作者：何媛媛1, 唐东林2, 丁超3
作者单位：1. 四川省特种设备检验研究院, 四川 成都 610061;
2. 西南石油大学机电工程学院, 四川 成都 610500;
3. 成都工业学院智能制造学院, 四川 成都 611730
关键词：爬壁机器人;机器人定位;转向滑移修正
摘要：
为实现爬壁机器人在垂直壁面的准确定位和精确运动，提出一种基于激光雷达定位的爬壁机器人绕障滑移修正方法。首先对爬壁机器人进行运动建模和运动学分析，得出激光雷达测量数据坐标转换关系和驱动轮转速与转弯半径的关系；采用里程传感器和倾角传感器相结合的定位方式实现规则矩形障碍物特征点的识别与定位，采用基于激光雷达数据匹配方法实现机器人转向前后定位；对机器人绕障转向滑移情况进行分析，提出机器人滑移修正方法，并计算得出滑移修正参数；最后通过实验对机器人定位及转向滑移修正理论分析进行实验验证，结果表明，向上绕障转向滑移修正误差22.3 mm，向下绕障转向滑移修正误差22 mm。该技术为爬壁机器人壁面转向滑移研究提供相关思路和参考。
Research on wall steering movement slip of wall climbing robot
HE Yuanyuan, TANG Donglin, DING Chao
1. Sichuan Special Equipment Inspection Institute, Chengdu 610061, China;
2. School of Mechanical Engineering, Southwest Petroleum University, Chengdu 610500, China;
3. School of Intelligent Manufacturing, Chengdu Technological University, Chengdu 611730, China
Abstract: To realize the accurate positioning and movement of wall-climbing robot on vertical wall, a method for correcting the slippage of wall-climbing robot around obstacle based on Lidar positioning is proposed. Firstly, the motion modeling and kinematics analysis of the wall-climbing robot are carried out, and the coordinate transformation relationship of the lidar measurement data and the relationship between the driving wheel speed and the turning radius are obtained. The feature points of regular rectangular obstacles were identified and located by combining the range sensor and the inclination sensor. The robot was positioned before and after turning by using the Lidar data matching method. Based on the analysis of the steering slip of the robot around the obstacle, a sliding correction method of the robot is proposed, and the sliding correction parameters are calculated. Finally, the theoretical analysis of robot positioning and steering slip correction is verified by experiments. The results show that the steering slip correction error of upward winding obstacle is 22.3 mm, and that of downward winding obstacle steering slip correction error is 22 mm. This technique provides some ideas and references for the research of wall steering slip of wall-climbing robot.
Keywords: wall climbing robot;robot positioning;steering slip correction
2023, 49(9):140-147 收稿日期: 2022-12-24;收到修改稿日期: 2023-2-19
基金项目: 四川省市场监督管理局科技计划项目（SCSJZ2022007）；市场监管总局科技计划项目（2022MK115）
作者简介: 何媛媛（1992-），女，四川南充市人，工程师，硕士，研究方向为承压类特种设备检验检测。
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