Control System Design And Research Of Cleaning Robot For The Wall Of The Converter Valve Hall

The effective cleaning of the inner wall of the converter value hall is of great significance to the normal operation of the substation and the value of engineering application.the robot in this paper mainly focuses on long-term and effective cleaning of the inner wall of the converter valve hall.The fine performance of the control system,which is the core of the wall-climbing robot,plays a very important role on the function of the robot.The paper with differential crawler climbing robot as the research object,creates a control system based on ARM and studies the algorithm of wall-climbing robot.The concrete research contents and achievements are as following:(1)On the basis of the bodies of the climbing wall-cleaning robot,the hardware circuit for the robot control system is created,which is based on the STM32 microcontroller circuit,including motor drive circuit,signal acquisition circuit,communication circuit,hardware design of image processing and design of control circuit board as well as a research on anti-interference characteristics of control circuit board.(2)In terms of control system software design,focusing on the characteristics of the robot's movement and according to basic software design,which includes both upper and lower software design,the robot system fulfills the basic controlling function on the robot.For better control of the wall-climbing robot for users,the corresponding android application is developed out;Through the image processing algorithm design and designing surface cleaning degree evaluation method better helps the accomplishment of cleaning tasks.(3)Integration of the control system on the wall-climbing robot builds a complete test platform,carries out straight driving,leading test pilot and other test robot,as well as verifying the correctness,validity and reliability of both hardware and software design of the robot control system.This paper,focusing on cleaning robot combining the functions of adsorption climbing,straight movement and effective cleaning into one puts forward control system algorithm adversities the reliability by experiment.This system is applicable to the robot which works in a clean environment,such as vertical plane type,wall type and so on.