CN108744225B - Pipeline conveying device and control method and system thereof - Google Patents
Pipeline conveying device and control method and system thereof Download PDFInfo
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- CN108744225B CN108744225B CN201810541058.5A CN201810541058A CN108744225B CN 108744225 B CN108744225 B CN 108744225B CN 201810541058 A CN201810541058 A CN 201810541058A CN 108744225 B CN108744225 B CN 108744225B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
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Abstract
The invention provides a pipeline conveying device and a control method and a system thereof, wherein the pipeline conveying device comprises a feeding motor for driving a pipeline to feed and a rotating motor for driving the pipeline to rotate, and the control method comprises the following steps: acquiring a feeding control instruction and/or a rotating control instruction; acquiring a feeding theoretical position according to the feeding control instruction, and/or acquiring a rotating theoretical position according to the rotating control instruction; acquiring the actual feeding position and the actual rotating position of the pipeline in real time; and controlling the feeding motor according to the feeding theoretical position and the current feeding actual position until the rotating speed of the feeding motor is zero, and/or controlling the rotating motor according to the rotating theoretical position and the current rotating actual position until the rotating speed of the rotating motor is zero. According to the control method, the feeding motor and the rotation are respectively controlled through the two closed loops, so that the feeding and the rotation of the pipeline can be accurately controlled, and the safety and the reliability of the pipeline conveying device are improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control method of a pipeline conveying device, a control system of the pipeline conveying device and the pipeline conveying device.
Background
In the medical field, such as vascular surgery, when the feeding and rotating operations of the pipeline are performed, due to the linkage of the mechanical structure of the conveying device, certain interference exists between the two movements, and the independent feeding and the independent rotation cannot be accurately performed. For example, patent application publication No. CN107376096A discloses that when a pipeline conveying device is operated, the pipeline rotates and the feeding operation of the pipeline is inevitably caused, and therefore, the power input device at one end is controlled independently, and the independent rotation operation of the pipeline cannot be realized.
In addition, even if the rotary power input device and the feeding power input device are controlled simultaneously, due to linkage between feeding and rotation, control precision and control efficiency are difficult to guarantee, so that the pipeline conveying device applied to the medical field of vascular surgery and the like is low in safety and reliability, and therefore improvement of the control precision and the control efficiency is important.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a control method for a pipeline transportation device, so as to achieve precise control of pipeline feeding and rotation, and improve the safety and reliability of the pipeline transportation device.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a control system for a pipeline transportation device.
A fourth object of the invention is to propose another control system for a pipeline transportation device.
A fifth object of the present invention is to provide a pipeline transportation device.
In order to achieve the above object, a first embodiment of the present invention provides a control method for a pipeline conveying device, where the pipeline conveying device includes a feeding motor for driving a pipeline to feed, and a rotating motor for driving the pipeline to rotate, and the control method includes the following steps: acquiring a feeding control instruction and/or a rotating control instruction; acquiring a feeding theoretical position according to the feeding control instruction, and/or acquiring a rotating theoretical position according to the rotating control instruction; acquiring the actual feeding position and the actual rotating position of the pipeline in real time; and controlling the feeding motor according to the feeding theoretical position and the current feeding actual position until the rotating speed of the feeding motor is zero, and/or controlling the rotating motor according to the rotating theoretical position and the current rotating actual position until the rotating speed of the rotating motor is zero.
According to the control method of the pipeline conveying device, the feeding control instruction and/or the rotation control instruction are/is firstly obtained, then the feeding theoretical position is obtained according to the feeding control instruction, and/or the rotation theoretical position is obtained according to the rotation control instruction, the feeding actual position and the rotation actual position of the pipeline are/is obtained in real time, the feeding motor is controlled according to the current feeding actual position and the feeding theoretical position until the rotating speed of the feeding motor is zero, and/or the rotation motor is controlled according to the current rotation actual position and the rotation theoretical position until the rotating speed of the rotation motor is zero. Therefore, the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
In order to achieve the above object, a second embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method of the pipeline transportation device.
According to the computer-readable storage medium of the embodiment of the present invention, when the computer program stored thereon corresponding to the control method of the above-described pipeline transport device is executed, it is possible to achieve precise control of the feeding and rotation of the pipeline, improving the safety and reliability of the pipeline transport device.
In order to achieve the above object, a third aspect of the present invention provides a control system for a pipeline transportation device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the control method for the pipeline transportation device.
According to the control system of the pipeline conveying device, when the computer program which is stored on the memory and corresponds to the control method of the pipeline conveying device is executed by the processor, the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
In order to achieve the above object, a fourth aspect of the present invention provides a control system for a pipeline transportation device, the pipeline transportation device including a feeding motor for feeding a pipeline and a rotating motor for rotating the pipeline, the control system including: the control unit is used for inputting a feeding control command and/or a rotating control command; a position detection unit for detecting a feed actual position and a rotation actual position of the pipeline in real time; the control unit is respectively connected with the control unit and the position detection unit, and the control unit is used for acquiring a feeding theoretical position according to the feeding control instruction, and/or acquiring a rotating theoretical position according to the rotating control instruction, and controlling the feeding motor according to the feeding theoretical position and a current feeding actual position until the rotating speed of the feeding motor is zero, and/or controlling the rotating motor according to the rotating theoretical position and the current rotating actual position until the rotating speed of the rotating motor is zero.
According to the control system of the pipeline conveying device, the feeding control instruction and/or the rotation control instruction are input through the control unit, the position detection unit detects the actual feeding position and the actual rotation position of the pipeline in real time, the control unit obtains the theoretical feeding position according to the feeding control instruction, and/or the control unit obtains the theoretical rotation position according to the rotation control instruction, and controls the feeding motor according to the current actual feeding position and the theoretical feeding position until the rotating speed of the feeding motor is zero, and/or controls the rotating motor according to the current actual rotation position and the theoretical rotation position until the rotating speed of the rotating motor is zero. Therefore, the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
In order to achieve the above object, a fifth aspect of the present invention provides a pipeline transportation device, which includes the control system of the pipeline transportation device according to the third aspect of the present invention, or includes the control system of the pipeline transportation device according to the fourth aspect of the present invention.
According to the pipeline conveying device provided by the embodiment of the invention, the control system of the pipeline conveying device is adopted, so that the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling a pipeline transport apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic coordinate diagram of a pipeline according to one embodiment of the invention;
FIG. 3 is an isometric view of a pipeline transport apparatus according to an example of the invention;
FIG. 4 is an exploded schematic view of a pipeline transport apparatus according to one example of the invention;
FIG. 5 is a schematic illustration of the engagement of the feed assembly with the front end cap assembly of a pipeline transport apparatus according to one example of the invention;
FIG. 6 is a control flow diagram of a pipeline transport apparatus according to one embodiment of the present invention;
FIG. 7 is a control flow diagram of a pipeline transport apparatus according to another embodiment of the present invention;
FIG. 8 is a block diagram of a control system for a pipeline transport apparatus according to one embodiment of the present invention;
fig. 9 is a block diagram of a control system of a pipeline transportation apparatus according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A pipeline transport apparatus, a control method thereof, a system thereof, and a computer-readable storage medium according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a control method of a pipeline transport apparatus according to an embodiment of the present invention.
In an embodiment of the present invention, the pipeline conveying device includes a feeding motor for driving the pipeline to feed, and a rotating motor for driving the pipeline to rotate. Wherein, the feed motor and the rotating motor can adopt stepping motors, which have the characteristics of instant start and rapid stop and can conveniently change the rotating direction.
As shown in fig. 1, the control method of the pipeline transportation device includes the steps of:
and S1, acquiring a feeding control command and/or a rotating control command.
In particular, the feeding control command and the rotation control command may be input through a manipulation unit, wherein the manipulation unit includes, but is not limited to, a button, a joystick, or a manual wire feeding device.
In the embodiment of the invention, the feeding control command comprises a forward position and a backward position, and the rotation control command comprises a forward rotation position and a reverse rotation position. For example, when the manipulation unit employs buttons, the manipulation unit includes at least 4 buttons, namely, a forward button, a backward button, a forward rotation button, and a reverse rotation button, and the pressing times of the 4 buttons respectively represent a forward position, a backward position, a forward rotation position, and a reverse rotation position; when the control unit adopts a rocker, the rocker can be pushed in 4 directions of up, down, left and right, and the positions (amplitudes) and time of pushing in 4 directions respectively represent an advancing position, a retreating position, a forward rotating position and a reverse rotating position; when the control unit adopts the manual wire moving equipment, the manual wire moving equipment is a simulation equipment, a user can hold the pipeline to simulate the wire moving action and convey the wire moving action into the simulation equipment, a sensor in the simulation equipment can sense the wire moving action, and then the advancing position, the retreating position, the forward rotating position or the reverse rotating position can be obtained according to the action.
It should be noted that the manual wire feeding device is suitable for experienced and skilled manual wire feeding operators, and the operation process is to feed wires into the simulation device by holding the pipeline at the main end, and to sense the wires through a sensor in the simulation device, such as an image collector. Among others, lines include catheters, wires/filaments, etc.
It should be understood that when the forward rotation is clockwise rotation, the reverse rotation is counterclockwise rotation; when the forward rotation is the counterclockwise rotation, the reverse rotation is the clockwise rotation.
And S2, acquiring a feeding theoretical position according to the feeding control instruction, and/or acquiring a rotating theoretical position according to the rotating control instruction.
For example, if the control instruction is to control the pipeline to advance 10mm, a feed theoretical position of 10mm may be obtained; if the control instruction is that the control pipeline is rotating 7mm in the forward direction, then a rotation theoretical position of 7mm can be obtained.
And S3, acquiring the feeding actual position and the rotating actual position of the pipeline in real time.
Specifically, the actual feeding position and the actual rotating position of the pipeline may be detected in real time by a position detecting unit, such as a laser sensor, an image collector, or the like, provided in the pipeline transport apparatus to acquire the actual feeding position and the actual rotating position of the pipeline in real time.
For example, as shown in fig. 2, a point a on the pipeline is used as a reference point, and when the pipeline is fed (including forward and backward), the abscissa of the point a changes, which is the actual feeding position of the current pipeline; when the pipeline rotates (including forward rotation and reverse rotation), the ordinate of the point a changes, and the ordinate is the actual rotation position of the current pipeline.
And S4, controlling the feeding motor according to the theoretical feeding position and the current actual feeding position until the rotating speed of the feeding motor is zero, and/or controlling the rotating motor according to the theoretical rotating position and the current actual rotating position until the rotating speed of the rotating motor is zero.
Specifically, the difference between the theoretical position and the actual position is calculated, and if the difference is positive, the control motor is indicated to rotate forwards, that is, the pipeline needs to be controlled to rotate forwards or forwards, and if the calculated difference is negative, the control motor is indicated to rotate backwards, that is, the pipeline needs to be controlled to rotate backwards or backwards. The corresponding relation between the absolute value of the difference and the rotating speed can be established in advance, and then the corresponding relation can be called according to the calculated absolute value of the difference to obtain the corresponding rotating speed. Therefore, the feeding motor or the rotating motor can be controlled according to the positive and negative and absolute values of the difference value so as to accurately drive the pipeline to feed and/or rotate to a theoretical position.
In a first example, when the feed motor is controlled, a difference between a theoretical feed position and a current actual feed position is calculated; acquiring a control instruction of the feeding motor according to the difference value; and controlling the feeding motor according to the control command of the feeding motor.
Specifically, the correspondence between the absolute value of the difference and the rotational speed of the feed motor may be established in advance, and then the control parameters of the feed motor, i.e., the steering and the rotational speed, may be obtained according to the positive and negative and absolute values of the calculated difference, so that the pipeline is fed to the feed theoretical position without changing the rotational position.
In a second example, when the rotating electrical machine is controlled, a difference between the rotation theoretical position and the current rotation actual position is calculated; acquiring a control instruction of the rotating motor according to the difference value; the rotating electrical machine is controlled in accordance with a control command for the rotating electrical machine.
Specifically, the correspondence between the absolute value of the difference and the rotational speed of the feed motor may be established in advance, and then the control parameters of the rotary motor, i.e., the steering and the rotational speed, may be acquired according to the positive and negative and absolute values of the calculated difference, so that the pipeline is rotated to the theoretical position.
It should be noted that, for some pipeline conveying devices, if the rotating motor generates a part of feeding components when driving the pipeline to rotate, that is, if the pipeline has a feeding action, the feeding control can be continued according to the above feeding control process after the pipeline rotation is completed, so that the pipeline rotates to the theoretical position, and the feeding position is not changed.
In the third example, when the feed motor is controlled, the feed theoretical position may also be converted into the feed theoretical number of pulses by the following formula (1):
F1＝(J/L)*Q1 (1)
wherein, F1 is the theoretical pulse number of feeding, J is the theoretical position of feeding, L is the distance that the pipeline advances or retreats for every turn of the feeding motor, Q1 is the pulse number that the feeding motor needs for a turn of rotation, and it is decided by the feeding motor specification.
Converting the actual position into the actual number of pulses fed by the following formula (2);
P1＝{(25.4/CPI)* S1}/L*Q1 (2)
where P1 is the number of actual pulses fed, 1 inch is 25.4mm, CPI is the resolution of a position detection unit for detecting the actual position of the pipeline, and S1 is the actual position of the feed.
Further, the difference between F1 and P1 is calculated, so that the control command of the feed motor can be acquired according to the difference, and the feed motor can be controlled according to the control command of the feed motor.
Similarly, the corresponding relation between the absolute value of the difference of the number of pulses and the rotating speed of the feeding motor can be established in advance, and then the control parameters of the feeding motor, namely the steering and the rotating speed, can be obtained according to the positive and negative and absolute values of the calculated difference, so that the pipeline is fed to the feeding theoretical position, and the rotating position is unchanged.
In the fourth example, when the rotating electrical machine is controlled, the rotation theoretical position may also be converted into the rotation theoretical number of pulses by the following equation (3):
F2＝{[X/(πd)]/P}*Q2 (3)
wherein, F2 is the number of rotation theoretical pulses, X is the rotation theoretical position, d is the diameter of the pipeline, P is the number of turns of the pipeline per turn of the rotating motor, which is determined by the specification of the rotating motor and the total transmission ratio of the pipeline conveying device, and Q2 is the number of pulses required by one turn of the rotating motor, which is determined by the specification of the rotating motor.
Converting the actual position into the number of actual pulses of rotation by the following formula (4);
P2＝{(25.4/CPI)*S2}/(π*d*P)*Q2 (4)
where P2 is the number of actual pulses fed, 1 inch is 25.4mm, CPI is the resolution of the position detection unit for detecting the position of the pipeline, and S2 is the actual position of rotation.
Further, the difference between F2 and P2 is calculated, so that the control instruction of the rotary electric machine can be acquired according to the difference, and the rotary electric machine can be controlled according to the control instruction of the rotary electric machine.
Similarly, the corresponding relationship between the absolute value of the difference in the number of pulses and the rotational speed of the rotating electrical machine may be pre-established, and then the control parameters of the rotating electrical machine, i.e., the direction of rotation and the rotational speed, may be obtained according to the positive and negative and absolute values of the calculated difference, so that the pipeline may be rotated to the theoretical position.
Of course, for some pipeline conveying devices, if the rotary motor generates a part of feeding component when driving the pipeline to rotate, that is, the pipeline has a feeding action, the feeding control can be continued according to the above feeding control process after the pipeline is rotated, so that the pipeline is rotated to the theoretical position, and the feeding position is not changed.
It should be noted that the stepping motor is controlled by a pulse signal, and each pulse corresponds to 0.72 ° of rotation of the stepping motor, and when the comparison is performed by using the pulse, the maximum rotation error of the motor is only 0.36 °, and the maximum conversion is only 0.0067mm, so that the control accuracy can be improved by using the pulse comparison control.
In an embodiment of the present invention, when the feeding control command and the rotation control command are simultaneously acquired, the feeding motor and the rotating motor may be simultaneously controlled by the above-described separate control method. For some conveying devices, when the rotary motor drives the pipeline to rotate to generate a feeding component, the rotary motor can perform rotation control firstly, and then perform feeding control after the rotation is completed, so that the pipeline can be prevented from being repeated for many times in the feeding direction.
The control method of the pipeline transportation device according to the embodiment of the present invention is described in detail below with reference to a specific example of the pipeline transportation device:
as shown in fig. 3 and 4, the pipeline conveying device is composed of a rear end cover 1, a friction wheel core assembly 2, a front end cover assembly 3, a lubricating belt 4 (which can be arranged or omitted according to needs), a feeding assembly 5 and a fixing piece 6. Wherein, the assembly of friction wheel core subassembly 2 in front end housing assembly 3, it is spacing by the stopper, the front end housing in back lid 1 and the front end housing assembly 3 passes through the catching groove to be connected, back lid 1, the assembly body is constituteed with front end housing assembly 3 to friction wheel core subassembly 2, this assembly body is through lubricated area 4 with the combination of sharp feeding subassembly 5, mounting 6 is impressed in the mounting hole of the front end housing of front end housing assembly 3 by interference fit, with the assembly body with feed subassembly 5 combination, feed subassembly 5 and front end housing assembly 3 meshing. The fixing member 6 can rotate together with the front cover 3 and can rotate relative to the feeding assembly 5.
In one embodiment, as shown in FIG. 5, the second driven member 33 of the front endcap assembly 3 intermeshes with the drive member 52 of the feed assembly 5.
During transport, as shown in fig. 3, the line 7 is inserted through the center hole of the fixing member 6, passes through the front cover assembly 3 and the friction wheel core assembly 2, and exits through the center hole of the rear cover 1. The feeding component 5 and the rear end cover 1 are respectively driven by an external driver (comprising a feeding motor and a rotating motor) to rotate, wherein the rotating directions of the feeding component 5 and the rear end cover 1 can be the same or different.
Specifically, the feeding motor drives the feeding assembly 5 to rotate, the feeding assembly 5 drives the driving member 52 to rotate, and the driving member 52 drives the second driven member 33 to rotate through engagement with the second driven member 33, so as to form self-transmission of the second driven member 33. The rotating motor drives the rear end cover 1 to rotate, and the rear end cover 1 drives the front end cover assembly 3 and the friction wheel assembly 2 to rotate. The second driven member 33 rotates together with the head cover assembly 3, and the second driven member 33 revolves around the driving member 52. The rotation and revolution of the second driven member 33 thus form a planetary transmission, by which the rotation and feeding of the pipeline can be achieved.
As shown in fig. 6 and 7, the control method of the pipeline transportation device may be implemented by an electrical control system, which may include a manipulation unit, a master controller, a slave controller, a feeding motor driving circuit, a feeding motor, a rotating motor driving circuit, a rotating motor, and a laser sensor. The control unit and the master controller belong to a master end, and the slave controller, the feeding motor driving circuit, the feeding motor, the rotating motor driving circuit, the rotating motor and the laser sensor belong to a slave end. The master controller and the slave controller may be a single chip microcomputer or an FPGA (Field Programmable Gate Array).
In this example, the resolution CPI of the laser sensor is 8200 and the feed motor and rotary motor are 0.72/step in size.
Referring to fig. 6 and 7, the control method of the pipeline transportation device includes the steps of:
step 1, the operation unit at the main end gives a feeding and/or rotating direction action, the action is converted into a corresponding command by the main controller and is sent to the slave controller, and the slave controller accumulates or subtracts the theoretical position of the feeding and/or rotating direction according to the action time given by the operation unit at the main end to obtain the theoretical position.
And 2, detecting the dynamic condition of the pipeline at the slave end by the laser sensor at the slave end, namely detecting the actual position of the pipeline, and transmitting the actual position to the slave controller.
And 3, comparing the theoretical position from the step 1 with the actual position from the step 2 by the slave controller, taking the absolute value of the difference between the theoretical position and the actual position, recording the positive and negative values of the difference, controlling the motor to rotate forwards under the regular control, and controlling the motor to rotate backwards under the negative value.
And 4, corresponding the absolute value of the difference value obtained in the step 3 with a preset difference value-rotating speed fuzzy control table to obtain the rotating speed of the feeding motor and/or the rotating motor.
The preset difference-rotating speed fuzzy control table can be made according to (expert) experience.
And 5, repeating the steps 2-4 until the rotating speed of the feeding motor and/or the rotating motor is zero.
The above control method is described in detail below in connection with 6 examples of separate feeding, separate rotation, simultaneous feeding, and rotation, respectively.
Example 1:
step 1, the operation unit at the master end gives a motion in the feeding direction, the motion is converted into a corresponding command by the master controller and sent to the slave controller, and after the slave controller receives the command of the master controller, an internal counter of the slave controller carries out accumulation counting to obtain the theoretical position of the feeding direction.
For example, the forward button is pressed for 1s, and the master controller sends the forward button pressing command to the slave controller in real time, and the command lasts for 1 s. And after receiving the command of the main controller from the slave controller, counting by a counter in the slave controller, adding 1mm to the theoretical position when the counter counts to 4800000, namely 100ms, resetting the counter, restarting counting, and adding 10mm to the corresponding theoretical position of the feeding direction to obtain the theoretical position of the feeding direction because a forward button is pressed for 1s, wherein the theoretical position of the rotating direction is 0 mm. Wherein, the working frequency of the slave controller is 48 MHz.
Step 2, while the theoretical positions of the feeding direction and the rotating direction are obtained from the slave controller in the step 1, the laser sensor at the slave end detects the dynamic conditions (including the feeding direction and the rotating direction) of the pipeline at the slave end, namely the actual position of the detection pipeline, at the moment, because both motors do not act, the actual position of the feeding direction and the actual position of the rotating direction of the detection pipeline are unchanged, and the actual position is transmitted to the slave controller;
and 3, comparing the theoretical position and the actual position of the feeding direction and the rotating direction respectively from the step 1 and the step 2 by the controller, and taking the absolute value of the difference between the theoretical position and the actual position, wherein the absolute value of the difference between the feeding direction and the rotating direction is 10mm, the sign is positive, and the absolute value of the difference between the rotating direction and the rotating direction is 0 mm.
And 4, corresponding the absolute value of the difference value of the feeding direction and the rotating direction obtained in the step 3 to a feeding direction difference value-rotating speed fuzzy control table (namely the following table 1), obtaining the rotating speed of a feeding motor of 200r/min and the rotating speed of a rotating motor of 0r/min, controlling the feeding motor at the slave end to rotate at the rotating speed of 200r/min, and enabling the rotating motor not to act.
TABLE 1
| | 0mm | 0～3.2mm | 3.2～7.5mm | 7.5～13.4mm | >13.4mm | |
| Rotational speed | 0r/min | 40r/min | 100r/min | 200r/min | 280r/min |
And 5, when the slave end feeding motor rotates at the rotating speed of 200r/min in the step 4, the slave end pipeline realizes feeding, the process is repeatedly carried out from the step 2 to the step 4, when the absolute value of the difference value of the two in the step 4 corresponds to the rotating speed of the other feeding motor in the table 1, the slave end feeding motor is controlled to rotate at the other rotating speed, for example, when the absolute value of the difference value of the two in the step 3 is 7mm, the rotating speed of the feeding motor is 100r/min can be obtained from the table 1, the slave end feeding motor is controlled to rotate at the rotating speed of 100r/min, and the like, until the absolute value of the difference value in the step 3 is 0, the slave end feeding motor is controlled to stop rotating, and the control of the action is finished.
Example 2:
step 1, the operation unit at the master end gives out a positive rotation direction action, the action is converted into a corresponding command by the master controller and is sent to the slave controller, and after the slave controller receives the command of the master controller, an internal counter counts to obtain a theoretical position of the rotation direction.
For example, the forward rotation button is pressed for 1s, and the master controller sends the command of pressing the forward rotation button to the slave controller in real time, and the command lasts for 1 s. And after receiving the command of the main controller from the slave controller, counting by an internal counter, adding 1mm to the theoretical position when the counter counts to 4800000, namely 100ms, resetting the counter, and restarting counting, wherein the corresponding theoretical position in the forward rotation direction needs to be added to 10mm to obtain the theoretical position in the rotation direction because a forward rotation button is pressed for 1s, and the theoretical position in the feeding direction is 0 mm.
Step 2, while the theoretical positions of the feeding direction and the rotating direction are obtained from the slave controller in the step 1, the laser sensor at the slave end detects the dynamic conditions (including the feeding direction and the rotating direction) of the pipeline at the slave end, namely the actual position of the detection pipeline, at the moment, because both motors do not act, the actual position of the feeding direction and the actual position of the rotating direction of the detection pipeline are unchanged, and the actual position is transmitted to the slave controller;
and 3, comparing the theoretical position and the actual position of the feeding direction and the rotating direction respectively from the step 1 and the step 2 by the controller, and taking the absolute value of the difference between the theoretical position and the actual position, wherein the absolute value of the difference between the rotating direction is 10mm, the sign is positive, and the absolute value of the difference between the feeding direction is 0 mm.
And 4, corresponding the absolute value of the difference value of the feeding direction and the rotating direction obtained in the step 3 to a rotating direction difference value-rotating speed fuzzy control table (namely the following table 2), obtaining the rotating speed of the rotating motor of 200r/min and the rotating speed of the feeding motor of 0r/min, controlling the rotating motor at the slave end to rotate at the rotating speed of 200r/min, and enabling the feeding motor not to act.
TABLE 2
| | 0mm | 0～6.4mm | 6.4～15mm | 15～26.8mm | >26.8mm | |
| Rotational speed | 0r/min | 40r/min | 100r/min | 200r/min | 280r/min |
And 5, when the slave end rotating motor rotates at the rotating speed of 200r/min in the step 4, the slave end pipeline rotates. However, in the pipeline conveying device shown in fig. 3-5, due to the influence of the planetary gear structure, the rotation of the rotary motor not only rotates the pipeline, but also causes a part of the feeding component to be generated, so that the actual position of the pipeline feeding direction is changed due to the action of the rotary motor.
The process repeats the above steps 2-4, and the feeding direction difference is no longer 0, but it will follow the action of the rotating motor to compensate the feeding component generated by the rotating motor. When the absolute value of the difference between the two in step 3 corresponds to the rotation speed of the other rotation/feed motor in table 2 or table 1, the slave-end rotation/feed motor is controlled to rotate at the other rotation speed.
For example, when the feeding direction difference in step 3 is-2.5 mm, the absolute value is 2.5mm, and the sign is negative, the above-mentioned feeding control method steps are performed, that is, the rotating speed of the feeding motor is 40r/min, the rotation of the end-feeding motor is controlled at 40r/min, and the feeding motor shown is reversed due to the negative value, which is obtained from table 1.
When the absolute value of the difference value of the rotation directions in the step 3 is 7mm and the sign is positive, the rotation speed of the rotating motor is 100r/min can be obtained from the table 2, the rotating motor at the slave end is controlled to rotate at the rotation speed of 100r/min, and the like is performed until the absolute value of the difference value of the rotating motor at the slave end is 0 in the step 3, the rotating motor at the slave end is controlled to stop rotating, and the control of the action is finished at this moment.
Example 3:
step 1, a control unit at the master end gives out a motion in a forward rotating direction and a forward feeding direction, the motion is converted into a corresponding command by a master controller and sent to a slave controller, and after the slave controller receives the command of the master controller, an internal counter counts to obtain the theoretical positions of the rotating direction and the feeding direction.
For example, when the forward rotation button 1s and the forward feed button 1s are pressed, the master controller sends a command of pressing the forward rotation button and the forward feed button to the slave controller in real time, and the command lasts for 1 s. And after receiving the command of the main controller from the controller, counting by an internal counter, adding 1mm to the theoretical position when the counter counts to 4800000, namely 100ms, resetting the counter, and restarting counting, wherein the corresponding theoretical positions of the forward rotating direction and the forward feeding direction need to be added to 10mm because the forward rotating button and the forward feeding button are both pressed for 1s, so that the theoretical positions of the rotating direction and the feeding direction are obtained.
Step 2, while obtaining the theoretical position of the feeding direction and the rotating direction from the slave controller in the step 1, detecting the dynamic condition (including the feeding direction and the rotating direction) of the pipeline at the slave end by a laser sensor at the slave end, detecting the actual position of the pipeline, wherein the actual position of the feeding direction and the actual position of the rotating direction of the detection pipeline are unchanged because both motors do not act at the moment, and transmitting the actual positions to the slave controller;
and 3, comparing the feeding direction and the rotating direction positions from the step 1 and the step 2 respectively by the controller, and taking the absolute value of the difference value of the feeding direction and the rotating direction, wherein the absolute value of the difference value of the rotating direction is 10mm, the sign is positive, the absolute value of the difference value of the feeding direction is 10mm, and the sign is positive.
And 4, respectively corresponding the absolute values of the difference values of the feeding direction and the rotating direction obtained in the step 3 to the tables 1 and 2, obtaining the rotating speed of the rotating motor of 200r/min and the rotating speed of the feeding motor of 200r/min, controlling the rotating motor at the slave end to rotate at the rotating speed of 200r/min, and controlling the rotating motor to rotate at the rotating speed of 200 r/min.
And 5, when the slave end rotating motor rotates at the rotating speed of 200r/min in the step 4 and the feeding motor rotates at the rotating speed of 200r/min, the slave end pipeline realizes rotation and feeding, the process of the step 2 to the step 4 is repeatedly carried out until the absolute value of the difference value between the two is 0 in the step 3, the slave end is controlled to rotate, the feeding motor stops rotating, and the control of the action is finished.
Example 4:
step 1, the operation and control unit at the master end gives an action in a feeding direction, the master controller converts the action into a corresponding command and sends the command to the slave controller, and the slave controller converts the actual pulse number F1 through a formula (1).
For example, when the forward button 1s is pressed and the control unit is transmitted to the slave controller 10mm, F1 (J/L) Q (10/6.7) 500 (746.27) is set.
And 2, when the actual pulses are converted from the slave controller in the step 1, detecting the dynamic condition of the slave end pipeline by the slave end laser sensor, and obtaining the number of the slave end pulses P1 from the slave controller through a formula (2).
In this example the motor takes 0.72/step and each step requires 1 full pulse, so a single rotation (360) of the feed motor requires 500 pulses per 360/0.72, i.e. 500 for Q1, L being determined by the total transmission ratio of the line delivery device, which in this example takes 6.7 mm/revolution.
At this time, since neither motor is operated, the slave end sensor outputs a position data value S of 0mm, and the position data value S of 0mm is transmitted to the slave controller, and the number of pulses is 0.
And 3, comparing the pulse values from the step 1 and the step 2 respectively by the controller, and taking the absolute value of the difference between the two, wherein the absolute value of the difference is 746.27.
And 4, corresponding the absolute value of the difference value of the two obtained in the step 3 to a feeding direction pulse difference value-rotating speed fuzzy control table (namely the following table 3), obtaining the rotating speed of the feeding motor as 200r/min, and controlling the feeding motor at the slave end to rotate at the rotating speed of 200 r/min.
TABLE 3
| Difference of |
0 | 0～238 | 238～559 | 559～1000 | >1000 |
| Rotational speed | 0r/min | 40r/min | 100r/min | 200r/min | 280r/min |
And 5, when the slave end feeding motor rotates at the rotating speed of 200r/min in the step 4, the slave end pipeline realizes feeding, the process is repeatedly carried out from the step 2 to the step 4, when the absolute value of the difference value of the two in the step 3 corresponds to the rotating speed of the other feeding motor in the table 3, the slave end feeding motor is controlled to rotate at the other rotating speed, for example, when the absolute value of the difference value of the number of the two pulses in the step 3 is 500, the rotating speed of the feeding motor is 100r/min is obtained from the table 3, the slave end feeding motor is controlled to rotate at the rotating speed of 100r/min, and the like until the absolute value of the difference value of the two in the step 3 is 0, the slave end feeding motor is controlled to stop rotating, and the control.
Example 5:
step 1, the operation unit at the master end gives an action in a positive rotation direction, the master controller converts the action into a corresponding command and sends the command to the slave controller, and the slave controller converts the theoretical pulse number F2 through a formula (3).
For example, when the rotation button 1s is pressed, and the manipulation unit transmits a position of 10mm in the rotation direction of the main controller, F2 { [10/(3.14 × 5) ]/0.277} × 500 { [ 1149.72 ].
And 2, when the actual pulses are converted from the slave controller in the step 1, detecting the dynamic condition of the slave-end pipeline by the slave-end laser sensor, and obtaining the actual number of pulses of the slave end through a formula (4).
In this example, 1 inch is 25.4mm, CPI is 8200, d is 5mm, and P is 0.277 rpm. The motor takes 0.72/step and requires 1 full pulse per step, so 360/0.72 for 500 pulses per 360 motor revolutions, i.e. 500 for Q2.
At this time, since neither motor is operating, the laser sensor outputs position data S2 equal to 0mm, and the position 0mm value is transmitted to the slave controller, which determines that the actual number of pulses is 0.
And 3, comparing the pulse values from the step 1 and the step 2 respectively by the controller, and taking the absolute value of the difference between the two, wherein the absolute value of the difference is 1149.72.
And 4, corresponding the absolute value of the difference value of the two obtained in the step 3 with a rotating direction pulse difference value-rotating speed fuzzy control table (namely the following table 4), obtaining the rotating speed of the feeding motor as 100r/min, and controlling the feeding motor at the slave end to rotate at the rotating speed of 100 r/min.
TABLE 4
| Difference of |
0 | 0～733 | 733～1719 | 1719～3072 | >3072 |
| Rotational speed | 0r/min | 40r/min | 100r/min | 200r/min | 280r/min |
And 5, when the slave-end rotating motor rotates at the rotating speed of 100r/min in the step 4, due to the influence of a mechanical structure of the pipeline conveying device, the motion of the rotating motor not only can enable the pipeline to rotate, but also can cause the pipeline to feed, and at the moment, the actual pulse value of the pipeline feeding direction changes, namely the actual pulse value of the feeding direction in the step 2 is not 0, the difference value of the feeding direction in the step 3 is not zero, but also is a negative value, the absolute value of the negative value corresponds to the rotating speed of the feeding-direction motor obtained in the table 3, and the negative value enables the reverse rotation, so that the pipeline is controlled to be fluctuated or not moved within a certain range, and the single rotation control is realized.
And 6, when the slave end rotating motor rotates at the rotating speed of 100r/min in the step 4, the slave end pipeline realizes rotation, the step 2 to the step 5 are repeatedly carried out in the process, when the absolute value of the difference value of the two rotating motors in the step 3 corresponds to the rotating speed of the other rotating motor in the table 4, the slave end rotating motor is controlled to rotate at the other rotating speed, for example, when the absolute value of the pulse difference value of the two rotating motors in the step 3 is 700, which corresponds to the table 4, the rotating speed of the rotating motor is obtained to be 40r/min, the slave end rotating motor is controlled to rotate at the rotating speed of 40r/min, and the rest is carried out until the absolute value of the difference value of the two rotating motors in the step 3 is 0, the slave end rotating motor is controlled to stop rotating.
Example 6:
step 1, the operation unit at the master end gives out a motion in a positive rotating direction and a positive feeding direction, the motion is converted into a corresponding command by the master controller and is sent to the slave controller, and the slave controller converts actual pulse numbers F1 and F2 respectively through formulas (1) and (3).
And 2, when the actual pulse is converted from the slave controller in the step 1, detecting the dynamic condition of the slave end pipeline by the laser sensor at the slave end, and respectively obtaining slave end pulse values P1 and P2 from the slave controller through formulas (2) and (4).
And 3, comparing the positions of the feeding direction and the rotating direction from the step 1 and the step 2 respectively by the controller, and taking the absolute value of the difference between the two.
And 4, corresponding the absolute value of the difference value between the feeding direction and the rotating direction obtained in the step 3 to a table 3 and a table 4, and obtaining the rotating speed of the feeding motor and the rotating speed of the rotating motor.
And 5, the slave end rotating motor rotates at a corresponding rotating speed in the step 4, when the feeding motor rotates at a corresponding rotating speed, the slave end pipeline realizes rotation and feeding, the process is repeatedly carried out from the step 2 to the step 4 until the absolute value of the difference value between the two in the step 3 is 0, the slave end rotating (feeding) motor is controlled to stop rotating, and the control of the action is finished.
In conclusion, according to the control method of the pipeline conveying device provided by the embodiment of the invention, the accurate control of the pipeline feeding and the rotation can be realized, and the safety and the reliability of the pipeline conveying device are improved.
Further, the present invention proposes a computer-readable storage medium on which a computer program is stored, which program, when being executed by a processor, implements the control method of the above-mentioned pipeline transport apparatus.
According to the computer-readable storage medium of the embodiment of the present invention, when the computer program stored thereon corresponding to the control method of the above-described pipeline transport device is executed, it is possible to achieve precise control of the feeding and rotation of the pipeline, improving the safety and reliability of the pipeline transport device.
Fig. 8 is a block diagram of a control system of a pipeline transportation apparatus according to an embodiment of the present invention.
As shown in fig. 8, the control system 100 of the pipeline transportation device includes a memory 110, a processor 120, and a computer program 130 stored in the memory 110 and operable on the processor 120, and when the processor 120 executes the program, the control method of the pipeline transportation device is implemented.
According to the control system of the pipeline conveying device, when the computer program which is stored on the memory and corresponds to the control method of the pipeline conveying device is executed by the processor, the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
Fig. 9 is a block diagram of a control system of a pipeline transportation apparatus according to another embodiment of the present invention.
In an embodiment of the present invention, the pipeline conveying device includes a feeding motor for driving the pipeline to feed, and a rotating motor for driving the pipeline to rotate.
As shown in fig. 9, the control system 200 of the pipeline transportation apparatus includes: a manipulation unit 210, a position detection unit 220, and a control unit 230.
The manipulation unit 210 is used for inputting a feeding control command and/or a rotation control command. The position detecting unit 220 is used to detect the feeding actual position and the rotating actual position of the pipeline in real time. The control unit 230 is connected to the control unit 210 and the position detection unit 220, respectively, and the control unit 230 is configured to obtain a theoretical feeding position according to the feeding control instruction, and/or obtain a theoretical rotating position according to the rotating control instruction, and control the feeding motor according to the actual feeding position and the theoretical feeding position until the rotating speed of the feeding motor is zero, and/or control the rotating motor according to the actual rotating position and the theoretical rotating position until the rotating speed of the rotating motor is zero.
It should be noted that, for other specific embodiments of the control system of the pipeline transportation device according to the embodiment of the present invention, reference may be made to the specific embodiments of the control method of the pipeline transportation device according to the above-described embodiment of the present invention.
According to the control system of the pipeline conveying device, the feeding control instruction and/or the rotation control instruction are input through the control unit, the position detection unit detects the actual feeding position and the actual rotation position of the pipeline in real time, the control unit obtains the theoretical feeding position according to the feeding control instruction, and/or the control unit obtains the theoretical rotation position according to the rotation control instruction and controls the feeding motor according to the actual feeding position and the theoretical feeding position until the rotating speed of the feeding motor is zero, and/or controls the rotating motor according to the actual rotation position and the theoretical rotation position until the rotating speed of the rotating motor is zero. Therefore, the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
Further, the present invention provides a pipeline transportation device, which includes the control system 100 of the pipeline transportation device of the above embodiment, or the control system 200 of the pipeline transportation device of the above embodiment.
According to the pipeline conveying device provided by the embodiment of the invention, the control system of the pipeline conveying device is adopted, so that the accurate control of the feeding and the rotation of the pipeline can be realized, and the safety and the reliability of the pipeline conveying device are improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. A control method for a pipeline transportation device, wherein the pipeline transportation device comprises a feeding motor for driving a pipeline to feed and a rotating motor for driving the pipeline to rotate, the pipeline transportation device realizes rotation and feeding of the pipeline by using a planetary transmission mode, and the control method comprises the following steps:
acquiring a feeding control instruction and/or a rotating control instruction;
acquiring a feeding theoretical position according to the feeding control instruction, and/or acquiring a rotating theoretical position according to the rotating control instruction;
acquiring the actual feeding position and the actual rotating position of the pipeline in real time;
and controlling the feeding motor according to the feeding theoretical position and the current feeding actual position until the rotating speed of the feeding motor is zero, and/or controlling the rotating motor according to the rotating theoretical position and the current rotating actual position until the rotating speed of the rotating motor is zero.
2. The method for controlling the pipeline transportation device according to claim 1, wherein the controlling the feeding motor according to the theoretical feeding position and the actual current feeding position comprises:
calculating a difference between the theoretical feeding position and the current actual feeding position;
acquiring a control instruction of the feeding motor according to the difference value;
and controlling the feeding motor according to the control instruction of the feeding motor.
3. The method for controlling a pipeline transportation apparatus according to claim 1, wherein the controlling the rotating motor based on the theoretical position of rotation and the current actual position of rotation comprises:
calculating a difference between the theoretical position of rotation and the current actual position of rotation;
acquiring a control instruction of the rotating motor according to the difference value;
and controlling the rotating motor according to the control command of the rotating motor.
4. The method of claim 2, wherein said calculating a difference between said theoretical feed position and said actual current feed position comprises:
converting the feed theoretical position into a feed theoretical number of pulses by the following formula:
F1＝(J/L)*Q1，
f1 is the theoretical number of pulses for feeding, J is the theoretical position for feeding, L is the distance for the pipeline to advance or retreat when the feeding motor rotates for one circle, and Q1 is the number of pulses required by the feeding motor to rotate for one circle;
converting the current feeding actual position into a feeding actual pulse number by the following formula:
P1＝{(25.4/CPI)*S1}/L*Q1，
wherein P1 is the feed actual pulse number, CPI is the resolution of a position detection unit for detecting the actual position of the pipeline, and S1 is the feed actual position;
the difference between F1 and P1 was calculated.
5. The method of controlling a pipeline transportation apparatus according to claim 3, wherein the calculating the difference between the theoretical position of rotation and the current actual position of rotation includes:
converting the rotational theoretical position into a rotational theoretical pulse number by the following formula:
F2＝{[X/(πd)]/P}*Q2，
wherein F2 is the number of the rotation theoretical pulses, X is the rotation theoretical position, d is the diameter of the pipeline, P is the number of turns of the pipeline per turn of the rotating motor, and Q2 is the number of pulses required by one turn of the rotating motor;
converting the current rotation actual position into a rotation actual pulse number by the following formula;
P2＝{(25.4/CPI)*S2}/(π*d*P)*Q2，
where P2 is the feed actual number of pulses, CPI is the resolution of a position detection unit for detecting the position of the pipeline, and S2 is the rotation actual position;
the difference between F2 and P2 was calculated.
6. The method for controlling a pipeline transportation device according to claim 1, wherein the feeding control command and the rotating control command are inputted through a manipulation unit, wherein the manipulation unit comprises a button, a rocker, or a manual wire feeding device.
7. The control method of the pipeline transportation device according to claim 1, wherein the feed control command includes a forward position and a backward position, and the rotation control command includes a forward rotation position and a reverse rotation position.
8. The method for controlling a pipeline transportation apparatus according to claim 1, wherein the feed motor and the rotary motor each employ a stepping motor.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method of controlling a pipeline transport apparatus according to any one of claims 1-8.
10. A control system for a pipeline transportation apparatus, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for controlling a pipeline transportation apparatus according to any one of claims 1 to 8.
11. A control system for a pipeline transportation device, the pipeline transportation device including a feed motor for driving a pipeline to be fed and a rotation motor for driving the pipeline to rotate, the pipeline transportation device using a planetary transmission system to rotate and feed the pipeline, the control system comprising:
the control unit is used for inputting a feeding control command and/or a rotating control command;
a position detection unit for detecting a feed actual position and a rotation actual position of the pipeline in real time;
the control unit is respectively connected with the control unit and the position detection unit, and the control unit is used for acquiring a feeding theoretical position according to the feeding control instruction, and/or acquiring a rotating theoretical position according to the rotating control instruction, and controlling the feeding motor according to the feeding theoretical position and a current feeding actual position until the rotating speed of the feeding motor is zero, and/or controlling the rotating motor according to the rotating theoretical position and the current rotating actual position until the rotating speed of the rotating motor is zero.
12. A pipeline transportation apparatus comprising a control system of the pipeline transportation apparatus as claimed in claim 10, or a control system of the pipeline transportation apparatus as claimed in claim 11.
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| US7811294B2 (en) * | 2004-03-08 | 2010-10-12 | Mediguide Ltd. | Automatic guidewire maneuvering system and method |
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| CN102159275A (en) * | 2008-09-16 | 2011-08-17 | 皇家飞利浦电子股份有限公司 | Automated system for controlled deployment of nested cannula |
| CN104984460A (en) * | 2015-07-28 | 2015-10-21 | 郑州大学 | An intervention catheter conveying device based on a planetary gear train |
| WO2017065170A1 (en) * | 2015-10-16 | 2017-04-20 | オリンパス株式会社 | Insertion device |
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