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Control method and device of inspection robot and inspection robot

A technology of inspection robot and control method, which is applied to the control of inspection robot and the field of inspection robot, and can solve the problems of precise control and difficult inspection robot

Pending Publication Date: 2021-09-07
中核工程咨询有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention provides a control method and device of a patrol robot, and a patrol robot, which is used to solve the defect that it is difficult to precisely control the action of the patrol robot in the prior art, and realize precise control of the action of the patrol robot

Method used

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  • Control method and device of inspection robot and inspection robot
  • Control method and device of inspection robot and inspection robot
  • Control method and device of inspection robot and inspection robot

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Embodiment Construction

[0026] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0027] It should be understood that reference throughout this specification to "an embodiment" or "one embodiment" means that a particular feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Thus, appearances of "in an embodiment" or "in one embodiment" throughout the specification do not necessarily refer to the sam...

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Abstract

The invention provides a control method and device of an inspection robot and the inspection robot. The method comprises the steps that the instantaneous speed of the inspection robot is obtained; and the required torque of a first driving motor and the required torque of a second driving motor are obtained according to the instantaneous speed of the inspection robot and the Lagrange dynamics relation of the inspection robot, wherein the inspection robot comprises a movable chassis, a first driving wheel is arranged on one side of the movable chassis, a second driving wheel is arranged on the other side of the movable chassis, the first driving motor is in driving connection with the first driving wheel, the second driving motor is in driving connection with the second driving wheel, and the Lagrange dynamics relation of the inspection robot is established according to the relation of the vehicle body kinetic energy of the movable chassis of the inspection robot, the kinetic energy of the first driving wheel and the kinetic energy of the second driving wheel and the vehicle body potential energy of the movable chassis. According to the control method and device of the inspection robot and the inspection robot, the action of the inspection robot can be accurately controlled.

Description

technical field [0001] The invention relates to the field of nuclear power plant quality safety, in particular to a control method and device for an inspection robot and an inspection robot. Background technique [0002] With the development of society, robot technology has been integrated into people's life and work. In some scenes with a large number of cable trays, because the space in the cable tray is relatively narrow, and the fixed position of the cable tray is usually relatively high, it is inconvenient and unsafe for inspection personnel to inspect special scenes such as high bridge trays. [0003] The related technology provides an inspection robot, which is provided with a control module, a temperature acquisition module, an image acquisition module, a servo system, a power supply module, a storage module and a wireless module. The user controls the inspection robot to collect the temperature and images of the inspection location by remote control through the wir...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1651B25J9/1633
Inventor 赵彤郭立刚李成林邵健贾天赐卢志洋殷睿姣徐井伟陈施乐
Owner 中核工程咨询有限公司
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