CN101602206A - The control system of cradle head preset positions of robot and control method - Google Patents
The control system of cradle head preset positions of robot and control method Download PDFInfo
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- CN101602206A CN101602206A CNA2009100160955A CN200910016095A CN101602206A CN 101602206 A CN101602206 A CN 101602206A CN A2009100160955 A CNA2009100160955 A CN A2009100160955A CN 200910016095 A CN200910016095 A CN 200910016095A CN 101602206 A CN101602206 A CN 101602206A
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Abstract
The invention discloses a kind of control system and control method of cradle head preset positions of robot.Because cradle head preset positions is stored in the control terminal database at control terminal place, presetting bit quantity no longer is subjected to the restriction of cradle head control device hardware memory capacity; What transmitted between control terminal and the The Cloud Terrace in the prefabricated operation is the presetting bit position data, transmission means is a data transfer mode, solved the problem of cradle head control agreement with the restriction of the presetting bit indexed mode operation presetting bit controlled amounts system agreement word word length that presetting bit was brought, obvious a bit is, cradle head control device hardware memory capacity generally all is several kBye at present, database has then broken away from this restriction fully, can infinitely expand in theory.
Description
(1) technical field
The present invention relates to robot control field, be specifically related to a kind of control system and control method of cradle head preset positions of robot.
(2) background technology
The inspecting substation equipment robot is a kind of of mobile robot, and it can replace the people to carry checkout equipment power equipment in the transformer station being detected, in time find the fault of power equipment, guarantees the safety of electrical production.Crusing robot to the workflow that power equipment detects is: a) robot moves to assigned address by projected route; B) call cradle head preset positions, The Cloud Terrace drives checkout equipment and aims at power equipment to be checked; C) gather device status data to be checked.In whole testing process, The Cloud Terrace is in the position of forming a connecting link, and its performance directly has influence on the quality that crusing robot is finished patrol task.
Generally speaking, environment has nothing in common with each other in each transformer station, and power equipment quantity to be checked is many, and therefore the number of required cradle head preset positions probably exceeds the maximum presetting bit number that present traditional The Cloud Terrace is supported.The presetting bit of tradition The Cloud Terrace is stored in the hardware memory of cradle head control device, the restriction that its number is subjected to hardware memory and the presetting bit that word length is supported of cradle head control agreement to call number, if The Cloud Terrace is applied to the occasion of required presetting bit number greater than its maximum presetting bit number, though can artificially classify to setting presetting bit, and solve the problem of cradle head preset positions lazy weight by the multiplexing method of presetting bit, but need in transformer station, call repeatedly existing presetting bit and classify in each position in the presetting bit multiplex process, complex operation, personnel's workload is big, and multiplexing presetting bit place is because of being subjected to the restriction of cradle head control precision, and its Equipment Inspection effect is difficult to reach best requirement.There is above-mentioned technical bottleneck in present presetting bit control method, the product of The Cloud Terrace manufacturer is basically all only such as these limited amount presetting bits such as 64,128,256, can't satisfy the needs that multiple function realizes under a lot of situations, just can't satisfy the The Cloud Terrace maximum and preset figure place presets figure place less than actual needs occasion.
(3) summary of the invention
Therefore, the object of the present invention is to provide a kind of control system and control method of cradle head preset positions, make presetting bit quantity not limited by hardware memory and control protocol presetting bit index word length thereof, thereby can obtain the cradle head preset positions of larger amt.
According to a first aspect of the invention, the control system of cradle head preset positions of robot, it comprises:
The cradle head control device obtains the control instruction string, controls the The Cloud Terrace operation in view of the above or obtains the required The Cloud Terrace current location data of user;
Control terminal is used to send described control instruction string, and the The Cloud Terrace position data of obtaining according to described cradle head control device is provided with cradle head preset positions; And
The control terminal database is used to store described cradle head preset positions, calls for described control terminal.
According to a second aspect of the invention, the control method of cradle head preset positions, it comprises presetting bit setting and presetting bit invocation step, wherein the presetting bit setting comprises:
A) control terminal sending controling instruction string is to the cradle head control device;
B) the cradle head control device receives described control instruction string, deciphers then, obtains current The Cloud Terrace position data thereafter, and sends it to control terminal;
C) control terminal deposits the presetting bit position data acquisition The Cloud Terrace position data in the control terminal database in according to corresponding The Cloud Terrace device address.
Presetting bit is called and is comprised:
A) control terminal reads presetting bit position data required in the control terminal database, and sends to the cradle head control device in the mode of control instruction string;
B) the cradle head control device receives described control instruction string, deciphers then, obtains described presetting bit position data, controls The Cloud Terrace thereafter and runs to the target location.
Now, technical scheme according to the present invention is described operation of the present invention, because cradle head preset positions is stored in the control terminal database at control terminal place, presetting bit quantity no longer is subjected to the restriction of cradle head control device hardware memory capacity; What transmitted between control terminal and the The Cloud Terrace in the prefabricated operation is the presetting bit position data, transmission means is a data transfer mode, solved the problem of cradle head control agreement with the restriction of the presetting bit indexed mode operation presetting bit controlled amounts system agreement word word length that presetting bit was brought, obvious a bit is, cradle head control device hardware memory capacity generally all is several kBye at present, database has then broken away from this restriction fully, can infinitely expand in theory.
On the other hand,, can make full use of the advantage of database, optimize the presetting bit operation, improve monitoring efficient owing to utilized the control terminal database to manage presetting bit data on each The Cloud Terrace concentratedly.
(4) description of drawings
Fig. 1 is the topological diagram of the control system embodiment of cradle head preset positions of the present invention.
Fig. 2 is a kind of control terminal presetting bit basic operation flow chart of the present invention.
Fig. 3 is a kind of cradle head control device presetting bit basic operation flow chart of the present invention.
Among the figure: 1, control terminal, 2, the control terminal database, 3, the RS485 bus control unit, 31, the cradle head control device, 32, the cradle head control device.
(5) specific embodiment
Below in conjunction with Figure of description the preferred embodiments of the invention are described,
Accompanying drawing 1 shows a kind of control system allocation plan of cradle head preset positions of the specific embodiment of technical solution of the present invention, and it comprises:
The cradle head control device obtains the control instruction string, controls the The Cloud Terrace operation in view of the above or obtains the required The Cloud Terrace current location data of user;
Control terminal is used to send described control instruction string, and the The Cloud Terrace position data of obtaining according to described cradle head control device is provided with cradle head preset positions; And
The control terminal database is used to store described cradle head preset positions, calls for described control terminal.
For the ease of by a plurality of cradle head control devices of control terminal centralized Control, described control terminal links to each other with cradle head control device on being connected in respective bus by bus driver, can establish a plurality of cradle head control device nodes on bus, and the The Cloud Terrace device node.
Described bus driver adopts the RS485 bus driver with present cradle head control device standard interface, is convenient to compatible mutually with existing cradle head control device.
Referring to Figure of description 2 and 3, wherein accompanying drawing 2 shows the control method flow chart based on a kind of cradle head preset positions of the embodiment of technical solution of the present invention, but in order to set forth this control method better, at first, the control instruction string of being mentioned in the control system of above-mentioned cradle head preset positions, owing to the transmission of this programme based on the cradle head preset positions position data, thus wherein needn't comprise the index byte, so it has adopted the frame structure of the control instruction string of following structure:
| Syn | ?ADD | ?CMD | ?D1 | ?D2 | ?D3 | ?D4 | ?Checksum |
| ?FF | ?XX | ?XX | ?XX | ?XX | ?XX | ?XX | ????XX |
Wherein: Syn is a sync byte; ADD is the The Cloud Terrace device address; CMD is a command byte; D1, D2, D3, D4 are the presetting bit position data; Checksum be verification and.
And the frame structure of the control instruction string of traditional The Cloud Terrace is:
| Syn | ?ADD | ?C1 | ?C2 | ?D1 | ?D2 | ?Checksum |
| ?FF | ?XX | ?XX | ?XX | ?XX | ?XX | ????XX |
Wherein: Syn is a sync byte; ADD is the device address; C1, C2 are command byte; D1, D2 are data byte; Checksum be verification and.
The operation of tradition cradle head preset positions is undertaken by the mode of index, usually D2 is the index byte, because it is 8, therefore presetting bit quantity mostly is 256 most, and D1, D2, D3, D4 are respectively horizontal commentaries on classics of cradle head preset positions and pitch position data among the present invention, the position that the cradle head control device need run to can be directly informed, the no longer controlled agreement word length restriction of presetting bit quantity can be operated.
The presetting bit data are stored in the odbc database at the control terminal place, and for guaranteeing that The Cloud Terrace equipment is corresponding one by one on each presetting bit data and the bus, the cradle head preset positions in the control terminal database is that each data credit balance is in the tables of data according to the storage respectively of ADD table:
| ????No. | ????Pan | ????Tilt |
| ????XXXX | ????XXXX | ????XXXX |
Wherein: No. is the presetting bit numbering; Pan is the horizontal veer position data of The Cloud Terrace; Tilt is a The Cloud Terrace pitch orientation position data; The presetting bit data manipulation is all finished with the standard SQL statement in the database.
Accompanying drawing 2 shows three kinds of basic operations, be cradle head preset positions setting, call and delete, wherein said CMD is a command byte, be used to distinguish above-mentioned three kinds of operations, thereby selectively carry out corresponding flow process, wherein for the setting of cradle head preset positions, accepting after control instruction string that control terminal sends determines to be the cradle head preset positions setting, send it to the cradle head control plate of cradle head control device, this step is called the presetting bit of cradle head control device memory and is sent the cradle head control plate consistent with existing; Then, wait for the presetting bit data of cradle head control plate feedback;
The cradle head control plate receives after the strings of commands on the bus, whether at first verification control instruction string is effective, instructs decoding then, with address after the decoding and local address comparison, if the inconsistent wait command reception that then continues is as if consistent order and the data of just obtaining in the described control instruction string; If be judged as presetting bit order is set, nature, these steps were also finished before judging commands steps.And then the cradle head control device just obtains horizontal commentaries on classics of current The Cloud Terrace and pitch position data, and sends it to control terminal.Here the The Cloud Terrace position data of being obtained is filled in D1, D2, D3, D4, can be predisposed to 0X00 for D1, D2, D3, D4 in the control instruction string that sends in advance, also can make other form, is undertaken by the mode that data cover.
After this, control terminal obtains feedback data, the control instruction string that just feeds back, and after instruction decoding, whether first checking data is effective, if invalidly then skip the presetting bit setting; If effectively extracting address, the horizontal transposition of The Cloud Terrace from feedback data puts and the pitch position data, according to the The Cloud Terrace address presetting bit is deposited in the tables of data corresponding in the control terminal database then, finish the setting of cradle head preset positions, notify presetting bit setting operation information at last.
For the cradle head preset positions call operation, its concrete steps are:
The letter and change it, step all need be such as step in advance such as verification of control instruction string before this, it is after being judged as the presetting bit call operation, just from the control terminal database, read the presetting bit position data, be sent to the cradle head control plate after forming presetting bit call instruction string, notify presetting bit call operation information at last.
Arrive calibration position according to order of obtaining after the instruction decoding and Data Control The Cloud Terrace equipment moving then.
The purpose of checking command string is to prevent to produce maloperation, and the purpose that address after will deciphering and local address compare is the equipment that prevents that misoperation from should not move.
The presetting bit deletion action, it is operated also letter and changes it, after determining that it is deletion action, directly deletes corresponding presetting bit position data by control terminal, notifies presetting bit deletion action information at last.Compare with traditional cradle head preset positions deletion action, need not the cradle head control device based on the deletion action of this programme and participate in, this mainly is because control terminal can directly call its control terminal database, and operates on it.
Nature, this embodiment are not that the cover type of protection domain of the present invention is discussed, and the equivalents of its technical characterictic or obvious mode of texturing should fall within protection scope of the present invention.
Claims (10)
1. the control system of a cradle head preset positions of robot, it comprises:
The cradle head control device obtains the control instruction string, controls the The Cloud Terrace operation in view of the above or obtains the required The Cloud Terrace current location data of user;
Control terminal is used to send described control instruction string, and the The Cloud Terrace position data of obtaining according to described cradle head control device is provided with cradle head preset positions; And
The control terminal database is used to store described cradle head preset positions, calls for described control terminal.
2. the control system of cradle head preset positions of robot according to claim 1 is characterized in that: described control terminal links to each other with cradle head control device on being connected in respective bus by bus driver.
3. the control system of cradle head preset positions of robot according to claim 2, it is characterized in that: described bus driver is the RS485 bus driver.
4. the control method of a cradle head preset positions, it comprises presetting bit setting and presetting bit invocation step, wherein the presetting bit setting comprises:
A) control terminal sending controling instruction string is to the cradle head control device;
B) the cradle head control device receives described control instruction string, deciphers then, obtains current The Cloud Terrace position data thereafter, and sends it to control terminal;
C) control terminal deposits the presetting bit position data acquisition The Cloud Terrace position data in the control terminal database in according to corresponding The Cloud Terrace device address.
Presetting bit is called and is comprised:
A) control terminal reads presetting bit position data required in the control terminal database, and sends to the cradle head control device in the mode of control instruction string;
B) the cradle head control device receives described control instruction string, deciphers then, obtains described presetting bit position data, controls The Cloud Terrace thereafter and runs to the target location.
5. the control method of cradle head preset positions according to claim 4, it is characterized in that: the frame structure of described control instruction string is:
Wherein: Syn is a sync byte; ADD is the The Cloud Terrace device address; CMD is a command byte; D1, D2, D3, D4 are the presetting bit position data; Checksum be verification and.
6. the control method of cradle head preset positions according to claim 5 is characterized in that: after step cradle head control device is accepted described control instruction string, at first judge described CMD, to determine control instruction.
7. the control method of cradle head preset positions according to claim 6, it is characterized in that: after step was determined control instruction, whether this strings of commands of verification was effective.
8. the control method of cradle head preset positions according to claim 6 is characterized in that: after instruction is deciphered, The Cloud Terrace device address after the decoding and local address are compared, if the inconsistent wait command reception that then continues; Otherwise, obtain order and data in the described control instruction string, if be judged as the presetting bit call instruction, cradle head control device control The Cloud Terrace equipment moves to the target location.
9. the control method of cradle head preset positions according to claim 4, it is characterized in that: described control terminal database is an odbc database, the operation of presetting bit data is finished with the standard SQL statement in this database.
10. according to the control method of the described cradle head preset positions of one of claim 1 to 9, it is characterized in that: it further comprises cradle head preset positions deletion step, this step is directly obtained the control terminal instruction, corresponding prefabricated position position data in the deletion control terminal database, this presetting bit deletion action information of notice control thereafter.
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| CN2009100160955A CN101602206B (en) | 2009-07-07 | 2009-07-07 | Control system and control method for cradle head preset positions of robot |
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| CN2009100160955A CN101602206B (en) | 2009-07-07 | 2009-07-07 | Control system and control method for cradle head preset positions of robot |
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| CN101602206B CN101602206B (en) | 2012-06-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102566602A (en) * | 2012-02-29 | 2012-07-11 | 天津天地伟业数码科技有限公司 | Method for promoting accuracy of preset position of dome camera |
| CN102868860A (en) * | 2012-09-13 | 2013-01-09 | 深圳一电科技有限公司 | Method and device for controlling remote camera shooting and camera |
| CN103152413A (en) * | 2013-03-01 | 2013-06-12 | 瑞斯康达科技发展股份有限公司 | Transmission method and system of data in passive optical network |
| CN108127663A (en) * | 2017-12-18 | 2018-06-08 | 苏州嘉佰志电子技术有限公司 | A kind of robot control system and method based on cloud computing |
| CN111835975A (en) * | 2020-07-27 | 2020-10-27 | 北京千丁互联科技有限公司 | Spherical monitor control method and device, intelligent terminal and readable storage medium |
| CN113848999A (en) * | 2021-12-01 | 2021-12-28 | 普宙科技(深圳)有限公司 | Adaptive control method and device for forward and reverse inversion of holder and holder |
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2009
- 2009-07-07 CN CN2009100160955A patent/CN101602206B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102566602A (en) * | 2012-02-29 | 2012-07-11 | 天津天地伟业数码科技有限公司 | Method for promoting accuracy of preset position of dome camera |
| CN102868860A (en) * | 2012-09-13 | 2013-01-09 | 深圳一电科技有限公司 | Method and device for controlling remote camera shooting and camera |
| CN103152413A (en) * | 2013-03-01 | 2013-06-12 | 瑞斯康达科技发展股份有限公司 | Transmission method and system of data in passive optical network |
| CN103152413B (en) * | 2013-03-01 | 2016-02-03 | 瑞斯康达科技发展股份有限公司 | The transmission method of data and system in a kind of EPON |
| CN108127663A (en) * | 2017-12-18 | 2018-06-08 | 苏州嘉佰志电子技术有限公司 | A kind of robot control system and method based on cloud computing |
| CN111835975A (en) * | 2020-07-27 | 2020-10-27 | 北京千丁互联科技有限公司 | Spherical monitor control method and device, intelligent terminal and readable storage medium |
| CN113848999A (en) * | 2021-12-01 | 2021-12-28 | 普宙科技(深圳)有限公司 | Adaptive control method and device for forward and reverse inversion of holder and holder |
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| CN101602206B (en) | 2012-06-27 |
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Inventor after: Xiao Peng Inventor after: Wang Haipeng Inventor after: Wang Jian Inventor after: Mu Shiyou Inventor after: Ren Jie Inventor after: Li Tongzhi Inventor after: Li Hongmei Inventor after: Han Lei Inventor before: Xiao Peng Inventor before: Wang Haipeng Inventor before: Wang Jian |
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Free format text: CORRECT: INVENTOR; FROM: XIAO PENG WANG HAIPENG WANG JIAN TO: XIAO PENG WANG HAIPENG WANG JIAN MU SHIYOU REN JIE LI TONGZHI LI HONGMEI HAN LEI |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250002 Shandong Electric Power Research Institute, Middle East, 2nd Ring Road, sixteen Li Town, Ji'nan City, Shandong Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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