Research On Planning Control And Application Of Bridge Special Operating Robot

Aiming at the special task of bridge bottom structure detection,it is the focus and technical problem of highway management and bridge maintenance department.At present,our country's bridge maintenance units mainly use the traditional bridge inspection vehicle to load and transport the inspection engineers to the bottom of the bridge for manual inspection.The working environment is very dangerous,which endangers the safety of the workers.Secondly,the manual inspection operation is inefficient,the test results are subjective and easy to miss.Therefore,aiming at the technical requirements of special operation for bridge detection,a special operation robot for bridge is designed and developed,which can realize fast,efficient detection and photography of the bottom and side structures of bridges and reduce the labor intensity and work danger of manual operation on site.In this paper,the research background and significance of the bridge special operation robot,the design of the robot body mechanism,the estimation method of the position and posture of the end operation mechanism,the operation planning and the optimization method of the position and posture,and the motion control method of the end operation robot hand are studied in detail.The related work of the index test and test verification is carried out,and the bridge special operation robot is applied to the test demonstrator.In the process,a lot of research work has been done on performance improvement and function optimization.Major achievements and innovations of this dissertation are listed below:1.Introduced the research background and significance of bridge special operation robot,analyzed the main causes of bridge structural diseases in our country,studied the research status of bridge disease detection technology at home and abroad,and introduced in detail the means and methods of traditional bridge management and maintenance and disease detection,as well as the research results of automatic robot detection at home and abroad,pointed out the adoption of automatic robot detection.At the same time,combining with the engineering application environment of bridge detection,the development trend at home and abroad is analyzed.2.According to the market demand of bridge detection,the overall design index is formulated.Aiming at the design target,this paper elaborates the working principle,overall design scheme and research and development ideas of the special inspection robot for bridge diseases visual inspection,designs the special inspection robot for bridge with multi-degree-of-freedom long flexible manipulator and terminal dexterous manipulator,and realizes the image acquisition and analysis of bridge floor structure.In this paper,the mechanical structure and electrical control system design of the inspection robot are introduced in detail,and the calculation process of parameters such as equipment selection and installation and the calibration method between the equipments are introduced.At the same time,the working flow of the bridge inspection robot is elaborated,and the software framework and software interface functions of the multi-language,multi-module and multi-task inspection robot are introduced.3.The structure and workflow of the bridge detection robot system are introduced from the angle of terminal pose estimation,and the hardware and software design of the terminal pose estimation system is introduced in detail.Firstly,according to the structural line features and contour models of bridges,the detection methods based on Hough transform and LSD are studied.Then,continuous pose estimation is realized in the least square framework,and a weighted least square algorithm based on robust estimation is proposed for continuous pose estimation.Finally,a simulation experiment is designed to validate and analyze the proposed algorithm.The experimental results show that the proposed method and algorithm for estimating the position and attitude of the bridge acquisition terminal have a good effect,and the accuracy and time can meet the requirements of practical application.Through the field bridge test,the position and attitude estimation system of the acquisition terminal designed in this paper can achieve a good effect of position and attitude estimation,and has been applied in practical engineering.4.According to the requirement of the bridge detection data shooting,this paper establishes the parameter model of the bridge planning,designs the visual shooting position and posture planning method of the bottom of the bridge constrained by the optimal shooting parameters,and deduces the algorithm formula.In this paper,the method of posture optimization using safety protection strategy is proposed,the constrained optimization model is established,the algebraic solution method is introduced and the numerical solution steps are given.The problem that the planned posture results of small box girder and T-girder special structures do not conform to the engineering application is solved.Aiming at the shooting requirement of T-beam diaphragm,this paper introduces the shooting posture planning method.Finally,the hollow slab and small box girder are selected to simulate and verify the shooting posture planning and safe posture optimization method for the bottom of the bridge.The experimental results are good and meet the engineering application.5.In this paper,the kinematics analysis of the bridge special operation robot designed and manufactured is carried out.The kinematics modeling process and engineering simplified model of the hydraulic manipulator and the end manipulator are elaborated respectively,and the inverse kinematics solving process and algorithm are given.Secondly,the control method of the terminal manipulator for optimum position and attitude detection is introduced.According to the deflection structure of the bridge,an initial attitude search and alignment control method is proposed,which realizes the engineering requirement of the initial position detection and position alignment of the manipulator.A sliding mode control method based on position dynamics model is designed to realize the tracking control of the terminal trajectory of the manipulator.The deflection compensation method of hydraulic flexible manipulator is designed to correct the position deviation of the end manipulator caused by the deflection during the elongation of the manipulator,and the corresponding position and attitude control strategy is designed to meet the shooting requirements of the outer side of the bridge and the diaphragm.Finally,through a large number of field experiments,it is proved that the robot motion control method studied in this paper has a good effect.6.Based on the research of ontology design,terminal positioning method,job planning optimization method and robot control method of bridge special operation robot,this paper further develops the related work of bridge detection application research and transportation management platform construction.In this paper,the shape-based method is used to extract the disease,and the crack length and width are estimated according to the mapping relationship between the image pixels and the actual data.After algorithm integration,a bridge disease detection and analysis system with three-dimensional visual display function is developed.Then,this paper focuses on the application demonstration project tasks undertaken by the bridge special operation robot,lists the information of bridge parameters to be inspected and the results of special operation detection and analysis.This paper introduces the over-limit vehicle transportation management system applied in the Expressway Administration bureau,calculates the traffic rules according to the bridge detection data and over-limit vehicle data,and assists the traffic management department to complete the management and protection of bridges and other research work.The demonstration application proves that the ontology design,location estimation method,job planning optimization method and motion control method of the bridge special operation robot studied have good effects,and can meet the application and promotion needs.In this paper,the rationality of mechanical,electromechanical and hydraulic integrated control system and software design,the correctness of positioning,planning and control arithmetic are proved by theoretical analysis and experiment,and many problems encountered in practical engineering application are solved.