Communicating system for underwater facility surface climbing robot and control method thereof

A communication system and robot technology, which is applied to the communication system and control field of underwater facility surface climbing robot, can solve the problems of complex data interaction relationship, unfavorable robot system function, complexity of robot body system and increased difficulty in development and debugging, etc. Achieve the effect of increasing data, avoiding data anomalies, and enhancing environmental adaptability

Inactive Publication Date: 2021-05-07
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since these climbing robots are usually developed for different application purposes, with the continuous addition of robot system functions, the data interaction relationship between various functional modules is becoming more and more complex. The complexity and complexity of the robot body system based on a centralized architecture The difficulty of development and debugging is increasing, which is not conducive to the further expansion of robot system functions and performance improvement

Method used

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  • Communicating system for underwater facility surface climbing robot and control method thereof
  • Communicating system for underwater facility surface climbing robot and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] see figure 1 A communication system for an underwater facility surface climbing robot provided in this embodiment includes: a main control system 1 and an execution system 2, the main control system 1 includes a main control terminal operating module 11, a main control terminal control device 12 and a master control terminal communication module 13, the execution end system 2 includes an execution end communication module 21, an execution end controller 22, a plurality of sensor modules 23 and a driver module 24;

[0039] Wherein, the master control end system 1 is an upper computer, and the execution end system 2 is a lower computer.

[0040]The multiple sensor modules 23 include a power consumption management module 231 , a sealed cabin status monitoring module 232 and a driver status monitoring module 233 . It should be noted that the multiple sensor modules 23 in this embodiment are not limited to the three modules mentioned above, and the types or numbers of the m...

Embodiment 2

[0071] see figure 2 A control method for a communication system for an underwater facility surface climbing robot provided in this embodiment includes:

[0072] S1, the main control terminal controller 12 sets the communication protocol for data transmission between the modules;

[0073] Wherein, the communication protocol includes a topic (Topic) communication mechanism, a service (Server) communication mechanism and an action (Action) communication mechanism.

[0074] The topic (Topic) communication mechanism is an asynchronous communication mode based on the publish / subscribe model in ROS (Robot Operating System robot software platform). This method decouples the generation and use of information. For data communication that is constantly updated and contains less logic processing.

[0075] The service (Server) communication mechanism is based on the client (client) / server (server) model in ROS, which is mostly used to process synchronous communication in ROS, and is oft...

Embodiment 3

[0102] In order to enable the underwater climbing robot to accurately reach the target position during the movement and perform corresponding actions, the present embodiment provides a control method for the underwater climbing robot, the method comprising:

[0103] S101. The executive controller 22 receives a control command from the master system 1 and controls the driver module 24 to perform corresponding actions according to the command;

[0104] Among them, the control instructions received by the execution-end controller 22 include: the immediate instructions sent by the master-end operation module 11 and the instructions calculated by the path planning algorithm through the data information collected by internal sensors and external sensors.

[0105] The immediate instructions sent by the main control terminal operation module 11 include analog and digital quantities sent by operating devices such as operating handles, keyboards, voices, and gestures. The main control te...

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Abstract

The invention relates to a communicating system for an underwater facility surface climbing robot and a control method thereof and relates to the technical field of communication. Thus the problems that the function of an existing robot system cannot be further expanded easily, and performance cannot be improved easily are solved. The communicating system comprises a main control end system and an execution end system. The main control end system comprises a main control end operation module, a main control end controller and a main control end communicating module. The execution end system comprises an execution end communicating module, an execution end controller, multiple sensor modules and a driver module. According to the robot communicating system, by the adoption of a distribution type framework, thus the control communicating system has good expandability, after the control system is subjected to different function tailoring and combining, the control system can be applicable to moving robot control systems of other types, and the system has design advantages of openness and compatibility.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a communication system and a control method for an underwater facility surface climbing robot. Background technique [0002] Climbing robots on the surfaces of different facilities are playing an increasingly important role in the production activities of contemporary human society. This type of robot system can be used for surface inspection, surface cleaning, surface coating and other operations of large facilities, and can also be used to help complete fault diagnosis, fault warning, condition maintenance, etc. of major facilities. An important tool for completing certain homework tasks. [0003] In natural or artificial environments, the surface of different facilities has different material properties, surface topography, environmental humidity, and surface attachment states (tightness / looseness, stickiness, slipperiness, etc.) The stable and reliable climbing and m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 梁旭贾智琪苏婷婷何广平章杰黄灿袁俊杰
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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