Inspection robot system construction method based on distributed hardware architecture

Abstract

The invention discloses an inspection robot system construction method based on a distributed hardware architecture. The inspection robot system construction method comprises the following steps: step 1, configuring a central control computer and a time service unit based on a CAN bus; step 2, configuring a network interaction module based on a network bus; step 3, configuring a network device group of hardware timing based on the network bus; step 4, configuring a motion control module for automatic time synchronization based on a CAN bus; step 5, configuring a service function module for automatic time synchronization based on the CAN bus; and step 6, adding a new function module, and carrying out time synchronization configuration. According to the invention, a unified hardware interface can be formulated for a robot system, so that function customization is facilitated, and batch production and industrialization of robots are promoted; in order to solve the problem that a multi-hardware system management system is difficult to determine data generation time, the invention provides a CAN bus hardware synchronization method adopting high-precision time service, so that adverse effects on robot positioning, control and the like caused by data time asynchronization in an inspection robot system are solved, and the overall performance of an inspection robot is improved.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a method for constructing an inspection robot system based on a distributed hardware architecture. Background technique [0002] With the development of industrialization, intelligent inspection robots are widely used in related areas such as pipe corridors, tunnels, electric power and machine rooms. It is mainly used to realize the inspection of environmental parameters, equipment operation status, facility integrity and other contents in the regional environment. It is used to replace the traditional manual inspection. Security risks. [0003] However, most of the inspection robots at this stage adopt centralized control mode and customized development mode. When the scene changes or business functions are added, the hardware needs to be changed uniformly, and the task workload is relatively large. In addition, robots generally use multi-sensor fusion for perception, positio...

AI Technical Summary

Problems solved by technology

[0003] However, most of the inspection robots at this stage adopt centralized control mode and customized development mode. When the scene changes or there are business functions added, the hardware needs to be changed uniformly, and the task workload is relatively large.

In addition, robots generally use multi-sensor fusion for perception, positioning, etc. Most of them ignore the problem of the occurrence time of multi-sensor data, which brings certain interference and uncertainty to the overall performance of the robot.

Images