A control system of bridge cable detection robot

Abstract

The invention relates to a control system for a bridge cable detection robot, which includes a host computer, a motion control unit and a wireless communication unit. The motion control unit includes a main controller, a driver, a position and speed control module, and a sensor detection module. The unit sends the control signal to the main controller, the main controller is connected to the driver, the driver is connected to the robot through the position and speed control module, the sensor detection module monitors the speed, direction of travel and travel range of each wheel of the robot in real time, and detects The obtained signal is sent to the main controller, and the main controller compares this signal with the signal sent by the host computer to form a control error signal, which is fed back to the driver, and the driver adjusts the robot to form a closed-loop control of the robot. Compared with the prior art, the invention has the advantages of high control precision, high work efficiency, enhanced self-adaptive ability, good stability and the like.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a control system of a bridge cable detection robot based on a PLC controller and wireless communication technology. Background technique [0002] The current cable inspection work is mainly carried out by inspectors who carry repair tools to climb the cables by themselves. This not only consumes manpower, but the work efficiency is not high, and there is a risk of the inspection workers falling. The inspection robot came into being. The bridge cable inspection robot is an industrial robot that replaces the high-altitude inspection workers in the field of cable-stayed bridge cable inspection for cable inspection tasks. However, the bridge cable inspection robot technology has just started and is still in the research and development stage. The travel distance of the existing wheeled cable inspection robot is determined by the pulse number of the encoder, which cannot effectively contr...

AI Technical Summary

Problems solved by technology

[0002] The current cable inspection work is mainly carried out by inspectors who carry repair tools to climb the cables by themselves. This not only consumes manpower, but the work efficiency is not high, and there is a risk of the inspection workers falling. The inspection robot came into being. The bridge cable inspection robot is an industrial robot that replaces the high-altitude inspection workers in the field of cable-stayed bridge cable inspection for cable inspection tasks.

However, the bridge cable detection robot technology has just started and is still in the research and development stage. The travel distance of the existing wheeled cable detection robot is determined by the pulse number of the encoder, which cannot effectively control the error caused by wheel slippage.

Secondly, since the robot travels upward along the cable, the stability of wireless signal transmission during the movement is a key parameter, and the travel speed is limited.

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