The Research Of Localization And Obstacle-avoidance Control For Intelligent Bridge-detection Vehicle’working Arm

As the rapid economic development ,the continuous rise in traffic load of bridge augment rapidly, and bridge collapse accidences is also increasing. Practice has proved that most of bridge defects appeared in the bridge-bottom.At present, the traditional method is sending inspectors to the bridge bottom by working arm to carry on manual test operations. The method have several disadvantages that are low efficiency, that are low effiency, poor detection quality and unsafety. Therefore, to study and design a kind of intelligent bridge-detection vehicle to detect the bridge-bottom defects independently, to make progress in bridge detection technology.Based on the existed fruits,the research in localization and obstacle-avoidance control of the bridge-detection vehicle’working arm is carried in this paper.This is a key technology for achieving the automatic detection fution. The working arm does self-localization accurately,while carrying the camera load in the working arm along the bridge bottom to do imitative movement.To effectively avoiding structural obstacles of the bridge-bottom, The working arms always keep a certain distance away from the bridge-bottom, that is tosay, the difficult problem of the bridge-bottom detection is solved.Firstly, the working arm’localization and the obstacle-avoidance control system is designed for overall, their system working principles are elaborate and the movement process of working arm is described in detail.Secondly, based on the classification and induction of varieties of sensors, a sub-detection system with the fuction of detecting external environment and self-localization of the working arm is designed. The method of the minimum numeric to achive the aim of information’fusion in this paper,to improve their accuracy and processing speed.Thirdly, the localization of the bridge-detection vehicle and the working arm.According to receiving GPS locational signals or not, two different reference coordinate system are established.Integrated localization GPS/DR based on fuzzy-adapted Kalman filtering is used in the Vehicle localization subsystem,and a lot of simulation in Matlab are tested.The results show that the method is effective. Then, the relation of the mechanical arms’coordinate transformation is analyzed ,the posture localization of the working arm is explored.The design of whole localization system provide important pre-condition for the automatical detection of the bridge-bottom defects.Finally,according to the characteristics of the working arm, a tracing and imitative movement plan of obstacle-avoidance is designed.And imitative movement is carried on which combined with the bridge-bottom’structure.Also,a method of the electron-hydraulic control based on neutral net is lodged.Through some simulation experiments,the method is proved the feasibility and superiority.