Research on Automatic Sensing Method of Walking Path of Sewage Pipeline Dredging Robot
In order to more fully grasp the current working position of the pipeline dredging robot,the au-tomatic sensing method of the walking path of the sewage pipeline dredging robot is studied.Based on the structure and working principle of the pipeline dredging robot,this method uses the two-dimensional range-finding lidar to emit laser pulses to measure the current coordinate position information of the dredging robot,and after the coordinate information is transformed and mapped,the task of the dredging robot is obtained 3D terrain location information.The quartic curve method is used to calculate the quartic curve curvature value in the 3D terrain position information of the dredging robot operation,and the walking path of the silting robot is generated according to the continuously changing quartic curve curva-ture value.The experimental results show that the coordinate conversion percentage of this method is not affected by the degree of sewage pipeline blockage coverage,and the coordinate conversion percentage is always higher than 95%;the sensing of the dredging robot path consumes less time and has better real-time performance;the sensing of the dredging robot has a poor turning angle;the value is only 1°,and the accuracy of the walking path of the sensing dredging robot is relatively high.
NETL
NSTL
万方数据
