Two-arm inspection robot control system based on field bus

A line inspection robot and field bus technology, applied in two-dimensional position/channel control, digital control, electrical program control, etc., can solve problems such as inability to cross, improve inspection efficiency, ensure normal operation, and ensure real-time performance effect with accuracy

Inactive Publication Date: 2010-07-07
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

But this kind of robot can only cross obstacles arranged at eq

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  • Two-arm inspection robot control system based on field bus
  • Two-arm inspection robot control system based on field bus
  • Two-arm inspection robot control system based on field bus

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Embodiment Construction

[0045] The present invention is a dual-arm inspection robot control system based on the field bus, which is based on an embedded microprocessor and an industrial computer, and is suitable for inspection operations of high-voltage transmission lines. The robot controls the host computer, motion control unit, sensor unit, and system status It consists of a monitoring unit and a testing equipment control unit.

[0046] Among them, the robot control host is composed of embedded PC 104 computer, image acquisition card and wireless network card, which is the core part of the robot controller; the motion control unit is composed of ARM control board, FPGA control board and CPLD servo drive board, and the ARM control board is mainly Including ARM9 microprocessor, field bus interface, PC104 interface and RS232 interface, FPFA control board mainly includes FPGA chip, ROM configuration chip and PC104 interface, CPLD servo drive board mainly includes CPLD chip and clock chip, H bridge cont...

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Abstract

The invention discloses a two-arm inspection robot control system based on a field bus, which relates to the robot manufacture technology and is an automatic control system of an inspection system, and used for operations on a high-voltage power transmission line. The two-arm inspection robot control system comprises a robot control host machine, a motion control unit, a sensor unit, a system state monitoring unit, a detection equipment control unit and a ground base station. The robot control host machine plans actions according to information collected by the sensor unit, the motion control unit controls each joint, monitors the running state of the whole control system and each detection equipment in real time and contacts with the ground base station through a wireless network, and each unit communicates with the robot control host machine in real time through the field bus. The two-arm inspection robot control system based on the field bus adopts a distributed hardware structure, is suitable for a series of operations of routing inspection, deicing and the like on the high-voltage power transmission line, and is beneficial to ensuring the safe and reliable operation of the national power system.

Description

technical field [0001] The invention relates to a fieldbus-based dual-arm line inspection robot control system, relates to the technical field of advanced robot manufacturing, and is an automatic control system for an inspection system used in high-voltage transmission line operations. The control system of the entire robot is composed of a distributed hardware structure, forming an advanced robot control system suitable for a series of operations such as inspections and deicing on high-voltage transmission lines. Background technique [0002] As the main way of power transmission, high-voltage transmission lines are the main arteries of the national economy, and their safe and reliable operation is an important guarantee for social production and people's lives. However, transmission lines are exposed to harsh weather conditions such as sun, rain, and strong winds for a long time, and are prone to damage such as broken strands, corrosion, and off-lines. If the ice is too t...

Claims

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Application Information

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IPC IPC(8): G05B19/414G05D1/02
Inventor 李恩梁自泽谭民杨国栋范长春
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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