一种墙面清洁、探伤机器人的设计与实现

Design and implementation of a wall cleaning and inspection robot

设计实现了一种具有墙面清洁和墙体裂纹探伤、定位等多功能的机器人。首先,机器人利用真空泵抽真空及负压式吸盘将自身吸附到墙面,依靠自身电机的光电门测速和碰撞感应器控制进行"之"字行走,配合清洁工具,实现了清洁墙面功能;其次,根据超声波测距的原理,机器人用模块KS109进行墙体裂纹探伤,同时用模块HC-SR04来进行二维平面(重物重力方向和水平方向)的裂纹定位;最后,采用蓝牙模块将数据传输到控制中心进行处理。实测表明,机器人"之"字行走路线可以擦拭到全部墙面;墙体裂纹探伤距离的差值大于5 mm时记录数据并报警,且裂纹定位的坐标误差小于3 cm。

The design of this paper achieves a multi-function robot which can be used for high building wall cleaning and to wall cracks detection. First,the robot can be adsorbed to the wall by vacuum pump and sucker to run ＂Z ＂ route,using in its own optical gate motor speed control and collision sensors,which can achieve the function of wall cleaning with cleaning tools. Second,according to the principle of ultrasonic distance measurement,the robot uses module KS109 to detect the wall cracks,where the two-dimensional detection plane can be located through the direction of gravity and the horizontal distance ranging module HC-SR04. Finally,the Bluetooth module of the robot transmits data to the control center for processing. The results of test show that the robot can wipe all the wall by running ＂Z＂route. While the distance of wall flaw detection is greater than 5mm,the robot will record data and alarm,and the coordinates error of the wall cracks location is less than 3cm.