| More and more cable tunnels are built.Problems such as low efficiency,low detection accuracy,large work intensity,high work risk in the detection should be solved.Using robot to detect the cable tunnel becomes a feasible solution.In this paper,a robot is designed and studied based on the tunnel environment.Firstly,according to the working environment of wheeled robot,the overall scheme design of wheeled robot is completed.Mecanum wheels are used as the driving wheel of the wheeled robot,STM32F103 chip is used as the control unit of the robot,ultrasonic sensor,temperature and humidity sensor,and nine-axis acceleration sensor are used as the sensors of the wheeled robot.Secondly,the structure of Mecanum wheel is analyzed,and the kinematics model is established.The attitude algorithm is established and the relation between the three axis angular velocity and attitude Angle is given.Thirdly,the error source of magnetometer is analyzed,the error model of magnetometer is modeled,and the calibration of magnetometer is completed by ellipsoid fitting method.The complementary filtering algorithm is designed to correct the attitude AngleFinally,the upper computer program and the lower computer program are analyzed and written.The lower computer program realizes the detection of the wheeled robot to the surrounding environment,and the upper program realizes the remote control of the wheeled robot.The tunnel detection robot realizes the omni-directional movement by controlling the movement of four Mecanum wheels,and realizes the environmental detection function by using temperature and humidity sensor,ultrasonic sensor,nine-axis acceleration sensor. |
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