A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

煤矿水仓清理新工艺

通过调研现场情况以及检测煤泥特性，探寻一种实用性强、方法简单的新工艺来替代劳累的人工和繁琐的机械清淤，解决现实问题。针对实际情况开发清仓新工艺，介绍了该工艺的技术路线选择、设计依据以及实际应用效果。该新工艺具有降低清仓时间、减轻工人劳动强度、设备操作简单、实用性强等特点。     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Foam-based cleaning of surfaces contaminated with mixtures of oil and soot

Liquid foams of intermediate stability have been shown to be very efficient in the cleaning of sensitive surfaces because of the synergy between imbibition and foam decay. While we quantified these mechanisms for contaminations with liquid oils in our previous work, we show here their extension to oils containing soot particles in an effort to simulate increasingly realistic contaminations. Using foams with a wide range of liquid fractions and with different stabilities, we show that the main cleaning mechanisms remain very similar, with the oil entraining the soot particles. However, we find much less efficient soot removal when the liquid channels of the foams are small enough to hinder efficient transport of the soot particles.     

基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

Combined application of electrolysed water and ultrasound to improve the sanitation of knives in the meat industry

This study investigated the effect of the combination of basic electrolysed water (BEW) and slightly acid electrolysed water (SAEW) with ultrasound (US) for cleaning and sanitation of the knives used in slaughtering processes. The knives were sonicated in a US bath using two modes of operation (normal and sweep) in two steps: (i) 5 min with BEW and (ii) 10 min with SAEW at 35 °C. The microbiological counts and the possible changes in the physical structure of the knives were evaluated. The association BEW + SAEW + US, in the sweep mode, provided lower mesophilic, enterobacterial, Staphylococcus aureus and yeast counts when compared to the values recommended by the international legislation. In addition, these conditions removed all organic residues from the knife blades and promoted the highest migration rate of the residues to the US water bath (12.35 mg/L·min), without modifications in the knife blades. Thus, cleaning and sanitation of knives was feasible with the association of BEW + SAEW + US, which could be a useful alternative for the meat industry.     

新型树启发式搜索算法的机器人路径规划

面对三维空间移动机器人从起始点到终止点的最短路径问题,提出一种新型的边缘点树启发式搜索(TreeEP)算法,该方法将地图空间进行密度可调的三维离散化处理,根据障碍安全距离筛选出障碍物的可靠边缘点信息,再利用树扩散架构选出最能引导搜索方向的潜力点进行扩散搜索,最终得出最短路径。提出局部调整策略,得到改进的Tree-EP算法。实验结果表明,在带障碍复杂地形最短路径搜索应用中,提出的Tree-EP算法与已有方法相比,能找到更短的移动路径。     

空冷器用高压水清洗与雾化降温系统集成设计与开发

高压水清洗系统和喷淋降温系统分别是春季保持空冷器翅片表面清洁和夏季保证空冷器在高温下正常运行的2个重要辅助系统。针对喷淋系统的缺点研究了高压射流雾化技术,通过试验论证了高压水清洗与雾化降温系统集成的可行性和合理性。根据设计思路开发的集成系统已在山西某项目获得应用并取得了良好的使用效果,此高压水清洗与雾化降温集成系统中高压水发生装置及介质输送管路共用,产生的高压水射流雾化颗粒可达到60μm,夏季降温效果较传统喷淋降温效果大幅提升,水资源的利用率得到极大提高,系统性价比更高。     

基于机器视觉的机车齿轮毂全自动双轴拧紧机的设计和应用

设计了基于机器视觉的机车齿轮毂全自动双轴拧紧机,根据拧紧工艺和扭矩控制原理实现对螺栓拧紧力矩的控制;通过丝杠变径机构,实现不同规格齿轮毂螺栓拧紧;利用机器视觉实现螺栓位置的识别以及初始位置的确定;讨论了自动拧紧机控制系统的硬件组成和软件系统配置,并介绍了防错、防漏功能的设计流程。螺栓自动拧紧机可提高装配精度和操作效率,降低工人的劳动强度。     

Plant inspection by using a ground vehicle and an aerial robot: lessons learned from plant disaster prevention challenge in world robot summit 2018

Abstract

In recent years, to prevent accidents and disaster are desired by implementing maintenance and management of facilities, such as conducting periodic inspections with appropriate frequency at plants. However, because the dangerous materials such as flammable gas and explosives is used in a plant, and there are many dangerous places in a plant such as high-temperature environment and high places and narrow spaces, it is desirable to use a remote-controlled robot for safety work and short inspections. Against this background, the Disaster Robotics Category-Plant Disaster Prevention Challenge was held in Japan at the World Robot Summit 2018. Our team was ranked 3rd in this competition, because our strategy of ‘inspection and investigation in cooperation with UGV and UAV’ was effective. In this paper, the competition contents of World Robot Summit 2018 and the robot inspection system that we are studying are explained. And what kind of strategy was challenged and result for these given competition tasks by using our robot system are introduced. And the lessons learned such as advantages and issues in UGV and UAV collaboration work at this competition are described for evaluate a robot investigation system for disaster response and inspection work at plants.