The Control System Research And Design Of The Inspection Robot Based On EtherCAT Bus

Use robot inspection,it can greatly reduce the extent of the task of inspection personnel,reduce costs,and make the efficiency and quality of inspection operations greatly improved.Because of the multi-joint tandem structure of inspection robot,using distributed control method can better meet the control system requirements of the inspection robot.For this solution based on industrial Ethernet control system is proposed,and several kinds of commonly used industrial Ethernet bus has carried on the comparative analysis.Finally we choose EtherCAT industrial Ethernet bus to build the inspection robot communication system.When the inspection robot patrols,due to obstructions on the high-voltage transmission lines,so the robot must have the function of obstacle-surmounting,there are many kinds of obstacles,which makes the obstacle-surmounting way has many kinds,and each kind of obstacle negotiation way of obstacle negotiation process is very complicated,which makes it difficult to the autonomous obstacle surmounting of robot control,so for robot obstacle-navigation problem,we planned several ways to cross the obstacle,and designed many obstacle-surmounting modules.For different means of surmounting obstacles calling the corresponding obstacle-surmounting modules,makes the originally complex obstacle-navigation process become more structured,simple and clear..Design the software and hardware control system of the robot,and give the overall scheme of the robot control system.On the robot hardware system builds,in view of the robot to its size,weight and control system on various aspects requirements,we selected the robot master controller,the slave system,I/O modules,motor drive module,sensor module,and finally the power consumption of the power module is analyzed and calculated;on the robot software system builds,use theTwinCAT configuration software to realize the master function,use VB language to design robot remote control interface,write the robot control flow chart,finally based on two of the most complicated way of obstacle-surmounting,design the concrete implementation process.