课程思政背景下高职工业机器人技术课程教学探索与实践

全面落实立德树人根本任务,课程思政是重要途径。本文挖掘工业机器人技术课程中的思政元素,以“工业机器人编程”为例,从教学目标、教学思路和教学设计等几个方面详细阐述在课堂教学中渗透思政教育,有效改善了职业学校课堂中教师教学难度大、学生学习不感兴趣的问题。     

AUV水下对接的发展与应用现状

为了更好地了解AUV水下对接技术,本文对AUV水下对接技术的现状进行梳理,介绍各个国家对于AUV水下对接系统的研究成果。同时,为进一步阐明AUV水下对接系统的结构,按照自动化实现难度对国内外的AUV水下对接系统进行归类总结。根据整个对接过程中使用的传感器、水下环境和需要的定位信息等因素,对国内外AUV水下对接系统的对接阶段进行划分,并分别讨论各个阶段所需要的导航传感器和定位信息。对于对接精度问题,从对接干扰、对接失误等方面阐述了AUV水下对接时存在的问题和解决方案,并归纳对接控制策略。最后结合AUV对接技术的最新成果,从多个方向探讨了其发展趋势。     

车身焊装线的机器人控制柜布局设计

通过分析机器人控制柜细化布局设计的时机、布置时的管线约束、空间要求、便利性要求,提升焊装线布局设计质量,有效避免控制柜现场布置时电缆长度不够、控制柜占用物流通道、调试时不方便等问题,减少对影响项目周期和成本的不良影响。     

Research on Oil/Gas In-pipe Inspection Robot

IntroductionRecently pipe is used widely on the industry,agriculture and daily life. Natural gas and oil sup-ply become one of the fundamental public servicesand its impact on the urban infrastructure is get-ting larger. The urban oil/gas pipelines, as theyare buried under the ground, are prone to externalcorrosion usually derived by moisture and chemicalagent in soil, which causes material losses of thepipe wall. Also, cracks in the welded region andthe damages from third parties such as cons…     

机器人配件 能量和数据供应的最新发展

拖链专家德国易格斯公司的“Triflex R”系统机器人配件包括超过200个组件。所有这些配件可以满足从大型焊接机器人到小型托盘机器人的应用。公司的的目标“改进技术．同时降低成本”,现在已经显现成果——六个新的产品线已经构建完成．特别适应于机器人制造商和用户。     

基于粒子群优化卡尔曼滤波的水下机器人信号处理

在卡尔曼滤波的基础上,引入粒子群优化算法,对卡尔曼滤波方法进行改进,提出基于粒子群优化的卡尔曼滤波器模型,从而提高水下机器人测量数据的精度,降低系统噪声和量测噪声所带来的误差。水池仿真试验结果表明改进的滤波方法有效、实用。     

面向模块化设计的水下机器人集群编队控制

针对在近海环境下,利用“以机代人”进行自主特种作业的实际需求,设计研发模块化可重构水下机器人,并提出一种基于领航者-虚拟结构的编队策略。首先针对几种不同的典型水下作业任务,依据重构方案设计异构水下机器集群;然后根据水平面三自由度运动学和动力学方程,推导水下机器人集群的动态误差模型;针对路径已知的集群编队问题提出领航者-虚拟结构策略,其中跟随者水下机器人采用基于通信时延补偿的滑模控制器进行跟踪。结果表明,该控制策略可以快速形成队形且轨迹误差小于5%。最后应用3种已开发完成的水下机器人,在可视化仿真平台中进行实验验证,证明该异构水下机器人集群编队方法合理高效。     

Research on framework for formation control of multiple underwater robots in a dynamic environment

In this paper a practical framework is proposed to keep formation control of multiple underwater robots in a dynamic environment. The approach is a viable solution to solve formation problem. The approach allows online planning of the formation paths using a Dijkstra‘s search algorithm based on the current sensor data. The formation is allowed to be dynamically changed in order to avoid obstacles in the environment. A controller is designed to keep the robots in their planned trajectories. It is shown that the approach is effective and feasible by the simulation of computer.     

The design of underwater hull-cleaning robot

The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed; meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.     

危化品堆场智能巡检机器人应用研究

针对危化品物流中人工安全监督存在的盲点问题,结合堆场实际作业环境和巡检要求,设计一种适用于危化品堆场的智能巡检机器人。该巡检机器人采用防爆型设备和静电喷涂工艺,用以适应恶劣的工作环境;搭载导航设备和感知设备,实现以全自主或半自主方式替代或辅助人工巡检;采用表计识别技术,将检测仪器仪表读数的准确率提高至96.5%;采用罐体测温识别技术,将腐蚀、裂纹等细小目标检测的精度提升至95%以上;采用跑冒滴漏识别技术,提高检测管道疑似泄露点位的准确率。