CN108792838B - Cable control system and cable control method of wading robot - Google Patents
Cable control system and cable control method of wading robot Download PDFInfo
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- CN108792838B CN108792838B CN201710312159.0A CN201710312159A CN108792838B CN 108792838 B CN108792838 B CN 108792838B CN 201710312159 A CN201710312159 A CN 201710312159A CN 108792838 B CN108792838 B CN 108792838B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4484—Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a cable control system and a cable control method of a wading robot, wherein the cable control system comprises a drive control part and an execution part which are electrically connected; the driving control part comprises a controller which is electrically connected with a depth measuring device on the wading robot; the executing part comprises a motor, a roller driven by the motor and used for executing cable winding/unwinding, and a feedback device used for feeding back the actual cable winding/unwinding length information of the roller; and the controller controls the cable winding/unwinding operation according to the received depth information transmitted by the depth measuring device and the actual cable winding/unwinding length information fed back by the feedback device. Accurate cable take-up/pay-off control can be carried out according to the depth of the wading robot, so that the length of the cable is effectively utilized to the maximum extent, the phenomenon that the overlong umbilical cable is dragged when the wading robot moves is avoided, and the operation of the wading robot is more efficient.
Description
Technical Field
The invention belongs to the field of communication, and particularly relates to a cable control system and a cable control method of a wading robot.
Background
The wading robot is characterized in that technologies in multiple aspects such as artificial intelligence, detection and identification information fusion, intelligent control, system integration and the like are intensively applied to the same underwater carrier, and detection of geology, topography and the like is completed without manual control or under manual semi-automatic control. Because the underwater electromagnetic signals are attenuated more quickly and wireless signals cannot be transmitted underwater, the existing wading robot system is provided with a base station in wired connection with the wading robot. Therefore, the wading robot drags the umbilical cable connected with the base station when moving underwater or performing operation.
In order to improve the maneuvering performance of the wading robot and reduce the useless load of the wading robot, it is a very important issue to accurately control the length of the umbilical cable. The purpose of placing the wading robot to a preset depth cannot be achieved due to the excessively short umbilical cable, and the overlong umbilical cable increases the dead weight of the wading robot, consumes excessive power of the wading robot, and can cause the umbilical cable to be wound around an underwater obstacle, so that danger is brought to navigation of the wading robot. Therefore, it is necessary to provide a technical solution for accurately adjusting the length of the cable according to the depth of the wading robot or the length set by the user, and ensuring that the wading robot can freely navigate while ensuring the communication quality of the cable.
The present invention has been made in view of this situation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a cable control system and a cable control method of a wading robot, which can adjust the length of a cable according to the depth of the wading robot or the length set by a user, ensure the communication quality of the cable, ensure the wading robot to sail freely, effectively utilize the length of the cable to the maximum extent, avoid the wading robot from dragging an overlong umbilical cable during movement, and enable the wading robot to run more efficiently.
In order to solve the technical problems, the invention adopts the following technical scheme:
a cable control system of a wading robot comprises a drive control part and an execution part which are electrically connected;
the driving control part comprises a controller which is electrically connected with a depth measuring device on the wading robot;
the executing part comprises a motor, a roller driven by the motor and used for executing cable winding/unwinding, and a feedback device used for feeding back the actual cable winding/unwinding length information of the roller;
and the controller controls the cable winding/unwinding operation according to the received depth information transmitted by the depth measuring device and the actual cable winding/unwinding length information fed back by the feedback device.
Further, the controller calculates the action parameters of the motor according to the depth information, and compiles the calculation results of the action parameters into a control command of a control cable;
preferably, the motion parameter is a rotation angle of the motor.
Further, the cable control system also comprises a remote controller used for transmitting a cable winding/unwinding control instruction, the remote controller is in communication connection with the controller and sends the cable winding/unwinding control instruction to the controller, and the controller compiles the control instruction into the control instruction.
Further, the drive control part also comprises a driver electrically connected with the controller; the driver is used for driving the motor in the execution part and executing different driving state control on the motor according to a control instruction sent by the controller;
preferably, the different driving state control includes driving the motor to rotate by different angles.
Further, the feedback device comprises an angle sensor electrically connected with the controller, and the angle sensor is used for measuring the rotation angle information of the motor or the roller and feeding back the detected rotation angle of the motor or the roller to the controller in real time;
preferably, the angle sensor includes at least one of a potentiometer, a rotary transformer, a hall element, and an encoder.
Further, the controller calculates the length information of the actual cable winding/unwinding according to the rotation angle of the motor or the drum, and adjusts the calculation result of the rotation angle of the motor.
Further, the cable control system further comprises a base station arranged on water or on shore, the base station is connected with the wading robot through the cable, and at least a motor, a roller and a feedback device in the execution part are arranged on the base station.
A cable control method of the cable control system of the wading robot,
the method comprises the following steps:
s1, the driving control part receives the depth information measured by the depth measuring device and the actual cable length information fed back by the feedback device;
s2, the drive control part composes a cable receiving/releasing control instruction according to the depth information and the actual cable receiving/releasing length information fed back by the feedback device, and sends the control instruction to the execution part;
and S3, the executing part executes the control command of the driving control part and executes the corresponding cable winding/unwinding operation.
Further, in step S2, the step of the drive control part generating the cable take-up/pay-off control command further includes the step of the drive control part calculating the rotation angle of the corresponding motor according to the target length of the cable take-up/pay-off set by the user and the current length of the cable, and generating the calculation result of the rotation angle of the motor into the control command.
Further, the method of the drive control part calculating and controlling the rotation angle of the motor according to the depth information and/or the target length of the cable winding/unwinding set by the user is an automatic mode, and the method of the drive control part controlling the motor according to the control command of the cable winding/unwinding sent by the remote controller is a manual mode; the manual mode has a higher priority than the automatic mode.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.
In the diving process of the wading robot, a controller in a driving control part of a base station receives current depth information of the wading robot, which is acquired by a depth sensor arranged on the wading robot, and calculates a corresponding length value of a cable to be wound/unwound by combining a target depth; or the controller compares the target length of the cable pre-receiving/releasing with the current actual length value of the cable, and calculates the length of the cable needing to be further received/released. In the whole cable take-up/pay-off process, the controller also receives the depth information measured by the depth sensor in real time and the actual cable take-up/pay-off length sent back by the feedback device, and adjusts corresponding cable take-up/pay-off control. So that the whole cable winding/unwinding process is in accordance with the target depth or cable length requirement of the wading robot.
The invention can also trigger corresponding control instructions through a remote controller or a mobile phone/tablet and other control terminals provided with control APP to execute corresponding control operation of cable receiving/releasing, so that the control operation of cable receiving/releasing of the system is more accurate, and the means are more flexible and diversified.
According to the cable control system and the cable control method of the wading robot, the controller in the driving control part is used for controlling the cable receiving/releasing operation of the base station, and the controller can calculate the lengths of cables in different modes according to different control modes. The system also eliminates the system error of the control system by combining the actual cable length information fed back by the feedback device, and accurately controls the cable receiving/releasing operation, thereby achieving the purpose of accurately controlling the cable receiving/releasing operation.
The controller controls the winding/unwinding of the cable, so that the cable length is accurately discharged, the cable length is effectively utilized to the maximum extent, and the defect that the umbilical cable is too long to be dragged when the wading robot moves is overcome. By the cable control system and the cable control method of the wading robot, the wading robot can run more efficiently.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a system block diagram of a base station of an embodiment of the present invention;
fig. 2 is a block diagram of a base station of an embodiment of the present invention;
FIG. 3 is a flow chart of a cable control method of another embodiment of the present invention;
fig. 4 is an expanded flow chart of step 2 in another embodiment of the present invention.
In the figure: 1 cable, 2 pivot main parts, 21 cylinder, 3 drivers, 4 motors, 5 controllers, 6 reduction gears, 7 angle sensor.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 and 2, an embodiment of the present invention provides a cable control system of a wading robot, for controlling the retraction/release of a cable, including an electrically connected drive control part and an execution part, where the drive control part includes a controller 5 and a driver 3 which are electrically connected. In the system, a base station of the wading robot floats on the water surface or is arranged on the ground, the wading robot and the base station are connected through cables, and at least a motor 4, a roller 21 and an angle sensor 7 in the execution part are arranged on the base station.
The controller 5 is electrically connected with a depth measuring device on the wading robot, and the depth measuring device sends the underwater depth value of the wading robot to the controller 5. The controller 5 firstly sets the depth value as the length of the cable to be applied according to the relation between the depth and the length of the cable in a ratio of 1:1, and calculates a target value of the rotation angle of the motor by combining the transmission ratio of the motor 4 and the roller 21 and the circumference of the roller. The controller 5 compiles the target value of the motor rotation angle into a motor control command and sends the motor control command to the driver 3, the driver 3 is electrically connected with an execution part of the control system, the corresponding motor control command is converted into corresponding motor driving state control, and the control of different driving states of the motor comprises the step of driving the motor to rotate in different angles.
As shown in fig. 1 and 2, the execution part in the present invention includes: motor 4, reduction gear 6, pivot main part 2. The main body 2 is provided with a drum 21, and the cable 1 is wound on the drum 21. A driver 3 in the drive control section drives a motor 4 to rotate a drum 21 to perform an operation of taking in/out the cable 1. The motor 4 can match the rotating speed and the transmission torque through the speed reducer 6, so that the rotating angle and the speed of the motor 4 are matched with the control command of the controller 5.
The implement part also comprises an angle sensor 7 as a feedback device. The angle sensor 7 is installed beside the motor 4 to measure a rotation angle of the motor 4 and transmit the rotation angle of the motor to the controller 5. The controller 5 calculates the actual winding/unwinding length of the cable 1 performed by the actual drum 21 according to the rotation angle of the motor, the transmission ratio between the motor and the drum, and the circumference of the drum.
The controller 5 corrects the motor rotation angle target value in the motor control command according to the actual cable 1 take-up/pay-off length performed by the drum 21. By adopting the feedback of the feedback equipment, the self system error of the cable control system can be corrected in time, so that the cable laying length is controlled more accurately.
In the operation process of the whole control system, the depth measuring device sends the depth of the wading robot to the controller 5 in real time, and meanwhile, the controller 5 compares the depth value with the depth value of a target to send different control instructions. For example, when the current depth transmitted by the depth sensor is 40 meters, and the target depth of the cable laying is set to be 50 meters, the control sensor calculates the length of the drum which should be theoretically laid according to the rotation angle of the motor controlled by the previous cable laying 40 meters, and then calculates the actual cable laying length by combining the actual rotation angle information of the motor fed back by the angle sensor 7 on the motor. When the two are deviated, the controller 5 adds corresponding correction parameters in subsequent calculation to reduce the error of system operation, and adjusts the correction parameters through the subsequent cable process, and finally achieves the effect of accurate control.
Meanwhile, as the cable is not laid at the depth of 10 meters, the controller 5 calculates the rotation angle of the motor required by the cable laying at the depth of 10 meters according to the proportional relation corresponding to the cable laying length at the depth of 40 meters. It should be noted that the measuring frequency of the depth measuring device and the measuring frequency of the angle sensor can be adjusted according to the requirements of the control cable accuracy. The higher the measuring frequency of the two, i.e. the shorter the time between two adjacent sets of tests, the higher the degree of accuracy of the control of the cable take-up/pay-off.
The accurate length of the cable to be received/placed is finally adjusted through the continuous circulation of the processes of the continuous feedback, calculation, measurement and adjustment.
In another embodiment, the angle sensor 7 is disposed near the drum 21 for measuring the rotation angle information of the drum 21 and simultaneously transmitting the rotation angle information to the controller 5, and the controller 5 calculates the length of the actual cable 1 to be wound/unwound by the drum 21 based on the rotation angle information and the circumference of the drum.
Example two
The difference between this embodiment and the first embodiment is that in this embodiment, the controller 5 calculates the target motor rotation angle according to a length value preset by a user. The preset length value is fixedly arranged in the controller 5 before the wading robot launches water, and is used for realizing the automatic cable winding/unwinding operation of the wading robot during the fixed-depth navigation.
EXAMPLE III
The present embodiment is different from the above embodiments in that the controller 5 calculates the target motor rotation angle according to the length value input by the user. In this embodiment, the length value is input by a control end of a user, where the control end includes, but is not limited to, a control terminal with an input device in wired connection with the controller, or a wireless input terminal/tablet computer/smart phone/remote controller in wireless communication with the controller (at this time, a wireless communication module is disposed in the controller, and communication with the wireless input terminal and other devices is realized through the wireless communication module).
Example four
In this embodiment, the cable control system further includes a remote controller for manually transmitting a cable winding/unwinding control instruction, the remote controller is in communication connection with the controller 5 and directly sends the cable winding/unwinding control instruction to the controller 5, and the controller 5 compiles the control instruction into the control instruction.
Cable 1, pivot main part 2, driver 3, motor 4, controller 5, wireless device, motor 4, controller 5 and wireless device all set up in pivot main part 2, are equipped with cylinder 21 on the pivot main part 2, and cable 1 winding is on cylinder 21, and controller 5 is according to receiving the control signal is received/put to the cable of remote controller, and 3 driving motor 4 of control driver drive cylinder 21 rotates and receive/put cable 1.
EXAMPLE five
The present embodiment is different from the fourth embodiment in that the remote controller that manually transmits the cable retraction/release control command in the present embodiment directly controls the driver having the wireless communication function, so that the remote controller can directly control the retraction/release of the cable. It should be noted that at this time, the angle sensor still performs corresponding angle measurement and still transmits the angle information to the controller 5, and the controller 5 measures the length of the cable actually applied and stores the length information in the system. Of course, the data can be further displayed through a display terminal.
In the above embodiments, in order to ensure that the wading robot does not pull the base station into the water during the movement process, which affects the normal use of the base station, the buoyancy block needs to provide sufficient buoyancy, and the buoyancy block needs to be designed for balancing. The drive control part also comprises a power supply module which respectively provides power for the controller and the driver.
The angle sensor 7 includes at least one of a potentiometer, a rotary transformer, a hall element, and an encoder. The angle sensor 7 converts the rotation angle of the drum 21 or the motor 4 into an electric signal through a potentiometer, a resolver, or a hall element, and further encodes the electric signal through an encoder, and finally converts the rotation angle of the drum 21 or the motor 4 into feedback information of the controller 5. In other embodiments the feedback device may be other sensors that may be used to apply cable length measurements and are equally applicable to the present system.
EXAMPLE six
As shown in fig. 1 and 3, an embodiment of the present invention provides a cable control method for a wading robot, including the following steps:
s1, the driving control part receives the depth information measured by the depth measuring device and the actual cable length information fed back by the feedback device;
s2, the drive control part composes a cable receiving/releasing control instruction according to the depth information and the actual cable receiving/releasing length information fed back by the feedback device, and sends the control instruction to the execution part;
and S3, the executing part executes the control command of the driving control part and executes the corresponding cable winding/unwinding operation.
In the technical scheme, the wading robot is connected with the base station through the cable, the base of the base station is a buoyancy block, the buoyancy block can provide enough buoyancy, and the wading robot can not bring the whole base station into water when running underwater. Or the base station may be located directly onshore.
The base station can adjust the cable length in three ways:
after the wading robot is submerged, the base station connected with the wading robot floats on the water surface so as to wirelessly transmit data signals sent by the wading robot, and simultaneously, target depth information sent by a user through a remote controller or a mobile phone is forwarded to the wading robot.
In the submerging process, the depth sensor arranged on the wading robot can acquire the current depth information of the wading robot and sends the depth information to the base station in real time, so that the base station calculates the required target length of the cable according to the difference value of the current depth information and the target depth information, and the base station can utilize the motor to control the roller arranged on the buoyancy block to rotate so as to receive/release the cable with the target length. When the motor rotates the roller to receive/release the cable, the angle sensor electrically connected with the motor measures and measures the rotation angle information of the motor at the same time, the rotation angle information is converted into the length of the cable for executing the actual receiving/releasing of the part through the operation logic, and the length value of the cable is fed back to the controller through the communication device. The controller adjusts the length information of the next cable winding/unwinding through the depth information and the cable length value, and repeated circulating operation is carried out, so that the length of the cable winding/unwinding finally meets the depth requirement of the wading robot. The control method ensures that cables between the base station and the wading robot are not redundant, and the situation that the base station is dragged into the water by the wading robot and the normal diving state of the wading robot is influenced due to the fact that the cables are too short is avoided.
Through the scheme, the base station can fulfill the aim of automatically adjusting the length of the cable.
And (II) a user can trigger corresponding control keys through a remote controller or a mobile phone/tablet and other control terminals provided with a control APP, and the control terminals send cable receiving/releasing instructions to the base station so that the base station can immediately perform cable receiving/releasing actions according to the requirements of the user, and the base station can utilize the motor to control the roller arranged on the buoyancy block to rotate so as to receive/release cables.
Through the technical scheme, the purpose that the cable winding/unwinding length is manually adjusted by a user can be achieved.
A user can trigger a corresponding setting key through a remote controller or a control terminal such as a mobile phone/tablet and the like provided with a control APP, and the length set by the user is sent to the base station through the control terminal so that the base station can determine the target length of the cable to be received/released according to the length set by the user, and the base station can control a roller arranged on a buoyancy block to rotate by using a motor to receive/release the cable with the target length; in addition, the user can also directly set the target length of cable collection/release through keys, such as:
through the fact that the mobile phone corresponds to the '+' key on the APP, the cable is increased by 10cm each time the mobile phone is triggered, or an input window is displayed on the display screen after the '+' key is triggered, a user inputs data according to actual conditions, additionally, input units can be selected, and the input units are mm, cm, m, km and the like.
Through the technical scheme, the purpose that the cable winding/unwinding length can be adjusted independently by a user can be achieved.
In the present embodiment, the method of the drive control part calculating and controlling the angle of rotation of the motor based on the depth information (i.e., the first mode) and/or the target length of the cable take-up/pay-off set by the user (i.e., the third mode) is an automatic mode; the method (i.e., the second mode) of the driving control part controlling the rotation angle of the motor according to the cable retraction/release control command sent by the remote controller is a manual mode; the manual mode has a higher priority than the automatic mode. For example, when an operator manually controls to take up the cable by using the remote controller, even if the depth information fed back by the depth sensing device of the underwater wading robot still does not reach the depth target set by the system, the controller still needs to send a cable take-up command to the driver. According to the priority, when the depth measurement system breaks down, the cable winding/unwinding can be controlled correctly manually in a manual mode, and potential safety hazards are avoided.
As shown in fig. 4, the step S2 further includes:
s21, the controller calculates the angle of the positive rotation/negative rotation of the driving motor according to the target length and sends the angle of the positive rotation/negative rotation to the driving motor;
and S22, the driving motor collects/discharges the cable to the target length according to the forward/reverse rotation angle.
In the technical scheme, the base station is provided with the driving motor, and the driving motor can drive the roller to rotate so as to fulfill the aim of winding/unwinding the cable.
Preferably, the step S2 further includes:
s23, detecting the rotation angle of the driving motor in real time, and further calculating the current length of the cable;
s24, feeding back the current length of the cable to the controller;
and S25, the controller combines the fed back current length of the cable with the current depth information or the length set by the user, and controls the driving motor to rotate forwards or backwards to keep the length of the cable at the target length.
In the technical scheme, in the diving process of the wading robot, the controller can detect the rotation angle of the driving motor in real time, the current length of the cable can be determined through the rotation angle, and the current length of the cable is fed back to the controller, so that the controller combines the fed-back current length of the cable with the current depth information or the length set by a user to form a closed-loop control system, the cable winding/unwinding length can be kept to be adaptive to the depth information or the length set by the user, and the cable winding/unwinding self-regulation process is further realized.
Preferably, the step S23 specifically includes:
the angle sensor arranged on the motor or the roller feeds the detected angle information of the motor back to the controller in real time, and the controller calculates the current length of the cable according to the angle information.
Through the technical scheme, the wading robot can additionally feed back the speed information of the wading robot navigation to the controller in the diving process so that the controller can adjust the speed of receiving/releasing the cable according to the speed information of the wading robot, and the cable can be better matched with the wading robot.
EXAMPLE seven
The embodiment of the invention provides a base station control system, which comprises the base station, the wading robot and the control terminal, wherein the wading robot carries out wired data communication with the base station floating on the water surface or arranged on the ground through a cable, the base station and the control terminal carry out wired and/or wireless data communication, and the base station receives/releases the cable according to depth information sent by the wading robot or a user set length sent by the control terminal.
The wading robot in the invention is a running machine working in water, and comprises but is not limited to an unmanned ship, an underwater detector, an underwater robot and the like. Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (12)
1. A cable control method of a wading robot is characterized in that: the wading robot is provided with a cable control system, and the cable control system comprises a drive control part and an execution part which are electrically connected;
the driving control part comprises a controller which is electrically connected with a depth measuring device on the wading robot;
the executing part comprises a motor, a roller driven by the motor and used for executing cable winding/unwinding, and a feedback device used for feeding back the actual cable winding/unwinding length information of the roller;
the controller controls the cable winding/unwinding operation according to the received depth information transmitted by the depth measuring device and the actual cable winding/unwinding length information fed back by the feedback device;
the cable control method comprises the following steps:
s1, the driving control part receives the depth information measured by the depth measuring device and the actual cable length information fed back by the feedback device;
s2, the drive control part composes a cable receiving/releasing control instruction according to the depth information and the actual cable receiving/releasing length information fed back by the feedback device, and sends the control instruction to the execution part;
s3, the executing part executes the control instruction of the driving control part and executes the corresponding cable receiving/releasing operation;
the controller firstly sets the depth information as the length of the cable to be laid according to the relation between the depth and the length of the cable in a ratio of 1:1, calculates a motor rotation angle target value by combining the transmission ratio of the motor and the roller and the circumference of the roller, and corrects the motor rotation angle target value according to the actual cable winding/unwinding length executed by the roller;
the wading robot feeds back the speed information of the wading robot navigation to the controller in the diving process so that the controller can adjust the speed of receiving/releasing the cable according to the speed information of the wading robot.
2. The cable control method for a wading robot according to claim 1, characterized in that: and the controller calculates the action parameters of the motor according to the depth information and compiles the calculation results of the action parameters into a control command of the control cable.
3. The cable control method of the wading robot according to claim 2, wherein:
the motion parameter is a rotation angle of the motor.
4. The cable control method for a wading robot according to claim 1, characterized in that: the cable control system further comprises a remote controller used for transmitting cable receiving/releasing control instructions, the remote controller is in communication connection with the controller and sends the cable receiving/releasing control instructions to the controller, and the controller compiles the cable receiving/releasing control instructions into the control instructions.
5. The cable control method for a wading robot according to claim 1, characterized in that: the drive control part also comprises a driver electrically connected with the controller; the driver is used for driving the motor in the execution part and executing different driving state control on the motor according to a control instruction sent by the controller.
6. The cable control method for a wading robot according to claim 5, wherein:
the different driving state control includes driving the motor to rotate at different angles.
7. The cable control method of a wading robot according to any one of claims 1 to 6, wherein: the feedback device comprises an angle sensor electrically connected with the controller, and the angle sensor is used for measuring the rotation angle information of the motor or the roller and feeding back the detected rotation angle of the motor or the roller to the controller in real time.
8. The cable control method for a wading robot according to claim 7, wherein: the angle sensor comprises at least one of a potentiometer, a rotary transformer, a Hall element and an encoder.
9. The cable control method for a wading robot according to claim 7, wherein: the controller calculates the length information of the actual cable winding/unwinding according to the rotation angle of the motor or the roller, and adjusts the calculation result of the rotation angle of the motor.
10. The cable control method for a wading robot according to claim 1, characterized in that: the cable control system further comprises a base station arranged on water or on the shore, the base station is connected with the wading robot through the cable, and at least a motor, a roller and a feedback device in the execution part are arranged on the base station.
11. The cable control method for a wading robot according to claim 1, characterized in that: in step S2, the step of the drive control part generating the cable winding/unwinding control command further includes the step of the drive control part calculating a rotation angle of the corresponding motor according to a target length of the cable winding/unwinding set by the user and a current length of the cable, and generating the calculation result of the rotation angle of the motor into the control command.
12. The cable control method of the wading robot according to claim 1 or 11, wherein: the method of the drive control part for calculating and controlling the rotation angle of the motor according to the depth information and/or the target length of the cable receiving/releasing set by the user is an automatic mode, and the method of the drive control part for controlling the motor according to the control command of the cable receiving/releasing sent by the remote controller is a manual mode; the manual mode has a higher priority than the automatic mode.
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| CN201710312159.0A CN108792838B (en) | 2017-05-05 | 2017-05-05 | Cable control system and cable control method of wading robot |
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| CN108792838B true CN108792838B (en) | 2020-10-30 |
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| CN110371800A (en) * | 2019-06-04 | 2019-10-25 | 扬州市广佳电工科技有限公司 | A kind of method and its private cable drum automatically controlling retractable cable amount |
| CN112027814A (en) * | 2020-08-28 | 2020-12-04 | 许继电源有限公司 | Cable drum control method and cable drum control device |
| CN112850373B (en) * | 2021-01-06 | 2024-03-29 | 上海瀚界科技发展有限公司 | Automatic release control system for underwater detector cable |
| CN116518936B (en) * | 2023-02-02 | 2023-10-10 | 宁波韦尔德斯凯勒智能科技有限公司 | Self-positioning system and method for working robot in pool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH02216505A (en) * | 1989-02-17 | 1990-08-29 | Mitsui Eng & Shipbuild Co Ltd | Method for controlling depth of unmanned submarine device with cable |
| JPH08221681A (en) * | 1995-02-10 | 1996-08-30 | Nichiyu Giken Kogyo Kk | Winch type elevation device for underwater observation |
| JP6271420B2 (en) * | 2011-06-23 | 2018-01-31 | ブルーフィン・ロボティクス・コーポレーション | Dual-mode fiber optic cable system for remotely operated underwater work equipment |
| CN104555769B (en) * | 2015-01-20 | 2017-07-28 | 湖南科技大学 | A kind of electric drive active compensation ocean winch |
| CN104724553B (en) * | 2015-01-26 | 2017-01-18 | 中船重工（武汉）船舶与海洋工程装备设计有限公司 | Device and method for laying and recycling cables |
| CN106226491A (en) * | 2016-09-12 | 2016-12-14 | 北京智明生科技有限公司 | A kind of water quality profile monitoring system and method |
| CN106394815B (en) * | 2016-10-28 | 2020-01-07 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
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Address after: 264404 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Patentee after: Zhendi Technology Co.,Ltd. Address before: Unit 301, unit a, 9 Fulin Road, Chaoyang District, Beijing 100107 Patentee before: POWERVISION TECH Inc. |
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