油烟管道清洗机器人控制系统设计与研究
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摘要
以餐饮业中油烟管道的清洗为主要应用背景,本文介绍了一款用于清洗油烟管道的机器人,该机器人提高了油烟管道的清洗效率,减少了人的体力劳动,具有很好的研究价值和市场前景。
本文介绍了机器人的机械结构,分析了机器人的移动方法和摆臂方法,并基于通用计算机和DSP运动控制卡,设计了油烟管道清洗机器人的运动控制系统、姿态控制系统、摆臂控制系统和传感器系统,为高压射流技术应用在清洗油烟管道提供了一个可靠的平台。
根据设计背景,本文创新性的提出了一种可用于清洗油烟管道的行走机构,该行走机构具有磁吸附功能,不仅可以用于水平管道,也可用于竖直管道,同时也克服了普通橡胶式履带不能用于油烟管道内部行走的缺点。依据清洗要求,本文设计了行走姿态的控制方案,即在清洗过程中,通过自动纠偏功能,确保机器人的移动轨迹和姿态。
本文将高压射流清洗技术应用到油烟管道的清洗中,根据高压射流的技术特点,设计了具有双自由度的摆臂机构,该机构可以实现摆杆向任意方向移动,解决了现有单自由度的摆杆不能实现任意方向移动的问题,增加了摆臂运动的灵活性。此外,在保证清洗过程中入射角不变,靶距不变的情况下,本文设计了摆臂机构的控制策略,控制摆杆按照约定轨迹移动,保证了清洗效果。
本课题采用了一种基于通用计算机、DSP运动控制卡和驱动器的运动控制系统,采用分级控制策略,充分发挥各个级别的控制优势,可实时、迅速地实现对机器人的控制。
此外,本课题还设计了一种无线遥控装置,该装置可与计算机键盘无线通信,进而通过控制计算机来控制机器人动作,消除了对机器人操作空间和地点的约束,实现了对机器人的随时随地控制、多点控制,增加了控制的灵活性。
采用模块化思想,基于Visual basic语言,论文设计了控制系统的软件程序,包括行走控制、摆臂控制程序、DSP数据采集、接近开关信号处理和红外传感器的数据信号处理程序。通过人机交互界面,实现了对行走和摆臂的控制。
最后,对油烟管道机器人的相关性能进行了实验,验证了控制系统的可靠性,并总结了全文的研究成果,展望了今后的研究方向。
Based on the flue pipe cleaning which applied in the catering industry, this paper introduces a new type of cleaning robot. The robot can improve the cleaning efficiency and decrease the manual labor, which has a good research value and market prospect.
This paper introduces the robot's mechanism, researches the robot's moving methods and swing methods. Based on computer and DSP motion controller, the moving control system, attitude control system, swing control system and sensor system for the robot are developed. It provides a reliable platform for the flue pipe cleaning by high pressure water jet.
Based on the design background, a creative moving mechanism used in the flue pipe is put forwarded in this paper. The mechanism has magnetic ability, can not only be used on horizontal pipe, but also be used on vertical pipe, and also overcomes shortcomings of rubber caterpillar can't be used on the flue pipes. According to the cleaning request, this paper designs the attitude control strategies, can ensure the robot's moving track and moving attitude in cleaning.
In this thesis, high pressure water jet is applied to the cleaning of the flue pipes. According to the character of high pressure water jet cleaning technology, a swinging mechanism of two degrees of freedom, which can drive swinging arm to any direction, is designed. This mechanism solved the problem that single degree of freedom mechanism couldn't move free, and improved the flexibility of swinging. Furthermore, in order to control the swinging arm moved by intended track and ensure the cleaning effect, a control strategy of swinging mechanism was designed on the condition of angle of incidence steady and target distance steady in this thesis.
Based on the all-purpose computer, DSP motion controller and motor servo drivers, a control system was applied to control robot, which uses a hierarchical-controlling method, each hierarchy can exert its advantage, and the robot ; could be controlled very real-time and speedy.
In addition, a wireless remote controlled device is designed in this paper, which can control robot through communicate with keyboard of computer, solves the problem that time and room's shortage when you operate robot. Also, this device can complete the intent that the operator can control the robot anywhere or anytime, the flexibility is enhanced.
According to the method of modularize, based on VB language the program of control system are designed in paper. The program include moving control, swing control, data sampling, process of proximity switch signal and process of DSP signal program. Moreover, the mobile control program and swing control program achieve human-machine communication.
Finally, some experiments about the performance of the flue pipe robot were carried out, which showed the control system is reliable.Furthermore, the research achievements are summarized and the further improvements are put forward.
本文介绍了机器人的机械结构,分析了机器人的移动方法和摆臂方法,并基于通用计算机和DSP运动控制卡,设计了油烟管道清洗机器人的运动控制系统、姿态控制系统、摆臂控制系统和传感器系统,为高压射流技术应用在清洗油烟管道提供了一个可靠的平台。
根据设计背景,本文创新性的提出了一种可用于清洗油烟管道的行走机构,该行走机构具有磁吸附功能,不仅可以用于水平管道,也可用于竖直管道,同时也克服了普通橡胶式履带不能用于油烟管道内部行走的缺点。依据清洗要求,本文设计了行走姿态的控制方案,即在清洗过程中,通过自动纠偏功能,确保机器人的移动轨迹和姿态。
本文将高压射流清洗技术应用到油烟管道的清洗中,根据高压射流的技术特点,设计了具有双自由度的摆臂机构,该机构可以实现摆杆向任意方向移动,解决了现有单自由度的摆杆不能实现任意方向移动的问题,增加了摆臂运动的灵活性。此外,在保证清洗过程中入射角不变,靶距不变的情况下,本文设计了摆臂机构的控制策略,控制摆杆按照约定轨迹移动,保证了清洗效果。
本课题采用了一种基于通用计算机、DSP运动控制卡和驱动器的运动控制系统,采用分级控制策略,充分发挥各个级别的控制优势,可实时、迅速地实现对机器人的控制。
此外,本课题还设计了一种无线遥控装置,该装置可与计算机键盘无线通信,进而通过控制计算机来控制机器人动作,消除了对机器人操作空间和地点的约束,实现了对机器人的随时随地控制、多点控制,增加了控制的灵活性。
采用模块化思想,基于Visual basic语言,论文设计了控制系统的软件程序,包括行走控制、摆臂控制程序、DSP数据采集、接近开关信号处理和红外传感器的数据信号处理程序。通过人机交互界面,实现了对行走和摆臂的控制。
最后,对油烟管道机器人的相关性能进行了实验,验证了控制系统的可靠性,并总结了全文的研究成果,展望了今后的研究方向。
Based on the flue pipe cleaning which applied in the catering industry, this paper introduces a new type of cleaning robot. The robot can improve the cleaning efficiency and decrease the manual labor, which has a good research value and market prospect.
This paper introduces the robot's mechanism, researches the robot's moving methods and swing methods. Based on computer and DSP motion controller, the moving control system, attitude control system, swing control system and sensor system for the robot are developed. It provides a reliable platform for the flue pipe cleaning by high pressure water jet.
Based on the design background, a creative moving mechanism used in the flue pipe is put forwarded in this paper. The mechanism has magnetic ability, can not only be used on horizontal pipe, but also be used on vertical pipe, and also overcomes shortcomings of rubber caterpillar can't be used on the flue pipes. According to the cleaning request, this paper designs the attitude control strategies, can ensure the robot's moving track and moving attitude in cleaning.
In this thesis, high pressure water jet is applied to the cleaning of the flue pipes. According to the character of high pressure water jet cleaning technology, a swinging mechanism of two degrees of freedom, which can drive swinging arm to any direction, is designed. This mechanism solved the problem that single degree of freedom mechanism couldn't move free, and improved the flexibility of swinging. Furthermore, in order to control the swinging arm moved by intended track and ensure the cleaning effect, a control strategy of swinging mechanism was designed on the condition of angle of incidence steady and target distance steady in this thesis.
Based on the all-purpose computer, DSP motion controller and motor servo drivers, a control system was applied to control robot, which uses a hierarchical-controlling method, each hierarchy can exert its advantage, and the robot ; could be controlled very real-time and speedy.
In addition, a wireless remote controlled device is designed in this paper, which can control robot through communicate with keyboard of computer, solves the problem that time and room's shortage when you operate robot. Also, this device can complete the intent that the operator can control the robot anywhere or anytime, the flexibility is enhanced.
According to the method of modularize, based on VB language the program of control system are designed in paper. The program include moving control, swing control, data sampling, process of proximity switch signal and process of DSP signal program. Moreover, the mobile control program and swing control program achieve human-machine communication.
Finally, some experiments about the performance of the flue pipe robot were carried out, which showed the control system is reliable.Furthermore, the research achievements are summarized and the further improvements are put forward.
引文
[01]王凯雄,朱杏东.烹调油烟气的成分及其分析方法.上海,环境科学,1999,18(11):526-528.
[02]叶琳.烹调油烟对健康危害的研究进展.中国公共卫生,2003,19(5):620-622.
[03]Ger L.P.,Hsu W.L.,ChenK.T.,et al.Risk factors of lung cancer by histological category in T aiwan.Anticancer Res.,1993,13(5A):1491-1501.
[04]周亚美,王守林.烹调油烟雾的物理化学特性和生物学效应.南京医科大学学报,1998,12(1);34-38.
[05]Shields P.G.,Xu G.X.,Blot W.J.,et al.Mutagens from heated Chinese and US cooking oils.J.Nati.Cancer Inst.,1995,87(11):836-842.
[06]K.Taugnchi,N.Kawarazaki.Development of In-pipe Locomotion Robot[J].Proc of Fifth International Conference On Advanced Robotics.1991,6(1):297-302.
[07]J.P.Coose etal.Robot Which Will Investigate The Condition of Underground Pipe[J].Final Report.1986(5):87-209.
[08]Akahashi M,Hayashi I,etal.The development of an In-pipe Microrobot Applying the Motion of anEarthworm[J].Journal of Precision Engineering,1995,61(1):90-94.
[09]李锐.并联机构型多履带式移动机器人姿态检测及控制系统研究[D]:[学位论文].上海:东华大学,2008:3-4.
[10]姜红娟.城市主排水管道穿缆检测机器人结构及其运动特性的研究[D]:[学位论文].哈尔滨工程大学,2006:5-6.
[11]互联网资料:http://www.nkttcc.com/products/detail.asp?pid=282&p_type=02&t_class=0209.
[12]互联网资料:http://www.asrobotics.com/products/versatrax300vlr.html.
[13]互联网资料:http://www.robogame.org/html/27/n-527.html.
[14]梁懋.机器人帮你查下水道.家庭科技,2003,12.
[15]互联网资料:http://www.bjhtc.com/docc/productPV-2300.htm.
[16]互联网资料:http://www.zyktqx.com/Product_Show.asp?ArticleID=61.
[17]互联网资料:http://www.xblbj.com/yanqiangqx.asp.
[18]阮毅,陈维钧.运动控制系统.北京:清华大学出版社,2006:3.
[19]张毅,罗元等.移动机器人技术及其应用.北京,电子工业出版社,2007:32-33.
[20]Gary L.Bennett and Ronald C.CulI.Enabling the Space Exploration Initiative:NASA's Exploration Technology program in Space power[A].AIA.A/NASA/OAI Conference on Advanced SEI Technologies,1991:1-24.
[21]孙迪生,王炎.机器人控制技术.北京,机械工业出版社,1997/163.
[22]金杰.管道机器人控制及通讯系统和管道检测[D]:[学位论文].上海:东华大学,2006:7.
[23]互联网资料:http://www.gongkong.com/Forum/ForumTopic.aspx?Id=5-B770-7592E0D74D6A.
[24]龙斌,基于机体姿态调整的非结构环境机器人机构的越障能力分析[D]:[学位论文].东华大学,2006:26-28.
[25]李春英,王斌.煤矿井下履带车辆转向阻力矩的计算.太原,理工大学学报,2007,7,38(4):336-338.
[26](美)付京孙等著,机器人学.北京,控制、传感技术、视觉、智能,中国科学出版社,1989.10.
[27]濮良贵,纪各刚.机械设计,高等教育出版社.2002:49-57.
[28]互联网资料:http://jpkc.chd.edu.cn/gcjixdp/text/ch02/r2_3_1_1_1.htm.
[29]桂仲成,陈强等.爬壁机器人永磁吸附装置的优化设计.电工技术学报,2006,11,21(11):40-46.
[30]产品目录06/07手册[Z].2006.
[31]多摩川步进电机手册[Z].2007.
[32]薛胜雄等.高压水射流技术工程.合肥工业大学出版社.2006:32-42.
[33]Schenker et al.Lightweight rovers for Mars science exploration and sample return.Procee- dings of SPIE XVI Intelligent Robots and Computer Vision Cinference.Vol.3208,1997:24-36.
[34]段星光,黄强,李京涛等.多运动模式的小型地面移动机器人设计与实现[J].中国机械工程,2007,18(1):8-12.
[35]黄永志,陈卫东.两轮移动机器人运动控制系统的设计与实现.机器人,2004年1期:40-43.
[36]金秀慧。伊连云等.基于通用运动学模型的移动机器人避障路径规划.机械工程师,2005年第12期:34-35.
[37]徐泽亮,马培荪.永磁吸附履带式爬壁机器人转向运动灵活性分析,2003,11,37(11):58-65.
[38]潘焕焕,赵言正等.多功能履带式磁吸附爬壁机器人的姿态控制研究,2000,4,32(2):5-9.
[39]庄静伟,王强等.高压水射流的发展与应用.木材加工机械,2007,4:47-49.
[40]胡俊伟,张曦等.高压水射流清洗参数的选择.煤矿机械,2000,8:17-19.
[02]叶琳.烹调油烟对健康危害的研究进展.中国公共卫生,2003,19(5):620-622.
[03]Ger L.P.,Hsu W.L.,ChenK.T.,et al.Risk factors of lung cancer by histological category in T aiwan.Anticancer Res.,1993,13(5A):1491-1501.
[04]周亚美,王守林.烹调油烟雾的物理化学特性和生物学效应.南京医科大学学报,1998,12(1);34-38.
[05]Shields P.G.,Xu G.X.,Blot W.J.,et al.Mutagens from heated Chinese and US cooking oils.J.Nati.Cancer Inst.,1995,87(11):836-842.
[06]K.Taugnchi,N.Kawarazaki.Development of In-pipe Locomotion Robot[J].Proc of Fifth International Conference On Advanced Robotics.1991,6(1):297-302.
[07]J.P.Coose etal.Robot Which Will Investigate The Condition of Underground Pipe[J].Final Report.1986(5):87-209.
[08]Akahashi M,Hayashi I,etal.The development of an In-pipe Microrobot Applying the Motion of anEarthworm[J].Journal of Precision Engineering,1995,61(1):90-94.
[09]李锐.并联机构型多履带式移动机器人姿态检测及控制系统研究[D]:[学位论文].上海:东华大学,2008:3-4.
[10]姜红娟.城市主排水管道穿缆检测机器人结构及其运动特性的研究[D]:[学位论文].哈尔滨工程大学,2006:5-6.
[11]互联网资料:http://www.nkttcc.com/products/detail.asp?pid=282&p_type=02&t_class=0209.
[12]互联网资料:http://www.asrobotics.com/products/versatrax300vlr.html.
[13]互联网资料:http://www.robogame.org/html/27/n-527.html.
[14]梁懋.机器人帮你查下水道.家庭科技,2003,12.
[15]互联网资料:http://www.bjhtc.com/docc/productPV-2300.htm.
[16]互联网资料:http://www.zyktqx.com/Product_Show.asp?ArticleID=61.
[17]互联网资料:http://www.xblbj.com/yanqiangqx.asp.
[18]阮毅,陈维钧.运动控制系统.北京:清华大学出版社,2006:3.
[19]张毅,罗元等.移动机器人技术及其应用.北京,电子工业出版社,2007:32-33.
[20]Gary L.Bennett and Ronald C.CulI.Enabling the Space Exploration Initiative:NASA's Exploration Technology program in Space power[A].AIA.A/NASA/OAI Conference on Advanced SEI Technologies,1991:1-24.
[21]孙迪生,王炎.机器人控制技术.北京,机械工业出版社,1997/163.
[22]金杰.管道机器人控制及通讯系统和管道检测[D]:[学位论文].上海:东华大学,2006:7.
[23]互联网资料:http://www.gongkong.com/Forum/ForumTopic.aspx?Id=5-B770-7592E0D74D6A.
[24]龙斌,基于机体姿态调整的非结构环境机器人机构的越障能力分析[D]:[学位论文].东华大学,2006:26-28.
[25]李春英,王斌.煤矿井下履带车辆转向阻力矩的计算.太原,理工大学学报,2007,7,38(4):336-338.
[26](美)付京孙等著,机器人学.北京,控制、传感技术、视觉、智能,中国科学出版社,1989.10.
[27]濮良贵,纪各刚.机械设计,高等教育出版社.2002:49-57.
[28]互联网资料:http://jpkc.chd.edu.cn/gcjixdp/text/ch02/r2_3_1_1_1.htm.
[29]桂仲成,陈强等.爬壁机器人永磁吸附装置的优化设计.电工技术学报,2006,11,21(11):40-46.
[30]产品目录06/07手册[Z].2006.
[31]多摩川步进电机手册[Z].2007.
[32]薛胜雄等.高压水射流技术工程.合肥工业大学出版社.2006:32-42.
[33]Schenker et al.Lightweight rovers for Mars science exploration and sample return.Procee- dings of SPIE XVI Intelligent Robots and Computer Vision Cinference.Vol.3208,1997:24-36.
[34]段星光,黄强,李京涛等.多运动模式的小型地面移动机器人设计与实现[J].中国机械工程,2007,18(1):8-12.
[35]黄永志,陈卫东.两轮移动机器人运动控制系统的设计与实现.机器人,2004年1期:40-43.
[36]金秀慧。伊连云等.基于通用运动学模型的移动机器人避障路径规划.机械工程师,2005年第12期:34-35.
[37]徐泽亮,马培荪.永磁吸附履带式爬壁机器人转向运动灵活性分析,2003,11,37(11):58-65.
[38]潘焕焕,赵言正等.多功能履带式磁吸附爬壁机器人的姿态控制研究,2000,4,32(2):5-9.
[39]庄静伟,王强等.高压水射流的发展与应用.木材加工机械,2007,4:47-49.
[40]胡俊伟,张曦等.高压水射流清洗参数的选择.煤矿机械,2000,8:17-19.