Slip recognition and fuzzy control of belt conveyor inspection robot

JiDai Wang; YongChao Li; AiQin Sun; YunXia Wang; XiaoLuan Lv; XinDong Wang

doi:10.1117/12.2625349

12 December 2021 Slip recognition and fuzzy control of belt conveyor inspection robot

JiDai Wang, YongChao Li, AiQin Sun, YunXia Wang, XiaoLuan Lv, XinDong Wang

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271A (2021) https://doi.org/10.1117/12.2625349
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

During the climbing process of the coal mine inspection robot, the driving wheels of the robot are very easy to slip, it is very dangerous. To address this issue, an anti-skid control method based on the fuzzy theory is proposed in this paper. First, the force analysis of the driving wheel in the climbing state is carried out, and then, the driving wheel skid identification method is obtained. On this basis, a skid controller based on the fuzzy control theory is designed to reduce the robot’s slippage. The results of simulation and tests indicate that: the rule setting of the fuzzy controller is reasonable; the controller has strong robustness; the inspection robot based on fuzzy control can effectively restrain the sliding phenomenon of driving wheel and meet the requirements of mine inspection when the robot climbs the slope.

Citation Download Citation

JiDai Wang, YongChao Li, AiQin Sun, YunXia Wang, XiaoLuan Lv, and XinDong Wang "Slip recognition and fuzzy control of belt conveyor inspection robot", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271A (12 December 2021); https://doi.org/10.1117/12.2625349

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