壁面自动清洗机器人关键技术研究
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摘要
高层建筑外墙清洗作业量大面广且适合实现自动化,对此目前国内外基本尚处于人工清洗阶段。壁面清洗机器人由于受到自身重量、造价、安全性、通用性、壁面适应能力等因素影响,大大制约了其实用化进程。
本文研究目标是为城市建筑清洗业提供一套新型高效的机器人作业系统,以期提高机器人的壁面适应能力、改善清洗质量、提高作业效率和节能环保性能、降低作业费用,最终彻底改善从业人员的工作条件。本文对该壁面清洗机器人的运动系统、吸附系统、清洗作业系统及用于其与机器人本体之间的集成机构、运动特性、控制系统、路径规划等方面的关键技术进行了系统深入的研究。
本文深入分析了壁面清洗机器人的两大关键技术—爬壁机器人技术和壁面清洗技术在理论和实际开发中存在的技术难点,采用模块化设计方法设计了具有轮腿式和轮式两种运动方式的轮腿式壁面清洗机器人,它主要由爬壁机器人本体、清洗作业系统及其连接机构、安全保险装置、控制系统四大部分组成。
根据壁面清洗机器人的总体设计要求,本文提出了三种多吸盘真空吸附轮腿式壁面清洗机器人的吸附运动系统总体设计方案,它们均集吸附、运动、越障、面—面转换、姿态调整功能于一体,通过对比分析确定轮腿式与轮式运动机构联合作为本文机器人运动系统的设计方案。在此基础上本文对爬壁机器人进行了受力分析,得到了机器人在轮腿式与轮式两种运动方式下实现可靠吸附与运动的基本条件。
本文完成了上述所选吸附系统的细化设计,即包括自适应多腔真空吸盘、负压同步分配器及其密封机构、真空发生器与高压气源等设计或选型在内的真空耦合传递吸附系统设计。多腔真空吸盘机构内每个子真空室通过真空安全阀与共腔连接,吸盘四周安装具有良好变形能力的橡胶密封圈,从而实现了各子真空室及各吸盘间独立的有效吸附,避免了相互影响。吸盘与轮腿转臂通过球铰连接,从而使得吸盘具备了壁面自适应功能。同时,对作为轮腿与真空发生器间关键的连接机构—负压同步分配器,本文针对机器人不同的工作环境共提出了三种设计方案,并进行了对比分析。
本文完成了上述所选运动系统的细化设计,包括轮腿机构越障能力分析与设计、轮式机构设计、传动机构设计、气缸及其辅助导杆机构设计等。其中,三组轮腿机构由一个驱动电机通过链传动带动,在与作业壁面平行方向仅有一个移动自由度,解决了运动“走偏”问题,提高了运动精度。两组轮式机构由两个电机单独驱动,并采用倾斜计进行姿态闭环控制,可实现包括零半径转弯在内的灵活转向。上述联合运动系统与真空耦合传递吸附系统有效集成后可配合完成机器人作业过程中的吸附、运动、逼近障碍物、越障、面—面转换及灵活的姿态调整等功能,以简单轻便的结构使得爬壁机器人既具有脚足式爬壁机器人较强的壁面适应能力,又具有轮式机器人较高的运动速度。在上述工作的基础上,本文对爬壁机器人平面运动、姿态调整、越障及面—面转换过程进行了深入分析。
针对目前壁面清洗机器人多只能自上而下单向作业、且多不进行污水回收的现状,本文采用模块化设计方法成功设计了三种具有双向(或四向)作业功能及污水回收净化循环利用能力的清洗作业系统,提高了作业效率,特别是其中具有双向作业能力的双腔清洗作业系统,由于增加了清水淋洗工序,形成了冲洗→滚刷刷洗→清水淋洗→刮洗的作业方式,最大程度地提高了清洗效果。此外,针对轮腿式爬壁机器人在垂直于作业壁面方向具有位移脉动的特点,本文设计了用于清洗作业系统与机器人本体之间柔性集成的高度自适应弹性连接机构,使得清洗作业系统对壁面不平度、机器人高度脉动、吸附压力脉动均能够自适应,从而具备了恒压作业和独特的恒压越障功能,并能实现对窗框类障碍物的有效清洗。该连接机构还可用于其他机器人与作业机构之间的集成,具有一定的普遍意义。
运动学和动力学的分析和建模是实现机器人控制的基础。本文利用Sheth-Uicher规则,分别建立了爬壁机器人轮式和轮腿式两种运动方式下的运动学模型,求取了运动学正、逆问题的解,并对壁面清洗机器人几种典型的运动状态进行了仿真,为机器人的运动控制提供了理论依据。在此基础上,分别对机器人两种运动方式下的位姿推测算法进行了理论研究。本文还分别利用罗斯方程、马基方程和安沛儿方程对壁面清洗机器人的非完整系统建立了动力学模型,得到了正、逆问题的解,并对三种方程进行了对比分析,基于此进行的动力学仿真分析为电机的选择及动力学控制提供了必要条件。
同时,本文借鉴移动机器人的路径规划方法,集成了栅格法和启发式搜索算法,提出了一种考虑机器人往复主运动方向、可用于双向(或四向)作业壁面清洗机器人的完全遍历路径规划方法,明显改善了路径规划的性能,降低了规划路径的重叠率。
总之,本文设计的壁面清洗机器人结构灵活简单、重量轻、壁面适应能力及越障能力强、运动速度快、精度高、功能丰富可靠、控制容易,能够适用于包括玻璃幕墙在内的多种不同材质、多种规则形状的复杂壁面,具有很高的推广价值。本文设计的集成吸附运动系统、清洗作业系统、高度自适应弹性连接机构等还能够用于其他诸多机器人系统。特别对本文的轮腿式爬壁机器人系统而言,它还可用作其他诸如检测、除锈、喷漆、反恐等作业系统的运载和移动平台,市场前景广阔。
Cleaning the facades of skyscrapers is not only a heavy workload but also tedious, time-consuming, dangerous, and suitable for automation. Even to present, most work is done by workers in suspended scaffoldings or nacelle. Wall cleaning robot has not been used widely yet and the practical process is restricted by its weight, cost, safety, versatility, adaptability to wall surfaces and other factors.
The research in this dissertation aims at providing city construction industry with a highly efficient wall climbing robot for cleaning glass or tile wall automatically in order to enhance the wall adaptability of robot, improve cleaning quality, increase working efficiency, increase energy-saving and environment-friendly performance, reduce operating costs and improve the working condition of workers. The key technology of the wall auto-cleaning robot was studied in depth on the moving system, adsorption system, cleaning operating system and the relational integration mechanism with the robot body, locomotion characteristics, control system and path planning in this dissertation.
The technical difficulties of wall climbing robot and wall cleaning in developing the wall cleaning robot system were analyzed in depth. A wheel-legged wall auto-cleaning robot with both wheel-legged and wheeled moving modes was designed using modular design method, which consisted of wall climbing robot, cleaning operating system and relational connection mechanism, safety device and control system.
According to general design requirements of wall cleaning robot, three kinds of adsorption and motion system design plans of wheel-legged wall auto-cleaning robot adopting multi-sucker vacuum adsorption were presented in this dissertation, which all integrated functions of adsorption, motion, overstepping obstacle, transition from surface to surface and pose adjustment. By comparative analysis of the three plans, the joint motion system design plan with both wheel-legged and wheeled movement mechanisms was adopted. On this basis, the basic conditions of reliable adsorption and movement of the robot in two moving modes were achieved by mechanical analysis.
The detailed design of the selected adsorption system was completed, which as design of vacuum coupling delivery and adsorption system included the design of adaptive multi-antrum vacuum sucker and negative pressure synchronous distributor and the selection of vacuum generator and high-pressure gas source. Each sub-vacuum chamber in sucker was connected to common-chamber by a vacuum valve, and rubber seal with good deformation ability was installed around the sucker, therefore independent and effective absorption of every sub-vacuum chamber and every sucker was ensured. Sucker was connected with arm of wheel-leg through ball hinge, which made the sucker self-adaptive to wall. Meanwhile aiming at complicated work environment, three design plans of negative pressure synchronous distributor as key connection mechanism between wheel-leg and vacuum generator were proposed and comparatively analyzed.
The detailed design of the selected joint motion system was completed, which included overstepping obstacle capacity analysis and design of wheel-leg mechanism, wheel mechanism design, transmission design, cylinder and its auxiliary guide-bar mechanism design. Among them, three sets of wheel-leg sucker mechanisms were driven by a motor and corresponding chain, which made the robot with one moving degree of freedom in the direction parallel to the wall and solved the“slanting track”problem and improved movement accuracy. Two sets of wheel mechanisms were driven respectively by one motor, which adopted inclinometer for pose closed loop control and realized swift turn of robot. The above-mentioned joint motion system effectively integrated with adsorption system can cooperatively complete functions of adsorption, movement, closing to obstacles, overstepping obstacle, transition from surface to surface and pose adjustment of robot in the process of operation. This integrated motion and adsorption system made the wall climbing robot with strong adaptive ability to wall like legged robot and with high velocity like wheeled robot by simple and lightweight structure. Based on the above-mentioned work, the processes of planar motion, pose adjustment, overstepping obstacle and transition from surface to surface of wall climbing robot were analyzed in depth.
Aiming at the current situation of most wall cleaning robots operating only top-down one-way without the function of sewage purifying and recycling, three kinds of cleaning operating system with the functions of two-way (or four-way) operating, sewage purifying and recycling were successfully designed using modular design method and improve operational efficiency largely. Among them, due to the increase of water spraying process, dual-chamber cleaning operating system with two-way operation ability combined the detergent wash, brushing, water spraying and scraping cleaning modes and maximized the cleaning effect. In addition, aiming at the characteristic of wheel-legged wall auto-cleaning robot with displacement fluctuation in the direction perpendicular to wall, elastic connection mechanism self-adaptive to height for flexible integration between cleaning operating system and robot body was designed and made the cleaning operating system self-adaptive to wall roughness, height fluctuation of robot body and adsorption pressure fluctuation, which made the robot have functions of constant pressure operation, unique constant pressure overstepping obstacle and effective cleaning of window frames. The elastic connection mechanism can also be used to connect operation system to other robots, which has a certain universal significance.
Kinematics and dynamics analysis and modeling is the basis of robot control. The Sheth-Uicher transform was used to build the kinematics equations of wall climbing robot respectively in wheeled and wheel-legged moving modes. The positive and inverse solutions of the kinematics equations were gained and kinematics simulation aiming at several typical motion states was carried out, which provided the theory support for motion control of the wall climbing robot. On this basis, theoretical research on position and pose conjecture arithmetic of the robot respectively in both moving modes was completed. Furthermore, Routh equation, Maggi equation and Appell equation were used to establish the dynamics model of the wall auto-cleaning robot in two moving modes. The positive and inverse solutions of the dynamics equations were gained, and three kinds of dynamics equations were comparatively analyzed. Dynamics simulation was carried out and provided the necessary conditions for selection of the motor and dynamic control of the robot.
At the same time using path planning method of mobile robot for reference, a complete cover path planning method considering main movement direction and integrating grid method with heuristic search algorithm was proposed and can be used for wall cleaning robot with two-way (or four-way) operation capability, which significantly reduced trajectories overlap and improved the performance of path planning.
In short, the wall auto-cleaning robot with strong adaptive ability to wall and strong overstepping obstacle in this dissertation is simple, flexible, lightweight, fast, accurate, versatile, easy to control, suitable for a variety of walls of different materials and regular shapes. The integrated adsorption and motion system, cleaning operating system and elastic connection mechanism adaptive to height, etc. can also be applied to many other robot systems. Wheel-legged wall climbing robot as load and mobile platform can evolve into other special service robots for inspection, derust, spray-paint, anti-terror, etc. by combining with other operation tools, which owns broad market potential.
本文研究目标是为城市建筑清洗业提供一套新型高效的机器人作业系统,以期提高机器人的壁面适应能力、改善清洗质量、提高作业效率和节能环保性能、降低作业费用,最终彻底改善从业人员的工作条件。本文对该壁面清洗机器人的运动系统、吸附系统、清洗作业系统及用于其与机器人本体之间的集成机构、运动特性、控制系统、路径规划等方面的关键技术进行了系统深入的研究。
本文深入分析了壁面清洗机器人的两大关键技术—爬壁机器人技术和壁面清洗技术在理论和实际开发中存在的技术难点,采用模块化设计方法设计了具有轮腿式和轮式两种运动方式的轮腿式壁面清洗机器人,它主要由爬壁机器人本体、清洗作业系统及其连接机构、安全保险装置、控制系统四大部分组成。
根据壁面清洗机器人的总体设计要求,本文提出了三种多吸盘真空吸附轮腿式壁面清洗机器人的吸附运动系统总体设计方案,它们均集吸附、运动、越障、面—面转换、姿态调整功能于一体,通过对比分析确定轮腿式与轮式运动机构联合作为本文机器人运动系统的设计方案。在此基础上本文对爬壁机器人进行了受力分析,得到了机器人在轮腿式与轮式两种运动方式下实现可靠吸附与运动的基本条件。
本文完成了上述所选吸附系统的细化设计,即包括自适应多腔真空吸盘、负压同步分配器及其密封机构、真空发生器与高压气源等设计或选型在内的真空耦合传递吸附系统设计。多腔真空吸盘机构内每个子真空室通过真空安全阀与共腔连接,吸盘四周安装具有良好变形能力的橡胶密封圈,从而实现了各子真空室及各吸盘间独立的有效吸附,避免了相互影响。吸盘与轮腿转臂通过球铰连接,从而使得吸盘具备了壁面自适应功能。同时,对作为轮腿与真空发生器间关键的连接机构—负压同步分配器,本文针对机器人不同的工作环境共提出了三种设计方案,并进行了对比分析。
本文完成了上述所选运动系统的细化设计,包括轮腿机构越障能力分析与设计、轮式机构设计、传动机构设计、气缸及其辅助导杆机构设计等。其中,三组轮腿机构由一个驱动电机通过链传动带动,在与作业壁面平行方向仅有一个移动自由度,解决了运动“走偏”问题,提高了运动精度。两组轮式机构由两个电机单独驱动,并采用倾斜计进行姿态闭环控制,可实现包括零半径转弯在内的灵活转向。上述联合运动系统与真空耦合传递吸附系统有效集成后可配合完成机器人作业过程中的吸附、运动、逼近障碍物、越障、面—面转换及灵活的姿态调整等功能,以简单轻便的结构使得爬壁机器人既具有脚足式爬壁机器人较强的壁面适应能力,又具有轮式机器人较高的运动速度。在上述工作的基础上,本文对爬壁机器人平面运动、姿态调整、越障及面—面转换过程进行了深入分析。
针对目前壁面清洗机器人多只能自上而下单向作业、且多不进行污水回收的现状,本文采用模块化设计方法成功设计了三种具有双向(或四向)作业功能及污水回收净化循环利用能力的清洗作业系统,提高了作业效率,特别是其中具有双向作业能力的双腔清洗作业系统,由于增加了清水淋洗工序,形成了冲洗→滚刷刷洗→清水淋洗→刮洗的作业方式,最大程度地提高了清洗效果。此外,针对轮腿式爬壁机器人在垂直于作业壁面方向具有位移脉动的特点,本文设计了用于清洗作业系统与机器人本体之间柔性集成的高度自适应弹性连接机构,使得清洗作业系统对壁面不平度、机器人高度脉动、吸附压力脉动均能够自适应,从而具备了恒压作业和独特的恒压越障功能,并能实现对窗框类障碍物的有效清洗。该连接机构还可用于其他机器人与作业机构之间的集成,具有一定的普遍意义。
运动学和动力学的分析和建模是实现机器人控制的基础。本文利用Sheth-Uicher规则,分别建立了爬壁机器人轮式和轮腿式两种运动方式下的运动学模型,求取了运动学正、逆问题的解,并对壁面清洗机器人几种典型的运动状态进行了仿真,为机器人的运动控制提供了理论依据。在此基础上,分别对机器人两种运动方式下的位姿推测算法进行了理论研究。本文还分别利用罗斯方程、马基方程和安沛儿方程对壁面清洗机器人的非完整系统建立了动力学模型,得到了正、逆问题的解,并对三种方程进行了对比分析,基于此进行的动力学仿真分析为电机的选择及动力学控制提供了必要条件。
同时,本文借鉴移动机器人的路径规划方法,集成了栅格法和启发式搜索算法,提出了一种考虑机器人往复主运动方向、可用于双向(或四向)作业壁面清洗机器人的完全遍历路径规划方法,明显改善了路径规划的性能,降低了规划路径的重叠率。
总之,本文设计的壁面清洗机器人结构灵活简单、重量轻、壁面适应能力及越障能力强、运动速度快、精度高、功能丰富可靠、控制容易,能够适用于包括玻璃幕墙在内的多种不同材质、多种规则形状的复杂壁面,具有很高的推广价值。本文设计的集成吸附运动系统、清洗作业系统、高度自适应弹性连接机构等还能够用于其他诸多机器人系统。特别对本文的轮腿式爬壁机器人系统而言,它还可用作其他诸如检测、除锈、喷漆、反恐等作业系统的运载和移动平台,市场前景广阔。
Cleaning the facades of skyscrapers is not only a heavy workload but also tedious, time-consuming, dangerous, and suitable for automation. Even to present, most work is done by workers in suspended scaffoldings or nacelle. Wall cleaning robot has not been used widely yet and the practical process is restricted by its weight, cost, safety, versatility, adaptability to wall surfaces and other factors.
The research in this dissertation aims at providing city construction industry with a highly efficient wall climbing robot for cleaning glass or tile wall automatically in order to enhance the wall adaptability of robot, improve cleaning quality, increase working efficiency, increase energy-saving and environment-friendly performance, reduce operating costs and improve the working condition of workers. The key technology of the wall auto-cleaning robot was studied in depth on the moving system, adsorption system, cleaning operating system and the relational integration mechanism with the robot body, locomotion characteristics, control system and path planning in this dissertation.
The technical difficulties of wall climbing robot and wall cleaning in developing the wall cleaning robot system were analyzed in depth. A wheel-legged wall auto-cleaning robot with both wheel-legged and wheeled moving modes was designed using modular design method, which consisted of wall climbing robot, cleaning operating system and relational connection mechanism, safety device and control system.
According to general design requirements of wall cleaning robot, three kinds of adsorption and motion system design plans of wheel-legged wall auto-cleaning robot adopting multi-sucker vacuum adsorption were presented in this dissertation, which all integrated functions of adsorption, motion, overstepping obstacle, transition from surface to surface and pose adjustment. By comparative analysis of the three plans, the joint motion system design plan with both wheel-legged and wheeled movement mechanisms was adopted. On this basis, the basic conditions of reliable adsorption and movement of the robot in two moving modes were achieved by mechanical analysis.
The detailed design of the selected adsorption system was completed, which as design of vacuum coupling delivery and adsorption system included the design of adaptive multi-antrum vacuum sucker and negative pressure synchronous distributor and the selection of vacuum generator and high-pressure gas source. Each sub-vacuum chamber in sucker was connected to common-chamber by a vacuum valve, and rubber seal with good deformation ability was installed around the sucker, therefore independent and effective absorption of every sub-vacuum chamber and every sucker was ensured. Sucker was connected with arm of wheel-leg through ball hinge, which made the sucker self-adaptive to wall. Meanwhile aiming at complicated work environment, three design plans of negative pressure synchronous distributor as key connection mechanism between wheel-leg and vacuum generator were proposed and comparatively analyzed.
The detailed design of the selected joint motion system was completed, which included overstepping obstacle capacity analysis and design of wheel-leg mechanism, wheel mechanism design, transmission design, cylinder and its auxiliary guide-bar mechanism design. Among them, three sets of wheel-leg sucker mechanisms were driven by a motor and corresponding chain, which made the robot with one moving degree of freedom in the direction parallel to the wall and solved the“slanting track”problem and improved movement accuracy. Two sets of wheel mechanisms were driven respectively by one motor, which adopted inclinometer for pose closed loop control and realized swift turn of robot. The above-mentioned joint motion system effectively integrated with adsorption system can cooperatively complete functions of adsorption, movement, closing to obstacles, overstepping obstacle, transition from surface to surface and pose adjustment of robot in the process of operation. This integrated motion and adsorption system made the wall climbing robot with strong adaptive ability to wall like legged robot and with high velocity like wheeled robot by simple and lightweight structure. Based on the above-mentioned work, the processes of planar motion, pose adjustment, overstepping obstacle and transition from surface to surface of wall climbing robot were analyzed in depth.
Aiming at the current situation of most wall cleaning robots operating only top-down one-way without the function of sewage purifying and recycling, three kinds of cleaning operating system with the functions of two-way (or four-way) operating, sewage purifying and recycling were successfully designed using modular design method and improve operational efficiency largely. Among them, due to the increase of water spraying process, dual-chamber cleaning operating system with two-way operation ability combined the detergent wash, brushing, water spraying and scraping cleaning modes and maximized the cleaning effect. In addition, aiming at the characteristic of wheel-legged wall auto-cleaning robot with displacement fluctuation in the direction perpendicular to wall, elastic connection mechanism self-adaptive to height for flexible integration between cleaning operating system and robot body was designed and made the cleaning operating system self-adaptive to wall roughness, height fluctuation of robot body and adsorption pressure fluctuation, which made the robot have functions of constant pressure operation, unique constant pressure overstepping obstacle and effective cleaning of window frames. The elastic connection mechanism can also be used to connect operation system to other robots, which has a certain universal significance.
Kinematics and dynamics analysis and modeling is the basis of robot control. The Sheth-Uicher transform was used to build the kinematics equations of wall climbing robot respectively in wheeled and wheel-legged moving modes. The positive and inverse solutions of the kinematics equations were gained and kinematics simulation aiming at several typical motion states was carried out, which provided the theory support for motion control of the wall climbing robot. On this basis, theoretical research on position and pose conjecture arithmetic of the robot respectively in both moving modes was completed. Furthermore, Routh equation, Maggi equation and Appell equation were used to establish the dynamics model of the wall auto-cleaning robot in two moving modes. The positive and inverse solutions of the dynamics equations were gained, and three kinds of dynamics equations were comparatively analyzed. Dynamics simulation was carried out and provided the necessary conditions for selection of the motor and dynamic control of the robot.
At the same time using path planning method of mobile robot for reference, a complete cover path planning method considering main movement direction and integrating grid method with heuristic search algorithm was proposed and can be used for wall cleaning robot with two-way (or four-way) operation capability, which significantly reduced trajectories overlap and improved the performance of path planning.
In short, the wall auto-cleaning robot with strong adaptive ability to wall and strong overstepping obstacle in this dissertation is simple, flexible, lightweight, fast, accurate, versatile, easy to control, suitable for a variety of walls of different materials and regular shapes. The integrated adsorption and motion system, cleaning operating system and elastic connection mechanism adaptive to height, etc. can also be applied to many other robot systems. Wheel-legged wall climbing robot as load and mobile platform can evolve into other special service robots for inspection, derust, spray-paint, anti-terror, etc. by combining with other operation tools, which owns broad market potential.
引文
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