[1]刘朝涛,于彪.基于Arduino的桥梁检测设备的研发[J].机械与电子,2016,(08):76-80.
　LIU Chaotao,YU Biao.Research and Development of a Bridge Detection Equipment based on Arduino[J].Machinery & Electronics,2016,(08):76-80.
点击复制

基于Arduino的桥梁检测设备的研发
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年08期
页码:
76-80
栏目:
智能工程
出版日期:
2016-08-25

文章信息/Info

Title:
Research and Development of a Bridge Detection Equipment based on Arduino
作者:
刘朝涛; 于彪
（重庆交通大学机电与车辆工程学院，重庆 400074）
Author(s):
LIU Chaotao;  YU Biao
(College of Mechanical and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 40074 ，China)
关键词:
桥梁检测; 爬壁机器人; Arduino ; 无线循环网络; 图像处理
Keywords:
bridge inspection; wall-climbingrobot; arduino; wirelessloop networks; imageprocessing
分类号:
TH89
文献标志码:
A
摘要:
为了实现对高桥墩的安全检测，提高其工作效率，设计了一种应用于桥墩检测的爬壁机器人。此设备由3部分组成，本体结构、运动控制系统和检测系统。整个设备采用分层控制的方案，上位机控制运动系统和检测系统。针对运动系统首次提出了一种基于Arduino的控制系统方案，决定着爬壁机器人的运动策略。检测系统将采集的信息用新的传输方式——无线循环网络，保存桥墩表面特征，与数据库比较并评估。通过软件设计和实物样机，进行现场调试，可稳定、高效地实现对桥墩的自动检测。
Abstract:
In order to achieve the security detection and improve the efficiency of high bridge pier, a wall-climbing robot was designed in Pier testing. This device consists of three parts: body structure, motion control systems and testing system. A hierarchical control program is employed as a whole, the motion system and testing system are controlled by the host computer. An Arduino-based control system aimed at motion system is put forward for the first time, which determines the motion strategy of the wall-climbing robot.The detection system will collect information with the new transmission-wireless loop network, save surface features, and database comparison and evaluation. By software design, physical prototyping and debugging, the automatic detection of piers can be realized stably and efficiently.

参考文献/References:

[1]郝晓弘,李翠明.一种机器人轨迹跟踪控制的迭代学习方法[J].科学技术与工程，2008，8(7):1813-1817.
[2]彭晋民,李济泽,邵洁,等. 负压爬壁机器人吸附系统研究[J].中国机械工程，2012，(18):2160-2164.
[3]于今,田 蔚, 李绍军. 基于ARM嵌入式系统的高空爬壁机器人[J].液压与气动，2008(4):39-42.
[4]薛胜雄,任启乐, 陈正文. 磁隙式爬壁机器人的研制[J]. 机械工程学报，2011，47(21):37-42.
[5]潘雷,赵言正,钱志源,等. 具有双负压吸盘的爬壁机器人吸附特性[J].上海交通大学学报，2005，39(6):873-876.
[6]Kurazume R, Yo neda K, Hirose S. Feed forward and feed- back dynamic trot gait control for quadruped walking vehicle[J]. Autonomous Robots, 2002, 12(2): 157- 172.
[7]何 斌,周艳敏,黎明和,等.湿吸仿生爬壁机器人分层控制系统[J].同济大学学报(自然科学版),2010,38(12):1813- 1817.
[8]Longo D, Muscato G.A modular approach for the design of the Alicia3 climbing robot for industrial inspection[J].Industrial Robot,2004,31(2):148-154.

相似文献/References:

[1]胡绍杰,彭如恕,何 凯,等.履带式爬壁机器人磁吸附单元优化设计与实验研究[J].机械与电子,2018,(01):69.
　HU Shaojie,PENG Rushu,HE Kai,et al.Optimal Design and Experimental Study on Magnetic Adsorption Unit of Crawler-Type Wall-Climbing Robot[J].Machinery & Electronics,2018,(08):69.
[2]杨玥旻,闫维新.基于图像处理的爬壁机器人焊缝识别与跟踪[J].机械与电子,2021,(03):65.
　YANG Yuemin,YAN Weixin.Welding Seam Recognition and Tracking Based on Image Processing for Wall-climbing Robot[J].Machinery & Electronics,2021,(08):65.
[3]曹保荣.图像拼接技术在爬壁机器人位置伺服控制系统中的应用[J].机械与电子,2021,(09):76.
　CAO Baorong.Application of Image Mosaic Technology in the Position Servo Control System of Wall Climbing Robot[J].Machinery & Electronics,2021,(08):76.
[4]李明倩,王 苗,刘 芳.基于智能 PID 算法的爬壁机器人位置伺服控制方法[J].机械与电子,2023,41(05):46.
　LI Mingqian,WANG Miao,LIU Fang.Position Servo Control Method of Wall Climbing Robot Based on Intelligent PID Algorithm[J].Machinery & Electronics,2023,41(08):46.
[5]刘晓铭,张 静,等.基于模糊滑模的爬壁机器人末端自动控制方法[J].机械与电子,2023,41(07):42.
　LIU Xiaoming,ZHANG Jing,et al.End Automatic Control Method of Wall Climbing Robot Based on Fuzzy Sliding Mode[J].Machinery & Electronics,2023,41(08):42.
[6]孙天圣,刘芳华,江 来,等.基于 Halbach 阵列的爬壁机器人永磁吸附模块优化设计[J].机械与电子,2023,41(10):54.
　SUN Tiansheng,LIU Fanghua,JIANG Lai,et al.Optimal Design of Permanent Magnet Adsorption Module Based on Halbach Array for Wall-climbing Robot[J].Machinery & Electronics,2023,41(08):54.

备注/Memo

备注/Memo:
收稿日期：2016-05-06
作者简介：刘朝涛（1968-），男，重庆人，博士，副教授,研究方向为新能源技术、自动控制工程；于彪（1991-），男，河南商丘人，硕士研究生。研究方向为电子技术与自动控制。
更新日期/Last Update: 2016-08-25