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A control system and working method of a walking robot outside a tube

A walking robot, control system technology, applied in control/regulation system, two-dimensional position/channel control, non-electric variable control and other directions, can solve the problem of no public control system and so on

Inactive Publication Date: 2014-10-29
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] Although the applicant has disclosed the mechanical structure of the walking robot outside the tube, its control system has not been disclosed

Method used

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  • A control system and working method of a walking robot outside a tube
  • A control system and working method of a walking robot outside a tube

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Experimental program
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Embodiment Construction

[0030] like figure 1 , 2 Shown, a kind of control system of walking robot outside the tube, it is by the front-end camera 1 that is installed on the body of the walking robot outside the tube, back-end camera 2, wireless transceiver 4, embedded main control machine 1 and by the staff Composed of handheld wireless monitoring terminals operated by remote control;

[0031] Described front-end camera 2 is a kind of camera with the cloud platform, can control its shooting direction arbitrarily, is positioned at the front end of walking robot outside the tube, is used for photographing the image of scene; Back-end camera 3 is also a kind of camera with the cloud platform, Its shooting direction can be adjusted arbitrarily. It is located at the back end of the walking robot outside the tube, and is used to shoot images of the scene;

[0032] Described wireless transceiver 4 is made up of wifi module, power supply module and antenna connection; Wireless transceiver 4 is used for acc...

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PUM

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Abstract

The invention discloses a control system of a robot walking outside pipes and a working method of the robot walking outside pipes. The control system consists of a front camera, a rear camera, a radio transceiver, an embedded main control machine and a handhold wireless monitoring terminal, wherein the front camera, the rear camera, the radio transceiver and the embedded main control machine are arranged on the body of the robot walking outside pipes, and the handhold wireless monitoring terminal is operated by workers. According to the control system, the robot walking outside the pipes can be controlled to climb various pipes in a complex pipe environment through controlling the former components, such as straight pipes, bent pipes, T-shaped pipes or cross pipes, and can rotate leftwards or rightwards around the pipelines, so that the application requirements of continuously detecting, maintaining, repairing or cleaning the external parts of the pipes and various column-shaped work pieces can be met.

Description

technical field [0001] The invention relates to the technical field of bionic robot control, in particular to a control system and working method of a walking robot outside a tube. Background technique [0002] Regular inspection, maintenance and repair of industrial pipelines, bridge stay cables, cables, etc. are essential. If the manual method is used, it not only consumes a lot of manpower and material resources, but also has low efficiency and poor safety, and many occasions cannot allow manual work at all. [0003] At present, there are also some reports or patents on the research of walking robots outside the tube. Robots working on the outer surface of pipelines generally adopt various moving modes such as peristaltic, spiral, rolling, and alternate climbing, but they often have some application limitations. For example, most of them can only move along the pipeline. Direction walking does not have the function of turning around the pipe, some cannot cross the obsta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D3/00
Inventor 樊炳辉纪鹏王传江周凯李建功郭鹏闵凤
Owner SHANDONG UNIV OF SCI & TECH