CN108454720B - Pole-climbing robot - Google Patents

Pole-climbing robot Download PDF

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Publication number
CN108454720B
CN108454720B CN201810112493.6A CN201810112493A CN108454720B CN 108454720 B CN108454720 B CN 108454720B CN 201810112493 A CN201810112493 A CN 201810112493A CN 108454720 B CN108454720 B CN 108454720B
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trolley
rod
jack
pole
horizontal movement
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CN108454720A (en
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胡泽
牟强
陈昊
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Southwest Petroleum University
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Southwest Petroleum University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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

Abstract

The invention provides a pole-climbing robot, wherein a trolley horizontal movement driven wheel I (10), a trolley horizontal movement driven wheel II (11) and a trolley horizontal movement driving wheel (13) are installed at the bottom of a wheel chassis (12), a scissor jack (1) is installed at the upper part of the wheel chassis (12), a jack screw rod gear (8) is installed on a screw rod of the scissor jack (1), and a direct current motor (9) is installed on a wall body of the scissor jack (1) on one side of the jack screw rod gear (8). The pole-climbing robot designed by the invention has the advantages of novel structure, simple control and higher reliability and stability, has the ability of climbing depending on a pole body and certain ground horizontal movement ability, is started by one-key remote control, can perform directional shooting after climbing at a certain height, and transmits images to a display module terminal through wireless images.

Description

Pole-climbing robot
Technical Field
The invention belongs to the field of information engineering, and particularly relates to a pole-climbing robot.
Background
With the continuous progress of society and science and technology, intelligent products are in endless, and robots are the outstanding representatives. The appearance of robots allows humans to achieve the illusion of liberation from hazardous environments, simple mechanical repetition. In the field of robots, scientists are making efforts to develop various robots to meet the needs of our productive life, because robots of different structures or different motion forms have their unique application fields.
The pole-climbing robot is different from a common ground mobile robot, needs to overcome the action of self gravity, tightly holds the pole body and then climbs by the friction force generated by the power part and the surface of the pole body to be climbed, and completes the operation under specific conditions, so that the pole-climbing robot is an important branch in the field of robots.
In municipal work, some need the high altitude body of rod building of cleanness and maintenance urgently, especially to thin body of rod building, if artifical climbing not only itself has very big potential safety hazard, the noxious material that produces during the operation can also produce very big threat to human health moreover, and work efficiency is very low, and engineering van or other large equipment operations are also inconvenient, and the operating cost is also higher.
In the military field, when standing posts and sentries and enemy investigation, soldiers also often need to climb higher rod body buildings, which is a great test for the physical quality of the soldiers. At the moment, the pole-climbing robot is used for completing the work, so that the working efficiency is improved to a great extent, and the health and safety of people are guaranteed, so that the research of the pole-climbing robot has important practical significance.
Furthermore, m.nili Ahmadabad et al, university of tebleland, conducted intensive research on a continuous motion type pole-climbing robot that completed rapid climbing by using friction between wheels or tracks and the surface of a pole to be climbed. Three prototype machines have been developed: UT-PCR1, UT-PCR2 and UT-PCR 3. Researchers aim to reduce the complexity of the robot and increase the bearing capacity of the robot, and the friction wheel type pole-climbing robot has the advantages of a continuous motion mode, higher pole-climbing speed and efficiency and complex mechanical structure and control part.
The joint type walking robot developed by Tokyo university is very representative, can crawl along a horizontal or vertical straight rod, even can stride across and parallel rods, and can crawl around a T-shaped rod and an L-shaped rod, and the application range of the rod-climbing robot is further expanded.
The design idea of the climbing robot based on the TRIZ innovative design theory is provided by professor of Standby rock of Harbin engineering university, and a novel turnover climbing robot is designed from the design idea. The mechanical system of the robot mainly comprises a trunk, two overturning arms arranged on the trunk, clamping claws arranged on the overturning arms and a controller. The five motors are used for controlling the motion in a positive and negative rotation mode, and the overturning motion is realized by outputting torque by overturning motors at joints at two ends of the trunk of the robot and outputting the torque after the torque is transmitted by a transmission device to drive the overturning arms and the trunk to overturn.
In view of the results of the pole-climbing robots, the mechanisms and controls of the pole-climbing robots are still complex, and the pole-climbing robot with continuous motion of the university of dendray has high efficiency, but has a large size, a complex mechanical structure design, a dynamic model which is not easy to establish and a complex control. Although the joint crawling robot of the Tokyo university has strong adaptability and can be applied to various occasions, the mechanical design is complex and the crawling efficiency is low. The turnover type climbing robot of Harbin engineering university is mechanically complex, has more actuators and complex control, and is still in a test stage; most of the existing climbing-pole robots do not have the image acquisition function, and even if the existing climbing-pole robots have the image acquisition function, the number of the climbing-pole robots capable of automatically scanning is few. For the image taking of the pole-climbing robot, the main problem is to acquire a stable and clear image and capture a specific target of the image. No matter what type of rod-climbing robot, the machine body shakes during the operation process, so that the image quality is influenced; some robots climb stably, have better bearing capacity, but crawl efficiency still lower, and it still needs the time and day to put into production life.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a pole-climbing robot, which can improve pole-climbing efficiency and has a simpler control system.
The invention adopts the following technical scheme:
the pole-climbing robot comprises a scissor jack 1, wheels 6, a direct current speed reducing motor 7, a jack screw rod gear 8, a direct current motor 9, a trolley horizontal motion driven wheel I10, a trolley horizontal motion driven wheel II 11, a trolley chassis 12, a trolley horizontal motion driving wheel 13 and a single chip microcomputer 16, wherein the trolley horizontal motion driven wheel I10, the trolley horizontal motion driven wheel II 11 and the trolley horizontal motion driving wheel 13 are installed at the bottom of the trolley chassis 12, the scissor jack 1 is installed at the upper part of the trolley chassis 12, the jack screw rod gear 8 is installed on a screw rod of the scissor jack 1, the direct current motor 9 is installed on a wall body of the scissor jack 1 at one side of the jack screw rod gear 8, an external gear meshed with the jack screw rod gear is installed on a motor shaft of the direct current motor 9, the direct current speed reducing motor 7 is installed on an adjacent arm of the scissor jack 1, the direct current gear motor 7 is provided with wheels 6 and a clamping rod body limit switch 14 on the shaft, the clamping rod body limit switch is arranged on the trolley chassis 12 through an installation rack, the height of the installation rack is 5-10cm, a trigger device of the clamping rod body limit switch 14 is of an inverted digital 7-shaped structure, and the trigger device is fixed at the top end of the scissor jack 1 and moves vertically along with the extension and contraction of the scissor jack 1; the tight-sticking rod body limit switch 15 is arranged at the top end of the scissor jack 1, and one end of the trigger deformation of the tight-sticking rod body limit switch 15 protrudes 1-2cm out of the front end face of the scissor jack 1, so that the tight-sticking rod body limit switch 15 firstly contacts the surface of the rod body 5 to be climbed.
The single chip microcomputer 16 is in signal connection with the direct current speed reducing motor 7 and the direct current motor 9, the single chip microcomputer 16 controls the direct current speed reducing motor 7 and the direct current motor 9 to start and stop, and the single chip microcomputer 16 receives position signals sent by the clamping rod body limit switch 14 and the tight rod body limit switch 15.
The trolley horizontal movement driven wheel I10, the trolley horizontal movement driven wheel II 11 and the trolley horizontal movement driving wheel 13 form a three-wheel type arrangement, and the trolley horizontal movement driving wheel 13 is located on the front side of the trolley horizontal movement driven wheel I10 and the trolley horizontal movement driven wheel II 11.
Further, the robot is also provided with a wireless data transmission module, and an external upper computer is in signal connection with the singlechip 16 through the wireless data transmission module.
Furthermore, a support is further mounted on the trolley chassis 12, a digital steering engine 3 is mounted on the support, a camera is mounted on the digital steering engine 3, a gyroscope is mounted on the robot, the digital steering engine 3, the camera and the gyroscope are respectively in signal connection with the single chip microcomputer 16, and the camera is further connected with an external display device through a wireless image transmission module on the trolley.
The trolley further comprises 2 ultrasonic modules which are respectively arranged on the left side and the right side of the trolley horizontal movement driving wheel 13.
Further camera is installed on the cloud platform, and the imaging quality of robot machine carries camera is influenced by factors such as robot organism vibrations, air wind speed and air current to a great extent, and in order to make the camera visual axis stable, must provide an inertial platform that has space stability for it. And stabilize the cloud platform and just can keep apart the disturbance of organism, still can make the camera visual axis can follow the stable cloud platform in a flexible way and rotate according to given instruction simultaneously.
The working process of the invention is as follows:
the robot is started by one-key remote control, the robot moves horizontally on the ground and leans against the rod body, a limit switch is triggered by the surface of the rod body to be tightly attached, a main control MCU controls a horizontal movement motor to stop, then a scissor jack does clamping movement, the limit switch is triggered to be tightly clamped, the clamping movement stops after the trigger, the MCU controls the robot to do climbing movement, after the robot climbs to preset the height, the height information is fed back by ultrasonic positioning, the climbing movement is stopped, directional shooting is carried out, and an image is sent to a display module terminal through a wireless image transmission module.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic flow chart of the operation of the present invention;
fig. 4 is a schematic structural view of a limit switch of a clamping rod and a trigger device thereof according to the present invention.
In the figure: the system comprises a scissor jack 1, a jack 2, a screw rod 3, a digital steering engine 4, a high-definition motion camera 5, a rod to be climbed 6, wheels 7, a direct current speed reducing motor 7, a jack screw rod gear 8, a direct current motor 9, a trolley horizontal motion driven wheel I10, a waterwheel horizontal motion driven wheel II 11, a trolley chassis 12, a trolley horizontal motion driving wheel 13, a rod clamping limit switch 14, a tight rod limit switch 15, a single chip microcomputer 16 and a trigger device 17.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described below clearly and completely, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, 2 and 4, the pole-climbing robot of the invention comprises a scissor jack 1, wheels 6, a direct current speed reducing motor 7, a jack screw rod gear 8, a direct current motor 9, a trolley horizontal motion driven wheel I10, a trolley horizontal motion driven wheel II 11, a trolley chassis 12, a trolley horizontal motion driving wheel 13 and a single chip microcomputer 16, wherein the trolley horizontal motion driven wheel I10, the trolley horizontal motion driven wheel II 11 and the trolley horizontal motion driving wheel 13 are arranged at the bottom of the trolley chassis 12, the scissor jack 1 is arranged at the upper part of the trolley chassis 12, the jack screw rod gear 8 is arranged on a screw rod of the scissor jack 1, the direct current motor 9 is arranged on a wall body of the scissor jack 1 at one side of the jack screw rod gear 8, an external gear meshed with the jack screw rod gear is arranged on a motor shaft of the direct current motor 9, a direct current speed reducing motor 7 is arranged on an adjacent arm of the scissor jack 1, wheels 6 are arranged on a shaft of the direct current speed reducing motor 7, a clamping rod body limit switch 14 is arranged on a trolley chassis 12 through an installation frame, the height of the installation frame is 5-10cm, a trigger device of the clamping rod body limit switch 14 is of an inverted digital 7-shaped structure, and the trigger device is fixed at the top end of the scissor jack 1 and moves vertically along with the extension and contraction of the scissor jack 1; the tight rod limiting switch 15 is mounted at the top end of the scissor jack 1, one end of the trigger deformation of the tight rod limiting switch 15 protrudes out of the front end face of the scissor jack 1 by 1-2cm, the tight rod limiting switch 15 is contacted with the surface of the rod firstly, the single chip microcomputer 16 is in signal connection with the direct current speed reducing motor 7 and the direct current motor 9, the single chip microcomputer 16 controls the direct current speed reducing motor 7 and the direct current motor 9 to start and stop, and the single chip microcomputer 16 receives position signals sent by the tight rod limiting switch 14 and the tight rod limiting switch 15.
The scissor jack 1 is also called a bracket jack and comprises an upper support rod and a lower support rod which are made of metal plates, the cross section of the upper support rod and the cross section of the lower support rod at the tooth part and the part near the tooth part are rectangles with one side opened, the metal plates at two sides of the opening are bent inwards, the teeth on the upper support rod and the lower support rod are made of the metal plates with two sides opened and bent, and the tooth width is larger than the metal plate thickness. The lifting and descending heights of the scissor jack are adjusted through a screw rod and a nut based on the geometric principle that the height lines can be lifted by shortening the bottom edge of an isosceles triangle without changing the two waists of the isosceles triangle.
The invention utilizes the mechanical variability of the scissor jack, a pair of wheels of a large-torque speed reducing motor are arranged on the adjacent arms close to the support rod, the distance between the wheels is adjusted, so that the rod body 5 to be climbed is clamped, and the motor is driven to enable the robot to ascend or descend.
Example 2 example 1 was modified as follows:
as shown in fig. 1, 2 and 4, the trolley horizontal movement driven wheel I10, the trolley horizontal movement driven wheel II 11 and the trolley horizontal movement driving wheel 13 form a three-wheel type, and the trolley horizontal movement driving wheel 13 is positioned at the front side of the trolley horizontal movement driven wheel I10 and the trolley horizontal movement driven wheel II 11.
In order to realize the simplification of the structure, the bottom of the trolley is designed to be arranged in a three-wheel mode, wheels with larger friction coefficient are selected as the driving wheels 13 for the horizontal movement of the trolley, and the driving wheels 13 for the horizontal movement of the trolley and the wheels 6 on the adjacent arms of the climbing action jack are of the same type.
The driving motor of the driving wheel 13 for horizontal movement of the trolley adopts a high-torque direct-current speed reducing motor which can be selected from Japanese TSUKASA Chikasha 7-shaped direct-current speed reducing motors, and the driving motor is connected with a single chip microcomputer.
TSUKASA 7 font direct current gear motor operating voltage 12-24V, DC: 12V No-load 47 rpm, DC: 24V no-load 94 rpm, rated torque (kgf. cm): 6.5, maximum torque (kgf. cm): rated power (W): 8, the whole machine mass (g): 500.
the starting, stopping and forward and reverse rotation of the motor are controlled by the relay, the motor is simple and convenient, the SRD-05VDC-SL-C relay is adopted, and the IN input is effective at a low level.
The further technical scheme is that a wireless data transmission module is further installed on the robot, and an external upper computer is in signal connection with the single chip microcomputer 16 through the wireless data transmission module.
As mentioned above, the wireless data transmission module can be 100MWE50-TTL-100, and works in the frequency band of 148-173.5MHz, and because the frequency band is very low, the wireless data transmission module has very strong penetration capability, and is particularly suitable for occasions needing wall penetration. Meanwhile, the serial port is used for data receiving and transmitting, the threshold of wireless application is reduced, the wireless data transmission module is provided with a software FEC forward error correction algorithm, the coding efficiency is high, the error correction capability is strong, under the condition of burst interference, the interfered data packet can be actively corrected, and the anti-interference capability and the transmission distance are greatly improved.
The wireless data transmission module has data encryption and compression functions, the module transmits data in the air, randomness is achieved, and data interception is made to lose significance through a strict encryption and decryption algorithm. The data compression function has the advantages of reducing the transmission time and the interfered probability and improving the reliability and the transmission efficiency.
The wireless data transmission module can work at 2.1-5.5V to meet the power supply requirement of a battery, has four working modes, can be freely switched during operation, consumes only dozens of microamperes in a power-saving mode, and is very suitable for ultra-low power consumption application.
Example 3 the following modifications are made on the basis of example 2:
as shown in fig. 1, 2 and 4, a further preferred technical scheme is that a support is further installed on the trolley chassis 12, a digital steering engine 3 is installed on the support, a camera is installed on the digital steering engine 3, a gyroscope is installed on the robot, the digital steering engine 3, the camera and the gyroscope are respectively in signal connection with the single chip microcomputer 16, and the camera is further connected with an external display device through a wireless image transmission module on the trolley.
As mentioned above, the gyroscope is adopted to measure the rotation angle in the climbing process, the steering engine rotates the camera and adjusts the view angle of the camera, the gyroscope can adopt a 3-axis digital gyroscope L3G4200D, and the steering engine can adopt a CDS5516 robot digital steering engine.
As before, the wireless image transmission module can adopt WHDI (wireless home digital interface), provide high-quality, uncompressed wireless connection mode, use MIMO technology and OFDM's modulation mode can realize the transmission rate up to 3Gbps, work in 4.9GHz-5.875GHz frequency channel, 20MHz or 40MHz channel, accord with the 5GHz frequency spectrum regulation of the whole world, the range is within 30 meters, can penetrate the wall, and the delay is less than 1 millisecond, can meet the demands completely.
As before, the camera may adopt a DT200 wide-angle micro motion camera with 1080P resolution output by HDMI interface.
The further technical scheme is that the trolley horizontal movement driving wheel device further comprises 2 ultrasonic modules which are respectively arranged on the left side and the right side of the trolley horizontal movement driving wheel 13, and the ultrasonic modules and the single chip microcomputer realize signal intercommunication through signal lines.
As before, the ultrasonic module may be selected from HY-SRF05 ultrasonic module, and its parameter operating voltage: DC5V, operating current: 15mA, working frequency: 40Hz, farthest range: 4.5m, nearest range: 2cm, measurement angle: 15 degrees, input trigger signal: the 10us TTL pulse outputs a TTL level signal which is proportional to the range.
Further camera is installed on the cloud platform, and the imaging quality of robot machine carries camera is influenced by factors such as robot organism vibrations, air wind speed and air current to a great extent, and in order to make the camera visual axis stable, must provide an inertial platform that has space stability for it. And stabilize the cloud platform and just can keep apart the disturbance of organism, still can make the camera visual axis can follow the stable cloud platform in a flexible way and rotate according to given instruction simultaneously.
The working process of the invention is as follows:
as shown in fig. 3, the upper computer is started by one key, the upper computer transmits a signal to the single chip microcomputer 16 through the wireless data transmission module, the single chip microcomputer 16 controls the horizontal driving wheel 13 of the trolley to move horizontally on the ground, and after the robot moves to the rod body 5 to be climbed, the tight rod body limit switch 15 on the robot is triggered, which indicates that the pole-climbing robot is tight to the rod body, and the horizontal movement on the ground is finished.
After the horizontal movement is finished, the direct current motor 9 drives the scissor jack to perform clamping action through the jack lead screw gear 8, the clamping action stop mode waits for the inverted 7-shaped hook to move upwards vertically along the top end of the jack to trigger the limit switch, the clamping rod body limit switch 14 is triggered to indicate that the robot clamps the rod body, the clamping rod body motor stops operating, after the clamping action is finished, the direct current speed reducing motor 7 and the wheels 6 on the adjacent arms of the scissor jack 1 are started simultaneously, the climbing action starts, when the ultrasonic module detects that the robot climbs to the preset height, the direct current speed reducing motor 7 stops, the climbing action is finished, the digital steering engine rotates, the camera conducts directional shooting, and transmits the shooting to the remote display module through the wireless image transmission module.
Test experiments:
experimental equipment: the stopwatch comprises a stopwatch and a PC, wherein the PC is arranged on one rod body with the outer diameter of 90cm and the height of 3m, and the tape measure is arranged on one rod body.
Experimental mode: the method mainly uses an accumulation method, namely, the time required by a plurality of experiments at the same height under a control variable is averaged, and then the height is changed.
The experimental results are as follows: the heights of the climbing poles are 1m, 1.5m, 2m and 2.5m respectively, the robot runs at a stable and reliable speed in the test process, and the running speed is basically guaranteed to be within 2m/s +/-0.05 m/s.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (5)

1. The pole-climbing robot is characterized by comprising a scissor jack (1), wheels (6), a direct-current speed reducing motor (7), a jack screw rod gear (8), a direct-current motor (9), a trolley horizontal motion driven wheel I (10), a trolley horizontal motion driven wheel II (11), a trolley chassis (12), a trolley horizontal motion driving wheel (13) and a single chip microcomputer (16), wherein the trolley horizontal motion driven wheel I (10), the trolley horizontal motion driven wheel II (11) and the trolley horizontal motion driving wheel (13) are installed at the bottom of the trolley chassis (12), the scissor jack (1) is installed at the upper part of the trolley chassis (12), the jack screw rod gear (8) is installed on a screw rod of the scissor jack (1), the direct-current motor (9) is installed on a wall body of the scissor jack (1) on one side of the jack screw rod gear (8), an external gear meshed with a screw rod gear of the jack is mounted on a motor shaft of the direct current motor (9), a direct current speed reducing motor (7) is mounted on an adjacent arm of the scissor jack (1), wheels (6) are mounted on the shaft of the direct current speed reducing motor (7), a clamping rod body limit switch (14) is mounted on a trolley chassis (12) through a mounting rack, the height of the mounting rack is 5-10cm, a trigger device of the clamping rod body limit switch (14) is of an inverted digital 7-shaped structure, and the trigger device is fixed at the top end of the scissor jack (1) and vertically moves along with the extension and contraction of the scissor jack (1); the tight-attaching rod body limit switch (15) is arranged at the top end of the scissor jack (1), and one end of the trigger deformation of the tight-attaching rod body limit switch (15) protrudes 1-2cm out of the front end surface of the scissor jack (1), so that the tight-attaching rod body limit switch (15) firstly contacts the surface of a rod body (5) to be climbed;
the single chip microcomputer (16) is in signal connection with the direct current speed reducing motor (7), the direct current motor (9), the clamping rod body limiting switch (14) and the tight rod body limiting switch (15), the single chip microcomputer (16) controls the direct current speed reducing motor (7) and the direct current motor (9) to start and stop, and the single chip microcomputer (16) receives position signals sent by the clamping rod body limiting switch (14) and the tight rod body limiting switch (15).
2. The pole-climbing robot of claim 1, wherein: the trolley horizontal movement driven wheel I (10), the trolley horizontal movement driven wheel II (11) and the trolley horizontal movement driving wheel (13) form a three-wheel type arrangement structure, and the trolley horizontal movement driving wheel (13) is located on the front side of the trolley horizontal movement driven wheel I (10) and the trolley horizontal movement driven wheel II (11).
3. The pole-climbing robot of claim 1, wherein: the robot is also provided with a wireless data transmission module, and an external upper computer is in signal connection with the singlechip (16) through the wireless data transmission module.
4. A pole-climbing robot as claimed in claim 1 or 3, wherein: the trolley chassis (12) is further provided with a support, the support is provided with a digital steering engine (3), the digital steering engine (3) is provided with a camera, the robot is provided with a gyroscope, the digital steering engine (3), the camera and the gyroscope are respectively in signal connection with the single chip microcomputer (16), and the camera is further connected with an external display device through a wireless image transmission module on the trolley.
5. The pole-climbing robot as claimed in claim 1, further comprising 2 ultrasonic modules respectively mounted on the left and right sides of the driving wheel (13) for horizontal movement of the trolley, wherein the ultrasonic modules and the single chip microcomputer realize signal transmission through signal lines.
CN201810112493.6A 2018-02-05 2018-02-05 Pole-climbing robot Active CN108454720B (en)

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CN109048961B (en) * 2018-09-19 2021-10-01 哈尔滨工业大学 Truss climbing robot capable of swinging and grabbing remote truss rod and control method thereof
CN113353168B (en) * 2021-08-11 2021-10-12 西南石油大学 Outer pipeline detection robot and walking method

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