双足爬壁机器人吸附模块位姿的检测  

Posture Detection of Suction Modules for a Biped Wall-Climbing Robot

作　　者：张联盟[1] 管贻生[1] 朱海飞[1] 张宏[1,2] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510641 [2]阿尔伯塔大学计算机科学系

出　　处：《机器人》2012年第6期758-763,共6页Robot

基　　金：国家自然科学基金支持项目(50975089);国家863计划资助项目(2009AA04Z204);高等学校博士学科点专项科研基金资助项目(200805611091)

摘　　要：多足爬壁机器人在利用负压吸附墙面时要求吸附模块底面与墙面平行,因此需要检测与控制吸附模块相对于墙面的位姿.为解决此问题,本文提出了一种基于距离传感器的吸附模块位姿非接触式检测方法.在简要介绍应用主体双足爬壁机器人W-Climbot之后,建立了吸附模块关键位姿(吸附模块相对于目标吸附面的距离和倾角)的理论计算模型,并分析了机器人可靠吸附的条件;然后开发了相应的具有位姿自主检测功能的吸附模块;最后进行了实验验证,根据测量结果对实验数据进行了误差分析和修正.实验表明,该方法简单有效,测距精度可达1 mm,测角分辨力可达0.3,满足双足爬壁机器人自主攀爬的实际使用需求,也可作为诸如真空吸附等相关工业应用的自动化解决方案.When a multi-legged wall-climbing robot attaches to a wall with negative pressure adsorption, the underside of each suction module is required to be parallel to the wall surface. Therefore, the posture of a suction module with respect to the wall surface should be detected and controlled. To solve this problem, a non-contact measurement method based on distance sensors is proposed to detect the relative posture of suction modules. After a brief introduction to the biped wall-climbing robot W-Climbot, the theoretical model for computing the relative posture （the distance and the inclined angle between the suction module and the target surface） of a suction module is presented, and the conditions of reliable adsorption are analyzed. Then the corresponding suction modules with the function of autonomous posture detection are developed and tested with experiments. According to the measurement results, the detection error is analyzed and the experimental data are amended. Experiments show that the method is simple and effective, with the ranging precision of 1 mm and the angle measuring resolution of 0.3°, which meets the practical utilization requirement of autonomous climbing with a biped wall-climbing robot, and may be an automation solution to relevant industrial applications involving vacuum adsorption.

关 键 词：位姿检测 爬壁机器人 非接触式检测 误差分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]