自动化与信息工程2024，Vol.45Issue(4)：42-49,8.DOI:10.3969/j.issn.1674-2605.2024.04.007
基于主被动柔顺的隧道机器人地质雷达检测系统
Tunnel Robot Geological Radar Detection System Based on Active and Passive Compliance
摘要
Abstract
Defect detection of tunnel walls is an important part of ensuring the smooth operation of rail transit.Design a tunnel robot geological radar detection system based on active passive compliance to address the problem of poor flexibility in comprehensive detection equipment for rail transit,and achieve efficient detection of tunnel wall cracks,contour sections,and other defects.Firstly,design a passive compliant control device based on an elastic recovery mechanism to achieve natural compliance in geological radar wall detection;Then,an active compliant control algorithm for tunnel robots based on impedance control algorithm is proposed to actively adapt to wall detection in tunnels;Finally,the effectiveness of the tunnel robot geological radar detection system based on active passive compliance was verified through the tunnel robot geological radar detection system platform,and the system was integrated into the comprehensive detection equipment of rail transit for field application,improving the detection capability of the equipment.关键词
隧道机器人/隧道检测/柔顺控制/地质雷达/阻抗控制算法Key words
tunnel robot/tunnel inspection/compliance control/geological radar/impedance control algorithm分类
信息技术与安全科学引用本文复制引用
刘恩广,李国梁,于锋,倪效虎,李凤鸣,王艳红..基于主被动柔顺的隧道机器人地质雷达检测系统[J].自动化与信息工程,2024,45(4):42-49,8.基金项目
山东省重大创新工程(2019JZZY010429) （2019JZZY010429）
