为良好辅助爬壁机器人完成舰船除锈清洗工作，设计包含远程监控平台和爬壁机器人两部分的船舶除锈清洗爬壁机器人移动智能导航系统。远程监控平台发布船舶除锈清洗任务后，爬壁机器人通过搭载的多线激光雷达和双目相机相结合的多传感器感知船舶除锈清洗环境信息，结合SLAM（同时定位与建图）技术完成爬壁机器人同步定位与环境栅格地图构建，并以此为基础，通过分块区域之间顺序除锈和分块区域内路径规划2个环节实现全局路径规划，结合动态窗口算法实现区域内避障路径局部规划，实现智能导航，并通过应用层的移动通信模块将导航结果回传远程监控平台。实验结果显示：该系统可有效完成除锈清洗环境栅格地图构建，并以高覆盖率完成全覆盖路径规划。
In order to assist wall climbing robots in completing ship rust removal and cleaning work, a mobile intelligent navigation system for ship rust removal and cleaning wall climbing robots is designed, which includes two parts: a remote monitoring platform and a wall climbing robot. After the remote monitoring platform releases the ship's rust removal and cleaning task, the wall climbing robot perceives the ship’s rust removal and cleaning environment information through a combination of multiple sensors equipped with multi line LiDAR and binocular cameras. Combined with SLAM (simultaneous positioning and mapping) technology, the wall climbing robot completes synchronous positioning and environmental grid map construction, and based on this, Global path planning is achieved through two steps: sequential rust removal between segmented regions and path planning within segmented regions. Local obstacle avoidance path planning within the region is achieved through dynamic window algorithm, achieving intelligent navigation. The navigation results are then transmitted back to the remote monitoring platform through the mobile communication module at the application layer. The experimental results show that the system can effectively construct a grid map of the rust removal and cleaning environment, and complete full coverage path planning with high coverage.
2024,46(7): 179-182 收稿日期：2023-12-19
DOI：10.3404/j.issn.1672-7649.2024.07.031
分类号：TP247
作者简介：郑博(1991-),男,硕士,实验师,研究方向为智能制造
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