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In order to meet the needs of high-altitude glass curtain wall cleaning, a multi-suction sliding cleaning robot was designed. The sliding robot sucker, cleaning
system, obstacle avoidance and rotation ability, walking circuit and mobile working principle of the cleaning robot were designed. This involved the analysis
of the robot’s anti-rollover mechanics during adsorption, of robotic winds when working at height, and of anti-sliding mechanics during robot movement,
in order to explore feasible ways to improve the robot’s adsorption performance. The relationship between the effective diameter D of the suction cup, the
vacuum degree △ P, and the gravity G should be determined by the anti-slipping analysis. In order to ensure the safe and reliable adsorption force and the
flexibility of this robot when moving on a wall, the aforementioned analyses were conducted to improve the motion performance of wall-climbing robots,
which provides a good theoretical basis for design optimization and motion control of cleaning robots. The curtain wall cleaning robot has stable walking
ability and can clean the wall surface effectively; therefore, it has a certain practical value. 相似文献
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陈巧 《计算机测量与控制》2023,31(2):135-140
壁面吸附是爬壁机器人的基本功能之一,其吸附程度直接影响爬壁机器人的稳定性和移动速度;为此,设计了基于DSP技术的爬壁机器人吸附控制系统;选择爬壁机器人传感器装置,加设DSP数字信号处理器,设计爬壁机器人吸附控制器;在硬件结构的支持下,根据爬壁机器人的组成结构和工作原理,构建相应的数学模型;在该模型下,利用DSP技术计算爬壁机器人吸附力;通过爬壁机器人在壁面环境下的受力分析结果,确定爬壁机器人安全吸附条件;以吸附控制器作为执行机构,实现爬壁机器人的吸附控制;选择负压爬壁机器人作为测试样机,通过系统测试表明,在瓷砖、木板、玻璃三种壁面环境下,与两个对比系统相比,应用此次设计系统得出爬壁机器人吸附力的控制误差降低了2.04 N,倾覆风险系数降低了0.29,具有较好的吸附控制效果。 相似文献
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室内自主喷涂机器人可以实现室内墙面喷涂的自动化以此提升喷涂的效率,减少人力物力的投入。而基于计算机视觉的室内窗户检测算法则是该机器人的关键技术。对于室内窗户检测,由于环境光照、窗户形状和窗户透光属性的存在,传统方法无法得到较好的效果。针对此问题,设计一种基于深度学习的室内窗户检测算法。该算法主要对中心点网络(CenterNet)的特征提取网络进行修改,减少部分卷积操作,使用Ghost模块替换原始的卷积模块,降低特征冗余,并引入注意力机制,让网络尽可能表达重要信息。实验结果表明,改进的CenterNet在不损失网络精度的前提下,大幅度提高了网络的运算速度,使得该检测算法即使在机器人端的嵌入式系统上也可以达到实时检测的效果。 相似文献
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针对单目视觉移动机器人目标跟踪的实时性和鲁棒性要求,提出了基于Kalman滤波器的改进Camshift算法检测和定位目标.将Kalman预测值作为目标初始位置,补偿摄像头和目标相对运动导致的目标在图像中的偏移.在系统“跟丢”后判断目标丢失的原因,根据原因自适应拓展搜索窗口作为Cam-shift算法的下一帧初始搜索窗口.为了验证改进算法的有效性,自主研制了一种应用该算法的履带式机器人实时目标跟踪系统.实验结果表明:该系统具有很好的鲁棒性和实时性. 相似文献
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垂直壁面行走机器人系统研制 总被引:8,自引:0,他引:8
本文对能在高层全封闭玻璃结构外墙上行走的垂直壁面行走机器人系统的总体组成,基本功能,实施方案和技术指标等作一介绍,并对系统中的关键技术进行了分析。 相似文献
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左浩 《计算机测量与控制》2023,31(1):106-112
变磁力吸附爬壁机器人是一种具有快速、灵活移动方式的爬行机器人,但其吸附力难以控制,越障稳定性较差,难以保证机器人的平稳爬行;为实现爬壁机器人在大型建筑结构外表面的自主避障,提升机器人与运动平面之间的吸附紧密性,设计基于Netvlad神经网络的变磁力吸附爬壁机器人控制系统;按照PCB控制要求,连接外置SRAM设备与传感器模块,借助驱动I/O口电路提供的电力驱动作用,控制气动阀门的闭合情况,完成变磁力吸附爬壁机器人控制系统硬件结构设计;建立Netvlad神经网络体系,通过划分控制指令程序任务的方式,确定移植参数取值范围,实现对控制协议的移植处理,联合相关硬件应用结构,完成基于Netvlad神经网络的变磁力吸附爬壁机器人控制系统设计;实验结果表明,在所设计系统作用下,障碍物所在位置与爬壁机器人所在位置之间的实测距离未大于30cm,能够有效实现自主避障,保证机器人与运动平面之间的紧密吸附。 相似文献
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移动机器人自适应视觉伺服镇定控制 总被引:2,自引:0,他引:2
对有单目视觉的移动机器人系统,提出了一种自适应视觉伺服镇定控制算法;在缺乏深度信息传感器并且摄像机外参数未知的情况下,该算法利用视觉反馈实现了移动机器人位置和姿态的渐近稳定.由于机器人坐标系与摄像机坐标系之间的平移外参数(手眼参数)是未知的,本文利用静态特征点的位姿变化特性,建立移动机器人在摄像机坐标系下的运动学模型.然后,利用单应矩阵分解的方法得到了可测的角度误差信号,并结合2维图像误差信号,通过一组坐标变换,得到了系统的开环误差方程.在此基础之上,基于Lyapunov稳定性理论设计了一种自适应镇定控制算法.理论分析、仿真与实验结果均证明了本文所设计的单目视觉控制器在摄像机外参数未知的情况下,可以使移动机器人渐近稳定到期望的位姿. 相似文献
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We have designed a mobile robot with a distribution structure for intelligent life space. The mobile robot was constructed
using an aluminum frame. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 40 cm, 80
cm, and 40 kg, respectively. There are six systems in the mobile robot, including structure, an obstacle avoidance and driving
system, a software development system, a detection module system, a remote supervision system, and others. In the obstacle
avoidance and driving system, we use an NI motion control card to drive two DC servomotors in the mobile robot, and detect
obstacles using a laser range finder and a laser positioning system. Finally, we control the mobile robot using an NI motion
control card and a MAXON driver according to the programmed trajectory. The mobile robot can avoid obstacles using the laser
range finder, and follow the programmed trajectory. We developed the user interface with four functions for the mobile robot.
In the security system, we designed module-based security devices to detect dangerous events and transmit the detection results
to the mobile robot using a wireless RF interface. The mobile robot can move to the event position using the laser positioning
system. 相似文献
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This paper considers the receding horizon tracking control of the unicycle‐type robot subject to coupled input constraint based on virtual structure. The tracking position of the follower is considered to be a virtual structure point with respect to a Frenet–Serret frame fixed on the leader, and the desired control input of the follower not only depend on the input of the leader but also the separation vector. Firstly, a sufficient input condition for the leader robot is given to enable the follower to track its desired position while satisfying its inputs constraint. Secondly, receding horizon control scheme is designed for the follower robot, in which the recursive feasibility is guaranteed by developing a diamond‐shaped positively invariant terminal‐state region and its corresponding controller. Finally, simulation results are provided to verify the effectiveness of the scheme proposed. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献
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This paper presents an image‐guided robotic navigation system for neurosurgery, which can be applied to the electro‐stimulation treatment of Parkinson's leisure, the biopsy of deep tumors, and haematoma evacuation. The system integrates a computer containing CT images for surgical planning, a magnetic tracking device for measuring the coordinates of the markers and surgical instruments, and a robot manipulator for guiding surgical instruments to the preplanned position and orientation. The computer display of brain anatomy offers a convenient tool for surgeons to diagnose brain diseases and to plan safe surgical paths, while the tracking device guides the robot manipulator to automatically move surgical instruments to the preplanned position and orientation. An experiment of using a skull model for simulating a robotic biopsy of brain tumor has been done to verify the performance of the robotic navigation system. The results show that the positioning accuracy of the robot relative to the tracker frame is only related to the positioning resolution of the robot manipulator and the positioning accuracy of the tracking device. In other words, the positioning accuracy of the robot manipulator does not affect the final positioning accuracy of the surgical instruments. Therefore, using a robot manipulator for precise surgical navigation is feasible and reliable. © 2000 John Wiley & Sons, Inc. 相似文献
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This paper presents a novel gluing machine comprising a Cartesian robot and a vision system. The vision system enables the location and reconstruction of the shape of objects to be glued; the detected information is then used to plan the trajectory of the robot whose end-effector is a glue gun and to move the robot with an error suitable to industrial gluing operations.A calibration procedure that enables transforming coordinates between the robot frame and the vision system frame is described. The calibration considers several mechanical inaccuracies and its effectiveness was evaluated using error maps.In particular, the paper examines objects to be glued along their edges, as frequently occurs for fabrics, leathers, and shoe soles. For this, two procedures to plan the trajectories of the robot are proposed: the first is for objects that can be treated as flat 2D objects, that is, their height variation is negligible; the second procedure is for 3D objects, that is, those with significant height variation.Several applicative examples are reported to highlight the flexibility of the gluing process. 相似文献
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Alex Ching‐Wei Lin Ting‐Kuo Chang Chueh‐Kuei Jan Meng‐Hsun Hsieh Chung‐Yang Tsai James Shih‐Chang Chang Alan Yaw‐Ming Tsai 《Journal of the Society for Information Display》2006,14(4):353-362
Abstract— A 3.5‐in. QVGA‐formatted driving‐circuit fully integrated LCD has been developed using low‐temperature poly‐Si (LTPS) technology. This display module, in which no external ICs are required, integrates all the driving circuits for a six‐bit RGB digital interface with an LTPS device called a “FASt LDD TFT” and achieves a high‐quality image, narrow frame width, and low power consumption. The LTPS process, device, and circuit technologies developed for system‐on‐glass LCD discussed. The development phase of LTPS circuit integration for system‐on‐glass LCDs is also reviewed. 相似文献
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H. Haga Y. Nonaka Y. Kamon T. Otose D. Sasaki Y. Kitagishi T. Matsuzaki Y. Sato H. Asada 《Journal of the Society for Information Display》2006,14(4):339-344
Abstract— A system‐on‐glass (SOG) dynamic random access memory (DRAM), which enables the implementation of frame‐memory‐integrated displays, has been developed. A dynamic one‐transistor‐one‐capacitor memory cell, which has a data retention time of over 16.6 msec, and a compression/decompression (CODEC) circuit were developed to reduce the layout area and power. The CODEC enables an 18‐bit/pixel color display, while reducing the memory capacity from 18 to 12 bits/pixel. A frame‐memory macro was created by combining the SOG‐DRAM with an embedded controller that enables independent access for writing and reading. Its operation was verified by chip measurement and demonstration as a frame‐memory operation of 262k‐color QCIF+ displays. The work reported in this paper was the first step to creating a Zero‐Chip Display with an integrated frame memory, and it proved the concept was feasible. 相似文献
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Ig Mo Koo Tran Duc Trong Yoon Haeng Lee Hyungpil Moon Jachoon Koo Sun Kyu Park Hyouk Ryeol Choi 《Journal of Intelligent and Robotic Systems》2013,72(1):57-72
In this paper, we present a wall climbing robot system, called “LARVA”, developed for visual inspection of structures with flat surfaces. The robot has two differential driving wheels with a suspension and an adhesion mechanism. The adhesion mechanism is composed of an impeller and two–layered suction seals. It is designed to provide sufficient adhesion force and be controlled so that the robot can move freely on various wall surfaces. The static and aerodynamic modeling of the adhesion mechanism is given and the analysis of the adhesion mechanism, air leakage, and inner flow are carried out to be useful for the design as well as the control. Finally, the performances of the robot are experimentally verified on several kinds of walls and its feasibility is validated. 相似文献
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Hanqi Zhuang Melchinger A. 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》1998,28(3):369-375
The problem investigated in this paper is an extension of the robotic hand/eye calibration problem. The system consists of a robot, a gimbal, and a three-dimensional (3D) sensor. It is assumed that the sensor, the gimbal, and the robot are calibrated in advance; therefore, their inaccuracy is negligible. The task is to determine the hand/eye matrix that relates the sensor coordinate frame to the first gimbal coordinate frame and the connection matrix that relates the last gimbal coordinate frame to the robot tool frame. The paper focuses on a special case of this problem. The robot is an x-y-z type and the gimbal has two rotary joints. Linear and iterative methods are presented, along with the discussion on issues such as solution uniqueness and parameter observability. Simulation and experimental results are presented to demonstrate the feasibility of the method 相似文献