基于ARM-Linux的爬壁机器人远程自动控制系统

Remote automatic controller of climbing robots based on ARM and Linux

目前,船舶清洗系统的爬壁机器人普遍采用无线工控机进行控制,为了改进无线工控机不能实时显示现场工况和状态信息以及自动寻径控制的缺点,研制了一种控制系统以实现控制的远程可视化,并能自动寻径。系统使用ARM-Linux平台,外部电路包括摇杆电路、串口-ZigBee电路、视频解码电路等。自动控制算法采用基于图像识别的跟踪迹Q(λ)算法,能够通过图像实现算法快速收敛,完成自动寻径。经过测试,系统能实现对爬壁机器人的自动控制,并且跟踪迹Q(λ)算法比传统的Q-learnig算法或Q(λ)算法收敛速度分别提高22.8%和13.8%。

At present,the robot of the ship cleaning system is controlled by the wireless industrial controller in common.To solve the problem of that the wireless controller cannot display the working condition or route automatically,a control system which can display the working station remote and route automatically.This system,based on ARM and Linux,includes rocker circuit,serial-port ZigBee circuit and video recording circuit.The automatic control algorithm,the tracking Q（λ）algorithm based on image recognition,is to control the robot tracking automatically.From the test results,this system can control the robot automatically,and the speed of convergence of tracking Q（λ）algorithm is 13.8% faster than Q-learning algorithm or 22.8%than Q（λ）algorithm.