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A mobile control system for a multi-layer configurable legged climbing robot

A control system and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high control coupling, low reusability, single function, etc., and achieve concise maintenance process, shortened development time, and business logic. clear effect

Inactive Publication Date: 2019-07-05
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

With the increase of the degree of freedom of the climbing robot, the degree of concurrency increases exponentially, and the complexity of the control logic also increases exponentially, which makes the control system have more potential mutual coordination and mutual restriction mechanisms, and the control coupling degree is higher.
[0003] General footed climbing robots need to develop special control systems, these special control systems can only control the corresponding robots, the versatility is not strong, and the function is single
Most of the existing footed climbing robot mobile control systems have the following disadvantages: 1) The mobile control system is mostly designed for a specific hardware structure, which is difficult to automatically configure according to the change of the hardware; Lack of integration from macroscopic path planning to microscopic joint mechanical action control; 3) The control system is not perfect, lacking functions such as safety management, storage and analysis of historical data; 4) The data coupling and control coupling of the mobile control system are relatively high , the degree of modularization is low, the degree of reusability is low, it is difficult to tailor the configuration according to the actual situation, and the system life cycle is short

Method used

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  • A mobile control system for a multi-layer configurable legged climbing robot
  • A mobile control system for a multi-layer configurable legged climbing robot
  • A mobile control system for a multi-layer configurable legged climbing robot

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Embodiment Construction

[0039] The mobile control system of the legged climbing robot needs to complete the robot's perception, positioning, path planning, gait planning, obstacle avoidance, control, etc., involving sensor information data, map data, path and gait data, control data, etc., with a large amount of data , The data flow is fast, usually measured in milliseconds; a variety of data needs to be fused, transmitted, and calculated, and the data processing frequency is high, and the data coupling degree is high; the data complexity is high, and the control coupling degree is high. The control systems of climbing robots are all centered on data, which need to collect and organize a large amount of sensory information data, path gait data and control data, and calculate and make decisions based on these data; however, with hardware, planning methods, control strategies The content and format of the data are often adjusted slightly. This adjustment usually requires modification of all places where...

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Abstract

The invention discloses a multi-layer configurable mobile control system for a foot type climbing robot. The multi-layer configurable mobile control system comprises a user view layer for being interacted with a user, a hardware relation layer for being interacted with climbing rotor hardware, a path and gait layer for conducting path planning and gait management, a data center layer for completing data configuration structure storage and analysis, and a main control layer for dispatching operation of all the layers. The main control layer is in communication with the user view layer, the path and gait layer, the hardware relation layer and the data center layer, and the data center layer is connected with the user view layer, the hardware relation layer, the path and gait layer and the main control layer. The multi-layer configurable mobile control system is applied to the foot type climbing robot, is complete in function, can be freely configured according to different robots and is high in universality.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a mobile control system applied to a legged climbing robot. Background technique [0002] In recent years, intelligent robots have developed extremely rapidly, typically including climbing robots, wheeled robots and rotary-wing drones, among which the control systems of wheeled robots and rotary-wing drones have also matured, and have been widely used in Industrial and agricultural production processes and residents' lives; in contrast, climbing robots are still in the development stage. Climbing robots are mainly divided into bioadhesion type, claw type, and electromagnetic adsorption type from the adsorption principle, and are mainly divided into foot type and wheel type from the moving mechanism; among them, the foot type climbing robot is mainly used to detect space truss structures, such as electric power For towers, iron bridges, scaffolding, signal towers, etc., the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1602B25J9/162
Inventor 廖尔崇柳长安姜丽梅邵绪强房静
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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