壁面爬行遥控检查机器人控制系统的研制

THE CONTROL SYSTEM OF THE WALL CLIMBINGINSPECTION ROBOT

本文介绍壁面爬行遥控检查机器人控制系统．该控制系统采用二级计算机控制．二级计算机之间采用光缆进行通讯．主计算机采用工业级ＰＣ总线计算机，从计算机采用ＳＴＤ总线计算机，主计算机能够对控制系统中的其他部分及视觉系统、检查系统和支持系统的行为进行协调和管理．

This paper describes the control system of the wall climbing inspection robot.The control sys-tem is a master-slave computer system. The communication is made through the optical fiber between themaster computer and the slave computer. The master computer is a PC-bus industrial computer. The slavecomputer is a STD-bus computer. The master computer can manage and control the vision system, in-spec-tion system and support system of the climbing robot.