Please wait a minute...
工程设计学报
工程设计学报  2018, Vol. 25 Issue (3): 253-261    DOI: 10.3785/j.issn.1006-754X.2018.03.002
设计理论与方法学     
储罐探伤爬壁机器人全遍历路径规划方法
唐东林1,2, 袁波1,2, 胡琳1,2, 李茂扬1,2, 魏子兵1,2
1. 西南石油大学 机电工程学院, 四川 成都 610500;
2. 西南石油大学 石油天然气装备教育部重点实验室, 四川 成都 610500
Complete coverage path planning method for oil tank inspection wall climbing robot
TANG Dong-lin1,2, YUAN Bo1,2, HU Lin1,2, LI Mao-yang1,2, WEI Zi-bing1,2
1. School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China;
2. Key Laboratory of Oil & Gas Equipment, Ministry of Education, Southwest Petroleum University, Chengdu 610500, China
 全文: PDF(3409 KB)   HTML
摘要：

储罐探伤爬壁机器人全遍历路径规划要求机器人高效遍历储罐外壁全部无障碍物区域。结合邻接矩阵、路径选择函数，提出一种单元分解算法并应用于爬壁机器人路径规划中。首先，将爬壁机器人的工作环境简化为二维平面，并通过分析漏检面积确定机器人遍历基本路径；接着，建立栅格环境，对每个栅格赋予xi值以表示其栅格状态；其次，采用矩形分解法将工作环境划分为若干子区域，通过图的深度优先搜索算法和邻接矩阵确定各子区域的衔接顺序；最后，在子区域的遍历和切换过程中，引入方向函数yi来判断爬壁机器人是否陷入死区，结合xi值提出路径选择函数fi以引导爬壁机器人快速逃离死区。在虚拟环境中进行了仿真实验，仿真结果表明，该方法不仅能引导爬壁机器人以高覆盖率和低重复率遍历工作区域，而且能快速地逃离死区。全遍历路径规划的实现拓展了爬壁机器人在检测储罐罐壁中的应用。
关键词： 爬壁机器人;  全遍历路径规划;  深度优先搜索算法;  邻接矩阵;  方向函数;  路径选择函数    
Abstract:

The oil tank inspection wall climbing robot is required to traverse all the barrier free areas on the outer wall of the tank efficiently in complete coverage path planning. Combining with adjacency matrix and path selection function, a grid decomposition algorithm was proposed for path planning of wall climbing robot. Firstly, the working environment of the wall climbing robot was simplified into two-dimensional planes, and the traversed basic path of robot was determined by analyzing the missed area. Secondly, the grid environment was established and each grid was given a xi value to represent its state. Thirdly, the work environment was divided into several sub-regions by rectangle decomposition method. The connection order of each sub-region was determined by the depth-first search algorithm and the adjacency matrix. Finally, in order to determine whether or not the robot was stuck into the dead zone during the traversal and handover of the sub-region, a path selection function fi was proposed by combining with the xi value which could guide the robot to escape from the dead zone quickly. The proposed method was simulated in the virtual environment. The simulation results showed that this method could not only guide the wall climbing robot to achieve complete coverage of the working area with a high coverage rate and a low repetition rate, but also quickly escape from the dead zone. The realization of complete coverage path planning can extend the application of wall climbing robot in detecting tank walls.
Key words: wall climbing robot    complete coverage path planning    depth first search algorithm    adjacency matrix    direction function    path selection function
收稿日期: 2017-07-21 出版日期: 2018-06-28
CLC:  TP24  
基金资助:

四川省科技支撑计划资助项目（2017FZ0033）
作者简介: 唐东林(1970-),男,四川达州人,教授,博士,从事无损检测技术、装备设计与仿真、光机电一体化技术研究,E-mail:td1840451816@163.com,https://orcid.org/0000-0002-9524-6825
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
唐东林
袁波
胡琳
李茂扬
魏子兵

引用本文:

唐东林, 袁波, 胡琳, 李茂扬, 魏子兵. 储罐探伤爬壁机器人全遍历路径规划方法[J]. 工程设计学报, 2018, 25(3): 253-261.

TANG Dong-lin, YUAN Bo, HU Lin, LI Mao-yang, WEI Zi-bing. Complete coverage path planning method for oil tank inspection wall climbing robot[J]. Chinese Journal of Engineering Design, 2018, 25(3): 253-261.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2018.03.002    或    https://www.zjujournals.com/gcsjxb/CN/Y2018/V25/I3/253

[1] 曹翔,俞阿龙.移动机器人全覆盖信度函数路径规划算法[J].智能系统学报,2017,12(3):1-12. CAO Xiang,YU A-long.Complete coverage path planning algorithm of mobile robot based on belief function[J]. Journal of Intelligent Systems, 2017, 12(3):1-12.
[2] LI Y, CHEN H, MENG J E, et al. Coverage path planning for UAVs based on enhanced exact cellular decomposition method[J]. Mechatronics, 2011, 21(5):876-885.
[3] ZHANG H, WANG W, ZHAO W, et al. A topological area coverage algorithm for indoor vacuuming robot[C]//IEEE International Conference on Automation and Logistics, Jinan, Aug.18-21, 2007.
[4] JANCHIV A, BATSAIKHAN D, KIM G H, et al. Complete coverage path planning for multi-robots based on[C]//International Conference on Control, Automation and Systems, Kintex, Gyeonggi-do, Oct.26-29, 2011.
[5] 王俭,陈卫东,赵鹤鸣,等.移动机器人全覆盖路径规划优化方法[J].计算机工程,2005,31(22):162-163. WANG Jian, CHEN Wei-dong, ZHAO He-ming, et al.Full coverage path planning optimization method for mobile robot[J]. Computer Engineering, 2005, 31(22):162-163.
[6] 简毅,张月.移动机器人全局覆盖路径规划算法研究进展与展望[J].计算机应用,2014,34(10):2844-2849. JIAN Yi, ZHANG Yue. Research progress and prospect of global coverage path planning algorithm for mobile robot[J]. Journal of Computer Applications, 2014, 34(10):2844-2849.
[7] MICHEL D, MCISAAC K. New path planning scheme for complete coverage of mapped areas by single and multiple robots[C]//International Conference on Mechatronics and Automation, Chengdu, Aug.5-8, 2012.
[8] DENG Y, YANG G W, CUI X M, et al. Application of improved back propagation neural network in mowing robot's path planning[J]. Applied Mechanics & Materials, 2014, 602-605:916-919.
[9] OH J S, CHOI Y H, PARK J B, et al. Complete coverage navigation of cleaning robots using triangular-cell-based map[J]. IEEE Transactions on Industrial Electronics, 2008, 51(3):718-726.
[10] HU G, HU Z, WANG H. Complete coverage path planning for road cleaning robot[C]//International Conference on Networking, Sensing and Control, Chicago, IL, Apr.10-12, 2010.
[11] 李开生,张慧慧,费仁元,等.具有遍历特性的移动机器人规划方法的研究[J].机器人,2001,23(6):486-492. LI Kai-sheng, ZHANG Hui-hui, FEI Ren-yuan, et al.Research on path planning of mobile robot with coverage-path feature[J]. Robot, 2001, 23(6):486-492.
[12] 邱雪娜,刘士荣,宋加涛,等.不确定动态环境下移动机器人的完全遍历路径规划[J].机器人,2006,28(6):586-592. QIU Xue-na, LIU Shi-rong, SONG Jia-tao, et al. Complete coverage path planning for mobile robots in uncertain dynamic environments[J]. Robot, 2006, 28(6):586-592.
[13] CHOSET H. Coverage for robotics:a survey of recent results[J]. Annals of Mathematics & Artificial Intelligence, 2001, 31(1/4):113-126.
[14] 张赤斌,王兴松.基于蚁群算法的完全遍历路径规划研究[J].中国机械工程,2008,19(16):1945-1949. ZHANG Chi-bin, WANG Xing-song. Complete coverage path planning based on ant colony algorithm[J]. China Mechanical Engineering, 2008, 19(16):1945-1949.
[15] HUANG W H. Optimal line-sweep-based decompositions for coverage algorithms[C]//IEEE International Conference on Robotics and Automation, Seoul, May 21-26, 2001.
[16] 田春颖,刘瑜,冯申坤,等.基于栅格地图的移动机器人完全遍历算法——矩形分解法[J].机械工程学报,2004,40(10):56-61. TIAN Chun-ying, LIU Yu, FENG Shen-kun, et al. Complete traversal algorithm of mobile robot based on grid map-rectangular decomposition method[J]. Chinese Journal of Mechanical Engineering, 2004, 40(10):56-61.
[17] 陈卫平.全区域覆盖自主移动机器人路径规划与避障的研究[D].南京:南京理工大学电子工程与光电技术学院,2004:10-33. CHEN Wei-ping. Research on path planning and obstacle avoidance for full area coverage autonomous mobile robot[D]. Nanjing:Nanjing University of Science and Technology, School of Electronic and Optical Engineering, 2004:10-33.
[18] 刘松,李志蜀,李奇,等.机器人全覆盖最优路径规划的改进遗传算法[J].计算机工程与应用,2009,45(31):245-248. LIU Song, LI Zhi-shu, LI Qi, et al. Improved genetic algorithms optimal area covering path planning for family robot[J]. Computer Engineering and Applications, 2009, 45(31):245-248.
[1] 张栋,杨培,黄哲轩,孙凌宇,张明路. 爬壁机器人悬摆式磁吸附机构的设计与优化[J]. 工程设计学报, 2023, 30(3): 334-341.
[2] 钟道方, 田颖, 张明路. 轮腿式爬壁机器人的永磁吸附装置设计与优化[J]. 工程设计学报, 2022, 29(1): 41-50.
[3] 唐东林, 龙再勇, 汤炎锦, 潘峰, 游传坤. 储罐检测爬壁机器人全遍历路径规划[J]. 工程设计学报, 2020, 27(2): 162-171.
[4] 唐东林, 李茂扬, 丁超, 魏子兵, 胡琳, 袁波. 轮式爬壁机器人转向稳定性研究[J]. 工程设计学报, 2019, 26(2): 153-161.