Research On Test System Of Mobile Robot's Gradeability

With the continuous development of artificial intelligence technology,it has become a general trend that mobile robots replace humans to complete tasks.As a kind of bionic robot,mobile robots are favored by scientific researchers.However,some complex and dangerous tasks place high requirements on the performance of mobile robots.Gradeability detection of mobile robots has always been an important item in the robot performance testing project.The traditional gradeability detection of mobile robots chooses to use artificial construction sites or natural sites,and install various sensors on the mobile robot for testing.There is no fixed standard for judging the gradeability of the robot.The shortcomings of the current mobile robot gradeability detection experiment period are long and the output of the climbing ability result is inaccurate.Based on this background,the thesis designs a mobile robot gradeability detection system after studying the current mobile robot gradeability detection technology.Firstly,a test platform characterized by a variable slope was designed using a250 kg mobile robot.Static,dynamics,and modal analysis,fueled by a combined simulation in SolidWorks and ANSYS,were carried out to test the reliability of the adjustable slope.The final results showed that the design met the requirements.Secondly,among different control schemes,a best one was selected by comparing their advantages and disadvantages.Besides,the model of important equipment was determined according to its application in this project.The hardware control system,as well as program to adjust the slope,was designed and produced employing programmable controller as the main control module.Finally,the control system has passed the feasibility test.Thirdly,the motion characteristics and passability are used as indicators to evaluate the climbing ability of the robot,and different weights are assigned according to the degree of influence of each index on the climbing ability,and a mathematical model for calculating the climbing ability of the mobile robot is established,based on fuzzy evaluation.The mathematical model has designed the climbing ability evaluation software,which can quantify the climbing ability of the mobile robot.Fourthly,based on the indicators determined by the evaluation system,a non-contact mobile robot climbing parameter acquisition system is designed applying millimeter wave radar and industrial cameras.The host computer with LabVIEW could display the parameters describing climbing status and whether a robot had passed a certain spot.Finally,the test system debugging was completed,and a simulation experiment platform was built to test and analyze its various functional modules.The parameters related to the climbing mobile robot can be effectively collected and displayed,and the feasibility and reasonability of the system were verified.