为控制高压电缆隧道巡检机器人路径规划与实际路径点位误差,研究高压电缆隧道巡检机器人路径规划与应用.引进椭圆的一般曲线方程,建立一个隧道巡检椭圆方程,用于初步描述隧道的几何形状和特征,为后续的机器人路径规划提供基础.借助ASUS Xtion PRO Live相机对高压电缆隧道进行拍摄和录像,将图像录入计算机.结合隧道的几何数据和录入的图像,在计算机中对高压电缆隧道的障碍区域进行建模.使用模糊控制和最优路线规划技术,对机器人的运动进行控制,确保机器人能够在高压电缆隧道内有效巡检,保证隧道内电缆的安全运行,完成规划设计.实例应用表明:该设计方法在高压电缆隧道巡检机器人作业中的应用效果良好,能够按照规范进行机器人路径的规划,同时提高机器人在隧道中的环切巡检作业精度,保障隧道内高压电缆隧道运行的安全性.
Path Planning and Application of High-voltage Cable Tunnel Inspection Robot
To control the path planning and actual path point error of the high-voltage cable tunnel inspection robot,the path planning and application of the high-voltage cable tunnel inspection robot are studied.Introduce the general curve e-quation of the ellipse,establish the tunnel inspection ellipse equation,and preliminarily grasp the operation path of the robot.Assist the ASUS Xtion PRO Live camera in shooting and recording high-voltage cable tunnels,input the images into the computer,and model the obstacle area of the high-voltage cable tunnel inspection robot.Complete the planning and design through fuzzy control and optimal route planning in robot motion.The application of the example shows that this de-sign method has a good application effect in the inspection robot operation of high-voltage cable tunnels,which can plan the robot path according to the specifications,improve the accuracy of the robot's circumcision inspection operation in the tunnel,and ensure the safety of the operation of high-voltage cable tunnels in the tunnel.
high voltagepath planning and applicationinspection robotcable tunnel
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