机械科学与技术2018，Vol.37Issue(5)：683-689,7.DOI:10.13433/j.cnki.1003-8728.2018.0505
管道疏通机器人非结构环境下多模态感知研究
Multi-modal Cognitive Strategy Research for Plumbing Robot under Unstructured Environment
摘要
Abstract
In order to replace labor with machines to handle the water logging problems caused by the blockage,and improve the intelligence of machines under the unstructured environment,in this paper we design a dredge wheeled robot with adaptive diameter,and propose a plumbing robot oriented model based on the theory of Coexisting-cooperative-cognitive robot.By building three sensory systems of vision,proximity and tactile,the end actuator of the robot performs the adaptive path planning at the optimal moving speed and improves the efficiency of the pipeline dredging.The simulation results show that the multimodal perception model of pipeline dredge robot has certain feasibility and practicability.关键词
共融理论/机器人/非结构环境/模型/感知系统/疏通效率Key words
robot/unstructured environment/models/perception system/actuators分类
信息技术与安全科学引用本文复制引用
罗天洪,李乔易,马翔宇,郭园,张霞..管道疏通机器人非结构环境下多模态感知研究[J].机械科学与技术,2018,37(5):683-689,7.基金项目
国家自然科学基金项目(51375519)与重庆市研究生科研创新项目(CYS17196,CYS17201)资助 （51375519）
