Study On Control System Of Self-moving Weld Tracking Robot Working In Complex Environment

In order to enhance the strength of the hull, the small lattice-shaped frame is widely used in shipbuilding. The lattice-shaped frameworks have small space, complex structures, and are connected by drainage holes, resulting in a non-continuous welding seam. For the above, a kind of wheeled mobile robot have been developed that can automaticly track and weld the variety of complex welding seam. Cooperating with laser visual sensor and ultrasonic sensor, the robot identify and track drainage holes based on its core technology-rotating electric-arc sensor. This paper mainly includes the following parts:First, we determines the design project of robot's movement structure. And we complete the purchase of the motor and initialize the parameters. The equation of motion is resulted by the experimental performance analysis of movement of the wheels. Finally, all the work together complete the hardware platform in the robot body.Secondly, we designs the control system of the welding robot to achieve the integration of the main control system and the robot body by using the PC 104 series board, and designs a information sensor system making up of A variety of sensors, and designs a wireless remote control box in order to achieve manual control of the robot. Complete the design of the system software.Thirdly, we have processed and analysised the laser image that is collected by CCD, and have done the experimental to study on the relationship of the changes between the laser image and the robot, and designs non-continuous seam tracking controller based on previous research.Finally, taking the PDA as the control terminal, according to the thinking of web application design, based on the TCP protocol, relying on the Visual Studio 2005 platform, we have exploratory finished the development of the remote control functions of the robot.