CN114296381A - Control system of wall-climbing robot for water cooled wall - Google Patents
Control system of wall-climbing robot for water cooled wall Download PDFInfo
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- CN114296381A CN114296381A CN202210008771.XA CN202210008771A CN114296381A CN 114296381 A CN114296381 A CN 114296381A CN 202210008771 A CN202210008771 A CN 202210008771A CN 114296381 A CN114296381 A CN 114296381A
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Abstract
The invention discloses a control system of a water wall climbing robot, which comprises: the system comprises a control module, a mapping and obstacle avoidance module and a driving module which are in signal connection with the control module, and a functional module which is in signal connection with the control module; the control module comprises a main control module, a remote control module and a lower computer which are in signal connection with the main control module, and a standby controller which is in signal connection with the remote control module, wherein the standby controller is in signal connection with the main control module; the functional module comprises a cleaning module, a polishing module, a thickness measuring module, a welding module and an OR detection module. According to the invention, during firmness, the robot is controlled to have the functions of wall crawling, rolling brush cleaning, wall polishing, wall spraying and water wall tube thickness measurement, the condition in the furnace is observed through a video in real time, and the hearth maintenance work is simpler, safer and more intelligent and can be backtracked.
Description
Technical Field
The invention relates to the technical field of in-service inspection and maintenance of thermal power plants, in particular to a control system of a water-cooled wall climbing robot.
Background
Wall robots, as a special robot, begin to be a great variety of people in all walks of life. In China, the institute of robots of Harbin industry university is a scientific research institution which researches wall-climbing robots at the earliest, representative products are multifunctional crawler-type tank wall spraying detection magnetic adsorption wall-climbing robots, and countries such as America, Canada, India and the like have developed and put into application artificial intelligence robots specially applied to boiler cleaning and inspection of thermal power stations, but most of the robots walk along pipelines and cannot cross water-cooled wall pipes, so that the detection efficiency is low.
The wall climbing robot for the water-cooled wall is a special robot for in-service inspection and maintenance work of a boiler in a thermal power station, most of the wall climbing robot depends on a permanent magnet device to be adsorbed on the water-cooled wall for operation, the robot with the large bearing capacity of an adsorption device can carry more equipment, but the flexibility is low and difficult to control, and the robot with the small adsorption capacity can flexibly climb on the wall surface but has a single function of insufficient load capacity.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a control system of a water wall climbing robot, which can control the functions of climbing on the wall surface, cleaning by a rolling brush, polishing the wall surface, spraying the wall surface, measuring the thickness of a water wall pipe and the like of the robot in real time, check videos in real time to observe the condition in a furnace, ensure that the maintenance work of a hearth is simpler, safer and more intelligent, and can be checked retrospectively. To achieve the above objects and other advantages in accordance with the present invention, there is provided a water wall climbing robot control system including: the system comprises a control module, a mapping and obstacle avoidance module and a driving module which are in signal connection with the control module, and a functional module which is in signal connection with the control module;
the control module comprises a main control module, a remote control module and a lower computer which are in signal connection with the main control module, and a standby controller which is in signal connection with the remote control module, wherein the standby controller is in signal connection with the main control module;
the functional module comprises a cleaning module, a polishing module, a thickness measuring module, a welding module and an OR detection module;
the remote control module comprises a pan-tilt camera, a receiver in signal connection with the pan-tilt camera and a remote controller with a touch screen.
Preferably, the main control module, the pan-tilt camera and the receiver are all mounted on the robot, and the functional module is detachably mounted on the robot.
Preferably, the remote control module sends an instruction for the functional module through a remote controller, and the remote control module receives information through a receiver and forwards the information to the main control module.
Preferably, the main control module is configured to analyze data sent by the receiver, and the main control module sends a signal to the corresponding functional module according to different instructions.
Preferably, the feedback data is transmitted back to the lower computer through the network communication of the main control module, and if the lower computer judges that the main controller is down, the lower computer immediately starts the standby controller to enable the wall climbing robot to return to the ground for problem troubleshooting.
Preferably, the receiver is installed on the wall climbing robot to receive the channel value and is connected with the main control module through SBUS communication, and the receiver is connected with the pan-tilt camera to remotely transmit the video stream to the remote controller for displaying, and the camera is adjusted through the touch screen of the remote controller to shoot and record the video, wherein the pan-tilt camera is used for storing pictures and video files.
Preferably, main control module installs CAN communication parameter, serial communication parameter, IO mouth parameter, network communication parameter, SBUS communication parameter, drive module passes through CAN bus connection main control module, build the picture and keep away the barrier module and pass through serial connections main control module, function module passes through IO mouth connection main control module, just main control module gets the information that the receiver forwarded and analyzes, judges the function module of current action according to the channel value, sends control command.
Compared with the prior art, the invention has the beneficial effects that:
(1) control system has realized crawling and the round brush cleans, the wall is polished, the wall spraying, functions such as water wall pipe thickness measurement at the wall through hand-held type remote controller real time control robot to look over the video in order to observe the stove circumstances in real time on the touch-sensitive screen of remote controller, the adjustment camera lens carries out all-round observation, and stove data is preserved and is analyzed to the next machine through the net twine transmission, makes furnace overhaul work simple and convenient safe intellectuality more and can look over back.
(2) The control system has the advantages that the operation is simple and convenient, the function control modes are integrated and unified, the control system has good robustness, the standby control function is designed, the system robustness is further improved, the control system is safer and more reliable, and the problem that the robot cannot be recovered when the main controller is down is solved.
(3) The hearth information is transmitted back, the robot has autonomous risk avoiding capability through real-time data analysis, the accident risk is reduced, and the information storage and backtracking functions provide data support for subsequent analysis.
(4) The thickness measuring module, the welding module and the DR detection module which are not common at present are designed, all the functional modules can be detached and replaced, the interfaces are unified, the coupling of a control system is low, and all the functional modules do not influence each other
Drawings
FIG. 1 is a block diagram of a control system of a water wall climbing robot according to the present invention;
FIG. 2 is a schematic flow chart of a control system for a waterwall wall climbing robot according to the present invention;
FIG. 3 is a lower computer software flowchart of a waterwall wall climbing robot control system according to the present invention;
FIG. 4 is a block diagram of a sanding module of the waterwall wall climbing robot control system according to the present invention;
FIG. 5 is a block diagram of a thickness measurement module of a waterwall wall-climbing robot control system according to the present invention;
fig. 6 is a structural diagram of a DR detection module of a control system of a water wall climbing robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a water wall climbing robot control system includes: the system comprises a control module, a mapping and obstacle avoidance module and a driving module which are in signal connection with the control module, and a functional module which is in signal connection with the control module; the control module comprises a main control module, a remote control module and a lower computer which are in signal connection with the main control module, and a standby controller which is in signal connection with the remote control module, wherein the standby controller is in signal connection with the main control module; the functional module comprises a cleaning module, a polishing module, a thickness measuring module, a welding module and an OR detection module; the remote control module comprises a pan-tilt camera, a receiver in signal connection with the pan-tilt camera and a remote controller with a touch screen.
The driving module comprises four groups of magnetic wheels, a direct current motor and drivers, the four drivers are connected with the main controller through a CAN bus, the used control instructions are CAN data frames, the robot state comprises five types of stillness, ascending, retreating, left turning and right turning, the four groups of magnetic wheels do not rotate under the stillness command, a push rod of the remote controller has the characteristic of automatic centering, and the push rod is set to be in a stillness state. The left push rod and the right push rod are arranged, the push rod is arranged according to habits and is responsible for controlling the front and the back, the right push rod is responsible for controlling the left and the right, the required speed is calculated according to the channel value of the left push rod during advancing/backing, then the four-wheel speed is kept consistent, the data conversion range of the corresponding channel value of the push rod is [282,1722], the maximum rotating speed of a motor is 1800rpm, the advancing/backing speed is not too high, the speed is limited to be [ -1080,1080] through experiments, and therefore the mapping relation between the channel value c of the left push rod and the rotating speed v is designed as follows:
the left turning and the right turning are realized by a differential speed method, the channel value of the right hand push rod is set as w, the transformation range is consistent with c, the robot used by the invention has a larger body type, the wheel speed on the same side is kept consistent, the robot can crawl conveniently, the left side speed is set as leftv, the right side speed is set as rightv, and the calculation speed is as shown in the formula 2.
The maximum rotation speed during turning is 1080+ (1722) 1002, which is 1800rpm, namely the maximum rotation speed of the motor.
Furthermore, the main control module, the holder camera and the receiver are all installed on the robot, the functional modules are detachably installed on the robot, different functional modules can be conveniently replaced when the functional requirements are not met, the operation is convenient and fast, the replacement is convenient when the robot is maintained, and time delay is avoided.
Furthermore, the remote control module sends an instruction for the functional module through a remote controller, and the remote control module receives information through a receiver and forwards the information to the main control module.
Furthermore, the main control module is used for analyzing the data sent by the receiver, and the main control module sends signals to the corresponding functional modules according to different instructions.
Further, feedback data are communicated and transmitted back to the lower computer through the main control module network, and if the lower computer judges that the main controller is down, the lower computer immediately starts the standby controller to enable the wall climbing robot to return to the ground for problem troubleshooting.
Furthermore, the receiver is installed on the wall climbing robot to receive the channel value and is connected with the main control module through SBUS communication, and meanwhile, the receiver is connected with the pan-tilt camera to remotely transmit the video stream to the remote controller to be displayed, and the camera lens is adjusted through the touch screen of the remote controller to shoot and record the video, and the pan-tilt camera is used for storing pictures and video files.
Further, main control module installs CAN communication parameter, serial communication parameter, IO mouth parameter, network communication parameter, SBUS communication parameter, drive module passes through CAN bus connection main control module, build the picture and keep away the barrier module and pass through serial connections main control module, function module passes through IO mouth connection main control module, just main control module gets the information that the receiver forwarded and resolves, judges the function module of current action according to the channel value, sends control command.
The cleaning module is characterized in that a push-pull rod 1 and a rolling brush 2 arranged on one side of the push-pull rod 1 are arranged on a driving module, a power supply switch of the rolling brush 2 is controlled through an IO port of a main control module, the push-pull rod 1 is driven through a direct current motor, the rolling brush 2 is placed at a proper position through the push-pull rod 1, the rolling brush 2 has a cleaning function, and the push-pull rod 1 controls the push-pull rod 1 to stretch through changing the input direction of the direct current motor.
The polishing module is installed on the driving module through installing arm 3 and installing in the polishing head on the arm 3, and the main control module controls the start and stop of the polishing module through the IO port, and the polishing position can be adjusted by adjusting the position of arm 3.
The thickness measuring module is through installing ultrasonic thickness measuring probe 4 on arm 3, and is located ultrasonic thickness measuring probe 4 upper portion and is provided with the detection camera, adjusts ultrasonic thickness measuring probe 4's position through the position of adjustment arm 3, and 3 terminal dark rotations of arm have rotary fixture moreover, ultrasonic thickness measuring probe 4 is fixed in on the rotary fixture, ultrasonic thickness measuring needs the spraying one deck couplant between probe and wall, and the spraying is realized with the help of step motor, controls through the pulse input and the direction input end of master control module IO mouth connection step motor driver, and the thickness measuring result is preserved and is analyzed to the next computer through network transmission.
The welding module is provided with a mechanical arm 3 through a driving module, the mechanical arm 3 is provided with a welding gun and wire feeding equipment, and the wire feeding equipment is controlled through an IO port of the main control module.
DR detection module is through installing DR check out test set 5, support and focusing mediation device 6 and laser radar on drive module, DR check out test set 5 passes through industry X-ray machine and flat panel detector and constitutes, and wherein the X-ray machine is installed on climbing the wall robot, and the formation of image flat board is arranged in outside the furnace, adjusts DR check out test set 5's focus through support and focusing mediation device 6, support and focusing mediation device 6 include the lead screw, the lead screw is connected with step motor, and install position sensor on the lead screw, position sensor is used for industry X-ray machine to exceed the scope and removes. The main control module is connected with a stepping motor driver through IO to control the lifting of the bracket and the focusing adjusting device 6, the position sensor is NPN type, and the position sensor needs to be converted into high and low levels through a single-path relay to be input into an IO port of the main control device for position judgment.
The map building and obstacle avoiding module obtains cloud information of points in the hearth through a laser radar in the DR detection module, processes data through an upper computer, communicates with the main controller through a serial port, if obstacles are judged, the main controller makes a stop command and informs the lower computer, the map building data are stored in a hard disk of the upper computer, and scene reproduction and analysis can be performed subsequently.
The lower computer is connected with the main controller through a network cable and is mainly responsible for data receiving and storing, meanwhile, a user can check data in real time to make judgment, in order to reduce the coupling of the functional module, the lower computer divides thickness measuring data and robot running data into two pieces of software to be stored and analyzed respectively, the lower computer firstly establishes a client socket, then establishes connection with a data source socket, selects a data storage path, judges whether data exists in monitoring connection or not when no data exists, receives and stores the data when data exists in judgment, finally judges whether connection is closed or not, finishes working when the connection is closed, and continuously judges whether data exists in monitoring connection or not when the connection is not closed.
The standby controller is used for waking up a driver to work again by starting the standby controller when a problem occurs in the crawling operation process of the robot, for example, the robot is out of control due to vibration and the like, the design idea is that the standby controller and the standby remote controller are placed on the ground, the standby controller is connected to a CAN bus, network cables are eight pairs and four pairs of twisted pairs, actual network communication only needs 4 cables, and therefore one pair of twisted pairs is taken as the CAN cable, and the standby controller and the driver CAN communicate. The standby controller only keeps the driving function and aims to enable the wall-climbing robot to return to the ground for inspection as soon as possible.
The number of devices and the scale of the processes described herein are intended to simplify the description of the invention, and applications, modifications and variations of the invention will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. The utility model provides a water-cooling wall climbing robot control system which characterized in that includes:
the system comprises a control module, a mapping and obstacle avoidance module and a driving module which are in signal connection with the control module, and a functional module which is in signal connection with the control module;
the control module comprises a main control module, a remote control module and a lower computer which are in signal connection with the main control module, and a standby controller which is in signal connection with the remote control module, wherein the standby controller is in signal connection with the main control module;
the functional module comprises a cleaning module, a polishing module, a thickness measuring module, a welding module and an OR detection module;
the remote control module comprises a pan-tilt camera, a receiver in signal connection with the pan-tilt camera and a remote controller with a touch screen.
2. The control system of the water-cooled wall-climbing robot as recited in claim 1, wherein the main control module, the pan-tilt camera and the receiver are all mounted on the robot, and the function module is detachably mounted on the robot.
3. The control system of the water wall climbing robot as recited in claim 2, wherein the remote control module sends out instructions for the function modules through a remote controller, and the remote control module receives information through the receiver and forwards the information to the main control module.
4. The control system of claim 3, wherein the main control module is configured to parse data sent by the receiver, and the main control module sends a signal to the corresponding function module according to different commands.
5. The system as claimed in claim 4, wherein the feedback data is transmitted back to the lower computer via the main control module via network communication, and the lower computer immediately starts the standby controller to return the wall-climbing robot to the ground for problem troubleshooting if the main controller is judged to be down.
6. The control system of a water-cooled wall climbing robot according to claim 5, wherein the receiver is mounted on the wall climbing robot and connected with the main control module through SBUS communication, and is connected with a pan-tilt camera for remotely transmitting a video stream to a remote controller for display and adjusting a lens through a touch screen of the remote controller for shooting and recording videos, and the pan-tilt camera is used for storing pictures and video files.
7. The control system of the water-cooled wall climbing robot according to claim 6, wherein the main control module is provided with CAN communication parameters, serial communication parameters, IO port parameters, network communication parameters and SBUS communication parameters, the driving module is connected with the main control module through a CAN bus, the mapping and obstacle avoidance module is connected with the main control module through a serial port, the function module is connected with the main control module through an IO port, the main control module analyzes information forwarded by the receiver, and judges the function module of current action according to a channel value to send a control command.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210008771.XA CN114296381A (en) | 2022-01-06 | 2022-01-06 | Control system of wall-climbing robot for water cooled wall |
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| CN202210008771.XA CN114296381A (en) | 2022-01-06 | 2022-01-06 | Control system of wall-climbing robot for water cooled wall |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116052413A (en) * | 2022-11-28 | 2023-05-02 | 中国第一汽车股份有限公司 | V2X-based high-speed congestion-free recommendation method, system and vehicle |
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| CN113721278A (en) * | 2021-08-25 | 2021-11-30 | 上海交通大学 | Positioning method and system of derusting wall-climbing robot for splicing seams of hull outer plates |
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2022
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| US20200142052A1 (en) * | 2018-06-04 | 2020-05-07 | Shandong University | Automatic wall climbing type radar photoelectric robot system for non-destructive inspection and diagnosis of damages of bridge and tunnel structure |
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