中文摘要：

为保证轮臂复合武巡检机器人与太阳能充电基站充电座能准确和可靠自主充电对接，提出一种基于位置关系粗定位、视觉伺服精定位、以及压力传感器接合反馈的自主充电对接控制方法．通过感知机器人所处地线坡度信息，将安装在机器人压紧机构的充电插头运动至安装在悬垂C型挂板底端中心部位的充电座附近；根据图像空间充电座中心棱边与成像区域中心线距离来表征图像特征的变化，设计充电精定位伺服控制律，采用变论域模糊控制方法进行精确定位控制；依据贴合在正负电极片下压力应变片传感器信号变化反馈对接状态．模拟线路和实际线路的试验运行结果表明，该方法具有准确、可靠、效率高的特点，能够满足自主充电对接的任务要求．

英文摘要：

To guarantee the wheel-arm inspection robot auto-docks with the recharge stand of the solar charging station correctly and reliably, an auto-recharging docking control way is presented, which is based on position relation coarse positioning, visual servo precise positioning and pressure sensor joint feedback. By perceiving the slope information of the place where the robot stands, the charging moved near the recharge stand in the central bottom of the pensile plug in the pressing mechanism of the robot is C type plate. According to the distance between the central seamed edge of the docks in the image space and the central line in the imaging area, the variety of the image features is shown. Charging precise positioning servo control law is designed by adopting variable universe fuzzy control method. The docking state is fed back according to the signal variety of the pressure straingauge sensor under the positive and negative electrodes. The auto-recharging docking control way has been tested in the imitate and real routines, which proves that the method is correct, reliable and effective, and also can satisfy the docking demands of auto-recharging.