基于多传感器融合的爬壁机器人控制系统研究  

Research on the control system of wall-climbing robot based on multi-sensor fusion

作　　者：丁杰月 张延兵[2] 谈英姿[1] Ding Jieyue;Zhang Yanbing;Tan Yingzi(School of Automation,Southeast University,Jiangsu Nanjing,210096,China;Nantong Branch of Jiangsu Special Equipment Safety Supervision and Inspection Institute,Jiangsu Nantong,226000,China)

机构地区：[1]东南大学自动化学院,江苏南京210096 [2]江苏省特种设备安全监督检验研究院南通分院,江苏南通226000

出　　处：《机械设计与制造工程》2018年第12期57-62,共6页Machine Design and Manufacturing Engineering

摘　　要：基于模块化设计思想和MVC设计模式,设计了一套用于大型罐体设备检测的爬壁机器人控制系统。该系统中硬件系统由电源模块、传感器模块、控制模块、通信模块组成,软件系统由机器人本体控制软件、Android操控端、PC操控端组成。控制系统在焊缝识别的基础上,采用自适应权重算法融合姿态仪、里程计实现机器人空间定位,弥补了机器人传统空间定位方式的不足。最后通过实验验证了该爬壁机器人控制系统的可行性。Based on modular design ideas and MVC design,it develops the control system of wall-climbing robot used for detection of large tank equipment.The system includes the hardware such as power supply,sensor,control and communication,the software system consists of robot ontology control software,Android control terminal and PC control terminal.On the basis of welding seam recognition,the control system uses the adaptive weight algorithm to fuse attitude meter and odometer to realize robot space positioning,which makes up for the deficiency of traditional robot space positioning.The feasibility of the control system is verified.

关 键 词：爬壁机器人 控制系统 C/S架构 空间定位 操控端 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]