Control system and control method of transmission tower climbing robot

Abstract

The invention discloses a control system and control method of a transmission tower climbing robot. The problems that in the prior art, a robot cannot climb a tower, and cannot cross obstacles can besolved. The beneficial effect of facilitating the climbing task is achieved. The control system of the transmission tower climbing robot comprises a visual recognition module arranged on a robot bodyand used for monitoring the surrounding of the robot, a driving control module arranged on robot body mechanical arms and a lifting control module, each mechanical arm comprises an outer expansion mechanism and a clamping mechanism, the clamping mechanism is connected with the outer expansion mechanism, the drive control module is used for controlling the outer expansion mechanisms and the clamping mechanisms of the robot to act, the lifting control module is arranged between the upper and lower adjacent mechanical arms of the robot and used for controlling the robot to lift to achieve robot climbing action, and a master controller, the visual recognition module, the clamping mechanism control module and the lifting control module are connected with the master controller through a communication module.

Description

technical field [0001] The invention relates to the field of climbing robots, in particular to a control system and control method for a power transmission tower climbing robot. Background technique [0002] High-voltage transmission lines are the main components of power systems, and their working conditions are related to the safety, stability and reliability of power supply, and transmission lines are closely related to transmission towers, so the maintenance and repair of transmission towers are particularly important. Most of the maintenance and repair of high-voltage transmission towers rely on manual climbing. The staff carry the maintenance device to check the condition of the tower. High physical strength and technical requirements affect the safety of the staff. [0003] With the continuous improvement of intelligent robot technology, the development of climbing robots that help improve the personal safety of staff and can simply perform basic maintenance and para...

AI Technical Summary

Problems solved by technology

[0002] High-voltage transmission lines are the main components of power systems, and their working conditions are related to the safety, stability and reliability of power supply, and transmission lines are closely related to transmission towers, so the maintenance and repair of transmission towers are particularly important. Most of the maintenance and repair of high-voltage transmission towers rely on manual climbing. The staff carry the maintenance device to check the condition of the tower. High physical strength and technical requirements affect the safety of the staff

[0003] With the continuous improvement of intelligent robot technology, the development of climbing robots that help improve the personal safety of staff and can simply perform basic maintenance and parameter detection functions on towers has become an effective solution to this problem. The tree robot control system cannot overcome obstacles. Specifically, it is difficult to overcome obstacles such as foot nails, diagonal braces, gusset plates, and bolts in transmission towers. The existing transmission line detection robot detection system only needs to move along the wire and is difficult to complete the climbing. climbing task

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