CN108748148B - Intelligent electrical control system for intelligent climbing robot and control method thereof - Google Patents
Intelligent electrical control system for intelligent climbing robot and control method thereof Download PDFInfo
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- CN108748148B CN108748148B CN201810561383.8A CN201810561383A CN108748148B CN 108748148 B CN108748148 B CN 108748148B CN 201810561383 A CN201810561383 A CN 201810561383A CN 108748148 B CN108748148 B CN 108748148B
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention relates to an intelligent electrical control system for an intelligent climbing robot and a control method thereof. The control method comprises three steps of equipment assembly, operation control, climbing control and the like. The climbing robot device has the advantages of simple structure, low cost, convenience in installation and use, high integration and automation degree, high operation reliability and anti-interference capability, comprehensive data acquisition and acquisition capacity, and good autonomous operation capability and remote communication capability, so that the reliability of the control operation of the climbing robot device is further improved.
Description
Technical Field
The invention relates to an intelligent electrical control system for an intelligent climbing robot and a control method thereof, belonging to the technical field of robots.
Background
In the modern society, although elevators are used more commonly, there are also many places, such as buildings with low floors, old residential buildings, many tourist attractions, mountain stairs and the like, where elevators are not installed basically. This is very inconvenient for people in these places, especially the elderly and people with disabled legs, to go out, and it is very difficult to carry heavy objects. Therefore, the climbing robot becomes an important means and equipment for solving the series of problems, and various climbing robot equipment and technologies are rapidly popularized and applied at present, but in the practical application of the climbing robot, the control systems adopted by various climbing robots at present are based on the control systems of the traditional laser ranging device, the traditional ultrasonic ranging device and the traditional satellite navigation system as the obstacle and step information data identification device on the path, and meanwhile, the robot needs to perform translation and climbing operation within a certain range through manual field control, although the mode can meet the use requirement, the laser ranging device and the traditional ultrasonic ranging device are found to have high equipment operation cost to different degrees in use, and the ranging precision is easily influenced by the interference of environmental factors in the operation process, in addition, the reliability, stability and use cost of the current climbing robot in operation control are greatly influenced and cannot effectively meet the actual use requirements, in the operation of the current climbing robot, the data acquisition capacity and the communication interaction capacity are relatively poor, and the control accuracy of the operation control of the current climbing robot is greatly influenced when the information acquired in the operation process of the robot and the information interaction capacity between the remote control terminal equipment are relatively low while the accurate structural data information of obstacles or step structures cannot be acquired through a laser distance measuring device, an ultrasonic distance measuring device, a satellite navigation system and the like, so that the control accuracy of the operation control of the current climbing robot is greatly influenced, and the problems are easily caused, so that the control accuracy of the control system of the current climbing robot equipment in the driving operation of the climbing robot exists in different degrees, low operation automation degree and insufficient operation reliability and stability.
In order to solve the problems, an intelligent climbing robot automatic control circuit which is based on touch and vision, is intelligently controlled and has excellent data communication capacity is urgently needed to be developed and designed, is used for climbing stairways and sloping fields, does not need manual assistance in the working process, can automatically go up and down stairs, meets the actual use requirement, and creates great social benefit and economic benefit.
Disclosure of Invention
In order to overcome some defects in the prior classification technology, the invention provides an intelligent electrical control system for an intelligent climbing robot and a control method thereof.
In order to achieve the above-mentioned effects, an intelligent electrical control system for an intelligent climbing robot and a control method thereof are provided, which comprises the following steps:
an intelligent electrical control system for an intelligent climbing robot comprises a plurality of visual sensors, touch sensors and a control circuit, wherein the visual sensors and the touch sensors form a working group, at least two working groups are formed, each working group is connected with the outer surface of a robot body through a rotary table structure, one working group is positioned on the front end surface of the robot body, the other working group is positioned on the lower end surface of the robot body, the axial lines of the visual sensors and the touch sensors in the working group on the front end surface of the robot body form an included angle of 0-60 degrees with the horizontal plane, the axial lines of the visual sensors and the touch sensors in the working group on the lower end surface of the robot body form an included angle of 30-90 degrees with the horizontal plane, and the working groups are connected in parallel and are respectively electrically connected with the control circuit, the control circuit is embedded in the robot body and is electrically connected with the control circuit and the rotating mechanism of the robot body.
Furthermore, the vision sensor is any one or more of a CCD image sensor, a distance measuring device and a photosensitive sensor, and when the vision sensor is any two or more of the CCD image sensor, the distance measuring device and the photosensitive sensor, optical axes of the CCD image sensor, the distance measuring device and the photosensitive sensor of the same vision sensor are distributed in parallel.
Furthermore, the touch sensor is any one or more of a micro switch structure, a conductive rubber type structure, a carbon-containing sponge type structure, a carbon fiber type structure, a pneumatic reset type structure and a pressure sensor.
Furthermore, the rotating mechanism is any one of a two-dimensional rotating table and a three-dimensional rotating table, and at least one angle sensor is arranged on each rotating mechanism and is electrically connected with the control circuit.
Further, the control circuit comprises a data processing module, a graphic accelerator module, a driving module, a field bus module, a crystal oscillator circuit module, an address coding and decoding module, a data cache module, a wireless communication module, a serial communication module, a radio frequency communication module, a GNSS satellite positioning module and a data storage module, wherein the field bus module is respectively and electrically connected with the data processing module, the graphic accelerator module, the driving module, the crystal oscillator circuit module, the address coding and decoding module, the wireless communication module, the serial communication module, the radio frequency communication module, the GNSS satellite positioning module and the data storage module through the data cache module, the data processing module and the graphic accelerator module are further connected with each other through the data cache module, and the driving module is further connected with the wireless communication module, the serial communication module, the radio frequency communication module, the GNSS satellite positioning module and the data storage module, The GNSS satellite positioning module, the data storage module, the visual sensor, the touch sensor and the rotating mechanism are electrically connected.
Furthermore, the wireless communication module is any one or more of a bluetooth module, a WIFI communication module and a Zigbee communication module, and when the wireless communication module is two or more of the bluetooth module, the WIFI communication module and the Zigbee communication module, the bluetooth module, the WIFI communication module and the Zigbee communication module are connected in parallel.
An intelligent electrical control system for an intelligent climbing robot and a control method thereof comprise the following steps:
firstly, equipment assembly, namely, according to use requirements, firstly, a control circuit is installed in a robot body and is electrically connected with a control circuit of the robot body on one hand, and is electrically connected with a rotating mechanism, a visual sensor and a touch sensor of each working group on the other hand, so that the equipment assembly is completed.
Secondly, operation control, in the operation process of the robot equipment, the distance between the front end surface of the robot and an obstacle right in front and the distance between the bottom of the robot and the ground plane are continuously detected through the detection of visual sensors in each working group arranged on the front end surface and the lower end surface of the robot body respectively, the gradient of the operation path of the robot and the position of a boss of a step on the operation path are judged, and the control circuit of the robot body is driven by the control circuit to operate according to the detection data, so that the robot operates according to the path, the remote control of the running state of the robot and the remote monitoring and adjustment of the running parameters of the robot are realized through the wireless communication module, the serial communication module and the radio frequency communication module, meanwhile, the operation path and the track of the robot are monitored and adjusted through the GNSS satellite positioning module, so that the operation state of the robot is controlled;
thirdly, climbing control, in the second step of operation, when a vision sensor in a working group of the front end face of the robot detects that a step boss structure appears on a traveling path, on one hand, the distance between the robot and the step boss structure is continuously detected through the vision sensor until a touch sensor in the working group of the front end face of the robot is abutted against the step boss structure, and simultaneously, the operation state of the robot in the horizontal direction is stopped, then, the operation state of the working group of the front end face of the robot is kept unchanged, the step boss structure is continuously detected, and simultaneously, a control circuit drives an operation circuit of a robot body and a working group positioned on the lower end face of the robot to operate, on the one hand, a mechanical part of the robot is driven by the operation circuit of the robot body to lift the robot, on the other hand, the distance between the lower end face of the robot and the ground plane is continuously detected by the working group positioned on the lower end face of the robot, the robot is driven by a driving circuit to operate after the distance between the lower end face of the robot and the ground plane is ensured to be larger than the maximum height of the step boss structure, and meanwhile, after the front end face of the robot does not influence an obstacle in the translational operation of the robot, the operation circuit of a robot body is driven by the driving circuit to operate, the robot is lifted to the step boss structure from the current path through the mechanical structure of the robot, meanwhile, the distance between the lower end face of the robot and the ground plane is continuously detected by the working group of the lower end face of the robot, the stability between the height of the robot body and the ground plane is ensured when the robot is translated, collision accidents are prevented from occurring, and the purpose of climbing operation of the robot is achieved.
Furthermore, in the second step, when the working groups measure the distance between the front end face of the robot and an obstacle in the front and the distance between the ground plane and the bottom of the robot, the included angle between the axis of the working group and the horizontal plane is flexibly adjusted through the rotating mechanism, and the detection range of the visual sensor and the touch sensor in each working group is increased.
Furthermore, when the working groups perform distance measurement operation on the distance between the front end face of the robot and an obstacle in front of the robot and the distance between the ground plane and the bottom of the robot, the effective detection range of the middle visual sensor and the effective detection range of the touch sensor of each working group are +/-120 degrees on the horizontal plane and +/-90 degrees on the vertical plane.
The invention has simple structure, low cost, convenient installation and use, high integration, high automation degree, strong operation reliability and anti-interference capability, comprehensive data acquisition and acquisition quantity, and good autonomous operation capability and remote communication capability, on one hand, the invention effectively improves the environmental adaptability and the anti-interference capability of the control system in the operation process of the climbing robot, thereby greatly improving the working efficiency and the precision of data acquisition, avoiding the control precision reduction caused by poor data acquisition precision and comprehensiveness, failure of the control system and the like, on the other hand, in the data acquisition, the invention can respectively and directly acquire the video information of obstacles, steps and the like on the traveling path of the robot, and the distance information between the robot and the obstacles and the ground plane on the traveling path in a non-contact measurement and contact measurement synchronous manner, therefore, the comprehensiveness of information acquisition is improved, meanwhile, the reliability and the anti-interference performance of the information acquisition process are improved, the operation precision of the control system is improved, meanwhile, remote information communication interaction between operation data and control data can be achieved through various communication modes, the control mode combining autonomous operation and remote control is achieved, and the reliability of the control operation of the climbing robot device is further improved.
Drawings
The invention is described in detail below with reference to the drawings and the detailed description;
FIG. 1 is a side schematic view of the present invention;
FIG. 2 is a schematic block diagram of the present invention;
FIG. 3 is a schematic view of the orientation structure of the present invention;
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The intelligent electrical control system for the intelligent climbing robot as shown in fig. 1-3 comprises a plurality of visual sensors 1, a plurality of touch sensors 2 and a control circuit 3, wherein one of the visual sensors 1 and the touch sensors 2 forms a working group, at least two working groups are formed by one of the visual sensors 1 and the touch sensors 2, each working group is connected with the outer surface of a robot body 5 through a turntable structure 4, one of the working groups is positioned on the front end surface of the robot body 5, the other working group is positioned on the lower end surface of the robot body 5, the axial lines of the visual sensors 1 and the touch sensors 2 in the working group on the front end surface of the robot body 5 form an included angle of 0-60 degrees with the horizontal plane, and the axial lines of the visual sensors 1 and the touch sensors 2 in the working group on the lower end surface of the robot body 5 form an included angle of 30-90 degrees with the horizontal plane, and all the working groups are mutually connected in parallel and are respectively electrically connected with the control circuit 3, and the control circuit 3 is embedded in the robot body 5 and is electrically connected with the control circuit 3 and the rotating mechanism 4 of the robot body 5.
In this embodiment, the vision sensor 1 is any one or more of a CCD image sensor, a distance measuring device, and a photosensitive sensor, and when the vision sensor 1 is any two or more of the CCD image sensor, the distance measuring device, and the photosensitive sensor, optical axes of the CCD image sensor, the distance measuring device, and the photosensitive sensor of the same vision sensor 1 are distributed in parallel.
In this embodiment, the tactile sensor 2 is any one or more of a microswitch structure, a conductive rubber structure, a carbon-containing sponge structure, a carbon fiber structure, a pneumatic reset structure and a pressure sensor.
In this embodiment, the rotating mechanism 4 is any one of a two-dimensional turntable and a three-dimensional turntable, and the rotating mechanism is provided with at least one angle sensor 6, and the angle sensor 6 is electrically connected with the control circuit 3.
In this embodiment, the control circuit includes a data processing module, a graphics accelerator module, a driving module, a field bus module, a crystal oscillator circuit module, an address coding and decoding module, a data cache module, a wireless communication module, a serial communication module, a radio frequency communication module, a GNSS satellite positioning module, and a data storage module, wherein the field bus module is electrically connected to the data processing module, the graphics accelerator module, the driving module, the crystal oscillator circuit module, the address coding and decoding module, the wireless communication module, the serial communication module, the radio frequency communication module, the GNSS satellite positioning module, and the data storage module through the data cache module, the data processing module and the graphics accelerator module are further connected to each other through the data cache module, and the driving module is further connected to the wireless communication module, the serial communication module, the radio frequency communication module, the GNSS satellite positioning module, and the data storage module, The GNSS satellite positioning module, the data storage module, the visual sensor 1, the touch sensor 2 and the rotating mechanism 4 are electrically connected.
In this embodiment, the wireless communication module is any one or more of a bluetooth module, a WIFI communication module and a Zigbee communication module, and when the wireless communication module is two or more of a bluetooth module, a WIFI communication module and a Zigbee communication module, the bluetooth module, the WIFI communication module and the Zigbee communication module are connected in parallel.
An intelligent electrical control system for an intelligent climbing robot and a control method thereof comprise the following steps:
firstly, equipment assembly, namely, according to use requirements, firstly, a control circuit is installed in a robot body and is electrically connected with a control circuit of the robot body on one hand, and is electrically connected with a rotating mechanism, a visual sensor and a touch sensor of each working group on the other hand, so that the equipment assembly is completed.
Secondly, operation control, in the operation process of the robot equipment, the distance between the front end surface of the robot and an obstacle right in front and the distance between the bottom of the robot and the ground plane are continuously detected through the detection of visual sensors in each working group arranged on the front end surface and the lower end surface of the robot body respectively, the gradient of the operation path of the robot and the position of a boss of a step on the operation path are judged, and the control circuit of the robot body is driven by the control circuit to operate according to the detection data, so that the robot operates according to the path, the remote control of the running state of the robot and the remote monitoring and adjustment of the running parameters of the robot are realized through the wireless communication module, the serial communication module and the radio frequency communication module, meanwhile, the operation path and the track of the robot are monitored and adjusted through the GNSS satellite positioning module, so that the operation state of the robot is controlled;
thirdly, climbing control, in the second step of operation, when a vision sensor in a working group of the front end face of the robot detects that a step boss structure appears on a traveling path, on one hand, the distance between the robot and the step boss structure is continuously detected through the vision sensor until a touch sensor in the working group of the front end face of the robot is abutted against the step boss structure, and simultaneously, the operation state of the robot in the horizontal direction is stopped, then, the operation state of the working group of the front end face of the robot is kept unchanged, the step boss structure is continuously detected, and simultaneously, a control circuit drives an operation circuit of a robot body and a working group positioned on the lower end face of the robot to operate, on the one hand, a mechanical part of the robot is driven by the operation circuit of the robot body to lift the robot, on the other hand, the distance between the lower end face of the robot and the ground plane is continuously detected by the working group positioned on the lower end face of the robot, the robot is driven by a driving circuit to operate after the distance between the lower end face of the robot and the ground plane is ensured to be larger than the maximum height of the step boss structure, and meanwhile, after the front end face of the robot does not influence an obstacle in the translational operation of the robot, the operation circuit of a robot body is driven by the driving circuit to operate, the robot is lifted to the step boss structure from the current path through the mechanical structure of the robot, meanwhile, the distance between the lower end face of the robot and the ground plane is continuously detected by the working group of the lower end face of the robot, the stability between the height of the robot body and the ground plane is ensured when the robot is translated, collision accidents are prevented from occurring, and the purpose of climbing operation of the robot is achieved.
In this embodiment, in the second step, when the working group measures the distance between the front end face of the robot and an obstacle in front of the robot and the distance between the ground plane and the bottom of the robot, the included angle between the axis of the working group and the horizontal plane is flexibly adjusted through the rotating mechanism, so that the detection range of the visual sensor and the detection range of the touch sensor in each working group are increased.
In this embodiment, when the working groups perform distance measurement operation on the distance between the front end surface of the robot and an obstacle in front of the robot and the distance between the ground plane and the bottom of the robot, the effective detection ranges of the middle visual sensor and the touch sensor of each working group are ± 120 ° on the horizontal plane and ± 90 ° on the vertical plane.
The invention has simple structure, low cost, convenient installation and use, high integration, high automation degree, strong operation reliability and anti-interference capability, comprehensive data acquisition and acquisition quantity, and good autonomous operation capability and remote communication capability, on one hand, the invention effectively improves the environmental adaptability and the anti-interference capability of the control system in the operation process of the climbing robot, thereby greatly improving the working efficiency and the precision of data acquisition, avoiding the control precision reduction caused by poor data acquisition precision and comprehensiveness, failure of the control system and the like, on the other hand, in the data acquisition, the invention can respectively and directly acquire the video information of obstacles, steps and the like on the traveling path of the robot, and the distance information between the robot and the obstacles and the ground plane on the traveling path in a non-contact measurement and contact measurement synchronous manner, therefore, the comprehensiveness of information acquisition is improved, meanwhile, the reliability and the anti-interference performance of the information acquisition process are improved, the operation precision of the control system is improved, meanwhile, remote information communication interaction between operation data and control data can be achieved through various communication modes, the control mode combining autonomous operation and remote control is achieved, and the reliability of the control operation of the climbing robot device is further improved.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A control method of an intelligent electrical control system for an intelligent climbing robot is characterized by comprising the following steps: the control method comprises the following steps:
firstly, equipment assembly, namely firstly installing a control circuit into a robot body according to use requirements, and electrically connecting the control circuit with an operation circuit of the robot body on one hand and electrically connecting the control circuit with a rotating mechanism, a visual sensor and a touch sensor of each working group on the other hand respectively to finish equipment assembly;
secondly, operation control, in the operation process of the robot equipment, the distance between the front end surface of the robot and an obstacle right in front and the distance between the bottom of the robot and the ground plane are continuously detected through the detection of visual sensors in each working group arranged on the front end surface and the lower end surface of the robot body respectively, the gradient of the operation path of the robot and the position of a boss of a step on the operation path are judged, and the control circuit of the robot body is driven by the control circuit to operate according to the detection data, so that the robot operates according to the path, the remote control of the running state of the robot and the remote monitoring and adjustment of the running parameters of the robot are realized through the wireless communication module, the serial communication module and the radio frequency communication module, meanwhile, the operation path and the track of the robot are monitored and adjusted through the GNSS satellite positioning module, so that the operation state of the robot is controlled;
thirdly, climbing control, in the second step of operation, when a vision sensor in a working group of the front end face of the robot detects that a step boss structure appears on a traveling path, on one hand, the distance between the robot and the step boss structure is continuously detected through the vision sensor until a touch sensor in the working group of the front end face of the robot is abutted against the step boss structure, and simultaneously, the operation state of the robot in the horizontal direction is stopped, then, the operation state of the working group of the front end face of the robot is kept unchanged, the step boss structure is continuously detected, and simultaneously, a control circuit drives an operation circuit of a robot body and a working group positioned on the lower end face of the robot to operate, on the one hand, a mechanical part of the robot is driven by the operation circuit of the robot body to lift the robot, on the other hand, the distance between the lower end face of the robot and the ground plane is continuously detected by the working group positioned on the lower end face of the robot, the robot is driven by a driving circuit to operate after the distance between the lower end face of the robot and the ground plane is ensured to be larger than the maximum height of the step boss structure, and meanwhile, after the front end face of the robot does not influence an obstacle in the translational operation of the robot, the operation circuit of a robot body is driven by the driving circuit to operate, the robot is lifted to the step boss structure from the current path through the mechanical structure of the robot, meanwhile, the distance between the lower end face of the robot and the ground plane is continuously detected by the working group of the lower end face of the robot, the stability between the height of the robot body and the ground plane is ensured when the robot is translated, collision accidents are prevented from occurring, and the purpose of climbing operation of the robot is achieved.
2. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 1, wherein: in the second step, when the working group measures the distance between the front end face of the robot and an obstacle in the front and the distance between the ground plane and the bottom of the robot, the included angle between the axis of the working group and the horizontal plane is flexibly adjusted through the rotating mechanism, and the detection range of the visual sensor and the detection range of the touch sensor in each working group are increased.
3. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 1, wherein: when the working groups perform distance measurement operation on the distance between the front end face of the robot and an obstacle in front of the robot and the distance between the ground plane and the bottom of the robot, the effective detection range of the middle visual sensor and the effective detection range of the touch sensor of each working group are +/-120 degrees on the horizontal plane and +/-90 degrees on the vertical plane.
4. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 1, wherein: in the control system under the control method, the intelligent electrical control circuit for the intelligent climbing robot comprises a plurality of visual sensors, touch sensors and a control circuit, wherein one visual sensor and one touch sensor form a working group, at least two working groups are arranged, each working group is mutually connected with the outer surface of the robot body through a turntable structure, one working group is positioned on the front end surface of the robot body, the other working group is positioned on the lower end surface of the robot body, the axial lines of the visual sensors and the touch sensors in the working group on the front end surface of the robot body form an included angle of 0-60 degrees with the horizontal plane, the axial lines of the visual sensors and the touch sensors in the working group on the lower end surface of the robot body form an included angle of 30-90 degrees with the horizontal plane, and the working groups are mutually connected in parallel, and the control circuit is respectively and electrically connected with the control circuit, embedded in the robot body and electrically connected with the control circuit and the rotating mechanism of the robot body.
5. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 4, wherein: the vision sensor is any one or more of a CCD image sensor, a distance measuring device and a photosensitive sensor, and when the vision sensor is any two or more of the CCD image sensor, the distance measuring device and the photosensitive sensor, optical axes of the CCD image sensor, the distance measuring device and the photosensitive sensor of the same vision sensor are distributed in parallel.
6. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 4, wherein: the touch sensor is one or more of a micro switch structure, a conductive rubber type structure, a carbon-containing sponge type structure, a carbon fiber type structure, a pneumatic reset type structure and a pressure sensor.
7. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 4, wherein: the rotating mechanism is any one of a two-dimensional rotating table and a three-dimensional rotating table, and at least one angle sensor is arranged on each rotating mechanism and is electrically connected with the control circuit.
8. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 4, wherein: the control circuit comprises a data processing module, a graphic accelerator module, a driving module, a field bus module, a crystal oscillator circuit module, an address coding and decoding module, a data cache module, a wireless communication module, a serial communication module, a radio frequency communication module, a GNSS satellite positioning module and a data storage module, wherein the field bus module is respectively and electrically connected with the data processing module, the graphic accelerator module, the driving module, the crystal oscillator circuit module, the address coding and decoding module, the wireless communication module, the serial communication module, the radio frequency communication module, the GNSS satellite positioning module and the data storage module through the data cache module, the data processing module and the graphic accelerator module are further connected with each other through the data cache module, and the driving module is further connected with the wireless communication module, the serial communication module, the radio frequency communication module, the GNSS satellite positioning module, The data storage module is electrically connected with the visual sensor, the touch sensor and the rotating mechanism.
9. The control method of the intelligent electrical control system for the intelligent climbing robot as claimed in claim 8, wherein: the wireless communication module is any one or more of a Bluetooth module, a WIFI communication module and a Zigbee communication module, and when the wireless communication module is two or more of the Bluetooth module, the WIFI communication module and the Zigbee communication module, the Bluetooth module, the WIFI communication module and the Zigbee communication module are connected in parallel.
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| CN111813118B (en) * | 2020-07-11 | 2023-10-27 | 烟台汽车工程职业学院 | Obstacle surmounting type intelligent inspection robot and control system thereof |
| CN113877827B (en) * | 2021-09-14 | 2023-06-16 | 深圳玩智商科技有限公司 | Logistics part grabbing method, grabbing equipment and storage medium |
| CN113894050B (en) * | 2021-09-14 | 2023-05-23 | 深圳玩智商科技有限公司 | Logistics part sorting method, sorting equipment and storage medium |
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| CN108748148A (en) | 2018-11-06 |
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