智能视频桥梁检测车工作臂避障控制的研究

【作者】 邹大鹏； 吴百海； 肖体兵；

【机构】 广东工业大学机电学院；

【摘要】 本文研究桥梁底部缺陷自动探测设备的关键技术,通过建立桥梁底面模型和分析探测方式的特点,提出了仿形避障运动方式,并且提出了基于电液神经元网络的避障控制方法。仿真分析和实验结果表明基于电液神经元网络避障控制方法的能够有效地实现仿形避障运动控制,为桥梁底面缺陷自动检测提供技术支持和控制方法更多还原

【Abstract】 This paper plays emphasis on the key technique of automatic defect-detection equipment of bridge’s bottom. A detecting mode of profile obstacle-avoidance motion is put forward based on a set-up bridge-bottom model and characteristics of defect detection. Furthermore, an electron-hydraulic neural net based control method is presented. Conclusions of simulation and experiment prove that the manipulator can realize profile obstacle-avoidance motion in relation to the structure of bottom of bridge by using the electron-hydraulic neural net based control method, which provides a useful technical support in service of automatic defect-detection of bridge’s bottom.更多还原