Positioning And Control Of A Multi-functional Mobile Platform Working On Ship Fa?ade

The painting,welding,cleaning and cutting are common processes of shipbuilding and ship recycling,which are executed above vertical ship wall.Because giant ships are unable to enter the integrative workshop,above-mentioned processes are usually completed by workers with ladder truck or constructing scaffold.Obviously,it's inefficient and dangerous.Moreover,qualities of products are constrained by worker's experience and skill level,which is not always stable.Aiming at above processes,in this paper a kind of multi-functional mobile platform working on vertical ship wall is designed,which is positioned by high precision range unit,to move on vertical ship wall freely through Adsorption components and transmission device.Besides,it can complete varies vertical operations by its multi-functional operating platform.This mobile platform not only makes the machine replace of human for working on vertical ship wall,but also improves the accuracy of processes and technological level.This work was supported by the Technology Department of Zhejiang Province.The main research contents and achievements are as follows:(1)Analyze the technical index and mobile platform's functions based on overview on present research situation.The adsorption,moving and drive methods for mobile platform are determined.A two-stage control system containing human-computer interface,mobile platform body's control system,positioning system based on laser ranging device is proposed.(2)Because of the limit that external attitude sensor is not convenient to be installed on vertical ship wall into,a positioning method which is to realize track plotting through optical-electricity encoder is proposed and proved.To satisfy the demand of painting,a kind of zigzag area-coverage path planning method is proposed.A linear control law for target tracking is introduced and proved.Then,a Variable integral PID control algorithm based on the link between Variable integral constant and deviation of robot's toward angle is proposed.It makes the platform's toward angle stable and improve the control quality.(3)To achieve the reliability of data transmission among upper machine,laser range finder,2 PLC,a master-slave communication method based on ZIGBBEE-RS485 is designed.Then,application and communication software of upper and low machine are designed.And 2 prototypes are developed.At last,positioning accuracy and the feasibility of the path planning and control of the manipulator are respectively tested.