CN109240168B - Power vehicle operation control method and device - Google Patents
Power vehicle operation control method and device Download PDFInfo
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- CN109240168B CN109240168B CN201811226936.0A CN201811226936A CN109240168B CN 109240168 B CN109240168 B CN 109240168B CN 201811226936 A CN201811226936 A CN 201811226936A CN 109240168 B CN109240168 B CN 109240168B
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- 230000009471 action Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000006870 function Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 description 49
- 238000007689 inspection Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The application provides a power vehicle operation control method and device, relates to the control field, and is applied to a power vehicle, wherein the power vehicle is arranged on a track, the track comprises a horizontal track and/or an inclined track, and the method comprises the following steps: the method comprises the steps of obtaining a push rod motor control instruction for controlling the stability of the power vehicle, and controlling a push rod motor in the power vehicle to operate according to the push rod motor control instruction so as to drive the power vehicle to adjust the pressure between the power vehicle and a track, so that the power vehicle is stabilized on the track; obtaining a brushless motor control instruction for controlling the motion of a power vehicle; and controlling a brushless motor in the power vehicle to operate according to the brushless motor control instruction, so that the power vehicle moves on the track. According to the control method and the control device, the control instruction of the push rod motor is obtained, the push rod motor is driven to operate, so that the pressure between the power vehicle and the track is adjusted, and the power vehicle can be kept stable on the track. And further controlling the power vehicle to run along the track according to the brushless motor control command.
Description
Technical Field
The application relates to the field of control, in particular to a method and a device for controlling running of a power vehicle.
Background
At present, the inspection effect of the inspection robot is limited by the complexity of the inspection environment, the inspection environment is complex, and the inspection effect of the inspection robot cannot be satisfied.
Disclosure of Invention
The inventor of the application finds that the inspection effect of the complex environment is poor because the inspection track cannot be attached to the complex environment, and the climbing capacity of the power vehicle limits the inspection track. In view of this, the present application aims to provide a method and a device for controlling running of a power vehicle, so that the power vehicle of a patrol robot can adapt to various tracks, and the track arrangement is not limited to horizontal or small-inclination tracks, so that the arrangement of a patrol route is closer to a complex environment, and the patrol of the patrol robot achieves a satisfactory effect.
In order to achieve the above object, embodiments of the present application are realized by:
in a first aspect, embodiments of the present application provide a power vehicle operation control method applied to a power vehicle disposed on a track including a horizontal track and/or an inclined track, the method including: obtaining a push rod motor control instruction for controlling the power car to be stable, and controlling a push rod motor in the power car to run according to the push rod motor control instruction so as to drive the power car to adjust the pressure between the power car and the track, so that the power car is stable on the track; obtaining a brushless motor control command for controlling the motion of the power vehicle; and controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction, so that the power vehicle moves on the track.
In the embodiment of the application, the push rod motor is driven to run by obtaining the control instruction of the push rod motor so as to adjust the pressure between the power vehicle and the track, so that the power vehicle can be kept stable on the track. Therefore, the track is arranged in a complex way, and the power vehicle can be kept stable on the track, so that a foundation is provided for the power vehicle to run along the complex track. And a brushless motor control command is obtained, so that the power vehicle can be controlled to run along the track according to the brushless motor control command.
In some optional implementations of the first aspect, the obtaining a push rod motor control command for controlling the stability of the power vehicle, and controlling a push rod motor in the power vehicle to operate according to the push rod motor control command to drive the power vehicle to adjust the pressure between the power vehicle and the track, includes: obtaining a current push rod motor control instruction for controlling the stability of the power vehicle; driving a push rod of the push rod motor to run to a push rod motor travel position indicated by the push rod motor control instruction according to the current push rod motor control instruction, wherein the push rod runs to the push rod motor travel position and is used for adjusting the pressure between the power vehicle and the track; judging whether the pressure adjusted between the power vehicle and the track meets a preset pressure value or not; if not, obtaining the current push rod motor control instruction again, and determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time; if yes, executing the steps: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
In the embodiment of the application, the push rod motor is driven to operate according to the push rod motor control instruction, and the pressure between the power vehicle and the track is adjusted. And judging whether the pressure between the power vehicle and the track meets a preset pressure value, if so, continuing to execute the next instruction, and if not, continuing to adjust, and judging whether the preset pressure value is met again. The way can more surely keep the power vehicle stable on the track, thereby providing a foundation for the power vehicle to run along the complex track.
In some optional implementations of the first aspect, the obtaining a current pushrod motor control command for controlling stabilization of the power vehicle includes: acquiring attitude information for representing the pitching attitude of the power vehicle and push rod motor travel information for representing the travel of the push rod motor of the power vehicle, and generating a push rod motor control instruction according to the attitude information and the push rod motor travel information; correspondingly, the obtaining the current push rod motor control command again includes: acquiring current posture information used for representing the pitching posture of the power vehicle after adjustment and current push rod motor travel information used for representing the push rod motor travel of the power vehicle after adjustment, and generating a current push rod motor control instruction according to the current posture information and the current push rod motor travel information; the current gesture information and the current push rod motor travel information represent gesture information after each adjustment and push rod motor travel information after adjustment, and the gesture information and the push rod motor travel information represent gesture information before the adjustment and push rod motor travel information before the adjustment.
In the embodiment of the application, the push rod motor control instruction is generated by acquiring the gesture information of the power vehicle and the push rod motor travel information, the gesture information of the power vehicle can reflect the gradient of the current track, and the push rod motor travel information of the power vehicle can reflect the pressure between the current power vehicle and the track, so that the generated push rod motor control instruction is more accurate. When one of the adjustment is completed, continuing to acquire the instruction for adjustment for the pressure which does not meet the preset pressure value, and performing the next control for the pressure which meets the preset pressure value. The accuracy of the generated push rod motor control instruction ensures the accuracy of pressure adjustment between the power vehicle and the track.
In some optional implementations of the first aspect, determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control command obtained each time includes: if not, judging whether the total number of times of obtaining the current push rod motor control instruction meets the preset number of times; if yes, executing the steps: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
In this embodiment of the present application, by setting the preset number of times of adjustment, after the current total number of times of the push rod motor control command is obtained to satisfy the preset number of times, the next step is started regardless of whether the pressure between the power vehicle and the rail satisfies the preset pressure value: and obtaining a brushless motor control instruction. The situation that the pressure between the power vehicle and the track cannot reach a preset pressure value and the action of the power vehicle cannot be controlled due to unexpected factors is avoided as much as possible, and therefore the controllability of the power vehicle is improved, and a satisfactory inspection effect is achieved.
In some optional implementations of the first aspect, the obtaining a brushless motor control command for controlling movement of the power vehicle includes: obtaining action information representing a remote action control of the power vehicle; and generating a brushless motor control instruction according to the current gesture information and the action information.
In the embodiment of the application, action information for remote action control of the power vehicle is obtained, and a brushless motor control instruction is generated by combining the posture information of the power vehicle. Because the generated brushless motor control instruction can be combined with the gesture of the power vehicle to realize the action control of the power vehicle, better inspection effect can be achieved.
In a second aspect, embodiments of the present application provide a power vehicle operation control apparatus applied to a power vehicle disposed on a track including a horizontal track and/or an inclined track, the apparatus comprising: the push rod motor control module is used for obtaining a push rod motor control instruction for controlling the power car to be stable, and controlling a push rod motor in the power car to run according to the push rod motor control instruction so as to drive the power car to adjust the pressure between the power car and the track, so that the power car is stable on the track; the brushless motor control module is used for obtaining a brushless motor control instruction for controlling the motion of the power vehicle; and the motor control device is also used for controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction so that the power vehicle moves on the track.
In some optional implementations of the second aspect, the above-mentioned push rod motor control module is further configured to obtain a current push rod motor control command for controlling stability of the power vehicle; the device is also used for driving a push rod of the push rod motor to run to a push rod motor travel position indicated by the push rod motor control instruction according to the current push rod motor control instruction, wherein the push rod runs to the push rod motor travel position and is used for adjusting the pressure between the power vehicle and the track; the pressure sensor is also used for judging whether the pressure between the power vehicle and the track after adjustment meets a preset pressure value or not; if not, obtaining the current push rod motor control instruction again, and determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time; if yes, executing the following functions: for obtaining brushless motor control instructions for controlling the motion of the power vehicle.
In some optional implementations of the second aspect, the above-mentioned pushrod motor control module is further configured to obtain attitude information for representing a pitch attitude of the power vehicle and pushrod motor travel information for representing a pushrod motor travel of the power vehicle, and generate a pushrod motor control instruction according to the attitude information and the pushrod motor travel information; correspondingly, the push rod motor control module is further used for obtaining current posture information for representing the pitching posture of the power vehicle after adjustment and current push rod motor travel information for representing the push rod motor travel of the power vehicle after adjustment, and generating a current push rod motor control instruction according to the current posture information and the current push rod motor travel information; the current gesture information and the current push rod motor travel information represent gesture information after each adjustment and push rod motor travel information after adjustment, and the gesture information and the push rod motor travel information represent gesture information before the adjustment and push rod motor travel information before the adjustment.
In some optional implementations of the second aspect, the above-mentioned push rod motor control module is further configured to determine, according to each time a current push rod motor control command is obtained, whether the adjusted pressure meets the preset pressure value, and if not, determine whether a total number of times that the current push rod motor control command is obtained meets a preset number of times; if yes, executing the following functions: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
In some optional implementations of the second aspect, the brushless motor control module is further configured to obtain motion information for indicating a remote motion control of the power vehicle; and generating a brushless motor control instruction according to the current gesture information and the action information.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, a bus and a communication interface; the processor, the communication interface and the memory are connected by the bus. The memory is used for storing programs. The processor is configured to execute the method for controlling operation of a power vehicle according to the first aspect or any optional implementation manner of the first aspect by calling a program stored in the memory.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a processor executable non-volatile program code for storing program code which, when read and executed by a computer, performs the method of controlling operation of a power vehicle according to the first aspect or any alternative implementation of the first aspect.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Description of the drawings in order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it being understood that the following drawings illustrate only some embodiments of the present application and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort to those of ordinary skill in the art.
Fig. 1 is a block diagram showing a construction of a power vehicle operation control facility provided in a first embodiment of the present application;
fig. 2 shows a block diagram of a server according to the first embodiment;
FIG. 3 shows a block diagram of a power vehicle on a track according to a second embodiment of the present application;
fig. 4 shows a block diagram of a power vehicle according to a second embodiment of the present application;
FIG. 5 shows a first flowchart of a method for controlling operation of a power vehicle according to a second embodiment of the present application;
fig. 6 is a sub-flowchart showing a step S100 in a power vehicle operation control method according to a second embodiment of the present application;
fig. 7 is a sub-flowchart of step S300 in a power vehicle operation control method according to a second embodiment of the present application.
Icon: 11-a power vehicle; 110-a housing; 111-a main board of the power vehicle; 1121-a pressure wheel; 1122-a push rod motor; 1123—a pressure transmission; 1124—a push rod motor travel detector; 1125-a pressure sensor; 1131-a drive wheel; 1132—driven wheel; 1133-brushless motor; 1134-a transmission; 1135-encoder; 114-an attitude sensor; 115-gas sensor box; 116-webcam.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without the exercise of inventive faculty, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance. Furthermore, the term "and/or" in this application is merely an association relation describing an association object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone.
First embodiment
Referring to fig. 1, an embodiment of the present application provides a power vehicle operation control facility 10, the power vehicle operation control facility 10 may include: a power car 11, a server 20 and a remote control terminal 30. The remote control terminal 30 may be a terminal, such as a personal computer (personal computer, PC), a tablet computer, a smart phone, a personal digital assistant (personal digital assistant, PDA), etc. Of course, the above-listed devices are for ease of understanding the present embodiment, and should not be construed as limiting the present embodiment.
Referring to fig. 2, the server 20 may be a web server, a database server, or a server cluster composed of a plurality of sub-servers. The server 20 can execute and implement a power vehicle operation control method involving power vehicle operation control by receiving action information of the remote control terminal 30 for controlling the power vehicle action and performing data interaction with the power vehicle 11.
Alternatively, the server 20 may include: memory 21, communication module 22, bus 23, and processor 24. Wherein the processor 24, the communication module 22 and the memory 21 are connected by a bus 23. The processor 24 is arranged to execute executable modules, such as computer programs, stored in the memory 21. The components and structures of server 20 shown in fig. 2 are exemplary only and not limiting, as server 20 may have other components and structures as desired.
The memory 21 may include a high-speed random access memory (Random Access Memory RAM) and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. In the present embodiment, the memory 21 stores a program required for the processor 24 to execute the power vehicle operation control method.
The bus 23 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 2, but not only one bus or type of bus.
Processor 24 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware in processor 24 or by instructions in software. The processor 24 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art.
The method performed by the streaming process or defined device disclosed in any of the embodiments of the present application may be applied in the processor 24 or implemented by the processor 24. After the processor 24 receives the execution instruction and invokes the program stored in the memory 21 through the bus 23, the processor 24 controls the communication module 22 through the bus 23 to execute the flow of the power vehicle operation control method.
Second embodiment
The power vehicle operation control facility 10 provided in the embodiment of the present application may include a power vehicle 11, a server 20, and a remote control terminal 30. The remote control terminal 30 can send the operation information to the server 20 through control operation, the server 20 generates a corresponding control instruction and sends the corresponding control instruction to the power vehicle 11, and the power vehicle 11 executes corresponding actions. The power car 11 may transmit the detected various information to the server 20, process the information by the server 20, and generate a control command to return to the power car 11, thereby automatically adjusting the state of the power car 11.
Referring to fig. 3 and 4, the present embodiment provides a power vehicle 11 including: a housing 110, a power car main board 111, a pressure mechanism 112, a power mechanism 113, and an attitude sensor 114.
The power car main board 111 is disposed in the housing 110, and mainly realizes data communication between the power car 11 and the server 20 and control functions for the power car 11.
The pressure mechanism 112 is disposed in the housing 110, and may include a pressure wheel 1121, a push rod motor 1122, a pressure transmission 1123, a push rod motor travel detector 1124, and a pressure sensor 1125, which are controlled by the vehicle main board 111. The pressure wheel 1121 is movably disposed inside the housing 110 and near the groove and is located on the first surface of the track, and the pressure transmission member 1123 connects the push rod motor 1122 with the pressure wheel 1121, so that the push rod motor 1122 pushes the pressure transmission member 1123 to drive the pressure wheel 1121 to apply pressure in a direction forming an included angle with the first surface, so as to increase the pressure between the pressure wheel and the track, thereby realizing the function of keeping the power vehicle 11 stable on the track.
In the present embodiment, the pressure mechanism 112 operates through the brushless motor 1122, and drives the pressure wheel 1121 via the pressure transmission member 1123 to apply pressure to the first surface of the track, so as to maintain the relative stability between the power vehicle 11 and the track.
The tire material of the pressure wheel 1121 may be made of a polymer material, and has good elasticity and wear resistance, and can well adjust the pressure with the track.
The power mechanism 113 is disposed in the housing 110, and may include a driving wheel 1131, a driven wheel 1132, a brushless motor 1133, a transmission member 1134 and an encoder 1135, and is controlled by the main board 111 of the power vehicle, where the driving wheel 1131 and the driven wheel 1132 are disposed in the grooves and are located on a second surface of the track opposite to the first surface; the brushless motor 1133 is arranged in the 110 shell, and the transmission member 1134 connects the brushless motor 1133 with the driving wheel 1131, so that the driving wheel 1131 moves along the track under the drive of the brushless motor 1133; the driven wheel 1132 moves along the track under the drive of the driving wheel 1131; the encoder 1135 is configured to detect a movement state of the trolley, and when the encoder 1131 detects that the movement state of the power car 11 and the movement state information difference value of the driving wheel 1131 reach a preset difference value, the encoder 1135 feeds back pressure adjustment information, adjusts the pressure between the pressure wheel 1121 and the driving wheel 1131, and satisfies an adaptive pressure value of the movement of the power car 11, so as to realize a function of the power car 11 running along the track on the track.
In this embodiment, the two moving wheels are respectively disposed in the groove near the two ends of the groove, so that stability between the power car 11 and the track can be better maintained. When the brushless motor 1133 runs, the driving wheel 1131 is driven to run by the driving piece 1134, the driving wheel 1131 drives the driven wheel 1132 to run, the function of the power vehicle 11 moving along the track is realized, and when the track is in an ascending stage, the power vehicle can realize a climbing function along the track, so that the power vehicle can adapt to various complicated tracks close to the inspection environment, and the more satisfactory inspection effect is achieved.
The attitude sensor 114 is disposed on the main board 111 of the power vehicle to detect the attitude of the power vehicle 11 in real time, and the detected attitude information is transmitted to the server 20 through the main board 111 of the power vehicle.
The housing 110 is integrally disposed under the rail, and the pressure wheel 1121 applies pressure with respect to the housing 110 in a direction forming an angle with the first surface such that the pressure wheel 1121 engages with at least two moving wheels to grip the rail.
The essential parts of the power vehicle in the application are a pressure mechanism taking a push rod motor as a core, a power mechanism taking a brushless motor as a core, a power vehicle main board for realizing data communication and control functions and an attitude sensor for obtaining the attitude information of the power vehicle. The power vehicle according to the present embodiment is an optional power vehicle, and the manner of installation of the moving wheels and the pressure wheels, the positional relationship of the respective components in the housing, some mounted functional mechanisms, and the like are not limited to this application.
Referring to fig. 5, in the power-vehicle operation control method provided in the present embodiment, the power-vehicle operation control method is described from the perspective of the power-vehicle operation control facility 10, and the power-vehicle operation control method may include: step S100, step S200, and step S300.
Step S100: and according to the push rod motor control instruction, controlling a push rod motor in the power vehicle to run so as to drive the power vehicle to adjust the pressure between the power vehicle and the track, so that the power vehicle is stabilized on the track.
Step S200: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
Step S300: and controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction, so that the power vehicle moves on the track.
The various steps in the schemes of the present application will be described in detail below in conjunction with fig. 1-5.
In this embodiment, before step S100 is performed, the server 20 may perform data communication with the power car 11, receive the posture information and the push rod motor travel information sent by the power car main board 111 on the power car 11, calculate the inclination degree of the body of the power car 11 according to the posture information, calculate the pressure value range that the power car 11 keeps stable with the track and supports climbing under the inclination degree through a preset model, and output the pressure value range as a push rod motor control command, and send the push rod motor control command to the power car main board 111. The preset model can calculate the friction force required by the power vehicle to climb the slope according to the mass and the inclination angle of the power vehicle, the friction coefficient between the pressure wheel 1121 and the moving wheel and the rail and other factors, and the friction force is expressed as the stroke of the push rod motor to be output.
In the embodiment of the application, the server 20 can continuously receive the gesture information and the push rod motor travel information from the power car 11 to detect the gesture information and the push rod motor travel information, so as to control the power car 11 to be stable with the track when the track inclination angle changes to enter an ascending or descending stage, thereby providing a basis for further operation control of the power car 11.
Assuming 1 that the power car 11 is at the stage of ascending the slope of the track at this time, the server 20 receives the gesture information detected by the gesture sensor on the power car 11, receives the push rod motor travel information transmitted from the push rod motor travel detection unit 1124 on the power car 11, the server 20 inputs the gesture information and the push rod motor travel information into a preset model, calculates the pressure value range that the power car 11 keeps stable with the track and supports climbing under the inclination degree, and outputs the pressure value range as a push rod motor control command to the power car main board 111.
After the server 20 generates the push rod motor control command from the posture information and the push rod motor stroke information and transmits the push rod motor control command to the power vehicle 11, the power vehicle operation control facility 10 may start to execute step S100. In this embodiment, step S100 may include: step S110, step S120, step S130, and step S140.
Step S110: and obtaining a current push rod motor control instruction for controlling the stability of the power vehicle.
Step S120: according to the current push rod motor control instruction, driving a push rod of the push rod motor to run to a push rod motor travel position indicated by the push rod motor control instruction, wherein the push rod runs to the push rod motor travel position and is used for adjusting the pressure between the power vehicle and the track.
Step S130: judging whether the pressure after adjustment between the power vehicle and the track meets a preset pressure value, if not, obtaining the current push rod motor control instruction again, and determining whether the pressure after adjustment meets the preset pressure value according to the current push rod motor control instruction obtained each time.
Step S140: if yes, executing the steps: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
Step S110 is performed to obtain a current push rod motor control command power vehicle for controlling the stability of the power vehicle. First, the server 20 obtains attitude information for representing the pitch attitude of the power car 11 and push rod motor stroke information for representing the push rod motor stroke of the power car 11, calculates the push rod motor stroke that the push rod motor should reach by inputting the attitude information and the push rod motor stroke information into a preset model, and generates a push rod motor control command based on this, and sends it to the power car main board 111.
Continuing with the foregoing assumption 1, the server 20 receives the posture information and the push rod motor stroke information of the power vehicle 11, generates the push rod motor control command 1 (here, push rod motor control command 1 indicates the number of times the push rod motor control command is generated), and sends the command including the push rod stroke that the push rod motor should reach (for example, the push rod stroke that should reach is taken to be 10 here) to the power vehicle main board 111.
After step S110 is performed, the power-vehicle operation control facility 10 continues to step S120, and in this embodiment, after the power-vehicle main board 111 in the power vehicle 11 receives the push rod motor control command, according to the received push rod motor control command, the push rod of the push rod motor 1122 is driven to operate to the push rod motor stroke position indicated by the push rod motor control command, for adjusting the pressure between the power vehicle 11 and the track.
Continuing with the foregoing assumption 1, after the power car motherboard 111 receives the push rod motor control command, it controls the push rod motor 1122 to execute the push rod motor control command, pushes the push rod, and moves the pressure wheel 1121 to the specified position (push rod stroke 10).
After step S120 is performed, the power-vehicle operation control facility 10 continues to step S130, in which the pressure sensor 1125 transmits the detected pressure data to the server 20 through the power-vehicle main board 111, and the server 20 determines whether or not the preset pressure value range corresponding to the posture of the power vehicle 11 is satisfied after receiving the adjusted pressure data. If the determination result is not satisfied, it is determined whether the total number of times the power car main board 111 obtains the push rod motor control command (the total number of times the server 20 generates the push rod motor control command in general) satisfies the preset number of times, and for the number of times that does not satisfy the preset number of times, the posture information detected by the posture sensor 114 after adjustment and the push rod motor travel information detected by the push rod motor travel detection unit 1124 are obtained again, and according to the preset model, the position where the push rod motor 1122 should operate the push rod at this time is calculated, and a new push rod motor control command is generated and sent to the power car main board 111. For the case of the number of times being satisfied, the server 20 resets the preset number of times and starts to execute the next step: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
Continuing with the foregoing assumption 1, the power car main board 111 controls the push rod motor 1122 to operate, pushes the push rod to move to the specified position (push rod stroke 10), the pressure sensor 1125 transmits the detected pressure data to the server 20 through the power car main board 111, and the server 20 compares the received pressure data with the preset pressure value range, and as a result, does not satisfy. The server 20 judges that the total number of times (1 time) that the power car main board 111 obtains the push rod motor control command does not satisfy the preset number of times (2 times), the server 20 obtains again the posture information detected by the posture sensor 114 after adjustment and the push rod motor stroke information detected by the push rod motor stroke detecting element 1124, calculates the position (push rod stroke 12) to which the push rod motor 1122 should run at this time according to the preset model, generates a new push rod motor control command 2, and sends it to the power car main board 111.
Suppose 2: the power car main board 111 controls the push rod motor 1122 to operate, pushes the push rod to move to a designated position (push rod stroke 13), the pressure sensor 1125 transmits the detected pressure data to the server 20 through the power car main board 111, and the server 20 compares the received pressure data with a preset pressure value range, and as a result, the pressure data is not satisfied. The server 20 judges the total number of times (2 times) the power car motherboard 111 obtains the push rod motor control instruction, satisfies the preset number of times (2 times), and the power car operation control facility 10 resets the preset number of times and starts to execute the next step: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
After step S130 is performed, in some possible cases where the condition is satisfied, the power-vehicle operation control facility 10 performs step S140. In this embodiment, the pressure sensor 1125 sends the detected pressure data to the server 20 through the power car motherboard 111, and the server 20 determines whether the preset pressure value range corresponding to the posture of the power car 11 is satisfied after receiving the adjusted pressure data. If the determination result is satisfied, the power vehicle operation control facility 10 resets the preset number of times and starts executing the next step: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
Continuing with the foregoing assumption 1: the power car main board 111 controls the push rod motor 1122 to operate to push the push rod to move to a designated position (push rod stroke 12), the pressure sensor 1125 transmits the detected pressure data to the server 20 through the power car main board 111, the server 20 compares the received pressure data with a preset pressure value range, and as a result, the preset pressure value range is satisfied, at this time, the power car operation control facility 10 resets the preset number of times and starts to execute the next step: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
After the condition that the execution of step S200 is satisfied (the pressure value satisfies the preset pressure value range, or the number of times the push rod motor control instruction is obtained by the power car main board 111 satisfies the preset number of times), the power car operation control facility 10 continues to execute step S200: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
In this embodiment, the server 20 may generate a brushless motor control command by combining the received posture information of the power car 11 according to the received action information for performing remote action control on the power car 11 sent from the remote control terminal 30 through a preset model, and send the brushless motor control command to the power car motherboard 111. The preset model can combine the action information of the action control of the power vehicle 11 with the current posture information of the power vehicle 11, calculate information such as the running speed of the power vehicle 11 in such a posture, and generate a brushless motor control command including the running speed and the running direction of the power vehicle 11.
Continuing with the foregoing assumption 1: the server 20 generates a brushless motor control command according to the motion information transmitted from the remote control terminal 30 by combining the gesture information with a preset model, and transmits the brushless motor control command to the main board 111 of the power vehicle.
After the motor vehicle main board 111 obtains the brushless motor control instruction, the motor vehicle operation control facility 10 continues to execute step S300: and controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction, so that the power vehicle moves on the track.
Continuing with the foregoing assumption 1: the power car main board 111 obtains brushless motor control instructions, and controls the brushless motor 1133 to operate according to the instructions, and drives the driving wheel 1131 to operate through the transmission piece 1134, and drives the driven wheel 1132 to operate through the driving wheel 1131, so that the power car can operate along the track on the track, and forward and backward rotation of the brushless motor 1133 is represented as forward and backward movement of the power car 11 along the track.
When the driving wheel 1131 is running and the encoder 1135 detects that the difference value between the motion state information of the power vehicle 11 and the motion state information of the driving wheel 1131 reaches the preset difference value, the pressure adjustment information is fed back, the pressure between the pressure wheel 1121 and the driving wheel 1131 is adjusted, the adaptive pressure value of the motion of the power vehicle 11 is met, the pressure between the pressure wheel 1121 and the power wheel 1131 is increased, and for example, the pressure adjustment value can be set to 110% of the current pressure value, so that the stable running of the power vehicle 11 is realized. If the difference value between the motion state information of the power car 11 and the motion state information of the driving wheel 1131 after the adjustment is still preset, the adjustment is continued until the power car stably runs.
It should be noted that the numerical values listed in this embodiment are only for convenience of description, and the numerical values may be other normal values, so the numerical values, the numerical values ranges, and the like should not be construed as limiting the present application.
Third embodiment
Referring to fig. 4, fig. 4 shows a power vehicle 11 according to an embodiment of the present application, in which a gas sensor box 115 and a webcam 116 are added to the power vehicle 11 according to the second embodiment. The gas sensor box 115 and the network camera 116 may be additional functional mechanisms mounted on the power car 11, and the gas sensor box 115 and the network camera 116 may be disposed outside the housing 110 to realize a gas detection function and a visual function of the power car.
It should be noted that, in the present application, a pressure mechanism with a push rod motor as a core, a power mechanism with a brushless motor as a core, a power car motherboard realizing data communication and control functions, and an attitude sensor obtaining attitude information of the power car are essential components of the power car. The power vehicle provided in this embodiment is an optional power vehicle, and the manner in which the moving wheel and the pressure wheel are disposed, the positional relationship between the respective components in the housing, some mounted functional mechanisms, and the like should not be construed as limiting the present application.
The power car 11 provided in this embodiment has a functional mechanism gas sensor box 115 capable of detecting an external gas environment condition and transmitting the detected gas environment data to the server 20 through the power car motherboard 111, and the server 20 can process the gas environment data to evaluate the gas environment around the power car.
The functional mechanism network camera 116 mounted on the power car 11 can take a photograph of the surrounding situation of the power car, and communicate the photographed image with the server 20 via the power car main board 111, and transmit the photographed image to the server 20 in real time. For the received shot image, the server 20 may process the image, implement the obstacle detection function using the model, automatically generate a control command for the detected obstacle, control the power vehicle 111 to avoid the obstacle, and prompt the remote control terminal 30 to perform the obstacle avoidance operation.
The track adopts a round-corner track, namely, the positions turning left and right and up and down are round corners. In particular, when the track is set to be perpendicular to the horizontal track, the power car 11 is required to be stable with the track, the push rod motor 1122 can be used for pushing the push rod to drive the pressure wheel 1121 to be close to the lower part of the track, and the pressure wheel 1121 and the driving wheel 1131 are used for clamping the track, so that the relative stability between the power car 11 and the track is realized. Under the control of brushless motor control command, the power car 11 can move up or down along the track to realize the function of vertical climbing.
Fourth embodiment
The embodiment of the application also provides a power car operation control device, is applied to power car 11, and power car 11 sets up on the track, and the track includes horizontal track and/or slope track, and power car operation control device includes:
the push rod motor control module is used for obtaining a push rod motor control instruction for controlling the power car to be stable, and controlling a push rod motor in the power car to run according to the push rod motor control instruction so as to drive the power car to adjust the pressure between the power car and the track, so that the power car is stable on the track;
the brushless motor control module is used for obtaining a brushless motor control instruction for controlling the motion of the power vehicle; and the motor control device is also used for controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction so that the power vehicle moves on the track.
Wherein, the push rod motor control module,
the control device is also used for obtaining a current push rod motor control instruction for controlling the stability of the power vehicle; the device is also used for driving a push rod of the push rod motor to run to a push rod motor travel position indicated by the push rod motor control instruction according to the current push rod motor control instruction, wherein the push rod runs to the push rod motor travel position and is used for adjusting the pressure between the power vehicle and the track; the pressure sensor is also used for judging whether the pressure between the power vehicle and the track after adjustment meets a preset pressure value or not; if not, obtaining the current push rod motor control instruction again, and determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time; if yes, executing the following functions: for obtaining brushless motor control instructions for controlling the motion of the power vehicle.
Wherein, the push rod motor control module,
and is also used for obtaining attitude information for representing the pitching attitude of the power vehicle and push rod motor travel information for representing the travel of the push rod motor of the power vehicle, generating a push rod motor control instruction according to the gesture information and the push rod motor travel information;
correspondingly, the push rod motor control module,
the method comprises the steps of adjusting the pitch attitude of a power vehicle according to the current attitude information, and generating a current push rod motor control instruction according to the current attitude information and the current push rod motor travel information; the current gesture information and the current push rod motor travel information represent gesture information after each adjustment and push rod motor travel information after adjustment, and the gesture information and the push rod motor travel information represent gesture information before the adjustment and push rod motor travel information before the adjustment.
Wherein, the push rod motor control module,
the device is also used for determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time, and if not, judging whether the total times of obtaining the current push rod motor control instruction meet the preset times; if yes, executing the following functions: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
Wherein, the brushless motor control module is used for controlling the brushless motor,
and is further configured to obtain action information indicative of a remote action control of the power vehicle; and generating a brushless motor control instruction according to the current gesture information and the action information.
It should be noted that, since it is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and will not be described in detail herein.
In summary, embodiments of the present application provide a method and an apparatus for controlling running of a power vehicle, where the power vehicle is disposed on a track, and the track includes a horizontal track and/or an inclined track, and the method includes: obtaining a push rod motor control instruction for controlling the power car to be stable, and controlling a push rod motor in the power car to run according to the push rod motor control instruction so as to drive the power car to adjust the pressure between the power car and the track, so that the power car is stable on the track; obtaining a brushless motor control command for controlling the motion of the power vehicle; and controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction, so that the power vehicle moves on the track.
The control instruction of the push rod motor is obtained to drive the push rod motor to operate so as to adjust the pressure between the power vehicle and the track, thereby enabling the power vehicle to be kept stable on the track. Therefore, the track is arranged in a complex way, and the power vehicle can be kept stable on the track, so that a foundation is provided for the power vehicle to run along the complex track. And a brushless motor control command is obtained, so that the power vehicle can be controlled to run along the track according to the brushless motor control command.
The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. The power vehicle operation control method is applied to a power vehicle and is characterized in that the power vehicle is arranged on a track, the track comprises a horizontal track and/or an inclined track, the power vehicle comprises a pressure mechanism and a power mechanism, the pressure mechanism comprises a pressure wheel, a push rod motor, a pressure transmission part, a push rod motor stroke detection part and a pressure sensor, the pressure wheel is positioned on a first surface of the track, the pressure transmission part is connected with the push rod motor and the pressure wheel, so that the push rod motor pushes the pressure transmission part to drive the pressure wheel to apply pressure in a direction forming an included angle with the first surface, the pressure between the pressure wheel and the track is increased, and the pressure mechanism operates through the push rod motor and drives the pressure wheel to apply pressure to the first surface of the track through the pressure transmission part; the power mechanism comprises a driving wheel, a driven wheel, a brushless motor, a transmission piece and an encoder, wherein the driving wheel and the driven wheel are positioned on a second surface of the track, which is opposite to the first surface, and the transmission piece is connected with the brushless motor and the driving wheel, so that the driving wheel moves along the track under the drive of the brushless motor; the driven wheel moves along the track under the drive of the driving wheel; the encoder is used for detecting the motion state of the power vehicle, and when the driving wheel runs, the encoder feeds back pressure regulation information and regulates the pressure between the pressure wheel and the driving wheel when detecting that the motion state of the power vehicle and the motion state information difference value of the driving wheel reach a preset difference value; the method comprises the following steps:
Obtaining a push rod motor control command for controlling the power car to be stable, and controlling a push rod motor in the power car to run according to the push rod motor control command so as to drive the power car to adjust the pressure between the power car and the track, so that the power car is stable on the track, wherein the push rod motor control command comprises the following components:
obtaining a current push rod motor control instruction for controlling the stability of the power vehicle;
driving a push rod of the push rod motor to run to a push rod motor travel position indicated by the push rod motor control instruction according to the current push rod motor control instruction, wherein the push rod runs to the push rod motor travel position and is used for adjusting the pressure between the power vehicle and the track;
judging whether the pressure adjusted between the power vehicle and the track meets a preset pressure value or not; the preset pressure value is a pressure value range which keeps stable with the track and supports running under the inclination degree corresponding to the current posture information of the power vehicle;
if not, obtaining the current push rod motor control instruction again, and determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time;
If yes, a brushless motor control instruction for controlling the motion of the power vehicle is obtained;
controlling a brushless motor in the power vehicle to run according to the brushless motor control instruction so that the power vehicle moves on the track;
the obtaining a current push rod motor control command for controlling the stability of the power vehicle comprises the following steps:
acquiring attitude information for representing the pitching attitude of the power vehicle and push rod motor travel information for representing the push rod motor travel of the power vehicle, calculating the push rod motor travel which the push rod motor should reach by inputting the attitude information and the push rod motor travel information into a preset model, and generating the push rod motor control instruction according to the attitude information and the push rod motor travel information;
correspondingly, the obtaining the current push rod motor control command again includes:
obtaining current posture information for representing the pitching posture of the power vehicle after adjustment and current push rod motor travel information for representing the push rod motor travel of the power vehicle after adjustment, calculating the current push rod motor travel which the push rod motor should reach at the moment according to the current posture information, the current push rod motor travel information and a preset model, and generating a current push rod motor control instruction according to the current push rod motor travel information and the current push rod motor travel information;
The current gesture information and the current push rod motor travel information represent gesture information after each adjustment and push rod motor travel information after adjustment, and the gesture information and the push rod motor travel information represent gesture information before the adjustment and push rod motor travel information before the adjustment.
2. The power-vehicle operation control method according to claim 1, characterized in that said determining whether the adjusted pressure satisfies the preset pressure value based on each acquisition of the current push-rod motor control command includes:
if not, judging whether the total number of times of obtaining the current push rod motor control instruction meets the preset number of times;
if yes, executing the steps: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
3. The power-vehicle operation control method according to any one of claims 1 to 2, characterized in that the obtaining of the brushless motor control instruction for controlling the motion of the power vehicle includes:
obtaining action information representing a remote action control of the power vehicle;
and generating a brushless motor control instruction according to the current gesture information and the action information.
4. The power vehicle running control device is applied to a power vehicle and is characterized in that the power vehicle is arranged on a track, the track comprises a horizontal track and/or an inclined track, the power vehicle comprises a pressure mechanism and a power mechanism, the pressure mechanism comprises a pressure wheel, a push rod motor, a pressure transmission part, a push rod motor stroke detection part and a pressure sensor, the pressure wheel is positioned on a first surface of the track, the pressure transmission part is connected with the push rod motor and the pressure wheel, so that the push rod motor pushes the pressure transmission part to drive the pressure wheel to apply pressure in a direction forming an included angle with the first surface, the pressure between the pressure wheel and the track is increased, the pressure mechanism runs through the push rod motor, and the pressure wheel is driven to apply pressure to the first surface of the track through the pressure transmission part; the power mechanism comprises a driving wheel, a driven wheel, a brushless motor, a transmission piece and an encoder, wherein the driving wheel and the driven wheel are positioned on a second surface of the track, which is opposite to the first surface, and the transmission piece is connected with the brushless motor and the driving wheel, so that the driving wheel moves along the track under the drive of the brushless motor; the driven wheel moves along the track under the drive of the driving wheel; the encoder is used for detecting the motion state of the power vehicle, and when the driving wheel runs, the encoder feeds back pressure regulation information and regulates the pressure between the pressure wheel and the driving wheel when detecting that the motion state of the power vehicle and the motion state information difference value of the driving wheel reach a preset difference value; the device comprises:
The push rod motor control module is used for obtaining a push rod motor control instruction for controlling the power car to be stable, and controlling a push rod motor in the power car to run according to the push rod motor control instruction so as to drive the power car to adjust the pressure between the power car and the track, so that the power car is stable on the track;
the brushless motor control module is used for obtaining a brushless motor control instruction for controlling the motion of the power vehicle;
the control device is also used for controlling the brushless motor in the power vehicle to operate according to the brushless motor control instruction so that the power vehicle moves on the track;
the push rod motor control module is also used for obtaining a current push rod motor control instruction for controlling the stability of the power vehicle; the device is also used for driving a push rod of the push rod motor to run to a push rod motor travel position indicated by the push rod motor control instruction according to the current push rod motor control instruction, wherein the push rod runs to the push rod motor travel position and is used for adjusting the pressure between the power vehicle and the track; the pressure sensor is also used for judging whether the pressure between the power vehicle and the track after adjustment meets a preset pressure value or not; the preset pressure value is a pressure value range which keeps stable with the track and supports running under the inclination degree corresponding to the current posture information of the power vehicle;
If not, obtaining the current push rod motor control instruction again, and determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time; if yes, the brushless motor control module performs the following functions: obtaining a brushless motor control command for controlling the motion of the power vehicle;
the push rod motor control module is further used for obtaining gesture information for representing the pitching gesture of the power vehicle and push rod motor stroke information for representing the push rod motor stroke of the power vehicle, calculating the push rod motor stroke which the push rod motor should reach by inputting the gesture information and the push rod motor stroke information into a preset model, and generating the push rod motor control instruction according to the gesture information and the push rod motor stroke information; correspondingly, the push rod motor control module is further used for obtaining current posture information for representing the pitching posture of the power vehicle after adjustment and current push rod motor travel information for representing the travel of the push rod motor after adjustment of the power vehicle, calculating the current push rod motor travel which the push rod motor should reach at the moment according to the current posture information, the current push rod motor travel information and a preset model, and generating a current push rod motor control instruction according to the current push rod motor travel information; the current gesture information and the current push rod motor travel information represent gesture information after each adjustment and push rod motor travel information after adjustment, and the gesture information and the push rod motor travel information represent gesture information before the adjustment and push rod motor travel information before the adjustment.
5. The apparatus according to claim 4, wherein the push rod motor control module,
the device is also used for determining whether the adjusted pressure meets the preset pressure value according to the current push rod motor control instruction obtained each time, and if not, judging whether the total times of obtaining the current push rod motor control instruction meet the preset times; if yes, executing the following functions: and obtaining a brushless motor control instruction for controlling the motion of the power vehicle.
6. The apparatus according to any one of claims 4 to 5, wherein the brushless motor control module,
and is further configured to obtain action information indicative of a remote action control of the power vehicle; and generating a brushless motor control instruction according to the current gesture information and the action information.
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| CN201811226936.0A CN109240168B (en) | 2018-10-19 | 2018-10-19 | Power vehicle operation control method and device |
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| CN201811226936.0A CN109240168B (en) | 2018-10-19 | 2018-10-19 | Power vehicle operation control method and device |
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| CN113022599B (en) * | 2021-02-26 | 2022-11-11 | 深圳市科皓信息技术有限公司 | Cableway type hydrological test carrying robot with automatic pressurization mechanism |
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| CN109240168A (en) | 2019-01-18 |
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