CN106346476B - A kind of control method and control device of steering engine - Google Patents
A kind of control method and control device of steering engine Download PDFInfo
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- CN106346476B CN106346476B CN201610967731.2A CN201610967731A CN106346476B CN 106346476 B CN106346476 B CN 106346476B CN 201610967731 A CN201610967731 A CN 201610967731A CN 106346476 B CN106346476 B CN 106346476B
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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 discloses the control methods and control device about a kind of steering engine, which is characterized in that this method comprises: obtaining the data packet that main control module issues；Identify the data packet；Corresponding instruction mode is executed according to the data packet.A kind of control method and device of steering engine disclosed by the invention can control information to steering engine carry out real time information feedback, and support moduleization designs, and the control of steering engine is made to meet intelligence, modular demand.
Description
Technical field
The present invention relates to Mechanical course field more particularly to steering engine control fields.
Background technique
With the burning hot development of robot industry in recent years, important component of the steering engine as robot building is also got over
To get over the concern by industry.Common steering engine is all to simulate based on steering engine currently on the market, and traditional simulation steering engine can only
It is controlled, is fed back without real time information, and simulate steering engine since its input characteristics is unable to support module by pulse signal
Design, therefore such steering engine is no longer satisfied steering engine intelligent control, the demand of modularized design.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of control method of steering engine and control dresses
Set, can control information to steering engine carry out real time information feedback, and support moduleization designs, and the control of steering engine is made to meet intelligence
Can, modular demand.
The purpose of the present invention is implemented with the following technical solutions:
A kind of control method of steering engine, comprising:
Obtain the data packet that main control module issues；
Identify the data packet；
Described instruction mode is executed according to the data packet.
Preferably, the data packet includes: command code and array；, described instruction mode are as follows: operational mode, standby mode,
First Setting pattern, the second Setting pattern, renewal model；It is described specifically to be wrapped according to the corresponding instruction mode of data packet execution
It includes:
Judge in the data packet command code whether the first preset value, if so, the array is decomposed into speed and angle,
Steering engine executes the operational mode, if it is not, again to the judgement of command code；
Judge whether command code is the second preset value in the data packet, if so, steering engine information is inquired, described in steering engine execution
Standby mode, if it is not, again to the judgement of command code；
Judge whether command code is third preset value in the data packet, if so, the array is decomposed into address value, rudder
Machine executes first Setting pattern, if it is not, again to the judgement of command code；
Judge whether command code is the 4th preset value in the data packet, if so, the array is decomposed into absolute position
Value, steering engine executes second Setting pattern, if it is not, again to the judgement of command code；
Judge whether command code is the 5th preset value in the data packet, if so, steering engine executes the renewal model, if
It is no, again to the judgement of command code.
Preferably, the steering engine executes the operational mode and includes: that steering engine is rotated by the speed and angle, and real
When angle and current information are fed back and sent to main control module；
It includes: operation angle, steering engine state and the fault message for inquiring steering engine that the steering engine, which executes standby mode, and in real time
The information fed back and sent a query to main control module；
The steering engine execute the first Setting pattern include: address value is arranged to steering engine according to the address value, and in real time to
Main control module feedback and transmission address；
It includes: according to the absolute position values to steering engine setting absolute position that the steering engine, which executes the second Setting pattern, and
The absolute position that sets is fed back and sent to main control module in real time, the position that the absolute position is current angular when being 0 degree；
It includes: that steering engine jumps to more new procedures that the steering engine, which executes renewal model, is updated.
Preferably, which is characterized in that the command code includes number, character, code.
Preferably, the steering engine and main control module receive the data packet that main control module is sent by bus, and carry out letter
Breath feedback.
According to the second aspect of an embodiment of the present disclosure, a kind of control device of steering engine is provided, described device includes:
Module is obtained, for obtaining the data packet of main control module sending；
Identification module, for identification data packet；
Execution module, for executing corresponding instruction mode according to the data packet.
Preferably, the control device of the steering engine, the data packet include: command code and array；Described instruction mode packet
It includes: operational mode, standby mode, the first Setting pattern, the second Setting pattern, renewal model；The execution module specifically includes:
First judgment module, for judging whether command code is the first preset value in the data packet；
First decomposing module, for when the command code in the data packet is the first preset value, the array to be decomposed
For speed and angle；
First implementation sub-module, for executing the operation when the command code in the data packet is the first preset value
Mode；
Second judgment module, for judging whether command code is the second preset value in the data packet；
Enquiry module, for inquiring steering engine information when command code is the second preset value in the data packet；
Second implementation sub-module, for executing the standby mould when command code is the second preset value in the data packet
Formula；
Third judgment module, for judging whether command code is third preset value in the data packet；
Second decomposing module, for when command code is third preset value in the data packet, the array to be decomposed into
Address value；
Third implementation sub-module is set for when command code is third preset value in the data packet, executing described first
Set mode；
4th judgment module, for judging whether command code is the 4th preset value in the data packet；
Third decomposing module, for when command code is four preset value in the data packet, the array to be decomposed into
Absolute position values；
4th implementation sub-module is set for when command code is four preset value in the data packet, executing described second
Set mode；
5th judgment module, for judging whether command code is the 5th preset value in the data packet；
5th implementation sub-module, for executing the update when command code is five preset value in the data packet
Mode.
Preferably, the control device of the steering engine, first implementation sub-module, also particularly useful for when the data packet
In command code when being the first preset value, by the speed and angular turn, and angle is fed back and sent to main control module in real time
And current information；
The enquiry module inquires steering engine also particularly useful for when command code is the second preset value in the data packet
Operation angle, steering engine state and fault message, and the information fed back and sent a query to main control module in real time；
The third implementation sub-module is also used to when command code is third preset value in the data packet, according to described
Address value is arranged to steering engine in address value, and feeds back and send address to main control module in real time；
4th implementation sub-module is used for when command code is four preset value in the data packet, according to described exhausted
Absolute position is arranged to steering engine to positional value, and feeds back and send the absolute position set to main control module in real time, it is described exhausted
Contraposition is set to position when current angular is set as 0 degree；
5th implementation sub-module, for jumping to more new procedures when command code is five preset value in the data packet,
It is updated.
Preferably, the control device of the steering engine, the command code include number, character or code.
According to the third aspect of an embodiment of the present disclosure, a kind of control device of steering engine is provided characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Obtain the data packet that main control module issues；
Identify the data packet；
Execute corresponding instruction mode according to the data packet, described instruction mode include: operational mode, standby mode,
First Setting pattern, the second Setting pattern, renewal model.
Compared with prior art, the beneficial effects of the present invention are: can control information to steering engine to carry out real time information anti-
Feedback, and support moduleization designs, and the control of steering engine is made to meet intelligence, modular demand.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method of steering engine of present pre-ferred embodiments.
Fig. 2 is a kind of flow chart of the control method of steering engine of present pre-ferred embodiments.
Fig. 3 is a kind of module map of the control device of steering engine of present pre-ferred embodiments.
Fig. 4 is a kind of module map of the control method of steering engine of present pre-ferred embodiments.
Fig. 5 is a kind of structural block diagram of the control method of steering engine of present pre-ferred embodiments.
Description of symbols: 201, module is obtained；202, identification module；203, execution module；20301, first judgment module；
20302, the first decomposing module；20303, the first execution module；20304, the second judgment module；20305, enquiry module；
20306, the second execution module；20307, third judgment module；20308, the second decomposing module；20309, third executes submodule
Block；20310, the 4th judgment module；20311, third decomposing module；20312, the 4th implementation sub-module；20313, the 5th judgement
Module；20314, the 5th implementation sub-module；
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention:
Fig. 1 is a kind of flow chart of the control method of steering engine shown in present pre-ferred embodiments, as shown in Figure 1, steering engine
Control method can be used in steering engine controller, steering engine is connect with main control module by bus in the present embodiment, and is carried out double
To communication, the control method of steering engine specifically includes the following steps:
Step 101: obtaining the data packet that main control module issues, the data packet includes: command code and array；
Step 102: identifying instruction mode corresponding to the data packet；
Step 103: corresponding instruction mode is executed according to the data packet, described instruction mode include: operational mode, to
Machine mode, the first Setting pattern, the second Setting pattern, renewal model；
As shown in Fig. 2, carrying out identifying corresponding instruction mode to data packet in the step 102 specifically:
Judge whether command code is the first preset value in the data packet, if so, the array is decomposed into speed and angle
Degree, steering engine executes the operational mode, if it is not, again to the judgement of command code；
Judge whether command code is the second preset value in the data packet, if so, steering engine information is inquired, described in steering engine execution
Standby mode, if it is not, again to the judgement of command code；
Judge whether command code is third preset value in the data packet, if so, the array is decomposed into address value, rudder
Machine executes first Setting pattern, if it is not, again to the judgement of command code；
Judge whether command code is the 4th preset value in the data packet, if so, the array is decomposed into absolute position values,
Steering engine executes second Setting pattern, if it is not, again to the judgement of command code；
Judge whether command code is the 5th preset value in the data packet, if so, array is decomposed into more new procedures, steering engine is held
The row renewal model, if it is not, again to the judgement of command code.
Command code includes number 1,2,3,4,5 in the step 102, is primarily used to distinguish using number in the present embodiment
Different instruction transmitted by main control module, therefore command code is 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 the instruction that more accurate execution main control module is issued.
The steering engine execution operational mode includes: that the speed that steering engine is decomposed by the array and angle are rotated, that is, is pressed
According to the instruction operation in the issued data packet of main control module, and in real time to main control module feedback angle and current information；
It includes: the operation angle for inquiring steering engine, steering engine state and fault message that the steering engine, which executes standby mode,；And in real time
The information fed back and sent a query to main control module.
The steering engine execute the first Setting pattern include: address value is arranged to steering engine according to the address value, and in real time to
Main control module feedback and transmission address；The address ID of the steering engine can be selected according to the quantity of connection steering engine and other buses, institute
Selection is stated specifically using standard identifier (11) or extended identifier (18)；
It includes: to be configured absolute position to steering engine that the steering engine, which executes the second Setting pattern, and in real time to main control module
The absolute position that feedback and transmission are set, the absolute position, that is, current angular are set as position at 0 degree.
It includes: that steering engine jumps to more new procedures that the steering engine, which executes renewal model, prepares to update；The more new procedures are specific
Refer to and jump to IAP program, prepares to update steering engine itself program.
The method that the embodiment of the present disclosure provides, is connected between steering engine and main control module by controller local area network
It connects, and by specifically judging that command code accurately executes the instruction that main control module is issued, steering engine can be with master control by bus
Module carries out both-way communication, can control information to steering engine carry out real time information feedback, and support moduleization designs, and makes rudder
The control of machine meets intelligence, modular demand.
Based on the control method of above-mentioned steering engine, the embodiment of the invention also provides a kind of control devices of steering engine, such as Fig. 3 institute
Show, which includes: to obtain module 201, identification module 202, execution module 203；
The acquisition module 201 is configured as obtaining the data packet that main control module issues；
The identification module 202 is configured as identifying instruction mode corresponding to the data packet；
The execution module 203 is configured as executing described instruction mode；
As shown in figure 4, the execution module 203 specifically includes:
First judgment module 20301 states whether command code in data packet is the first preset value for judging；
First decomposing module 20302, for when the command code in the data packet is the first preset value, by the array
It is decomposed into speed and angle；
First implementation sub-module 20303, for when the command code in the data packet is the first preset value, described in execution
Operational mode；
Second judgment module 20304, for judging whether command code is the second preset value in the data packet；
Enquiry module 20305, for inquiring steering engine information when command code is the second preset value in the data packet；
Second implementation sub-module 20306, for when command code is the second preset value in the data packet, execute it is described to
Machine mode；
Third judgment module 20307, for judging whether command code is third preset value in the data packet；
Second decomposing module 20308, for when command code is third preset value in the data packet, the array to be divided
Solution is address value；
Third implementation sub-module 20309, for executing described the when command code is third preset value in the data packet
One Setting pattern；
4th judgment module 20310, for judging whether command code is the 4th preset value in the data packet；
Third decomposing module 20311, for when command code is four preset value in the data packet, the array to be divided
Solution is absolute position values；
4th implementation sub-module 20312, for executing described the when command code is four preset value in the data packet
Two Setting patterns；
5th judgment module 20313, for judging whether command code is the 5th preset value in the data packet；
5th implementation sub-module 20314, it is described for executing when command code is five preset value in the data packet
Renewal model.
First implementation sub-module 20303 is the first preset value also particularly useful for the command code worked as in the data packet
When, by the speed and angular turn, and angle and current information are fed back and sent to main control module in real time；
The enquiry module 20305 inquires rudder also particularly useful for when command code is the second preset value in the data packet
The operation angle of machine, steering engine state and fault message, and the information fed back and sent a query to main control module in real time；
The third implementation sub-module 20309 is also used to when command code is third preset value in the data packet, according to
Address value is arranged to steering engine in the address value, and feeds back and send address to main control module in real time；
4th implementation sub-module 20312 is used for when command code is four preset value in the data packet, according to institute
It states absolute position values and absolute position is arranged to steering engine, and feed back and send the absolute position set, institute to main control module in real time
Stating absolute position is position when current angular is set as 0 degree；
5th implementation sub-module 20314, for jumping to update when command code is five preset value in the data packet
Program is updated.
The control device of steering engine described in the present embodiment can be applied in the steering engine of machine fish, machine fish can be swung
Or other instruction inputs, to main control module, main control module controls the operation of steering engine inside machine fish by this device, to reach
It is real-time to machine fish, precisely and the data fed back are received, this device can also be attached separately to the rudder on the different location of machine fish
On machine, the controller of steering engine is formed into modularization, thus reach the modularity control to machine fish steering engine, it can also be according to practical need
Increase and delete steering engine, the convenient debugging to machine fish when realistic.
About the device in above-described embodiment, wherein the concrete mode of the execution operation of modules is in the related party
It is described in detail in the embodiment of method, will no longer elaborate explanation herein.
Fig. 5 is the structural block diagram 300 of the control device of another steering engine provided in an embodiment of the present invention, and device 300 can be by
It is provided as a server.Referring to Fig. 5, device 300 includes processing component 302, further comprise one or more processors with
And the storage resource as representated by memory 303, it can be by the instruction of the execution of processing component 302, in memory 303 for storing
The instruction of storage includes each one or more corresponding instruction mode, and herein, processing component 302 is configured as holding
Row instruction, for executing the control method of above method steering engine:
Obtain the data packet that main control module issues；
Identify the data packet；
Described instruction mode is executed according to the data packet, described instruction mode includes: operational mode, standby mode, the
One Setting pattern, the second Setting pattern, renewal model.
Device 300 further includes the power management that a power supply module 301 is configured as executive device 300, and a network connects
Mouth 304 is configured as device 300 being connected in network, further includes an input/output interface 305.Device 300 can operate
Based on the operating system of memory 303, such as Windows, linux, FressBSD or similar.
The control device that the embodiment of the present disclosure provides, steering engine 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 engine, and support moduleization designs, the control of steering engine is made to meet intelligence, mould
The demand of block.
It will be apparent to those skilled in the art that can make various other according to the above description of the technical scheme and ideas
Corresponding change and deformation, and all these changes and deformation all should belong to the protection scope of the claims in the present invention
Within.
Claims (7)
1. a kind of control method of steering engine characterized by comprising
The data packet that main control module issues is obtained, the data packet includes: command code and array；
Identify the data packet；
Corresponding instruction mode is executed according to the data packet, described instruction mode includes: operational mode, standby mode, first
Setting pattern, the second Setting pattern, renewal model；
It is wherein described to be specifically included according to the corresponding instruction mode of data packet execution:
Judge in the data packet command code whether the first preset value, if so, the array is decomposed into speed and angle, steering engine
The operational mode is executed, if it is not, again to the judgement of command code；
Judge whether command code is the second preset value in the data packet, if so, inquiry steering engine information, steering engine execute described standby
Mode, if it is not, again to the judgement of command code；
Judge whether command code is third preset value in the data packet, if so, the array is decomposed into address value, steering engine is held
Row first Setting pattern, if it is not, again to the judgement of command code；
Judge whether command code is the 4th preset value in the data packet, if so, the array is decomposed into absolute position values, rudder
Machine executes second Setting pattern, if it is not, again to the judgement of command code；
Judge whether command code is the 5th preset value in the data packet, if so, steering engine executes the renewal model, if it is not, weight
Newly to the judgement of command code.
2. a kind of control method of steering engine according to claim 1, which is characterized in that
The steering engine executes the operational mode and includes: that steering engine is rotated by the speed and angle, and in real time to master control mould
Block feedback and transmission angle and current information；
It includes: operation angle, steering engine state and the fault message for inquiring steering engine that the steering engine, which executes standby mode, and in real time to master
Control module feedback and the information sent a query to；
It includes: according to the address value to steering engine setting address value that the steering engine, which executes the first Setting pattern, and in real time to master control
Module feedback and transmission address；
It includes: according to the absolute position values to steering engine setting absolute position that the steering engine, which executes the second Setting pattern, and in real time
The absolute position that sets is fed back and sent to main control module, the position that the absolute position is current angular when being 0 degree；
It includes: that steering engine jumps to more new procedures that the steering engine, which executes renewal model, is updated.
3. a kind of control method of steering engine according to claim 1, which is characterized in that the command code includes number, word
Symbol, code.
4. a kind of control method of steering engine according to claim 1, which is characterized in that the steering engine passes through with main control module
Bus receives the data packet that main control module is sent, row information of going forward side by side feedback.
5. a kind of control device of steering engine, which is characterized in that the device includes:
Module is obtained, for obtaining the data packet of main control module sending, the data packet includes: command code and array；
Identification module, for identification data packet；
Execution module, for executing corresponding instruction mode according to the data packet, described instruction mode include: operational mode,
Standby mode, the first Setting pattern, the second Setting pattern, renewal model；
Wherein the execution module specifically includes:
First judgment module, for judging whether command code is the first preset value in the data packet；
First decomposing module, for when the command code in the data packet is the first preset value, the array to be decomposed into speed
Degree and angle；
First implementation sub-module, for executing the operational mode when the command code in the data packet is the first preset value；
Second judgment module, for judging whether command code is the second preset value in the data packet；
Enquiry module, for inquiring steering engine information when command code is the second preset value in the data packet；
Second implementation sub-module, for executing the standby mode when command code is the second preset value in the data packet；
Third judgment module, for judging whether command code is third preset value in the data packet；
Second decomposing module, for when command code is third preset value in the data packet, the array to be decomposed into address
Value；
Third implementation sub-module, for when command code is third preset value in the data packet, executing the first setting mould
Formula；
4th judgment module, for judging whether command code is the 4th preset value in the data packet；
Third decomposing module, for when command code is four preset value in the data packet, the array to be decomposed into absolutely
Positional value；
4th implementation sub-module, for when command code is four preset value in the data packet, executing the second setting mould
Formula；
5th judgment module, for judging whether command code is the 5th preset value in the data packet；
5th implementation sub-module, for executing the renewal model when command code is five preset value in the data packet.
6. a kind of control device of steering engine according to claim 5, which is characterized in that first implementation sub-module, also
Specifically for when the command code in the data packet is the first preset value, by the speed and angular turn, and in real time to master
It controls module feedback and sends angle and current information；
The enquiry module inquires the operation of steering engine also particularly useful for when command code is the second preset value in the data packet
Angle, steering engine state and fault message, and the information fed back and sent a query to main control module in real time；
The third implementation sub-module is also used to when command code is third preset value in the data packet, according to the address
Address value is arranged to steering engine in value, and feeds back and send address to main control module in real time；
4th implementation sub-module is used for when command code is four preset value in the data packet, according to the absolute position
It sets value and absolute position is arranged to steering engine, and feed back and send the absolute position set, the absolute position to main control module in real time
It is set to position when current angular is set as 0 degree；
5th implementation sub-module is carried out for jumping to more new procedures when command code is five preset value in the data packet
It updates.
7. a kind of control device of steering engine according to claim 5, which is characterized in that the command code includes number, word
Symbol or code.
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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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| 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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