Study On The Software Control System Of Wall-climbing Robot With Magnetic Crawlers

Wall-climbing robots play an increasingly prominent role in high-altitude and high-risk work environment. Control system, known as the robot's brain, plays a very important role in the whole robot system. The study purpose of this thesis is to design a stable, accurate and reliable software control system for the wall-climbing robot. The wall-climbing robot is designed to inspect the weld defects on the tower with wild turbines. In the thesis, based on the mechanical design of the wall-climbing robot's body structure, we design a two-level control structure with the upper machine and the lower machine. We also complete the design and implement of the upper and the lower machine software control system and the communication between them.The upper machine software control system requires to design a man-machine interface and to send commands to the wall-climbing robot to control the movements of it and part of the system tasks through the serial port complying with the relevant command words protocol. The lower machine software control system requires to transplant theμC / OS-II operating system on the microprocessor first and then to program. We program in the mode of multi-task to achieve the control of the movement and posture of the wall-climbing robot itself and all of the tasks that the system required. The upper machine software control system use MFC in Visual C++ platform to design a man-machine interface and the user interface use the MSComm control to implement the serial communication, including sending commands and receiving feedback from the lower machine. The lower machine software control system works in the IAR Embedded Workbench IDE programming and debugging with C language and implement the movements control and tasks of the robot. In this thesis, in order to communicate between the upper and the lower software control system, we developed a special and standardized command words protocol. In the whole software control system, controlling the movements of the robot, doing the system tasks and the feedback of status information of the robot should all follow the protocol. Developing specialized command words protocol not only standardizes the software programming process and is easier for the later expansion of the functional modules of the wall-climbing robot.In this thesis, we complete the design and implement of the software control system of the wall-climbing robot with magnetic crawler. We test and run the software control system successfully on the wall-climbing robot. It's shown that the software control system acting effectively and controlling accurately. We have made a foundation to the future study on software control system of similar wall-climbing robots.