Design And Realization Of The Wall Climbing Robot For Cabin Monitoring

With the development of the ship automation,the control of the ship is more and more concentrated in the central control room.If the crew can not find the accident in the cabin,it would be serious consequences.Thus,the real-time monitoring of the cabin has become an important indicator to measure the safety of the ship.It is particularly important to improve the real-time of the cabin interior environmental monitoring,fire alarm and other aspects.This paper designs and implements a wall climbing robot which is suitable for the real-time monitoring of the cabin interior.The wall climbing robots will replace the traditional cabin crew to monitor the internal environment.It is not only adapt to the complex environment inside the cabin,reducing the workload of the crew,but also reduce the cost of the real-time monitoring of cabin interior.First,the design of a permanent magnet motor-driven crawler wall climbing robot system.Taking into account the particularity of the environment inside the cabin,this paper analyzes the structure of the wall climbing robot through comparative analysis of the pros and cons of various structure and designs a permanent magnet motor-driven crawler wall climbing robot system.In order to verify the validity of the structure,this paper analyzes the static mechanical model of falling and overturning.The results of the analysis determines the size of the magnetic attraction force to ensure that the falling and overturning does not occur.Since the robot is no steering mechanism,this paper analyzes the kinematics of differential steering and determines the kinematic model and steering characteristics of the wall climbing robot.Then,a local obstacle avoidance method based on ultrasonic sensor.Due to the uncertainty and complexity of the environment inside the cabin,this paper propose an ultrasonic sensor local obstacle avoidance methods to protect the safety of robot in unknown environment.On the basis of the traditional artificial potential field method,the fuzzy theory is added to solve the problem that the target is not reachable and local minimum in the traditional artificial potential field method.In order to verify the effectiveness of the local obstacle avoidance method,this paper simulates the local robot obstacle avoidance in each case by MATLAB.Next,details of the wall climbing robot system design.According to the design requirements of the wall climbing robot,this paper designed software and hardware of the wall climbing robot system.The operator can control the robot using a wireless network by the HMI.The robot sends video data to the host computer and displays video on HMI.The wall climbing robot can achieve cabin equipment control,monitoring,display,record and alarm.Finally,in order to verify the effectiveness of the wall climbing robot system.The adsorption performance,steering performance and obstacle detection ability of wall climbing robot were experimented.The results show that the wall climbing robot prototype conformance to the requirements of monitoring.Experiments show the feasibility and effectiveness of the design of the wall climbing robot system.