Abstract
The strategy of rational use of distributed information-sensor systems in mobile technological robotic complexes, including complexes based on vertical movement robots designed for operations in extreme environments and situations, is considered. The analysis of the use of information-sensor systems in the following mobile robotic complexes of vertical movement, in which a robot and a technological machine are used:
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1.
A mobile complex, including a wheeled robot for movement on a horizontal surface and a robot for vertical movement mounted on it. The complex is designed to decontaminate vertically located surfaces.
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A complex for cutting and welding products, which includes two interacting mobile robots with on-board manipulators.
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A technological robot of vertical movement, which is part of an automat-ed complex for performing inspection and repair work on surfaces under water.
The control systems of each of the complexes interact with distributed networks of information-sensor systems, which include sensors distributed over nodes and mechanisms, designed to control the movements of the robot and technological equipment. Each of the control networks for various movements includes sensors for position, vacuum, force, pressure, and corresponding drive mechanisms. The technological networks include process sensors. Structures, schemes, and cyclograms of the operation of information-sensor networks of the complexes under consideration are given.
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The present work was supported by the Ministry of Science and Higher Education within the framework of the Russian State Assignment under contract No. АААА-А20-120011690138-6.
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Valery, G., Maxim, K., Eugeny, S., Artem, S. (2021). Distributed Data-Sensor Systems in Wall Climbing Robotic Complexes. In: Yuschenko, A. (eds) Modern Problems of Robotics. MPoR 2020. Communications in Computer and Information Science, vol 1426. Springer, Cham. https://doi.org/10.1007/978-3-030-88458-1_15
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