Research On Climbing Robot For Ship Draft Detection

In the field of shipping and maritime affairs,for the bilateral trade of bulk and cheap goods,the weight of the goods is mainly calculated by the draft meter.This project developed a magnetic adsorption wall climbing robot,set image acquisition and recognition system,to achieve the designated point level of the ship's draft measurement.According to the functional requirements,the overall design of the wall-climbing robot is carried out.The overall structure of the robot is mainly composed of three units.The driving wheel differential drive and universal ball wheel follow-up are designed for the walking unit.Magnetic adsorption system design adsorption components achieve adjustable air gap height in the range of 2-11 mm.The kinematics and dynamics of the wall-climbing robot are analyzed.For climbing robot in the vessel wall,the instability in the process of running condition,such as instability,wall wall slippage capsized instability and the dynamics modeling and calculation,establish a system of adsorption force driving force-gravity-many parameter model,the adsorption capacity of stable jobs need,and meet certain safety margin coefficient of the system and motor drive,through dynamics simulation system features to meet the design requirements.Aiming at the magnetic adsorption system of wall-climbing robot,the design of magnetic circuit and optimization of important parameters of the system are carried out.The correlation model of magnetic force,magnetic energy utilization ratio and various parameters of magnetic adsorption system was established,and finally reasonable parameters such as magnet size,yoke size and gap height were determined,and the adsorption force was simulated and calculated,and the results met the design requirements.The control system of wall-climbing robot is developed.An improved edge waterline detection algorithm based on canny operator is proposed for waterline image recognition.In the test of the developed prototype,the adsorption performance,motion and obstacle crossing characteristics of the wall-climbing robot as well as the acquisition and identification function of draft gauge were tested respectively.During the test,the prototype did not have any instability,and the error of draft test results was less than 3cm,meeting the design requirements.