A control system and fault recovery method for an underwater climbing robot
A control system and robot technology, applied in the field of intelligent robots, can solve problems such as poor hardware compatibility of underwater climbing robots, lack of fault diagnosis and self-repair capabilities, and achieve the effect of improving adaptability
Active Publication Date: 2021-12-24
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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[0006] The purpose of the present invention is to propose a control system and a fault recovery method for an underwater climbing robot, which are used to improve the system compatibility and versatility of the underwater climbing robot, and enable the climbing robot to have the ability of fault diagnosis and recovery, and improve the The adaptability of the underwater climbing robot to the harsh underwater environment solves the problems of poor hardware compatibility, failure diagnosis and self-repair ability of the underwater climbing robot in the prior art
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Embodiment 1
[0080] The present invention proposes a control system for an underwater climbing robot, the control system includes a hardware part 1 and a software part 2, the hardware part 1 includes a main control board 11 and a PC 12, the main control board 11 and all The PC 12 is wirelessly connected via a local area network, and the main control board 11 is an integrated development board with multiple interface forms.
[0081] figure 1 shows the overall construction diagram of the hardware part 1 of the control system, from figure 1 It can be seen intuitively that the hardware part 1 also includes a hardware configuration module 13, a communication interface module 14 and an I / O interface module 15, and the hardware configuration module 13, the communication interface module 14 and the I / O interface The module 15 is integrated and installed on the main control board 11. In the present embodiment, the model of the main control board 11 is preferably an ARM embedded development board o...
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The invention relates to an underwater climbing robot control system and a fault recovery method, which belong to the field of intelligent robots and include a hardware part and a software part. The hardware part includes a main control board and a PC, and the software part includes a system state monitoring layer and a hardware interface layer. , control algorithm layer, data center layer and main control layer, the hardware interface layer is used for data interaction with the connected hardware devices; the control algorithm layer is used for processing and analyzing interactive data, and provides SLAM navigation function; the data center layer is used for Store and analyze all data information and log files; the main control layer is used to schedule and allocate resources for data interaction between layers, running time and the hardware part; the system status monitoring layer is used to monitor the underwater climbing robot The external environment, status and faults of the underwater climbing robot can be self-diagnosed and repaired. While improving compatibility, the underwater climbing robot has the ability to diagnose and recover faults, which solves the problem that it cannot be diagnosed and repaired independently after a fault.
Description
technical field [0001] The invention relates to the technical field of intelligent robots, in particular to an underwater climbing robot control system and a fault recovery method. Background technique [0002] Climbing robots play an important role in the production activities of contemporary human society. They can be used for surface inspection, surface cleaning, and surface coating of large facilities. They can also be used to help complete fault diagnosis, fault warning, and condition maintenance of major facilities. It is an important tool to replace human beings to complete certain tasks in dangerous, complex, narrow and other environments. [0003] Climbing robots can be divided into biological adhesion type, claw type, and electromagnetic adsorption type from the principle of adsorption; from the mobile mechanism, they can be divided into foot type and wheel type; from the working environment, they can be divided into land climbing robots and underwater climbing rob...
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IPC IPC(8): G05B19/042
CPCG05B19/0428G05B2219/24024
Inventor 梁旭贾智琪苏婷婷梁骥宇袁俊杰何广平
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY