节点文献
玻璃幕墙清洗机器人电气控制系统的研究
Research of Electric Control System of Glass-curtain Wall Cleaning Robot
【作者】 张勇；
【导师】 冯林；
【作者基本信息】 大连理工大学 ， 计算机应用技术， 2018， 硕士
【摘要】 随着高层建筑物的普及与玻璃幕墙的广泛应用,幕墙清洗机器人越来越受到市场的关注,而清洗机器人在高空作业,容易受到极端天气或不确定因素的影响,在保证清洁效果的同时,对控制系统的稳定性和抗干扰能力提出了极高的要求。电气控制系统是玻璃幕墙清洗机器人的核心部分,为了保证清洁机器人在任何极端情况下都能保证稳定高效作业,就需要高可靠性和高性能的电气控制系统。本文针对垂直滚动式玻璃幕墙清洗机器人在工作过程中的特点和功能需求,研究了一套对应的电气控制系统。该系统采用西门子S7-200 Smart PLC作为核心控制器。本文详细分析了PLC的硬件模块组成与软件功能实现。分别介绍了清洗机构控制模块、机器人运动控制模块、控制台人机交互模块、智能避障模块以及传感器监测模块,并根据实际情况定制了不同的清洗模式。在此基础上,本文实现了一套完整的玻璃幕墙清洗机器人的电气控制系统,并搭建了机器人进行试验。同时,本文也研究了一种以机器人为对象的故障预测与健康管理模型,实现对机器人工作的健康管理与故障预测。PLC与触摸屏通过以太网连接实现远程通信,控制器与外围设备之间通过现场总线连接,实现了分布式现场总线结构,使系统有了很强的可扩展性与抗干扰能力。智能避障与传感器监测的加入使得机器人有了更高的自动化与智能化水平,良好的人机交互界面能够更加清晰直观的展示机器人的工作状态,经过实际运行测试,本电气控制系统对提高清洗机器人的工作效率,实现玻璃幕墙的大规模机械化清洗,降低成本和解放人力都具有一定的现实意义。
【Abstract】 With the popularization of high-rise buildings and the wide application of glass-curtain wall,the curtain-wall cleaning robot has attracted more and more attention from the market,and the cleaning robot is easily affected by extreme weather or uncertain factors in the high altitude operation.While ensuring the cleaning effect,the cleaning robot also has high requirements on the stability and anti-interference ability of the electric control system.The electrical control system is the core part of the glass curtain-wall cleaning robot.In order to ensure the stable and efficient operation of the cleaning robot in any extreme case,the electrical control system with high reliability and high performance is needed.In view of the characteristics and functional requirements of vertical rolling glass-curtain wall cleaning robot in its working process,a set of corresponding electrical control system is researched in this paper.The system uses SIEMENS S7-200 Smart PLC as the core controller.The hardware module and software function of PLC are analyzed in detail in this paper.The cleaning mechanism control module,the robot motion control module,the control platform man-machine interaction module,the intelligent obstacle avoidance module and the sensor monitoring module are introduced respectively,and the different cleaning modes are customized according to the actual situation.On this basis,a complete set of electrical control system of glass-curtain wall cleaning robot is realized,and the robot is tested.Meanwhile,a fault prediction and health management model based on robot is also researched in this paper,which realizes the health management and fault prediction of robot.