CN211685388U - Control system of wall-climbing robot - Google Patents
Control system of wall-climbing robot Download PDFInfo
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- CN211685388U CN211685388U CN201922038101.9U CN201922038101U CN211685388U CN 211685388 U CN211685388 U CN 211685388U CN 201922038101 U CN201922038101 U CN 201922038101U CN 211685388 U CN211685388 U CN 211685388U
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Abstract
The utility model provides a control system of wall climbing robot belongs to the robotechnology field. The wall climbing robot comprises a left front magnetic wheel, a right front magnetic wheel, a left rear magnetic wheel, a right rear magnetic wheel and a robot body, permanent magnets capable of being adsorbed on a steel wall surface are embedded in the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel respectively, the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel are connected with the robot body through driving motors respectively, and a control system comprises an initialization module, a communication module, a parameter input module, a state display module, a robot motion control module and an alarm and emergency stop module. Every magnetic wheel of this wall climbing robot is driven by single motor to guarantee sufficient drive power, under the effect of permanent magnet, each magnetic wheel homoenergetic of wall climbing robot is stably adsorbed on the steel wall, under control system and corresponding control method, and the wall climbing robot can walk to the position that needs, realizes the automation of operation.
Description
Technical Field
The utility model belongs to the technical field of the robot, a control system of wall climbing robot is related to.
Background
At present, the operations of flaw detection, rust removal, welding and the like of large steel structural members such as large ships, petrochemical storage tanks, fan towers and the like are mainly performed in an artificial mode. Taking ship rust removal as an example, the method generally adopted at the present stage is to build a scaffold or adopt an aerial work platform to operate, and workers operate on the scaffold or the aerial work platform, so that although the investment is low, the operation efficiency is low, the field operation environment is severe, and the influence on the health of the workers is great.
With the advance of technology, some semi-automatic operation modes, such as rail installation, have appeared, which improve the efficiency, but the preparation time in the early stage is long, and the limitation on non-planar operation is large.
Disclosure of Invention
The utility model discloses to the above-mentioned problem that prior art exists, provide a control system of wall climbing robot, the utility model aims to solve the technical problem that: how to control the robot to walk to a required position and realize the automation of the operation.
The purpose of the utility model can be realized by the following technical proposal:
a control system of a wall climbing robot is characterized in that the wall climbing robot comprises a left front magnetic wheel, a right front magnetic wheel, a left rear magnetic wheel, a right rear magnetic wheel and a robot body, permanent magnets capable of being adsorbed on a steel wall surface are respectively embedded in the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel, the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel are respectively connected with the robot body through driving motors, the control system comprises an initialization module, a communication module, a parameter input module, a state display module, a robot motion control module and an alarm and emergency stop module, the initialization module is electrically connected with the communication module, the communication module is electrically connected with the robot motion control module, the parameter input module is electrically connected with the robot motion control module, the state display module is electrically connected with the robot motion control module, the alarm and emergency stop module is electrically connected with the robot motion control module.
The left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel of the wall climbing robot are respectively driven by corresponding driving motors (as an embodiment, the driving motors are speed reducing motors), namely, each magnetic wheel is driven by a single motor so as to ensure enough driving force, and all the magnetic wheels of the wall climbing robot can be stably adsorbed on a steel wall surface under the action of the permanent magnet. The robot motion control module receives instructions of a user and controls the robot to walk in a straight line and turn, the alarm and emergency stop module is used for warning the fault of the robot system and stopping the robot emergently, namely, under the control system and a corresponding control method, the wall-climbing robot carries other working tools and can walk to a required position, and therefore automation of operation is achieved.
In the control system of the wall-climbing robot, the initialization module is used for performing initialization operation on the system, and the initialization operation comprises setting of initial values of speed values, differential speed values, acceleration values and time parameters.
In the control system of the wall climbing robot, the communication module is used for controlling communication between the box and the lower controller and obtaining related communication parameters, and includes reading of each axis state machine and reading of bus state, and the communication module performs different processing according to different communication states.
In the control system of the wall climbing robot, the parameter input module is used for inputting relevant parameters during operation, and the parameters comprise a speed value, a differential speed value, an acceleration value, acceleration time and deceleration time.
In the control system of the wall climbing robot, the state display module is used for displaying the real-time state of the system, and the display comprises the display of the state machine value of each axis, the real-time current of the driver, the temperature, the rotating speed, the bus state, the enabling state of the motor and the motion mode.
Compared with the prior art, the utility model has the advantages as follows:
the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel of the wall climbing robot are respectively driven by the corresponding driving motors, namely, each magnetic wheel is driven by a single motor to ensure enough driving force, all the magnetic wheels of the wall climbing robot can be stably adsorbed on a steel wall surface under the action of the permanent magnet, and the wall climbing robot can walk to a required position under the control system and the corresponding control method, so that the automation of operation is realized.
Drawings
Fig. 1 is a schematic structural view of a wall-climbing robot.
Fig. 2 is a schematic configuration diagram of the control system.
Fig. 3 is a functional block diagram of the wall-climbing robot.
In the figure, 1, a left front magnetic wheel; 2. a right front magnetic wheel; 3. a left rear magnetic wheel; 4. a right rear magnetic wheel; 5. a body; 6. the motor is driven.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
As shown in fig. 1-2, in the control system of the wall-climbing robot, the wall-climbing robot comprises a left front magnetic wheel 1, a right front magnetic wheel 2, a left rear magnetic wheel 3, a right rear magnetic wheel 4 and a body, permanent magnets capable of being adsorbed on a steel wall surface are respectively embedded in the left front magnetic wheel 1, the right front magnetic wheel 2, the left rear magnetic wheel 3 and the right rear magnetic wheel 4, the left front magnetic wheel 1, the right front magnetic wheel 2, the left rear magnetic wheel 3 and the right rear magnetic wheel 4 are respectively connected with the body through a driving motor 6, the control system comprises an initialization module, a communication module, a parameter input module, a state display module, a robot motion control module and an alarm and emergency stop module, the initialization module is electrically connected with the communication module, the communication module is electrically connected with the robot motion control module, the parameter input module is electrically connected with the robot motion control module, the state display module is electrically connected with the robot motion control module, the alarm and emergency stop module is electrically connected with the robot motion control module.
The left front magnetic wheel 1, the right front magnetic wheel 2, the left rear magnetic wheel 3 and the right rear magnetic wheel 4 of the wall climbing robot are respectively driven by corresponding driving motors 6 (as an embodiment, the driving motors 6 are speed reducing motors), namely, each magnetic wheel is driven by a single motor so as to ensure enough driving force, and each magnetic wheel of the wall climbing robot can be stably adsorbed on a steel wall surface under the action of a permanent magnet. The robot motion control module receives instructions of a user and controls the robot to walk in a straight line and turn, the alarm and emergency stop module is used for warning the fault of the robot system and stopping the robot emergently, namely, under the control system and a corresponding control method, the wall-climbing robot carries other working tools and can walk to a required position, and therefore automation of operation is achieved.
The initialization module is used for carrying out initialization operation on the system, and the initialization operation comprises initial value setting of a speed value, a differential speed value, an acceleration value and a time parameter.
The communication module is used for controlling communication between the box and the lower controller and obtaining related communication parameters, and comprises reading of each shaft state machine and reading of bus states, and the communication module carries out different processing according to different communication states.
The parameter input module is used for inputting relevant parameters during operation, and the parameters comprise a speed value, a differential speed value, an acceleration value, acceleration time and deceleration time.
The state display module is used for displaying the real-time state of the system and comprises the display of the state machine value of each shaft, the real-time current of the driver, the temperature, the rotating speed, the bus state, the enabling state of the motor and the motion mode.
Fig. 3 is a functional block diagram of the wall climbing robot, and in this embodiment, the method for controlling the wall climbing robot includes the following steps:
(1) the control system of the wall climbing robot returns the position value stored by the driving motor 6 to zero, and the controller is initialized according to the input default parameter value;
(2) if the bus state is normal, enabling operation of the servo motor is carried out, after enabling operation, if the shaft state machine of each shaft is normal, each shaft motor enters a ready-to-run state, and otherwise, fault elimination is carried out according to corresponding error prompt;
(3) and the control system of the wall climbing robot carries out corresponding actions according to different instructions, and each corresponding action is defined as a working state.
The working state includes the following situations:
and a state A: if the control system of the wall-climbing robot receives the control instruction of the user that the robot starts to walk linearly or stops walking linearly, the control system operates the linear function block of the robot motion control module;
and a state B: if the control system of the wall-climbing robot receives a control instruction of a user, that is, the robot starts to turn or stops to turn, the system runs a turning function block of a robot motion control module, and according to a running speed value input by the user and differential values of wheels on two sides, the control system of the wall-climbing robot judges whether to turn to the left side or turn to the right side, and the judgment criterion is as follows: if the left wheel speed value is smaller than the right wheel speed value, the wall-climbing robot turns to the left side, and if the right wheel speed value is smaller than the left wheel speed value, the wall-climbing robot turns to the right side;
and C, state C: if the control system of the wall climbing robot receives a control instruction of a user, the control system is switched from a current walking state to other walking states, the system judges whether the current running direction of the wall climbing robot is forward or backward, if the current running direction is consistent with the running direction given by the user, a motion control module of the control system of the wall climbing robot carries out online speed adjustment of wheels on two sides, and if not, the robot is stopped to run and then the user control instruction is operated;
and a state D: if the control system of the wall climbing robot detects that the bus state or the shaft state machine of a certain shaft is abnormal, the control system automatically starts a protection function, the robot is in a protection state, the robot in operation automatically performs emergency stop, the robot in the stop state cannot be started, and after the protection function is started, the control system feeds error information back to a user interface for the user to refer to;
and a state E: and if the control system of the wall climbing robot receives the control instruction of the user, the emergency stop function module is operated to stop the operation of the robot.
The straight-line function block in the state A comprises constant-speed cruising and constant-distance movement, and straight-line walking can be divided into forward straight-line walking and backward straight-line walking.
The straight-line functional block comprises two types: one is constant speed cruising, according to the running speed value input by a user, the robot can carry out linear motion at a certain speed, the user gives a stop command, and the robot stops; the other is fixed distance movement, the control system of the wall-climbing robot operates the distance according to the input of the user, and after the operation is finished by the specified distance, the robot automatically stops.
The turn in state B includes a left front turn, a right front turn, a left rear turn, and a right rear turn.
The switching in the state C includes switching of the straight traveling state, switching of the turning state, and switching between the straight traveling state and the turning traveling state.
The switching of the straight-line running state, namely the switching between the two states of straight-line running forward and straight-line running backward, the switching of the turning state, namely the switching between four states of turning left front, turning right front, turning left back and turning right back, the switching between the straight-line running state and the turning running state, such as the switching from the straight-line running state to the turning left back, and the like.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (5)
1. The control system of the wall climbing robot is characterized by comprising a left front magnetic wheel (1), a right front magnetic wheel (2), a left rear magnetic wheel (3), a right rear magnetic wheel (4) and a robot body, wherein permanent magnets capable of being adsorbed on a steel wall surface are respectively embedded in the left front magnetic wheel (1), the right front magnetic wheel (2), the left rear magnetic wheel (3) and the right rear magnetic wheel (4), the left front magnetic wheel (1), the right front magnetic wheel (2), the left rear magnetic wheel (3) and the right rear magnetic wheel (4) are respectively connected with the robot body through a driving motor (6), the control system comprises an initialization module, a communication module, a parameter input module, a state display module, a robot motion control module and an alarm and emergency stop module, the initialization module is electrically connected with the communication module, the communication module is electrically connected with the robot motion control module, the parameter input module is electrically connected with the robot motion control module, the state display module is electrically connected with the robot motion control module, and the alarm and emergency stop module is electrically connected with the robot motion control module.
2. The control system of claim 1, wherein the initialization module is configured to perform initialization operations on the system, the initialization operations including setting initial values of speed values, differential speed values, acceleration values, and time parameters.
3. The control system of claim 1, wherein the communication module is configured to control communication between the box and the lower controller and obtain related communication parameters, including reading of the state machine of each axis and reading of the bus state, and the communication module performs different processing according to different communication states.
4. The control system of claim 1, wherein the parameter input module is used for inputting relevant parameters during operation, and the parameters comprise speed value, differential speed value, acceleration time and deceleration time.
5. The control system of claim 1, wherein the status display module is configured to display real-time status of the system, including status machine values of the axes, real-time current of the driver, temperature, rotational speed, bus status, and motor enable status and motion mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922038101.9U CN211685388U (en) | 2019-11-22 | 2019-11-22 | Control system of wall-climbing robot |
| PCT/CN2019/121465 WO2021097884A1 (en) | 2019-11-22 | 2019-11-28 | Control system and control method for wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922038101.9U CN211685388U (en) | 2019-11-22 | 2019-11-22 | Control system of wall-climbing robot |
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| CN211685388U true CN211685388U (en) | 2020-10-16 |
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| CN201922038101.9U Active CN211685388U (en) | 2019-11-22 | 2019-11-22 | Control system of wall-climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301546A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot |
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- 2019-11-22 CN CN201922038101.9U patent/CN211685388U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301546A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot |
| CN111301546B (en) * | 2019-11-22 | 2023-11-21 | 广东省智能制造研究所 | Control system and control method of wall climbing robot |
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Address after: Building 13, No. 100 Xianlie Middle Road, Guangzhou, Guangdong Province, 510000 Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: Building 13, No. 100 Xianlie Middle Road, Guangzhou, Guangdong Province, 510000 Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |