CN113119163A - Pole-climbing robot control system and control method thereof - Google Patents
Pole-climbing robot control system and control method thereof Download PDFInfo
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- CN113119163A CN113119163A CN202110364067.3A CN202110364067A CN113119163A CN 113119163 A CN113119163 A CN 113119163A CN 202110364067 A CN202110364067 A CN 202110364067A CN 113119163 A CN113119163 A CN 113119163A
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- joint
- clamping mechanism
- pole
- climbing robot
- pipe wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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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
Abstract
The invention discloses a control system of a pole-climbing robot, which belongs to the technical field of industrial robots and comprises an upper computer, wherein development control software is arranged in the upper computer, the upper computer is respectively in communication connection with a single chip microcomputer, a picture sensor, an ultrasonic distance measuring sensor and a pressure sensor through a serial port interactive communication module, a base body motion control module comprises a peristaltic motion control module and a crossing motion control module, a base body comprises a second joint, a first joint and a third joint which are arranged in parallel and rotate uniformly, the first joint rotates in a peristaltic motion mode, the second joint and the third joint rotate in a crossing motion mode, the ultrasonic distance measuring sensor is used for measuring the distance between the front part of the pole-climbing robot and a pipeline bulge, and the next motion mode is determined according to data sent back by the ultrasonic distance measuring sensor; the clamping mechanism controls the clamping opening and closing of the module clamping mechanism; the two clamping mechanisms are respectively connected with the second joint and the third joint. The pole-climbing robot has the modes of climbing and creeping motion and has the function of avoiding obstacles.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a control system and a control method of a pole-climbing robot for pipeline maintenance.
Background
High-altitude operation is more and more common in people's life, and high-altitude operation has higher complexity and danger, and the staff often need erect lifting rope or machineshop car and reach the position of predetermined height, and the preliminary preparation work is loaded down with trivial details, and the operational environment has high risk nature and uncertainty, and the process cost is high, and efficiency is lower. In consideration of the danger of high-altitude operation, the application requirement of the pole-climbing robot for replacing the working personnel to carry out operation is more and more urgent. Maintenance operations of various pipelines such as oil pipelines, gas pipelines, tap water pipelines and the like are increasingly common, most of the pipelines contain high-temperature, high-pressure and toxic substances, and the pole-climbing robot gradually and successfully replaces manpower to overhaul and do work. The research of the existing pole-climbing robot is relatively mature, and the existing pole-climbing robot can be divided into a rolling pole-climbing robot, a clamping pole-climbing robot, a bionic pole-climbing robot and an adsorption pole-climbing robot.
When an existing pole-climbing robot meets a pipeline with a connector or other obstacles, the robot cannot automatically or remotely control the robot to cross the obstacles, so that the continuity of wall climbing is achieved, the robot does not have the prospect of industrial application, and the robot does not have the obstacle avoidance function. The control system has simple structure and single function.
Disclosure of Invention
The invention aims to provide a control system and a control method of a pole-climbing robot, which have two motion modes, namely a climbing motion mode and a creeping motion mode, can adjust the climbing action of the robot by selecting different motion modes if an obstacle is encountered in the wall climbing process, realize the obstacle avoidance function and have better trafficability and practicability.
The technical scheme adopted by the invention is as follows: a control system of a pole-climbing robot comprises an upper computer, a serial port interactive communication module, a single chip microcomputer, an image sensor, an ultrasonic distance measuring sensor, a pressure sensor, a base body motion control module and a clamping mechanism control module, wherein development control software is arranged in the upper computer, the upper computer is respectively in communication connection with the single chip microcomputer, a picture sensor, the ultrasonic distance measuring sensor and the pressure sensor through the serial port interactive communication module, the base body motion control module comprises a peristaltic motion control module and a crossing motion control module, a base body comprises a second joint, a first joint and a third joint which are parallelly and sequentially arranged and rotate, the first joint is positioned between the second joint and the third joint, the first joint rotates in a peristaltic motion mode, the second joint and the third joint rotate in a crossing motion mode, and the ultrasonic distance measuring sensor is used for measuring the distance between the front part of the pole-climbing robot and a pipeline bulge, determining a next motion mode according to data returned by the ultrasonic ranging sensor; the creeping motion control module is used for creeping motion mode, and the crossing motion control module is used for controlling the crossing motion mode; the clamping mechanism controls the clamping opening and closing of the module clamping mechanism; the two clamping mechanisms are respectively connected with the second joint and the third joint.
Furthermore, the first joint and the second joint are two ends of the middle connecting arm, the third joint is one end of the first arm, the first arm and the middle connecting arm are rotatably connected to form the first joint, the two clamping mechanisms are respectively a first clamping mechanism and a second clamping mechanism, one end of the first clamping mechanism is rotatably connected with the other end of the middle connecting arm to form the third joint, one end of the second clamping mechanism is rotatably connected with the other end of the first arm to form the second joint, and the pressure sensor is arranged inside the first clamping mechanism and the second clamping mechanism; and ultrasonic ranging sensors are arranged on the outer sides of the two first clamping mechanisms and the second clamping mechanism.
Furthermore, permanent magnets are arranged on the clamping surfaces of the first clamping mechanism and the second clamping mechanism.
Further, the maximum distance between the first joint and the second joint is L1, the maximum distance between the second joint and the third joint is L2, the sum of L1 and L2 is L3, when the ultrasonic ranging sensor detects that the distance of the pipeline bulge is within the preset distance range S1, the pole-climbing robot executes a creeping motion mode in the next step, otherwise, the pole-climbing robot executes a turning motion mode; in the cross-over motion mode, the step size of the pole-climbing robot is about L3.
Further, the preset distance range S is preferably between three quarters L3 and five quarters L3.
Furthermore, the control method of the peristaltic motion mode comprises the steps that the first clamping mechanism clamps the pipe wall, the second clamping mechanism loosens the pipe wall, the first joint rotates, the included angle between the first arm and the middle connecting arm is reduced, the second clamping mechanism clamps the pipe wall, the first clamping mechanism loosens the pipe wall, the first joint rotates, the included angle between the first arm and the middle connecting arm is enlarged, and the first clamping mechanism clamps the pipe wall.
Furthermore, the control method of the crossing motion mode is that the first clamping mechanism clamps the pipe wall, the second clamping mechanism loosens the pipe wall, the second joint drives the first clamping mechanism to rotate relative to the middle connecting arm in the direction away from the pipe wall, meanwhile, the third joint drives the first arm to rotate relative to the first clamping mechanism in the direction away from the pipe wall, the second clamping mechanism is driven to move to the front of the first clamping mechanism in the wall climbing direction, when the first arm rotates to be parallel to the pipe wall, the third joint drives the first arm to rotate relative to the first clamping mechanism in the direction close to the pipe wall, and the second clamping mechanism clamps the pipe wall.
The scheme has the following technical effects: (1) pressure sensors are arranged in the clamping parts of the first clamping mechanism and the second clamping mechanism, read pressure values are transmitted in real time and fed back, a clamping jaw control motor is protected from overload, and normal operation of the pole-climbing robot is guaranteed; the permanent magnets are arranged in the first clamping mechanism and the second clamping mechanism, so that the threshold value of the pressure sensor can be reduced, the output power of the clamping jaw control motor is reduced, the closed-loop control of the clamping jaw control motor is realized, and the harm caused by the excessive clamping jaw control motor can be effectively relieved. When the pressure sensor reaches a certain value, the friction force of pressure conversion balances the gravity of the pole-climbing robot, so that the balance of the pole-climbing robot is realized; (2) have two kinds of motion modes, the upset is crawled and is crawled with the wriggling and combine together, can guarantee the efficiency of crawling, can realize effectively keeping away the barrier simultaneously, realizes the continuity of crawling.
Drawings
FIG. 1 is a schematic block diagram of a control system of the present invention.
Fig. 2 is a schematic structural diagram of a pole-climbing robot to which the control system of the present invention is adapted.
In the figure: 1. the system comprises an upper computer, a serial port interactive communication module, a singlechip, an image sensor, an ultrasonic distance measuring sensor, a pressure sensor and a matrix motion control module, wherein the serial port interactive communication module is 2, the singlechip is 3, the image sensor is 4, the ultrasonic distance measuring sensor is 5, and the pressure sensor is 6; 701. a first joint; 702. a second joint; 703. a third joint; 704. a first arm; 705. an intermediate connecting arm; 706. a first clamping mechanism; 707. a second clamping mechanism; 8. a clamping mechanism control module; 9. and a peristaltic motion control module 10. a crossing motion control module.
Detailed Description
As shown in figures 1-2, a pole-climbing robot control system comprises an upper computer 1, a serial port interactive communication module 2, a single chip microcomputer 3, an image sensor 4, an ultrasonic distance measuring sensor 5, a pressure sensor 6, a base body motion control module 7 and a clamping mechanism control module 8, wherein development control software is arranged in the upper computer 1, the upper computer 1 is respectively connected with the single chip microcomputer 3, the image sensor, the ultrasonic distance measuring sensor 5 and the pressure sensor 6 in a communication mode through the serial port interactive communication module 2, the base body motion control module 7 comprises a peristaltic motion control module 99 and a crossing motion control module 1010, the base body comprises a first arm 704 and an intermediate connecting arm 705, one end of the first arm 704 is rotatably connected with the other end of the intermediate connecting arm 705 to form a first joint 701, a second joint 702 is arranged at the other end of the first arm 704, the second joint 702 and the first joint 701, The third joints 703 are all rotary joints and are arranged in parallel in sequence, the first joint 701 is positioned between the second joint 702 and the third joint 703, the first joint 701 rotates to be in a peristaltic motion mode, the second joint 702 and the third joint 703 rotate to be in a crossing motion mode, the ultrasonic ranging sensor 5 is used for determining the distance between the front part of the pole-climbing robot and the pipeline bulge, and the motion mode of the next step is determined according to the data sent back by the ultrasonic ranging sensor 5; the ultrasonic ranging sensor 5 is arranged at the front part of the crawling mechanism, the peristaltic motion control module 99 is used for a peristaltic motion mode, and the crossing motion control module 1010 is used for controlling the crossing motion mode; the clamping mechanism control module 8 controls the clamping opening and closing of the clamping mechanism; the two clamping mechanisms are respectively a first clamping mechanism 706 and a second clamping mechanism 707, one end of the first clamping mechanism 706 is respectively and rotatably connected with the other end of the middle connecting arm 705 to form a third joint 703, and one end of the second clamping mechanism 707 is rotatably connected with the other end of the first arm 704 to form a second joint 702. The ultrasonic ranging sensor 5 is arranged on the outer side where the first clamping mechanism 706 and the second clamping mechanism 707 are separated from each other, the ultrasonic ranging sensor 5 detects the bulge of the pipe wall in the advancing process of the crawling robot, and the range of the pipe diameter bulge capable of being detected on the first clamping mechanism 706 and the second clamping mechanism 707 is larger.
The maximum distance between the first joint 701 and the second joint 702 is L1, namely the distance between two rotating shafts in the first arm 704, the maximum distance between the second joint 702 and the third joint 703 is L2, namely the distance between two rotating shafts in the middle connecting arm 705, the sum of L1 and L2 is L3, namely the distance between the outer rotating shafts between the first arm 704 and the middle connecting arm 705 when the first arm 704 and the middle connecting arm 705 are parallel, when the ultrasonic ranging sensor 5 detects that the distance between the pipeline bulges is within a preset distance range S1, the pole climbing robot performs a creeping motion mode in the next step, otherwise, the pole climbing robot performs a crossing motion mode; in the cross-over motion mode, the step size of the pole-climbing robot is about L3. The ultrasonic ranging sensor 5 detects that the pipeline protrusion is within the preset distance range S1, which means that the climbing robot moves over the next time, and the falling point of the clamping mechanism at the rear part interferes with the protrusion, so that the clamping mechanism cannot clamp the pipeline.
The predetermined distance range S1 is preferably between three quarters L3 and five quarters L3, which is provided to enable interference between the effective substrate and the channel projection.
The power of the pole-climbing robot adopts a direct-current output power supply, the first joint 701, the second joint 702 and the third joint 703 are all driven by direct-current motors, the first clamping mechanism 706 and the second clamping mechanism 707 are all driven by direct-current motors or small air cylinders, the clamping parts of the first clamping mechanism 706 and the second clamping mechanism 707 are all provided with pressure sensors 6, and the clamping force of the clamping parts can be adjusted by setting the threshold value of the pressure sensors 6. The hardware control system takes STM32F103ZET6 as a core device, and a power supply of the system converts 12V into 5V and 3.3V respectively to supply power to a direct current motor and a control chip; adopt direct current motor and direct current output power, reduce the weight of power and motor self to reduce the dead weight of pole-climbing robot, improve the flexibility of motion.
Permanent magnets are arranged on the clamping surfaces of the first clamping mechanism 706 and the second clamping mechanism 707. The permanent magnet is arranged on the clamping surface of the clamping mechanism, so that the threshold value of the pressure sensor 6 can be reduced, the output power of the power element of the clamping mechanism is reduced, the closed-loop control of the power element of the clamping mechanism is realized, and the harm caused by the fact that the power element of the clamping mechanism outputs larger power for a long time can be effectively relieved. When the pressure sensor 6 reaches a certain value, the friction force of the pressure conversion will balance the gravity of the pole-climbing robot, thereby realizing the balance of the pole-climbing robot.
Preferably, the base member still includes image sensor 4, and image sensor 4 installs around the base member for observe the motion condition of pole-climbing robot and the wall of pipeline, can transmit the environment condition around the robot to host computer 1, and operating personnel can in time observe the motion condition of pole-climbing robot and the wall of pipeline.
As shown in fig. 1, the climbing-pole robot has two motion control methods, i.e. a creeping motion mode and a climbing motion mode, and the action process of the climbing motion mode is as follows: in an initial state, the first arm 704 and the intermediate connecting arm 705 are parallel to each other, when the first clamping mechanism 706 is located at the front part along the crawling movement direction, the second clamping mechanism 707 releases the pipe wall, the first clamping mechanism 706 clamps the pipe wall, the first joint 701 drives the first clamping mechanism 706 to rotate towards the direction far away from the pipe wall relative to the intermediate connecting arm 705, meanwhile, the third joint 703 drives the first arm 704 to rotate towards the direction far away from the pipe wall relative to the first clamping mechanism 706, the second clamping mechanism 707 is driven to move to the front of the first clamping mechanism 706 along the crawling direction, when the first arm 704 rotates to be parallel to the pipe wall, the third joint 703 drives the first arm 704 to rotate towards the direction close to the pipe wall relative to the first clamping mechanism 706, and the second clamping mechanism 707 clamps the pipe wall. In the flip movement mode, the distance of the flip single step is L3= L1+ L2. The clamping mechanism on the front part of the crawling direction and the clamping position of the pipe wall can be adjusted through the peristaltic motion mode adjustment, namely, the clamping mechanism on the upper part is located when the crawling mechanism crawls upwards, and the clamping mechanism on the lower part is located when the crawling mechanism crawls downwards. Thereby changing the position of the falling point of the other clamping mechanism, avoiding the bulge of the pipeline and preventing the crawling robot from falling.
In the vertical crawling process, the first clamping mechanism 706 and the second clamping mechanism 707 are alternately positioned below, the clamping mechanism below loosens the pipe wall, then the pipe wall rotates towards the direction far away from the pipe wall relative to the other clamping mechanism, the upper clamping mechanism rotates relative to the connecting arm rotationally connected with the upper clamping mechanism, and the lower clamping mechanism is turned over to the upper side of the other clamping mechanism, so that the pipe wall crawls in one step. The process of movement down the tube wall is the reverse of the above process.
The control method of the peristaltic motion mode is as follows: the first clamping mechanism 706 clamps the pipe wall, the second clamping mechanism 707 loosens the pipe wall, the second joint 702 drives the first arm 704 to rotate towards the direction close to the pipe wall, the included angle between the first arm 704 and the intermediate connecting arm 705 is reduced, the second clamping mechanism clamps the pipe wall, the first clamping mechanism 706 loosens the pipe wall, the intermediate connecting arm 705 of the second joint 702 rotates towards the direction far from the pipe wall, the included angle between the first arm 704 and the intermediate connecting arm 705 is increased, the first clamping mechanism 706 clamps the pipe wall, the first joint 701 changes the relative angle between the first arm 704 and the intermediate connecting arm 705, the rotating range of the first joint 701 is-degree, preferably-degree, and the creeping crawling of insects on the branches is similar. In the peristaltic motion mode, the motion process is a peristaltic single step, and the distance of the peristaltic single step is small. When the first gripper mechanism 706 is located at the front in the crawling direction, the gripping position of the first gripper mechanism 706, i.e., the gripper mechanism located at the upper portion in the crawling direction, on the pipe wall is adjusted.
The combination of the climbing movement mode and the creeping movement mode can ensure the creeping efficiency, and can effectively avoid obstacles and realize the creeping continuity.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (7)
1. A pole-climbing robot control system comprises an upper computer (1), a serial port interactive communication module (2), a single chip microcomputer (3), an image sensor (4), an ultrasonic distance measuring sensor (5), a pressure sensor (6), a base body motion control module (7) and a clamping mechanism control module (8), wherein development control software is arranged in the upper computer (1), the upper computer (1) is respectively in communication connection with the single chip microcomputer (3), the image sensor, the ultrasonic distance measuring sensor (5) and the pressure sensor (6) through the serial port interactive communication module (2), and the pole-climbing robot control system is characterized in that the base body motion control module (7) comprises a peristaltic motion control module (99) and a crossing motion control module (1010), the base body comprises a second joint (702), a first joint (701) and a third joint (703) which are parallelly and sequentially arranged and rotate, the first joint (701) is positioned between the second joint (702) and the third joint (703), the first joint (701) rotates to be in a peristaltic motion mode, the second joint (702) and the third joint (703) rotate to be in a crossing motion mode, the ultrasonic ranging sensor (5) is used for determining the distance between the front part of the pole-climbing robot and the pipeline protrusion, and the next motion mode is determined according to data sent back by the ultrasonic ranging sensor (5); the peristaltic motion control module (99) is used for a peristaltic motion mode, and the crossing motion control module (1010) is used for controlling a crossing motion mode; the clamping mechanism control module (8) controls the clamping opening and closing of the clamping mechanism; the two clamping mechanisms are respectively connected with the second joint (702) and the third joint (703).
2. A pole-climbing robot device adapted to the pole-climbing robot control system according to claim 1, the device is characterized in that the first joint (701) and the second joint (702) are two ends of a middle connecting arm (705), the third joint (703) is one end of a first arm (704), the first arm (704) and the middle connecting arm (705) are rotatably connected to form the first joint (701), the two clamping mechanisms are respectively a first clamping mechanism (706) and a second clamping mechanism (707), one end of the first clamping mechanism (706) is rotatably connected with the other end of the middle connecting arm (705) to form the third joint (703), one end of the second clamping mechanism (707) is rotatably connected with the other end of the first arm (704) to form the second joint (702), and the pressure sensor (6) is arranged inside the first clamping mechanism (706) and the second clamping mechanism (707); the ultrasonic distance measuring sensors (5) are arranged on the outer sides of the two first clamping mechanisms (706) and the second clamping mechanism (707).
3. The pole-climbing robot device according to claim 2, wherein permanent magnets are arranged on the clamping surfaces of the first clamping mechanism (706) and the second clamping mechanism (707).
4. The control method of the pole-climbing robot according to claim 2, characterized in that the maximum distance between the first joint (701) and the second joint (702) is L1, the maximum distance between the second joint (702) and the third joint (703) is L2, the sum of L1 and L2 is L3, when the ultrasonic ranging sensor (5) detects that the pipe is protruded to a distance within a preset distance range S1, the pole-climbing robot next performs a creeping motion mode, otherwise performs a rolling motion mode; in the cross-over motion mode, the step size of the pole-climbing robot is about L3.
5. A method of controlling a pole-climbing robot as claimed in claim 4, characterized in that the preset distance range S1 is preferably between three quarters L3 and five quarters L3.
6. The control method of the pole-climbing robot according to claim 2, wherein the control method of the peristaltic motion mode comprises the steps that the first clamping mechanism (706) clamps the pipe wall, the second clamping mechanism (707) loosens the pipe wall, the first joint (701) rotates, the included angle between the first arm (704) and the intermediate connecting arm (705) is reduced, the second clamping mechanism clamps the pipe wall, the first clamping mechanism (706) loosens the pipe wall, the first joint (701) rotates, the included angle between the first arm (704) and the intermediate connecting arm (705) is increased, and the first clamping mechanism (706) clamps the pipe wall.
7. The control method of the climbing robot according to claim 2, wherein the control method of the crossing motion mode comprises the steps that the first clamping mechanism (706) clamps the pipe wall, the second clamping mechanism (707) releases the pipe wall, the second joint (702) drives the first clamping mechanism (706) to rotate relative to the middle connecting arm (705) in the direction away from the pipe wall, meanwhile, the third rotating mechanism drives the first arm (704) to rotate towards the direction far away from the pipe wall relative to the first clamping mechanism (706), drives the second clamping mechanism (707) to move to the front of the first clamping mechanism (706) along the wall climbing direction, when the first arm (704) rotates to be parallel to the pipe wall, meanwhile, the third rotating mechanism drives the first arm (704) to rotate towards the direction close to the pipe wall relative to the first clamping mechanism (706), and the second clamping mechanism (707) clamps the pipe wall.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110364067.3A CN113119163A (en) | 2021-04-03 | 2021-04-03 | Pole-climbing robot control system and control method thereof |
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| CN202110364067.3A CN113119163A (en) | 2021-04-03 | 2021-04-03 | Pole-climbing robot control system and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635487A (en) * | 2022-12-26 | 2023-01-24 | 国网天津市电力公司建设分公司 | Tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
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| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115635487A (en) * | 2022-12-26 | 2023-01-24 | 国网天津市电力公司建设分公司 | Tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
| CN115635487B (en) * | 2022-12-26 | 2023-08-04 | 国网天津市电力公司建设分公司 | Tower climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
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