文献类型：期刊文献

中文题名：一种负反馈自平衡的户外机器人吊装系统

英文题名：An Outdoor Robot Hoisting System with Negative Feedback and Self Balance

作者：周子涵[1];魏子涵[2];王嵘[1];万永菁[1]

机构：[1]华东理工大学信息科学与工程学院,上海201424;[2]华东理工大学商学院,上海201424

年份：2021

卷号：32

期号：16

起止页码：8

中文期刊名：电子测试

外文期刊名：Electronic Test

基金：2019年上海市教改专项(80222301901001)。

语种：中文

中文关键词：高空吊装;自平衡;负反馈;防风

外文关键词：high altitude hoisting;self balance;negative feedback;windbreak

摘要：当前高层外墙清洁领域主要分为人工与机器两种清洁方式,而机器清洁的一大核心即高空吊装部分,但目前各类清洁机器的高空吊装部件设计并不完善,对于被吊装物体重心不稳定、环境变化剧烈的状况缺乏预防机制。本项目通过对牵引钢丝上的受力进行检测和比对,通过负反馈调节的方式实时调整各钢丝的长度和受力关系,从而实现被吊装物体状态的最优化。同时,我们通过相关传感器对周围环境进行监测,对于突发性的恶劣环境提供不同的解决方案,防止牵引钢丝的断裂和剧烈摆动,从而最大程度上保证吊装物体和墙面的安全。
At present,the field of high-rise external wall cleaning is mainly divided into manual and machine cleaning methods,and one of the machine cleaning core is the high-altitude lifting part.However,the design of high-altitude lifting parts of all kinds of cleaning machines is not perfect,and there is a lack of prevention mechanism for the unstable center of gravity of the object to be lifted and the drastic environmental changes.In this project,the force on the traction steel wire is detected and compared,and the length and stress relationship of each steel wire are adjusted in real time through negative feedback adjustment,so as to realize the optimization of the state of the lifted object.At the same time,we monitor the surrounding environment through the relevant sensors,and provide different solutions for the sudden bad environment to prevent the fracture and violent swing of the traction steel wire,so as to ensure the safety of the lifting objects and the wall to the greatest extent.