地铁车辆列检机器人动态路径规划方法研究

Research on Dynamic Path Planning Method of Train Inspection Robot for Metro Vehicles

结合车辆列检作业特点,提出一种基于视觉引导的列检机器人路径规划方法。介绍了采用该方法实现机器人作业路径规划的具体步骤及技术难点,并通过模拟实验验证了方法的合理性。在地铁车辆列检作业中应用工业机器人技术,采用基于视觉引导的路径规划方法,可适用于车辆底部复杂多变的环境,部分代替人工作业。

Combined with the characteristics of vehicles line inspection. A path planning method based on visual guidance is proposed. This paper introduces the concrete steps and technical difficulties of using this method to realize robot work path planning, and the rationality of the method is verified by simulation experiments. The application of industrial robot technology and the method of path planning based on visual guidance in line inspection of metro vehicle can be applied to the complex and changeable environment at the bottom of metro vehicle. It can partially replace manual work.