JPH05324068A - Driving controller for traveling robot - Google Patents

Abstract

PURPOSE:To travel a traveling robot in a satisfactory state and to reduce a load applied to a linked part or the like compared to the conventional load by generating suitable driving force on traveling wheels according to the traveling state. CONSTITUTION:The output of a tension detector 23 is inputted to a PI control circuit 24, and the output of the PI control circuit 24 is added to a traveling velocity command from a traveling velocity commander 20 by an adder 25. The output of this adder 25 is inputted to a traveling velocity control circuit 26 to control the driving of a motor loaded on the traveling vehicle as a corrected velocity command signal, and the traveling velocity of the traveling vehicle is controlled.

Description

Detailed Description of the Invention

[Object of the Invention]

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a traveling robot.

[0003]

2. Description of the Related Art Generally, in thermal power plants and nuclear power plants, a large amount of shellfish and seaweed adhere and grow in a circulating water pipe for cooling a condenser. These shellfish and seaweeds not only reduce the effective area in the pipes and become the resistance to the intake of cooling water, but also reduce the cooling efficiency of the condenser, and they also peel off naturally, causing smoke in the condenser. -It flows into the group and inhibits its function, and causes corrosion. For this reason, in thermal power plants and nuclear power plants, cleaning and inspection work is regularly performed in the circulating water pipes that cool the condenser.

Further, the nuclear power plant adopts a means for constructing a power plant building on rock from the viewpoint of earthquake-resistant structure. Particularly, in order to save the power of the circulating water pump, the circulating water pipe is used. Since the entrance and exit of the power plant are submerged in the intake and discharge channels respectively, nearly half of the above power plant buildings are often located below sea level, and are located at the bottom of the above power plant buildings. The arrangement of circulating water pipes (hereinafter abbreviated as pipes) for cooling the condenser forms complicated flow paths such as bent portions, steep slopes, vertical pipe portions, and branched portions.

As described above, it is extremely dangerous to carry out cleaning and inspection work inside a pipe having a complicated flow path. Therefore, conventionally, a traveling robot equipped with cleaning / inspection equipment is remote. I was driving and working by operation.

FIG. 8 shows an example of such a conventional traveling robot. The traveling robot shown in the figure is for inspecting and cleaning the inside of the pipe 1 by two traveling vehicles 2 and 3, which are driven by traveling motors 4 and 5, respectively. The wheels 6 and 7 are configured to travel. Then, these traveling vehicles 2,
3 is placed in the pipe 1, and then connected by the wire rope 8,
The wheels 6 and 7 are rotated at the same speed, the traveling vehicles 2 and 3 are moved forward and backward at the same speed, and inspection and cleaning are performed. These operations are performed while the workers are watching the TV monitor installed on the ground.

Further, the traveling robot shown in FIG.
The work vehicle 12 is equipped with cleaning equipment (not shown) and is driven by wheels 11 driven by the travel motor 10, and the support vehicle 14 is connected to the work vehicle 12 by wires 13. One end of the wire 13 is connected to the winch 15 mounted on the support vehicle 14. In such a traveling robot, even in a steep slope where the work vehicle 12 cannot travel by itself, the support vehicle 14 is fixed to a flat portion on the slope and the winch 15 is operated, so that the work vehicle 12 can travel. It will be possible.

[0008]

However, in the conventional traveling robot shown in FIG.
It is necessary for a worker to operate while watching the TV monitor so that the traveling speeds of the two traveling vehicles always match, and even if the traveling speed commands of the two traveling vehicles match. , The wheels slip for some reason,
If the traveling speed of the traveling vehicle is broken due to obstacles,
There is a problem that the wire rope is damaged or the traveling vehicles collide with each other because the wire rope is excessively tensioned or slackened.

Further, in the conventional traveling robot shown in FIG. 9, when traveling on an inclined portion, the wheels rotate with a constant driving force regardless of the inclination angle of the inclined portion, so that the wheels are driven more than necessary. Force is generated, wire rope, support
Excessive force may be applied to the robot, winch, etc. Therefore, there is a risk of damage to these devices, and there is a problem that these devices must be upsized in order to prevent damage.

The present invention has been made in consideration of such a conventional situation, and it is possible to generate an appropriate driving force on the traveling wheels according to the traveling state to allow the traveling robot to travel in a good state. An object of the present invention is to provide a drive control device for a traveling robot that can reduce the load applied to parts and the like as compared with the related art.

[Constitution of the Invention]

[0012]

That is, a drive control device for a traveling robot according to a first aspect of the present invention includes first and second traveling vehicles which are connected to each other by a connecting mechanism and each of which travels by its own drive motor. In the drive control device for the traveling robot, the tension detecting means for detecting the tension applied to the connecting mechanism, the traveling speed of the first traveling vehicle, the tension detected by the tension detecting means, and the preset setting. A traveling speed command means for generating a traveling speed command signal for the second traveling vehicle and a traveling speed command from the traveling speed command means so as to always keep the connecting mechanism at the set tension based on a deviation from the tension. Signal, the second
And a traveling speed control means for controlling the traveling speed of the traveling vehicle.

A drive control device for a traveling robot according to a second aspect of the present invention is mounted on the traveling robot and drives a traveling motor for driving traveling wheels and a winch for externally supporting the traveling robot. In a drive control device for a traveling robot that controls a motor in cooperation with each other, a traveling torque command value according to an inclination angle detecting means for detecting a longitudinal inclination angle of the traveling robot, and an inclination angle detected by the inclination angle detecting means. And a traveling torque command value from the command value generating means.
And a traveling motor control means for controlling the drive torque of the motor.

[0014]

[Operation] In the drive control device for a traveling robot of the present invention having the above-described configuration, it is possible to generate an appropriate driving force on the traveling wheels in accordance with the traveling state to cause the traveling robot to travel in a good state, and to connect the connecting portion and the like. It is possible to reduce the load applied to the compared to the conventional one.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a drive control device for a traveling robot according to the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows the structure of a drive control device for a traveling robot according to an embodiment of the present invention.
Reference numeral 0 indicates a traveling speed command device that issues a traveling speed command. The traveling speed command from the traveling speed command device 20 is input to the traveling speed control circuit 21, and the driving of the traveling motor 4 is controlled by the traveling speed control circuit 21. The traveling motor 4 is mounted on the traveling vehicle 2 as shown in FIG. 2 and drives the wheels 6. The traveling speed of the traveling vehicle 2 is controlled by the traveling speed command device 20 and the traveling speed control circuit 21. It

The traveling speed command from the traveling speed command device 20 is input to the traveling speed command device 22. The traveling speed command device 22 includes a tension detector 23, a PI (proportional and integral) control circuit 24, an adder 25, and the like.
As shown in FIG. 2, the tension detector 23 is mounted between the wire ropes 8 that connect the traveling vehicle 2 and the traveling vehicle 3, and the tension of the wire ropes 8 is greater than the preset tension. When it goes up, + T is output according to the difference, and when it goes down below the set tension, -T is output according to the difference.

The output of the tension detector 23 is input to the PI control circuit 24, and the output of the PI control circuit 24 is added to the traveling speed command from the traveling speed commander 20 by the adder 25. Then, the output of the adder 25 is used as a correction speed command signal by the motor 5 mounted on the traveling vehicle 3.
Is input to a traveling speed control circuit 26 that controls the driving of the traveling vehicle 3, and the traveling speed of the traveling vehicle 3 is controlled.

Incidentally, FIG. 3 shows an example of a concrete circuit configuration of the traveling speed command device 22. In this example, the tension detector 2
3 is, for example, a strain gauge type converter, and P
The I control circuit 24 includes an inverting operational amplifier OP1 and a resistor R.
1 and R2 and a capacitor C, the sensitivity can be adjusted by adjusting the resistance value of the resistor R2, and the capacitor C can perform stable control. The adder 25 is composed of an inverting amplifier OP2 and a resistor R1.

As shown in FIG. 2, when the traveling vehicles 2 and 3 travel forward in the pipe 1 with the traveling vehicle 2 at the front, when the traveling speed of the traveling vehicle 3 becomes faster than the traveling speed of the traveling vehicle 2, The wire rope 8 is loosened and its tension becomes smaller than the set tension. The tension of the wire rope 8 is detected by the tension detector 23 including a strain gauge type transducer and the like, and the tension deviation ΔT (-T) is output.

Tension deviation Δ detected from the tension detector 23
T is input to the PI control circuit 24, is proportionally integrated, is input to the adder 25, is added to the traveling speed command signal from the traveling speed command device 20, and is output as a corrected speed command signal.

This corrected speed command signal is input to the traveling speed control circuit 26, and the traveling speed control circuit 26 receives the traveling vehicle 3
The forward traveling speed of the traveling vehicle 3 is decelerated until the forward traveling speed of the vehicle becomes equal to the forward traveling speed of the traveling vehicle 2, that is, until the tension deviation ΔT = 0.

On the contrary, when the forward traveling speed of the traveling vehicle 3 becomes slower than the forward traveling speed of the traveling vehicle 2, the wire rope 8 is stretched and its tension becomes larger than the set tension, and the tension deviation ΔT from the tension detector 23. (+ T) is output. The tension deviation ΔT is input to the PI control circuit 24, proportionally integrated and input to the adder 25, added to the traveling speed command signal from the traveling speed command device 20, and output as a corrected speed command signal. This corrected speed command signal is input to the traveling speed control circuit 26, and the traveling speed control circuit 26 causes the traveling vehicle 3
Traveling speed 3 of the traveling vehicle 3 matches the traveling speed of the traveling vehicle 2, that is, until the tension deviation ΔT = 0.
Increase the forward running speed of.

Further, when the traveling vehicles 2 and 3 travel backward in the pipe 1, as in the case of traveling forward as described above,
The backward traveling speed of the traveling vehicle 2 and the backward traveling speed of the traveling vehicle 3 are controlled so as to automatically coincide with each other.

A speed detector 27 is attached to the traveling wheels 6 of the traveling vehicle 2 so as to detect the actual traveling speed of the traveling vehicle 2. As shown in FIG. 4, this speed is used instead of the traveling speed command signal. Even if the speed detection signal of the detector 27 is input to the adder 25 of the traveling speed command device 22 and added to the output of the PI control circuit 24 to output the corrected speed command signal, the same effect as that of the above-described embodiment can be obtained. be able to.

As described above, according to this embodiment, the tension deviation ΔT between the set tension and the actual tension caused by the disagreement of the traveling speeds of the front and rear traveling vehicles 2 and 3 is detected, and the detected tension deviation is detected. The traveling speed is controlled so that ΔT becomes zero, the traveling speeds of the front and rear traveling vehicles 2 and 3 are matched, and the interlocking traveling can be performed while always maintaining the connecting mechanism at the set tension. Therefore, even when the wire rope 8 or the like is used as the connecting mechanism, the tension of the wire rope 8 is always kept constant, and the two traveling vehicles 2 and 3 can travel at a constant interval at a constant speed. It is possible to prevent breakage of the wire rope 8 due to excessive tension of the wire rope 8 and collision of the two traveling vehicles 2 and 3 due to slack of the wire rope 8. Further, remote control can be performed easily, and it is possible to obtain the effect that the operator does not need to have skill in operating the traveling vehicles 2 and 3. In the above examples,
Although the case where the traveling vehicles 2 and 3 travel in the pipe 1 has been described, the present invention is not limited to this and can be applied to any structure in which the traveling vehicles 2 and 3 can travel.

Next, a drive control device for a traveling robot according to another embodiment will be described. First, the principle of drive control in this embodiment will be described.

As shown in FIG. 5, when the traveling robot 30 gradually progresses from a state of traveling on a flat portion to an inclined portion where it cannot travel by itself, the driving force of the traveling wheel 31 required by each portion is as follows. It is calculated by the formula.

Here, for simplification, it is assumed that the traveling is performed at an acceleration of 0, and the resistance other than the weight of the wire 32, the rolling friction during traveling, and the sliding friction at the inclined portion is ignored, and all external forces are applied to the traveling robot. The calculation is performed as being added to the center of gravity of 30.

In the flat portion, F = μr (G + T · sin φ) + Tcos φ (1) In the inclined portion where the vehicle can travel by itself, F = μr (G · cos θ + T · sin φ) −G · sin θ + T · cos θ (2) In the slope where self-propelled running is not possible, F = −μs (G · cos θ + T · sin φ) (3) Where, F: Driving force of traveling wheel μr: Rolling friction coefficient μs: Sliding friction coefficient G: Weight of traveling robot T: Wire tension θ: Inclination angle of traveling robot φ: Represented by the angle formed by the wire tension and the traveling direction of the robot.

All of these are values that vary depending on the forward / backward inclination angle of the traveling robot 30, and in order to prevent an excessive force from being applied to the support mechanism such as a wire rope or winch, the forward / backward inclination of the traveling robot 30. Driving wheel 3 based on the corner
It is understood that it is sufficient to control the driving force of 1.

FIG. 6 shows the overall construction of this embodiment. The traveling robot 30 has traveling wheels 31 driven by a traveling motor 33, a traveling motor control device 34, and a front-back inclination angle. A sensor 35 and a tension sensor 36 for detecting the tension of the wire rope 32 are provided. The outputs of the front-rear tilt angle sensor 35 and the tension sensor 36 are transmitted to the traveling control device 37 which is separately installed. Further, one end of the wire rope 32 is connected to a winch 38 for a support, which is a winch motor 39 and a winch motor controller 40.
Is configured to be driven by.

FIG. 7 shows the configuration of the traveling control device 37. The traveling control device 37 includes a longitudinal tilt angle signal 10 of the traveling robot 30 detected by the longitudinal tilt angle sensor 35.
0 is input. The input longitudinal angle signal 100 is
Drive torque command values 101 and 102 for the traveling motor 33 and winch motor 39 are generated by the function generator 50.
Is converted to. On the other hand, the control device 37 is provided with a speed setter 51 for setting the traveling speed of the traveling robot 30, and the traveling motor 33 and the winch motor 39 are provided.
The speed command values 103 and 104 for the are output.

The front-back inclination angle of the traveling robot 30 is small,
While the vehicle can travel by itself, the traveling speed of the traveling robot 30 can be controlled by controlling the speed of the wheels 31, and the drive torque command value 1 of the winch motor 39 during this period is controlled.
02 outputs a preset low value in order to prevent the value from becoming larger than necessary.

On the other hand, in the state where the front-rear tilt angle is large and the speed control of the traveling robot 30 is performed using the winch 38,
The function generator 50 drives the traveling mode based on the longitudinal angle signal 100.
Drive torque command value 1 for controlling the drive torque of the motor 33
01 is output. The switching between the speed control and the torque control for the traveling motor control device 34 and the winch motor control device 40 is determined by comparing the longitudinal inclination angle signal 100 with a preset value set by the comparator 52. The control method switching is as follows.

Fore-and-aft inclination angle <setting value: traveling motor 33 speed control Winch motor 39 constant torque control Fore-and-aft inclination angle> setting value: traveling motor 33 torque control using the function generator 50 winch motor 39 Velocity control By controlling in this way, in the present embodiment, when the traveling robot 30 travels on an inclined portion that cannot travel by itself, compared to the conventional method of driving the traveling wheels 31 with a constant driving force, the wire rope It is possible to reduce the force applied to the support mechanism such as 32 and winch 38. Therefore, the support mechanism can be reduced in size and weight.

The tension T1 of the wire rope 32 when the traveling wheels 31 are driven with a constant driving force F0 is expressed by the following equation.

T1 = (1 / cos φ) (F0 + Gsin θ) Further, the tension T2 of the wire rope 32 when the above control is used by using the above equation (3) is as follows.

T2 = [1 / {(cos φ) + μs sin φ}] [(Gsin θ) −μs Gcos θ] Here, it is clear that μs ≧ 0, sin φ ≧ 0, and cos θ ≧ 0. It can be seen that T1> T2 and the force applied to the support mechanism is reduced.

In the above embodiment, the speed control and the torque control are switched based on the longitudinal angle signal 100 of the traveling robot 30, but the speed command value 103 for the traveling motor 33 is used for calculation. The switching timing can be obtained based on the deviation between the winch speed and the fed back winch speed. That is, when the measured value is higher than the expected winch speed, it means that the traveling robot 30 has slipped due to reaching an inclination that makes it impossible for the winch motor to move by itself. 39 is switched to speed control and at the same time the running motor 33
Can be switched to torque control, and a switching timing detection method based on the front-rear tilt angle signal 100 can be replaced.

Further, in the above embodiment, the traveling robot 30
Although the description has been made about the case where the vehicle tilts down, the control for the purpose of reducing the load on the support mechanism can be realized in the same manner even when the vehicle tilts up.

[0042]

As described above, according to the drive control device for a traveling robot of the present invention, it is possible to generate an appropriate driving force on the traveling wheels in accordance with the traveling state to cause the traveling robot to travel in a good state. Therefore, the load applied to the connecting portion and the like can be reduced as compared with the conventional case.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a drive controller for a traveling robot according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a traveling robot.

FIG. 3 is a diagram showing a configuration of a traveling speed command device.

FIG. 4 is a diagram showing a configuration of a modified example of the drive control device of the traveling robot of FIG.

FIG. 5 is a diagram for explaining a control principle in another embodiment.

FIG. 6 is a diagram showing an overall configuration according to another embodiment.

FIG. 7 is a diagram showing a configuration of a drive control device for a traveling robot according to another embodiment.

FIG. 8 is a diagram showing a configuration of a conventional traveling robot.

FIG. 9 is a diagram showing a configuration of a conventional traveling robot.

[Explanation of symbols]

 4, 5 Running motor 20 Running speed command device 21, 26 Running speed control circuit 22 Running speed command device 23 Tension detector 24 PI control circuit 25 Adder

Claims (2)

[Claims] 1. A drive control device for a traveling robot, comprising: first and second traveling vehicles, which are connected to each other by a connecting mechanism, and each of which travels on its own by a traveling motor. The tension applied to the connecting mechanism is detected. From the tension detecting means, the traveling speed of the first traveling vehicle, and the deviation between the tension detected by the tension detecting means and the preset tension set, the connecting mechanism is always kept at the preset tension. A traveling speed command means for generating a traveling speed command signal for the second traveling vehicle, and a traveling speed command signal from the traveling speed command means,
A driving control device for a traveling robot, comprising: a traveling speed control means for controlling a traveling speed of the second traveling vehicle. 2. A drive control of a traveling robot, which is mounted on a traveling robot and controls a traveling motor for driving traveling wheels and a drive motor of a winch for supporting the traveling robot from the outside in cooperation with each other. In the apparatus, a tilt angle detecting means for detecting a front-back tilt angle of the traveling robot, a command value generating means for generating a running torque command value according to a tilt angle detected by the tilt angle detecting means, and the command value generating means. And a drive motor control means for controlling the drive torque of the drive motor according to a drive torque command value from the drive means.