利用内置导轨的清洁机器人垂直运动控制

摘要

For the issues that the building façade maintenance robot (BFMR) is easily affected by environment and vibration, and poor operation stability, a kind of security and stability control scheme is proposed. It uses the rail brake system to suppress the shock in the docking process of vertical and horizontal robot, and a re-leveling process is conducted to compensate the gap which is equal to the positioning error between the built-in transom rail of the robot and the transom rail of the building. In addition, the proposed vibration suppression system is used to control of wire rope vibration acceleration according to the state estimation of the wire rope dynamic properties. This system suppresses the vibration produced by environmental noise, improves the vertical movement of the vertical robot stability and reliability. The experimental results show that, the method can effectively reduce the influence of vibration.%针对建筑物表面清洁机器人(BFMR)容易受环境和振动影响、运行稳定性差等问题，设计了安全稳定的控制系统。在垂直和水平机器人的对接过程中，利用导轨制动系统抑制冲击，并利用再平层过程补偿机器人内置导轨与建筑物表面导轨之间的定位误差。此外，利用提出的振动抑制系统，根据钢丝绳动态属性的状态估计值，控制钢丝绳的加速度，对环境噪声产生的振动进行抑制，提高垂直机器人垂直运动的稳定性和可靠性。实验结果表明，本文设计的控制系统能够有效降低振动影响，具有可行性。