CN103019263A - Pan-tilt control system and pan-tilt control method for inspection robot of transformer substation - Google Patents
Pan-tilt control system and pan-tilt control method for inspection robot of transformer substation Download PDFInfo
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Abstract
The invention discloses a pan-tilt control system for an inspection robot of a transformer substation. The pan-tilt control system runs on a pan-tilt controller, the pan-tilt controller is connected with a motor driving module and an angle detection module which are further connected with a pan-tilt body, and the pan-tilt controller is connected with a robot controller. The pan-tilt control system comprises a system initialization module, the system initialization module is connected with a task scheduling module, the task scheduling module is directly connected with a system idle module, an asynchronous task management module and a system monitoring module, and the asynchronous task management module is respectively connected with a data receiving and transmitting module, a system configuration module and a presetting position control module. The pan-tilt control system effectively overcomes shortcomings of an existing pan-tilt technical scheme, has the advantages of flexibility in configuration, convenience in extension, fault detection and recovery capacities and capability of being conveniently integrated with the inspection robot, and is quite suitable for inspection application to transformer substations in powerful electromagnetic environments.
Description
Technical field
The present invention relates to a kind of cloud platform control system and control method, relate in particular to a kind of Intelligent Mobile Robot cloud platform control system and control method.
Background technology
Along with the progress of science and technology and the needs of power grid construction, the unattended intelligent substation future development of traditional Attended mode transformer station's forward.In intelligent substation, although the station equipment running status can be obtained by the long-haul telemetry means, but in the especially outdoor substation of transformer station, because the restriction of intelligent substation level and nobody at the scene in time tour, some uncontrollable factors will bring series of problems even stay hidden danger the substation safety operation.
Announced a kind of robot that power station equipment is is independently patrolled and examined that can be applicable in the patent 200410024231.1, for the problems referred to above provide a kind of effective solution, thereby made transformer station realize that real unmanned becomes possibility.Can be in the transformer station full autonomous operation of this robot also can automatic folding current collection power status information of equipment, patrol and examine in the operation process whole, the Robot setting path moves to assigned address in the station, the The Cloud Terrace system drives device detection system and aims at power equipment to be checked afterwards, and the status of electric power data that collect are at last then stored and analyzed to monitoring the backstage by wireless network transmissions.In whole robot system, the The Cloud Terrace system is the fastening of installation, fixed equipment detection system, and its performance directly has influence on the quality that crusing robot is finished patrol task.
The Cloud Terrace is traditional safety monitoring industry equipment the most commonly used, the The Cloud Terrace system mainly is comprised of The Cloud Terrace body, angle detection device, cradle head control plate three parts, and the overall performance of The Cloud Terrace then depends on the cloud platform control system performance that the cradle head control plate carries to a great extent.Because the singularity of Intelligent Mobile Robot running environment and patrol task demand, existing cloud platform control system generally can not be applicable to the substation inspection operation fully, is mainly manifested in:
(1) at present the product of The Cloud Terrace manufacturer mostly all only such as the presetting bit of the limited quantities such as 64,128, but because environment is different in each transformer station, and power equipment One's name is legion to be checked, therefore the presetting bit number of required The Cloud Terrace probably exceeds the maximum presetting bit number that present traditional cloud platform control system is supported.
(2) crusing robot usually need to be according to each substation field patrol task demand, flexible configuration or expand corresponding systemic-function.Specific to the robot cloud platform control system, because existing control system all is for general protection and monitor field exploitation, therefore general not configuration and extended capability in most cases can't carry out integrated with crusing robot system.
For the problems referred to above, at present existing relevant technical scheme is disclosed, but specific to weak point is all arranged in the enforcement of control system, as follows:
For above-mentioned listed (1), patent 200910016095.5 discloses a kind of control system and control method of cradle head preset positions of robot, efficiently solve the problem that existing cradle head preset positions quantity can't satisfy the substation inspection mission requirements, but this patent has only been described the method for cradle head preset positions control, it is transferred to the presetting bit storage area in the general holder product in the control terminal database, on this basis only to the presetting bit setting, the control flow that calls and delete these three kinds of basic operations is illustrated, and does not provide composition structure and the full implementation details of other functional module that cloud platform control system develops for the crusing robot mission requirements.
For above-mentioned listed (2), provided the comparatively detailed implementation detail of a The Cloud Terrace system in the document " design of robot used for intelligent substation patrol cloud platform control system ", the document emphatically the hardware of The Cloud Terrace system is realized and the hardware controls flow process describes, and verified that by experiment the cradle head control precision meets the patrol task requirement under this control program, but how the structure composed of cloud platform control system adapts to the aspect such as different patrol task demands in the transformer station on the cradle head controllor, and it is not described further.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of Intelligent Mobile Robot cloud platform control system and control method in order to address the above problem, and it has advantages of simple and reliable, flexible configuration, favorable expandability.
To achieve these goals, the present invention adopts following technical scheme:
A kind of Intelligent Mobile Robot cloud platform control system, it comprises cradle head controllor, cradle head controllor is connected with robot controller, cradle head controllor also is connected with the angle detection module with motor drive module, motor drive module and angle detection module all are connected with the The Cloud Terrace body, cradle head controllor carries out asynchronous control and in real time control to the The Cloud Terrace body, and described cradle head controllor comprises:
Initialization module: the running environment that is used for the initialization cloud platform control system;
Task scheduling modules: the resetting system monitoring module normally moves to show system to be responsible for calling before to calling of asynchronous task with each asynchronous task;
The idle module of system: when not having trigger event to produce, system will enter the idle module of system from task scheduling modules, in order to reduce the power consumption of whole system, will return the scheduling that task scheduling modules is carried out asynchronous task in case trigger event produces system;
Data reception module: main being responsible for receives the data that robot controller sends, and data are delivered to task scheduling modules, produces simultaneously trigger event and makes system return task scheduling modules by the idle module of system, so that the response external control command;
System monitoring module: mainly be responsible for the monitoring of the unusual condition of system's operation;
Data memory module: responsible storage system is moved required configuration data, offers initialization module and asynchronous task administration module and uses;
Asynchronous task administration module: be in charge of the needed module of all operation asynchronous task in the system;
Data exchange module: main scratch system data are for each module;
Real-time task administration module: be in charge of the needed module of all operation real-time tasks in the system;
Clock module: event clock moves to drive the real-time task administration module for whole system provides periodically, simultaneously when system's normal operation under the control of the periodic triggers event that clock module produces, task scheduling modules will be within setting-up time the resetting system monitoring module to show system's normal operation.
The system that stores in the described initialization module one side reading out data memory module moves required system configuration data, also starts on the other hand clock module.
The asynchronous task that comprises in the data call asynchronous task administration module of described task scheduling modules according to the data reception block transfer, simultaneously related data is sent into data exchange module and is used in order to other module, in addition this module also before each asynchronous task is called the resetting system monitoring module normally move to show system.
Described asynchronous task administration module is in charge of data transmission blocks and the cloud platform control system internal information is sent to the configuration information of preserving in the configuration information Update Table memory module that robot controller, management system configuration module issue according to robot controller, use during for next system initialization and manage the presetting bit control module according to external command finish presetting bit setting, call and deletion action.
Described real-time task administration module is in charge of motor control module and is finished according to the operation of information control horizontal stage electric machine, the management feedback sampling module that transmit through the asynchronous task administration module angle on each degree of freedom of The Cloud Terrace body is sampled and used for the operation of motor control module provides necessary feedback information and management real-time monitoring module that the status information in the real-time task operational process is monitored for each module and robot controller.
Described system monitoring module is responsible for the unusual condition of supervisory control system running, when make not resetting system monitoring module in setting-up time of task scheduling modules because of system's operation exception, the system monitoring module will produce trigger event and make whole system reenter initialization module and finish initialization operation, thereby make system recover normal operation.
A kind of control method based on the Intelligent Mobile Robot cloud platform control system, concrete steps are:
Step 1: cloud platform control system powers on, the system configuration data of preserving in the initialization module reading out data memory module; Carry out the system initialization operation, start simultaneously clock module to process real-time task;
Step 2: whether task scheduling modules monitoring trigger event produces, and enters simultaneously the event clock determining program, if trigger event does not produce, the system monitoring module is judged overtime whether the generation, if overtime, returns step 1, if do not have overtimely, then enters system's free time; If trigger event produces, then enter step 3;
Step 3: the system monitoring in the control system monitoring module resets;
Step 4: whether task scheduling modules inputs instruction triggers by the outside according to this event of type identification that receives trigger event, if it is carry out the asynchronous task that the asynchronous task administration module comprises, then the idle module of the system that enters is to reduce system power dissipation, if not the idle module of the system that then directly enters, execution in step five;
Step 5: task scheduling modules judges whether system cuts off the power supply, and such as system cut-off, then withdraws from, if step 2 is not returned in outage.
Real-time task treatment step in the described step 1 behind the startup clock module is:
(2-1) the real-time task administration module judges whether to occur event clock, does not then enter step (2-3) if event clock occurs, and then enters step (2-2) if event clock occurs;
(2-2) the real-time task administration module is carried out real-time task;
(2-3) judge whether system cuts off the power supply, such as system cut-off, then clock module stops, if step (2-1) is not returned in outage.
The concrete steps of described step 4 are:
(4-1) asynchronous task is carried out, the director data in the asynchronous task administration module reading out data Switching Module;
(4-2) the asynchronous task administration module is judged task type, utilizes data transmission blocks to carry out data according to task type and sends, utilizes the system configuration module to carry out system configuration and data writing memory module, utilizes the presetting bit control module that presetting bit is arranged, calls or deletion action and with amended presetting bit information data writing Switching Module;
(4-3) asynchronous task is complete.
The concrete steps of described step (2-2) are:
(2-31) real-time task is carried out beginning, the data in the real-time task administration module reading out data Switching Module;
(2-32) the feedback sample module is at first carried out, to gather the angle feedback data on each degree of freedom of The Cloud Terrace body;
(2-33) motor control module is controlled the data run that the The Cloud Terrace body comprises according to the data exchange module that reads according to the angle feedback data that collects;
(2-34) real-time monitoring module gathers above each task module running state data and with its data writing Switching Module;
(2-35) real-time task is complete.
Beneficial effect of the present invention: the present invention is directed to the problem that the general holder control system faces in substation inspection is used, for Intelligent Mobile Robot provides a kind of cloud platform control system, provided complete system and formed structure and implementation.This system has effectively overcome the deficiency of existing The Cloud Terrace technical scheme, whole system has flexible configuration, expands conveniently, has fault detect and recovery capability and characteristics convenient and that crusing robot is integrated, and the substation inspection that is highly suitable under transformer station's strong electromagnetic environment is used.Be mainly manifested in following some:
(1) since the cradle head control required function nothing more than asynchronous process with process in real time two large classes, the main response external input of asynchronous process, and the control to the The Cloud Terrace body is mainly finished in real-time processing.Asynchronous task administration module and real-time task administration module have been comprised in the cloud platform control system of the present invention, thereby can manage concentratedly the corresponding function module, and under the cooperation of data memory module and data exchange module, no matter how the substation inspection task changes the demand of cloud platform control system, add new function in the system or system is configured, all can finish not changing under the existing control system structure, thereby make system have flexible configuration, expand easily characteristics.
(2) transformer station is an environment with strong electromagnetic existence, in order to guarantee the crusing robot reliability service, form the ability that each parts of robot should have strong electromagnetic in the opposing station, it should have certain fault detect and recovery capability specific to cloud platform control system.Cloud platform control system of the present invention is finished by the system monitoring module the monitoring of whole system, the execution of asynchronous in the control system and Real time capable module has then been coordinated in the interpolation of the idle module of simultaneity factor, and the operation that makes Real time capable module is under the monitoring of system monitoring module equally, thereby guarantee the reliability of whole system, also can reduce in addition the power consumption of system.
(3) state when making things convenient for robot controller to understand the cloud platform control system operation, make things convenient for cloud platform control system and crusing robot to carry out integrated, real-time monitoring module and data transmission blocks are added into cloud platform control system, under the assistance of data exchange module, can finish the collection of each functional module status data in the system and report with upper module, thereby make robot controller reasonably control the operation of The Cloud Terrace system according to the The Cloud Terrace running state data, guarantee quality and efficient that patrol task is finished.
Description of drawings
Fig. 1 is cloud platform control system of the present invention and peripheral hardware connection diagram;
Fig. 2 is that each module of cloud platform control system of the present invention forms structural representation;
Fig. 3 is a kind of system of the present invention flowchart;
Fig. 4 is that a kind of asynchronous task of the present invention is carried out sub-process figure;
Fig. 5 is that a kind of real-time task of the present invention is carried out sub-process figure.
Wherein, 1. initialization module, 2. task scheduling modules, 3. idle module, 4. data reception module, 5. system monitoring module of system, 6. data memory module, 7. asynchronous task administration module, 8. data exchange module, 9. real-time task administration module, 10. clock module, 11. data transmission blocks, 12. system configuration modules, 13. presetting bit control modules, 14. motor control module, 15. the feedback sample module, 16. real-time monitoring module, 20. cradle head controllors, 21. robot controller, 22. motor drive module, 23. angle detection modules, 24. The Cloud Terrace bodies.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
Such as Fig. 1, a kind of Intelligent Mobile Robot cloud platform control system, it comprises cradle head controllor 20, cradle head controllor 20 is connected with robot controller 21, cradle head controllor 20 also is connected by being connected with the angle detection module with motor drive module 22, motor drive module 22 is connected with the angle detection module and all is connected with The Cloud Terrace body 24, and 20 pairs of The Cloud Terrace bodies of cradle head controllor 24 carry out asynchronous control and in real time control, and described cloud platform control system comprises:
Initialization module 1: the running environment that is used for the initialization cloud platform control system;
Task scheduling modules 2: resetting system monitoring module 5 normally moves to show system to be responsible for calling before to calling of asynchronous task with each asynchronous task;
The idle module 3 of system: when not having trigger event to produce, system will enter the idle module 3 of system from task scheduling modules 2, in order to reduce the power consumption of whole system, carry out the scheduling of asynchronous task in case task scheduling modules 2 will be return by trigger event generation system;
Data reception module 4: main being responsible for receives the data that robot controller 21 sends, and data are delivered to task scheduling modules 2, produces simultaneously trigger event and makes system return task scheduling modules 2 by the idle module 3 of system, so that the response external control command;
System monitoring module 5: mainly be responsible for the monitoring of the unusual condition of system's operation;
Data memory module 6: responsible storage system is moved required configuration data, offers initialization module 1 and 7 uses of asynchronous task administration module;
Asynchronous task administration module 7: be in charge of the needed module of all operation asynchronous task in the system;
Data exchange module 8: main scratch system data are for each module;
Real-time task administration module 9: be in charge of the needed module of all operation real-time tasks in the system;
Clock module 10: event clock moves to drive real-time task administration module 9 for whole system provides periodically, simultaneously when system's normal operation under the control of the periodic triggers event that clock module 10 produces, task scheduling modules 2 will be within setting-up time resetting system monitoring module 5 to show system's normal operation.
The system of storage moves required system configuration data in the described initialization module 1 one side reading out data memory module 6, also starts on the other hand clock module 10.
The asynchronous task that comprises in the data call asynchronous task administration module 7 of described task scheduling modules 2 according to data reception module 4 transmission, simultaneously related data is sent into data exchange module 8 and is used in order to other module, in addition this module also before each asynchronous task is called resetting system monitoring module 5 normally move to show system.
Described asynchronous task administration module 7 is in charge of the configuration information that data transmission blocks 11 is sent to the cloud platform control system internal information configuration information Update Table memory module 6 interior preservations that robot controller 21, management system configuration module 12 issue according to robot controller 21, use during for next system initialization and manage presetting bit control module 13 according to external command finish presetting bit setting, call and deletion action.
Described real-time task administration module 9 is in charge of motor control module 14 and is finished according to the operation of information control horizontal stage electric machine, the management feedback sampling module 15 that transmit through asynchronous task administration module 7 and the angle on The Cloud Terrace body 24 each degree of freedom sampled and use for the operation of motor control module 14 provides necessary feedback information and the status information in 16 pairs of real-time task operational processs of management real-time monitoring module to monitor for each module and robot controller 21.
Described system monitoring module 5 is responsible for the unusual condition of supervisory control system running, when make not resetting system monitoring module 5 in setting-up time of task scheduling modules 2 because of system's operation exception, this module will produce trigger event and make whole system reenter initialization module 1 and finish initialization operation, thereby make system recover normal operation.
As shown in Figure 3, a kind of control method based on the Intelligent Mobile Robot cloud platform control system, concrete steps are:
Step 1: cloud platform control system powers on, the system configuration data of preserving in the initialization module 1 reading out data memory module 6; Carry out the system initialization operation, start simultaneously clock module 10 to process real-time task;
Step 2: whether task scheduling modules 2 monitoring trigger events produce, and enter simultaneously the event clock determining program, if trigger event does not produce, system monitoring module 5 is judged overtime whether the generation, if overtime, returns step 1, if do not have overtimely, then enter system's free time; If trigger event produces, then enter step 3;
Step 3: the system monitoring in the control system monitoring module 5 resets;
Step 4: whether task scheduling modules 2 inputs instruction triggers by the outside according to this event of type identification that receives trigger event, if it is carry out the asynchronous task that comprises in the asynchronous task administration module 7, then the idle module 3 of the system that enters is to reduce system power dissipation, if not the idle module 3 of the system that then directly enters, execution in step five;
Step 5: task scheduling modules 2 judges whether system cuts off the power supply, and such as system cut-off, then withdraws from, if step 2 is not returned in outage.
Real-time task treatment step in the described step 1 behind the startup clock module 10 is:
(2-1) real-time task administration module 9 judges whether to occur event clock, does not then enter step (2-3) if event clock occurs, and then enters step (2-2) if event clock occurs;
(2-2) real-time task administration module 9 is carried out real-time task;
(2-3) judge whether system cuts off the power supply, such as system cut-off, then clock module 10 stops, if step (2-1) is not returned in outage.
As shown in Figure 4, the concrete steps of described step 4 are:
(4-1) asynchronous task is carried out, the director data in the asynchronous task administration module 7 reading out data Switching Modules 8;
(4-2) asynchronous task administration module 7 is judged task types, utilizes data transmission blocks 11 to carry out data according to task type and sends, utilizes system configuration module 12 to carry out system configuration and data writing memory module 6, utilizes 13 pairs of presetting bits of presetting bit control module to arrange, call or deletion action and with amended presetting bit information data writing Switching Module 8;
(4-3) asynchronous task is complete.
As shown in Figure 5, the concrete steps of described step (2-2) are:
(2-31) real-time task is carried out beginning, the data in the real-time task administration module 9 reading out data Switching Modules 8;
(2-32) feedback sample module 15 is at first carried out, to gather the angle feedback data on The Cloud Terrace body 24 each degree of freedom;
(2-33) motor control module 14 is controlled the data run that The Cloud Terrace body 24 comprises according to the data exchange module 8 that reads according to the angle feedback data that collects;
(2-34) real-time monitoring module 16 gathers above each task module running state data and with its data writing Switching Module 8;
(2-35) real-time task is complete.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. Intelligent Mobile Robot cloud platform control system, it comprises cradle head controllor, cradle head controllor is connected with robot controller, cradle head controllor also is connected with the angle detection module with motor drive module, motor drive module and angle detection module all are connected with the The Cloud Terrace body, cradle head controllor carries out asynchronous control and in real time control to the The Cloud Terrace body, it is characterized in that, described cradle head controllor comprises:
Initialization module: the running environment that is used for the initialization cloud platform control system;
Task scheduling modules: the resetting system monitoring module normally moves to show system to be responsible for calling before to calling of asynchronous task with each asynchronous task;
The idle module of system: when not having trigger event to produce, system will enter the idle module of system from task scheduling modules, in order to reduce the power consumption of whole system, will return the scheduling that task scheduling modules is carried out asynchronous task in case trigger event produces system;
Data reception module: main being responsible for receives the data that robot controller sends, and data are delivered to task scheduling modules, produces simultaneously trigger event and makes system return task scheduling modules by the idle module of system, so that the response external control command;
System monitoring module: mainly be responsible for the monitoring of the unusual condition of system's operation;
Data memory module: responsible storage system is moved required configuration data, offers initialization module and asynchronous task administration module and uses;
Asynchronous task administration module: be in charge of the needed module of all operation asynchronous task in the system;
Data exchange module: main scratch system data are for each module;
Real-time task administration module: be in charge of the needed module of all operation real-time tasks in the system;
Clock module: event clock moves to drive the real-time task administration module for whole system provides periodically, simultaneously when system's normal operation under the control of the periodic triggers event that clock module produces, task scheduling modules will be within setting-up time the resetting system monitoring module to show system's normal operation.
2. Intelligent Mobile Robot cloud platform control system as claimed in claim 1 is characterized in that, the system that described initialization module is stored in the reading out data memory module on the one hand moves required system configuration data, also starts on the other hand clock module.
3. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, it is characterized in that, the asynchronous task that comprises in the data call asynchronous task administration module of described task scheduling modules according to the data reception block transfer, simultaneously related data is sent into data exchange module and is used in order to other module, in addition this module also before each asynchronous task is called the resetting system monitoring module normally move to show system.
4. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, it is characterized in that, described asynchronous task administration module is in charge of data transmission blocks and the cloud platform control system internal information is sent to the configuration information of preserving in the configuration information Update Table memory module that robot controller, management system configuration module issue according to robot controller, use during for next system initialization and manage the presetting bit control module according to external command finish presetting bit setting, call and deletion action.
5. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, it is characterized in that, described real-time task administration module is in charge of motor control module and is finished according to the operation of information control horizontal stage electric machine, the management feedback sampling module that transmit through the asynchronous task administration module angle on each degree of freedom of The Cloud Terrace body is sampled and used for the operation of motor control module provides necessary feedback information and management real-time monitoring module that the status information in the real-time task operational process is monitored for each module and robot controller.
6. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, it is characterized in that, described system monitoring module is responsible for the unusual condition of supervisory control system running, when make not resetting system monitoring module in setting-up time of task scheduling modules because of system's operation exception, the system monitoring module will produce trigger event and make whole system reenter initialization module and finish initialization operation, thereby make system recover normal operation.
7. the control method based on the Intelligent Mobile Robot cloud platform control system is characterized in that, concrete steps are:
Step 1: cloud platform control system powers on, the system configuration data of preserving in the initialization module reading out data memory module; Carry out the system initialization operation, start simultaneously clock module to process real-time task;
Step 2: whether task scheduling modules monitoring trigger event produces, and enters simultaneously the event clock determining program, if trigger event does not produce, the system monitoring module is judged overtime whether the generation, if overtime, returns step 1, if do not have overtimely, then enters system's free time; If trigger event produces, then enter step 3;
Step 3: the system monitoring in the control system monitoring module resets;
Step 4: whether task scheduling modules inputs instruction triggers by the outside according to this event of type identification that receives trigger event, if it is carry out the asynchronous task that the asynchronous task administration module comprises, then the idle module of the system that enters is to reduce system power dissipation, if not the idle module of the system that then directly enters, execution in step five;
Step 5: task scheduling modules judges whether system cuts off the power supply, and such as system cut-off, then withdraws from, if step is not returned in outage.
8. Intelligent Mobile Robot cloud platform control method as claimed in claim 7 is characterized in that, the real-time task treatment step that starts in the described step 1 behind the clock module is:
(2-1) the real-time task administration module judges whether to occur event clock, does not then enter step (2-3) if event clock occurs, and then enters step (2-2) if event clock occurs;
(2-2) the real-time task administration module is carried out real-time task;
(2-3) judge whether system cuts off the power supply, such as system cut-off, then clock module stops, if step (2-1) is not returned in outage.
9. Intelligent Mobile Robot cloud platform control method as claimed in claim 7 is characterized in that, the concrete steps of described step 4 are:
(4-1) asynchronous task is carried out, the director data in the asynchronous task administration module reading out data Switching Module;
(4-2) the asynchronous task administration module is judged task type, utilizes data transmission blocks to carry out data according to task type and sends, utilizes the system configuration module to carry out system configuration and data writing memory module, utilizes the presetting bit control module that presetting bit is arranged, calls or deletion action and with amended presetting bit data writing Switching Module;
(4-3) asynchronous task is complete.
10. Intelligent Mobile Robot cloud platform control method as claimed in claim 8 is characterized in that, the concrete steps of described step (2-2) are:
(2-31) real-time task is carried out beginning, the data in the real-time task administration module reading out data Switching Module;
(2-32) the feedback sample module is at first carried out, to gather the angle feedback data on each degree of freedom of The Cloud Terrace body;
(2-33) motor control module is controlled the data run that the The Cloud Terrace body comprises according to the data exchange module that reads according to the angle feedback data that collects;
(2-34) real-time monitoring module gathers above each task module running state data and with its data writing Switching Module;
(2-35) real-time task is complete.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699075A (en) * | 2013-12-11 | 2014-04-02 | 国家电网公司 | Video-monitoring-based transformer substation tour-inspection intelligent-scheduling and control system |
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| CN106406249A (en) * | 2015-10-14 | 2017-02-15 | 山东鲁能智能技术有限公司 | Transformer station inspection robot control system and method based on Android platform |
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| CN113905075B (en) * | 2021-09-13 | 2023-11-10 | 中国船舶集团有限公司第七一六研究所 | Control system and method for cloud robot in 5G environment |
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