A transmission tower climbing robot control system and control method

Abstract

The invention discloses a control system and a control method for a transmission tower climbing robot, which solves the problem that the robot cannot climb the tower or overcome obstacles in the prior art, and has the beneficial effect of conveniently completing the climbing task. The technical solution is as follows: : A transmission tower climbing robot control system, including a visual recognition module installed on the robot body for monitoring the surrounding environment of the robot; a drive control module installed on the robotic arm of the robot body, the mechanical arm includes an outreach mechanism and a clamping Mechanism, the clamping mechanism is connected with the outreach mechanism, and the drive controller module is used to control the action of the robot outreach mechanism and the clamping mechanism; the lifting control module is installed between the upper and lower adjacent mechanical arms of the robot body, and is used to control The lifting action of the robot is to realize the climbing action of the robot; the main controller, the visual recognition module, the clamping mechanism control module and the lifting control module are respectively connected with the main controller through the 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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