Stable ladder climbing robot control system
By designing a collaboration mechanism of dual control modules, dual detection modules and comparison modules in the ladder robot control system, the problem of poor stability of the ladder robot control system is solved, and the efficient, safe and stable operation of the robot during the ladder climbing process is achieved.
Patent Information
- Application Number
- CN202421668676.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-15
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-07-15
AI Technical Summary
The ladder robot control system has poor stability and is prone to interruption of control due to unstable movement.
A control system including two control modules, dual detection modules and comparison modules is designed, and the appropriate control module is selected through the first switch module for action control to ensure the continuity of the control process.
Through the collaboration of dual control modules, dual detection modules and comparison modules, precise control and environmental adaptability of robot ladder climbing processes are achieved, and the safety, efficiency and stability of ladder climbing operations are improved.
Smart Images
Figure CN222914065U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of robotics, and more particularly to a control system for a stable ladder-climbing robot. Background Art
[0002] A ladder-climbing robot is a specially designed robot that can move autonomously in a staircase environment without an operator. However, since the ladder-climbing robot is likely to be impacted due to unstable movement during the movement process, it is prone to control interruption, resulting in poor stability of the robot's control system. Therefore, a control system for a stable ladder-climbing robot is needed. Summary of the Utility Model
[0003] Embodiments of the present disclosure provide a control system for a stable ladder-climbing robot to solve the problem of poor stability of the control system of the ladder-climbing robot.
[0004] Embodiments of the present disclosure provide a control system for a stable ladder-climbing robot, including:
[0005] A first switch module, a first control module, a second control module, a first detection module, a second detection module, and a comparison module;
[0006] The first switch module is respectively connected to the first control module and the second control module;
[0007] The first detection module is respectively connected to the first control module and the second control module;
[0008] The second detection module is respectively connected to the first control module and the second control module;
[0009] Both the first detection module and the second detection module are connected to the comparison module; the comparison module is connected to the first switch module.
[0010] In an exemplary embodiment of the present disclosure, the control system for a stable ladder-climbing robot further includes:
[0011] A power module, a sensor acquisition module, and a drive module;
[0012] The power module is connected to the first switch module; the first switch module is connected to the sensor acquisition module;
[0013] The sensor acquisition module is respectively connected to the first control module and the second control module;
[0014] Both the first control module and the second control module are connected to the drive module.
[0015] In an exemplary embodiment of the present disclosure, the first switch module includes:
[0016] A single-pole double-throw switch;
[0017] The power supply module is connected to the moving end of the single-pole double-throw switch;
[0018] The first stationary end of the single-pole double-throw switch is connected to the first control module; the second stationary end of the single-pole double-throw switch is connected to the second control module.
[0019] In an exemplary embodiment of the present disclosure, the sensor acquisition module includes:
[0020] A distance sensor, an optical fiber sensor, and a vision sensor;
[0021] The distance sensor, the optical fiber sensor, and the vision sensor are respectively connected to the first control module and the second control module.
[0022] In an exemplary embodiment of the present disclosure, the drive module includes:
[0023] A motor and a transmission unit;
[0024] The first control module and the second control module are both connected to the motor; the motor is connected to the transmission unit.
[0025] In an exemplary embodiment of the present disclosure, the first detection module includes:
[0026] A first fault detection unit and a second fault detection unit;
[0027] The first fault detection unit is connected to the first control module; the second fault detection unit is connected to the second control module;
[0028] The first fault detection unit and the second fault detection unit are both connected to the comparison module.
[0029] In an exemplary embodiment of the present disclosure, the second detection module includes:
[0030] A first timing unit and a second timing unit;
[0031] The first timing unit is connected to the first control module; the second timing unit is connected to the second control module;
[0032] The first timing unit and the second timing unit are both connected to the comparison module.
[0033] In an exemplary embodiment of the present disclosure, the stable ladder-climbing robot control system further includes:
[0034] Voice recognition module;
[0035] The voice recognition module is respectively connected to the first control module and the second control module.
[0036] In an exemplary embodiment of the present disclosure, the stable ladder climbing robot control system further includes:
[0037] Video module;
[0038] The video module is respectively connected to the first control module and the second control module.
[0039] In an exemplary embodiment of the present disclosure, the stable ladder climbing robot control system further includes:
[0040] Touch screen module;
[0041] The touch screen module is respectively connected to the first control module and the second control module.
[0042] The beneficial effects of the stable ladder climbing robot control system provided by the embodiments of the present disclosure are as follows:
[0043] First, the embodiments of the present disclosure can realize the control of the ladder climbing robot according to actual needs by setting two control modules, achieve flexible conversion in control, and at the same time can meet diverse control requirements according to different environments where the robot is located, expanding the applicable range of the ladder climbing robot.
[0044] Second, the embodiments of the present disclosure can analyze the received data through the comparison module, and thus select a suitable control module through the first switch module to perform action control on the ladder climbing robot. The continuous control mode of alternating control by two control modules ensures the continuity of the control process, improves the control continuity of the ladder climbing robot, and ensures that the robot can stably and continuously complete the ladder climbing process. BRIEF DESCRIPTION OF THE DRAWINGS
[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0046] Figure 1 is a schematic structural diagram of a stable ladder climbing robot control system provided by an embodiment of the present disclosure;
[0047] Figure 2 is a schematic structural diagram of a stable ladder climbing robot control system provided by another embodiment of the present disclosure;
[0048] Figure 3 It is a schematic structural diagram of a stable ladder - climbing robot control system provided by an embodiment of the present disclosure. Specific embodiments
[0049] In order to enable those skilled in the art to better understand this solution, the following will clearly describe the technical solutions in the embodiments of this solution with reference to the accompanying drawings in the embodiments of this solution. Obviously, the described embodiments are some, but not all, of the embodiments of this solution. Based on the embodiments in this solution, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this solution.
[0050] The terms "including" and any other variations in the specification and claims of this solution and the above - mentioned accompanying drawings mean "including but not limited to", intending to cover non - exclusive inclusion and not limited to the examples listed in the text. In addition, terms such as "first" and "second" are used to distinguish different objects rather than to describe a specific order.
[0051] The following will describe the implementation of the present disclosure in detail with reference to specific accompanying drawings:
[0052] Figure 1 It is a schematic structural diagram of a stable ladder - climbing robot control system 100 provided by an embodiment of the present disclosure. Refer to Figure 1 , the stable ladder - climbing robot control system 100 includes:
[0053] A first switch module 101, a first control module 102, a second control module 103, a first detection module 104, a second detection module 105, and a comparison module 106.
[0054] The first switch module 101 is respectively connected to the first control module 102 and the second control module 103.
[0055] The first detection module 104 is respectively connected to the first control module 102 and the second control module 103.
[0056] The second detection module 105 is respectively connected to the first control module 102 and the second control module 103.
[0057] Both the first detection module 104 and the second detection module 105 are connected to the comparison module 106. The comparison module 106 is connected to the first switch module 101.
[0058] In this embodiment, the first switch module 101 is one of the core control elements in this system, and this module performs corresponding switch operations to select the corresponding control module to achieve the action control of the ladder - climbing robot.
[0059] Both the first control module 102 and the second control module 103 are used to control the movement of the ladder-climbing robot. By analyzing the received data and instructions, the control of the ladder-climbing robot is realized.
[0060] The first detection module 104 is used to detect the working states of the first control module 102 and the second control module 103 respectively. This module is mainly responsible for real-time monitoring and analysis of key parameters in the operating environment of the ladder-climbing robot, such as the state of the robot's power system, motion posture, speed, etc., so as to determine whether the currently adopted control module has a working fault.
[0061] The second detection module 105 is similar to the first detection module 104, but the second detection module 105 is used to detect the working durations of the first control module 102 and the second control module 103 respectively. At the same time, both the first detection module 104 and the second detection module 105 are connected to the comparison module 106, and the detection data is transmitted to the comparison module 106 for further processing.
[0062] The comparison module 106 is the key decision-making module in this system. It receives all the detection data from the first detection module 104 and the second detection module 105. By comparing these data, it can judge whether the currently adopted control module can meet the movement requirements of the ladder-climbing robot, and then send a more accurate operation instruction to the first switch module 101. The first switch module 101 selects a suitable control module to connect the circuit to ensure the stable operation of the ladder-climbing robot.
[0063] For example, if the movement of the current ladder-climbing robot is controlled by the first control module 102, at this time, the comparison module 106 receives the detection data of the first control module 102 from the first detection module 104 and the second detection module 105. If the first detection module 104 detects that the first control module 102 is in a fault state, then the comparison module 106 receives a high-level signal at this time; if the second detection module 105 detects that the working duration of the first control module 102 is greater than the preset duration, then the comparison module 106 receives a high-level signal at this time; as long as the comparison module 106 receives a high-level signal, the comparison module 106 conveys a high-level signal to the first switch module 101. At this time, the first switch module 101 jumps and switches to the second control module 103 to control the movement of the ladder-climbing robot.
[0064] For example, if the operation of the current ladder-climbing robot is controlled by the second control module 103, at this time, the comparison module 106 receives the detection data of the second control module 103 from the first detection module 104 and the second detection module 105. If the first detection module 104 detects that the second control module 103 is in a normal working state, then the comparison module 106 receives a low-level signal at this time; if the second detection module 105 detects that the working duration of the second control module 103 is less than the preset duration, then the comparison module 106 receives a low-level signal at this time; at this time, the comparison module 106 does not receive a high-level signal, and the comparison module 106 sends a low-level signal to the first switch module 101. At this time, the first switch module 101 does not trigger a jump and still maintains the second control module 103 to control the operation of the ladder-climbing robot.
[0065] It can be concluded from the above that the stable ladder-climbing robot control system 100 can achieve precise control of the robot's ladder-climbing process and environmental adaptability through the close cooperation among the dual control modules, dual detection modules, and the comparison module 106, ensuring the safety, efficiency, and stability of the ladder-climbing operation.
[0066] Figure 2 It is a schematic structural diagram of a stable ladder-climbing robot control system provided by another embodiment of the present disclosure. Refer to Figure 2 , in an embodiment of the present disclosure, the stable ladder-climbing robot control system 100 further includes:
[0067] A power supply module 107, a sensor acquisition module 108, and a drive module 109.
[0068] The power supply module 107 is connected to the first switch module 101. The first switch module 101 is connected to the sensor acquisition module 108.
[0069] The sensor acquisition module 108 is respectively connected to the first control module 102 and the second control module 103.
[0070] Both the first control module 102 and the second control module 103 are connected to the drive module 109.
[0071] In this embodiment, the power supply module 107 is the core of the entire system's energy supply. The power supply module 107 is responsible for providing stable and continuous electrical energy to each electronic component and actuator in the entire system. The power supply module 107 is directly connected to the first switch module 101 and supplies power to other modules through the first switch module 101.
[0072] The sensor acquisition module 108 integrates various types of sensor devices to comprehensively and multi - angularly sense various information about the environment where the ladder - climbing robot is located and its own state. The sensor acquisition module 108 is connected to the first control module 102 and the second control module 103, and transmits the collected sensor data of various types to these two control modules in real - time. These data may include, but are not limited to, ladder slope, robot position, motor current, temperature, vibration, etc., providing rich and detailed basis for the control module to make precise control decisions.
[0073] The drive module 109 is the key actuator for realizing the movement of the robot. It receives control signals from the first control module 102 and the second control module 103, converts them into mechanical actions, and drives the joints, wheels or other moving parts of the ladder - climbing robot to complete the specific actions of climbing the ladder. Both the first control module 102 and the second control module 103 are connected to the drive module 109, which means they can control the drive module 109 jointly or independently according to the processed instructions of each, realizing redundant control or collaborative work, and enhancing the reliability and flexibility of the system.
[0074] It can be concluded from the above that the stable ladder - climbing robot control system 100 further improves the system's energy supply, environment perception and motion execution capabilities by adding the power supply module 107, the sensor acquisition module 108 and the drive module 109, enabling the robot to maintain efficient, safe and stable operating performance in a complex and dynamic ladder - climbing environment.
[0075] In an embodiment of the present disclosure, the first switch module 101 includes:
[0076] A single - pole double - throw switch.
[0077] The power supply module 107 is connected to the moving end of the single - pole double - throw switch.
[0078] The first fixed end of the single - pole double - throw switch is connected to the first control module 102. The second fixed end of the single - pole double - throw switch is connected to the second control module 103.
[0079] In this embodiment, the first switch module 101 adopts a single - pole double - throw switch. This switch has a common input terminal (i.e., the moving end) and two independent output terminals (i.e., the fixed ends). During operation, the moving end of the single - pole double - throw switch can be switched from the first fixed end to the second fixed end, but it can only be connected to one of the fixed ends at any time.
[0080] The output line of the power supply module 107 is directly connected to the moving end of the single - pole double - throw switch, which means the electric energy provided by the power supply module 107 can be transmitted through the moving end to the fixed end connected thereto, and then supply power to the control module connected to this fixed end.
[0081] The first fixed terminal of the single-pole double-throw switch is connected to the first control module 102. When the moving terminal of the single-pole double-throw switch contacts the first fixed terminal, the electrical energy of the power supply module 107 can smoothly flow to the first control module 102, providing power support for its normal operation. At this time, the first control module 102 is in an active state and can execute its predetermined control tasks.
[0082] The second fixed terminal of the single-pole double-throw switch is connected to the second control module 103. When the single-pole double-throw switch is switched to the second fixed terminal, the electrical energy of the power supply module 107 flows to the second control module 103, enabling it to start and execute corresponding control functions. At this time, the first control module 102 is disconnected from the power supply and enters the standby or sleep state.
[0083] From the above, it can be concluded that in this embodiment, the single-pole double-throw switch realizes the power on / off control of the first control module 102 and the second control module 103. By switching the state of the single-pole double-throw switch, it is possible to flexibly select whether to control the ladder climbing robot by the first control module 102 or the second control module 103, realizing functions such as primary / backup control, fault switching, or collaborative work, thereby enhancing the stability and reliability of the ladder climbing robot control system 100.
[0084] In an embodiment of the present disclosure, the sensor acquisition module 108 includes:
[0085] A distance sensor, an optical fiber sensor, and a vision sensor.
[0086] The distance sensor, the optical fiber sensor, and the vision sensor are respectively connected to the first control module 102 and the second control module 103.
[0087] In this embodiment, the distance sensor is a sensor used to measure the distance information between the ladder climbing robot and the surrounding environment (such as ladders, walls, obstacles, etc.). It usually adopts technical principles such as ultrasonic, laser, and infrared, and can provide real-time and accurate distance data for the control module to help the robot judge its own position, avoid obstacles, and maintain an appropriate distance from the ladder, etc.
[0088] The optical fiber sensor is a sensor that uses optical fibers as sensitive elements or signal transmission media and can detect various physical quantities (such as temperature, pressure, vibration, displacement, etc.) or chemical quantities (such as gas concentration, humidity, liquid composition, etc.). The optical fiber sensor can be used to monitor the working state of the robot itself (such as motor temperature, bearing wear, etc.) or the surrounding environmental conditions (such as ladder material, surface condition, environmental light, etc.), providing rich state information for the control module to assist it in making accurate control decisions.
[0089] A vision sensor is a sensor that can capture and process image information of the surrounding environment. In this system, the vision sensor can identify features such as the shape, texture, and color of the ladder, as well as visual cues such as the posture and position of the robot itself, providing intuitive and rich visual data for the control module to help the robot achieve functions such as precise navigation, obstacle avoidance, and self-positioning in a complex and dynamic visual environment.
[0090] In this embodiment, the distance sensor, the fiber optic sensor, and the vision sensor are all connected to the first control module 102 and the second control module 103 respectively, and can transmit the collected data to the two control modules simultaneously. No matter which control module is in the working state, it can receive the monitoring data of each sensor in a timely manner.
[0091] It can be concluded from the above that this embodiment can achieve all-round and multi-dimensional environmental perception and status monitoring of the ladder-climbing robot through multiple sensors, further improving the environmental adaptability and control accuracy of this system.
[0092] In an embodiment of the present disclosure, the drive module 109 includes:
[0093] A motor and a transmission unit.
[0094] Both the first control module 102 and the second control module 103 are connected to the motor. The motor is connected to the transmission unit.
[0095] In this embodiment, the motor is the core power source of the drive module 109, responsible for converting electrical energy into mechanical energy to drive the ladder-climbing robot to perform rotational or linear motion.
[0096] The transmission unit is an intermediate link connecting the motor and the moving parts of the robot, and its main function is to transmit the power generated by the motor to the moving parts in a suitable manner.
[0097] Both the first control module 102 and the second control module 103 can directly control operations such as the start, stop, steering, and speed of the motor to achieve precise control of the robot's movement. When one of the control modules fails or needs maintenance, the other control module can seamlessly take over the motor control to ensure the continuity and safety of the robot's ladder-climbing task. The motor is connected to the moving parts of the robot through the transmission unit to form a complete power transmission link. The power output by the motor is converted and transmitted through the transmission unit, and finally drives the robot to complete the action of climbing the ladder.
[0098] It can be concluded from the above that this embodiment provides a stable and precise power output for the smooth ladder-climbing robot through the alternating control of the first control module 102 and the second control module 103, and the effective connection between the motor and the transmission unit, ensuring that it can complete tasks flexibly and efficiently in various ladder-climbing scenarios.
[0099] Figure 3 It is a schematic structural diagram of the control system of a stable ladder-climbing robot provided by an embodiment of the present disclosure. Referring to Figure 3 , in an embodiment of the present disclosure, the first detection module 104 includes:
[0100] A first fault detection unit 1041 and a second fault detection unit 1042.
[0101] The first fault detection unit 1041 is connected to the first control module 102. The second fault detection unit 1042 is connected to the second control module 103.
[0102] Both the first fault detection unit 1041 and the second fault detection unit 1042 are connected to the comparison module 106.
[0103] In this embodiment, the first fault detection unit 1041 is responsible for real-time monitoring of the working state of the first control module 102 to identify potential faults or abnormal conditions. According to the detected status information, it conveys corresponding high-level signals or low-level signals to the comparison module 106. For example, when it detects that the working state of the first control module 102 is faulty or abnormal, the first fault detection unit 1041 will convey a high-level signal to the comparison module 106; when it detects that the working state of the first control module 102 is in a normal working state, the first fault detection unit 1041 will convey a low-level signal to the comparison module 106.
[0104] The second fault detection unit 1042 has the same working principle as the first fault detection unit 1041 and is responsible for fault detection of the second control module 103. The second fault detection unit 1042 conveys corresponding electrical signals to the comparison module 106 according to the detected fault state or normal working state. For example, when it detects that the working state of the second control module 103 is faulty or abnormal, the second fault detection unit 1042 will convey a high-level signal to the comparison module 106; when it detects that the working state of the second control module 103 is in a normal working state, the second fault detection unit 1042 will convey a low-level signal to the comparison module 106.
[0105] The comparison module 106 can compare the monitoring signals received from the first fault detection unit 1041 and the second fault detection unit 1042, and control the first switch module 101 to select an appropriate control module to control the ladder-climbing robot through the comprehensive comparison result.
[0106] As can be seen from the above, this embodiment can monitor the working states of the two control modules from multiple perspectives and at multiple levels, promptly detect and handle possible control failures, ensure that the ladder-climbing robot can also receive continuous control instructions in complex and harsh working environments, and improve the stability and applicability of the ladder-climbing robot.
[0107] Referring to Figure 3 , in an embodiment of the present disclosure, the second detection module 105 includes:
[0108] A first timing unit 1051 and a second timing unit 1052.
[0109] The first timing unit 1051 is connected to the first control module 102. The second timing unit 1052 is connected to the second control module 103.
[0110] Both the first timing unit 1051 and the second timing unit 1052 are connected to the comparison module 106.
[0111] In this embodiment, as a part of the second detection module 105, the first timing unit 1051 is mainly responsible for monitoring the continuous working duration of the first control module 102 and transmitting the monitoring result to the comparison module 106. The working principle of the second timing unit 1052 is similar to that of the first timing unit 1051. It is responsible for monitoring the continuous working duration of the second control module 103 and transmitting the detection result to the comparison module 106. When the first control module 102 or the second control module 103 is turned on, the first timing unit 1051 or the second timing unit 1052 starts to monitor simultaneously. And according to the comparison result, a switching signal is sent to the first switch module 101 in a timely manner.
[0112] As can be seen from the above, this embodiment realizes multi-dimensional monitoring of the working duration of the control module through the first timing unit 1051 and the second timing unit 1052, ensuring that the system operates efficiently and safely according to the expected time frame.
[0113] In an embodiment of the present disclosure, the stable ladder-climbing robot control system 100 further includes:
[0114] A voice recognition module.
[0115] The voice recognition module is respectively connected to the first control module 102 and the second control module 103.
[0116] In this embodiment, the speech recognition module is a component that receives external sound signals through a built-in microphone and converts the received speech into text information or commands that can be understood by a computer through a series of steps such as signal processing, feature extraction, and pattern matching. The introduction of the speech recognition module enables the stable ladder-climbing robot control system 100 to have the ability of voice interaction, be able to understand and respond to the user's oral instructions, and greatly improves the convenience and friendliness of human-computer interaction.
[0117] The speech recognition results generated by the speech recognition module are simultaneously sent to the first control module 102 and the second control module 103. No matter which control module is in the working state currently, it can receive the user's voice instructions and perform corresponding operations according to the instruction content.
[0118] It can be concluded from the above that in this embodiment, by integrating the speech recognition module, accurate recognition and rapid response to the user's voice instructions are achieved, enabling the user to communicate with the robot in a natural and intuitive way, command it to complete the ladder-climbing task, and greatly improving the intelligent level of the system and the convenience of user operation.
[0119] In an embodiment of the present disclosure, the stable ladder-climbing robot control system 100 further includes:
[0120] A video module.
[0121] The video module is respectively connected to the first control module 102 and the second control module 103.
[0122] In this embodiment, the video module is a component responsible for collecting real-time video streams of the surrounding environment and further performing advanced visual processing such as image analysis, object detection, and scene understanding. The addition of the video module enables the stable ladder-climbing robot control system 100 to have visual perception ability, be able to obtain and understand the visual information of its working environment, which is crucial for key tasks such as navigation, obstacle avoidance, and target object recognition of the ladder-climbing robot in a complex environment.
[0123] The video module transmits the collected video data or the processed visual information to the first control module 102 and the second control module 103 simultaneously. No matter which control module is leading the robot's motion decision-making, it can receive the latest visual information in a timely manner and make accurate motion planning, path adjustment, obstacle avoidance and other decisions based on this.
[0124] It can be concluded from the above that in this embodiment, by integrating the video module, the robot is given powerful visual perception and processing capabilities, enabling it to obtain and analyze visual information in real time in a complex ladder-climbing environment, providing an accurate basis for intelligent decision-making, and significantly improving the safety, efficiency, and adaptability of the robot during the ladder-climbing process.
[0125] In one embodiment of the present disclosure, the stable ladder-climbing robot control system 100 further includes:
[0126] A touch screen module.
[0127] The touch screen module is respectively connected to the first control module 102 and the second control module 103.
[0128] In this embodiment, the touch screen module is a device that allows users to directly perform interactive behaviors such as tapping, swiping, and gesture operations on the screen with their fingers or a stylus, etc., to achieve functions such as controlling the robot, setting parameters, and querying information. The introduction of the touch screen module provides an intuitive and convenient human-machine interaction interface for the stable ladder-climbing robot control system 100, facilitating users to perform refined operations and real-time monitoring.
[0129] The touch screen module receives the user's touch command and simultaneously sends it to the first control module 102 and the second control module 103. Regardless of which control module is currently in the working state, it can receive the user's touch input in a timely manner and execute corresponding operations according to the command content.
[0130] From the above, it can be concluded that this embodiment provides an intuitive and efficient interaction method for users by integrating the touch screen module, enabling users to directly control the robot, set parameters, and view information through touch screen operations, greatly improving the usability and operation convenience of the system.
[0131] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.
Claims
1. A stable ladder climbing robot control system, characterized in that: include: A first switch module, a first control module, a second control module, a first detection module, a second detection module and a comparison module; The first switch module is connected to the first control module and the second control module respectively; The first detection module is connected to the first control module and the second control module respectively; The second detection module is connected to the first control module and the second control module respectively; The first detection module and the second detection module are both connected to the comparison module; The comparison module is connected to the first switch module; Wherein, the first detection module includes: a first fault detection unit and a second fault detection unit; The first fault detection unit is connected to the first control module; the second fault detection unit is connected to the second control module; The first fault detection unit and the second fault detection unit are both connected to the comparison module.
2. A stable ladder climbing robot control system as claimed in claim 1, characterized in that: Also includes: Power module, sensor acquisition module and drive module; The power supply module is connected to the first switch module; the first switch module is connected to the sensor acquisition module; The sensor acquisition module is connected to the first control module and the second control module respectively; The first control module and the second control module are both connected to the driving module.
3. A stable ladder climbing robot control system as claimed in claim 2, characterized in that: The first switch module comprises: SPDT switch; The power module is connected to the moving end of the single-pole double-throw switch; The first fixed end of the single-pole double-throw switch is connected to the first control module; the second fixed end of the single-pole double-throw switch is connected to the second control module.
4. A stable ladder climbing robot control system as claimed in claim 2, characterized in that: The sensor acquisition module comprises: distance sensors, fiber optic sensors, and vision sensors; The distance sensor, the optical fiber sensor and the visual sensor are connected to the first control module and the second control module respectively.
5. A stable ladder climbing robot control system as claimed in claim 2, characterized in that: The driving module comprises: Motor and transmission unit; The first control module and the second control module are both connected to the motor; and the motor is connected to the transmission unit.
6. A stable ladder climbing robot control system as claimed in claim 1, characterized in that: The second detection module comprises: a first timing unit and a second timing unit; The first timing unit is connected to the first control module; the second timing unit is connected to the second control module; The first timing unit and the second timing unit are both connected to the comparison module.
7. A stable ladder climbing robot control system as claimed in claim 1, characterized in that: Also includes: Speech recognition module; The speech recognition module is connected to the first control module and the second control module respectively.
8. A stable ladder climbing robot control system as claimed in claim 1, characterized in that: Also includes: Video module; The video module is connected to the first control module and the second control module respectively.
9. A stable ladder climbing robot control system as claimed in claim 1, characterized in that: Also includes: Touch screen module; The touch screen module is connected to the first control module and the second control module respectively.