CN109591906A - A kind of transmission tower climbing robot control system and control method - Google Patents
A kind of transmission tower climbing robot control system and control method Download PDFInfo
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- CN109591906A CN109591906A CN201910081181.8A CN201910081181A CN109591906A CN 109591906 A CN109591906 A CN 109591906A CN 201910081181 A CN201910081181 A CN 201910081181A CN 109591906 A CN109591906 A CN 109591906A
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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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Abstract
The invention discloses a kind of transmission tower climbing robot control system and control methods, it, which solves robot in the prior art, can not climb shaft tower, can not obstacle detouring the problem of, with the beneficial effect for facilitating completion climbing task, a kind of its technical solution are as follows: transmission tower climbing robot control system, including visual identity module, it is installed on robot fuselage, is used for monitoring robot ambient enviroment；Drive control module is installed on robot fuselage mechanical arm, and mechanical arm includes outreach mechanism and clamping device, and clamping device is connect with outreach mechanism, and drive control device module is used to control the movement of robot outreach mechanism and clamping device；Elevating control module is installed between neighbouring two mechanical arm of robot fuselage, for controlling the lifting action of robot, to realize the climbing motion of robot；Main controller, visual identity module, clamping device control module and elevating control module pass through communication module respectively and connect with main controller.
Description
Technical field
The present invention relates to climbing robot fields, more particularly to a kind of transmission tower climbing robot control system and control
Method processed.
Background technique
Ultra-high-tension power transmission line is the chief component of electric system, safety of the working condition concerning power supply, stabilization
Property and reliability, and transmission line of electricity and transmission tower are maintained close ties with together, therefore the maintenance and repair of transmission tower seems outstanding
To be important, the maintenance and repair of most domestic high-voltage power transmission tower depends on artificial climbing more at present, is carried by staff
Apparatus for examination and repair checks the situation of shaft tower, and the weight of apparatus for examination and repair and the difference of tower structure are plus the various complexity for safeguarding types
Degree proposes very high physical strength and technical requirements to staff, influences the inherently safe of staff.
With the continuous promotion of intelligent robot technology, for helping to improve staff's personal safety and can be simple
To the effective side of be developed into solve this problem of the climbing robot of shaft tower progress basic maintenance, parameter detecting function
Case, inventor find current robot capable of climbing trees control system can not obstacle detouring, particularly for foot nail, the diagonal brace, section in transmission tower
The obstacles such as contact plate and bolt are difficult to complete obstacle detouring, and the detection system of existing transmission line faultlocating robot only need to be along guidewire movement
And it is difficult to complete the task of climbing.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of transmission tower climbing robot control systems, lead to
The setting to visual identity module and drive control module is crossed, allows the robot to climb along the angle steel of shaft tower, and energy
Success throwing over barrier.
A kind of transmission tower climbing robot control system, comprising:
Visual identity module is installed on robot fuselage, is used for monitoring robot ambient enviroment；
Drive control module, is installed on robot fuselage mechanical arm, and mechanical arm includes outreach mechanism and clamping device, clamping
Mechanism is connect with outreach mechanism, and drive control device module is used to control the movement of robot outreach mechanism and clamping device；
Elevating control module is installed between neighbouring two mechanical arm of robot fuselage, for passing through elevating mechanism control
The lifting action of robot processed, to realize the climbing motion of robot；
Main controller, visual identity module, clamping device control module and elevating control module pass through respectively communication module with
Main controller connection.
Further, control system further includes the sensing module for detecting robot operating status, sensing module and institute
The main controller connection stated.
Further, the visual identity module includes being set to be installed on the wireless transceiver of the robot, first take the photograph
As head and second camera, two cameras are respectively used to obtain the environmental information above and below robot, and the first camera shooting
Head and second camera pass through wireless transceiver and connect with host computer, and host computer is connect with the main controller, wireless receiving and dispatching
The picture transmission that device is used to take camera is to host computer, to complete further image procossing.
Further, the drive control module include multi-axis motion controller, with multi-axis motion controller individually
The abduction exercise driving unit and clamping movement driving unit of connection；
Abduction exercise driving unit includes the first outreach driving part and the second outreach driving part, the driving of the two outreaches
Component is setting up and down, and the first outreach driving part and the second outreach driving part include outreach driving power source；
Alternatively, the outreach mechanism includes outreach rod piece, pass through the first lead screw of outreach baffle plate setting on the inside of outreach rod piece, the
One lead screw is connect with outreach driving power source, and the first lead screw is connect with the clamping device.
Further, the clamping movement driving unit includes the first gripper driving portion part and the second gripper driving portion part,
The two gripper driving portion parts are setting up and down, and the first gripper driving portion part and the second gripper driving portion part include clamping driving
Power source；
Alternatively, the clamping device includes clamping rod piece, pass through clamping the second lead screw of baffle plate setting on the inside of clamping rod piece, the
Two lead screws are connect with clamping driving power source, and clamping rod piece is placed on the first lead screw, and are clamped Rod end and pacified by outreach sliding block
Mounted in the outreach guide rail of the outreach rod piece, the second lead screw is equipped with clamping plate, and clamping plate end is mounted on by clamping slider and is set to folder
Hold the clamp rail of rod piece.
Further, the elevating control module includes the lifting driving power source connecting with the elevating mechanism；
Alternatively, the robot fuselage includes mounting plate setting up and down, each mounting plate two sides are respectively set described
Outreach mechanism, mounting plate be set to pedestal bottom plate, the both ends of the elevating mechanism respectively with top base bottom plate and lower base
Bottom plate connection；
Alternatively, the drive control module further includes dynamic set on the adjustment between the outreach mechanism and the pedestal bottom plate
Realize that clamping device clamps the centering of shaft tower so that outreach mechanism is able to achieve swing relative to mounting plate in power source.
It further, further include the ejection control module for being installed on robot fuselage, ejection control module includes that ejection is driven
Dynamic power source is contacted with controlling ejecting mechanism stretching with shaft tower；
Alternatively, the ejecting mechanism includes the ejection lead screw across the mounting plate, the setting of ejection lead screw one end for
The top of shaft tower contact, the other end setting ejection drive power source.
Further, the sensing module includes set on the force snesor of the clamping device, set on the outreach mechanism
For detecting the obliquity sensor of outreach mechanism angle with horizontal plane, force snesor is set on the inside of clamping plate or clamping baffle, uses
In the variation of measurement clamping force；
The sensing module further includes the distance measuring sensor set on the robot fuselage, for measuring two mechanical arms up and down
Distance, and distance measuring sensor is installed on top base lower surface of base plate, or set on the upper surface of lower base bottom plate；
The sensing module further includes being installed on clamping device, elevating mechanism, the limit switch of outreach mechanism, photoelectric coding
Device.
Wherein, obliquity sensor is set to outreach rod piece, and visual sensor measures shaft tower side angle steel inclining relative to ground
Rake angle α, obliquity sensor measure the angle beta between shaft tower and ground, and two sensors are individually connect with controller respectively, control
Device processed is connect with the putter component, and controller is multi-axis motion controller.
Wherein to guarantee clamping device fitting parallel with angle steel, alpha+beta should be 90 °.Worked as by multi-axis motion controller calculating
Angle alpha+beta between preceding robotic gripper baffle and angle steel, when alpha+beta is equal to 90 °, robotic gripper baffle and angle steel face at this time
In parastate, outreach rod piece and angle steel are vertical, do not need adjustment robot pose.When alpha+beta is greater than 90 °, robot at this time
It clamps baffle and angle steel face is not parastate, electric pushrod should extend at this time, push outreach rod piece to move around oscillation bearing, make
Angle between outreach rod piece and angle steel reduces, and when alpha+beta is reduced to 90 °, clamping baffle is parallel with angle steel face at this time, outreach bar
Part and angle steel are vertical, stop electric pushrod movement, complete the vertical centering operation of robot.When alpha+beta angle is less than 90 °, this
When electric pushrod should shrink, pull outreach rod piece around oscillation bearing move, increase the angle between outreach rod piece and angle steel, when
When alpha+beta increases to 90 °, clamping baffle is parallel with angle steel face at this time, and outreach rod piece and angle steel are vertical, stops electric pushrod movement,
Complete the vertical centering operation of robot.
Further, control system further includes gripper control module, and gripper control module is set to gripper, gripper
It is installed on robot fuselage, gripper control module is connect with main controller, to control the open or close of gripper；
Alternatively, the gripper includes the support set on the robot fuselage or outreach mechanism, support and dobby
Gripper is arranged in connection, dobby end；
The dobby includes the first arm and the second arm, and the first arm connect with support by first motor, the second arm and
Second motor, the second arm end gripper described by the setting of third motor are set between the first arm.
The control method of transmission tower climbing robot control system, comprising:
1) visual identity module photograph robot, and main controller is conveyed information to, if clear, start
Climbing；
2) clamping device that robot upper part mechanical arm is controlled by drive control module is opened to two sides, controls robot
The outreach mechanism of top mechanical arm is to movement on the outside of shaft tower, so that robot upper part mechanical arm is unclamped relative to shaft tower；
3) by elevating control module action, control robot upper part mechanical arm lifting, stopping is dynamic after reaching setting position
Make, the outreach mechanism that drive control module controls robot upper part mechanical arm is mobile to shaft tower direction, control top mechanical arm
Gripper mechanism grips shaft tower side；
4) clamping device that robot lower mechanical arm is controlled by drive control module is opened to two sides, controls robot
The outreach mechanism of lower mechanical arm is to movement on the outside of shaft tower, so that robot lower mechanical arm is unclamped relative to shaft tower；
5) by elevating control module action, control robot lower mechanical arm lifting, stopping is dynamic after reaching setting position
Make, the outreach mechanism that drive control module controls robot lower mechanical arm is mobile to shaft tower direction, control lower mechanical arm
Gripper mechanism grips shaft tower side；
6) step 1)-step 5) is repeated.
Compared with prior art, the beneficial effects of the present invention are:
1) robot control system of the present invention can control effectively to each mechanism of robot, be able to achieve robot
Climbing shaft tower and successfully realize obstacle detouring.
2) robot of the invention is able to achieve the mounting of safety rope by the setting of gripper module, or carries electric power
The purpose of inspection device.
3) present invention is able to achieve and is acted to outreach mechanism, robot, clamping device by the setting of drive control module
Control, is convenient for carrying the movement of each mechanical arm of robot.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Fig. 1 is integrally-built main view in the embodiment of the present invention；
Fig. 2 is integrally-built left view in the embodiment of the present invention；
Fig. 3 is the top view of middle and upper part of embodiment of the present invention mechanical arm；
Fig. 4 is the schematic diagram of retractable member in the embodiment of the present invention；
Fig. 5 is the schematic diagram of gripper in the embodiment of the present invention；
Fig. 6 is the working condition chart of robot in the embodiment of the present invention；
Fig. 7 is another embodiment of the present invention middle and upper part mechanical arm schematic diagram；
Fig. 8 is clamping device schematic diagram in the embodiment of the present invention；
Fig. 9 is robot one-step control flow chart in the embodiment of the present invention；
Figure 10 is robot obstacle detouring control flow chart in the embodiment of the present invention；
In figure: 00 top mechanical arm；000 lower mechanical arm；1 upper clamp mechanism；2 top outreach mechanisms；The ejection of 3 tops
Mechanism；4 elevating mechanisms；5 lower clamping mechanisms；6 lower part outreach mechanisms；7 lower part ejecting mechanisms；8 mechanical arms；9 mounting plates；10 bases
Seat bottom plate；101 lower base bottom plates；102L template；11 clamping baffles；12 second lead screws；13 clamping plates；14 clamp rails；15 folders
Hold motor；16 clamping speed reducers；17 clamping rod pieces；18 second feed screw nuts；19 clamping sliders；21 outreach baffles；22 outreaches are led
Rail；23 first lead screws；24 outreach rod pieces；25 outreach motors；26 outreach speed reducers, 27 first feed screw nuts, 28 outreach sliding blocks；29
Adjust electric pushrod；31 sliding rails；32 ejection speed reducers；33 push-out motors；34 lead screws；35 bearings；36 rubber slabs；37 bearings are fixed
Plate；38 sliding blocks；41 electric pushrods；42 linear guides；43 track bases；81 supports；82 large arm speed reducers；83 large arm motors；84 is big
Arm；85 forearm speed reducers；86 forearm motors；87 forearms；88 manipulator speed reducers；89 manipulator motors；810 grippers；100 machines
Device people；200 shaft towers.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the present invention.Unless another
It indicates, all technical and scientific terms used herein has usual with general technical staff of the technical field of the invention
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this hair
It is bright to propose a kind of transmission tower climbing robot control system.
In a kind of typical embodiment of the invention, as shown in figure 8, providing a kind of transmission tower climbing robot control
System processed, including visual identity module, are installed on robot fuselage, are used for monitoring robot ambient enviroment；Drive control module,
It is installed on robot fuselage mechanical arm, mechanical arm includes outreach mechanism and clamping device, and clamping device is connect with outreach mechanism, is driven
Movement controller module is used to control the movement of robot outreach mechanism and clamping device；Elevating control module, is installed on robot
Between neighbouring two mechanical arm 8 of fuselage, for controlling the lifting action of robot, to realize the climbing motion of robot；It is main
Device is controlled, visual identity module, clamping device control module and elevating control module pass through communication module respectively and connect with main controller,
Main controller selects multi-axis motion controller.
Transmission tower climbing robot in above-mentioned control system, as shown in Figure 1-Figure 3, comprising: at least two for pressing from both sides
The mechanical arm of transmission tower side is held, it is top mechanical arm 00 and lower mechanical arm 000 that mechanical arm is setting up and down, and top is mechanical
Arm 00 includes two groups of top outreach mechanisms 2 and upper clamp mechanism 1, and lower mechanical arm 000 includes two groups of lower part outreach mechanisms 6
With lower clamping mechanism 5, elevating mechanism 4, elevating mechanism 4 connects upper and lower mechanical arm.
The abduction exercise that drive control module includes multi-axis motion controller, is individually connect with multi-axis motion controller
Driving unit and clamping movement driving unit；
Abduction exercise driving unit includes the first outreach driving part and the second outreach driving part, the driving of the two outreaches
Component drives the movement of top outreach mechanism 2 and lower part outreach mechanism 6 respectively, the two outreach driving parts are setting up and down, and
First outreach driving part and the second outreach driving part include outreach driving power source；Outreach mechanism includes outreach rod piece
24, outreach rod piece 24 has the length and width of setting, passes through outreach baffle 21 on the inside of outreach rod piece 24 and the first lead screw 23 is arranged,
First lead screw 23 is connect with outreach driving power source, and the first lead screw is connect with the clamping device.
Clamping movement driving unit includes the first gripper driving portion part and the second gripper driving portion part, the two clamping drivings
Component is setting up and down, and the first gripper driving portion part and the second gripper driving portion part include clamping driving power source, this two
A power source drives the movement of upper clamp mechanism 1 and lower clamping mechanism 5 respectively；
Clamping device includes clamping rod piece 17, and clamping rod piece connects with the first feed screw nut 27 for being sheathed on the first lead screw 23
It connecing, clamps and second lead screw 12 is arranged by clamping baffle 11 on the inside of rod piece 17, the second lead screw 12 is connect with clamping driving power source,
Clamping driving power source is clamping motor 15, and clamping rod piece 17 is placed on the first lead screw 23, and clamps 17 end of rod piece and pass through outreach
Sliding block 28 is mounted on the outreach guide rail 22 of outreach rod piece 24, and the second lead screw 12 is equipped with clamping plate 13, and 13 end of clamping plate is slided by clamping
Block 19 is mounted on the clamp rail 14 for being set to clamping rod piece, and clamping plate 13 and the second feed screw nut 18 for being sheathed on the second lead screw 12
The composition retaining paw of clamping baffle 11 of connection, clamping plate and clamping 17 side of rod piece is to clamp 200 angle steel of shaft tower, clamping plate
13 length is less than or equal to the length of clamping baffle 11, and is respectively provided with rubber pad on the inside of clamping plate 13 and clamping baffle 11；Outreach bar
Part 24 and the clamping rod piece 17 of hold assembly are mutually perpendicular to.
Elevating control module includes lifting driving power source, and lifting driving power source is electric pushrod；Robot fuselage packet
Mounting plate setting up and down is included, the outreach mechanism is respectively set in each mounting plate two sides, and mounting plate 9 is set to pedestal bottom plate
10, the both ends of lifting driving power source are connect with top base bottom plate and lower base bottom plate 101 respectively, and in upper and lower two bases
Linear guide 42 is set between seat bottom plate, and linear guide 43 is installed on top mechanical arm 00 and lower mechanical arm by track base 43
000 pedestal bottom plate 10, electric pushrod 41 push top mechanical arm 00 to move up and down, top manipulator motion to setting position
Afterwards, and shaft tower angle steel is clamped, unclamps lower mechanical arm, electric pushrod withdraws and lower mechanical arm 000 is driven to act upwards.
In addition, the high low setting of clamping device of same mounting plate two sides, avoids interfering in clamping process.
Drive control module further includes the motivation of adjustment source set between the outreach mechanism and the pedestal bottom plate, so that
Outreach mechanism is able to achieve swing relative to mounting plate, realizes that clamping device clamps the centering of shaft tower, in the two sides of pedestal bottom plate
Plate is stretched out in setting, and motivation of adjustment source is adjustment electric pushrod 29, adjusts the launch direction of electric pushrod 29 perpendicular to pedestal bottom plate
10。
Control system further includes being installed on the ejection control module of robot fuselage, and ejection control module includes ejection driving
Power source is contacted with the stretching respectively for controlling top ejecting mechanism 3 and lower part ejecting mechanism with shaft tower；Ejecting mechanism include across
The ejection lead screw 34 of mounting plate 9, as shown in figure 4, the top for contacting with shaft tower is arranged in ejection 34 one end of lead screw, the other end is set
Setting the ejection driving power source is push-out motor 33, is come directly towards as double balls or pulley, or top to pass through 35, bearing
The rubber slab 36 of support, bearing 35 are set to the end of lead screw 34 by bearing (setting) plate 37, and push-out motor 33 is fixed on mounting plate, lead to
It crosses ejection feed screw nut and pedestal bottom plate 10 is set to by L-type plate 102；Push-out motor 33 drives ejection lead screw 34 to rotate, and ejects silk
Thick stick 34 is set between 9 two sides outreach rod piece of mounting plate.Mounting plate 9 is installed on the pedestal bottom plate 10 by sliding rail 31, and by
Ejection feed screw nut is fixed with pedestal bottom plate, and ejection lead screw drives mounting plate mobile relative to sliding rail 31 in this way, and then drives top
The forward or backward of head, mounting plate bottom are connect with sliding block 38, and sliding block 38 and sliding rail 31 cooperate.
Visual identity module includes being set to the wireless transceiver, the first camera and second camera that are installed on robot,
Two cameras are respectively used to obtain the environmental information above and below robot, and the first camera and second camera are logical
It crosses wireless transceiver to connect with host computer, host computer is connect with the main controller, and wireless transceiver is used to shoot camera
The picture transmission arrived is to host computer, and to complete further image procossing, specific first camera is installed on top base bottom plate
Top, second camera is installed on the lower surface of lower base bottom plate.
Control system further includes the sensing module for detecting robot operating status, sensing module and the main controller
Connection.Sensing module includes set on the force snesor of the clamping device, set on the outreach mechanism for detecting outreach mechanism
The obliquity sensor of angle with horizontal plane, force snesor is set on the inside of clamping plate or clamping baffle, for measuring clamping force
Variation；Sensing module further includes each for detecting the photoelectric encoder of revolving speed, limit switch and for monitoring set on each motor
Voltage, current transformer and the temperature sensor of motor operating state.
Sensing module further includes the distance measuring sensor set on the robot fuselage, for measure upper and lower two mechanical arm away from
From, and distance measuring sensor is installed on top base lower surface of base plate, or set on the upper surface of lower base bottom plate.
Wherein, obliquity sensor is set to outreach rod piece 24, and visual sensor measures shaft tower side angle steel relative to ground
Inclination angle alpha, obliquity sensor measure the angle beta between shaft tower and ground, and two sensors are individually connect with controller respectively,
Controller is connect with the putter component, and controller is multi-axis motion controller.
Wherein to guarantee clamping device fitting parallel with angle steel, alpha+beta should be 90 °.Worked as by multi-axis motion controller calculating
Angle alpha+beta between preceding robotic gripper baffle and angle steel, when alpha+beta is equal to 90 °, robotic gripper baffle and angle steel face at this time
In parastate, outreach rod piece and angle steel are vertical, do not need adjustment robot pose.When alpha+beta is greater than 90 °, robot at this time
It clamps baffle and angle steel face is not parastate, electric pushrod should extend at this time, push outreach rod piece to move around oscillation bearing, make
Angle between outreach rod piece and angle steel reduces, and when alpha+beta is reduced to 90 °, clamping baffle is parallel with angle steel face at this time, outreach bar
Part and angle steel are vertical, stop electric pushrod movement, complete the vertical centering operation of robot.When alpha+beta angle is less than 90 °, this
When electric pushrod should shrink, pull outreach rod piece around oscillation bearing move, increase the angle between outreach rod piece and angle steel, when
When alpha+beta increases to 90 °, clamping baffle is parallel with angle steel face at this time, and outreach rod piece and angle steel are vertical, stops electric pushrod movement,
Complete the vertical centering operation of robot.
In some embodiments, control system further includes gripper control module, and gripper control module is set to gripper,
Gripper is installed on robot fuselage, and gripper control module is connect with main controller, to control the open or close of gripper；
Gripper includes the support 81 of outreach component, and support 81 is connect with dobby, and the setting of dobby end is used for
Clamping or the gripper 810 for unclamping safety rope；
As shown in figure 5, dobby includes the first arm, that is, large arm 84 and the second arm, that is, forearm 87, the first arm and support 81 are logical
It crosses first motor i.e. large arm motor 83 and large arm speed reducer 32 connects, the second motor i.e. forearm is set between the second arm and the first arm
Motor 86 and forearm speed reducer 85, the second arm end are arranged by third motor, that is, manipulator motor 89 and manipulator speed reducer 88
The gripper 810, gripper 810 are arranged downward, select open-close type gripper, such robot is climbing to setting position
Afterwards, safety rope is grasped by gripper 810, to ensure life security to first climbing shaft tower person.
Wherein, communication module is completed by wireless network card, and host computer can read climbing robot periphery by communication module
Environmental information and itself posture information and completion manual operation.
The control method of transmission tower climbing robot control system, as shown in Figure 9 and Figure 10, comprising:
1) visual identity module photograph robot, and main controller is conveyed information to, if clear, start
Climbing；
2) clamping device that robot upper part mechanical arm is controlled by drive control module is opened to two sides, controls robot
The outreach mechanism of top mechanical arm is to movement on the outside of shaft tower, so that robot upper part mechanical arm is unclamped relative to shaft tower；
3) by elevating control module action, control robot upper part mechanical arm lifting, stopping is dynamic after reaching setting position
Make, the outreach mechanism that drive control module controls robot upper part mechanical arm is mobile to shaft tower direction, control top mechanical arm
Gripper mechanism grips shaft tower side；
4) clamping device that robot lower mechanical arm is controlled by drive control module is opened to two sides, controls robot
The outreach mechanism of lower mechanical arm is to movement on the outside of shaft tower, so that robot lower mechanical arm is unclamped relative to shaft tower；
5) by elevating control module action, control robot lower mechanical arm lifting, stopping is dynamic after reaching setting position
Make, the outreach mechanism that drive control module controls robot lower mechanical arm is mobile to shaft tower direction, control lower mechanical arm
Gripper mechanism grips shaft tower side；
6) step 1)-step 5) is repeated.
Before step 1) progress, the original length of robot lift's structure is determined according to the minimum obstacle interval S of transmission tower
The minimum range h for spending s and single step climbing determines that robot lift's structure is lifted distance L according to biggest obstacle length, determines just
Beginning state, reset condition are as follows: elevating mechanism is located at lowest order, and four arms keep firmly grasping state.
And before step 1) progress, robot startup self-detection: elevating mechanism is located at lowest order, and distance measuring sensor returns minimum
Value, four groups of mechanical arms keep firmly grasping state, and force snesor returns to maximum value, and each operating condition sensor is normal, and electric quantity of power supply fills
It is abundant；
The barrier for every kind of the barrer types or identical the barrer types different size sorts out N set solution respectively,
When above-mentioned second step, which detects that single step distance is interior, contains barrier, is compared with existing obstacle type and determine implementation N kind solution party
Scheme M in case, according to power transmission rod column foot follow closely specification determine obstacle length L1, be arranged corresponding outreach lead x, move back lead y with
And obstacle detouring step-length z is arranged special single step step-length k1 and is moved the robot under obstacle by image procossing acquired disturbance distance k1
Side determines that top mechanical arm is lifted distance L1 and outreach lead y1 by obstacle specification, and operation clamping driving motor unclamps clamping hand
Outreach motor action is controlled by multi-axis motion controller afterwards, so that outreach mechanism transverse direction outreach x1, passes through the ranging on guide rail
Module obtains outreach distance, and reaching setting value operation push-out motor makes top mechanical arm move back y1, and it is dynamic then to run elevating mechanism
Make lifting top mechanical arm, control push-out motor makes mechanical arm move forward after the mechanical arm obstacle detouring of top, and control outreach motor is reversely transported
Row, outreach are restored, and control clamping motor action makes retaining paw firmly grasp angle steel, and lower mechanical arm rises, top mechanical arm after
Continuous lifting distance s, lower mechanical arm draw high L1 and complete obstacle detouring.
When the new obstacle of appearance makes obstacle spacing be less than elevating mechanism original length, i.e., when in above-mentioned obstacle detouring control process
It detects that above-mentioned obstacle detouring process cannot achieve when there is new obstacle in the distance s of top after the lifting of top mechanical arm, detects obstacle
Distance k2 simultaneously determines the barrer types, obstacle length L2 is obtained, by s+LmaxIf > L1+k2+L2+s obtains the lifting of elevating mechanism maximum
Distance Lmax> L1+k2+L2 then can be crossed over disposably, and setting top mechanical arm is lifted distance L=k2+L2+s, and lower mechanical arm is drawn
It rises L '=L1+k2+L2 and completes obstacle detouring, otherwise complete obstacle detouring in two steps, is i.e. lower mechanical arm reaches top mechanical arm and is lifted anteposition
Postponing top mechanical arm lifting distance is z2=k2+L2, and lower mechanical arm is lifted distance r=k2+L1, the lifting of upper back mechanical arm
Distance s, lower mechanical arm are lifted distance L2 and complete obstacle detouring.
Clamp position is kept when the obstacle that the above-mentioned first step detects is not in existing the barrer types and issues obstacle report
Alert signal, creates new obstruction data, is stored in disorder characteristics and manually-operated control instruction is waited to carry out manual operation obstacle detouring, people
The obstacle obstacle detouring control method is stored after work end of operation, and the obstruction data is incorporated in the barrer types library as the
N+1 kind solution is in case use.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of transmission tower climbing robot control system characterized by comprising
Visual identity module is installed on robot fuselage, is used for monitoring robot ambient enviroment；
Drive control module, is installed on robot fuselage mechanical arm, and mechanical arm includes outreach mechanism and clamping device, clamping device
Mechanism is connect with outreach, and drive control device module is used to control the movement of robot outreach mechanism and clamping device；
Elevating control module is installed between neighbouring two mechanical arm of robot fuselage, for controlling machine by elevating mechanism
The lifting action of device people, to realize the climbing motion of robot；
Main controller, visual identity module, clamping device control module and elevating control module pass through communication module and master control respectively
Device connection.
2. transmission tower climbing robot control system according to claim 1, which is characterized in that further include for detecting
The sensing module of robot operating status, sensing module are connect with the main controller.
3. transmission tower climbing robot control system according to claim 1, which is characterized in that the visual identity mould
Block includes set on the wireless transceiver, the first camera and second camera for being installed on the robot, two camera difference
For obtaining the environmental information above and below robot, and the first camera and second camera pass through wireless transceiver with
Host computer connection, host computer are connect with the main controller.
4. transmission tower climbing robot control system according to claim 1, which is characterized in that the drive control mould
The abduction exercise driving unit and clamping movement that block includes multi-axis motion controller, is individually connect with multi-axis motion controller
Driving unit；
Abduction exercise driving unit includes the first outreach driving part and the second outreach driving part, the two outreach driving parts
It is setting up and down, and the first outreach driving part and the second outreach driving part include outreach driving power source；
Alternatively, the outreach mechanism includes outreach rod piece, by the first lead screw of outreach baffle plate setting on the inside of outreach rod piece, first
Thick stick is connect with outreach driving power source, and the first lead screw is connect with the clamping device.
5. transmission tower climbing robot control system according to claim 5, which is characterized in that the clamping movement drives
Moving cell includes the first gripper driving portion part and the second gripper driving portion part, the two gripper driving portion parts are setting up and down, and the
One gripper driving portion part and the second gripper driving portion part include clamping driving power source；
Alternatively, the clamping device includes clamping rod piece, clamps and pass through clamping the second lead screw of baffle plate setting on the inside of rod piece, second
Thick stick is connect with clamping driving power source, and clamping rod piece is placed on the first lead screw, and is clamped Rod end and be mounted on by outreach sliding block
The outreach guide rail of the outreach rod piece, the second lead screw are equipped with clamping plate, and clamping plate end is mounted on by clamping slider set on supporting rod
The clamp rail of part.
6. transmission tower climbing robot control system according to claim 1, which is characterized in that the elevating control mould
Block includes the lifting driving power source connecting with the elevating mechanism；
Alternatively, the robot fuselage includes mounting plate setting up and down, the outreach is respectively set in each mounting plate two sides
Mechanism, mounting plate are set to pedestal bottom plate, and the both ends of the elevating mechanism connect with top base bottom plate and lower base bottom plate respectively
It connects；
Alternatively, the drive control module further includes set on the motivation of adjustment between the outreach mechanism and the pedestal bottom plate
Realize that clamping device clamps the centering of shaft tower so that outreach mechanism is able to achieve swing relative to mounting plate in source.
7. transmission tower climbing robot control system according to claim 6, which is characterized in that further include being installed on machine
The ejection control module of the man-machine body of device, ejection control module include ejection driving power source to control ejecting mechanism stretching and shaft tower
Contact；
Alternatively, the ejecting mechanism includes the ejection lead screw across the mounting plate, the setting of ejection lead screw one end is used for and shaft tower
The top of contact, the other end setting ejection drive power source.
8. transmission tower climbing robot control system according to claim 2, which is characterized in that the sensing module packet
It includes the force snesor set on the clamping device, be used to detect inclining for outreach mechanism angle with horizontal plane set on the outreach mechanism
Angle transducer；
The sensing module further includes the distance measuring sensor set on the robot fuselage, for measure upper and lower two mechanical arm away from
From；
The sensing module further includes being installed on clamping device, the limit switch of elevating mechanism and outreach mechanism, photoelectric encoder.
9. transmission tower climbing robot control system according to claim 1, which is characterized in that further include gripper control
Molding block, gripper control module are set to gripper, and gripper is installed on robot fuselage, gripper control module and main controller
Connection, to control the open or close of gripper；
Alternatively, the gripper includes the support set on the robot fuselage or outreach mechanism, support is connect with dobby,
Gripper is arranged in dobby end；
The dobby includes the first arm and the second arm, and the first arm is connect with support by first motor, the second arm and first
Second motor, the second arm end gripper described by the setting of third motor are set between arm.
10. the control method of transmission tower climbing robot control system according to claim 1 to 9, special
Sign is, comprising:
1) visual identity module photograph robot, and main controller is conveyed information to, if clear, start to climb
It climbs；
2) clamping device that robot upper part mechanical arm is controlled by drive control module is opened to two sides, controls robot upper part
The outreach mechanism of mechanical arm is to movement on the outside of shaft tower, so that robot upper part mechanical arm is unclamped relative to shaft tower；
3) by elevating control module action, control robot upper part mechanical arm lifting, stopping is acted after reaching setting position, drives
The outreach mechanism of dynamic control module control robot upper part mechanical arm is mobile to shaft tower direction, controls the clamping machine of top mechanical arm
Structure clamps shaft tower side；
4) clamping device that robot lower mechanical arm is controlled by drive control module is opened to two sides, controls robot lower part
The outreach mechanism of mechanical arm is to movement on the outside of shaft tower, so that robot lower mechanical arm is unclamped relative to shaft tower；
5) by elevating control module action, control robot lower mechanical arm lifting, stopping is acted after reaching setting position, drives
The outreach mechanism of dynamic control module control robot lower mechanical arm is mobile to shaft tower direction, controls the clamping machine of lower mechanical arm
Structure clamps shaft tower side；
6) step 1)-step 5) is repeated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910081181.8A CN109591906B (en) | 2019-01-28 | 2019-01-28 | Control system and control method for transmission tower climbing robot |
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|---|---|---|---|
| CN201910081181.8A CN109591906B (en) | 2019-01-28 | 2019-01-28 | Control system and control method for transmission tower climbing robot |
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| CN109591906B CN109591906B (en) | 2021-05-04 |
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| CN110328566A (en) * | 2019-06-14 | 2019-10-15 | 武汉科技大学 | The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface |
| CN112748686A (en) * | 2020-12-24 | 2021-05-04 | 北方工业大学 | Underwater climbing robot control system and fault recovery method |
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| CN116118891A (en) * | 2023-03-17 | 2023-05-16 | 南京派光高速载运智慧感知研究院有限公司 | Pipeline clamping running gear |
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