【作者】 邓锡添；

【导师】 吴百海；

【作者基本信息】 广东工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 桥梁作为交通运输重要枢纽有着不可替代的作用。因此,桥梁健康诊断技术已成为重要的研究领域。由于大多数桥梁的缺陷主要产生在桥梁底部,传统的桥梁底面缺陷检测方式是通过大型桥梁检测车机械臂将检测人员输送到桥梁底部进行人工检测,这检测方法存在着很多缺点,例如:检测质量、检测效率都难以保证。本文提出开发小型无载人智能视频桥梁检测车,配以视频跟踪和图像检测手段对人员不易到达的桥梁底部进行自动检测。有望解决传统检测方式的缺点。 本文设计了智能视频桥梁检测车的总体方案和四自由度探测机构的方案,由于四自由度探测机构的性能对桥梁检测的质量起着决定性的作用,因此,对四自由度探测机构运动轨迹进行规划是本文的研究重点。围绕四自由度探测机构的轨迹规划做了几方面的工作,其具体内容和结果如下: 分析桥梁底面缺陷检测的基本要求(探测机构能够安全地通过斜拉锁到达桥梁底部并且保证探测机构能够最大限度地检测到桥梁底面每个地方),提出智能视频桥梁检测车的总体方案,并且对四自由度探测机构进行设计。 根据机器人理论和运动学的基础,建立四自由度探测机构的运动学模型,并针对该模型建立了其运动学方程求得逆运动学解。 根据探测机构视频头的运动特点(视频头与被检测面保持一定的检测距离并且始终垂直于被检测面)和结合机器人轨迹规划的方法,选用三次B样条进行轨迹规划,最后通过仿真分析验证其结果的符合探测机构的检测要求。 为了保证探测机构视频头的检测质量,对探测机构的液压系统进行分析和建模,并使用Matlab的Simulink工具进行仿真,仿真结果验证了该系统具有良好的轨迹跟踪性,保证了探测机构视频头能稳定地沿着给定输入轨迹的运动,从而确保了检测质量。更多还原

【Abstract】 The bridge which is the vital hinge in the transportation is not substitutable. Therefore, the study of detective technology has become an important domain. Most of the cracks of bridge are on the bottom of it. The conventional detection method that detection personnel are sent to the bottom of bridge by large-scale mechanical arm of Bridge-detection Vehicle is manual detection. This method has many disadvantages such as low detection quality and inefficient detection. This thesis put forward Intelligent-video Bridge-detection Vehicle (IVBDV), using video scout and image processing technology detect the bottom of bridge where is hard to reach by manual. It is hopeful to overcome disadvantages of the conventional detection.Scheme of IVBDV and 4-degree of freedom detection-mechanism is designed. Because function of the detection-mechanism is crucial to the detection quality, the trajectory planning of 4-degree of freedom detection-mechanism is the focus of study in this thesis. Concerning the trajectory planning of 4-degree of freedom detection-mechanism, my work is focus on the following aspects:The basic detection demand of Bridge-detection that the detection-mechanism passes the cable-stayed bridge safely and detects almost everywhere is analyzed. Scheme of IVBDV is put forward and 4-degree of freedom detection-mechanism is designed.On the basis of theory of robot and kinematics, the kinematic model of 4-degree of freedom detection-mechanism is established. Arming at this model, the kinematic equation is established, further more, the result of anti-kinematic equation is solved.According to motion characteristics of the video concentrator of the detection-mechanism and the trajectory planning of robot, the cube B-spline interpolation is selected for trajectory planning. Finally it is accord with the demand of Bridge-detection by simulation.To guarantee the quality of detection, the hydraulic system of detection-mechanism is analyzed and modeled. And the module is simulated by simulink of Matlab. The result of simulation proved that the system has exact trajectory follow capability. Thereby, it ensures that the video concentrator moves along the preassigned trajectory, further more, guarantees the quality of detection.更多还原