The Control And Measure System Of Wheel Exploration Robot

The exploration robot has been applied in the fields of the industry, military, medical treatment, emergency service and disaster relief, marine exploration and outer-space exploration. In field of exploration robot, the wheel exploration robot becomes international research focus, for its advantages of the superior obstacle performance, the simple structure and reliable performance. Because the vast experiments are needed in the development of the wheel exploration robot, putting up of wheel exploration robot experiment platform has important significance for the development of wheel exploration robot.Most experiment platform of exploration robots domestic are non-comprehensive information collected platform, in allusion to this matte, the control system of experiment platform of wheeled exploration robots is studied in this paper. The experimental platform can achieve the factions of moving control remotely and multi-sensor information data measurement. The control system of experiment platform, including dc servo drive system , position information collected by binocular vision system, mechanics of suspension and kinematics of suspension pose, is a information collection and detection system consisting kinds of sensors; the system is a modularized idea. Based on the modular design method, system adopting various control algorithm without changing the architecture of software, which is ease for algorithm verification. To detect the pose of exploration robot and the pose of the rocker in the absolute coordinate system based on binocular vision after finishing robot mechanism analysis and kinematics modeling. The explorative study is worked out based on the control system of experiment platform.Non-contact measurement of spatial pose of wheeled detection robot is proposed in the paper. The principle of binocular visual and technology of image processing is used in the method by marking points on the measured object to measure object pose. The method of measuring object pose of binocular visual, which is applied in the spatial pose detection of wheeled detection robot successfully is improved in the paperThe function of sensor data collection and remote control is verified using the test platform of wheeled detection robot. The test platform of wheeled detection robot provides important test data and support for dynamic performance, reliability demonstration, actual inspection of simulation results and feasibility demonstration of new theory and algorithms.