A cable inspection robot developed based on bionics

Abstract

The present invention belongs to the technical field of inspection robots, and specifically discloses a cable inspection robot developed based on bionics, including a plurality of groups of segment modules with a conventional insect bone structure, the segment modules are movably connected via a universal connector, each group of the segment modules includes an insect bone body and two mechanical arm structures and grippers staggered on the insect bone body, the mechanical arm structures and the grippers are connected via a transmission structure; the electrical operating system using this mature technology can help designers realize kinematic simulation experiments of space mechanical arms on cables at a relatively low cost, and verify the feasibility and effectiveness of the control algorithm of the cable inspection robot under variable load conditions; a more humanized design concept is added on the basis of bionic insects, and different types of detection equipment are placed according to actual conditions, thereby avoiding waste of resources, and being relatively more free and flexible, with a wider range of adaptability.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a cable inspection robot developed based on bionics. Background Art

[0002] Cable inspection in the power industry was previously done manually and by flight. Due to the high-altitude operation, the risk is high. With the development of science and technology, robots are gradually being introduced. However, due to the characteristics of shock-absorbing hammers, tension tower steering, and large pitch angle changes deployed on power grid towers, it is difficult for general inspection robots to overcome obstacles. Therefore, achieving efficient and accurate inspection of high-voltage transmission lines is a scientific and technological problem that needs to be solved urgently.

[0003] At present, flying inspection robots have been used in precise and intelligent inspection of high-voltage transmission lines. Based on the principle of bionics, according to the operating characteristics of eagle claws during flight and take-off and landing, a bionic compliant mechanical claw for take-off and landing of a flying inspection robot for high-voltage transmission lines is designed. For example, the patent application number is CN202010266671.8, and the patent name is a bionic compliant mechanical claw for take-off and landing of a flying inspection robot for high-voltage transmission lines. Based on the bionic mechanism of eagle legs and claws, a parallel leg mechanism is designed to improve the overall structural stiffness and realize the up and down line action under large loads;

[0004] This equipment has indeed improved the current flight inspection environment, but because the eagle-style claw needs to grasp cables and high-voltage lines, the claw adopts an eagle-style four-finger structure, and drives the connecting rod to move through a linear electric cylinder to realize the opening and closing of the fingers. In view of the structural characteristics of high-voltage transmission lines, a groove structure is set on the inside of each finger to improve the speed and accuracy of wire grasping, and a spring buffer structure is set in the center of the claw to improve the flexibility of the claw, ensuring the stability of the high-voltage transmission line flight inspection robot on and off the line; its specific structure requires relatively high precision and high production process requirements to implement this solution. It is mainly used for installation and modification under high voltage; if it is used only for inspection, the structure is too refined and the functions are relatively complex, and its cost will be relatively high, and it is impossible to popularize the equipment. Summary of the invention

[0005] The purpose of the present invention is to provide a cable inspection robot developed based on bionics to solve the problems in the background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: a cable inspection robot developed based on bionics, comprising a plurality of groups of segment modules with a conventional worm-bone structure, wherein the segment modules are movably connected through a universal connector, and each group of the segment modules comprises a worm-bone body and two mechanical arm structures and a gripper staggered on the worm-bone body, wherein the mechanical arm structure and the gripper are connected through a transmission structure;

[0007] The insect bone body includes a hollow abdominal cavity with openings at both ends, and mounting holes provided at the convex parts at both ends of the hollow abdominal cavity: A plurality of loading card slots are provided in the hollow abdominal cavity, and the loading card slots include, but are not limited to, mounting a two-axis interpolation controller;

[0008] The robotic arm structure includes a base fixed to the top side of the insect bone body, the base is connected to the lower arm through a first connecting member, the lower arm is connected to the upper arm through a second connecting member, and the end of the upper arm is connected to the gripper through a third connecting member;

[0009] Among them, the lower arm and the upper arm are of hollow structure, and a steel wire rope is provided inside each of the first connecting member and the second connecting member. One end of the steel wire rope is respectively connected to the lower arm driving motor and the upper arm driving motor, and the other corresponding ends of the steel wire rope are respectively fixedly connected to the ends of the lower arm and the upper arm;

[0010] The transmission structure includes a lower arm driving motor provided on the upper part of the base, an upper arm driving motor provided at the joint of the lower arm and the upper arm, a gripper driving motor provided at the joint of the upper arm and the gripper, and steel wire ropes correspondingly provided at other joint positions of the robotic arm structure. The steel wire ropes connect the robotic arm structure and the gripper into one body;

[0011] Among them, the connection modes between the steel wire ropes and the lower arm driving motor, the upper arm driving motor, and the gripper driving motor form a transmission structure combining series and parallel.

[0012] The gripper is connected to the center of the bottom of the upper arm, and the gripper includes a first finger and a second finger.

[0013] Preferably, the lower arm and the upper arm further include a pull rope sensor and a collision sensor.

[0014] Preferably, the collaborative operation method of the cable inspection robot includes the following steps:

[0015] S1: Receive an inspection instruction and obtain the orientation information of the inspection location corresponding to the inspection instruction;

[0016] S2: Based on the own orientation information of the bionic robot and in combination with the orientation information of the inspection location, obtain the inspection route of the bionic robot;

[0017] S3: The bionic robot conducts inspection work based on the inspection route; performs obstacle avoidance work during the inspection work; wherein:

[0018] S31: The robotic arm structure includes a plurality of collision sensors. The collision sensors are provided at the ends of the upper arm and the lower arm, and are used to detect the distance and force information between the position where the current collision sensor is located and the contact surface, as well as the current arm coordinate position and the target coordinate position;

[0019] S32: The collision sensor is electrically connected to the detection components on the electronic gyroscope. The angular velocity in the X-axis direction and the angular velocity in the Y-axis direction between the current arm coordinate position and the target position are obtained through the electronic gyroscope, so as to transmit the detected signal to the two-axis interpolation controller. Through the parameter setting in the two-axis interpolation controller, feed pulses and feed direction signals are sent to the arm to drive and control the lower arm drive motor and the upper arm drive motor;

[0020] Among them, the two-axis interpolation controller includes a processor suitable for executing a computer program;

[0021] It further includes a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the control method of the robotic arm structure is realized.

[0022] Preferably, the arrangement of the joint body modules can be freely combined.

[0023] Preferably, the two-axis interpolation controller includes an input module and an output module;

[0024] The input module includes but is not limited to an information processing module; the information processing module includes but is not limited to coordinate position information and external visual inspection information;

[0025] The visual inspection information includes but is not limited to photo information of an X-ray machine, a visible light camera, an infrared camera, etc.;

[0026] The output module includes but is not limited to a motion control module, a path planning module, an internal 5G communication module, and a file transfer module.

[0027] Preferably, the internal 5G communication module uses wireless 485 or WIFI bus technology for remote control.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] The cable inspection robot developed based on bionics in the present invention adopts existing electronic devices such as a two-axis interpolation controller and an electronic gyroscope, and they are mature technologies for controlling the telescopic movement of the robotic arm and detecting its own position in electronic devices. Using the electrical operating system of this mature technology, it can help designers realize the kinematic simulation experiment of the space robotic arm on the cable at a relatively low cost, and verify the feasibility and effectiveness of the control algorithm under variable load conditions of the cable inspection robot;

[0030] Based on bionic insects, a more user-friendly design concept is added. First, manually query the specific situation, set the length of the insect according to actual needs, and select an optimal inspection robot for detecting high-voltage lines. Since each joint module is an independent individual, different types of detection devices are placed on it according to the actual situation, which can avoid waste of resources, is relatively more flexible and has a wider adaptability.

[0031] The transmission structure adopts a combined transmission method of parallel and series, which can make the connection of the upper arm, lower arm and gripper more flexible. Because when one component moves, other parts will also have corresponding changes, and the connecting parts themselves can achieve the effect of series. However, the steel wire ropes connected in series on the integrated robotic arm structure and gripper can reduce the shaking effect of the upper arm, lower arm or gripper, improve stability, and simulate the movement of insects more realistically.

[0032] Adopting the parallel transmission method of steel wire ropes, under the control of the controller, it can directly act on the corresponding drive motors, and has great advantages in terms of working accuracy, movement speed, working bandwidth and acceleration performance in all directions, and can more accurately and quickly achieve the equivalent movement of the robotic arm structure and gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Structural schematic of the cable inspection robot of the present invention Figure 1 ;

[0034] Figure 2 Structural schematic of the cable inspection robot of the present invention Figure 2 ;

[0035] Figure 3 Structural schematic diagram of the joint module of the present invention;

[0036] Figure 4 Internal sectional structural schematic diagram of the joint module of the present invention;

[0037] Figure 5 Structural schematic diagram of the working principle of the two-axis interpolation controller of the present invention;

[0038] In the figure: 1. Insect bone body; 11. Hollow abdominal cavity; 12. Mounting hole; 2. Universal connector; 3. Robotic arm structure; 31. Base; 32. First connecting piece; 33. Lower arm; 34. Second connecting piece; 35. Upper arm; 36. Third connecting piece; 4. Transmission structure; 41. Lower arm drive motor; 42. Upper arm drive motor; 43. Steel wire rope; 44. Gripper drive motor; 5. Gripper. DETAILED DESCRIPTION OF THE INVENTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] See also Figures 1-5 The present invention provides a technical solution: a cable inspection robot developed based on bionics, comprising a plurality of groups of segment modules with a conventional worm-bone structure, wherein the segment modules are movably connected through a universal connector 2, and each group of the segment modules comprises a worm-bone body 1 and two mechanical arm structures 3 and a gripper 5 staggered on the worm-bone body 1, wherein the mechanical arm structure 3 and the gripper 5 are mutually driven and matched through a transmission structure 4;

[0043] The worm bone body 1 comprises a hollow abdominal cavity 11 with openings at both ends, and mounting holes 12 arranged at the convex parts at both ends of the hollow abdominal cavity 11. A plurality of loading slots are arranged in the hollow abdominal cavity 11, and the loading slots include but are not limited to installing a two-axis interpolation controller;

[0044] The mechanical arm structure 3 includes a base 31 fixed on the top of the side of the worm bone body 1, the base 31 is connected to the lower arm 33 through a first connecting member 32, the lower arm 33 is connected to the upper arm 35 through a second connecting member 34, and the end of the upper arm 35 is connected to the gripper 5 through a third connecting member 36; the gripper 5 is connected to the bottom center of the upper arm 35;

[0045] Among them, the lower arm 33 and the upper arm 35 have a hollow structure. A steel wire rope 43 is provided inside each of the first connecting member 32 and the second connecting member 34. One end of the steel wire rope 43 is respectively connected to the lower arm driving motor 41 and the upper arm driving motor 42, and the other ends of the corresponding steel wire ropes 43 are respectively fixedly connected to the ends of the lower arm 33 and the upper arm 35.

[0046] The transmission structure 4 includes a lower arm driving motor 41 arranged on the upper part of the base 31, an upper arm driving motor 42 arranged at the joint of the lower arm 33 and the upper arm 35, a gripper driving motor 44 arranged at the joint of the upper arm 35 and the gripper 5, and steel wire ropes 43 correspondingly arranged at other joint positions of the robotic arm structure 3. The steel wire ropes 43 connect the robotic arm structure 3 and the gripper 5 into one body.

[0047] Among them, the connection modes between the steel wire ropes 43 and the lower arm driving motor 41, the upper arm driving motor 42, and the gripper driving motor 44 form a transmission structure 4 that combines series and parallel connections.

[0048] The lower arm driving motor 41, the upper arm driving motor 42, and the gripper driving motor 44 adopt servo motors or brushless speed control motors, equipped with encoders or wire-pulling sensors for controlling the robotic arm structure 3 and the gripper 5. The control of the arm adopts a two-axis interpolation controller controlled by a PLC main controller. Micro switches are deployed at different positions on the arm as sensors for detecting obstacles or cables; different servo motors are deployed at the joints and the joint body angles are adjusted according to the cable positions.

[0049] The arrangement of the joint body modules can be freely combined.

[0050] The lower arm 33, the upper arm 35, and the gripper 5 further include wire-pulling sensors and collision sensors.

[0051] The collaborative operation method of the cable inspection robot includes the following steps:

[0052] S1: Receive an inspection instruction and obtain the azimuth information of the inspection location corresponding to the inspection instruction.

[0053] S2: Based on the self-azimuth information of the bionic robot and in combination with the azimuth information of the inspection location, obtain the inspection route of the bionic robot.

[0054] S3: The bionic robot conducts inspection work based on the inspection route; during the inspection work, it conducts obstacle avoidance work; among them:

[0055] S31: The robotic arm structure 3 includes a plurality of collision sensors. The collision sensors are arranged at the ends of the upper arm and the lower arm for detecting the distance and force information between the position where the current collision sensor is located and the contact surface, as well as the current arm coordinate position and the target coordinate position.

[0056] S32: The collision sensor is electrically connected to the detection component on the electronic gyroscope. The angular velocity in the X-axis direction and the angular velocity in the Y-axis direction between the current arm coordinate position and the target position are obtained through the electronic gyroscope, so as to transmit the detected signal to the two-axis interpolation controller. Through the parameter setting in the two-axis interpolation controller, a feed pulse and a feed direction signal are sent to the arm to drive and control the lower arm drive motor 41 and the upper arm drive motor 42;

[0057] Among them, the two-axis interpolation controller includes a processor suitable for executing a computer program; it also includes a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the control method of the robotic arm structure is realized.

[0058] The two-axis interpolation controller further includes an input module and an output module;

[0059] The input module includes but is not limited to an information processing module; the information processing module includes but is not limited to coordinate position information and external visual inspection information;

[0060] The visual inspection information includes but is not limited to photo information such as X-ray machines, visible light cameras, or infrared cameras;

[0061] The output module includes but is not limited to a motion control module, a path planning module, an internal 5G communication module, and a file transfer module. The internal 5G communication module uses wireless 485 or WIFI bus technology for remote control. Power modules such as batteries for the two-axis interpolation controller used for control are all deployed in the joint body module, and the information is transmitted to the external main control system through the internal 5G communication module. Among them, the two-axis interpolation controller uses a PLC main control system to coordinate the actions of each joint body module; wireless 485 or WIFI bus technology is used for remote control to realize the line change of the joint body module.

[0062] Principle: For the cable inspection robot of the present invention to be widely popularized, while considering the production cost, it is also necessary to consider reducing the installation and operation difficulties. Even when a failure occurs, it is convenient to find the problem and replace parts;

[0063] First, the cable inspection robot designed by the present invention is based on the movement principle of bionic insects. To ensure production and installation costs, only the necessary main parts are retained. For example, the insect bone body 1 is used to carry various loads, such as camera monitoring devices and their corresponding electrical components; and the robotic arm structure 3 and gripper 5 that ensure the normal movement of the robot are integrally connected. At the joints, through the mutual cooperation of steel wire ropes 43, micro drive motors, and connectors, while reducing the connection components, the connectors used are also low-cost general production parts. Driving motors are respectively arranged at their joints. On the one hand, the joint itself is a joint position and a transmission shaft needs to be set. At this time, loading a small drive motor can directly act on the corresponding joint position, and the corresponding power cord can be better connected to the main control system, facilitating the operator to execute commands in a foolproof manner;

[0064] On the other hand, the robotic arm structure 3 and gripper 5 are additionally equipped with steel wire ropes 43 at the joints. In this way, when any one of the drive motors moves, the wire drawing sensor at the connection of the steel wire rope 43 transmits signals in real time to monitor the situation encountered by the robotic arm structure 3 and gripper 5 during the inspection process, and outputs more precisely;

[0065] To express the design concept, the drawn drawings appear relatively large. In fact, the capacity of the insect bone body 1 itself is very small, and the loads it carries are also very limited. Therefore, in the design, it imitates centipedes and adopts the method of combining multiple sets of joint body modules. The joint body modules are movably connected by universal connectors 2. The setting of multiple sets of joint body modules imitates insects while controlling the size of each insect bone body 1. Then, through the universal connector 2, the length and shape of the inspection robot can be freely changed. In practical applications, it can be changed into a spiral shape. In necessary cases, through the connection of the front and rear universal connectors 2, the inspection robot can be changed into an O shape; the size of the entire robot is reduced to make the robot more flexible. In this way, the size of the robot can be freely assembled according to requirements, and then the two-axis interpolation controller is used to assist the intelligent algorithm to control and find the forward route;

[0066] Among them, the two-axis interpolation controller realizes the motion control of the arm (insect leg), assisted by an electronic gyroscope. The electronic gyroscope checks the attitude of the body module itself. When tilting occurs, it automatically adjusts the position of the arm for compensation to ensure the stability of the body module and realizes the center-of-gravity measurement of this group of body modules. When the body of the body module tilts, the arm automatically compensates to realize the hanging point for automatically finding the center of gravity. And a collision sensor (similar to the antenna of an insect) is deployed in front of the arm. When encountering an obstacle, the collision sensor transmits the detected signal to the electronic gyroscope in the first time. Through the analysis of the detected signal on the electronic gyroscope, the angular velocity in the X-axis direction and the angular velocity in the Y-axis direction between the current arm coordinate position and the target position are obtained. Thus, the detected signal is transmitted to the two-axis interpolation controller. Through the parameter setting in the two-axis interpolation controller, a feed pulse and a feed direction signal are sent to the arm to drive the control motor, and then the controlled movement of the control motor is realized, controlling the opening angle and direction of the arm to facilitate crossing the obstacle. When crossing the obstacle, if the encountered obstacle is too large or there are too many obstacles, the arm waves continuously to detect the obstacles and cables in front. According to the triggering of sensors at different positions, it is judged whether there is a cable or an obstacle in front. When the pitch of the cable changes, during this process, the collision sensor on the arm continuously transmits signals to the electronic gyroscope, and continuously transmits the signals to the two-axis interpolation controller through the electronic gyroscope, and controls the controlled movement of the motor through the two-axis interpolation controller; until the position of the cable is found, the height and left-right position of the arm can be adjusted to realize the capture and release of the cable. Each module adopts the same working principle, just like a crawling insect crossing an obstacle.

[0067] Among them, the two-axis interpolation controller mainly sends a feed pulse and a feed direction signal to each feed axis to drive the controller of the control motor, and then realizes the controlled movement of the control motor.

[0068] The interpolation controller provides pulses for the motor controller. The number of pulses is the feed amount of each axis. The frequency of the pulses determines the feed speed of each axis. The feed direction is determined by the direction signal provided by the interpolation controller; during the contour interpolation process, the interpolation controller determines the ratio of the feed pulse frequencies between each axis according to the tangent slope of the current micro-segment.

[0069] Among them, both the two-axis interpolation controller and the electronic gyroscope are mature technologies for the telescopic control of the robotic arm and the detection of its own position in existing electronic devices. Using the electrical operating system of this mature technology can enable our inspection robot to be popularized and applied most quickly. And adding a more user-friendly design concept on the basis of the bionic insect can better detect the actual situation of the high-voltage line, without the problem of resource waste.

[0070] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A cable inspection robot developed based on bionic insects, including multiple groups of joint body modules with a conventional structure of insect bones. The joint body modules are movably connected by a universal connector (2). Each group of joint body modules includes an insect bone body (1), and two robotic arm structures (3) and grippers (5) arranged alternately on the insect bone body (1). It is characterized in that: The robotic arm structure (3) and the gripper (5) are driven and cooperated with each other through the transmission structure (4). The insect bone body (1) includes a hollow abdominal cavity (11) with openings at both ends, and mounting holes (12) provided at the convex parts at both ends of the hollow abdominal cavity (11). A plurality of loading card slots are arranged in the hollow abdominal cavity (11), and the loading card slots include an installation two-axis interpolation controller; the insect bone body (1) adopts the principle of bionic insect movement and is used to carry various loads, just like a crawling insect crossing an obstacle. The robotic arm structure (3) includes a base (31) fixed to the top side of the insect bone body (1). The base (31) is connected to the lower arm (33) through a first connecting member (32). The lower arm (33) is connected to the upper arm (35) through a second connecting member (34). The end of the upper arm (35) is connected to the gripper (5) through a third connecting member (36); the gripper (5) is connected to the center of the bottom of the upper arm (35). Among them, the lower arm (33) and the upper arm (35) are of hollow structures. A steel wire rope (43) is arranged inside each of the first connecting member (32) and the second connecting member (34). One end of the steel wire rope (43) is respectively connected to the lower arm driving motor (41) and the upper arm driving motor (42), and the other end of the corresponding steel wire rope (43) is respectively fixedly connected to the ends of the lower arm (33) and the upper arm (35). The transmission structure (4) includes a lower arm driving motor (41) arranged on the upper part of the base (31), an upper arm driving motor (42) arranged at the joint of the lower arm (33) and the upper arm (35), a gripper driving motor (44) arranged at the joint of the upper arm (35) and the gripper (5), and steel wire ropes (43) correspondingly arranged at other joint positions of the robotic arm structure (3). The steel wire ropes (43) connect the robotic arm structure (3) and the gripper (5) into one body. Among them, the connection modes between the steel wire ropes (43) and the lower arm driving motor (41), the upper arm driving motor (42), and the gripper driving motor (44) form a transmission structure (4) combined with series and parallel.

2. The cable inspection robot developed based on bionic insects according to claim 1, characterized in that: The arrangement of the joint body modules can be freely combined.

3. The cable inspection robot developed based on bionic insects according to claim 1, characterized in that: The lower arm (33), the upper arm (35), and the gripper (5) further include a wire-pulling sensor and a collision sensor.

4. The cable inspection robot developed based on bionic insects according to claim 3, characterized in that: The collaborative operation method of the cable inspection robot includes the following steps: S1: Receive an inspection instruction and obtain the orientation information of the inspection location corresponding to the inspection instruction. S2: Based on the own orientation information of the bionic robot, combine the orientation information of the inspection location to obtain the inspection route of the bionic robot. S3: The bionic robot conducts inspection work based on the inspection route; during the inspection work, it conducts obstacle avoidance work; among them: S31: The robotic arm structure (3) includes a plurality of collision sensors. The collision sensors are arranged at the ends of the upper arm and the lower arm and are used to detect the distance and force information between the current position where the collision sensor is located and the contact surface, as well as the current arm coordinate position and the target coordinate position. S32: The collision sensor is electrically connected to the detection components on the electronic gyroscope. The angular velocities in the X-axis direction and the Y-axis direction between the current arm coordinate position and the target position are obtained through the electronic gyroscope, so as to transmit the detected signals to the two-axis interpolation controller. Through the parameter settings in the two-axis interpolation controller, feed pulses and feed direction signals are sent to the arm to drive and control the lower arm drive motor (41) and the upper arm drive motor (42); Among them, the two-axis interpolation controller includes a processor suitable for executing computer programs; It further includes a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the control method of the robotic arm structure is realized.

5. The cable inspection robot developed based on bionic insects according to claim 4, characterized in that: The two-axis interpolation controller includes an input module and an output module; The input module includes an information processing module; the information processing module includes coordinate position information and external visual inspection information; The visual inspection information includes photo information such as X-ray machines, visible light cameras or infrared cameras; The output module includes a motion control module, a path planning module, an internal 5G communication module, and a file transfer module.

6. The cable inspection robot developed based on bionic insects according to claim 5, characterized in that: The internal 5G communication module uses wireless 485 or WIFI bus technology for remote control.

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