【摘要】 地下管廊环境复杂,人工巡检不仅工作量大而且作业环境艰苦。为实现管廊运维的信息化、智能化,本文针对管廊巡检机器人的应用现场需求,设计了性能优秀、可扩展性高的机器人控制系统。系统的硬件由中央处理模块、网络通讯模块、信息感知模块、执行模块、电源管理模块组成,系统软件由信息感知模块、运动规划控制模块和网络通信模块组成。巡检机器人在实验平台上进行了性能测试,实验表明,该控制系统稳定可靠,能适应地下管廊的工作环境,能为城市管廊的安全运作提供技术保障。更多还原

【Abstract】 The environment of the underground pipe corridor is complex, and the manual inspection is not only a heavy workload but also a hard working environment. In order to achieve information and intelligence in operation and maintenance of pipeline corridors, this paper designs a robot control system with excellent performance and high scalability for the on-site application of pipe corridor inspection robot. The hardware of the system is composed of the central processing module,the network communication module, the information perception module, the execution module and the power management module. The system software is composed of the information perception module, the motion planning control module and the network communication module. The performance of the inspection robot is tested on the experimental platform.The experiment shows that the control system is stable and reliable, and it can adapt to the working environment of the underground pipe gallery, and it can provide technical support for the safe operation of the urban pipe gallery.更多还原