Control system of converter valve hall inner wall cleaning robot

Abstract

The invention discloses a control system of a converter valve hall inner wall cleaning robot. The control system comprises at least one driving module, at least one controlled object stepping motor, an electric push rod, a cleaning module, a guiding module, an obstacle avoidance module, a computer PC terminal, a single chip microcomputer chip and a CAN bus. The computer PC terminal receives all bus information from the CAN bus so as to monitor initialization and the working states of the driving module, the cleaning module, the guiding module and the obstacle avoidance module. The driving module obtains navigation information from the CAN bus and achieves positive rotation, negative rotation and stop of the stepping motor when the robot climbs, advances and goes back the same way through a stepping motor driver. The cleaning module obtains cleaning starting information from the CAN bus, and then ascending and descending of a cleaning brush are achieved by controlling the electric push rod to stretch out and retreat. The descending distance of the cleaning brush is determined by the stroke of the electric push rod. The guiding module controls two distance measurement sensors.

Description

technical field [0001] The invention relates to a control system of a cleaning robot for the inner wall of a converter valve hall. Background technique [0002] The converter station is a station established in the high-voltage direct current transmission system to complete the conversion of direct current and alternating current, and to achieve the safety, stability and power quality of the power system. The converter valve is the core equipment of the DC transmission project. By sequentially connecting the three-phase AC voltage to the DC terminal to obtain the desired DC voltage and realize power control, its value accounts for about 22-25% of the total price of the complete set of equipment in the converter station. . The converter valve hall is a closed building where the converter valve is placed. If the dust accumulated on the inner wall is not cleaned in time, it will spread into the air, which will have a great impact on the normal operation and service life of the...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the defects that the cleaning work of the existing wall surface is done manually and professional lifting machines need to be purchased, the efficiency is low, the risk is

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