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Intelligent controller of inspection robot

A technology of intelligent controller and line patrol robot, applied in the field of robotics, can solve the problems of inaccurate positioning and inability to global positioning ability, and achieve the effects of long service life, easy promotion, and free-moving positioning.

Inactive Publication Date: 2011-07-06
WUHAN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Another purpose of the present invention is to solve the technical problems existing in the prior art that existing robots cannot have global positioning capabilities and inaccurate positioning when they move freely on the line; a navigation system and a motion control module with global positioning capabilities are provided. The intelligent controller of the line inspection robot that realizes the free movement and precise positioning of the robot on the line

Method used

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Experimental program
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Embodiment

[0029] An intelligent controller for a line-following robot, characterized in that it comprises:

[0030] Central control module: It is the hardware core of the intelligent controller of the line patrol robot. It is composed of three PC104 bus-based board stacks, one CPU module (PCM-3370) and two data acquisition modules (PM511P and PCM-5132), The inspection steps of the robot can be independently planned according to the preset program and the tower and line information. For the centralized management and allocation of system resources, an interface board is specially designed, its function is to concentrate the resources (A / D, D / A, I / O, etc.) The interface board is distributed as needed to control other boards, motor drivers and detect various sensor signals (including electromagnetic sensor signals, current sensor signals and photoelectric sensor signals).

[0031] The specific introduction is as follows: The central control module of the line patrol robot body is composed...

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PUM

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Abstract

The invention relates to a controller in the robot field, in particular to an embedded intelligent controller applied to an inspection robot for an overhead power line. The inspection robot running along the overhead power line in a long distance firstly needs enough energy supply, and currently, a battery power supply is adopted according to traditional national and international documents, thereby the endurance is limited. For realizing independent inspection, various obstacles, such as stockbridge dampers, suspension insulators, wire clamps, towers, and the like need to be overcome, therefore, a set of navigation system with global positioning capability and a motion control module are needed to realize the free motion of the robot on the line. Accordingly, the invention has the advantages of reasonable design, simple structure, long service life and easiness for popularization, and the robot can freely move and be accurately positioned on the line by the navigation system with the global positioning capability and the motion control module.

Description

technical field [0001] The invention relates to a controller in the field of robots, in particular to an embedded intelligent controller applied to an overhead power line inspection robot. Background technique [0002] The line inspection robot is an integration of many high-tech technologies. Using intelligent robots for line inspection is an inevitable trend in the development of robotics and power inspection technology, and it is also a new research field for special robots. Using robots to inspect lines will avoid the impact of manual inspection on inspection accuracy, reach routes that are difficult to reach manually, improve inspection efficiency, and greatly reduce inspection labor intensity and potential risks of manual inspection. Compared with using helicopters to inspect lines, using robots to inspect lines will greatly reduce the high cost of line inspections, and at the same time can accurately obtain line status information, providing a scientific basis for imp...

Claims

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Application Information

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IPC IPC(8): B25J13/00G05D1/02
Inventor 吴功平黄正烈郑拓刘欢
Owner WUHAN UNIV
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