圆柱形钢制构件表面爬壁机器人姿态估计方法

doi:10.3901/JME.2022.05.001

机械工程学报 ›› 2022, Vol. 58 ›› Issue (5): 1-7.doi: 10.3901/JME.2022.05.001

• 机器人及机构学 • 下一篇

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圆柱形钢制构件表面爬壁机器人姿态估计方法

张文, 丁雨林, 陈咏华, 孙振国

清华大学机械工程系北京 100084

收稿日期:2021-03-24 修回日期:2021-07-26 出版日期:2022-03-05 发布日期:2022-04-28
通讯作者: 孙振国(通信作者),男,1971年出生,博士,副教授,博士研究生导师。主要研究方向为光机电一体化技术与自动化系统、爬壁机器人技术及其应用、智能化焊接技术与装备等。E-mail:sunzhg@tsinghua.edu.cn E-mail:sunzhg@tsinghua.edu.cn
作者简介:张文,男,1992年出生,博士研究生。主要研究方向为机器人导航与定位。E-mail:zhangwen15@mails.tsinghua.edu.cn
基金资助:
国家自然科学基金(E51475259);苏州—清华创新引领行动计划专项(2016SZ0218)资助项目。

Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel

ZHANG Wen, DING Yu-lin, CHEN Yong-hua, SUN Zhen-guo

Department of Mechanical Engineering, Tsinghua University, Beijing 100084

Received:2021-03-24 Revised:2021-07-26 Online:2022-03-05 Published:2022-04-28

摘要/Abstract

摘要： 针对相对封闭、磁干扰等特殊环境下传感器应用受限,导致爬壁机器人的姿态估计误差偏大的问题,提出并实现了一种基于惯性测量单元(IMU)和圆柱形状约束的爬壁机器人姿态估计方法(IMU-CC-ATE)。该方法利用爬壁机器人执行工作任务中运动状态和静止状态频繁切换的特点,使用静止状态时IMU的角速度输出值估计相邻运动状态时IMU的角速度漂移值;并结合圆柱形表面约束使机器人姿态估计的横滚角保持不变的特性,设计扩展卡尔曼滤波器(EKF)对机器人的姿态和IMU的角速度漂移进行实时估计。实验结果表明:该方法使爬壁机器人姿态估计的航向角误差从20°以上降低至3.5°,俯仰角误差保持在2°以内,横滚角误差在0.5°以内,有效地提高了机器人姿态估计精度。

关键词: 姿态估计, 惯性测量单元, 扩展卡尔曼滤波器, 爬壁机器人, 圆柱形

Abstract: Aiming at the problem of large attitude estimation error of wall climbing robot due to the limited application of sensors in the relatively closed and magnetic interference environment, a new attitude estimation method based on inertial measurement unit(IMU) and cylindrical shape constraint is proposed and implemented. Taking advantage of the frequent switching between the moving and stationary states of the wall climbing robot, the angular velocity drift of IMU in the moving state is estimated using the angular velocity output of IMU in the stationary state. With the constant roll angle constrained by the cylinder surface, an extended Kalman filter(EKF) is designed to estimate the attitude of robot and the angular velocity drift of IMU in real time. The experimental results show that this method can reduce the heading angle error in attitude estimation from over 20°to 3.5°, and the pitch angle error is remained within 2ånd the roll angle error is less than 0.5°, which effectively improves the accuracy of the attitude estimation.

Key words: attitude estimation, inertial measurement unit, extended Kalman filter, wall climbing robot, cylinder-shaped

中图分类号:

TP242

张文, 丁雨林, 陈咏华, 孙振国. 圆柱形钢制构件表面爬壁机器人姿态估计方法[J]. 机械工程学报, 2022, 58(5): 1-7.

ZHANG Wen, DING Yu-lin, CHEN Yong-hua, SUN Zhen-guo. Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel[J]. Journal of Mechanical Engineering, 2022, 58(5): 1-7.

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圆柱形钢制构件表面爬壁机器人姿态估计方法

Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel

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