基于激光传感技术的清灰机器人机械臂液压自动化控制系统  

Hydraulic Automation Control System for Cleaning Robot Arm Based on Laser Sensing Technology

作　　者：王杰 吴海腾 徐文辉 杨毅均 WANG Jie;WU Haiteng;XU Wenhui;YANG Yijun(Zhejiang Zheneng Wenzhou Power Generation Co.,Ltd.,Wenzhou,Zhejiang 325603,China;Hangzhou Shenhao Technology Co.,Ltd.,Hangzhou 311100,China)

机构地区：[1]浙江浙能温州发电有限公司,浙江温州325603 [2]杭州申昊科技股份有限公司,杭州311100

出　　处：《自动化与仪器仪表》2025年第2期130-134,共5页Automation & Instrumentation

摘　　要：为在复杂多变的环境中稳定工作,设计基于激光传感技术的清灰机器人机械臂液压自动化控制系统,提升机械臂液压自动化控制的抗干扰性。激光测距传感器中,电气子系统通过激光器驱动电路驱动激光器产生激光束;利用三角法光学子系统汇聚激光束并形成清晰的光斑;电气子系统利用电荷耦合器件(CCD)驱动电路为电气子系统的CCD传感器供电并自动化控制其读取光斑信号,完成成像处理,并按照成像位置计算出清灰机器人机械臂末端清洁装置与目标物间的距离信息;电气子系统利用信号采集模块预处理CCD传感器输出的距离信息;经由串门通信模块传输至机械臂液压自动化控制子系统;机械臂液压自动化控制子系统依据激光测距传感器测量的距离信息,结合自抗扰自动化控制技术,得到机械臂液压自动化控制率,自动化控制机械臂准确清洁目标物。实验证明:该系统可精准测量清灰机器人机械臂末端清洁装置与目标物间的距离;该系统可有效实现机械臂液压自动化控制,提升其抗干扰性能。In order to work stably in complex and changing environments,a hydraulic automation control system for the robotic arm of a dust cleaning robot based on laser sensing technology is designed to improve the anti-interference performance of the hydrau-lic automation control of the robotic arm.In laser ranging sensors,the electrical subsystem drives the laser to generate a laser beam through the laser driving circuit;Using the triangulation optical subsystem to converge laser beams and form clear light spots;The e-lectrical subsystem uses a charge coupled device(CCD)driving circuit to power the CCD sensor of the electrical subsystem and auto-matically control it to read the spot signal,complete imaging processing,and calculate the distance information between the end cleaning device of the cleaning robot arm and the target object according to the imaging position;The electrical subsystem utilizes a signal acquisition module to preprocess the distance information output by the CCD sensor;Transmit to the hydraulic automation con-trol subsystem of the robotic arm through the serial communication module;The hydraulic automation control subsystem of the robotic arm obtains the hydraulic automation control rate of the robotic arm based on the distance information measured by the laser ranging sensor,combined with the self disturbance rejection automation control technology,and automatically controls the robotic arm to accu-rately clean the target object.Experimental results have shown that the system can accurately measure the distance between the end cleaning device of the cleaning robot arm and the target object;This system can effectively achieve hydraulic automation control of ro-botic arms and improve their anti-interference performance.

关 键 词：激光传感技术 清灰机器人 机械臂 液压自动化控制系统 测距传感器 自动化控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]