Control system and control method of wall-climbing robot

Abstract

The invention provides a control system and a control method of a wall-climbing robot, and belongs to the technical field of robots. The wall-climbing robot comprises a left front magnetic wheel, a right front magnetic wheel, a left rear magnetic wheel, a right rear magnetic wheel and a robot body, permanent magnets capable of being adsorbed on the wall surface of steel are respectively embedded in the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel, the left front magnetic wheel, the right front magnetic wheel, the leftrear magnetic wheel and the right rear magnetic wheel are connected with the robot body through driving motors, and the control system comprises an initialization module, a communication module, a parameter input module, a state display module, a robot motion control module and an alarm and emergency stop module. Each magnetic wheel of the wall-climbing robot is driven by a single motor so as toensure enough driving force, and each magnetic wheel of the wall-climbing robot can be stably adsorbed on a steel wall surface under the action of the permanent magnets, so the wall-climbing robot canwalk to a required position under the control system and the corresponding control method, and the automation of operation is realized.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a control system and a control method of a wall-climbing robot. Background technique [0002] At present, the flaw detection, rust removal and welding of large steel structures such as large ships, petrochemical storage tanks and fan towers are mainly done manually. Taking the derusting of ships as an example, the method generally adopted at this stage is to build scaffolding or use aerial work platforms for operations. Workers work on scaffolding or aerial work platforms. Although the investment is low, the operating efficiency is low, and the on-site operations The harsh environment has a great impact on the health of workers. [0003] With the advancement of technology, some semi-automatic operation methods have emerged, such as installing rails. This operation method has improved efficiency, but it takes a long time to prepare in the early stage and has great restrictions on no...

AI Technical Summary

Problems solved by technology

Taking the derusting of ships as an example, the method generally adopted at this stage is to build scaffolding or use aerial work platforms for operations. Workers work on scaffolding or aerial work platforms. Although the investment is low, the operating efficiency is low, and the on-site operations The harsh environment has a great impact on the health of workers

[0003] With the advancement of technology, some semi-automatic operation methods have appeared, such as installing rails. This operation method has improved efficiency, but the preparation time is long, and it has great restrictions on non-planar operations.

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