电磁式爬壁机器人平台

《》2011271120/：82-946《200》SOCElectromagneticrobotplatformforclimbing()ZHULiZHOUZhengCHENHuan:。,,。,,。,,,。,,。、、,、。:;;;:TP24:BAbstract:Thispaperintroducesanewtypeofrobotplatformwhichcanclimbwallbyusingelectromagneticpower.Tomeettheob-jectiveneedsoftherobotplatform,itcanclimbonanyironwallinthevertical,accordingtotheprinciplethatelectromagnetcanabsorbironobjects.Usingthewirelessremotecontroltechnology,onecancontrolrobot’sfourbioniclegactionandadsorptionofelectromagnetseasily,withthehelpoftheMicrocontroller.AsaPlatform,itcanbeequippedwithsomedifferentkindsofsensorstodetectthestateoftheenvironmentaroundtherobotaswell.Thesensormonitoringdatawillsendbacktoacomputeratthesametime,byusingtheBluetoothtechnology.Inaddition,amechanicalarmisavailableforsomeSimpleactions,controlledbythecom-puter.Theprojectworkcanbeappliedtoremotemonitoringinsomeareaswithcomplextopography,suchastheplacewithhightemperature,strongthermalradiation,heavysmoke,orinspectioninShippingindustryandsteelindustry.Keywords:Robot;wallclimbingrobot;electromagnetic;workplatform:1008-0570(2011)01-0056-02,、、。,,、。,,、、、,。21,、、。,、。(DARPA),,,。。,,,。、、、,、、、、、、,。、。,,。,。,、。,,。、、、、,,。,,,。11.1,,。3,43KG,。。5,。,。1.22:(1)STC。4124。:::;:;:(SRTP)(081000602)56--：82-946120/SOC《PLC200》(2)STC。5,PC。1.31.3.1。2.4G。,,。。,100。。1.3.2,STC。,。。:2.4G。1.4PC。,。,,。,,,。1.5,,,。,。300,,,。1.62。,7.4V1200。4A,。12V,4500。,46。,。2,。,。:180,90,。,9,。。5,。。,,。、。,,,、、。,、,。3,,、、90。,,。,,,。,,,。,(、、)。、、。、、、、、、。4,,。,4。,,5.1kg,,,5.8kg。1.2kg。,,。,,60%。,。,,,,(101)57--：82-946120/SOC《PLC200》CMOSAVRRISC8。,A/D。810A/D,PC0A/D,A/DAVcc,AREFADC。0V(GND)。ATmega8:10(ADC4ADC58)(ADC);0.5LSB;±2LSB;65us-260us;15kSPS;6;;ADC。,pc0,ADC,10,TXDRXDMAX232,MAX232(2,3,5,)。4.2A/D,AD－LAR1(),buf2~buf98,buf0~buf12。4~20mA,250Ω,1~5V。4~20mACOD,1~5V,ab,COD,RS232COD。:5V101111111111(1023),1~5V(U)1023,4/1023,1~5V0~1023,(1):U=((uint)buf9*29+(uint)buf8*28+(uint)buf7*27+(uint)buf6*26+(uint)buf5*25+(uint)buf4*24+(uint)buf3*23+(uint)buf2*22+(uint)buf1*21+(uint)buf0)20*4.0/1023+1.0(v)(1)COD,(2):COD=a*U+b(2)5:ARM,μC/OS-。,,。[1].μC/OS-[D].,2009.[2]DTM6211VideoPhone[4].ATmega8[M].:,2003.[3],;A/D[J].,2009(11).:(1978.03-),(),,,、。Biography:YANGYe(1978.03-),Female(Hannationality),ZhejiangHangzhoupeople,ZhejiangPoliceVocationalAcademyLecturer.Mainlyengagedininformationmanagementtechnology,softwaretestingembeddedtechnologyresearch.(310018)(ZhejiangPoliceVocationalAcademy,ZhejiangHangzhou310018,China)YANGYe:(31001218112902)(:2010.05.26)(:2010.08.26)(57),,。,。,。,,、,。[1]..[M]:,2009.[2]..[M]:,2008.[3].PWM.[M]:,2008.[4]MykePredko.ProgrammingRobotControllers.[M],.:,2004.[5],,..[M]:,2005.[6]..[M]:,2008.[7],.[J]..2010,1-2:132-133:,,,,。:,;,,,,。:,;,,,,。:,。Biography:ZHULi,male,bachelormajor:OptoelectronicEngi-neering,ElectronicandInformationEngineering.(100191)(BUAA,Beijing,100191,China)ZHULiZHOUZhengCHENHuan:(3107)(:2010.06.17)(:2010.09.17)《200》110/（）《200》55/（）:121B812:100081:010-62132436010-82168297(T/F)101--