Research On Trajectory Planning Of Detection-mechanism Of Intelligent-video Bridge-detection Vehicle

The bridge which is the vital hinge in the transportation is not substitutable. Therefore, the study of detective technology has become an important domain. Most of the cracks of bridge are on the bottom of it. The conventional detection method that detection personnel are sent to the bottom of bridge by large-scale mechanical arm of Bridge-detection Vehicle is manual detection. This method has many disadvantages such as low detection quality and inefficient detection. This thesis put forward Intelligent-video Bridge-detection Vehicle (IVBDV), using video scout and image processing technology detect the bottom of bridge where is hard to reach by manual. It is hopeful to overcome disadvantages of the conventional detection.Scheme of IVBDV and 4-degree of freedom detection-mechanism is designed. Because function of the detection-mechanism is crucial to the detection quality, the trajectory planning of 4-degree of freedom detection-mechanism is the focus of study in this thesis. Concerning the trajectory planning of 4-degree of freedom detection-mechanism, my work is focus on the following aspects:The basic detection demand of Bridge-detection that the detection-mechanism passes the cable-stayed bridge safely and detects almost everywhere is analyzed. Scheme of IVBDV is put forward and 4-degree of freedom detection-mechanism is designed.On the basis of theory of robot and kinematics, the kinematic model of 4-degree of freedom detection-mechanism is established. Arming at this model, the kinematic equation is established, further more, the result of anti-kinematic equation is solved.According to motion characteristics of the video concentrator of the detection-mechanism and the trajectory planning of robot, the cube B-spline interpolation is selected for trajectory planning. Finally it is accord with the demand of Bridge-detection by simulation.To guarantee the quality of detection, the hydraulic system of detection-mechanism is analyzed and modeled. And the module is simulated by simulink of Matlab. The result of simulation proved that the system has exact trajectory follow capability. Thereby, it ensures that the video concentrator moves along the preassigned trajectory, further more, guarantees the quality of detection.