Research On Motion Control Of Water Wall Climbing Robot

With the renewal and development of technology,the detection of water wall pipes has begun to develop in the direction of intelligence.The original detection technology is to carry the detection equipment manually,build the scaffold and climb for detection.This way of work is inefficient,timeconsuming and laborious,and there are great security risks.At present,in the cleaning,painting and flaw detection of high-altitude walls,wall-climbing robots have become a research hotspot in place of manual operations.Researchers are paying more and more attention due to their characteristics of intelligence,efficiency and safety.Therefore,according to the characteristics of the water-cooled wall pipe,this article has developed a set of intelligent detection wall-climbing robots and researched its motion control to ensure that the wall-climbing robots work more safely and reliably.On the premise of consulting a large number of domestic and foreign related materials,combined with the characteristics and functional requirements of the working environment of the wall-climbing robot studied in this paper,the two parts of its basic structure and control system are studied.In terms of structure,compare and analyze the wall-climbing robot's structural scheme from the three aspects of adsorption,walking and driving,and determine the scheme of permanent magnet adsorption,crawler walking and motor drive.On this basis,use the 3D software(Solidworks)to design and model the basic structure of the wall-climbing robot;In terms of the control system,combined with the realized functional requirements,a control system scheme of upper-lower computer is adopted.In order to ensure that the wall-climbing robot can be safely and reliably adsorbed on the water-cooled wall and can crawl stably,based on the establishment of its force model,the mechanical characteristics of the wall statics and dynamics are analyzed.In terms of statics,analyze the three main possible wall failure modes,including sliding down the wall,overturning around the bottom,and rolling down the wall,to obtain the amount of adsorption force required for safe adsorption;In terms of dynamics,by comparing the influence of the tension of the crawler when the upper and lower sprocket is driven,the lower sprocket is used to drive,the dynamic balance analysis of the wall-climbing robot crawling up and down along the wall surface is carried out,and the driving torque range required for driving the lower sprocket is obtained.In order to realize the function of the wall-climbing robot's crawling detection and the purpose of motion control,the control system of the wallclimbing robot is researched.In the hardware part of the system,analyze and design the four main modules of the system,including the main control circuit module,the communication module,the crawl drive module and the detection module;In the software part of the system,the upper-lower computer two-level control mode is adopted,and the control process of the lower computer is programmed through Keil u Vision4 software.Finally,experiments are carried out on the wall-climbing robot prototype to verify the effectiveness and reliability of its motion control.The motion model is established to analyze the possible motion path deviation in the motion control process of the wall climbing robot,a motion path control method based on adaptive fuzzy PID is proposed.On the basis of mastering the basic principles of the algorithm,the controller for this article is designed,and the control effect of the controller is analyzed and verified through MATLAB software simulation.In this paper,the overall structure and mechanical characteristics of the water wall climbing robot are studied and analyzed,and the hardware design and software programming of the motion control system are carried out,a prototype of the wall-climbing robot has been developed,and field experiments have been carried out to verify it.In-depth research on the path deviation in the process of motion is carried out,the corresponding motion path control method is proposed,and the effectiveness of the algorithm is verified by simulation.