轮腿式壁面清洗机器人控制系统研究  

Control system investigation of a wheel-legged wall cleaning robot

作　　者：王妹婷[1] 齐永锋[1] 蒋伟[1] 程宏辉[1] 李生权[1] 包加桐[1] 陆柳延[1] 

机构地区：[1]扬州大学能源与动力工程学院,扬州225127

出　　处：《现代制造工程》2013年第11期20-24,共5页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(51106133);江苏省高校自然科学基金项目(12KJB510032;10KJB470010);江苏省水利动力工程重点实验室开放基金项目(K090022)

摘　　要：针对高层建筑玻璃幕墙的清洗要求,采用模块化的设计方法,研究了轮腿式壁面清洗机器人控制系统。爬壁机器人系统采用多吸盘真空吸附方式,轮腿式与轮式相结合的运动方式,与高度自适应的清洗系统集成,并配备多种传感器,结构简单,壁面适应能力及越障能力强,具有较高的作业效率和智能化水平。研究了其遥控方式与自动方式下的吸附系统控制、运动控制、越障与姿态控制,以及清洗作业控制。Aiming at the cleaning demand of glass curtain wall of high-rise building, the control system of a wheel-legged wall cleaning robot was investigated adopting modularized design method. The wall climbing robot was with multi-suckered vacuum adsorption mechanism and two sets of moving mechanisms of wheel-leg and wheel. A cleaning system automatically adaptive to height variation and various sensors were applied to this wall climbing robot, which made the robot with higher operation efficiency and higher intelligence. The wheel-legged wall cleaning robot was with simple mechanism ,flexible wall adaptability and strong ob- stacle crossing ability. The adsorption system control, motion control, overstepping obstacle control, posture control and cleaning operating control in remote control and auto-control mode were investigated in detail.

关 键 词：壁面自动清洗机器人 姿态控制 轮腿式运动方式 轮式运动方式 爬壁机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]