【作者】 程毅；

【导师】 谭跃刚；

【作者基本信息】 武汉理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 目前水下小型爬行检测机器人已经成为各国研究的热点。在核电厂停堆换料大修期间，要对反应堆压力容器上部燃料组件上的定位销进行检查，但由于其与换料堆地板的间距狭窄无法实施人工检查；进行装卸时又会不可避免地掉入换料水池一些异物，这些异物对核电厂的安全运行构成重大的隐患，必须要及时检查发现并予以清除；在现代工农业、石油、化学、核工业等领域大量使用管道，经过长期使用，它们会出现裂纹、腐蚀、堵塞等故障，必须对这些管道进行定期检测和维修；在水下养殖、考古、探矿、航运及水下工程监测等一些危险的场合或人不方便检查的场合，远程小型爬行视频检查机器人也有广阔的应用空间。但就目前来说国内相关水下爬行机器人由于体积还比较大，无法在较小管道中工作，而随着国内核电工业的发展，将会新建大量的核电站，而由于其反应堆空间狭小以及核辐射，使得以往采用的人工检查清理的方法所遇到的问题越来越多。因此研制出在特殊环境中进行检查作业并具备在大型容器与管道内、换料水池内及压力壳底部等区域的异物取出能力的水下小型爬行机器人具有十分重要的意义。本文提出了一种新型水下小型爬行视频检测机器人的设计方案，重点解决了结构设计中有关密封方式、电机驱动选型、小型化等问题。在控制方面从轮式爬行移动机器人(WMR)的体系结构出发，重点设计了机器人移动控制系统的硬件、软件平台。首先，通过对直流伺服电机模型的分析，建立了移动机器人的控制系统模型。其次，设计了基于AVR微型控制器-AT90S8515的移动控制系统，其中主要包括PWM功率驱动、测速单元和串行通讯模块等；对机器人速度、位置控制采用模糊PID算法，较好地克服了移动机器人模型的不确定性、转速位置控制要求的多变和环境改变等因素的影响。程序使用ICCAVR C语言编写，在AVR SUDIO调试软件中用ICE200仿真，并最终实现。仿真结果和机器人实际运行验证了设计效果良好。该机器人可以推广应用于核电反应堆大修管道检查以及石油、水下养殖、考古、探矿、航运、水下工程监测等一些危险或人不方便检查的场合，有着广泛的应用前景。更多还原

【Abstract】 At present, small-scaled underwater creeping detecting robot has become a topic of general interest to researchers in many countries. This paper put forward a new model of it, concentrating on solving the problem of structure design and problems about hermetic sealing mode, choice of dynamo drive, such as type and long range signal transmission on long range control.. But say currently domestic related underwater creeping robot because of volume still more big, can’t work in smaller pipe, but along with local pit electricity industry of development, will lately set up a great deal of pit electricity station, but because of its reaction pile space narrow and small and pit radiate, make to adopt before of manual inspection fettle of method the question meet more and more. Therefore develop progress to check operation in the special environment and have in the large container and the pipe and change to anticipate inside pond and press housing bottom etc. the foreign body of the region take out capability of underwater small scaled creeping the robot have full important meaning.In view of the Architecture of Wheeled Mobile Robot, this paper emphasizes on the design of hardware and software platform based on control system. Firstly, A whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of DC servo-motor building. Secondly, We develop a motion control system using AT90S8515 microcontroller. A closed Pulse Width Modulation(PWM) regulating speed system for DC servo-motor is presented, it is composed of AVR microcontroller,PWM power driver, unit of speed detection using encoder and a serial communication interface, etc. Fuzzy PID algorithm is employed to control the speed and position of WMR. The method can solve effectively some problems such as the uncertainty of WMR’s model,the varieties demand, the change of situation. Program is wrote in ICGAVR C language and debugged in AVR Studio with ICE200 simulator. The control system of wheeled mobile robot has good performance. Simulated result and practical performance both approve the validity of design. At last, we study on robot path planning for an approach to This kind of robot can be widely applied in the situations which are dangerous or inconvenient for human beings, such as pipe inspection of nuclear power reactor overhaul and underwater farming, archaeological studies, mineral exploring, shipping, underwater project inspection and so on. Therefore, it will be widely applied in the future.更多还原