CN105730540B - A kind of Intelligent Mobile Robot and its driving method with pole-climbing function - Google Patents
A kind of Intelligent Mobile Robot and its driving method with pole-climbing function Download PDFInfo
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- CN105730540B CN105730540B CN201610080462.8A CN201610080462A CN105730540B CN 105730540 B CN105730540 B CN 105730540B CN 201610080462 A CN201610080462 A CN 201610080462A CN 105730540 B CN105730540 B CN 105730540B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000009194 climbing Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000012806 monitoring device Methods 0.000 claims abstract description 21
- 230000007423 decrease Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 17
- 238000012544 monitoring process Methods 0.000 description 11
- 238000007689 inspection Methods 0.000 description 10
- 230000008901 benefit Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- 238000003786 synthesis reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The invention discloses a kind of Intelligent Mobile Robots and its driving method with pole-climbing function, Intelligent Mobile Robot includes monitoring device, drive control module and climbing mechanism, monitoring device, drive control module is installed on climbing mechanism respectively, climbing mechanism includes more piece body unit and body joint, it is connected by body joint between adjacent body unit, body joint motor is equipped between adjacent body unit, body unit is equipped with a pair of of robotic arm, the end of robotic arm is equipped with walking rotation universal wheel and universal actuation, universal actuation, body joint motor is connected with drive control module respectively；Driving method include driving Intelligent Mobile Robot carry out ground moving, upper and lower roofbolt and creep along roofbolt/rotation/stop.The present invention can realize ground moving, upper and lower roofbolt and creep along roofbolt/rotation/stop function, it is compact-sized, control accuracy is high, can comprehensive, without dead zone monitor transformer equipment operating status.
Description
Technical field
The present invention relates to the automatic detecting technologies of electric system, and in particular to a kind of substation inspection with pole-climbing function
Robot and its driving method.
Background technology
Currently, power system transformer substation realized substantially it is unattended, in order to make up the deficiency of artificial regular visit, state
It is inside and outside to occur carrying out inspection using ground mobile robot, obtain transformer equipment visible images and infrared thermal-image data simultaneously
Carry out status monitoring, analysis application report.Robot can solve the problems, such as equipment automatic detecting, but robot to a certain extent
It is run along fixed path on ground, there are monitoring dead zones to be such as located at particularly with position high transformer equipment or part of appliance
Attachment, line insulator, lightning rod of transformer top etc., due to distance, visual angle, the cloudy complicated environmental conditions such as mist and night because
The influence of element, tends not to clearly and accurately detect its state and identifies its defect and hidden danger, in addition, robot need to be in underground
Embedded track could navigate, and quantities is big, of high cost, and be not easy to change once path determines, be unfavorable for robot inspection
In the application of substation.
Invention content
The technical problem to be solved in the present invention：For the above problem of the prior art, providing one kind can realize that ground is moved
Dynamic, upper and lower roofbolt and creep along roofbolt/rotation/stop function, it is compact-sized, control accuracy is high, can be comprehensive, without dead zone
Monitor the Intelligent Mobile Robot and its driving method with pole-climbing function of transformer equipment operating status.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of driving method of the aforementioned Intelligent Mobile Robot with pole-climbing function, the change with pole-climbing function
Power station crusing robot includes monitoring device, drive control module and climbing mechanism, the monitoring device, drive control module point
It is not installed on climbing mechanism, the climbing mechanism includes more piece body unit and body joint, between adjacent body unit
It is connected by body joint, the body joint electricity for controlling body articulation state is equipped between adjacent body unit
The bottom of machine, the body unit is equipped with return pulley and at least a pair of robotic arm for pole-climbing and movement, the mechanical hand
The end of arm is equipped with walking rotation universal wheel and the universal wheel for driving walking rotation universal wheel to be walked or rotated drives
Motivation structure, the universal actuation, body joint motor are connected with drive control module respectively, and the robotic arm includes
Arm prosthomere, arm joint and the arm deutomerite being sequentially connected are equipped with arm joint between the arm prosthomere and arm deutomerite
The root of motor, the arm deutomerite is equipped with arm root joint, and the arm deutomerite passes through arm root joint and body unit phase
Even, the root joint motor for controlling arm root joint states, the arm are equipped between the arm deutomerite and body unit
Joint motor, root joint motor are connected with drive control module respectively, the reality of the driving method of the Intelligent Mobile Robot
Applying step includes：
1）When Intelligent Mobile Robot is in ground moving, the robotic arm rotates universal wheel by walking and is supported on
On ground, by the universal actuation of each body unit drive corresponding walking rotation universal wheel move on the ground and
It turns to；
2）When Intelligent Mobile Robot is from ground close to roofbolt, driving body joint motor makes climbing mechanism face upward
And close to roofbolt, a pair of of robotic arm of first body unit of control first encircles roofbolt and makes return pulley and walking rotation universal
Wheel clamps roofbolt, and drives walking rotation universal wheel to be moved up along roofbolt by universal actuation, after then controlling successively
A pair of of robotic arm of continuous each body unit encircles roofbolt and return pulley and walking rotation universal wheel is clamped roofbolt, and passes through
Universal actuation driving walking rotation universal wheel is moved up along roofbolt, finally so that all body units climb up roofbolt；
3）After Intelligent Mobile Robot climbs up roofbolt, when needing to continue to climb or decline, all bodies are controlled
A pair of of robotic arm of unit encircles roofbolt and return pulley and walking rotation universal wheel is clamped roofbolt, and passes through universal wheel drive
Mechanism driving walking rotation universal wheel is moved up along roofbolt to climb；When needing along roofbolt rotary motion, universal wheel driving machine is controlled
Structure driving walking rotation universal wheel rotation so that the direction of travel and roofbolt of walking rotation universal wheel are mutually perpendicular to, by universal
Actuation driving walking rotation universal wheel is along roofbolt rotary motion；When needing to stop on roofbolt, control universal wheel drives
Motivation structure driving walking rotation universal wheel rotation so that the direction of travel and roofbolt of walking rotation universal wheel are mutually perpendicular to, and are led to
It crosses return pulley and walking rotation universal wheel clamping stops on roofbolt；
4）When upper roofbolt under Intelligent Mobile Robot, a pair of of the robotic arm for controlling the last one body unit is encircled
Roofbolt makes return pulley and walking rotation universal wheel clamp roofbolt, and drives walking rotation universal wheel by universal actuation
It is moved down along roofbolt, while driving body joint motor that the front end of climbing mechanism is faced upward close to ground, from first body list
Member starts to unclamp robotic arm from roofbolt successively and rotate universal wheel by walking to be supported on ground, finally so that all bodies
The robotic arm of body unit rotates universal wheel by walking and is supported on ground.
Preferably, the step 1）When middle robotic arm is supported on by walking rotation universal wheel on ground, arm is driven
Joint motor makes the angle between arm prosthomere, arm deutomerite be more than 90 °.
Preferably, the step 1）Middle Intelligent Mobile Robot is in ground moving, the monitoring device（1）Acquire bar
Column image identifies roofbolt for the roofbolt image that collects with the diameter of roofbolt, contour feature, when identifying roofbolt,
Then Intelligent Mobile Robot starts to climb up roofbolt from ground.
There is the present invention Intelligent Mobile Robot tool of pole-climbing function to have the advantage that：
1, the present invention includes monitoring device, drive control module and climbing mechanism, is used as monitoring device by climbing mechanism
Carrier, climbing mechanism includes more piece body unit and body joint, is connected by body joint between adjacent body unit,
The body joint motor for controlling body articulation state is equipped between adjacent body unit, body unit is equipped with one
To the robotic arm for pole-climbing and movement, the end of robotic arm is equipped with walking rotation universal wheel and for driving walking rotation
Turn the universal actuation that universal wheel is walked or rotated, walking rotation universal wheel driven by universal actuation,
And combine the control in body joint, the control of robotic arm so that Intelligent Mobile Robot can realize ground moving, up and down
Roofbolt and creep along roofbolt/rotation/stop function, have the advantages that compact-sized, control accuracy is high, can it is comprehensive, without dead
Monitor to area transformer equipment operating status.
2, the present invention realizes monitoring by monitoring device to the image recognition of ambient enviroment, can be comprehensive, without dead zone accurate
Really monitoring data of the acquisition transformer equipment including temperature and appearance images can realize transformer equipment overheat, filthy, shifting
Monitoring, identification and the positioning of the abnormalities such as position, explosion, oil leak, electric discharge, on fire, target intrusion, it is accurate to power transformation station equipment
Errorless on-line monitoring can comprehensive, without dead zone monitor transformer equipment operating status.
3, the principle of the invention is simple, and control is precisely reliable, can be widely used in replacing manual inspection and existing in substation
Robot inspection improves economic and social benefit.
There is the present invention driving method tool of the Intelligent Mobile Robot of pole-climbing function to have the advantage that：The present invention has
The driving method of the Intelligent Mobile Robot of pole-climbing function is the substation inspection machine for having pole-climbing function based on the present invention
The application control method of people passes through ten thousand by the state in the body joint to Intelligent Mobile Robot, the state of robotic arm
It walks to actuation drive control and rotates the state of universal wheel, can realize ground moving, upper and lower roofbolt and be climbed along roofbolt
Row/rotation/stopping function, to realize monitoring to the image recognition of ambient enviroment by monitoring device, realize full side
Online inspection and the monitoring of position, converting station electric power equipment without dead zone.
Description of the drawings
Fig. 1 is the overlooking structure diagram of the embodiment of the present invention.
Fig. 2 is side structure schematic view of the embodiment of the present invention in ground moving.
Fig. 3 be the embodiment of the present invention climb up/climb down roofbolt when side structure schematic view.
Fig. 4 is side structure schematic view of the embodiment of the present invention when creeping on roofbolt.
Fig. 5 is main structure diagram of the embodiment of the present invention when creeping on roofbolt.
Fig. 6 is overlooking structure diagram of the embodiment of the present invention when creeping on roofbolt.
Marginal data：1, monitoring device；11, holder；12, video detecting module；2, climbing mechanism；21, body unit；
20, return pulley；22, body joint；23, robotic arm；231, arm prosthomere；232, arm joint；233, arm deutomerite；234, hand
Arm root joint；24, walking rotation universal wheel.
Specific implementation mode
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the present embodiment has the Intelligent Mobile Robot of pole-climbing function
Including monitoring device 1, drive control module and climbing mechanism 2, monitoring device 1, drive control module are installed in creeper respectively
On structure 2, climbing mechanism 2 includes more piece body unit 21 and body joint 22, is closed by body between adjacent body unit 21
Section 22 is connected, and the body joint motor for controlling 22 rotary state of body joint, body are equipped between adjacent body unit 21
The bottom of body unit 21 is equipped with return pulley 20 and a pair of robotic arm 23 for pole-climbing and movement, and the end of robotic arm 23 is set
There are walking rotation universal wheel 24 and the universal actuation for driving walking rotation universal wheel 24 to be walked or rotated,
Universal actuation, body joint motor are connected with drive control module respectively.It is driven and is walked by universal actuation
Universal wheel 24 is rotated, and combines the control in body joint, the control of robotic arm 23 so that Intelligent Mobile Robot can be real
Existing ground moving, upper and lower roofbolt and creep along roofbolt/rotation/stop function, it is real to the identification of ambient image by monitoring device 1
It now monitors, can realize the abnormalities such as transformer equipment overheat, filth, displacement, explosion, oil leak, electric discharge, on fire, target intrusion
Monitoring, identification and positioning, have the advantages that compact-sized, control accuracy is high, comprehensive, without dead zone can monitor power transformation and set
Standby operating status.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 6, robotic arm 23 includes the arm prosthomere 231 being sequentially connected, arm joint
232 and arm deutomerite 233, arm joint motor, the root of arm deutomerite 233 are equipped between arm prosthomere 231 and arm deutomerite 233
Portion is equipped with arm root joint 234, and arm deutomerite 233 is connected by arm root joint 234 with body unit 21, arm deutomerite 233
The root joint motor for controlling 234 state of arm root joint, arm joint motor, root joint are equipped between body unit 21
Motor is connected with drive control module respectively.By controlling arm joint motor, the coordination of root joint motor respectively, Neng Goushi
The coordination control of existing robotic arm 23 realizes opening and the gathering of a pair of of robotic arm 23, to control robotic arm 23 and bar
The steady contact of column, and stable support on the ground, further combined with body joint 22 and universal actuation, row
The coordination control for walking to rotate universal wheel 24 realizes the present embodiment Intelligent Mobile Robot ground moving, upper and lower roofbolt and along bar
Column creeps, and/rotation/stops function.
As shown in Fig. 2, monitoring device 1 includes holder 11 and video detecting module 12, holder 11 is installed in climbing mechanism 2
On, video detecting module 12 is installed on holder 11, using ripe 11 technology of holder, can control video inspection easy to controlly
The posture for surveying component 12, so as to obtain the inspection image information of more perspective and position.
In the present embodiment, video detecting module 12 includes infrared camera and high-definition camera.The present embodiment substation patrols
Robot is examined to the Condition Detection in substation, is to carry out image by both infrared camera and high-definition camera to adopt
Collection, the binocular vision based on infrared camera and high-definition camera, infrared camera can detect transformer device of transformer substation temperature,
High-definition camera can detection device outer shape and basic status, so as to more clearly and conveniently understand power equipment
Working condition, to improve the accuracy of transformer equipment state information acquisition.
As shown in Fig. 2, monitoring device 1 is installed in the section body unit positioned at middle part in climbing mechanism 2 in the present embodiment
On 21 so that influence smaller of the movement of climbing mechanism 2 for monitoring device 1 is conducive to the image stabilization for improving monitoring device 1
Property.
As shown in fig. 6, arm prosthomere 231 and arm deutomerite 233 are arc, and the arc center of circle of arm prosthomere 231, hand
The arc center of circle of arm deutomerite 233 is located at the same side.By above structure, a pair of of mechanical hand for pole-climbing and movement is enabled to
Arm 23 avoids arm prosthomere 231 and 233 middle part of arm deutomerite and roofbolt from colliding and rub, energy as possible when around roofbolt
Enough promote stability of the present embodiment Intelligent Mobile Robot when being moved on roofbolt.
In the present embodiment, return pulley 20 is universal wheel so that Intelligent Mobile Robot can be rotated along roofbolt.
It includes mainly that each universal wheel drives that the present embodiment, which has the driving method of the Intelligent Mobile Robot of pole-climbing function,
The coordination of the components such as motivation structure, body joint motor, arm joint motor, root joint motor controls, and detailed step includes：
1）When Intelligent Mobile Robot is in ground moving, robotic arm 23 rotates universal wheel 24 by walking and is supported on
On ground（As shown in Figure 2）, drive corresponding walking to rotate universal wheel by the universal actuation of each body unit 21
24 move and turn on the ground；
2）When Intelligent Mobile Robot is from ground close to roofbolt, driving body joint motor makes on climbing mechanism 2
It faces upward and close to roofbolt, a pair of of robotic arm 23 of first body unit 21 of control first encircles roofbolt and makes return pulley 20 and walking
Rotation universal wheel 24 clamps roofbolt, and drives walking rotation universal wheel 24 to be moved up along roofbolt by universal actuation, so
A pair of of the robotic arm 23 for controlling follow-up each body unit 21 successively afterwards encircles roofbolt and makes return pulley 20 and walking rotation universal
Wheel 24 clamps roofbolt, and drives walking rotation universal wheel 24 to be moved up along roofbolt by universal actuation, finally so that institute
There is body unit 21 to climb up roofbolt；
3）After Intelligent Mobile Robot climbs up roofbolt：
1., when need continue to climb or decline when, a pair of of the robotic arm 23 for controlling all body units 21 encircles bar
Column makes return pulley 20 and walking rotation universal wheel 24 clamp roofbolt, and drives walking rotation universal by universal actuation
Wheel 24 is moved up along roofbolt to climb, as shown in Fig. 3, Fig. 4 and Fig. 5；
2., when needing along roofbolt rotary motion, control universal actuation driving walking rotation universal wheel 24 and rotate,
So that the direction of travel and roofbolt of walking rotation universal wheel 24 are mutually perpendicular to, walking rotation ten thousand is driven by universal actuation
To wheel 24 along roofbolt rotary motion, return pulley 20 is universal wheel, follows walking rotation universal wheel 24 together along roofbolt rotary motion；
3., when needing to stop on roofbolt, control universal actuation driving walking rotation universal wheel 24 and rotate, make
Must walk rotation universal wheel 24 direction of travel and roofbolt be mutually perpendicular to（Ensure that clamping roofbolt can be restfully clamped in robot, from
It needs walking rotation universal wheel 24 being rotated by 90 ° when halted state starts to climb or decline so that walking rotation universal wheel 24
Direction of travel and roofbolt be mutually parallel）, and stopped on roofbolt by return pulley 20 and the walking rotation clamping of universal wheel 24；
4）When upper roofbolt under Intelligent Mobile Robot, a pair of of robotic arm 23 of the last one body unit 21 is controlled
Encircling roofbolt makes return pulley 20 and walking rotation universal wheel 24 clamp roofbolt, and drives walking rotation by universal actuation
Turn universal wheel 24 to move down along roofbolt, while driving body joint motor that the front end of climbing mechanism 2 is faced upward close to ground, from
One body unit 21 starts to unclamp robotic arm 23 from roofbolt successively and rotate universal wheel 24 by walking to be supported on ground
On, finally so that the robotic arm 23 of all body units 21 is supported on by walking rotation universal wheel 24 on ground.
As shown in Fig. 2, the present embodiment step 1）Middle robotic arm 23 rotates universal wheel 24 by walking and is supported on ground
When, driving arm joint motor makes the angle between arm prosthomere 231, arm deutomerite 233 be more than 90 °.By above structure,
Enable to Intelligent Mobile Robot that can preferably support on the ground and realize the movement on ground.
The present embodiment step 1）For middle Intelligent Mobile Robot in ground moving, monitoring device 1 acquires roofbolt image, needle
Roofbolt is identified with the diameter of roofbolt, contour feature to the roofbolt image that collects, when identifying roofbolt, then substation patrols
Inspection robot starts to climb up roofbolt from ground.By the above method, the railless movable side of robot based on image-guidance is realized
Method, by being based on image characteristics extraction and the matched Intelligent Mobile Robot trackless air navigation aid of image object, by mesh
The image recognition of mark post column and tracking can realize that climbing level robot is moved along the accurate of target roofbolt direction.
When application the present embodiment has the Intelligent Mobile Robot and its driving method of pole-climbing function, pass through choosing first
Certain fixed substation, arrangement, the size of roofbolt of interior roofbolt of being stood according to substation, designs the synthesis configuration of the monitoring robot and advises
Walking path of the robot between roofbolt, and the relevant parameter of the robot railless movable method based on image-guidance are drawn,
Then research Robot roofbolt creeps, rotates and in three kinds of motion states of ground running, control Intelligent Mobile Robot
On-line monitoring of the robot to power transformation station equipment is realized in the coordinated movement of various economic factors of each joint motor.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of driving method of the Intelligent Mobile Robot with pole-climbing function, which is characterized in that described that there is pole-climbing work(
The Intelligent Mobile Robot of energy includes monitoring device（1）, drive control module and climbing mechanism（2）, the monitoring device
（1）, drive control module be installed in climbing mechanism respectively（2）On, the climbing mechanism（2）Including more piece body unit（21）With
Body joint（22）, adjacent body unit（21）Between pass through body joint（22）It is connected, adjacent body unit（21）It
Between be equipped with for controlling body joint（22）The body joint motor of rotary state, the body unit（21）Bottom be equipped with bottom
Wheel（20）And at least a pair of robotic arm for being used for pole-climbing and movement（23）, the robotic arm（23）End be equipped with walking
Rotate universal wheel（24）And for driving walking rotation universal wheel（24）The universal actuation walked or rotated, institute
State universal actuation, body joint motor is connected with drive control module respectively；The robotic arm（23）Including successively
Connected arm prosthomere（231）, arm joint（232）With arm deutomerite（233）, the arm prosthomere（231）With arm deutomerite
（233）Between be equipped with arm joint motor, the arm deutomerite（233）Root be equipped with arm root joint（234）, the arm
Deutomerite（233）Pass through arm root joint（234）With body unit（21）It is connected, the arm deutomerite（233）With body unit
（21）Between be equipped with for controlling arm root joint（234）The root joint motor of state, the arm joint motor, root joint electricity
Machine is connected with drive control module respectively, and the implementation steps of the driving method include：
1）When Intelligent Mobile Robot is in ground moving, the robotic arm（23）Universal wheel is rotated by walking（24）Branch
It holds on ground, passes through each body unit（21）Universal actuation drive corresponding walking rotation universal wheel（24）
It moves and turns on ground；
2）When Intelligent Mobile Robot is from ground close to roofbolt, driving body joint motor makes climbing mechanism（2）It faces upward
And close to roofbolt, first body unit is controlled first（21）A pair of of robotic arm（23）It encircles roofbolt and makes return pulley（20）With
Walking rotation universal wheel（24）Roofbolt is clamped, and walking rotation universal wheel is driven by universal actuation（24）Along roofbolt
It moves up, then controls follow-up each body unit successively（21）A pair of of robotic arm（23）It encircles roofbolt and makes return pulley（20）With
Walking rotation universal wheel（24）Roofbolt is clamped, and walking rotation universal wheel is driven by universal actuation（24）Along roofbolt
It moves up, finally so that all body units（21）Climb up roofbolt；
3）After Intelligent Mobile Robot climbs up roofbolt, when needing to continue to climb or decline, all body units are controlled
（21）A pair of of robotic arm（23）It encircles roofbolt and makes return pulley（20）Universal wheel is rotated with walking（24）Roofbolt is clamped, and is led to
Cross universal actuation driving walking rotation universal wheel（24）It moves up and climbs along roofbolt；When needing along roofbolt rotary motion,
Control universal actuation driving walking rotation universal wheel（24）Rotation so that walking rotation universal wheel（24）Direction of travel
It is mutually perpendicular to roofbolt, walking rotation universal wheel is driven by universal actuation（24）Along roofbolt rotary motion；Work as needs
When stopping on roofbolt, universal actuation driving walking rotation universal wheel is controlled（24）Rotation so that walking rotation is universal
Wheel（24）Direction of travel and roofbolt be mutually perpendicular to, and pass through return pulley（20）Universal wheel is rotated with walking（24）Clamping stops at bar
On column；
4）When upper roofbolt under Intelligent Mobile Robot, the last one body unit is controlled（21）A pair of of robotic arm（23）
It encircles roofbolt and makes return pulley（20）Universal wheel is rotated with walking（24）Roofbolt is clamped, and is driven and is gone by universal actuation
It walks to rotate universal wheel（24）It is moved down along roofbolt, while body joint motor being driven to make climbing mechanism（2）Front end face upward it is close
Ground, from first body unit（21）Start to unclamp robotic arm from roofbolt successively（23）And universal wheel is rotated by walking
（24）It is supported on ground, finally so that all body units（21）Robotic arm（23）Universal wheel is rotated by walking（24）
It is supported on ground.
2. the driving method of the Intelligent Mobile Robot with pole-climbing function according to claim 1, which is characterized in that institute
State step 1）Middle robotic arm（23）Universal wheel is rotated by walking（24）When being supported on ground, driving arm joint motor makes
Obtain arm prosthomere（231）, arm deutomerite（233）Between angle be more than 90 °.
3. the driving method of the Intelligent Mobile Robot with pole-climbing function according to claim 2, which is characterized in that institute
State step 1）Middle Intelligent Mobile Robot is in ground moving, the monitoring device（1）Roofbolt image is acquired, for acquiring
To roofbolt image roofbolt is identified with the diameter of roofbolt, contour feature, when identifying roofbolt, then Intelligent Mobile Robot
Start to climb up roofbolt from ground.
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| CN201610080462.8A CN105730540B (en) | 2016-02-05 | 2016-02-05 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
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| CN201610080462.8A CN105730540B (en) | 2016-02-05 | 2016-02-05 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
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| CN105730540B true CN105730540B (en) | 2018-09-07 |
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