The invention relates to the technical field of oil-gas storage tank detection and the field of wall-climbing robot navigation. The invention aims to provide an auxiliary calibration device and methodfor curved surface navigation of a wall-climbing robot. The device and method have the characteristics of high motion precision and low operation cost. According to the technical scheme, the auxiliary calibration device for curved surface navigation of the wall-climbing robot is characterized in that the device comprises a laser receiver mounted on the wall-climbing robot, a laser regulator whichis used for regulating the laser shape, an exoskeleton which can be fixed on the surface of a metal container through an electromagnet installed at the bottom, a stepping motor and a dial plate whichare fixed on the exoskeleton, a laser cylinder which is fixed on a rotating shaft of the stepping motor and is electrically communicated with the laser regulator, a single chip microcomputer which controls the stepping motor through a stepping motor driver, and a power supply which supplies power to all electric parts.
本发明涉及油气储罐检测技术领域和爬壁机器人导航领域。目的是提供一种用于爬壁机器人在曲面导航的辅助校准装置及方法,所述装置及方法具有运动精度高、运行成本低的特点。技术方案是:一种用于爬壁机器人在曲面导航的辅助校准装置;其特征在于:该装置包括安装在爬壁机器人上的激光接收器、调节激光形状大小的激光调节器、底部安装有电磁铁以利于在金属容器表面固定的外骨骼、固定在外骨骼上的步进电机和表盘、固定在步进电机转轴上且电连通激光调节器的激光筒、通过步进电机驱动器控制步进电机的单片机以及分别为各用电部件供电的电源。
Auxiliary calibration device and method for curved surface navigation of wall-climbing robot
一种用于爬壁机器人在曲面导航的辅助校准装置及方法
2020-10-09
Patent
Elektronische Ressource
Chinesisch
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