Robot control system for steel gate anti-corrosion operation and operation method

Abstract

The invention provides a robot control system for steel gate anti-corrosion operation and an operation method thereof, and the system comprises a chassis servo drive system which is controlled by a main control platform and drives a robot to move on the surface of a hydraulic steel gate; the sensor module is used for collecting running state data of the robot and sending the running state data to the main control platform; the operation module is installed on the robot and used for being controlled by the main control platform and executing steel gate anti-corrosion operation through an operation tool; the main control platform is electrically connected with the chassis servo driving system, the sensor module and the operation module for control; by means of the steel gate anti-corrosion robot, the robot can complete various anti-corrosion operations of a steel gate, and the comprehensive capacity and efficiency of anti-corrosion equipment are greatly improved from cleaning, detecting, repairing and spraying.

Description

Technical Field

[0001] The present invention relates to the fields of water conservancy engineering anti-corrosion technology and robot control technology, and in particular to a robot control system and an operation method for anti-corrosion operations of steel gates. Background Art

[0002] As an important part of water conservancy projects, hydraulic steel gates are easily damaged by corrosion due to long-term exposure to humid and corrosive environments. Aquatic organisms, rust, sediment, etc. are attached to the gate surface, which affects its safety and service life. Due to the special location and environment, some hydraulic steel gates are not suitable for dismantling and lifting, and cannot be transported to the anti-corrosion workshop for anti-corrosion work. Therefore, anti-corrosion work can only be carried out on site at the hydropower station.

[0003] Traditional anti-corrosion operations usually rely on manual labor, which has problems such as low work efficiency, high difficulty, and high safety risks. Therefore, it is of great significance to use mobile robots equipped with corresponding working tools to replace manual work. The corresponding robot control system is an important part of the working robot. Its performance is directly related to the robot's operating performance, so it needs to be paid special attention.

[0004] Traditional anti-corrosion equipment lacks intelligent decision-making and autonomous perception capabilities, requiring more manual intervention and monitoring, which reduces the autonomy and independent operation capabilities of the system. In addition, traditional anti-corrosion equipment can usually only perform anti-corrosion spraying operations and lacks diversified operation capabilities. This results in the need to use different equipment or manual processing when other operations such as cleaning, grinding or non-destructive testing are required, which increases the complexity and time cost of anti-corrosion operations. Summary of the invention

[0005] In order to solve the current technical problems, the main purpose of the present invention is to provide a robot control system and operation method for steel gate anti-corrosion operations. Its operating tools include high-pressure water cleaning devices, welding devices, laser cleaning and texturing devices, spraying devices and grinding devices, which can complete various anti-corrosion operations of steel gates, from cleaning, repair and spraying, greatly improving the comprehensive capacity and efficiency of anti-corrosion equipment.

[0006] The technical solution adopted by the present invention is: a robot control system for steel gate anti-corrosion operation, comprising: The chassis servo drive system is used to be controlled by the main control platform to drive the robot to move on the surface of the hydraulic steel gate; The sensor module is used to collect the robot's operating status data and send it to the main control platform; The operation module is installed on the robot and is controlled by the main control platform to perform anti-corrosion operations on steel gates through operation tools; The main control platform is electrically connected and controlled with the chassis servo drive system, the sensor module and the operation module respectively; The working tools include one or more of the following: High-pressure water cleaning device, used to clean the surface of steel gates; Welding device, used for welding repairs on the surface of steel gates; Laser cleaning and roughening device, used for laser cleaning and roughening of the surface of steel gates; Spraying device, used to apply anti-corrosion layer on the surface of steel gate; Grinding device, used to polish and smooth the surface of steel gates.

[0007] The main control platform includes: The client PC is used to provide a user interface for the user to set the operation parameters and monitor the anti-corrosion operation of the robot; The main control PC is connected to the user-side PC, the sensor module, the operation module and the motion controller respectively. The main control PC is used to receive the operation status data collected by the sensor module for processing and control the operation module to perform the operation task; The motion controller is electrically connected to the chassis servo drive system and is used to control the chassis servo drive system.

[0008] The chassis servo drive system is installed on the robot, and the chassis servo drive system includes: The magnetic wheel servo drive module is used to control the speed and direction of the magnetic wheel through servo drive to control the movement and positioning of the robot chassis; A swing operation servo drive module is used to control the swing angle of the high-pressure water cleaning device or the spraying device so that the high-pressure water cleaning device or the spraying device can perform the operation task within a specified range; The XYZ linear guide servo drive module is used to drive the working tools installed on the XYZ linear guide to perform operations.

[0009] The swing operation servo drive module drives the swing arm through a servo motor, and a high-pressure water cleaning device and / or a spraying device are installed on the swing arm. The swing arm swings in a fan shape. The XYZ linear slide rail servo drive module drives the linear slide module through a servo motor. The welding device, laser cleaning and texturing device, and grinding device are detachably and replaceably installed on the linear slide module.

[0010] The sensor module is installed on the robot and connected to the main control platform through the first signal board. The sensor module includes: Distance sensor, used to measure the distance between the robot and the working surface; Posture sensor, used to measure the posture changes of the robot; The visual inspection device is used to collect images of the working area and extract the position of the reference laser line in the image.

[0011] The sensor module further comprises: Status indicator light, used to indicate the current operating status of the robot; Weight sensor, used to measure the weight carried by the robot to ensure safe operation; Safety edge sensors to detect when the robot touches a boundary or obstacle to avoid collision or damage; A pressure sensor, mounted on the high-pressure water cleaning device or the spraying device, for monitoring the working pressure of the high-pressure water cleaning device or the spraying device; A control switch is used to control the start and stop of the working tool.

[0012] The operation module is connected to the main control platform via a second signal board, and the operation module further comprises: A welding power source, connected to the welding device, for providing electrical energy for laser welding operations; Nondestructive testing equipment, used for nondestructive testing of materials and structures; The smoke and dust recovery device is used to collect the smoke and waste generated during the operation of the robot.

[0013] An operating method of a robot control system for steel gate anti-corrosion operation, used for steel gate anti-corrosion operation, the operating method comprising: A reference laser line is drawn by a laser in the working area on the surface of the steel gate to calibrate the working position on the surface of the steel gate; wherein the reference laser line is located in the middle of the field of view of the visual detection device in the sensor module; Start the robot's operation module, and the robot begins to perform the operation task; The visual inspection device starts to collect images and uses a visual algorithm to extract the position information of the laser line in the image. The main control platform controls the chassis servo drive system to drive the robot to move along the reference laser line.

[0014] The main control platform controls the chassis servo drive system to drive the robot to move along the reference laser line, including: While the robot is performing its task, the visual inspection device continuously monitors the position of the reference laser line in the camera's field of view; If the reference laser line is detected to have deviated from the middle position of the camera field of view, it is determined that the robot position has shifted. When the visual inspection device detects that the robot position is offset, a compensation value is calculated by the built-in position controller; the compensation value is the distance the robot needs to move or the angle it needs to adjust; The visual inspection device sends the compensation value to the main control platform; The main control platform generates a control signal according to the compensation value and sends it to the chassis servo drive system, and the chassis servo drive system controls the robot to return to the reference laser line position.

[0015] The robot's operating tasks include high-pressure water cleaning, laser cleaning and roughening, welding, grinding, non-destructive testing and spraying.

[0016] The present invention has the following beneficial effects: 1. The robot control system for steel gate anti-corrosion operations provided by the present invention can perform complex on-site anti-corrosion operations in hydraulic engineering projects to ensure the long-term operation of steel gate structures. Each module plays a key role and works together to achieve efficient and accurate operation goals. It integrates high-pressure water cleaning devices, welding devices, laser cleaning and texturing devices, grinding devices and spraying devices, and can complete a variety of anti-corrosion operations for steel gates, from cleaning, repair to spraying, greatly improving the comprehensive capabilities and efficiency of anti-corrosion equipment.

[0017] 2. A nondestructive testing device is further integrated into the control system of the robot of the present invention, which ensures the quality of steel gate repair through cleaning, positioning, repairing, testing, processing and coating, thereby extending the service life of the steel gate.

[0018] 3. The present invention provides an operating method of a robot control system for anti-corrosion operations on steel gates, which enables the robot to operate according to a reference laser line emitted by a laser, thereby ensuring that the robot can complete the anti-corrosion operations on the entire steel gate in an orderly manner according to the reference laser line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation or the prior art description are briefly introduced below. Obviously, the drawings in the following description are some implementations of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work: Figure 1 A schematic diagram of the structure of a robot control system for steel gate anti-corrosion operations provided by the present invention; Figure 2 The schematic diagram of the robot control system for steel gate anti-corrosion operation provided by the present invention; Figure 3 A schematic diagram of the structure of the robot provided by the present invention; Figure 4 A schematic diagram of the robot spraying operation provided by the present invention; Figure 5 A schematic diagram of a robot position controller provided by the present invention; Figure 6 This is a flow chart of the steel gate anti-corrosion operation method provided by the present invention.

[0020] Reference numerals: Main control platform 1, chassis servo drive system 2, sensor module 3, operation module 4, swing arm 5, linear slide module 6. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0022] Traditional anti-corrosion equipment lacks intelligent decision-making and autonomous perception capabilities, requiring more manual intervention and monitoring, which reduces the autonomy and independent operation capabilities of the system. In addition, traditional anti-corrosion equipment can usually only perform anti-corrosion spraying operations and lacks diversified operation capabilities. This results in the need to use different equipment or manual operations when other operations such as cleaning, grinding or non-destructive testing are required, which increases the complexity and time cost of anti-corrosion operations.

[0023] In view of this, the present invention provides a robot control system for steel gate anti-corrosion operations and an operation method thereof, which introduces an advanced control system, a multifunctional operation tool and a comprehensive sensor device, effectively solving the problems of low intelligence and single function of traditional hydraulic steel gate anti-corrosion equipment, and providing a comprehensive and efficient solution for on-site anti-corrosion operations. The following will be described and introduced through multiple embodiments.

[0024] Embodiment 1: like Figure 1 As shown, a robot control system for steel gate anti-corrosion operation provided by the present invention includes: The chassis servo drive system 2 is used to be controlled by the main control platform 1 to drive the robot to move on the surface of the hydraulic steel gate; The sensor module 3 is used to collect the running status data of the robot and send it to the main control platform 1; The operation module 4 is installed on the robot and is used to be controlled by the main control platform 1 to perform the anti-corrosion operation of the steel gate through the operation tool; The main control platform 1 is electrically connected and controlled with the chassis servo drive system 2, the sensor module 3 and the operation module 4 respectively; The working tools include one or more of the following: High-pressure water cleaning device, used to clean the surface of steel gates; Welding device, used for welding repairs on the surface of steel gates; Laser cleaning and roughening device, used for laser cleaning and roughening of the surface of steel gates; Spraying device, used to apply anti-corrosion layer on the surface of steel gate; Grinding device, used to polish and smooth the surface of steel gates.

[0025] The present invention uses a robot to carry working tools to perform working tasks related to steel gate anti-corrosion. Among them, the main control platform 1, the chassis servo drive system 2, the sensor module 3 and the working module 4 are all installed on the robot, and the embodiment of the present invention does not specifically limit the installation position.

[0026] Reference Figure 3 The robot includes a swing arm 5 and an XYZ linear slide servo drive module. The high-pressure water cleaning device and the spraying device can be installed on the swing arm 5, and the welding device, the laser cleaning and texturing device and the grinding device can be detachably replaced and installed on the linear slide module 6 of the XYZ linear slide servo drive module.

[0027] The robot control system for steel gate anti-corrosion operation provided by the present invention can perform complex on-site anti-corrosion operations in hydraulic engineering and ensure the long-term operation of the steel gate structure. Each module plays a key role and works together to achieve efficient and accurate operation goals.

[0028] The robot control system for steel gate anti-corrosion operations provided by the present invention integrates a high-pressure water cleaning device, a welding device, a laser cleaning and texturing device, a grinding device and a spraying device. It can complete various anti-corrosion operations of steel gates, from cleaning, repair to spraying, greatly improving the comprehensive capability and efficiency of anti-corrosion equipment.

[0029] In a preferred embodiment of the present invention, referring to Figure 2 , The main control platform 1 includes: The client PC is used to provide a user interface for the user to set the operation parameters and monitor the anti-corrosion operation of the robot; The main control PC is connected to the user-side PC, the sensor module 3, the operation module 4 and the motion controller respectively. The main control PC is used to receive the running status data collected by the sensor module 3 for processing and control the operation module 4 to perform the operation task; the main control PC is responsible for overall control and coordination of the robot's movement, operation and data processing; A motion controller, electrically connected to the chassis servo drive system 2, for controlling the chassis servo drive system 2 to ensure accurate movement and positioning of the robot; In a preferred embodiment of the present invention, referring to Figure 2, the chassis servo drive system 2 is installed on the robot, and the chassis servo drive system 2 includes: The magnetic wheel servo drive module is used to control the speed and direction of the magnetic wheel through servo drive to control the movement and positioning of the robot chassis; A swing operation servo drive module is used to control the swing angle of the high-pressure water cleaning device or the spraying device so that the high-pressure water cleaning device or the spraying device can perform the operation task within a specified range; The XYZ linear guide servo drive module is used to drive the working tools installed on the XYZ linear guide to perform operations.

[0030] For further information, see Figure 3 The swing operation servo drive module drives the swing rod 5 through a servo motor, the high-pressure water cleaning device and / or the spraying device are installed on the swing rod 5, and the swing rod 5 swings in a fan shape. The XYZ linear slide rail servo drive module drives the linear slide module 6 through a servo motor, and the welding device, laser cleaning and texturing device, and grinding device are detachably and replaceably installed on the linear slide module 6. The high-pressure water cleaning operation and the spraying operation adopt a swinging operation, and the swing angle of the swing rod 5 is about 120 degrees.

[0031] Reference Figure 2 and Figure 3 , the chassis servo drive system 2 receives the control signal from the main control platform 1 to control the robot's magnetic wheel, swing rod 5 and linear slide module 6. Among them, the magnetic wheel servo drive module is used to control the rotation of the robot's magnetic wheel; the swing operation servo drive module can control the swing angle of the high-pressure water cleaning device or spraying device installed on the swing rod 5 by controlling the robot's swing rod 5, so that the high-pressure water cleaning device or spraying device can perform the operation task within the specified range. The robot's linear slide module 6 can carry specific operating tools, including but not limited to welding devices, laser cleaning and roughening devices and grinding tools, to achieve welding operations on local pits on the surface of the steel gate, grinding operations on local protrusions, and laser roughening operations.

[0032] In a preferred embodiment of the present invention, the sensor module 3 is installed on the robot and connected to the main control platform 1 via a first signal board.

[0033] The sensor module 3 includes: Distance sensor, used to measure the distance between the robot and the working surface; Posture sensor, used to measure the posture changes of the robot; A visual inspection device is used to collect images of a working area and extract the position of a reference laser line in the image; wherein the visual inspection device includes an industrial camera.

[0034] Furthermore, the sensor module 3 also includes: Status indicator light, used to indicate the current operating status of the robot; Weight sensor, used to measure the weight carried by the robot to ensure safe operation; Safety edge sensors to detect when the robot touches a boundary or obstacle to avoid collision or damage; A pressure sensor, mounted on the high-pressure water cleaning device or the spraying device, for monitoring the working pressure of the high-pressure water cleaning device or the spraying device; A control switch is used to control the start and stop of the working tool.

[0035] In this embodiment, the sensor module 3 optimizes the operating efficiency and accuracy of the robot in complex environments through real-time data collection, processing and feedback, while ensuring safety and reliability during the operation.

[0036] In a preferred embodiment of the present invention, referring to Figure 2 The operation module 4 is connected to the main control platform 1 via a second signal board. The operation module 4 also includes: A welding power source, connected to the welding device, for providing electrical energy for laser welding operations; Nondestructive testing equipment, used for nondestructive testing of materials and structures; The smoke and dust recovery device is used to collect the smoke and waste generated during the operation of the robot.

[0037] In this embodiment, the robot is further integrated with a non-destructive testing device, which ensures the cleanliness, repair and durability of the surface of the steel gate through cleaning, positioning, repairing, testing, processing and coating, thereby extending the service life of the steel gate.

[0038] Figure 4 This is a schematic diagram of the robot spraying operation provided by the present invention. In an embodiment of the present invention, the spraying operation process of the robot control system is described: First, a reference laser line is drawn in the working area on the surface of the steel gate by a laser to calibrate the working position on the surface of the steel gate; wherein the reference laser line is located in the middle position of the field of view of the visual detection device in the sensor module 3; the laser is located outside the robot, and the movement of the robot will not affect the laser, thereby making the reference laser line relatively fixed.

[0039] Then, the robot's operation module 4 is started, and the robot begins to perform the operation task. For example, when performing a spraying operation, the spraying device is installed on the swing rod 5, and the swing rod 5 swings left and right, while the robot moves along the reference laser line, thereby achieving spraying in the operation area. Figure 4 The spraying area shown.

[0040] During the operation, the robot moves forward or backward along the reference laser line. Figure 4 As shown, the spraying operation is carried out in a backward manner to prevent the wheels from damaging the sprayed paint surface.

[0041] The visual inspection device starts to collect images and uses a visual algorithm to extract the position information of the laser line in the image. The main control platform 1 controls the chassis servo drive system 2 to drive the robot to move along the reference laser line.

[0042] While the robot is performing its tasks, the visual inspection device continuously monitors the position of the reference laser line in the camera's field of view.

[0043] If it is detected that the reference laser line deviates from the middle position of the camera field of view, it is determined that the position of the robot has shifted.

[0044] When the visual inspection device detects that the robot position is offset, the built-in position controller calculates the compensation value and sends it to the main control platform. The compensation value is the distance the robot needs to move or the angle it needs to adjust. The main control platform controls the chassis servo drive system to drive the robot back to the reference laser line position.

[0045] Figure 5 The schematic diagram of the position controller provided by the present invention is shown in FIG. Figure 5 As shown, in this embodiment, the data collected by the attitude sensor and the odometer are applied to the position control of the robot to provide information about the current attitude and position of the robot. This information can be used to control the attitude and position, among which the commonly used control methods include proportional control, integral control and derivative control, referred to as PID control. In this embodiment, the attitude sensor and the odometer are used as input information for compensation. When the reference laser line is blocked and the control system loses the positioning reference, they are used as a short-term motion reference. Since the attitude sensor and the odometer have a time-accumulated error, they can only be used within the time range set by the system. Once the time threshold is exceeded and the reference laser line is still blocked, the system alarms and suspends the operation until the blockage of the reference laser line is removed.

[0046] Embodiment 2: See also Figure 6 , an operation method of a robot control system for steel gate anti-corrosion operation, used for steel gate anti-corrosion operation, the operation method comprising: S1. Use a laser to draw a reference laser line in the working area on the surface of the steel gate to calibrate the working position on the surface of the steel gate; wherein the reference laser line is located in the middle of the field of view of the visual detection device in the sensor module; S2, start the robot's operating module by controlling the switch, and the robot starts to perform the operating task; S3, the visual inspection device starts to collect images and uses a visual algorithm to extract the position information of the laser line in the image. The main control platform controls the chassis servo drive system to drive the robot to move along the reference laser line.

[0047] Specifically, in S3, while the robot is performing its task, the visual detection device continuously monitors the position of the reference laser line in the camera's field of view. If it is detected that the reference laser line has deviated from the middle position of the camera's field of view, it is determined that the robot's position has shifted. When the visual detection device detects that the robot's position is offset, a compensation value is calculated by a built-in position controller, and the compensation value is the distance the robot needs to move or the angle it needs to adjust. The visual detection device sends the compensation value to the main control platform, and the main control platform 1 generates a control signal based on the compensation value and sends it to the chassis servo drive system, and the chassis servo drive system controls the robot to return to the reference laser line position.

[0048] In this embodiment, the robot's operating tasks include high-pressure water cleaning, laser cleaning and texturing, welding, grinding, non-destructive testing, and spraying. The robot's operating process includes but is not limited to the following: high-pressure water cleaning → laser cleaning and texturing → welding → grinding → non-destructive testing → spraying.

[0049] The present invention introduces advanced robot control systems, multifunctional operating tools and comprehensive sensor devices, which effectively solves the problems of low intelligence and single function of traditional hydraulic steel gate anti-corrosion equipment, and provides a comprehensive and efficient solution for on-site anti-corrosion operations.

[0050] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot control system for steel gate anti-corrosion operations, characterized in that: include: A chassis servo drive system (2) is used to be controlled by the main control platform (1) to drive the robot to move on the surface of the hydraulic steel gate; A sensor module (3) for collecting operating status data of the robot and sending the data to the main control platform (1); An operation module (4) is installed on the robot and is used to be controlled by the main control platform (1) to perform steel gate anti-corrosion operations through operation tools; The main control platform (1) is electrically connected to and controlled by the chassis servo drive system (2), the sensor module (3) and the operation module (4); The working tools include one or more of the following: High-pressure water cleaning device, used to clean the surface of steel gates; Welding device, used for welding repairs on the surface of steel gates; Laser cleaning and roughening device, used for laser cleaning and roughening of the surface of steel gates; Spraying device, used to apply anti-corrosion layer on the surface of steel gate; Grinding device, used to polish and smooth the surface of steel gates.

2. A robot control system for steel gate anti-corrosion operations according to claim 1, characterized in that: The main control platform (1) comprises: The client PC is used to provide a user interface for the user to set the operation parameters and monitor the anti-corrosion operation of the robot; A main control PC is connected to the user-side PC, the sensor module (3), the operation module (4) and the motion controller respectively, and the main control PC is used to receive the operation status data collected by the sensor module (3) for processing, and control the operation module (4) to execute the operation task; The motion controller is electrically connected to the chassis servo drive system (2) and is used to control the chassis servo drive system (2).

3. A robot control system for steel gate anti-corrosion operation according to claim 1, characterized in that: The chassis servo drive system (2) is installed on the robot, and the chassis servo drive system (2) comprises: The magnetic wheel servo drive module is used to control the speed and direction of the magnetic wheel through servo drive to control the movement and positioning of the robot chassis; A swing operation servo drive module is used to control the swing angle of the high-pressure water cleaning device or the spraying device so that the high-pressure water cleaning device or the spraying device can perform the operation task within a specified range; The XYZ linear guide servo drive module is used to drive the working tools installed on the XYZ linear guide to perform operations.

4. A robot control system for steel gate anti-corrosion operation according to claim 3, characterized in that: The swing operation servo drive module drives the swing rod (5) via a servo motor, a high-pressure water cleaning device and / or a spraying device is mounted on the swing rod (5), and the swing rod (5) swings in a fan shape. The XYZ linear slide rail servo drive module drives the linear slide module (6) via a servo motor, and a welding device, a laser cleaning and texturing device, and a grinding device are detachably and replaceably mounted on the linear slide module (6).

5. A robot control system for steel gate anti-corrosion operation according to claim 1, characterized in that: The sensor module (3) is mounted on the robot and connected to the main control platform (1) via a first signal board. The sensor module (3) comprises: Distance sensor, used to measure the distance between the robot and the working surface; Posture sensor, used to measure the posture changes of the robot; The visual inspection device is used to collect images of the working area and extract the position of the reference laser line in the image.

6. A robot control system for steel gate anti-corrosion operation according to claim 5, characterized in that: The sensor module (3) further comprises: Status indicator light, used to indicate the current operating status of the robot; Weight sensor, used to measure the weight carried by the robot to ensure safe operation; Safety edge sensors to detect when the robot touches a boundary or obstacle to avoid collision or damage; A pressure sensor, mounted on the high-pressure water cleaning device or the spraying device, for monitoring the working pressure of the high-pressure water cleaning device or the spraying device; A control switch is used to control the start and stop of the working tool.

7. A robot control system for steel gate anti-corrosion operation according to claim 1, characterized in that: The operation module (4) is connected to the main control platform (1) via a second signal board, and the operation module (4) further comprises: A welding power source, connected to the welding device, for providing electrical energy for laser welding operations; Nondestructive testing equipment, used for nondestructive testing of materials and structures; The smoke and dust recovery device is used to collect the smoke and waste generated during the operation of the robot.

8. An operating method of a robot control system for steel gate anti-corrosion operations according to any one of claims 1 to 7, used for steel gate anti-corrosion operations, characterized in that: The operation methods include: A reference laser line is drawn by a laser in the working area on the surface of the steel gate to calibrate the working position on the surface of the steel gate; wherein the reference laser line is located in the middle of the field of view of the visual detection device in the sensor module (3); The robot's operation module (4) is started, and the robot begins to perform the operation task; The visual detection device starts to collect images and uses a visual algorithm to extract the position information of the laser line in the image. The main control platform (1) controls the chassis servo drive system (2) to drive the robot to move along the reference laser line.

9. The operating method according to claim 8, characterized in that: The main control platform (1) controls the chassis servo drive system (2) to drive the robot to move along the reference laser line, including: While the robot is performing its task, the visual inspection device continuously monitors the position of the reference laser line in the camera's field of view; If the reference laser line is detected to have deviated from the middle position of the camera field of view, it is determined that the robot position has shifted. When the visual inspection device detects that the robot position is offset, a compensation value is calculated by the built-in position controller; the compensation value is the distance the robot needs to move or the angle it needs to adjust; The visual detection device sends the compensation value to the main control platform (1); The main control platform (1) generates a control signal according to the compensation value and sends it to the chassis servo drive system (2), and the chassis servo drive system (2) controls the robot to return to the reference laser line position.

10. The operating method according to claim 8, characterized in that: The robot's operating tasks include high-pressure water cleaning, laser cleaning and roughening, welding, grinding, non-destructive testing and spraying.

Images