Design Of Robot Control System For Surface Work Of Steel Wall

Large-scale steel is widely used in industrial foundation,which brings convenience to human beings.At the same time,the corrosion and cracking of steel equipment also occur from time to time.And how to climb and deal with these defects is a key problem to be solved.Therefore,a kind of steel wall surface treatment robot designed by this project has the capability of automatic detection and processing.The theory and technology of the wall climbing robot designed for steel wall are studied in this thesis.The main research contents are as follows:Firstly,the relevant research data is studied,the research status of wall-climbing robot is mastered and the significance of selection is identified.On this basis,the mechanical structure design scheme of the robot body is determined,and according to the working environment,the permanent magnet adsorbent crawling mode is adopted,and the servo motor is used to drive the robot.Secondly,the mechanical structure design scheme of UG software is used to design,the 3D assembly drawing is established,and the theoretical analysis of the mechanical structure is carried out after the completion of the mechanical structure,and the conditions of the steady state of the robot are determined,and the motion theory of several unstable states is analyzed.The force analysis of the robot model in three dimensional space is carried out.Then,based on the ontology design,several classical control frames are introduced and then optimized selection and the overall control system scheme is determined.In this thesis,the distribution control of upper and lower computer is adopted,the hardware system of lower computer is designed in detail,the communication protocol is designed by wireless mode,and the man-machine interface is designed by the software control system of upper computer.The robot can be controlled and monitored in real time.Finally,the vision system of the robot is designed.Samples are selected from the photos obtained by the robot for image processing.The grayscale histogram is analyzed and the corrosion degree is determined by using MATLAB software,and a method of determining the degree of corrosion by histogram is studied.The feature of weld and rust is segmented and texture is identified.This thesis completes the design and realization of the robot from hardware module to software control,and makes the prototype test and proves the correctness of the design idea.Which will lay a foundation for the industrial production,and have a significance in further studying the robot in the future.