Study On Path Planning And Control System Of Steel Wall Rust Removal Robot

With the vigorous development of robot technology,steel wall surface rust removal robots are increasingly used in rust removal operations on large-scale hulls,chemical vessels,and other wall surfaces.The derusting work of the steel wall is gradually shifted from manual derusting to robot derusting.Due to the irregular boundary and obstacles in the rust removal operation of large hulls and chemical containers,the problem of low intelligence of robot control system has become increasingly prominent.It is mainly manifested in the difficulty in removing rust in the entire region,low rust removal efficiency,and can't automatically avoid obstacles.Therefore,it is of great significance to study the rust removal path planning algorithm in the whole region and the control system design of the steel rust removal robot.Based on the in-depth study of the theory of intelligent navigation and path planning for mobile robots,this paper investigates the development status of steel wall surface rust removal robots and their control systems.The goals and feasibility of the research were discussed,and a full-area coverage path planning algorithm based on grid method and fuzzy theory was proposed.Combined with the steel wall rust removal robot working environment,the robot body structure,motion model,rust removal method and control system scheme were deeply studied.The dead reckoning relative positioning method and ultrasonic distance measurement method are applied to the construction of a grid environment map.It was designed and divided into two types:boundary known environment and boundary unknown environment.The key information such as the known condition of the base point in the grid,the actual situation,and the rust coverage situation are recorded in the grid electronic map.By analyzing the walking characteristics of the steel wall rust removal robot on the vertical wall surface,the unknown boundary environment is pre-divided into a number of block rust removal areas and is equivalent to the known boundary conditions.Then,the bow vertical is used as a global basic rust path covering method.When obstacles or irregular boundaries are encountered,path planning is performed for the local area according to the established fuzzy control rules.By establishing a boundary-unknown environment model,the path planning strategy was simulated.The results show that the rust removal coverage and overlap ratio are controlled within a reasonable range.Based on the theoretical analysis,the control system hardware of the steel wall derusting robot was designed.The path planning strategy was applied to the control system and experiments were conducted.The correctness and reliability of the path planning strategy were verified.The experimental results show that the path planning algorithm based on grid method and fuzzy theory is applicable to the automatic full-area coverage rust removal operation of steel wall surface rust removal robots.