水冷壁磨损检测机器人控制系统的设计与研究

设计以磁吸附履带式爬壁检测机器人为载体，采用上下位机相结合的控制系统。提出了一种下位机基于STM32单片机的爬壁机器人控制系统的设计方案，配备超声波无损检测技术和其他传感器，用于实现流化床锅炉水冷壁磨损检测机器人的运动控制、管壁检测数据采集，并且基于Visual Studio 2010平台创建人机交互界面，实现与下位机的数据传输以及后续数据处理。实验证明，该设计自动化程度高，运动稳定可靠，上下位机能实时通讯，有效提高检测效率，具有较高的智能化水平。

Design and Study of Water Wall Wear Detection Robot Control System

In order to effectively improve the detection efficiency of the boiler water wall thickness in the petrochemical industry,this system designs magnetic adsorption wall-climbing robot as the carrier, by adopting the combination of upper and lower machine control method to realize high altitude detection.Firstly,the lower computer uses the ARM Cortex-M3 as the core of the 32-bit micro-controller,and the fuzzy PID control method is adopted to realize the control of the position of boiler water wall wear inspection robot,complete the straight path to follow the action.In addition,it is equipped with ultrasonic nondestructive testing technology, image acquisition and displacement sensor,etc.,to achieve the boiler water wall wear detection robot final wall real-time image video and test data collection.Secondly,based on Visual Studio 2010 platform to create human-computer interaction interface ,with the lower computer to achieve data transmission and subsequent detection data processing.Finally,the experimental simulation shows that the hierarchical control system is stable and reliable,and the upper and lower computer can communicate in real time,which improves the working speed and processing ability of the climbing wall robot,and improves the detection efficiency,and has a high level of intelligence.