一种面yign向船舱监测的爬壁机器人设计及实现-控制科学与工程专业毕业论文.docxVIP

最后，为了验证爬壁机器人系统的有效性，对爬壁机器人样机的吸附性能、 转向性能以及障碍检测能力进行了实验，实验结果表明爬壁机器人样机满足移动 监测要求，验证了本文所设计系统的可行性和有效性。 关键词：爬壁机器人；船舱监测；人工势场法；模糊控制；无线视频监控； II 万方数据  Abstract With the development of the ship automation，the control of the ship is more and more concentrated in the central control room．If the crew Can not find the accident in the cabin，it would be serious consequences．Thus，the real-time monitoring of the cabin has become an important indicator to measure the safety of the ship．It is particularly important to improve the real—time of the cabin interior environmental monitoring，fire alarm and other aspects．