二维桁架路径模型的自动生成算法

针对传统的基于工件CAD模型或建筑CAD图纸的路径模型生成和规划方法不适用于复杂桁架结构的问题,提出了一种基于桁架结构CAD图纸的二维桁架路径模型的自动生成算法.该算法首先使用图像处理算法(如图像膨胀、面积滤波、腐蚀和细化)结合特征点提取算法对输入的图像进行处理,并获得桁架图像的特征点集,通过求取特征点间的连接关系得到邻接矩阵,然后利用特征点集和邻接矩阵重构出二维桁架路径模型.以输电线路铁塔路径模型的生成为例,阐述了算法的具体实现过程,并利用Floyd算法实现了机器人的全局路径规划.该算法只需输入桁架结构CAD图纸,程序即能自动生成路径模型.利用Floyd算法完成了机器人的全局路径规划,其结果可以应用于桁架攀爬机器人的智能导航领域.

Path Model Automatic Generation Algorithm for Two-Dimensional Trusses

An algorithm automatically generating 2-D truss path model is proposed to solve the difficulty in the traditional path model generation and path planning method for complex truss structures.Image processing algorithms(such as image dilate,area filtering,erode and thinning) and feature points extraction are chosen for processing the input image to get the set of feature points of truss images,then the adjacency matrix is obtained by evaluating the connection of feature points,the feature points set and the adjacency matrix are combined to reconstruct the path model(of 2-D trusses).The specific implementation process of the algorithm is described by taking the generation of transmission tower path model as an example,then Floyd algorithm is employed to complete the path planning of robot.It is necessary to input the CAD drawings of the truss structures,then the path model can be automatically generated and the global path planning of robot is completed by the proposed algorithm.