CN113183708A - Crawling machine, control method and control device thereof, and crawling system - Google Patents
Crawling machine, control method and control device thereof, and crawling system Download PDFInfo
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- CN113183708A CN113183708A CN202110587457.7A CN202110587457A CN113183708A CN 113183708 A CN113183708 A CN 113183708A CN 202110587457 A CN202110587457 A CN 202110587457A CN 113183708 A CN113183708 A CN 113183708A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
Abstract
The crawling machine comprises a crawling machine body, at least one telescopic device, at least one moving part and detection equipment, wherein the telescopic device is connected with the crawling machine body, the length of the telescopic device in a first direction is variable, and the first direction is perpendicular to the advancing direction of the crawling machine; the moving parts are correspondingly connected with the telescopic equipment one by one; the detection equipment is used for detecting the attitude data of the crawling machine body in real time, and the attitude data comprises a pitch angle and a roll angle of the crawling machine body. According to the posture data of the crawling machine body, the length of the telescopic device on the first length is adjusted, the crawling machine body after adjustment can be basically kept balanced, the problem that the vehicle body inclines is avoided, the problem that welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is solved, the welding precision of the crawling machine after adjustment is guaranteed to be good, and therefore the welding effect is guaranteed to be good.
Description
Technical Field
The application relates to the field of automatic welding, in particular to a crawling machine, a control method and a control device thereof and a crawling system.
Background
The existing crawling machine needs manual magnetic adjustment before welding, the manual magnetic adjustment has a large error, and an adjusted vehicle body is likely to incline to influence the welding precision; the difference of adjusting magnetism can lead to the different frictional force of track, influences the tracking effect of crawling machine to, artifical magnetic adjustment has increased the preparation before the welding, influences work efficiency.
Simultaneously, great fluctuation can appear in the automobile body when current machine of crawling at the curved surface or crossing the obstacle, influences the stability of automobile body operation to influence welded effect.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The main purpose of this application is to provide a crawl machine, its control method, controlling means and system of crawling to solve the great problem that influences the welding precision of crawling quick-witted artifical magnetic adjustment error among the prior art.
According to an aspect of an embodiment of the present invention, there is provided a crawler including a crawler body, at least one telescopic device, at least one moving part, and a detection device, wherein the telescopic device is connected with the crawler body, a length of the telescopic device in a first direction is variable, the first direction is perpendicular to a traveling direction of the crawler; the moving parts are connected with the telescopic equipment in a one-to-one corresponding mode; the detection equipment is used for detecting attitude data of the crawling machine body in real time, and the attitude data comprises a pitch angle and a roll angle of the crawling machine body.
Optionally, the telescopic device comprises a cylinder, a piston device and a pressure regulating device, wherein the piston device is connected with the moving part, and the piston device moves in the cylinder along the first direction; the pressure regulating device is used for regulating the pressure in the cylinder body.
Optionally, the pressure regulating device includes a capacity control module, the capacity control module adjusts the pressure in the cylinder body by controlling the volume of the liquid in the cylinder body, the pressure regulating device further includes a pressure detection module, and the pressure detection module is used for detecting the pressure value of the cylinder body in real time.
Optionally, the detection device comprises a gesture sensor.
There is also provided in accordance with another aspect of an embodiment of the invention a method of controlling a crawling machine, including: acquiring attitude data of the crawling vehicle in real time; and under the condition that the attitude data is not in a preset range, adjusting the length of at least one telescopic device in the first direction according to the attitude data so that the adjusted attitude data is in the preset range.
Optionally, the telescopic device includes a cylinder, a piston device, and a pressure adjusting device, and the adjusting the length of at least one telescopic device in the first direction according to the attitude data so that the adjusted attitude data is within the predetermined range includes: a first determination step, wherein target telescopic equipment is determined according to the attitude data, and the target telescopic equipment is the telescopic equipment needing to be adjusted; controlling the pressure regulating device of the target telescopic equipment to operate so as to regulate the pressure in the corresponding cylinder body; a second determination step of determining whether the attitude data is within the predetermined range, the method further comprising, in a case where the attitude data is not within the predetermined range: repeating the controlling step and the second determining step at least once in sequence until the attitude data is within the predetermined range.
Optionally, the pressure regulating device includes a capacity control module, and before the first determining step, the method further includes: and controlling all the volume control modules to fill a third preset volume of liquid into the corresponding cylinder bodies so that the piston device moves to a preset position.
Optionally, after adjusting the length of at least one telescopic device in the first direction according to the attitude data so that the adjusted attitude data is within the predetermined range, the method further comprises: acquiring first pressure values in all the cylinders; acquiring second pressure values in all cylinders in real time under the condition that the crawling machine travels; and under the condition that the second pressure value is different from the corresponding first pressure value, controlling the corresponding pressure regulating device to operate so that the first pressure value is the same as the corresponding second pressure value.
According to a further aspect of the embodiment of the invention, the control device of the crawling machine comprises a first acquisition unit and an adjustment unit, wherein the first acquisition unit is used for acquiring the posture data of the crawling machine body in real time; the adjusting unit is used for adjusting the length of at least one telescopic device in the first direction according to the attitude data under the condition that the attitude data is not in a preset range, so that the adjusted attitude data is in the preset range.
According to still another aspect of the embodiments of the present invention, there is further provided a crawling system, including any one of the crawling machines and a control device, wherein the control device is in communication connection with the crawling machine, the control device includes a control program, and the control program executes any one of the methods when running.
The application the machine of crawling, including crawling quick-witted body, at least one telescopic equipment, at least one removal portion and check out test set, the machine body of crawling with removal portion passes through telescopic equipment connects, just removal portion with telescopic equipment one-to-one, telescopic equipment is changeable in length on the first direction, the first direction perpendicular to the direction of travel of crawling the machine, check out test set is used for real-time detection the angle of pitch and attitude data such as roll angle of the machine body of crawling. The application the machine of crawling, according to the gesture data of the machine body of crawling, the adjustment telescopic equipment is in length on the first length can be so that after the adjustment the machine body of crawling maintains balance basically, even after the adjustment the machine body of crawling every single move is balanced and the roll-over is balanced, has avoided the automobile body problem that the slope appears, has solved the problem of the welding precision that the machine was crawled to the great influence of artifical magnetic error among the prior art betterly, has guaranteed that the welding precision of the machine of crawling after the adjustment is better to it is better to have guaranteed that the welding effect is better.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
figure 1 shows a diagrammatic view of a crawling vehicle according to an embodiment of the present application;
FIG. 2 shows a schematic view of a telescopic device according to an embodiment of the present application;
FIG. 3 shows a flowchart generated by a method of controlling a crawling machine according to an embodiment of the present application;
figure 4 shows a schematic view of a control arrangement for a crawling machine according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
10. a crawler body; 20. a telescopic device; 30. a moving part; 200. a cylinder body; 201. a piston device; 202. a capacity control module; 203. a control valve; 204. an oil pump; 205. and a pressure detection module.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in order to solve the above problems, in a prior art crawling machine in which an error of manual magnetic adjustment greatly affects welding accuracy, in an exemplary embodiment of the present application, a crawling machine, a control method thereof, a control apparatus thereof, and a crawling system are provided.
According to an exemplary embodiment of the present application, there is provided a crawling machine, as shown in fig. 1, comprising a crawling machine body 10, at least one telescopic device 20, at least one moving part 30 and a detection device (not shown in the figure), wherein the telescopic device 20 is connected with the crawling machine body 10, the length of the telescopic device 20 in a first direction is variable, and the first direction is perpendicular to the traveling direction of the crawling machine; the moving parts 30 are connected to the telescopic devices 20 in a one-to-one correspondence; the detection equipment is used for detecting the attitude data of the crawling machine body 10 in real time, and the attitude data comprises the pitch angle and the roll angle of the crawling machine body 10.
The crawling machine comprises a crawling machine body, at least one telescopic device, at least one moving part and detection equipment, wherein the crawling machine body is connected with the moving part through the telescopic device, the moving part corresponds to the telescopic device in a one-to-one mode, the length of the telescopic device in a first direction is variable, the first direction is perpendicular to the advancing direction of the crawling machine, and the detection equipment is used for detecting attitude data such as a pitch angle and a roll angle of the crawling machine body in real time. The aforesaid machine that crawls of this application, according to the gesture data of the aforesaid machine body that crawls, adjust the length of above-mentioned telescopic equipment on above-mentioned first length, can make the aforesaid machine body that crawls after the adjustment maintain balance basically, that is to say the aforesaid machine body that crawls after the adjustment is balanced in every single move and roll, avoided the automobile body problem that the slope appears, solved the great welding precision's that influences the machine that crawls of artifical magnetic error among the prior art problem betterly, guaranteed that the welding precision of the machine that crawls after the adjustment is better, thereby guaranteed that the welding effect is better.
According to a specific embodiment of the present application, as shown in fig. 1 and 2, the telescopic device 20 includes a cylinder 200, a piston device 201, and a pressure adjusting device, wherein the piston device 201 is connected to the moving part 30, and the piston device 201 moves in the cylinder 200 along the first direction; the pressure adjusting device is used to adjust the pressure in the cylinder 200. According to the crawling machine, the pressure in the cylinder body is adjusted through the pressure adjusting device, the piston device moves in the cylinder body, and then the length of the telescopic device in the first direction is variable, so that the crawling machine body after adjustment can be basically kept balanced, and the welding precision is further guaranteed to be high.
In order to further avoid the problem that the welding precision is greatly affected by the manual magnetic adjustment error of the crawling machine in the prior art, in another specific embodiment of the present application, as shown in fig. 1 and fig. 2, the pressure adjusting device includes a capacity control module 202, and the capacity control module 202 adjusts the pressure in the cylinder 200 by controlling the volume of the liquid in the cylinder 200.
In an actual application process, as shown in fig. 1 and 2, the capacity control module is an oil control module, the pressure regulating device further includes a control valve 203 and an oil pump 204, the capacity control module 202 controls the oil pump 204 to operate to fill oil into the cylinder 200, and controls the control valve 203 to open to drain oil into the cylinder 200.
According to another specific embodiment of the present application, as shown in fig. 1 and fig. 2, the pressure adjusting apparatus further includes a pressure detecting module 205, and the pressure detecting module 205 is configured to detect a pressure value of the cylinder 200 in real time.
In order to further ensure good balance performance of the crawling machine, in a further specific embodiment of the present application, there are four moving portions and four telescopic devices.
Specifically, the number of the moving parts and the telescopic devices may be other values, for example, two moving parts and two telescopic devices may be provided, as long as the moving parts and the telescopic devices are ensured to be in one-to-one correspondence.
In practical applications, the detection device includes an attitude sensor. According to the crawling machine, the attitude sensors are used for testing attitude data such as the pitch angle and the roll angle of the crawling machine body, the telescopic equipment can be conveniently adjusted subsequently according to the attitude data, and the balance of the crawling machine body is guaranteed.
In a specific embodiment, the detection device is an attitude sensor.
In an actual application process, the moving part is a crawler suspension device, and a person skilled in the art can flexibly select any suitable moving part according to actual conditions. In a specific embodiment of the present application, the moving portion is a magnetic wheel. Of course, the moving part can also be a main magnet or other suspension devices, and a person skilled in the art can adjust the magnetic force of the moving part to move the crawling machine on the device to be welded.
According to an embodiment of the application there is provided a method of controlling a crawling machine as described above.
Fig. 3 is a flowchart of a method of controlling the above-described crawling machine according to an embodiment of the present application. As shown in fig. 3, the method comprises the steps of:
step S101, acquiring attitude data of the crawling machine in real time;
and step S102, under the condition that the posture data is not in the preset range, adjusting the length of at least one telescopic device in the first direction according to the posture data so that the adjusted posture data is in the preset range.
Firstly, acquiring attitude data of the crawling machine in real time; then, in a case where the posture data is not within a predetermined range, a length of at least one telescopic device in a first direction is adjusted according to the posture data so that the adjusted posture data is within the predetermined range. According to the method, under the condition that the attitude data is not in the preset range, the adjusted attitude data is in the preset range by adjusting the length of at least one telescopic device in the first direction, so that the adjusted crawling machine is basically kept balanced, the problem that a vehicle body inclines is avoided, the problem that the welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is well solved, the welding precision of the adjusted crawling machine is good, and the welding effect is good. Meanwhile, compared with manual magnetic adjustment in the prior art, the method can realize automatic adjustment of the balance performance of the crawling machine, and ensures that the crawling machine is adjusted more simply and quickly, so that the crawling machine keeps balance, and the welding work efficiency is higher.
According to a specific embodiment of the present application, the telescopic device includes a cylinder, a piston device and a pressure adjusting device, and the length of at least one telescopic device in the first direction is adjusted according to the attitude data, so that the adjusted attitude data is within the predetermined range, including: a first determination step of determining a target telescopic device according to the attitude data, wherein the target telescopic device is the telescopic device needing to be adjusted; a control step of controlling the operation of the pressure regulating device of the target telescopic equipment to regulate the pressure in the corresponding cylinder; a second determination step of determining whether the attitude data is within the predetermined range. According to the method, the telescopic equipment is adjusted through the first determining step, the control step and the second determining step, so that the crawling machine can be adjusted simply and quickly, and the high welding efficiency is further guaranteed.
In order to further ensure that the adjusted car body is substantially balanced, and thus the welding accuracy of the crawling machine is better, in another specific embodiment of the present application, in the case that the attitude data is not within the predetermined range, the method further comprises: repeating the controlling step and the second determining step at least once in sequence until the attitude data is within the predetermined range.
According to another specific embodiment of the present application, the pressure regulating device includes a capacity control module, and the controlling step includes at least one of: controlling the capacity control module of the target telescopic device to fill the cylinder with a first predetermined volume of liquid; controlling the volume control module to draw a second predetermined volume of the liquid from the cylinder. Therefore, the crawling machine is enabled to be basically balanced simply and quickly, and welding efficiency is further guaranteed to be high.
In an actual application process, the pressure regulating device includes a capacity control module, and before the first determining step, the method further includes: and controlling all the volume control modules to fill a third preset volume of liquid into the corresponding cylinder bodies so as to enable the piston device to move to a preset position. The piston device is moved to the preset position by filling the cylinder with the third preset volume of liquid, so that the piston device is further ensured to move in the first direction subsequently through filling or extracting the liquid in the cylinder, the purpose of flexibly adjusting the length of the telescopic device is realized, and the main body of the crawling machine after adjustment is further ensured to be basically balanced.
In another specific embodiment of the present application, after adjusting a length of at least one telescopic device in a first direction according to the attitude data so that the adjusted attitude data is within the predetermined range, the method further includes: acquiring first pressure values in all the cylinders, namely acquiring the pressure in the cylinders after the crawling machine is balanced; acquiring second pressure values in all the cylinders in real time under the condition that the crawling machine travels; and under the condition that the second pressure value is different from the corresponding first pressure value, controlling the corresponding pressure regulating device to operate so that the first pressure value is the same as the corresponding second pressure value. According to the method, the first pressure value in the cylinder body after the crawling machine is adjusted to be balanced is obtained, the second pressure values in all the cylinder bodies are obtained in real time under the condition that the crawling machine advances, the corresponding pressure adjusting devices are controlled to operate under the condition that the second pressure values are different from the corresponding first pressure values, so that the first pressure values are the same as the corresponding second pressure values, the fact that the crawling machine is good in stability performance in the advancing process is guaranteed, the problem that the stability of the operation of the vehicle body is affected due to the fact that the vehicle body can fluctuate greatly when the crawling machine encounters a curved surface or passes obstacles in the advancing process in the prior art is solved, and the good welding effect of the crawling machine is guaranteed.
In a specific embodiment, controlling the operation of the corresponding voltage regulating device includes at least one of: controlling the filling of a fourth predetermined volume of liquid into the cylinder and the withdrawal of a fifth predetermined volume of the liquid from the cylinder.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the application also provides a control device of the crawling machine, and it is noted that the control device of the crawling machine of the embodiment of the application can be used for executing the control method for the crawling machine provided by the embodiment of the application. The following describes a control device for the above-described crawler according to an embodiment of the present invention.
Fig. 4 is a schematic view of a control device of the above-described crawling machine according to an embodiment of the present application. As shown in fig. 4, the device includes a first obtaining unit 40 and an adjusting unit 50, wherein the first obtaining unit 40 obtains the posture data of the crawler body in real time; the adjusting unit 50 adjusts a length of at least one telescopic device in a first direction based on the posture data so that the adjusted posture data is within a predetermined range in a case where the posture data is not within the predetermined range.
The control device of the crawling machine acquires the attitude data of the crawling machine in real time through the first acquisition unit; in a case where the posture data is not within a predetermined range, adjusting, by the adjusting unit, a length of at least one telescopic device in a first direction based on the posture data so that the adjusted posture data is within the predetermined range. According to the device, under the condition that the posture data are not in the preset range, the length of at least one telescopic device in the first direction is adjusted, the adjusted posture data are in the preset range, the fact that the adjusted crawling machine basically maintains balance is guaranteed, the problem that a vehicle body inclines is avoided, the problem that welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is well solved, the welding precision of the adjusted crawling machine is good, and accordingly the welding effect is good. Simultaneously, compare the artifical magnetic adjustment among the prior art, the above-mentioned device of this application can realize the automatic adjustment of the quick-witted balanced performance of crawling, has guaranteed comparatively simple and fast ground adjustment above-mentioned machine of crawling to make above-mentioned machine of crawling keep balance, thereby guaranteed that welded work efficiency is higher.
According to a specific embodiment of the present application, the telescopic device includes a cylinder, a piston device and a pressure regulating device, and the adjusting unit includes a first determining module, a first control module and a second determining module, where the first determining module is used in a first determining step to determine a target telescopic device according to the attitude data, and the target telescopic device is the telescopic device that needs to be adjusted; the first control module is used for controlling the operation of the pressure regulating device of the target telescopic equipment so as to regulate the pressure in the corresponding cylinder body; the second determining module is configured to determine whether the attitude data is within the predetermined range in a second determining step. According to the device, the telescopic equipment is adjusted through the first determining step, the control step and the second determining step, the crawling machine can be further adjusted simply and quickly, and therefore the high welding working efficiency is further guaranteed.
In order to further ensure that the adjusted car body is substantially balanced and thus the welding accuracy of the crawling machine is better, in another specific embodiment of the present application, the apparatus further comprises a repeating unit configured to repeat the controlling step and the second determining step at least once in sequence until the attitude data is within the predetermined range, if the attitude data is not within the predetermined range.
According to another specific embodiment of the present application, the pressure regulating device includes a capacity control module, the first control module includes a control submodule, and the control submodule is configured to execute at least one of: controlling the capacity control module of the target telescopic device to fill the cylinder with a first predetermined volume of liquid; controlling the volume control module to draw a second predetermined volume of the liquid from the cylinder. Therefore, the crawling machine is enabled to be basically balanced simply and quickly, and welding efficiency is further guaranteed to be high.
In an actual application process, the pressure regulating device includes capacity control modules, and the device further includes a first control unit, where the first control unit is configured to control all the capacity control modules to fill a third predetermined volume of liquid into the corresponding cylinder before the first determination step, so that the piston device moves to a predetermined position. The piston device is moved to the preset position by filling the cylinder with the third preset volume of liquid, so that the piston device is further ensured to move in the first direction subsequently through filling or extracting the liquid in the cylinder, the purpose of flexibly adjusting the length of the telescopic device is realized, and the main body of the crawling machine after adjustment is further ensured to be basically balanced.
In another specific embodiment of the present application, the apparatus further includes a second obtaining unit, a third obtaining unit, and a second control unit, where the second obtaining unit is configured to, according to the attitude data, adjust a length of at least one telescopic device in a first direction, so that after the adjusted attitude data is within the predetermined range, obtain first pressure values in all the cylinders, that is, obtain pressures in the cylinders after the crawler is balanced; the third acquiring unit is used for acquiring second pressure values in all the cylinders in real time under the condition that the crawling machine travels; the second control unit is configured to control the corresponding pressure adjusting device to operate when the second pressure value is different from the corresponding first pressure value, so that the first pressure value is the same as the corresponding second pressure value. Above-mentioned device, through obtaining the first pressure value in the balanced back above-mentioned cylinder body of adjustment crawl machine, and obtain the second pressure value in all above-mentioned cylinders bodies in real time under the circumstances that above-mentioned crawl machine marches, under the circumstances that above-mentioned second pressure value is different with the above-mentioned first pressure value that corresponds, control corresponding above-mentioned pressure regulating device operation, so that above-mentioned first pressure value is the same with the above-mentioned second pressure value that corresponds, it is better to have guaranteed like this that the stability ability of crawl machine at the in-process of marcing, thereby avoided among the prior art crawl machine to run the in-process and meet the curved surface or cross great fluctuation of automobile body can appear when the obstacle, influence the problem of the stability of automobile body operation, the welding effect who has guaranteed crawl machine is better.
In a specific embodiment, the second control unit includes a second control module, and the second control module is configured to execute at least one of: controlling the filling of a fourth predetermined volume of liquid into the cylinder and the withdrawal of a fifth predetermined volume of the liquid from the cylinder.
The above-described control device for a crawler includes a processor and a memory, the first acquiring unit and the adjusting unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that welding precision is greatly influenced by manual magnetic adjustment errors of the crawling machine in the prior art is solved by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a program that, when executed by a processor, implements the above-described method of controlling a crawling machine.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the control method of the crawling machine when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring attitude data of the crawling machine in real time;
and step S102, under the condition that the posture data is not in the preset range, adjusting the length of at least one telescopic device in the first direction according to the posture data so that the adjusted posture data is in the preset range.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring attitude data of the crawling machine in real time;
and step S102, under the condition that the posture data is not in the preset range, adjusting the length of at least one telescopic device in the first direction according to the posture data so that the adjusted posture data is in the preset range.
There is also provided in accordance with yet another exemplary embodiment of the present application a crawling system, including any of the above-described crawlers and a control device, wherein the control device is in communication with the crawlers, the control device including a control program that when executed performs any of the above-described methods.
The crawling system comprises the crawling machine and a control device, wherein the control device is in communication connection with the crawling machine, the control device comprises a control program, and the control program executes any method when running. According to the crawling system, by the control method, under the condition that the attitude data is not in the preset range, the adjusted attitude data is in the preset range by adjusting the length of at least one telescopic device in the first direction, so that the adjusted crawling machine is basically kept balanced, the problem that a vehicle body is inclined is avoided, the problem that the welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is well solved, the welding precision of the adjusted crawling machine is better guaranteed, and the better welding effect is guaranteed. Simultaneously, compare the artifical magnetic adjustment among the prior art, above-mentioned system of crawling can realize the automatic adjustment of the quick-witted balance performance of crawling, has guaranteed the above-mentioned machine of crawling of comparatively simple swift adjustment to make above-mentioned machine of crawling keep balance, thereby guaranteed that welded work efficiency is higher. In addition, the system ensures that the crawling machine has better stability in the advancing process through the control method, thereby avoiding the problem that the crawling machine in the prior art has larger fluctuation when meeting a curved surface or crossing obstacles in the advancing process and influencing the running stability of the vehicle body, and ensuring that the welding effect of the crawling machine is better.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the crawling machine comprises a crawling machine body, at least one telescopic device, at least one moving portion and detection equipment, wherein the crawling machine body is connected with the moving portion through the telescopic device, the moving portion is in one-to-one correspondence with the telescopic device, the length of the telescopic device in a first direction is variable, the first direction is perpendicular to the advancing direction of the crawling machine, and the detection equipment is used for detecting attitude data such as a pitch angle and a roll angle of the crawling machine body in real time. The aforesaid machine that crawls of this application, according to the gesture data of the aforesaid machine body that crawls, adjust the length of above-mentioned telescopic equipment on above-mentioned first length, can make the aforesaid machine body that crawls after the adjustment maintain balance basically, that is to say the aforesaid machine body that crawls after the adjustment is balanced in every single move and roll, avoided the automobile body problem that the slope appears, solved the great welding precision's that influences the machine that crawls of artifical magnetic error among the prior art problem betterly, guaranteed that the welding precision of the machine that crawls after the adjustment is better, thereby guaranteed that the welding effect is better.
2) The method for controlling the crawling machine comprises the steps of firstly, acquiring attitude data of the crawling machine in real time; then, in a case where the posture data is not within a predetermined range, a length of at least one telescopic device in a first direction is adjusted according to the posture data so that the adjusted posture data is within the predetermined range. According to the method, under the condition that the attitude data is not in the preset range, the adjusted attitude data is in the preset range by adjusting the length of at least one telescopic device in the first direction, so that the adjusted crawling machine is basically kept balanced, the problem that a vehicle body inclines is avoided, the problem that the welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is well solved, the welding precision of the adjusted crawling machine is good, and the welding effect is good. Meanwhile, compared with manual magnetic adjustment in the prior art, the method can realize automatic adjustment of the balance performance of the crawling machine, and guarantees that the crawling machine is adjusted simply and quickly, so that the crawling machine keeps balance, and the welding work efficiency is guaranteed to be high.
3) The control device of the crawling machine of the application acquires the attitude data of the crawling machine in real time through the first acquisition unit; in a case where the posture data is not within a predetermined range, adjusting, by the adjusting unit, a length of at least one telescopic device in a first direction based on the posture data so that the adjusted posture data is within the predetermined range. According to the device, under the condition that the posture data are not in the preset range, the length of at least one telescopic device in the first direction is adjusted, the adjusted posture data are in the preset range, the fact that the adjusted crawling machine basically maintains balance is guaranteed, the problem that a vehicle body inclines is avoided, the problem that welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is well solved, the welding precision of the adjusted crawling machine is good, and accordingly the welding effect is good. Simultaneously, compare the artifical magnetic adjustment among the prior art, the above-mentioned device of this application can realize crawling the automatic adjustment of quick-witted balance performance, has guaranteed the above-mentioned machine of crawling of comparatively simple swift adjustment to make above-mentioned machine of crawling keep balance, thereby guaranteed that welded work efficiency is higher.
4) The crawling system comprises the crawling machine and a control device, wherein the control device is in communication connection with the crawling machine, the control device comprises a control program, and the control program executes any method when running. According to the crawling system, by the control method, under the condition that the attitude data is not in the preset range, the adjusted attitude data is in the preset range by adjusting the length of at least one telescopic device in the first direction, so that the adjusted crawling machine is basically kept balanced, the problem that a vehicle body is inclined is avoided, the problem that the welding precision of the crawling machine is greatly influenced by manual magnetic adjustment errors in the prior art is well solved, the welding precision of the adjusted crawling machine is better guaranteed, and the better welding effect is guaranteed. Simultaneously, compare the artifical magnetic adjustment among the prior art, above-mentioned system of crawling can realize the automatic adjustment of the quick-witted balance performance of crawling, has guaranteed the above-mentioned machine of crawling of comparatively simple swift adjustment to make above-mentioned machine of crawling keep balance, thereby guaranteed that welded work efficiency is higher. In addition, the system ensures that the crawling machine has better stability in the advancing process through the control method, thereby avoiding the problem that the crawling machine in the prior art has larger fluctuation when meeting a curved surface or crossing obstacles in the advancing process and influencing the running stability of the vehicle body, and ensuring that the welding effect of the crawling machine is better.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A crawler, comprising:
a crawler body;
at least one telescoping device connected to the crawler body, the telescoping device being variable in length in a first direction, the first direction being perpendicular to a direction of travel of the crawler;
the moving parts are connected with the telescopic equipment in a one-to-one corresponding mode;
the detection equipment is used for detecting the attitude data of the crawling machine body in real time, and the attitude data comprises a pitch angle and a roll angle of the crawling machine body.
2. The crawler of claim 1, wherein said telescoping device comprises:
a cylinder body;
a piston device connected to the moving part, the piston device moving in the cylinder in the first direction;
and the pressure regulating device is used for regulating the pressure in the cylinder body.
3. The crawler according to claim 2, wherein said pressure regulating device comprises a volume control module for regulating the pressure in said cylinder by controlling the volume of liquid in said cylinder, said pressure regulating device further comprising a pressure detection module for detecting the pressure value of said cylinder in real time.
4. The crawler according to any one of claims 1 to 3, wherein said detection device comprises an attitude sensor.
5. The machine according to any one of claims 1-4, including:
acquiring attitude data of the crawling vehicle in real time;
and under the condition that the attitude data is not in a preset range, adjusting the length of at least one telescopic device in the first direction according to the attitude data so that the adjusted attitude data is in the preset range.
6. The method of claim 5,
the telescopic equipment comprises a cylinder body, a piston device and a pressure regulating device, the length of at least one telescopic equipment in the first direction is regulated according to the attitude data, so that the regulated attitude data is in the preset range, and the telescopic equipment comprises:
a first determination step, wherein target telescopic equipment is determined according to the attitude data, and the target telescopic equipment is the telescopic equipment needing to be adjusted;
controlling the pressure regulating device of the target telescopic equipment to operate so as to regulate the pressure in the corresponding cylinder body;
a second determination step of determining whether the attitude data is within the predetermined range,
in the case that the attitude data is not within the predetermined range, the method further includes:
repeating the controlling step and the second determining step at least once in sequence until the attitude data is within the predetermined range.
7. The method of claim 6, wherein the pressure regulating device includes a capacity control module, and prior to the first determining step, the method further comprises:
and controlling all the volume control modules to fill a third preset volume of liquid into the corresponding cylinder bodies so that the piston device moves to a preset position.
8. The method of claim 6 or 7, wherein after adjusting a length of at least one telescopic device in a first direction according to the pose data such that the adjusted pose data is within the predetermined range, the method further comprises:
acquiring first pressure values in all the cylinders;
acquiring second pressure values in all cylinders in real time under the condition that the crawling machine travels;
and under the condition that the second pressure value is different from the corresponding first pressure value, controlling the corresponding pressure regulating device to operate so that the first pressure value is the same as the corresponding second pressure value.
9. A control device of a crawler according to any one of claims 1 to 4, comprising:
the first acquisition unit is used for acquiring the attitude data of the crawler body in real time;
the adjusting unit is used for adjusting the length of at least one telescopic device in the first direction according to the attitude data under the condition that the attitude data is not in a preset range, so that the adjusted attitude data is in the preset range.
10. A crawling system, comprising:
the crawler of any one of claims 1 to 4;
a control device communicatively coupled to the crawler, the control device including a control program that when executed performs the method of any of claims 5-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110587457.7A CN113183708A (en) | 2021-05-27 | 2021-05-27 | Crawling machine, control method and control device thereof, and crawling system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110587457.7A CN113183708A (en) | 2021-05-27 | 2021-05-27 | Crawling machine, control method and control device thereof, and crawling system |
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| CN113183708A true CN113183708A (en) | 2021-07-30 |
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