The invention discloses a pole-climbing robot control system, and belongs to the technical field of industrial robots. The control system comprises an upper computer, development control software is arranged in the upper computer, the upper computer is in communication connection with a single chip microcomputer, a picture sensor, an ultrasonic ranging sensor and a pressure sensor through a serial port interactive communication module, a base body motion control module comprises a creeping motion control module and a crossing motion control module, a base body comprises a second joint, a first joint and a third joint which are sequentially arranged in parallel and rotate, the first joint rotates in a creeping motion mode, the second joint and the third joint rotate in a crossing motion mode, the ultrasonic ranging sensor is used for measuring the distance between the front part of the pole-climbing robot and a pipeline protrusion, the next motion mode is determined according to data sent back by the ultrasonic ranging sensor, the clamping mechanism controls clamping opening and closing of module clamping mechanisms, and the two clamping mechanisms are respectively connected with the second joint and the third joint. The pole-climbing robot has climbing and creeping motion modes and has an obstacle avoidance function.
本发明公开了一种爬杆机器人控制系统,属于工业机器人技术领域,包括上位机,上位机内置开发控制软件,上位机分别与单片机、图片传感器、超声波测距传感器、压力传感器通过串口交互通讯模块以通讯连接,基体运动控制模块包括蠕动运动控制模块和翻越运动控制模块,基体包括平行依次设置均转动的第二关节、第一关节、第三关节,第一关节转动为蠕动运动模式,第二关节、第三关节转动为翻越运动模式,超声波测距传感器用于爬杆机器人前部与管道凸起的距离,根据超声波测距传感器传回的数据决定下一步的运动模式;夹持机构控制模块夹持机构的夹持开闭;两个夹持机构分别与第二关节、第三关节相连。该爬杆机器人具有翻越和蠕动运动模式,具有避障功能。
Pole-climbing robot control system and control method thereof
一种爬杆机器人控制系统及其控制方法
2021-07-16
Patent
Electronic Resource
Chinese
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