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超声波检测机器人是一种典型的爬壁机器人,吸附在壁面上携带超声探头,完成超声检测。针对超声波检测机器人人工操作和控制的问题,本文设计了一种控制系统。本系统在搭建了以STM32F103C8T6为控制核心的硬件平台,使用MPU6050集成式陀螺仪和加速度计作为传感芯片,利用A4982来进行电机驱动。本系统在算法上,设计了传感器滤波、位置计算和运动控制三个核心模块。在实际设备上进行控制实验验证了控制系统的有效性。
Ultrasonic testing robot is a typical wall-climbing robot, adsorbed on the wall to carry ultrasound probe to complete the ultrasonic testing. Aiming at the problems of manual operation and control of ultrasonic testing robots, a control system is designed in this paper. The system is built to STM32F103C8T6 as the control center of the hardware platform, the use of MPU6050 integrated gyroscope and accelerometer as a sensor chip, the use of A4982 for motor drive. The algorithm in the system, the design of the sensor filter, position calculation and motion control of the three core modules. Control experiments on the actual equipment verify the effectiveness of the control system.