一种面向船舱监测的爬壁机器人设计及实现控制科学与工程专业论文.docxVIP

最后，为了验证爬壁机器人系统的有效性，对爬壁机器人样机的吸附性能、 最后，为了验证爬壁机器人系统的有效性，对爬壁机器人样机的吸附性能、 转向性能以及障碍检测能力进行了实验，实验结果表明爬壁机器人样机满足移动 监测要求，验证了本文所设计系统的可行性和有效性。 关键词：爬壁机器人；船舱监测；人工势场法；模糊控制；无线视频监控； II 万方数据 AbstractWith Abstract With the development of the ship automation，the control of the ship is more and more concentrated in the central control room．If the crew Can not find the accident in the cabin，it would be serious consequences．Thus，the real-time monitoring of the cabin has become an important indicator to measure the safety of the ship．It is particularly important to improve the real—time of the cabin interior environmental monitoring，fire alarm and other aspects．This paper designs and implements a wall climbing robot which is suitable for the real-time monitoring of the cabin interior．The wall climbing robots will replace the traditional cabin crew to monitor the internal environment．It is not only adapt to the complex environment inside the cabin，reducing the workload of the crew,but also reduce the cost of the real—time monitoring of cabin interior． First，the design of a permanent magnet motor-driven crawler wall climbing robot system．Taking into account the particularity of the environment inside the cabin，this paper analyzes the structure of the wall climbing robot through comparative analysis of the pros and cons of various structure and designs a permanent magnet motor-driven crawler wall climbing robot system．In order to verify the validity of the structure，this paper analyzes the static mechanical model of falling and overturning．The results of the analysis determines the size of the magnetic attraction force to ensure that the falling and overturning does not occur．Since the robot is no steering mechanism，this paper analyzes the kinematics of differential steering and determines the kinematic model and steering characteristics of the wall climbing robot． Then，a 10cal obstacle avoidance method based on ultrasonic sensor．Due to the uncertainty and complexity of the environment inside