基于触觉传感器的中央空调管道清洁机器人路径智能控制

Intelligent path control of central air conditioning pipeline cleaning robotbased on tactile sensors

在管道内移动时,机器人容易偏离预定的清洁路径,导致清洁效果不佳甚至错过一些关键区域。为此,文章提出基于触觉传感器的中央空调管道清洁机器人路径智能控制方法。该方法通过坐标转换将清洁目标的位置坐标转换为机器人能够理解的具体位置;建立机器人移动路径的网格分布,规划机器人的运动轨迹。在清洁过程中,文章利用触觉传感器实时检测周围障碍物,使机器人寻找最优路径,实现路径的智能控制。实验结果表明,该研究方法能够指导机器人找到清洁最短路径,从而实现高效的清洁任务。

When moving in the pipeline,the robot easily deviates from the predetermined cleaning path,resulting in poor cleaning effect or even missing the cleaning requirements of some key areas.Therefore,an intelligent path control method of central air conditioning pipeline cleaning robot based on tactile sensor is proposed.Through coordinate transformation,the position coordinates of the cleaning target are transformed into specific positions that the robot can understand.The grid distribution of the robot’s moving path is established and the robot’s moving trajectory is planned.In the cleaning process,the tactile sensor is used to detect the surrounding obstacles in real time,and the robot finds the optimal path to realize the intelligent control of the path.The experimental results show that the research method can guide the robot to find the shortest path of cleaning,thus achieving efficient cleaning tasks.