CN108258614B - Control method of suspension type inspection robot - Google Patents
Control method of suspension type inspection robot Download PDFInfo
- Publication number
- CN108258614B CN108258614B CN201711496702.3A CN201711496702A CN108258614B CN 108258614 B CN108258614 B CN 108258614B CN 201711496702 A CN201711496702 A CN 201711496702A CN 108258614 B CN108258614 B CN 108258614B
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- Prior art keywords
- walking
- inspection robot
- suspension type
- guide rail
- rack
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
- F16H19/043—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack for converting reciprocating movement in a continuous rotary movement or vice versa, e.g. by opposite racks engaging intermittently for a part of the stroke
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a suspension type inspection robot control method, which is applied to a suspension type inspection robot and is characterized by comprising the following steps: the processor acquires the walking type of the suspension type inspection robot; and switching to a walking mechanism control mode corresponding to the walking type according to the walking type. The control method of the suspension type inspection robot provided by the invention can select a gear and rack meshing walking or roller guide rail sliding walking mode according to the inspection operation environment, and control the suspension type inspection robot according to the inspection operation environment resistance to overcome the environmental obstacles of high altitude inspection with large wind resistance and low altitude inspection with small wind resistance caused by weather and topography, thereby realizing the universal use of the suspension type inspection robot.
Description
Technical Field
The invention relates to a suspension type inspection robot control method, and belongs to the technical field of intelligent inspection control.
Background
Along with the rapid development of artificial intelligence technology, the application of the robot in the inspection operation is more and more extensive, and the suspension type inspection operation robot demand is more and more big, and traditional suspension type inspection robot can not patrol and examine the environment hindrance that the windage is big, the windage is little and freely switch and patrol and examine the mode according to the high altitude that causes because of weather and topography.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and solve the technical problems, and provides a suspension type inspection robot control method which is applied to a suspension type inspection robot and comprises the following steps: the processor acquires the walking type of the suspension type inspection robot; and switching to a walking mechanism control mode corresponding to the walking type according to the walking type.
As a preferred embodiment, the walking type of the suspension type inspection robot comprises: the gear and the rack are meshed to run, and the roller guide rail is glidingly run.
As a preferred embodiment, the method further comprises the following steps: the remote control receiver receives a remote control signal sent by the remote control transmitter, the walking sensor detects whether the rack meshing guide rail mechanism or the sliding guide rail mechanism is started to the end, and the result is sent to the processor.
As a preferred embodiment, the remote control signal comprises: the control signal is used for representing the walking type and the control signal is used for representing the motion state of the suspension type inspection robot.
As a preferred embodiment, the motion state of the suspended inspection robot includes several items from the following list: clockwise meshing of the gear and the rack, anticlockwise meshing of the gear and the rack, non-meshing of the gear and the rack, forward relative sliding of the roller guide rail, reverse relative sliding of the roller guide rail and stopping sliding of the roller guide rail.
As a preferred embodiment, the rack and pinion meshing walking device comprises: and the processor controls a driving gear and a rack in the gear rack walking mechanism to be meshed to drive the suspension type inspection robot to walk.
As a preferred embodiment, the roller guide sliding device includes: and the processor controls the driving roller in the roller guide rail sliding mechanism to slide relative to the guide rail to drive the suspension type inspection robot to walk.
The invention achieves the following beneficial effects: the control system and the control method of the suspension type inspection robot can select a gear and rack meshing walking mode or a roller guide rail sliding walking mode according to the inspection work environment, and control the suspension type inspection robot according to the inspection work environment resistance to overcome the environmental obstacles of high altitude inspection with large wind resistance and low altitude inspection with small wind resistance caused by weather and topography, thereby realizing the universal use of the suspension type inspection robot.
Drawings
Fig. 1 is a flow chart of a control method of the present invention.
Fig. 2 is a schematic structural diagram of the control system of the present invention.
The meanings of the symbols in the figures: the system comprises a suspension type inspection robot, a 2-remote control receiver, a 3-remote control transmitter, a 4-walking sensor, 5-driving rollers, 6-guide rails, 7-processor, 8-rack and 9-driving gears.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. 1 is a flow chart of a control method of the present invention. The invention provides a suspension type inspection robot control system which is applied to a suspension type inspection robot 1 and comprises a processor, a remote control transmitter 3, a remote control receiver 2 and a walking sensor 4, wherein the processor, the walking sensor 4 and the remote control receiver 2 are all installed on the suspension type inspection robot 1, the processor is respectively in communication connection with the remote control receiver 2 and the walking sensor 4, the remote control transmitter 3 is in communication connection with the remote control receiver 2, and a gear rack walking mechanism and a roller guide rail sliding mechanism for walking are arranged on the suspension type inspection robot 1.
As a preferred embodiment, the processor is configured to: acquiring the walking type of the suspension type inspection robot 1; and switching to a walking mechanism control mode corresponding to the walking type according to the walking type.
As a preferred embodiment, the walking type of the suspension type inspection robot 1 includes: the gear and the rack are meshed to run, and the roller guide rail is glidingly run.
In a preferred embodiment, the remote control receiver 2 is configured to receive a remote control signal from the remote control transmitter 3, and the travel sensor 4 is configured to detect whether the rack-and-pinion mechanism is actuated or the slide rail mechanism is actuated, and to send the result to the processor.
As a preferred embodiment, the remote control signal comprises: a control signal for representing the walking type and a control signal for representing the motion state of the suspension type inspection robot 1.
As a preferred embodiment, the motion state of the suspension inspection robot 1 includes several items from the following list: clockwise meshing of the gear and the rack, anticlockwise meshing of the gear and the rack, non-meshing of the gear and the rack, forward relative sliding of the roller guide rail, reverse relative sliding of the roller guide rail and stopping sliding of the roller guide rail.
As a preferred embodiment, the rack and pinion meshing walking device comprises: the processor controls a driving gear 9 and a rack 8 in the gear rack walking mechanism to be meshed with each other to drive the suspension type inspection robot 1 to walk.
As a preferred embodiment, the roller guide sliding device includes: the processor controls a driving roller 5 and a guide rail 6 in the roller guide rail sliding mechanism to slide relatively to drive the suspension type inspection robot 1 to walk.
Fig. 2 is a schematic structural diagram of the control system of the present invention. The invention provides a control method of a suspension type inspection robot, which is applied to a suspension type inspection robot 1 and comprises the following steps: the processor acquires the walking type of the suspension type inspection robot 1; and switching to a walking mechanism control mode corresponding to the walking type according to the walking type.
As a preferred embodiment, the walking type of the suspension type inspection robot 1 includes: the gear and the rack are meshed to run, and the roller guide rail is glidingly run.
As a preferred embodiment, the method further comprises the following steps: the remote control receiver 2 receives a remote control signal sent by the remote control transmitter 3, the walking sensor 4 detects whether the rack meshing guide rail mechanism or the sliding guide rail mechanism is started at the end, and the result is sent to the processor.
As a preferred embodiment, the remote control signal comprises: a control signal for representing the walking type and a control signal for representing the motion state of the suspension type inspection robot 1.
As a preferred embodiment, the motion state of the suspension inspection robot 1 includes several items from the following list: clockwise meshing of the gear and the rack, anticlockwise meshing of the gear and the rack, non-meshing of the gear and the rack, forward relative sliding of the roller guide rail, reverse relative sliding of the roller guide rail and stopping sliding of the roller guide rail.
As a preferred embodiment, the rack and pinion meshing walking device comprises: the processor controls a driving gear 9 and a rack 8 in the gear rack walking mechanism to be meshed with each other to drive the suspension type inspection robot 1 to walk.
As a preferred embodiment, the roller guide sliding device includes: the processor controls the driving roller 5 and the guide rail 6 in the roller guide rail sliding mechanism to slide relatively to drive the suspension type inspection robot to walk.
It should be noted that, neither a driving shaft system nor a braking mechanism of the suspension type inspection robot 1 is shown, nor is an embodiment of relative separation of the driving gear 9 and the rack 8 shown, and it should be understood by those skilled in the art that the motion states of the suspension type inspection robot 1, such as clockwise meshing of a gear and a rack, counterclockwise meshing of a gear and a rack, non-meshing of a gear and a rack, forward relative sliding of a roller guide rail, reverse relative sliding of a roller guide rail, and stopping sliding of a roller guide rail, can be realized according to the existing suspension type inspection robot 1, and the present invention is not described again.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (1)
1. A suspension type inspection robot control method is applied to a suspension type inspection robot and is characterized by comprising the following steps: the processor acquires the walking type of the suspension type inspection robot; switching to a walking mechanism control mode corresponding to the walking type according to the walking type;
the walking type of robot is patrolled and examined to suspension type includes: the gear and the rack are meshed to travel, and the roller guide rail is in sliding travel;
the remote control receiver receives a remote control signal sent by the remote control transmitter, the walking sensor detects whether the rack meshing guide rail mechanism or the sliding guide rail mechanism is started at the end, and the result is sent to the processor;
the remote control signal includes: the control signal is used for representing the walking type and representing the motion state of the suspension type inspection robot;
the motion state of the suspended inspection robot comprises a plurality of items in the following list: clockwise meshing of the gear and the rack, anticlockwise meshing of the gear and the rack, non-meshing of the gear and the rack, forward relative sliding of the roller guide rail, reverse relative sliding of the roller guide rail and stopping sliding of the roller guide rail;
the gear and rack meshing walking specifically comprises: the processor controls a driving gear and a rack in the gear rack walking mechanism to be meshed to drive the suspension type inspection robot to walk;
the roller guide rail sliding walking specifically comprises: and the processor controls the driving roller in the roller guide rail sliding mechanism to slide relative to the guide rail to drive the suspension type inspection robot to walk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496702.3A CN108258614B (en) | 2017-12-31 | 2017-12-31 | Control method of suspension type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496702.3A CN108258614B (en) | 2017-12-31 | 2017-12-31 | Control method of suspension type inspection robot |
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| Publication Number | Publication Date |
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| CN108258614A CN108258614A (en) | 2018-07-06 |
| CN108258614B true CN108258614B (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711496702.3A Active CN108258614B (en) | 2017-12-31 | 2017-12-31 | Control method of suspension type inspection robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205574096U (en) * | 2016-05-10 | 2016-09-14 | 苏州工业职业技术学院 | Sufficient formula robot system that switches of wheel |
| CN206085053U (en) * | 2016-09-19 | 2017-04-12 | 上海永乾机电有限公司 | Robot is patrolled and examined to power distribution station intelligence |
| CN206171595U (en) * | 2016-09-23 | 2017-05-17 | 江西洪都航空工业集团有限责任公司 | But climbing device that wheel -track switches |
| CN107227764A (en) * | 2017-07-21 | 2017-10-03 | 王茂刚 | The mechanical digging machine of convertible walking manner |
| CN107264655A (en) * | 2017-06-30 | 2017-10-20 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform and its utilization |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203932810U (en) * | 2014-05-22 | 2014-11-05 | 郭德江 | Walk on overhead ground wire drive saddle line inspection device and this device across tower guide rail |
| CN107104408B (en) * | 2017-06-01 | 2018-10-09 | 三峡大学 | Transmission line of electricity obstacle crossing type deicer |
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2017
- 2017-12-31 CN CN201711496702.3A patent/CN108258614B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205574096U (en) * | 2016-05-10 | 2016-09-14 | 苏州工业职业技术学院 | Sufficient formula robot system that switches of wheel |
| CN206085053U (en) * | 2016-09-19 | 2017-04-12 | 上海永乾机电有限公司 | Robot is patrolled and examined to power distribution station intelligence |
| CN206171595U (en) * | 2016-09-23 | 2017-05-17 | 江西洪都航空工业集团有限责任公司 | But climbing device that wheel -track switches |
| CN107264655A (en) * | 2017-06-30 | 2017-10-20 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform and its utilization |
| CN107227764A (en) * | 2017-07-21 | 2017-10-03 | 王茂刚 | The mechanical digging machine of convertible walking manner |
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| Publication number | Publication date |
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| CN108258614A (en) | 2018-07-06 |
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