The invention discloses a control method for a tunnel inspection robot, and the method comprises the steps: carrying out the multiple times of traffic flow data sampling in a current sampling period through an inspection robot, and forming a traffic road section average speed sample set, a traffic road section occupancy sample set, an inter-lane average speed difference sample set, and an inter-lane occupancy difference sample set; according to the sampling time sequence corresponding to the sample extreme value in each sample set, respectively obtaining a road section average speed influence component, a road section occupancy influence component, a lane speed difference influence component and a lane occupancy influence component in the current sampling period; and the running direction and the running speed of the inspection robot in the next sampling period can be determined. According to the control method, the running speed and the running direction of the inspection robot in the next sampling period can be determined at the same time, and self-service tracking and continuous monitoring of road sections with potential safety hazards or road sections with traffic accidents in the tunnel are achieved.

    本发明公开一种隧道巡检机器人的控制方法,包括巡检机器人在当前采样周期内进行多次交通流数据采样,形成交通路段平均速度样本集、交通路段占有率样本集、车道之间平均速度差异样本集和车道之间占有率差异样本集;根据各样本集中样本极值对应的采样时序,分别获取当前采样周期内的路段均速影响分量、路段占有率影响分量、车道速度差异影响分量、车道占有率影响分量;进而可以确定巡检机器人下一采样周期的运行方向及运行速度。该控制方法可以同时确定下一采样周期巡检机器人的运行速度和运行方向,实现对隧道内存在安全隐患路段或发生交通事故路段的自助追踪和持续性监控。


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    Title :

    Control method of tunnel inspection robot


    Additional title:

    一种隧道巡检机器人的控制方法


    Contributors:
    LI DONGBIAO (author) / YANG PENGYU (author) / LI LINQING (author) / WANG HAO (author) / DONG CHANGYIN (author) / LI ZHAOLIANG (author)

    Publication date :

    2023-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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