Crane Track Detection Mobile Robot Walking Posture Measurement And Control Method And System Implementation

Cranes have a pivotal position in today’s industrial industry.In order to ensure the safe and stable operation of cranes,crane track inspection is the top priority.At present,most of the traditional track inspection methods are carried out manually,with low efficiency and poor accuracy,and the inspection unit bears great safety responsibilities.With the continuous advancement of the industrial automation process,domestic and foreign research and development personnel have adopted robot detection to replace traditional manual detection.When the crane track inspection robot is performing track height difference inspection work,due to the unevenness of the track surface,the robot speed change and other factors,the robot’s walking posture will be yaw and overturned,causing the inspection work to fail and fail to meet the crane track automatic inspection requirements.For this reason,this paper studies the method and system of measuring and controlling the walking posture of the mobile robot for crane track inspection according to the requirements of crane track inspection indicators.The main research contents and conclusions are as follows:(1)The method of returning the walking posture of the mobile robot and the design of the returning transmission mechanism.According to the crane track detection requirements,determine the robot walking posture requirements and performance indicators.Starting from the two aspects of yaw return and dump return,the method of automatic posture return of the mobile robot walking system is studied;on the basis of the mobile robot walking system,separate designs The yaw return screw drive mechanism and the tilt return to the inertia wheel drive mechanism are analyzed,and the kinematics and dynamics analysis calculations are carried out to determine the main parameters of the drive motor and the transmission mechanism;the ANSYS structure simulation method is used to respectively correct the yaw return wire The modal analysis of the lever drive mechanism and the tilt-back inertia wheel drive mechanism is carried out.The simulation shows that the first 6-order natural frequency is obtained.The comparison with the natural frequency shows that the modal frequency of the designed transmission mechanism will not cause resonance of the drive motor.Able to operate stably.(2)Research on posture measurement and control method of mobile robot walking system.First,select the inertial sensor combined with MPU6050 accelerometer and gyroscope to detect the tipping angle and tipping angular velocity,and then correct and fuse the data to obtain the tipping angle of the robot;select two models of HC-SR04 ultrasonic ranging sensors to detect and sense the side of the track The yaw value of the robot is calculated by the distance difference;secondly,the yaw return to the positive transmission system is analyzed,the linear control principle is adopted,the yaw return to the positive PID controller and system are designed,and the PID control model is established in simulink.The simulation of its control performance shows that the PID-controlled screw drive mechanism can complete the maximum yaw adjustment within 0.7s,which verifies that it can meet the expected control requirements;then,the analysis of the dump-back drive system is based on Non-linear system control principle,design the dump-back-to-positive sliding mode variable structure control controller and system,establish the sliding mode variable structure control model in simulink,and simulate its control performance.The results show that it takes 0.8s to complete the maximum dump angle zero adjustment And the simulation output tracking curve shows that the control effect is jittery,which affects the control performance;further use the adaptive learning method of the neural network to optimize the gain term of the sliding mode variable structure controller,and establish the neural network sliding mode variable structure corresponding The simulink control model is simulated for its control performance.It can complete the zero adjustment of the maximum tilt angle in 0.6s,which is shortened by 0.2s,and the jitter of the simulation output tracking curve is significantly reduced,indicating that the neural network sliding mode variable structure control effect is faster The responsiveness meets the requirements of dumping back to the right control.(3)The design of the measurement and control system for the walking posture of the mobile robot.The hardware of the measurement and control system is designed:the STM32 main control chip is selected,the attitude detection sensor detection circuit is designed,and the sensor collected data is transmitted back to the main control chip through the IIC bus interface;the motor driver of the return mechanism is selected and designed.Interface Circuit.The software of the measurement and control system is designed,including the main control program,the mobile robot walking program,the posture data acquisition and data filtering processing subroutine,the yaw return to normal PID control subroutine,the dumping return to the normal neural network sliding mode variable structure control subroutine,etc.,And carry out software and hardware construction,debugging and testing.(4)Experimental research on measurement and control performance of mobile robot walking posture.According to the system’s software and hardware configuration,build a test platform for attitude measurement and control performance.First,carry out the trajectory detection mobile robot yaw return to the positive screw drive mechanism control performance test,the test results,from the maximum yaw 6mm to adjust to 0,it takes 1.1s,which meets the design requirements;secondly,the trajectory detection mobile robot tilts back to normal inertia The wheel drive mechanism control performance test,set the tilt angle from 8° to zero,the RBF sliding mode variable structure control can be completed in 0.9s,which is 0.35 s faster than the conventional sliding mode adjustment time,and the adjustment performance is good;finally,the track detection robot walks Attitude measurement and control system application test,observe and analyze the real-time changes of the dynamic tilt angle of the mobile robot running at normal speed,and can stably control the tilt angle within,which fully meets the expected design effect.The research results provide the foundation for the crane track inspection robot to realize the automatic track inspection work.