Research On Control System Of An Inchworm-like Micro Wall-climbing Robot Used For Steel Structures

In order to replace the artificial high-altitude work when detecting the defections of the steel structures,reduce the amount of labor and the safety risks,and improve the detection accuracy,the inchworm-like micro robot platform suitable for detecting the walls of steel structures was introduced,and its control system was researched and designed.Because of the relatively complex operating conditions,automatic mode and manual mode were combined to solve the problem of spanning obstacles in the process of the movement of the robot and the problem of walking between two different walls.Thus the robot can span to the new detection environment with human assistance,which broadened the using scope of the robot.To be suitable for high-altitude wall-climbing and operations,the hardware component modules were designed and built on the basis of the corresponding structure,and the program realizing the control functions was written,which to ensure the realization of the needed functions of the designed inchworm-like wall-climbing robot platform.By the testing of the control interface of the host computer and the data transmission of the control interface,and the testing of the designed fuzzy system based on MATLAB,the feasibility of the control system of the designed robot was verified.In automatic mode,taking the advantage of the characteristic that the moving foot can rotate forward and turned back around its axis with a certain angle,the number of sensors used for automatic avoiding obstacle and automatic escaping from cliff reduced.To realize the function of automatic obstacle avoidance,introducing the fuzzy control algorithm,the control system can obtain the angle which the steering gear needs to rotate by comprehensively analyzing the information of the distance of the front obstacle,the azimuth of the obstacle on the left side,and the azimuth of the obstacle on the right side,which received from the sensors in front of the moving foot.The detection information at the bottom of moving foot can be used for boundary recognition in order to realize the robot's walking escaping from cliff.In manual mode,by introducing the Bluetooth serial port,the wireless communication between the host computer and the single chip microcomputer realized.Operating the control interface of the host computer by the mouse can realize the transmission of the control data,and complete the specific actions in manual mode.This paper researched the problems of realizing the control of the wall-climbing of the steel structures by the combination of manual mode and automatic mode,and made a meaningful exploration of the robot's control system suitable for specific occasions,which had a high practical value.