Design And Realization Of Wall Climbing Robot In Pipelines

Wall climbing robot is an important branch in the field of mobile robots.By installing equipment on the fuselage,the wall climbing robot can complete tasks such as detection and rescue,which greatly widens the application scope of mobile robots.However,most of the existing wall climbing robots only achieve one-way climbing on the wall,which can not adapt to the more complex pipeline environment.Therefore,this paper intends to study a kind of wall climbing robot,focusing on solving the problems such as adsorption difficulties and the inability to climb freely when it moves in complex pipelines,so that it can adapt to various complex pipeline environments,especially in high-pressure GIS equipment for patrol inspection.Firstly,in order to solve the problem of robot adsorption in pipelines,in view of the failure of wall climbing robot,such as sideslipping and toppling,which may occur when it moves in pipelines,the stress threshold of the wall climbing robot in the static state is analyzed,and the minimum suction force required by the robot in the stable operation is obtained.On the basis of comparative analysis,combined with the hydrodynamics simulation technology,the mechanical structure of the robot is optimized and a structural design scheme is proposed,which combines the ducted fan with a bionic adhesive pad.Furthermore,the three-dimensional model of wall climbing robot is built to realize the whole mechanical structure design.Secondly,in the aspect of adsorption control algorithm of wall climbing robot,the mathematical model of adsorption device is obtained by analyzing the dynamic structure of ducted fan.The fuzzy PID algorithm is compared with the conventional PID algorithm to simulate the mathematical model of the adsorption device.The simulation results show that the fuzzy PID algorithm is more suitable for adsorption control.In view of the free climbing control of the robot,the sliding mode variable structure control algorithm and the conventional PID algorithm are respectively used to carry on the comparative control research to the robot kinematics model.The simulation results show that the sliding mode variable structure algorithm is more suitable for the free climbing control of the robot.At last,the hardware and software of the control system are designed.The hardware circuit includes the embedded main controller,motor drive and sensor interface circuit.The software module mainly includes the sensor data acquisition,control algorithm,video transmission and upper computer programs.The robot designed in this paper is 150*80*40mm in size and 345 g in weight.In the simulation environment,a series of experiments are carried out to verify,mainly including pipeline adaptability,adsorption performance,endurance time and control system performance experiments.The experimental results show that the wall climbing robot can achieve strong adsorption and free climbing,has high wall adaptability,and can meet the needs of inspections in the high-pressure GIS equipment.