CN106346476A - Control method and control device for steering engine - Google Patents
Control method and control device for steering engine Download PDFInfo
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- CN106346476A CN106346476A CN201610967731.2A CN201610967731A CN106346476A CN 106346476 A CN106346476 A CN 106346476A CN 201610967731 A CN201610967731 A CN 201610967731A CN 106346476 A CN106346476 A CN 106346476A
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- Prior art keywords
- steering wheel
- command code
- module
- packet
- described packet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
Abstract
The invention relates to a control method and a control device for a steering engine. The method is characterized by comprising the following steps: acquiring a data packet sent by a main control module; identifying the data packet; executing a corresponding instruction mode according to the data packet. The control method and the control device, which are disclosed by the invention, for the steering engine can realize real-time information feedback of control information of the steering engine and support modular design, so that the intelligent and modular requirements on control over the steering engine can be met.
Description
Technical field
The present invention relates to Mechanical course field, more particularly, to servos control field.
Background technology
With the burning hot development of robot industry in recent years, steering wheel, as the important component part of robot building, is also got over
More paid close attention to by industry.The steering wheel commonly used in the market is all that traditional simulation steering wheel can only to simulate based on steering wheel
Controlled by pulse signal, do not have real time information to feed back, and simulate steering wheel to be unable to support module due to its input characteristics
Design, therefore this kind of steering wheel can not meet the demand of steering wheel Based Intelligent Control, modularized design.
Content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of control method of steering wheel and control dress
Put, real time information feedback can be carried out to the control information of steering wheel, and support moduleization design, make the control of steering wheel meet intelligence
Can, modular demand.
The purpose of the present invention employs the following technical solutions realization:
A kind of control method of steering wheel, comprising:
Obtain the packet that main control module sends;
Identify described packet;
Described instruction mode is executed according to described packet.
Preferably, described packet includes: command code and array;, described instruction mode is: operational mode, standby mode,
First Setting pattern, the second Setting pattern, generation patterns;Described according to described packet execute corresponding instruction mode specifically wrap
Include:
Judge in described packet command code whether the first preset value, if so, described array be decomposed into speed and angle,
Steering wheel executes described operational mode, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the second preset value, if so, inquire about steering wheel information, steering wheel execution is described
Standby mode, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 3rd preset value, if so, described array is decomposed into address value, rudder
Machine executes described first Setting pattern, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 4th preset value, if so, described array is decomposed into absolute position
Value, steering wheel executes described second Setting pattern, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 5th preset value, if so, steering wheel executes described generation patterns, if
No, the judgement to command code again.
Preferably, described steering wheel executes described operational mode and includes: steering wheel is rotated by described speed and angle, and real
When to main control module feedback and send angle and current information;
Described steering wheel executes standby mode and includes: the operation angle of inquiry steering wheel, steering wheel state and fault message, and in real time
The information fed back to main control module and send a query to;
Described steering wheel executes the first Setting pattern and includes: address value is arranged to steering wheel according to described address value, and in real time to
Main control module feedback and transmission address;
Described steering wheel executes the second Setting pattern and includes: according to described absolute position values, absolute position is arranged to steering wheel, and
In real time to main control module feedback and send the absolute position setting, described absolute position is position that current angular is when 0 degree;
Described steering wheel execution generation patterns include: steering wheel jumps to more new procedures, is updated.
Preferably it is characterised in that described command code includes numeral, character, code.
Preferably, described steering wheel and main control module receive, by bus, the packet that main control module sends, and carry out letter
Breath feedback.
A kind of second aspect according to the embodiment of the present disclosure, there is provided control device of steering wheel, described device includes:
Acquisition module, for obtaining the packet that main control module sends;
Identification module, for identifying described packet;
Performing module, for executing corresponding instruction mode according to described packet.
Preferably, the control device of described steering wheel, described packet includes: command code and array;Described instruction mode bag
Include: operational mode, standby mode, the first Setting pattern, the second Setting pattern, generation patterns;Described performing module specifically includes:
First judge module, for judging in described packet, whether command code is the first preset value;
First decomposing module, for when the command code in described packet is the first preset value, described array being decomposed
For speed and angle;
First implementation sub-module, for when the command code in described packet is the first preset value, executing described operation
Pattern;
Second judge module, for judging in described packet, whether command code is the second preset value;
Enquiry module, for when command code is the second preset value in described packet, inquiring about steering wheel information;
Second implementation sub-module, for when command code is the second preset value in described packet, executing described standby mould
Formula;
3rd judge module, for judging in described packet, whether command code is the 3rd preset value;
Second decomposing module, for when in described packet, command code is three preset values, described array being decomposed into
Address value;
3rd implementation sub-module, for when in described packet, command code is three preset values, execution described first sets
Put pattern;
4th judge module, for judging in described packet, whether command code is the 4th preset value;
3rd decomposing module, for when in described packet, command code is four preset values, described array being decomposed into
Absolute position values;
4th implementation sub-module, for when in described packet, command code is four preset values, execution described second sets
Put pattern;
5th judge module, for judging in described packet, whether command code is the 5th preset value;
5th implementation sub-module, for the renewal when command code is five preset values in described packet, described in execution
Pattern.
Preferably, the control device of described steering wheel, described first implementation sub-module, also particularly useful for when described packet
In command code when being the first preset value, by described speed and angular turn, and in real time to main control module feedback and send angle
And current information;
Described enquiry module, also particularly useful for when command code is the second preset value in described packet, inquires about steering wheel
Operation angle, steering wheel state and fault message, and the information fed back to main control module in real time and send a query to;
Described 3rd implementation sub-module, is additionally operable to when in described packet, command code is three preset values, according to described
Address value arranges address value to steering wheel, and in real time to main control module feedback and transmission address;
Described 4th implementation sub-module, for when in described packet, command code is four preset values, according to described exhausted
Positional value is arranged to steering wheel with absolute position, and the absolute position setting to main control module feedback and transmission in real time, described exhausted
Para-position is set to current angular and is set to position when 0 degree;
5th implementation sub-module, for when command code is five preset values in described packet, jumping to more new procedures,
It is updated.
Preferably, the control device of described steering wheel, described command code includes numeral, character or code.
The third aspect according to the embodiment of the present disclosure, there is provided a kind of control device of steering wheel is it is characterised in that include:
Processor;
For storing the memorizer of processor executable;
Wherein, described processor is configured to:
Obtain the packet that main control module sends;
Identify described packet;
Corresponding instruction mode is executed according to described packet, described instruction mode includes: operational mode, standby mode,
First Setting pattern, the second Setting pattern, generation patterns.
Compared to existing technology, the beneficial effects of the present invention is: real time information can be carried out to the control information of steering wheel anti-
Feedback, and support moduleization design, make the control of steering wheel meet intelligence, modular demand.
Brief description
Fig. 1 is a kind of flow chart of the control method of steering wheel of present pre-ferred embodiments.
Fig. 2 is a kind of flow chart of the control method of steering wheel of present pre-ferred embodiments.
Fig. 3 is a kind of module map of the control device of steering wheel of present pre-ferred embodiments.
Fig. 4 is a kind of module map of the control method of steering wheel of present pre-ferred embodiments.
Fig. 5 is a kind of structured flowchart of the control method of steering wheel of present pre-ferred embodiments.
Description of symbols: 201, acquisition module;202nd, identification module;203rd, performing module;20301st, the first judge module;
20302nd, the first decomposing module;20303rd, the first performing module;20304th, the second judge module;20305th, enquiry module;
20306th, the second performing module;20307th, the 3rd judge module;20308th, the second decomposing module;20309th, the 3rd execution submodule
Block;20310th, the 4th judge module;20311st, the 3rd decomposing module;20312nd, the 4th implementation sub-module;20313rd, the 5th judgement
Module;20314th, the 5th implementation sub-module;
Specific embodiment
Below, in conjunction with accompanying drawing and specific embodiment, the present invention is described further:
Fig. 1 is a kind of flow chart of the control method of steering wheel shown in present pre-ferred embodiments, as shown in figure 1, steering wheel
Control method can be used in steering engine controller, steering wheel is connected by bus with main control module in the present embodiment, and carries out double
To communication, the control method of steering wheel specifically includes following steps:
Step 101: obtain the packet that main control module sends, described packet includes: command code and array;
Step 102: identify the instruction mode corresponding to described packet;
Step 103: corresponding instruction mode is executed according to described packet, described instruction mode includes: operational mode, treat
Machine pattern, the first Setting pattern, the second Setting pattern, generation patterns;
As shown in Fig. 2 in described step 102, packet is identified with corresponding instruction mode particularly as follows:
Judge in described packet, whether command code is the first preset value, if so, described array is decomposed into speed and angle
Degree, steering wheel executes described operational mode, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the second preset value, if so, inquire about steering wheel information, steering wheel execution is described
Standby mode, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 3rd preset value, if so, described array is decomposed into address value, rudder
Machine executes described first Setting pattern, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 4th preset value, and if so, described array is decomposed into absolute position values,
Steering wheel executes described second Setting pattern, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 5th preset value, and if so, array is decomposed into more new procedures, and steering wheel is held
The described generation patterns of row, if it is not, the judgement to command code again.
In described step 102, command code includes numeral 1,2,3,4,5, is primarily used to distinguish using numeral in the present embodiment
The different instruction that main control module is sent, therefore command code are substantially to be endowed instruction, so command code can also be word
Symbol, code etc. are substituted, and the judgement of command code is primarily to more accurately execute the instruction that main control module is sent.
Described steering wheel executes operational mode and includes: the speed that steering wheel is decomposed by described array and angle are rotated, that is, press
According to the instruction operation in the sent packet of main control module, and in real time to main control module feedback angle and current information;
Described steering wheel executes standby mode and includes: operation angle, steering wheel state and the fault message of inquiry steering wheel;And in real time
The information fed back to main control module and send a query to.
Described steering wheel executes the first Setting pattern and includes: address value is arranged to steering wheel according to described address value, and in real time to
Main control module feedback and transmission address;The address id of described steering wheel can select according to the quantity connecting steering wheel and other buses, institute
State selection and specifically adopt standard identifier (11) or extended identifier (18);
Described steering wheel executes the second Setting pattern and includes: absolute position is configured to steering wheel, and in real time to main control module
Feed back and send the absolute position setting, described absolute position is the position that current angular is set to when 0 degree.
Described steering wheel execution generation patterns include: steering wheel jumps to more new procedures, prepares to update;Described more new procedures are concrete
Refer to jump to iap program, prepare steering wheel itself program is updated.
The method that the embodiment of the present disclosure provides, is carried out even by controller local area network between steering wheel and main control module
Connect, and by specifically judging that command code accurately executes the instruction that main control module is sent, steering wheel can be with master control by bus
Module carries out both-way communication, can carry out real time information feedback to the control information of steering wheel, and support moduleization design, makes rudder
The control of machine meets intelligence, modular demand.
Based on the control method of above-mentioned steering wheel, the embodiment of the present invention additionally provides a kind of control device of steering wheel, as Fig. 3 institute
Show, this device includes: acquisition module 201, identification module 202, performing module 203;
This acquisition module 201 is configured to obtain the packet that main control module sends;
This identification module 202 is configured to identify the instruction mode corresponding to described packet;
This performing module 203 is configured to execute described instruction mode;
As shown in figure 4, described performing module 203 specifically includes:
First judge module 20301, for judging to state whether command code in packet is the first preset value;
First decomposing module 20302, for when the command code in described packet is the first preset value, by described array
It is decomposed into speed and angle;
First implementation sub-module 20303, for when the command code in described packet is the first preset value, execution is described
Operational mode;
Second judge module 20304, for judging in described packet, whether command code is the second preset value;
Enquiry module 20305, for when command code is the second preset value in described packet, inquiring about steering wheel information;
Second implementation sub-module 20306, for when in described packet, command code is the second preset value, treating described in execution
Machine pattern;
3rd judge module 20307, for judging in described packet, whether command code is the 3rd preset value;
Second decomposing module 20308, for when in described packet, command code is three preset values, described array being divided
Solve as address value;
3rd implementation sub-module 20309, for when in described packet, command code is three preset values, execution described the
One Setting pattern;
4th judge module 20310, for judging in described packet, whether command code is the 4th preset value;
3rd decomposing module 20311, for when in described packet, command code is four preset values, described array being divided
Solve as absolute position values;
4th implementation sub-module 20312, for when in described packet, command code is four preset values, execution described the
Two Setting patterns;
5th judge module 20313, for judging in described packet, whether command code is the 5th preset value;
5th implementation sub-module 20314, for when in described packet, command code is five preset values, execution is described
Generation patterns.
Described first implementation sub-module 20303, also particularly useful for being the first preset value when the command code in described packet
When, by described speed and angular turn, and in real time to main control module feedback and transmission angle and current information;
Described enquiry module 20305, also particularly useful for when command code is the second preset value in described packet, inquires about rudder
The operation angle of machine, steering wheel state and fault message, and the information fed back to main control module in real time and send a query to;
Described 3rd implementation sub-module 20309, be additionally operable to when in described packet command code be three preset values when, according to
Described address value arranges address value to steering wheel, and in real time to main control module feedback and transmission address;
Described 4th implementation sub-module 20312, for when in described packet, command code is four preset values, according to institute
State absolute position values and steering wheel is arranged with absolute position, and the absolute position setting to main control module feedback and transmission in real time, institute
State absolute position and be set to position when 0 degree for current angular;
5th implementation sub-module 20314, for when command code is five preset values in described packet, jumping to renewal
Program, is updated.
The control device of steering wheel described in the present embodiment may apply to, in the steering wheel of machine fish, to swing machine fish
Or other instruction inputs are to main control module, main control module controls the operation of the internal steering wheel of machine fish by this device, thus reaching
Real-time to machine fish, data that is accurate and receiving feedback, this device can also be attached separately to the rudder on the diverse location of machine fish
On machine, the controller of steering wheel being formed modularity, thus reaching the modularity control to machine fish steering wheel, also can need according to actual
Increase and delete steering wheel, the convenient debugging to machine fish when realistic.
With regard to the device in above-described embodiment, wherein the concrete mode of the execution operation of modules is in the relevant party
It has been described in detail in the embodiment of method, will no longer elaborate explanation herein.
Fig. 5 is the structured flowchart 300 of the control device of another steering wheel provided in an embodiment of the present invention, and device 300 can be by
It is provided as a server.With reference to Fig. 5, device 300 includes process assembly 302, its further include one or more processors with
And the storage resource representated by memorizer 303, can be by the instruction of the execution of process assembly 302, in memorizer 303 for storage
The instruction of storage includes each corresponding instruction mode one or more, and herein, process assembly 302 is configured to hold
Row instruction, for executing the control method of said method steering wheel:
Obtain the packet that main control module sends;
Identify described packet;
Described instruction mode is executed according to described packet, described instruction mode includes: operational mode, standby mode, the
One Setting pattern, the second Setting pattern, generation patterns.
Device 300 also includes the power management that a power supply module 301 is configured to performs device 300, and a network connects
Mouth 304 is configured to device 300 is connected in network, also includes an input/output interface 305.Device 300 can operate
Based on the operating system of memorizer 303, such as windows, linux, fressbsd or similar.
The control device that the embodiment of the present disclosure provides, steering wheel can carry out both-way communication with main control module by bus, can
Real time information feedback is carried out with the control information to steering wheel, and support moduleization design, make the control of steering wheel meet intelligence, mould
The demand of massing.
It will be apparent to those skilled in the art that can technical scheme as described above and design, make other various
Corresponding change and deformation, and all these change and deformation all should belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of control method of steering wheel is it is characterised in that include:
Obtain the packet that main control module sends;
Identify described packet;
Corresponding instruction mode is executed according to described packet.
2. the control method of steering wheel according to claim 1 is it is characterised in that described packet includes: command code sum
Group;Described instruction mode includes: operational mode, standby mode, the first Setting pattern, the second Setting pattern, generation patterns;Described
Execute corresponding instruction mode according to described packet to specifically include:
Judge in described packet command code whether the first preset value, if so, described array is decomposed into speed and angle, steering wheel
Execute described operational mode, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the second preset value, if so, inquire about steering wheel information, steering wheel execution is described standby
Pattern, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 3rd preset value, if so, described array is decomposed into address value, steering wheel is held
Described first Setting pattern of row, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 4th preset value, if so, described array is decomposed into absolute position values, rudder
Machine executes described second Setting pattern, if it is not, the judgement to command code again;
Judge in described packet, whether command code is the 5th preset value, if so, steering wheel executes described generation patterns, if it is not, weight
The new judgement to command code.
3. a kind of steering wheel according to claim 2 control method it is characterised in that
Described steering wheel executes described operational mode and includes: steering wheel is rotated by described speed and angle, and in real time to master control mould
Block feedback and transmission angle and current information;
Described steering wheel executes standby mode and includes: the operation angle of inquiry steering wheel, steering wheel state and fault message, and in real time to master
Control module feedback and the information sending a query to;
Described steering wheel executes the first Setting pattern and includes: address value is arranged to steering wheel according to described address value, and in real time to master control
Module feedback and transmission address;
Described steering wheel executes the second Setting pattern and includes: according to described absolute position values, absolute position is arranged to steering wheel, and in real time
To main control module feedback and send the absolute position that sets, described absolute position is position that current angular is when 0 degree;
Described steering wheel execution generation patterns include: steering wheel jumps to more new procedures, is updated.
4. a kind of control method of steering wheel according to claim 2 is it is characterised in that described command code includes numeral, word
Symbol, code.
5. a kind of control method of steering wheel according to claim 1 is it is characterised in that described steering wheel and main control module pass through
Bus receives the packet that main control module sends, and row information of going forward side by side is fed back.
6. a kind of control device of steering wheel is it is characterised in that this device includes:
Acquisition module, for obtaining the packet that main control module sends;
Identification module, for identifying described packet;
Performing module, for executing corresponding instruction mode according to described packet.
7. the control device of steering wheel according to claim 6 is it is characterised in that described packet includes: command code sum
Group;Described instruction mode includes: operational mode, standby mode, the first Setting pattern, the second Setting pattern, generation patterns;
Described performing module specifically includes:
First judge module, for judging in described packet, whether command code is the first preset value;
First decomposing module, for when the command code in described packet is the first preset value, described array being decomposed into speed
Degree and angle;
First implementation sub-module, for when the command code in described packet is the first preset value, executing described operational mode;
Second judge module, for judging in described packet, whether command code is the second preset value;
Enquiry module, for when command code is the second preset value in described packet, inquiring about steering wheel information;
Second implementation sub-module, for when command code is the second preset value in described packet, executing described standby mode;
3rd judge module, for judging in described packet, whether command code is the 3rd preset value;
Second decomposing module, for when command code is three preset values in described packet, described array being decomposed into address
Value;
3rd implementation sub-module, for when in described packet, command code is three preset values, execution described first arranges mould
Formula;
4th judge module, for judging in described packet, whether command code is the 4th preset value;
3rd decomposing module, for when in described packet, command code is four preset values, described array being decomposed into definitely
Positional value;
4th implementation sub-module, for when in described packet, command code is four preset values, execution described second arranges mould
Formula;
5th judge module, for judging in described packet, whether command code is the 5th preset value;
5th implementation sub-module, for the generation patterns when command code is five preset values in described packet, described in execution.
8. a kind of control device of steering wheel according to claim 7, it is characterised in that described first implementation sub-module, is gone back
Specifically for when the command code in described packet is the first preset value, by described speed and angular turn, and in real time to master
Control module feedback and transmission angle and current information;
Described enquiry module, also particularly useful for when command code is the second preset value in described packet, inquires about the operation of steering wheel
Angle, steering wheel state and fault message, and the information fed back to main control module in real time and send a query to;
Described 3rd implementation sub-module, is additionally operable to when in described packet, command code is three preset values, according to described address
Value arranges address value to steering wheel, and in real time to main control module feedback and transmission address;
Described 4th implementation sub-module, for when in described packet, command code is four preset values, according to described absolute position
Put value and steering wheel is arranged with absolute position, and the absolute position setting to main control module feedback and transmission in real time, described absolute position
It is set to current angular and be set to position when 0 degree;
5th implementation sub-module, for when command code is five preset values in described packet, jumping to more new procedures, carrying out
Update.
9. a kind of control device of steering wheel according to claim 6 is it is characterised in that described command code includes numeral, word
Symbol or code.
10. a kind of control device of steering wheel, comprising:
Processor;
For storing the memorizer of processor executable;
Wherein, described processor is configured to:
Obtain the packet that main control module sends;
Identify described packet;
Corresponding instruction mode is executed according to described packet, described instruction mode includes: operational mode, standby mode, first
Setting pattern, the second Setting pattern, generation patterns.
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CN106023558A (en) * | 2016-07-11 | 2016-10-12 | 苏州南江乐博机器人有限公司 | Multi-mode control device and control method of football robot |
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CN109976243B (en) * | 2017-12-28 | 2020-08-25 | 深圳市优必选科技有限公司 | Robot synchronization control method, device and equipment |
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