CN108262746A - A kind of suspension type crusing robot control system - Google Patents
A kind of suspension type crusing robot control system Download PDFInfo
- Publication number
- CN108262746A CN108262746A CN201711496655.2A CN201711496655A CN108262746A CN 108262746 A CN108262746 A CN 108262746A CN 201711496655 A CN201711496655 A CN 201711496655A CN 108262746 A CN108262746 A CN 108262746A
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- Prior art keywords
- walking
- suspension type
- crusing robot
- remote
- rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of suspension type crusing robot control systems, it applies on suspension type crusing robot, including processor, remote control transmitter, receiver of remote-control sytem, walking sensor, the processor, the walking sensor is installed in the receiver of remote-control sytem on the suspension type crusing robot, the processor respectively with the receiver of remote-control sytem, the walking sensor communication connection, the remote control transmitter is communicated to connect with the receiver of remote-control sytem, the rack-and-pinion walking mechanism of walking is provided on the suspension type crusing robot, rolling wheel guide rails sliding equipment.The control system of suspension type crusing robot provided by the invention can select rack and pinion engagement walking or rolling wheel guide rails to slide walking mode according to inspection operating environment, the environment that inspection windage in high-altitude is big, low latitude inspection windage is small be overcome caused by weather and landform to hinder according to inspection operating environment draught control suspension type crusing robot.
Description
Technical field
The present invention relates to a kind of suspension type crusing robot control systems, belong to intelligent patrol detection control technology field.
Background technology
With the rapid development of artificial intelligence technology, the application of robot is more and more extensive in inspection operation, and suspension type is patrolled
Inspection Work robot demand is increasing, and traditional suspension type crusing robot cannot be according to high caused by weather and landform
The environment that empty inspection windage is big, low latitude inspection windage is small hinders free switching patrol mode.
Invention content
It is an object of the present invention to overcome defect of the existing technology, above-mentioned technical problem is solved, proposes a kind of suspension
Formula crusing robot control system, is applied on suspension type crusing robot, which is characterized in that including processor, remote-transmitter
Device, receiver of remote-control sytem, walking sensor, the processor, the walking sensor are installed in institute with the receiver of remote-control sytem
It states on suspension type crusing robot, the processor communicates to connect respectively with the receiver of remote-control sytem, the walking sensor, institute
It states remote control transmitter to communicate to connect with the receiver of remote-control sytem, the gear of walking is provided on the suspension type crusing robot
Rack walking mechanism, rolling wheel guide rails sliding equipment.
As a kind of preferred embodiment, the processor is used for：Obtain the walking type of suspension type crusing robot；With
And according to the walking type, switch to walking mechanism control model corresponding with the walking type.
As a kind of preferred embodiment, the walking type of the suspension type crusing robot includes：Rack and pinion engagement
Walking, rolling wheel guide rails slide walking.
As a kind of preferred embodiment, the receiver of remote-control sytem is used to receive the remote control letter that the remote control transmitter is sent out
Number, the walking sensor is for detecting that bottom is that rack engagement guide rail mechanism starts or rail plate mechanisms, and by result
It is sent to the processor.
As a kind of preferred embodiment, the remote signal includes：For represent it is described walking type control signal,
For representing the control signal of the motion state of the suspension type crusing robot.
As a kind of preferred embodiment, if the motion state of the suspension type crusing robot include it is set forth below in
Dry item：Rack-and-pinion engages clockwise, rack-and-pinion engages counterclockwise, rack-and-pinion does not engage, rolling wheel guide rails forward direction is relatively sliding
Reversely opposite slip, rolling wheel guide rails stop sliding dynamic, rolling wheel guide rails.
As a kind of preferred embodiment, the rack and pinion engagement walking specifically includes：Described in the processor control
Sliding tooth wheel and rack in rack-and-pinion walking mechanism, which is engaged, drives the suspension type crusing robot walking.
As a kind of preferred embodiment, the rolling wheel guide rails slide walking and specifically include：Described in the processor control
Driving idler wheel in rolling wheel guide rails sliding equipment carries out opposite slide with guide rail and the suspension type crusing robot is driven to walk.
The advantageous effect that the present invention is reached：The control system and method for suspension type crusing robot provided by the invention can
Rack and pinion engagement walking or rolling wheel guide rails to be selected to slide walking mode according to inspection operating environment, according to inspection operation ring
Border draught control suspension type crusing robot overcomes caused by weather and landform that inspection windage in high-altitude is big, low latitude inspection windage is small
Environment hinder, realize for suspension type crusing robot versatility use.
Description of the drawings
Fig. 1 is the structure diagram of the control system of the present invention.
Fig. 2 is the control method flow chart of the present invention.
The meaning marked in figure：1- suspension type crusing robots, 2- receivers of remote-control sytem, 3- remote control transmitters, 4- walkings pass
Sensor, 5- driving idler wheels, 6- guide rails, 7- receivers of remote-control sytem, 8- racks, 9- drive gears.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
Fig. 1 is the structure diagram of the control system of the present invention.The present invention proposes a kind of suspension type crusing robot control
System is applied on suspension type crusing robot 1, which is characterized in that including processor, remote control transmitter 3, receiver of remote-control sytem 2,
Walking sensor 4, the processor, the walking sensor 4 are installed in the suspension type inspection with the receiver of remote-control sytem 2
In robot 1, the processor communicates to connect respectively with the receiver of remote-control sytem 2, the walking sensor 4, the remote control hair
Emitter 3 is communicated to connect with the receiver of remote-control sytem 2, and the rack-and-pinion of walking is provided on the suspension type crusing robot 1
Walking mechanism, rolling wheel guide rails sliding equipment.
As a kind of preferred embodiment, the processor is used for：Obtain the walking type of suspension type crusing robot 1；
And according to the walking type, switch to walking mechanism control model corresponding with the walking type.
As a kind of preferred embodiment, the walking type of the suspension type crusing robot 1 includes：Rack and pinion engagement
Walking, rolling wheel guide rails slide walking.
As a kind of preferred embodiment, the receiver of remote-control sytem 2 is used to receive the remote control that the remote control transmitter 3 is sent out
Signal, the walking sensor 4 are used to detect that bottom is that rack engages guide rail mechanism startup or rail plate mechanisms, and will knot
Fruit is sent to the processor.
As a kind of preferred embodiment, the remote signal includes：For represent it is described walking type control signal,
For representing the control signal of the motion state of the suspension type crusing robot 1.
As a kind of preferred embodiment, the motion state of the suspension type crusing robot 1 include it is set forth below in
Several items：Rack-and-pinion engages clockwise, rack-and-pinion engages counterclockwise, rack-and-pinion does not engage, rolling wheel guide rails forward direction is opposite
It slides, reversely opposite slip, rolling wheel guide rails stop sliding rolling wheel guide rails.
As a kind of preferred embodiment, the rack and pinion engagement walking specifically includes：Described in the processor control
Drive gear 9 in rack-and-pinion walking mechanism is engaged with rack 8 drives the suspension type crusing robot 1 to walk.
As a kind of preferred embodiment, the rolling wheel guide rails slide walking and specifically include：Described in the processor control
Driving idler wheel 5 in rolling wheel guide rails sliding equipment carries out opposite slide with guide rail 6 and drives 1 row of suspension type crusing robot
It walks.
Fig. 2 is the control method flow chart of the present invention.The present invention proposes a kind of suspension type crusing robot control method, should
With on suspension type crusing robot 1, which is characterized in that include the following steps：Processor obtains the suspension type inspection machine
The walking type of people 1；And according to the walking type, switch to walking mechanism control mould corresponding with the walking type
Formula.
As a kind of preferred embodiment, the walking type of the suspension type crusing robot 1 includes：Rack and pinion engagement
Walking, rolling wheel guide rails slide walking.
As a kind of preferred embodiment, further include：The receiver of remote-control sytem 2 receives what the remote control transmitter 3 was sent out
Remote signal, the walking sensor 4 detect that bottom is rack engagement guide rail mechanism startup or rail plate mechanisms, and will be tied
Fruit is sent to the processor.
As a kind of preferred embodiment, the remote signal includes：For represent it is described walking type control signal,
For representing the control signal of the motion state of the suspension type crusing robot 1.
As a kind of preferred embodiment, the motion state of the suspension type crusing robot 1 include it is set forth below in
Several items：Rack-and-pinion engages clockwise, rack-and-pinion engages counterclockwise, rack-and-pinion does not engage, rolling wheel guide rails forward direction is opposite
It slides, reversely opposite slip, rolling wheel guide rails stop sliding rolling wheel guide rails.
As a kind of preferred embodiment, the rack and pinion engagement walking specifically includes：Processor controls rack-and-pinion
Drive gear 9 in walking mechanism is engaged with rack 8 drives the suspension type crusing robot 1 to walk.
As a kind of preferred embodiment, the rolling wheel guide rails slide walking and specifically include：Processor controls rolling wheel guide rails
Driving idler wheel 5 in sliding equipment carries out opposite slide with guide rail 6 and the suspension type crusing robot is driven to walk.
The present invention is not it should be noted that the driving shafting and skidding mechanism of suspension type crusing robot 1 have
It provides, drive gear 9 and the embodiment separated relatively of rack 8 also do not provide, it will be obvious to one with ordinary skill in the art that root
Suspension type inspection can be realized according to existing suspension type crusing robot 1 and respective drive shafting and skidding mechanism
The motion state of robot 1, such as rack-and-pinion engage clockwise, rack-and-pinion engages counterclockwise, rack-and-pinion does not engage, roll
Taking turns the opposite slip of guide rail forward direction, rolling wheel guide rails, reversely opposite slip, rolling wheel guide rails stop sliding, and the present invention repeats no more.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of suspension type crusing robot control system, is applied on suspension type crusing robot, which is characterized in that including place
Manage device, remote control transmitter, receiver of remote-control sytem, walking sensor, the processor, the walking sensor and the remote control reception
Device is installed on the suspension type crusing robot, and the processor senses respectively with the receiver of remote-control sytem, the walking
Device communicates to connect, and the remote control transmitter is communicated to connect with the receiver of remote-control sytem, is set on the suspension type crusing robot
There are rack-and-pinion walking mechanism, the rolling wheel guide rails sliding equipment of walking.
2. a kind of suspension type crusing robot control system according to claim 1, which is characterized in that the processor is used
In：Obtain the walking type of suspension type crusing robot；And it according to the walking type, switches to and the walking type phase
The walking mechanism control model answered.
3. a kind of suspension type crusing robot control system according to claim 2, which is characterized in that the suspension type is patrolled
The walking type of inspection robot includes：Rack and pinion engagement walking, rolling wheel guide rails slide walking.
A kind of 4. suspension type crusing robot control system according to claim 1, which is characterized in that the remote control reception
For receiving the remote signal that the remote control transmitter is sent out, the walking sensor is used to detect that bottom is that rack engagement is led device
Rail mechanism starts or rail plate mechanisms, and sends result to the processor.
A kind of 5. suspension type crusing robot control system according to claim 4, which is characterized in that the remote signal
Including：For represent the walking type control signal, for representing the motion state of the suspension type crusing robot
Control signal.
6. a kind of suspension type crusing robot control system according to claim 5, which is characterized in that the suspension type is patrolled
Examine robot motion state include it is set forth below in several items：Rack-and-pinion engages clockwise, rack-and-pinion is nibbled counterclockwise
It closes, rack-and-pinion does not engage, the opposite slip of rolling wheel guide rails forward direction, reversely opposite slip, rolling wheel guide rails stop sliding rolling wheel guide rails.
A kind of 7. suspension type crusing robot control system according to claim 3, which is characterized in that the rack-and-pinion
Engagement walking specifically includes：The processor controls the sliding tooth wheel and rack in the rack-and-pinion walking mechanism to be engaged
The suspension type crusing robot is driven to walk.
A kind of 8. suspension type crusing robot control system according to claim 3, which is characterized in that the rolling wheel guide rails
Walking is slided to specifically include：It is opposite that the processor controls the driving idler wheel in the rolling wheel guide rails sliding equipment to be carried out with guide rail
It slides and drives the suspension type crusing robot walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496655.2A CN108262746A (en) | 2017-12-31 | 2017-12-31 | A kind of suspension type crusing robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496655.2A CN108262746A (en) | 2017-12-31 | 2017-12-31 | A kind of suspension type crusing robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108262746A true CN108262746A (en) | 2018-07-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711496655.2A Pending CN108262746A (en) | 2017-12-31 | 2017-12-31 | A kind of suspension type crusing robot control system |
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| CN (1) | CN108262746A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110017789A (en) * | 2019-03-22 | 2019-07-16 | 淮阴工学院 | Vehicle collision deforming depth measuring device |
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| US20050281661A1 (en) * | 2001-09-04 | 2005-12-22 | Boris Kesil | End effector with force controlling mechanism |
| CN2759720Y (en) * | 2004-12-31 | 2006-02-22 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| CN101665128A (en) * | 2009-09-04 | 2010-03-10 | 重庆市电力公司超高压局 | Robot used for detecting high voltage transmission lines |
| CN103170980A (en) * | 2013-03-11 | 2013-06-26 | 常州铭赛机器人科技有限公司 | Positioning system and positioning method for household service robot |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN106976090A (en) * | 2017-06-07 | 2017-07-25 | 合肥汇之新机械科技有限公司 | A kind of security protection industrial robot |
-
2017
- 2017-12-31 CN CN201711496655.2A patent/CN108262746A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050281661A1 (en) * | 2001-09-04 | 2005-12-22 | Boris Kesil | End effector with force controlling mechanism |
| CN2759720Y (en) * | 2004-12-31 | 2006-02-22 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| CN101665128A (en) * | 2009-09-04 | 2010-03-10 | 重庆市电力公司超高压局 | Robot used for detecting high voltage transmission lines |
| CN103170980A (en) * | 2013-03-11 | 2013-06-26 | 常州铭赛机器人科技有限公司 | Positioning system and positioning method for household service robot |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN106976090A (en) * | 2017-06-07 | 2017-07-25 | 合肥汇之新机械科技有限公司 | A kind of security protection industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110017789A (en) * | 2019-03-22 | 2019-07-16 | 淮阴工学院 | Vehicle collision deforming depth measuring device |
| CN110017789B (en) * | 2019-03-22 | 2020-12-04 | 淮阴工学院 | Vehicle collision deformation depth measuring device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180710 |
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| RJ01 | Rejection of invention patent application after publication |