Research On Control System Of Wall-climbing Robot For Non-destructive Dection Of Large Tanks

At present,the large tank non-destructive dection task is still performed by wokers.The detection process is complex,dangerous and low efficiency.The application of magnetic adsorption wall-climbing robot to nondestructive detection of tanks can simplify the process,reduce the cost and improve the efficiency.In this research,the control system of a magnetic adsorption wall-climbing robot is designed and implemented for the nondestructive detection of large tanks.Based on the investigation of the key technologies of the magnetic adsorption wall-climbing robot,the requirements of the control system used in the wall-climbing robot is analyzed,and puts forward the overall design scheme of the control system-adopting the C/S architecture.It consists of two parts: robot local control system and remote control system.The hardware system of wall-climbing robot uses modularization to design the power module,the sensing module of data acquisition,the movement module,and the MI02263 industrial controller as the main controller to realize the functions of information collection,motion control and network communication.The software system of wall-climbing robot adopts MVC pattern to design the data acquisition card software based on interrupt response mode,the local controller software system,the PC control client and the Android remote control client with multi-thread technology.In this paper,the weld seam recognition function is realized based on the weld texture feature and the structure light principle.On the basis of recognition of weld seam,the function of seam tracking is realized by using digital PID.The relative positioning method is adopted to realize the robot spatial positioning,and the combination of odometer positioning algorithm and inertial navigation positioning algorithm is used to further improve the positioning accuracy.In this paper,the control system of magnetic adsorption wall-climbing robot is designed in detail,and its function is tested in an all-round way.The experimental results show that the robot control system has strong mobility,sense ability,control ability and operation ability,and can be used to detect large tanks.