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摘 要
随着国内经济的发展和腾飞,国内的基础建设也发生了翻天覆地的变化,其中桥梁
的建设也是取得了前所未有的发展。在社会日益发展的今天,随着人们生活水平的提高,
人们乘车出行的频率和货物的运输量也是大大增多,用于交通运输的桥梁所承受负荷也
随之增大。为了保护人们的生命财产安全,需要定期地对桥梁进行检修。以往,对桥梁
的检测大多采用的是人工检测的方式,这样做不仅效率低、花费高、周期长,而且还存
在很多不安全因素,随着现在人工智能的发展,国内外的很多桥检车生产公司都投入到
智能桥梁检测车的研发中来,并且取得了很大的成果。
本文是在国内某厂生产的智能桥梁检测车基础上对它多功能的可行性进行了分析、
研究和设计选型,并着重对它的自主避障功能进行了研究和设计。包括了利用三点定位
的方法对桥检车车体在桥面上的定位;运用 D-H 法对检测臂进行分析,使得各点的坐标
可以互相转换;运用仿形避障的原理对检测臂的避障方法和策略进行设计;运用人工神
经网络对避障运动进行控制。
首先,在总体上分析了桥梁底面的模型,然后对它的多功能提出要求,分别对它的
避障、探地、表皮去除、高清摄像和缺陷标记等五大功能进行分析和设计,并最终对它
们的硬件进行设计和选型。
其次,重点研究了它的自主避障功能。主要内容有桥面坐标系的建立,使得桥面上
所有的点都能用坐标进行表示;运用三点定位的方法对桥检车车体在桥面上的的定位;
运用 D-H 法对检测臂进行分析,使得检测臂各点的坐标可以通过车体的定位用桥面上
的绝对坐标系表示出来;运用仿形避障的原理对检测臂在桥底的避障方法和策略进行设
计;采用基于神经网络的电液控制系统对检测臂的避障运动进行控制,并最终通过在
MATLAB 仿真环境中的仿真实验,证明了此方法是可行的。
关键词:多功能,自动化,桥梁检测,电液神经网络
Abstract
With the development of the domestic economy, the domestic infrastructure has undergone
earth-shaking changes, among which the construction of Bridges has achieved unprecedented
development. Today, with the development of the society, with the improvement of people's
living standard, people's car travel and the amount of goods transport is also greatly increased,
the load of the bridge is also greatly increased, in order to protect people's life and property
safety, it is necessary to regularly repair the bridge. In the past, the detection of Bridges was
mostly carried out by manual detection, which was not only low in efficiency, high in cost, long
in cycle, but also unsafe. With the development of artificial intelligence, many bridge inspection
vehicle production companies at home and abroad have invested in the research of intelligent
bridge detection vehicle and achieved great results.
In this paper, based on the intelligent bridge detection vehicle produced by a factory in
China, the multifunctional feasibility of the vehicle is analyzed, studied and designed, and its
independent obstacle avoidance function is emphatically studied and designed. Including the
use of three positioning method for bridge inspection car body positioning on the deck, and
then analyzed using the D-H method to detect arm, makes the coordinates of each point can
convert each other, and then applies the principle of profiling obstacle avoidance obstacle
avoidance method and strategy of detection arm design, finally using artificial neural network
to control the movement of obstacle avoidance.
Firstly, the model of the bridge underside is analyzed in general, and then the demand for
its multi-function is put forward. The six functions of its obstacle avoidance exploration surface,
such as ground penetrating ,H-D camera and defect marking, are analyzed and designed
respectively, and finally the hardware selection is made for them.
Second, emphatically studied its autonomous obstacle avoidance function including the
establishment of coordinate system on bridge deck, make all the points on the bridge deck can
coordinate said, using the method of the positioning of the three bridge inspection car body
position, and then using the D-H method to detect arm is analyzed, the measuring arm the
coordinates of each point can be by vehicle positioning using the absolute coordinate system
on the bridge deck. Then, the obstacle avoidance method and strategy of the detection arm at
the bottom of the bridge are designed by using the principle of profile obstacle avoidance.
Finally, the obstacle avoidance movement of the detection arm is controlled by the electro-
hydraulic control system based on neural network. Through the simulation test in MATLAB,
the method is proved to be feasible.
Key words: Multi-function, Automatic, Bridge detection, Electrohydraulic neural
network
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目录
第一章 绪论 ........................................................ 1
1.1 课题的研究背景及意义 ............................................................................................. 1
1.2 桥梁检测车发展概况 ................................................................................................. 2
1.2.1 国外桥梁检测车发展现状 ............................................................................. 3
1.2.2 国内桥梁检测车的发展现状 ........................................................................ 4
1.2.3 避障技术的研究现状 ..................................................................................... 5
1.2.4 桥梁检测车的发展趋势 ................................................................................. 7
1.3 本文研究的主要内容 ................................................................................................. 8
1.4 本章小结 ..................................................................................................................... 9
第二章 桥检车的多功能分析以及选型 ................................. 11
2.1 检测车检测模块的功能需求分析 .......................................................................... 11
2.2 桥检车避障模块功能分析 ...................................................................................... 14
2.3 探地功能需求分析与选型 ....................................................................................... 17
2.3.1 探地雷达介绍 ............................................................................................... 17
2.3.2 探地雷达的数据处理 ................................................................................... 19
2.3.3 探地雷达的选型 ........................................................................................... 21
2.4 桥梁老化表层去除装置的设计 .............................................................................. 24
2.4.1 表层老化的表现形式和形成原因............................................................... 24
2.4.2 高压水枪的设计 ........................................................................................... 25
2.5 高清摄像装置的设计 .............................................................................................. 27
2.5.1 图像采集装置原理 ...................................................................................... 27
2.5.2 图像采集装置设计 ...................................................................................... 27
2.5.3 图像采集装置的硬件介绍 ........................................................................... 28
2.5.4 相机型号的选择 ........................................................................................... 29
2.6 缺陷标记装置的设计 ............................................................................................... 31
2.6.1 标记装置的设计 ........................................................................................... 32
2.7 本章小结 ................................................................................................................... 34
第三章 对检测臂工作时车体定位和避障的研究与设计 ................... 35
3.1 桥检车检测臂的定位 ............................................................................................... 35
3.1.1 定位的原理与方法 ...................................................................................... 35
3.1.2 桥检车坐标的确定 ....................................................................................... 37
3.2 检测臂各连杆坐标的转换 ....................................................................................... 41
3.2.1 位置和姿态的表示 ....................................................................................... 41
3.2.2 坐标变换 ....................................................................................................... 42
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3.2.3 桥检车检测臂的 D-H 表示法 ...................................................................... 45
3.3 仿形避障运动的研究与设计.................................................................................. 49
3.3.1 测量臂运动各连杆坐标系的建立 .............................................................. 49
3.3.2 仿形运动的系数设定 ................................................................................... 51
3.3.3 仿形运动的分析 ........................................................................................... 54
3.3.4 仿形运动算法的设计 ................................................................................... 57
3.3.5 基于电液神经网络的避障运动控制 ........................................................... 58
3.4 本章小结 .................................................................................................................. 65
第四章 基于电液神经网络避障仿真结果的研究与分析 ................... 67
4.1 电液神经元有效性的验证 ...................................................................................... 67
4.2 四种优化算法的比较 .............................................................................................. 69
4.3 电液神经元网络避障仿真试验 .............................................................................. 71
4.4 本章小结 .................................................................................................................. 73
结论 .............................................................. 75
参考文献 .......................................................... 77
致谢 .............................................................. 81
剩余85页未读,继续阅读
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