管道疏通机器人非结构环境下多模态感知研究
Multi-modal Cognitive Strategy Research for Plumbing Robot under Unstructured Environment

为实现机器代替人工解决市政管道堵塞引发的内涝问题，提高机器人在非结构环境下的智能化程度，基于共融理论，设计了一种具有管径自适应能力的径向辐射轮式管道疏通机器人，提出一种面向管道疏通机器人的多模态感知模型，求解视觉、接近觉和触觉三大感知系统，实现管道疏通机器人末端执行器在工作时段内，以最佳移动速度完成自适应路径规划，提高了管道疏通效率。仿真试验结果表明：管道疏通机器人的多模态感知模型具有一定的可行性和实用性。
In order to replace labor with machines to handle the water logging problems caused by the blockage, and improve the intelligence of machines under the unstructured environment, in this paper we design a dredge wheeled robot with adaptive diameter, and propose a plumbing robot oriented model based on the theory of Coexisting-cooperative-cognitive robot. By building three sensory systems of vision, proximity and tactile, the end actuator of the robot performs the adaptive path planning at the optimal moving speed and improves the efficiency of the pipeline dredging. The simulation results show that the multimodal perception model of pipeline dredge robot has certain feasibility and practicability