Research On Portable Water Gauge Measuring Wall-climbing Robot

With the characteristics of low cost and short time-consuming,draft weight measurement is widely used in the shipping industry all over the world.In China,there are 10 billion tons of goods transported by ship every year.In addition,draft information can also be used for the safety assessment of ship stowage.A portable wall-climbing robot for water gauge measurement is developed in this paper in order to get the water gauge information,ensure the safety and efficiency of navigation,improve the crew's working environment and ensure the objectivity and impartiality of the measurement results.The robot is used to collect the water gauge images of six sides of the ship,and then transmit the images to the mobile terminal to get the water gauge information.Firstly,the working conditions of the portable water gauge wall-climbing robot and the technical requirements of the development are analyzed to determine the overall design scheme of the wall-climbing robot.Secondly,this paper studies the mechanical characteristics and wall stability of the wall-climbing robot on the outer surface of the ship,and obtains the theoretical basis and constraint conditions for the structure design of the robot.After that,the structure of the wall-climbing robot prototype including the car body unit,driving unit,servo unit,image acquisition unit and adsorption unit is designed.The lightweight design of the structure of the car body unit considered the waterproof performance is completed.The driving mechanism is completed in the design of the driving unit.Under the chassis structure of the car body unit,the connection mode between the follow-up wheel and the car body unit is determined to complete the design of the follow-up unit.The plane bar is used to complete the design of the image acquisition unit,and the permanent magnet intermittent type is used to design the adsorption unit.This paper also develops the control system of the wall-climbing robot prototype,including motion control board,perception module,communication module and software system.A miniaturized motion control board is designed to control the motion of the robot.In the robot perception module,MPU6050 gyroscope,inductive metal inductive proximity switch and DYP-ME007 YS ultrasonic sensor are used to construct the robot perception system.In the robot communication module,the E31-T50S2 wireless digital transmission module is used to build wireless transceiver module.The nano PI Neo plus2 development board and TL-WR802 N Mini router are used to build LAN to complete the communication between upper and lower computers.In the software system,the robot motion control is completed based on RT-thread operating system,the APP development of robot mobile terminal is completed in Android design framework,the control software of robot PC terminal is designed in QT framework,the robot motion is controlled by upper computer software,and the water gauge video information is displayed in real time.Finally,a series of experiments are designed base on the wall climbing robot prototype.The experimental results show that the adsorption unit can provide the magnetic adsorption force needed by the robot.The test on the wall of water storage tank proves that the robot has stable adsorption,safe steering and good wall stability.The ship wall test shows that the robot has a strong adaptability on the surface of the ship,and has a certain ability to cross the word block,which can be used as a mobile platform on ship surface.The experiment of water gauge video transmission shows that the image acquisition unit of the robot can complete the function of water gauge video transmission.