CN108686900A - Multirobot cable insulation coats operating system control system - Google Patents
Multirobot cable insulation coats operating system control system Download PDFInfo
- Publication number
- CN108686900A CN108686900A CN201810349121.5A CN201810349121A CN108686900A CN 108686900 A CN108686900 A CN 108686900A CN 201810349121 A CN201810349121 A CN 201810349121A CN 108686900 A CN108686900 A CN 108686900A
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- China
- Prior art keywords
- robot
- control
- control system
- coating
- multirobot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
Abstract
The present invention relates to a kind of multirobot cable insulations to coat operating system control system, including control host, more coating robots and robot control system, and the control host includes hand-held control device and wireless telecommunications host;The coating robot and robot control system include wireless telecommunications slave, robot controller and corresponding mating sensor, actuator;Operator's execute-in-place hand-held control device and multirobot control program, and operation control signal is sent out to the robot controller of more coating robots and robot control system by wireless telecommunications host, after the robot controller of more coating robots and robot control system receives control signal by wireless telecommunications slave, more robot control programs are run, to realize the coordination control of more coating robots.
Description
Technical field
The present invention relates to a kind of Work robot for aerial cables insulator-coating, especially a kind of multirobots
Cable insulation coats operating system control system.
Background technology
Currently, aerial cables insulator-coating is badly in need of using multirobot cable insulation to coat operation, and cable is exhausted
Edge material coating Work robot has to solve robot manipulating task control problem, and designs and coated for cable insulation material
The control system of Work robot.In addition, due to there is a plurality of parallel wire between electric pole, need to design multirobot collaboration work
Make, so the system is designed as multirobot collaborative work, to promote whole coating efficiency.System is equipped with telecommunication system
And hand-held control device.
Invention content
The present invention is to provide for a kind of multirobot cable insulation coating operating system control system, control multirobot association
With work, to promote whole coating efficiency.
To achieve the above object, the technical scheme is that:A kind of multirobot cable insulation coating operating system control
System processed, including control host, more coating robots and robot control system, the control host includes hand-held control device
With wireless telecommunications host;The coating robot and robot control system include wireless telecommunications slave, robot controller with
And corresponding mating sensor, actuator;Operator's execute-in-place hand-held control device and multirobot control program, and by wireless
Host computer communication sends out operation control signal, more paintings to the robot controller of more coating robots and robot control system
Cover robot and robot control system robot controller control signal is received by wireless telecommunications slave after, run more
Robot control program, to realize the coordination control of more coating robots.
The hand-held control device is one kind in mobile phone, tablet computer, laptop.
The short haul connection data frame of hand-held control device is modulated into the control signal of long range by the wireless communication host,
It is 300 meters to control signal communication length;Each clock cycle, wireless communication host wheel are ordered to wireless telecommunications slave transmission data frame
It enables, there is address mark, wireless telecommunications slave to respond the order of wireless communication host by matching address mark in data frame, and
Return to corresponding message.
The wireless telecommunications slave has unique communication address, can match the ground in wireless communication host broadcast message
Location, when address is consistent, the broadcasting command received will pass to robot controller, by robot controller to the order
It is parsed, completes job control of the wireless communication host to specific robot.
Actuator in the coating robot and robot control system includes walking mechanism and feeder, robot
Controller passes through movable motor driver, the movable motor of feed motor driver connection walking mechanism and feeder respectively
It is fed motor, controls coating robot front and back speed governing walking and extruding glue tank piston, the insulation of three tunnels of supply on cable respectively
Glue is coated to insulating materials molding die;The robot controller also connects the walking electricity of walking mechanism by spare drive
Machine withdraws coating robot for carrying out motor positive and inverse control in movable motor driver malfunction in an emergency situation
Working site, to make coating robot safety stop nearby be overhauled to electric pole;The movable motor driver with it is spare
Between driver switching is realized by controlling relay.
The beneficial effects of the invention are as follows:
The present invention coats operating system control system using multirobot cable insulation, controls more machine person cooperative works, energy
Promote whole coating efficiency.And it can realize automatically controlling for more coating robots, promote the simplification of multirobot operation, carry
The reliability of high machinery operation, and avoid high-altitude disorderly closedown.
Description of the drawings
Fig. 1 is that cable insulation material coats Work robot structural upright schematic diagram;
Fig. 2 is that cable insulation material coats Work robot structure sectional view;
Fig. 3 is that the multirobot cable insulation of the present invention coats operating system control system control block diagram;
Fig. 4 is the coating robot aircraft mounted control system figure of the present invention;
Fig. 5 host control program frames in order to control.
Specific implementation mode
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Such as Fig. 1, shown in 2, cable insulation material coats Work robot, robot running gear 100 and insulating materials at
Pattern has 200 abbreviation die heads and is located at 50 top of working cable;Insulating materials insulating cement is sealed in 53 in standard rubber tank;Insulating materials
Feed system feed mechanism 51 is located at glue tank 53 and control section 52 below cable, and complete machine is always about 1 meter, cable lower section machine
Device height is less than 390mm, and the design form of highly compact is conducive to working at height and hides high-altitude obstacle by cable, as branch,
House, cable etc..
Robot running gear 100 is equipped with traveling wheel, can be moved on cable 50, to drive the insulating materials of tail portion at
200 abbreviation die head of shape mold moves forward, and feed mechanism injects three strand insulation glue by pipeline to die head, and die head is equal by insulating cement
Even striking, the final insulator-coating operation for realizing cable.
To realize automatically controlling for more coating robots, the simplification of multirobot operation is promoted, machinery operation is improved
Reliability, and high-altitude disorderly closedown is avoided, it needs to carry out special designing to the control program of the system.
One, general control scheme:
As shown in figure 3, overall system control is divided into control host and Duo Tai coating robot two parts, control host includes portable
Controller and wireless telecommunications host(Transceiver).Coating robot control system includes wireless telecommunications slave, robot controller
And corresponding mating sensor, actuator.
Control host is mainly used for operator and carries out execute-in-place to more robots, and wherein hand-held control device can be hand
Machine, tablet computer, laptop etc. run multirobot and control program, thereon to realize the coordination control of more robots
System.Wireless communication host helps hand-held control device to be communicated at a distance with coating robot, can be by the short distance of hand-held control device
Communication(USB/ bluetooths/serial ports)Data frame is modulated into the control signal of long range(Radiofrequency signal), the design communication length of this system
Degree is 300 meters.Each clock cycle, host computer polls have address mark, slave logical to clump machine transmission data frame ordering in data frame
The order of overmatching address mark response host, and return to corresponding message.
At coating robot end, electric control system includes wireless telecommunications slave(Transceiver)With robot controller two
Point, wherein wireless telecommunications slave has unique communication address, the address in host broadcast information can be matched, when address is consistent
When, the broadcasting command received will pass to robot controller, be parsed to the order by robot controller, complete
Job control of the host to specific robot.
Two, coating robot electric control project:
As shown in figure 4, the main actuator of coating robot includes walking mechanism and feeder, robot is respectively used in electricity
Front and back speed governing walking and extruding glue tank piston on cable, three road insulating cements of supply to die head coat, so control system is mainly right
Two each speed regulation motors are controlled, the walking in respectively Fig. 4 and feed motor.
Movable motor is responsible for that walking mechanism is driven to walk in cable upstream, speed regulating control is carried out by driver, to prevent
Robot driver in aloft work fails, and this system is used using two sets of driver connection control motors, wherein master driver
Electric machine speed regulation is controlled in normal state in robot, receives the PWM1/DIR1 signal control motors of system controller
Speed and steering;And spare motor then carries out motor positive and inverse control in master driver failure, is used for robot urgent
Under situation(Master driver fails)Working site withdraw, so as to make robot security be accommodated to electric pole nearby overhaul,
Control signal is PWM3/DIR3.The switching of master driver and spare drive is to control relay by system controller come real
Existing.
The work speed governing of feed motor is controlled by feed motor driver, and driver receives system controller
PWM2/DIR2 signals complete speed governing and the direction controlling of motor.It when motor rotates forward, is moved up, is squeezed by ball-screw
Moulding tank piston, completes the extrusion of insulating cement.
Lithium battery is powered by DC/DC power supply changeover devices to wireless telecommunications slave and system controller, and through relay
It is normally closed to power to 3 motor drivers with normally opened node.Wireless communication slave can receive the radiofrequency signal of long range, and pass through
Matched radio frequency messages are converted to rs 232 serial interface signal and are input to system controller by alignment site, to respond the life of master controller
Enable request.
Three, multirobot communications protocol scheme:
The system uses principal and subordinate's multimachine poll synchronous communication mode, as shown in figure 3, the hand-held control device of operator connects channel radio
Host is interrogated, which can be sent control instruction at a distance and received from machine information with poll to multiple slaves.Slave is according to remote control
Device instruction carries out corresponding actions, and feedback operation status information.System communication agreement includes two layers, and bottom is data link layer,
Top layer is data application layer.
Data link layer(Bottom):The major function of this system data link layer is to establish the communication of adjacent two communication node
Connection realizes the functions such as frame synchronization broadcast, transmission error detection, slave addresses comparison, frame length control, receives answering for upper layer
It with data, is encapsulated framing structure and is transmitted, specific frame structure is as shown in table 1.
Table 1
| Frame sync mark | Frame length | Slave addresses | Application message message | Frame check | Frame sync mark (optional) |
After slave receives data frame, first according to frame sync mark, complete data frame is obtained, then by comparing the machine address
It is whether consistent with the slave addresses of data frame, application message packet parsing is if the same carried out, corresponding control is then executed and refers to
It enables, and the working condition of the machine is packaged as application message message, be then encapsulated as data frame again and send back control host.
Application message layer(Top layer):The data application layer protocol of system is established on the logic link layer of bottom, mainly
Function is to obtain the working condition of robot by the running parameter of form of message designated robot, obtains the alarm of robot
The driver of information, switching robot movable motor has enter into emergent control state(Spare movable motor driver work),
Specific message structure is as shown in table 2.
Table 2
| Message id | Error code | Message-length | Message additional data |
After robot successfully obtains data frame, application message message is therefrom extracted, first according to message id, into corresponding processing
Program, the subprogram realize the control of robot, specific message according to message-length and additional data extraction relevant parameter
ID lists schematically as follows, are not limited only to as issued orders and ID codes:
Message id:0x00 reads facility information, including device code, device software version number etc..
Message id:0x01, reads equipment state, including cell voltage, and equipment is working properly/abnormal etc..
Message id:0x02 sets running parameter, including movable motor, the speed for being fed motor, directioin parameter etc.
Message id:0x03 restarts robot, re-starts robot parameter initialization, and enter normal operating conditions.
Message id:0x04, setting robot enter critical activity state, enable spare drive and control movable motor.
Corresponding message has been handled, robot can be returned to an application message by data link layer and give control host, so as to
Host tracks the working condition of robot at any time.
Four, multirobot software control procedure:
As shown in figure 5, the program runs in hand-held control device the automatic job control, it can be achieved that all networking machine people,
Manual process is remotely controlled, and experimental data is stored/checked and the working condition of online multirobot is checked with operation process.
(1)Experimental data stores/check module:For different line footpath cables, the movable motor and feed of robot are needed
Motor is coordinated with friction speed, such as Thin cable requires the faster speed of travel and slower delivery rate;Thick cable
It is required that the slower speed of travel and faster delivery rate, specific speed parameter needs robot site to test, and records experiment
Data.Experimental data, which stores/check program, can be manually set the speed of travel and delivery rate, by under certain line footpath repeatedly
Experiment, finds out the optimal speed of travel and delivery rate, and using cable size as keyword, be stored in local data base.Pass through
Key word index can also inquire experimental data from native database.
(2)Robot automatic control program:The program is after artificial selection cable diameter, automatically from native database
Movable motor and the speed parameter for being fed motor are transferred, then automatically starts walking coating operation by clicking start button,
By clicking stop button, robot is made to enter standby mode.
(3)Robot hand controls program, which can carry out each actuator of robot by button screen single
Solely control, such as the positive and negative rotation of the front and back rotation of control movable motor or control feed motor, another prior work(
Can movable motor can be switched to spare drive control from master driver control, by controlling relay to avoid
Working at height master driver failure and can not recycling machine people the problem of.
(4)Multirobot state display module can be with the working condition of all online robots of split screen display available, such as walks
Speed, delivery rate, manual/auto state etc..
(5)After user's accessing system, by address choice, the independent control to different machines people can be switched, to real
Now to the control of group's multirobot.
Claims (5)
1. a kind of multirobot cable insulation coats operating system control system, including control host, more coating robots and
Robot control system, it is characterised in that:The control host includes hand-held control device and wireless telecommunications host;The coating machine
Device people and robot control system include wireless telecommunications slave, robot controller and corresponding mating sensor, actuator;Behaviour
Work person's execute-in-place hand-held control device and multirobot control program, and by wireless telecommunications host to more coating robots and
The robot controller of robot control system sends out operation control signal, more coating robots and robot control system
After robot controller receives control signal by wireless telecommunications slave, more robot control programs are run, it is more to realize
The coordination of platform coating robot controls.
2. multirobot cable insulation according to claim 1 coats operating system control system, it is characterised in that:It is described
Hand-held control device is one kind in mobile phone, tablet computer, laptop.
3. multirobot cable insulation according to claim 1 coats operating system control system, it is characterised in that:It is described
The short haul connection data frame of hand-held control device is modulated into the control signal of long range by wireless communication host, controls signal communication
Length is 300 meters;Each clock cycle, wireless communication host wheel is to wireless telecommunications slave transmission data frame ordering, in data frame
There are address mark, wireless telecommunications slave to return and accordingly disappear by matching the order of address mark response wireless communication host
Breath.
4. multirobot cable insulation according to claim 1 coats operating system control system, it is characterised in that:It is described
Wireless telecommunications slave has unique communication address, the address in wireless communication host broadcast message can be matched, when address is consistent
When, the broadcasting command received will pass to robot controller, be parsed to the order by robot controller, complete
Job control of the wireless communication host to specific robot.
5. multirobot cable insulation according to claim 1 coats operating system control system, it is characterised in that:It is described
Actuator in coating robot and robot control system includes walking mechanism and feeder, and robot controller leads to respectively
The feed motor of movable motor driver, the movable motor and feeder that are fed motor driver connection walking mechanism is crossed, point
It Kong Zhi not coating robot front and back speed governing walking and extruding glue tank piston, three road insulating cements of supply to insulating materials on cable
Molding die coats;The robot controller also connects the movable motor of walking mechanism by spare drive, for being expert at
Motor positive and inverse control is carried out when walking motor driver malfunction, coating robot is withdrawn into working site in an emergency situation, from
And coating robot safety stop is made nearby to be overhauled to electric pole;Lead between the movable motor driver and spare drive
It crosses control relay and realizes switching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349121.5A CN108686900A (en) | 2018-04-18 | 2018-04-18 | Multirobot cable insulation coats operating system control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349121.5A CN108686900A (en) | 2018-04-18 | 2018-04-18 | Multirobot cable insulation coats operating system control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108686900A true CN108686900A (en) | 2018-10-23 |
Family
ID=63845668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810349121.5A Pending CN108686900A (en) | 2018-04-18 | 2018-04-18 | Multirobot cable insulation coats operating system control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108686900A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109448352A (en) * | 2018-12-06 | 2019-03-08 | 珠海格力电器股份有限公司 | A kind of servo motor control device and method based on wireless telecommunications |
| CN109847992A (en) * | 2018-12-29 | 2019-06-07 | 上海理工大学 | Walking coating mechanism and corresponding equipment |
| CN112271658A (en) * | 2020-09-28 | 2021-01-26 | 深圳供电局有限公司 | Coating machine recycling system |
| CN113909066A (en) * | 2021-10-22 | 2022-01-11 | 国网上海市电力公司 | Multi-channel remote control communication method for insulating coating robot |
| CN114205842A (en) * | 2021-11-03 | 2022-03-18 | 深圳市九洲电器有限公司 | Device cooperation synchronization method, system, device, terminal device and storage medium |
| CN114192306A (en) * | 2021-10-22 | 2022-03-18 | 国网上海市电力公司 | Electrified insulating coating robot capable of spraying at uniform speed |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109448352A (en) * | 2018-12-06 | 2019-03-08 | 珠海格力电器股份有限公司 | A kind of servo motor control device and method based on wireless telecommunications |
| CN109847992A (en) * | 2018-12-29 | 2019-06-07 | 上海理工大学 | Walking coating mechanism and corresponding equipment |
| CN112271658A (en) * | 2020-09-28 | 2021-01-26 | 深圳供电局有限公司 | Coating machine recycling system |
| CN113909066A (en) * | 2021-10-22 | 2022-01-11 | 国网上海市电力公司 | Multi-channel remote control communication method for insulating coating robot |
| CN114192306A (en) * | 2021-10-22 | 2022-03-18 | 国网上海市电力公司 | Electrified insulating coating robot capable of spraying at uniform speed |
| CN114205842A (en) * | 2021-11-03 | 2022-03-18 | 深圳市九洲电器有限公司 | Device cooperation synchronization method, system, device, terminal device and storage medium |
| CN114205842B (en) * | 2021-11-03 | 2024-02-02 | 深圳市九洲电器有限公司 | Device cooperation synchronization method, system, device, terminal device and storage medium |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181023 |
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