Crawling Characteristics Analysis And Control System Design Of Complex Wall Cleaning Robot

The effective cleaning of the wall of the variable flow valve chamber is of great significance to the stable operation of the converter station.The robots studied in this paper mainly realize the safety obstacle and efficient work when traveling on the inner wall of the converter valve hall.The specific research contents and results are as follows:(1)According to the change of the working environment,optimize the robot connection mechanism and the cleaning mechanism,perform mechanical analysis according to the working condition of the robot,establish a mathematical model of the robot static,straight,steering and obstacle crossing,and substitute the corresponding parameter analysis to determine the robot.The adsorption force required for the permanent magnet adsorption mechanism and the required driving torque in the drive system,as well as the specific parameters of the spring steel in the obstacle-obstacle mechanism.(2)Based on the dynamics simulation software,combined with the theoretical analysis,the robot is modeled and simulated,and the sub-robot motion model is established.The control variable method is used to study the attitude change of the robot's straight-through,steering and obstacle-obstacle processes,verifying the theoretical analysis and guiding the control system design.(3)Based on the realization function of the wall cleaning robot,design the hardware circuit design of the climbing wall control system,mainly the circuit design of each module with STM32 microcontroller as the core,including motor drive module,power management module,signal acquisition module,communication Modules,as well as post-PCB design and production.(4)Designed the control software system for wall cleaning robot,including the upper computer and lower computer software and its interface design;by formulating the robot cleaning work strategy and designing the communication system with multi-robot working mode to improve the working efficiency of the robot;In order to further ensure the safety of the obstacles of the robot,the obstacle-disabled strategy is optimized by combining the sensors to make it safe and stable to clean the wall.According to the characteristics of the difficult steering of the robot,the fuzzy PID algorithm is adopted,which is effective under the premise of completing the traveling target.Reduce the occurrence of sub-machine speed fluctuations and instability.(5)Developed a prototype of the robot,integrated the control system into the body of the wall-climbing robot,and built an experimental environment for automatic guidance,steering,obstacle-obstacle,etc.;then conducted wireless communication and cleaning tests in the actual working environment,and verified The feasibility of wall cleaning robot structure and control system.In this paper,the crawler-type wall-climbing robot with double-section structure is taken as the research object,the movement of the wall-cleaning robot is analyzed,and its structure is optimized,and the simulation is verified.The control system is designed based on the analysis results and functional requirements.Among them,the main motion control is optimized on the algorithm;finally,the actual effectiveness of the robot is verified by experiments.The robot is suitable for cleaning the wall of 0.6mm thick color steel plate inside the variable flow valve hall.