Researches On The Control System Of A Wall-climbing Robot With Wall Transition Function

Large steel structure equipment,such as cranes,ships and large oil storage tanks,are prone to surface corrosion,fatigue cracks,fracture,deformation and other problems due to long-term work in harsh environments.It directly affects the safety and reliability of the whole device.At present,the security patrol tasks during the life of the equipment mainly depend on manual operation,which is not only labor intensive but also dangerous.So it is considered to use wall-climbing robot instead of workers.The equipment can reach up to hundreds of meters and have complex external surface structure.Therefore,the wall climbing robot is required to have wall transition function and be more stable by manual remote control.In addition,there is a part of the larger outer surface of the device with a large area,the wall-climbing robot can use the autonomous movement mode to liberate workers.Therefore,this paper studies the remote control and the autonomous movement of wall-climbing robot.The specific research is as follows:(1)Design of remote control system for wall-climbing robot.The system uses a two-stage distributed control,which are handheld terminal and vehicle control terminal based on embedded microprocessor.The control instructions are transmitted through the wireless radio frequency module and the video images are transmitted through the Wi-Fi module.The image helps operators to control the robot and replaces the human eye to check the device defects.(2)Research on the autonomous movement of a wall-climbing robot.The LIDAR transmits the collected data to the Raspberry Pi that uses the Cartographer algorithm to build a map of the wall-climbing robot's work surface.Based on the result of the mapping,the Raspberry Pi sends communication signals to the chassis controller to control the robot movement and obstacle avoidance.In the study of wall transition capability and remote control system of wall-climbing robot,a series of experiments have been carried out.The results show that the robot can complete the transition between the inner right-angled walls and the outer right-angled walls.the command transmission distance is about 100 m and the command transmission is correct.The vehicle controller can stably receive the command from the handheld terminal.The video transmission distance is about 80 m.The delay time is between 0.2s ? 0.44 s,and the video is clear,which basically meets the needs of actual operation.In the study of the autonomous movement of a wall-climbing robot,the experimental scenes were analyzed to verify the feasibility of the application of the Cartographer algorithm on the wallclimbing robot by mapping analysis.The results shows that the larger the distance between objects,the higher the accuracy of Cartographer algorithm.The relative error of the map construction is between 0.222% and 2.833%.In addition,the simulation test of the robot's autonomous obstacle avoidance shows that it can basically satisfy the task of the wall-climbing robot autonomous patrol on the large steel structure with simple environment and large surface area.