robots when moving,and then the relevant energy consumption value of each robot when working is calculated.According to the energy consumption value,the minimum energy consumption constraint condition of the robot is formulated,and the recursive fuzzy neural network is used to calculate the energy consumption value,which can improve the nonlinear solving speed of the energy consumption value.The test results show that,compared with the ant colony optimization algorithm and the reinforcement learning method,when using this method to control the patrol multi robot,the moving speed of the uphill and downhill is lower than 10 m/s within 30 seconds.In the range of 200 unit,the number of moving steps can reach 39 mm,and the energy consumption control effect is good.
作者
陈宁
CHEN Ning(Taiyuan Institute of China Coal Technology and Engineering Group,Shanxi Taiyuan 030006,China)
出处
《工业仪表与自动化装置》
2023年第2期51-56,共6页
Industrial Instrumentation & Automation
基金
山西省基础研究计划项目:晃动基座下掘进装备捷联惯导系统对准方法研究(202103021223461)。
关键词
工业物联网
数据采集
煤矿巡检机器人
低能耗控制方法
Industrial Internet of Things
data collection
coal mine inspection robot
low energy consumption control method
