Water wall climbing robot control system

Abstract

The invention discloses a control system for a water-cooled wall climbing robot. The control system comprises a control module, a mapping and obstacle avoidance module, a driving module and a function module, wherein the mapping and obstacle avoidance module and the driving module are in signal connection with the control module, and the function module is in signal connection with the control module. The control module comprises a main control module, a remote control module, a lower computer and a standby controller, wherein the remote control module and the lower computer are in signal connection with the main control module, and the standby controller is in signal connection with the remote control module. The standby controller is in signal connection with the main control module. The function module comprises a cleaning module, a polishing module, a thickness measuring module, a welding module and an OR detection module. According to the invention, the robot is controlled to crawl on the wall surface and has the functions of rolling brush cleaning, wall surface polishing, wall surface spraying and water-cooled wall tube thickness measurement when the robot is firm, and the situation in the furnace is observed through video in real time, so that the furnace maintenance work is simpler, safer and more intelligent and can be backtracked and checked.

Description

technical field [0001] The invention relates to the technical field of in-service inspection and maintenance of thermal power plants, in particular to a control system for a water-cooled wall-climbing robot. Background technique [0002] As a special robot, the wall robot has begun to shine in all walks of life. Domestically, the Harbin Institute of Technology Robot Research Institute is the earliest scientific research institution to study wall-climbing robots. The representative products include multi-functional tracked tank wall spraying detection magnetic adsorption wall-climbing robots. The United States, Canada, India and other countries have developed special applications Artificial intelligence robots for thermal power plant boiler cleaning and inspection have been put into use, but most of them walk along the pipeline and cannot cross the water wall tube, and the detection efficiency is low. [0003] The water-cooled wall-climbing robot is a special robot used for ...

AI Technical Summary

Problems solved by technology

Domestically, the Harbin Institute of Technology Robot Research Institute is the earliest scientific research institution to study wall-climbing robots. The representative products include multi-functional tracked tank wall spraying detection magnetic adsorption wall-climbing robots. The United States, Canada, India and other countries have developed special applications Artificial intelligence robots for thermal power plant boiler cleaning and inspection have been put into use, but most of them walk along the pipeline and cannot cross the water wall tube, and the detection efficiency is low

[0003] The water-cooled wall-climbing robot is a special robot used for in-service inspection and maintenance of thermal power plant boilers. Most of them rely on permanent magnet devices to work on the water-cooled wall. Robots with larger adsorption devices can carry more equipment, but they are flexible. Very low stability, difficult to control, robots with small adsorption force can crawl flexibly on the wall, but the load capacity is insufficient, and the function is very single

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