摘要
针对爬壁机器人设计了一种新型非接触式的吸盘与吸附面接触状况探测的传感系统,可以有效确定机器人足部吸盘位姿信号,并对吸盘的吸附条件做了分析和探讨;采用C8051F040型单片机来处理超声波测距传感器、倾角传感器和气压传感器的采集信息,通过异步串行方式发送给上位机,由上位机对信息分析计算后控制机器人动作。实验表明,该系统可以实现机器人的可靠吸附和任意夹角的壁面过渡。
A novel non-contact sensing system of sucker is desinged which detected adsorption state of sucker and contact surface.The sucker attitude of robot can achieved in the system effectively and the adsorption conditions of sucker are also analysed and discussed.C8051F040 is used to process the collectible informations of ultrasonic sensor,inclinometer sensor and pressure sensor,all of the informantions above are transmited to the upper computer via universal asynchronous receiver/transmitter interface;after computed and analyzed the sensor informations,the upper computer controls the movement of the robot.The experimental results show that the system realized firmly adsorbing and each angle incline transition.
出处
《传感技术学报》
CAS
CSCD
北大核心
2012年第2期202-205,共4页
Chinese Journal of Sensors and Actuators
基金
2011年广西千亿元产业重大科技攻关项目(桂科攻1114002-2)
关键词
爬壁机器人
非接触式
吸盘姿态
传感系统
wall-climbing robot
non-contact
sucker attitude
sensing system
