CN113848909A - Control system and control method of turnover paddle type wall-climbing robot - Google Patents
Control system and control method of turnover paddle type wall-climbing robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a control system and a control method of a turnover paddle type wall-climbing robot, which can realize high-precision and real-time control of the turnover paddle type wall-climbing robot. The control system includes: the system comprises a control terminal and an airborne control module; the onboard control module comprises: the device comprises a communication unit, a control unit, a sensing unit and a driving unit; the control unit adopts a distributed control mode, is easy to expand and improves the operational capability of the airborne control module; the control terminal and the airborne control module are communicated through Bluetooth, so that the airborne control module can return a large amount of sensor data; the infrared sensor is used for replacing the ultrasonic sensor as a signal source for distance measurement and obstacle avoidance, so that the problem of overhigh threshold value when the ultrasonic sensor is used for accurate measurement is avoided; the robot is subjected to plane positioning by utilizing the nine-axis sensor and the photoelectric coded disc, and is subjected to height positioning by combining the barometer, so that the position information of the wall-climbing robot can be accurately acquired.
Description
Technical Field
The invention relates to a control system and a control method, in particular to a control system and a control method of a wall-climbing robot, and belongs to the field of robot equipment control.
Background
Aiming at indoor and outdoor wall surface environments of buildings, wall surface cleaning, military reconnaissance and other tasks need to be carried out by a wall climbing robot instead of human beings. Traditional wall surface robots are mainly classified into magnetic adsorption type, negative pressure suction cup type, negative pressure cavity type and biological mechanism adhesion type. There is a known tilt-paddle type wall-climbing robot (such as the robot disclosed in patent No. 2021104401148), in which the blades of the tilt-paddle type wall-climbing robot can be adjusted in pitch and yaw angles, and thus, the robot has a high flexibility. However, most of the existing turning paddle type wall climbing robots are in the stage of mechanical system development, and a control system and a control method for the turning paddle type wall climbing robot are lacked.
The turning paddle type wall climbing robot is strong in maneuverability, but has more joints, and the wall climbing robot has severe requirements on weight, so that the type selection and arrangement of a driving unit are difficult, and a control method is complex.
Ultrasonic sensing is often used for obstacle sensing of conventional mobile robots, but when the distance between the robot and an obstacle is relatively short, the accuracy of an ultrasonic sensor is not high. This brings difficulty to the wall climbing robot when realizing the ground wall face conversion. The existing positioning system of the mobile robot can only realize plane perception and cannot acquire height information, but the height information is also very important information for the wall climbing robot.
Most of the existing robot remote control systems belong to remote controller control, and the number of channels controlled by the remote controller is a great limit to the number of execution mechanisms of the robot. When the remote controller is used for controlling data interaction, the data encryption mode is limited, and the safety of data transmission cannot be ensured. And the remote controller can not collect a large amount of sensor data information from the receiver in real time, which brings difficulty to the operation of an operator.
Disclosure of Invention
In view of this, the present invention provides a control system for a turning paddle type wall-climbing robot, which can realize high-precision and real-time control of the turning paddle type wall-climbing robot.
The technical scheme of the invention is as follows: control system of upset paddle formula wall climbing robot includes: the system comprises a control terminal and an airborne control module; the onboard control module includes: the device comprises a communication unit, a control unit, a sensing unit and a driving unit;
the control terminal is used for receiving data information monitored by the sensing unit and current state information of the driving unit, which are sent by the airborne control module, and sending a control instruction to the airborne control module;
the communication unit is used for realizing communication between the airborne control module and the control terminal;
the sensing unit is used for acquiring attitude information, position information and obstacle information of the wall-climbing robot, and the position information comprises the height of the wall-climbing robot; the sensing unit includes: the device comprises a nine-axis sensor, more than two photoelectric coded disks, more than one barometer and more than two infrared sensors;
the driving unit is used for enabling the wall-climbing robot to be stably adsorbed on the wall surface and driving the wall-climbing robot to act; the driving unit includes: the propeller motor is used for driving propeller blades of the wall-climbing robot to rotate, and the electronic speed regulator is used for regulating the speed of the propeller motor; the servo motor is used for controlling the blades of the wall climbing robot to perform pitching and yawing angle adjustment, and the servo motor driver is used for controlling the servo motor; the device comprises a wheel motor for driving wheels of the wall-climbing robot to rotate and a wheel motor driver for controlling the wheel motor;
the control unit comprises 1 master control MCU and more than 1 slave MCU;
the master control MCU is connected with the nine-axis sensor to realize acquisition of acceleration, angular velocity and magnetic field data of the wall climbing robot; the photoelectric coded disks are connected with the wall-climbing robot to acquire wheel speed information of the wall-climbing robot;
the slave MCU is connected with the barometer to acquire height information of the wall-climbing robot; the system is connected with more than two infrared sensors to realize the acquisition of the information of obstacles around the wall-climbing robot;
the slave MCU packages and processes the acquired data monitored by the barometer and the infrared sensor and then sends the data to the master control MCU; the master control MCU sends the photoelectric coded disc and the nine-axis sensor data acquired by the master control MCU, the infrared sensor data and the barometer data acquired by the slave MCU to a control terminal through the communication unit;
the main control MCU is respectively communicated with driving elements in the driving unit, the driving elements comprise an electronic speed regulator, a wheel motor driver and a servo motor driver, and the main control MCU controls the driving elements to complete corresponding actions according to received control instructions sent by the control terminal.
As a preferable aspect of the present invention, the communication unit and the control terminal perform wireless communication via bluetooth.
As a preferred mode of the present invention, the main control MCU adjusts the posture of the wall-climbing robot according to the posture information of the wall-climbing robot sensed by the sensing unit; and controlling the wall-climbing robot to avoid the obstacle according to the obstacle information around the wall-climbing robot sensed by the sensing unit.
As a preferred embodiment of the present invention, the master MCU and the slave MCU communicate with each other through an IIC bus.
As a preferred mode of the invention, the master control MCU is respectively communicated with the nine-axis sensor and the communication unit through two UART buses; the servo motor driver is communicated with the server through an IIC bus; the photoelectric code disc is communicated with the external interrupt input interface; the controller is communicated with the electronic speed regulator and the wheel motor driver through a PWM interface;
the slave MCU is communicated with the barometer through an IIC bus; communicate with the infrared sensor through a UART bus.
In addition, the invention provides a control method of the turning paddle type wall-climbing robot, after the airborne control module is powered on, all sensors in the sensing unit are initialized, all driving elements in the driving unit are reset, and the wall-climbing robot is in a reset state;
the master control MCU receives information detected by the barometer and the infrared sensor sent by the slave MCU; the master control MCU collects the information detected by the nine-axis sensor and the photoelectric code disc; then the master control MCU sends the photoelectric coded disc and the nine-axis sensor data collected by the master control MCU, the infrared sensor data and the barometer data collected by the slave MCU to a control terminal through the communication unit and sends the data to the control terminal; simultaneously, the master control MCU sends the state information of the current driving element to a control terminal;
after the airborne control module receives the control instruction of the control terminal, the main control MCU analyzes the control instruction, sends corresponding control signals to each driving element and controls each driving element to execute corresponding actions;
before the airborne control module receives a new control instruction, the wall-climbing robot can move all the time according to the current control instruction;
when the control terminal sends a new control instruction to the airborne control module, the main control MCU analyzes new control instruction information; and then interrupting the current action of the wall climbing robot, and controlling each driving element to execute corresponding action according to the new control command.
In the process of executing control command action by the wall-climbing robot, the airborne control module adjusts the angle of the propeller according to the information of the sensing unit, and specifically comprises the following steps:
the airborne control module acquires the posture information of the wall-climbing robot according to the information of the sensing unit, judges whether the wall-climbing robot is in an overturning state, and if the wall-climbing robot is in the overturning state, further judges whether the wall-climbing robot is in a pitching overturning state or a rolling overturning state according to the data of the nine-axis sensor:
if the wall climbing robot is in a pitching and overturning state, controlling a pitching servo motor through a servo motor driver, and reducing the pitching angle of the propeller;
if the wall climbing robot is in a state with a sideslip trend, the yaw servo motor is controlled through the servo motor driver, and the angle of the propeller in the yaw direction is adjusted.
In the process of executing control command action by the wall-climbing robot, the airborne control module adjusts the rotating speed of the wheel motor according to the information of the sensing unit, and specifically comprises the following steps:
according to the data of the infrared sensor, judging the distribution of obstacles around the wall-climbing robot:
if no obstacle exists around the wall-climbing robot, the wall-climbing robot is kept in the original state;
and if the obstacles exist around the wall climbing robot, reducing the rotating speed of the wheel motor or stopping the wheel motor.
Has the advantages that:
(1) the airborne control module in the control system adopts distributed control and comprises a master control MCU and more than one slave MCU which is communicated with the master control MCU through an IIC bus; the main control MCU is responsible for communicating with the control terminal, analyzing data, sending PWM signals to control a propeller motor and a wheel motor, and communicating with a servo motor driving board through an IC bus to drive a plurality of servo motors; the slave MCU processes data information collected by sensors (such as barometers, infrared sensors and the like); the distributed control system is easy to expand, and the computing capability of the airborne control module is greatly improved.
(2) Control terminal and airborne control module carry out radio communication through the bluetooth, and airborne control module can return a large amount of sensor data from this, has brought the convenience for the operator knows the operating condition and the operational environment of robot.
(3) The infrared sensor is used for replacing the ultrasonic sensor as a signal source for distance measurement and obstacle avoidance, so that the problem of overhigh threshold value when the ultrasonic sensor is used for accurate measurement is avoided; the robot is subjected to plane positioning by utilizing the nine-axis sensor and the photoelectric coded disc, and is subjected to height positioning by combining the barometer, so that the position information of the wall-climbing robot can be accurately acquired.
Drawings
FIG. 1 is a general block diagram of the control system of the present invention;
FIG. 2 is a block diagram of the control unit of the onboard control module of the control system of the present invention;
FIG. 3 is a block diagram of a sensing unit of an onboard control module of the control system of the present invention;
FIG. 4 is a block diagram of a drive unit of an onboard control module of the control system of the present invention;
FIG. 5 is a schematic view of a joint of a typical inverted paddle type wall climbing robot;
FIG. 6 is a flowchart of the main procedure of the control method of the present invention;
FIG. 7 is a flowchart of the operation processing task of the control method of the present invention.
Wherein: 1-front wheel steering joint, 2-wheel driving joint, 3-propeller motor joint, 4-propeller platform yaw joint and 5-propeller platform pitch joint
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the control system for the turning paddle type wall-climbing robot provided by the embodiment can realize accurate control on the turning paddle type wall-climbing robot and is easy to expand.
As shown in fig. 1, the control system includes: control terminal and airborne control module.
The control terminal receives and displays sensing unit data information and current state information of the driving unit returned by the airborne control module and is used for sending a control instruction to the airborne control module; the control terminal can be intelligent equipment such as a smart phone, a tablet computer, a personal computer and wearable equipment.
The onboard control module comprises: the device comprises a communication unit, a control unit, a sensing unit and a driving unit; the communication unit is used for communication between the airborne control module and the control terminal; the control unit is used for data processing and action task processing of the airborne control module; the sensing unit is used for acquiring attitude information, position information, obstacle information and the like of the robot; the driving unit is used for enabling the robot to be stably adsorbed on the wall surface and driving the robot to realize various actions.
When the remote control device is used, the control terminal is operated by a user, wireless communication is carried out between the control terminal and the airborne control module through Bluetooth, and the purpose of remote control is achieved. Therefore, the control terminal is internally provided with a Bluetooth unit, and the communication unit of the airborne control module comprises a Bluetooth module used for communicating with the control terminal. The airborne control module sends data information acquired by the sensing unit and current state information (angles or positions of all driving elements in the driving unit and the like) of the driving unit to the control terminal, a user operates the control terminal according to the received information to send a control command to the airborne control module, and the control unit controls the driving unit to realize action control of the robot according to the received control command.
As shown in fig. 2, the control unit adopts a distributed control mode, and includes 1 master MCU (micro control unit) and more than 1 slave MCUs, and the master MCU and each slave MCU communicate with each other through an IIC bus. More specifically, the master MCU selects STM32F446ZCT6, and the slave MCU selects STM32F411CEU 6. The master control MCU is communicated with the control terminal through Bluetooth; and the main control MCU and the communication unit communicate with each other through a Universal Asynchronous Receiver Transmitter (UART). The host MCU and the slave MCU adopt IIC bus communication, receive the packed data of each slave MCU, and then send the data to the control terminal through the communication unit or directly control the drive unit. By adopting the distributed control mode, the time for reading the sensor data by the control system can be reduced, the operational capability of the MCU is liberated, and the response speed of the control system is improved; by adopting the control mode of the master control and the slave computer, the characteristic of low power consumption of the MCU can be exerted, a plurality of MCUs are cascaded, and the real-time performance of data processing is improved.
As shown in fig. 3, the sensing unit includes: the system comprises a nine-axis sensor, two photoelectric coded disks (two photoelectric coded disks are respectively a left photoelectric coded disk and a right photoelectric coded disk in the example), at least one barometer, and at least two infrared sensors (two photoelectric coded disks are respectively a left infrared sensor and a right infrared sensor in the example); the nine-axis sensor is used for monitoring the posture information of the wall-climbing robot, the nine-axis sensor and the two photoelectric code discs are matched for monitoring the plane position information of the wall-climbing robot, and the barometer is used for monitoring the height information of the wall-climbing robot; the infrared sensor is used for monitoring whether obstacles exist around the wall-climbing robot.
The main control MCU is connected with the nine-axis sensor through 1 UART bus, so that the acquisition of acceleration, angular velocity and magnetic field data of the wall climbing robot is realized; the left photoelectric coded disc is connected with one external interrupt input interface, and the right photoelectric coded disc is connected with the other external interrupt input interface; the acquisition of the wheel speed information of the wall-climbing robot is realized. The slave MCU is connected with the barometer through the IIC bus to acquire the height information of the wall-climbing robot; the wall climbing robot is connected with the left infrared sensor through a UART bus and connected with the right infrared sensor through another UART bus, and therefore the acquisition of the information of obstacles around the wall climbing robot is achieved. And the slave MCU packages and processes the received data monitored by the barometer and the infrared sensor and then sends the data to the master control MCU through the IIC bus. The master MCU and the slave MCU read the data of the sensors using DMA (direct memory access). The DMA reading mode can directly copy the data frame of the sensor to a specified memory of the CPU through the DMA controller, so that the interrupt controller of the CPU is prevented from responding to the interrupt request of each byte, and the effect of liberating the operation processing function of the CPU kernel is achieved.
As shown in fig. 4, the driving unit includes: the system comprises a paddle motor for driving a propeller paddle of the wall-climbing robot to rotate, an electronic speed regulator for regulating the speed of the paddle motor, a servo motor for controlling the paddle of the wall-climbing robot to adjust the pitching and yawing angles, a servo motor driver for controlling the servo motor, a wheel motor for driving a wheel of the wall-climbing robot to rotate and a wheel motor driver for controlling the wheel motor.
In this example, a typical turning paddle type wall-climbing robot shown in fig. 5 is taken as an example, and the joints of the wall-climbing robot include: the system comprises a front wheel steering joint 1, a wheel driving joint 2, a propeller motor joint 3, a propeller platform yaw joint 4 and a propeller platform pitch joint 5; and correspond and be provided with two rotors around, based on this, the drive unit that this wall climbing robot airborne control module corresponds includes: two paddle motors (be preceding oar motor and back oar motor respectively), two electronic governor (be preceding electronic governor and back electronic governor respectively), six servo motor (be preceding every single move servo motor respectively, back yaw servo motor, preceding yaw servo motor, back yaw servo motor, left turn to servo motor, right turn to servo motor), the servo motor driver, two wheel motors (be left wheel motor and right wheel motor respectively, two wheel motors are direct current and have brush motor), wheel motor driver. The front electronic speed regulator and the rear electronic speed regulator are respectively used for regulating the speed of the front paddle motor and the rear paddle motor, the driver of the servo motor is used for controlling the driver of the servo motor, and the driver of the wheel motor is used for controlling the two wheel motors.
The main control MCU sends out six PWM pulse signals through the hardware PWM function of the timer of the main control MCU, wherein two signals are respectively connected to the two electronic speed regulators to control the paddle motors, and the other four signals are connected to the wheel motor driver to control the two wheel motors (the wheel motors are direct current brush motors, and two PWM pulse signals are needed for controlling the positive and negative rotation of one direct current brush motor and realizing the speed regulation of the direct current brush motor). Specifically, the method comprises the following steps:
the main control MCU is communicated with the two electronic speed regulators through a hardware PWM interface and sends PWM signals to the two electronic speed regulators, and the two electronic speed regulators decode and amplify the received PWM signals and send the decoded PWM signals to the two paddle motors so as to control the two paddle motors to rotate at corresponding speeds.
The main control MCU is communicated with the wheel motor drivers through hardware PWM interfaces and sends PWM signals to the motor drivers, and the motor drivers amplify the received PWM signals and transmit the signals to the left wheel motor and the right wheel motor so as to control the left wheel motor and the right wheel motor to rotate at corresponding speeds.
The main control MCU is communicated with the servo motor driver through the IIC bus (the communication contents are data of the barometer and data of the infrared sensor), the servo motor driver decodes the data transmitted by the IIC bus and then sends out corresponding PWM waves to the six servo motors, and the servo motors rotate to corresponding positions after receiving the PWM signals. By additionally arranging the servo motor driver, excessive resources can be prevented from being wasted by the main control MCU to send out PWM signals.
The working principle of the control system is as follows:
when the control system is powered on, the airborne control module sends a reset instruction to the driving unit and initializes each sensor in the sensing unit. In the whole working process, the slave MCU continuously collects the infrared sensor data and the barometer data and sends the data to the master MCU at regular time. The master control MCU sends the photoelectric coded disc and the nine-axis sensor data collected by the master control MCU, the infrared sensor data and the barometer data collected by the slave MCU to the control terminal at regular time through the communication unit.
And an operator operates the control terminal and transmits a corresponding control command to the main control MCU of the airborne control module through Bluetooth transmission. The main control MCU copies the received control instruction to the memory, analyzes the control signal obtained by the control instruction, and sends the control signal to each driving element (an electronic speed regulator, a wheel motor driver and a servo motor driver) in the driving unit, and the driving elements complete corresponding actions. When the airborne control module does not receive a new control instruction, the wall-climbing robot can move all the time according to the current control instruction.
Example 2:
based on the control system described in embodiment 1, this embodiment provides a control method for a turning-paddle wall-climbing robot using the control system. The general idea of the control method is as follows: control terminal's control signal passes through bluetooth transmission, sends the airborne control system, and the airborne control system analyzes the instruction in the control signal, drives each drive element and accomplishes corresponding action. The airborne control system sends the data information of the robot body to the control terminal through the main control MCU and the Bluetooth module, and the data information is displayed on the control terminal. The machine body control information comprises information of an infrared sensor, a photoelectric coded disc, a barometer and a nine-axis sensor, and working states of a motor and a servo motor.
As shown in fig. 5, the control method includes the following specific steps:
step 101: powering on the airborne control module;
step 102: initializing each sensor in the sensing unit and resetting each driving element in the driving unit, wherein the wall climbing robot is in a reset state at the moment;
step 103: the master control MCU receives information detected by the barometer and the infrared sensor sent by the slave MCU; the master control MCU collects the information detected by the nine-axis sensor and the photoelectric code disc; then the master control MCU sends the sensor information (including the sensor information received by the master control MCU and sent by the slave MCU and the sensor information acquired by the master control MCU) to the control terminal; meanwhile, the main control MCU sends the state information of the current driving element to the control terminal;
step 104: the master MCU performs the action processing task, as shown in fig. 6:
when the airborne control module receives the control instruction, the control instruction can be copied to a storage of the main control MCU, then the main control MCU analyzes the control instruction and sends corresponding signals to each driving element, and the driving elements complete corresponding actions;
in the process, the airborne control module adjusts the angle of the propeller and the rotating speed of the wheel motor according to the information of the nine-axis sensor, the information of the barometer and the information of the infrared sensor which are acquired by the airborne control module, so that the robot can operate stably and safely. The process of fine adjustment of the angle of the propeller includes: acquiring attitude information of the robot according to data of the nine-axis sensor, the barometer and the infrared sensor, judging whether the robot is in an overturning state, and if the robot is in the overturning state, further judging whether the robot is in a pitching overturning state or a rolling overturning state according to the data of the nine-axis sensor:
if the robot is in the state of overturning in every single move, then through servo motor driver control front and back every single move servo motor, reduce the angle of screw every single move, increase the positive pressure that the robot receives, make the screw more tend to the state that is on a parallel with the wall to the paddle motor rotates with bigger speed before the control, increases the first half thrust of robot, and the final messenger robot is more stable adsorbs in the wall.
If the robot is in a state with a sideslip trend, the servo motor drivers are used for controlling the front and rear yaw servo motors, the angle of the propeller in the yaw direction is adjusted, the adsorption force of the robot in the reverse sideslip direction is increased, and finally the robot is adsorbed on the wall surface more stably.
The process of adjusting the rotating speed of the wheel motor comprises the following steps: judging the distribution of obstacles around the robot according to the data of the infrared sensor, and if no obstacle exists around the robot, keeping the robot in the original state; if there is an obstacle around the robot, the rotation speed of the wheel motor is reduced or the wheel motor is stopped. More specifically, if the distance of the obstacle from the robot is relatively long, the robot is decelerated, and if the distance of the obstacle from the robot is relatively short, the robot is stopped.
The action processing task adopts a series of processing flows, so that the robot can be more stably adsorbed on the wall surface, the control logic is simpler, the control period is shorter, and the response time of the system is shorter.
And before the onboard control module receives a new control command, the wall-climbing robot moves all the time according to the current control command.
Step 105: interrupt processing:
when the control terminal sends a new control instruction to the airborne control module through the Bluetooth, the main control MCU analyzes the control instruction information; then, the current action of the wall climbing robot is interrupted, and the main control MCU executes the action processing task again according to the step 104.
The onboard control module and the Bluetooth communication of the control terminal have the highest interrupt priority, namely when the onboard control module receives a Bluetooth control command of the control terminal, the onboard control module stops the task being processed and executes the task of analyzing the command and sending a signal for controlling the driving element. The process of the master control MCU for analyzing the control instruction comprises the following steps: according to the Ackerman steering principle, the power of the two wheel motors is distributed, and the angle of the steering motor is distributed. The signals to the drive elements include: and sending PWM signals to the electronic speed regulator, sending PWM signals to the wheel motor driving module, and sending instructions to the servo motor driver through the IIC bus.
The program of the airborne control module is written in a bare machine mode, and HAL library functions are used, so that the development is convenient, and the subsequent maintenance is convenient. The main control MCU mainly realizes the functions of receiving sensor information, sending driving element information and performing action processing tasks in the main cycle. By adopting a distributed program writing mode, the computing capability of the slave MCU can be used as much as possible, the computing capability of the master MCU is liberated, and the master MCU can process action processing tasks by more resources. The master control MCU is connected with the Bluetooth module in the communication unit through the UART bus, when the Bluetooth module receives instruction information sent by the control terminal, the UART bus generates an interrupt signal, and the master control MCU enters an interrupt processing task flow. The UART interrupt of the Bluetooth module is set as the interrupt with the highest priority in the program, and the interrupt with the higher priority can interrupt the interrupt with the lower priority, so that the main control MCU can process the control information sent by the control terminal in the highest priority when processing the task.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. Control system of upset paddle formula wall climbing robot, its characterized in that includes: the system comprises a control terminal and an airborne control module;
the onboard control module includes: the device comprises a communication unit, a control unit, a sensing unit and a driving unit;
the control terminal is used for receiving the data information monitored by the sensing unit and the current state information of the driving unit, which are sent by the airborne control module, and sending a control instruction to the airborne control module;
the communication unit is used for realizing communication between the airborne control module and the control terminal;
the sensing unit is used for acquiring attitude information, position information and obstacle information of the wall-climbing robot, and the position information comprises the height of the wall-climbing robot; the sensing unit includes: the device comprises a nine-axis sensor, more than two photoelectric coded disks, more than one barometer and more than two infrared sensors;
the driving unit is used for enabling the wall-climbing robot to be stably adsorbed on the wall surface and driving the wall-climbing robot to act; the driving unit includes: the propeller motor is used for driving propeller blades of the wall-climbing robot to rotate, and the electronic speed regulator is used for regulating the speed of the propeller motor; the servo motor is used for controlling the blades of the wall climbing robot to perform pitching and yawing angle adjustment, and the servo motor driver is used for controlling the servo motor; the device comprises a wheel motor for driving wheels of the wall-climbing robot to rotate and a wheel motor driver for controlling the wheel motor;
the control unit comprises 1 master control MCU and more than 1 slave MCU;
the master control MCU is respectively connected with the nine-axis sensor and the more than two photoelectric coded disks;
the slave MCU is respectively connected with the barometer and the more than two infrared sensors;
the slave MCU packages and processes the acquired data monitored by the barometer and the infrared sensor and then sends the data to the master control MCU; the master control MCU sends the photoelectric coded disc and the nine-axis sensor data acquired by the master control MCU, the infrared sensor data and the barometer data acquired by the slave MCU to a control terminal through the communication unit;
the main control MCU is respectively communicated with driving elements in the driving unit, the driving elements comprise an electronic speed regulator, a wheel motor driver and a servo motor driver, and the main control MCU controls the driving elements to complete corresponding actions according to received control instructions sent by the control terminal.
2. The control system of the turnover paddle type wall-climbing robot as claimed in claim 1, wherein the communication unit and the control terminal are in wireless communication through Bluetooth.
3. The control system of the turning paddle type wall-climbing robot according to claim 1, wherein the main control MCU adjusts the posture of the wall-climbing robot according to the posture information of the wall-climbing robot sensed by the sensing unit; and controlling the wall-climbing robot to avoid the obstacle according to the obstacle information around the wall-climbing robot sensed by the sensing unit.
4. The control system of the turnover paddle type wall climbing robot according to claim 1, wherein the master MCU and the slave MCU are communicated through an IIC bus.
5. The control system of the turning paddle type wall-climbing robot according to claim 1, wherein the main control MCU is respectively communicated with the nine-axis sensor and the communication unit through two UART buses; the servo motor driver is communicated with the server through an IIC bus; the photoelectric code disc is communicated with the external interrupt input interface; the controller is communicated with the electronic speed regulator and the wheel motor driver through a PWM interface;
the slave MCU is communicated with the barometer through an IIC bus; communicate with the infrared sensor through a UART bus.
6. A control method of a turnover paddle type wall climbing robot, which adopts the control system of any one of the claims 1-5; the method is characterized in that:
after the onboard control module is powered on, initializing each sensor in the sensing unit and resetting each driving element in the driving unit to enable the wall climbing robot to be in a reset state;
the master control MCU receives information detected by the barometer and the infrared sensor sent by the slave MCU; the master control MCU collects the information detected by the nine-axis sensor and the photoelectric code disc; then the master control MCU sends the photoelectric coded disc and the nine-axis sensor data collected by the master control MCU, the infrared sensor data and the barometer data collected by the slave MCU to a control terminal through the communication unit and sends the data to the control terminal; simultaneously, the master control MCU sends the state information of the current driving element to a control terminal;
after the airborne control module receives the control instruction of the control terminal, the main control MCU analyzes the control instruction, sends corresponding control signals to each driving element and controls each driving element to execute corresponding actions;
before the airborne control module receives a new control instruction, the wall-climbing robot moves all the time according to the current control instruction;
when the control terminal sends a new control instruction to the airborne control module, the main control MCU analyzes new control instruction information; and then interrupting the current action of the wall climbing robot, and controlling each driving element to execute corresponding action according to the new control command.
7. The control method of the turning paddle type wall-climbing robot according to claim 6, characterized in that: in the process that the wall climbing robot executes actions according to control instructions, the airborne control module adjusts the angle of the propeller according to the information of the sensing unit, and specifically the method comprises the following steps:
the airborne control module acquires the posture information of the wall-climbing robot according to the information of the sensing unit, judges whether the wall-climbing robot is in an overturning state, and if the wall-climbing robot is in the overturning state, further judges whether the wall-climbing robot is in a pitching overturning state or a rolling overturning state according to the monitoring data of the nine-axis sensor:
if the wall climbing robot is in a pitching and overturning state, controlling a pitching servo motor through a servo motor driver, and reducing the pitching angle of the propeller;
if the wall climbing robot is in a rolling and overturning state, the yaw servo motor is controlled through the servo motor driver, and the angle of the propeller in the yaw direction is adjusted.
8. The control method of the turning paddle type wall-climbing robot according to claim 6, characterized in that: in the process that the wall climbing robot executes actions according to control instructions, the airborne control module adjusts the rotating speed of the wheel motor according to the information of the sensing unit, and specifically comprises the following steps:
according to the monitoring data of the infrared sensor, judging the distribution of obstacles around the wall-climbing robot:
if no obstacle exists around the wall-climbing robot, the wall-climbing robot is kept in the original state;
and if the obstacles exist around the wall climbing robot, reducing the rotating speed of the wheel motor or stopping the wheel motor.
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