| At present,the domestic high-speed railway station canopy column detection is mainly manual detection,the detection process is complex,and the risk is high in the working process.In order to improve the safety and efficiency,the design of high-speed railway station canopy column wall climbing robot instead of manual operation.At present,most of the robots are only suitable for crawling on the vertical wall.The wall climbing robot designed in this paper can crawl on the small curvature wall,which has important engineering significance.This paper mainly focuses on the design of the control system of the wall climbing robot for the canopy column of the high-speed railway station which is suitable for working in the small curvature column.Firstly,based on the working environment and path planning of the column wall climbing robot,the working requirements and technical basis of the robot are analyzed,and the overall design scheme of the column wall climbing robot in the canopy of high-speed railway station is proposed.In the hardware system of the high-speed railway station canopy column wall climbing robot,according to the walking and working requirements of the column wall climbing robot,the modular design is carried out,including the sensor module including laser ranging sensor and mpu6050 sensor,the motor module driving the robot movement,the communication module for information transmission between devices,etc.,and the nbiot module is added,Realize the remote transmission and view of the thickness gauge test data.The software system of wall climbing robot for canopy column of high-speed railway station is designed.Transplant in KEIL μ C / OS-Ⅱ control system,and the software system of the column climbing robot is divided into tasks.In order to control the motor speed,and the communication module is designed.In this paper,the functions of walking adsorption,motor control and data transmission of the control system of the high-speed railway station canopy column climbing robot are comprehensively tested.The experiment shows that the high-speed railway station canopy column robot has good perception ability,autonomous movement ability and control ability,and can be competent for the detection task of the high-speed railway station canopy column. |
