储油罐清洗机器人全覆盖路径规划研究  

Research of Full Covered Path Planning for Oil Tank Cleaning Robot

作　　者：代峰燕[1] 高庆珊 陈家庆[1] 郭丽峰[1] DAI Feng-yan;GAO Qing-shan;CEHN Jia-qing;GUO Li-feng(Beijing Institute of Petrochemical Technology,Beijing 102617,China)

机构地区：[1]北京石油化工学院

出　　处：《机械设计与制造》2020年第2期263-266,共4页Machinery Design & Manufacture

基　　金：北京市教委科研计划资助项目（KM201510017006）;北京市属高等学校“长城学者”培养计划资助项目（CIT&TCD20150317);2016年国家级大学生创新创业计划项目（2016J000063);2016年北京市大学生科研训练项目（2016J000064）;北京市教委市属高校创新能力提升计划项目（TJSHG201310017035)

摘　　要：针对储油罐清洗机器人在清洗作业时因罐内障碍物导致重叠率较高、无法保证清洗覆盖面积问题,在一种全覆盖罐底方法的基础上提出了适用于内浮顶储油罐的改进Bug路径规划算法。首先通过正六边形拓扑结构全覆盖罐底的清洗原理,得到清洗点坐标;其次,采用坐标法进行清洗环境建模,在传统Bug算法的直线行走条件中加入机器人清洗目标点与罐底障碍物位置关系信息,优化清洗点坐标位置,规划出机器人起点到每个清洗点之间无障碍的直线行走路径;最后应用改进后的Bug算法对无障碍、有障碍两种环境进行覆盖路径规划算法的仿真分析。仿真结果表明,所提出的路径规划算法能够在覆盖面积大、重叠率低的同时实现机器人的无障碍覆盖。Aiming at the problem that the oil tank cleaning robot has a high overlap rate due to the obstacle in the tank during the cleaning operation,the cleaning coverage area cannot be guaranteed,On the basis of a fully covered tank bottom method,an improved Bug path planning algorithm for inner floating roof oil storage tank is proposed.First of all,through the hexagonal topology of the whole cover the bottom of the cleaning principle to get the cleaning point coordinates;Second,the use of coordinate method for cleaning environment modeling,in the traditional bug algorithm of the linear walking conditions to join the robot cleaning target point and the bottom of the barrier position information,optimize the coordinate position of cleaning point,plan out the straight path of the robot from the starting point to each cleaning point;Finally,the improved bug algorithm is used to analyze the coverage path planning algorithm for two environments without obstacle and obstacle.The simulation results show that the proposed path planning algorithm can achieve the barrier free coverage of the robot with large coverage area and low overlap rate.

关 键 词：储油罐清洗机器人 路径规划 全覆盖 Bug算法 

分 类 号：TH16[机械工程—机械制造及自动化] TE932[石油与天然气工程—石油机械设备]