CN113189860A - Control method, device and system of climbing device - Google Patents
Control method, device and system of climbing device Download PDFInfo
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- CN113189860A CN113189860A CN202011601574.6A CN202011601574A CN113189860A CN 113189860 A CN113189860 A CN 113189860A CN 202011601574 A CN202011601574 A CN 202011601574A CN 113189860 A CN113189860 A CN 113189860A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012544 monitoring process Methods 0.000 claims abstract description 44
- 241001503987 Clematis vitalba Species 0.000 claims abstract description 42
- 238000004590 computer program Methods 0.000 claims description 14
- 230000006870 function Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 11
- 238000003860 storage Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- 230000008569 process Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The application discloses a control method, a control device and a control system of a climbing device, which are used for improving the control precision of the climbing device and improving the safety of the climbing device. The control method of the climbing device comprises the following steps: the climbing device monitors parameters in the climbing device and sends monitoring data to the ground workstation; the climber receives an instruction of the ground workstation; and the scramblers perform control operation according to the instructions and the monitoring data. The application also provides a climbing device control device and a climbing device control system.
Description
Technical Field
The application relates to the field of electromechanics, in particular to a control method, a device and a system for a climbing device.
Background
A crawler is a new type of transportation system that transports payloads from the ground to an elevated location. The principle is that the anchor point on the ground is connected with the anchor point above the GEO running track through a cable, and the payload is sent to the high altitude through a load cabin running on the cable. The climbing device system is composed of a rope, a ground workstation, a GEO point platform, a vertex anchor, a climbing device and the like, as shown in figure 1. A climber is a vehicle that transports payloads into the sky, climbs along a cable, and releases the payload after entering the GEO trajectory. At present, how to provide a safe and reliable cooperative working mode of a climbing device and a ground workstation and improve the control precision and the safety are problems to be solved.
Disclosure of Invention
In view of the above technical problems, embodiments of the present application provide a control method and apparatus for a climbing device, and a storage medium, so as to improve the control accuracy of the climbing device and improve the safety of the climbing device.
In a first aspect, an embodiment of the present application provides a control method for a climbing device, including:
the climbing device monitors parameters in the climbing device and sends monitoring data to the ground workstation;
the climber receives an instruction of the ground workstation;
and the scramblers perform control operation according to the instructions and the monitoring data.
Preferably, the instructions include one of: climbing; returning; adjusting the posture; hovering; and (5) fault processing.
Preferably, the parameters monitored by the climbing device in the climbing device comprise one or a combination of the following:
the climbing device monitors the speed of the climbing device;
the climbing device monitors the posture of the climbing device;
the climbing device monitors the height of the climbing device;
the climber monitors the power supply voltage of the climber;
the climber monitors the temperature of the motor of the climber.
Further, when the instruction is climbing, the control operation of the climbing device according to the instruction and the monitoring data includes:
the climber acquires height data and temperature data;
acquiring the current air viscosity from an air viscosity database according to the height data and the temperature data;
acquiring a dynamic model from a dynamic model database according to the air viscosity;
acquiring control parameters from a control system parameter database according to the dynamic model;
and controlling the climbing speed according to the control parameters.
Said controlling the rate of climb in accordance with said control parameters comprises:
the control parameters comprise a proportional control parameter Kp, a derivative control parameter Kd and an integral control parameter Ki;
and sending the Kp, the Ki and the Kd to a PID controller, and outputting two paths of Pulse Width Modulation (PWM) signals by the PID controller to control the rotating speed of a driving motor.
Further, when the instruction is a return instruction, the control operation of the climbing device according to the instruction and the monitoring data includes:
determining a return target descent speed;
a driving motor of the climbing device enters a follow-up mode, and the climbing device moves downwards under the action of self gravity;
measuring an actual descent speed with an encoder;
inputting the target descending speed and the actual descending speed into a PID controller;
the PID controller outputs control parameters, and the pressing device is controlled to adjust the clamping force of the climbing device on the climbing belt so as to control the friction force between the driving wheel of the climbing device and the climbing belt.
Further, when the instruction is posture adjustment, the control operation of the climbing device according to the instruction and the monitoring data includes:
determining a desired pose;
a gyroscope of the climbing device measures actual attitude parameters;
inputting the desired attitude and the actual attitude parameters into a PID controller;
the PID controller outputs four-way Pulse Width Modulation (PWM) signals to control the four-way gyroscope;
the gyroscope controls the rotation of the steering engine wings to change the inclination angle with the advancing direction.
Further, when the instruction is a hover, the control operation of the climbing device according to the instruction and the monitoring data includes:
a motor of the climbing device brakes and starts a damper to decelerate the climbing device;
the clamping device of the climbing device holds the climbing belt tightly, so that the climbing device stops moving.
By using the control method of the climbing device provided by the invention, the climbing device receives the operation instruction of the ground workstation and performs corresponding control operation by combining with the data monitoring of the climbing device. In the control operation process, the closed-loop high-precision control is realized through PID control, so that the high-precision operation control is realized, and the safety of the climbing device is improved.
In a second aspect, an embodiment of the present application further provides a control device for a climbing device, including:
the parameter monitoring module is used for monitoring the parameters in the scramblers and sending the monitoring data to the ground workstation;
the instruction receiving module is used for receiving the instruction of the ground workstation by the scrambler;
and the operation control module is used for controlling the operation of the scramblers according to the instructions and the monitoring data.
In a third aspect, an embodiment of the present application further provides a control device for a climbing device, including: a memory, a processor, and a user interface;
the memory for storing a computer program;
the user interface is used for realizing interaction with a user;
the processor is used for reading the computer program in the memory, and when the processor executes the computer program, the control method of the climbing device provided by the invention is realized.
In a fourth aspect, an embodiment of the present application further provides a control system for a climbing device, including:
the ground workstation is configured for sending a control instruction to the climbing device;
the climbing device is configured for receiving the instruction of the ground workstation and executing corresponding control operation;
wherein, the climbing ware includes:
a processor configured to control operation of other devices of the climber;
a data transceiver module configured to receive instructions of the ground workstation and transmit monitoring data to the ground workstation under the control of the processor;
a gyroscope configured to measure a pose of the climber under control of a processor;
a temperature sensor configured to measure a temperature under control of the processor;
a motor configured to provide power under control of the processor;
and the gyroscope is configured for controlling the steering engine wings to rotate to change the inclination angle with the advancing direction under the control of the processor.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a system composition of a climbing apparatus;
FIG. 2 is a schematic flow chart of a control method of the climbing device according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an overall workflow of control of the climbing device according to an embodiment of the present application;
FIG. 4 is a schematic view of a climbing control structure of a climbing device provided by an embodiment of the application;
FIG. 5 is a schematic view of a climbing control method for a climbing device according to an embodiment of the present application;
FIG. 6 is a schematic view of a return control structure of the climbing device according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a climbing device return control method provided in an embodiment of the present application;
FIG. 8 is a schematic view of a posture adjustment control structure of a climbing device according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a method for controlling adjustment of a posture of a climbing device according to an embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of a control device of the climbing device provided by the embodiment of the application;
FIG. 11 is a schematic view of a control system of the climbing device provided by an embodiment of the present application;
figure 12 is an example diagram of a control system of a climbing device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the 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 invention.
Some of the words that appear in the text are explained below:
1. the term "and/or" in the embodiments of the present invention describes an association relationship of associated objects, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
2. In the embodiments of the present application, the term "plurality" means two or more, and other terms are similar thereto.
The climbing device system is composed of a rope, ground nodes, a GEO point platform, a vertex anchor, a climbing device, an energy system and the like, as shown in figure 1. Wherein, the climbing ware can include treater, data transceiver module, and the motor (can be brushless DC motor), adhesion device, hysteresis lag attenuator, steering wheel, temperature sensor, constitutions such as gyroscope.
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 a part of the embodiments of the present application, and not all of the 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 display sequence of the embodiment of the present application only represents the sequence of the embodiment, and does not represent the merits of the technical solutions provided by the embodiments.
Example one
Referring to fig. 2, a schematic diagram of a control method of a climbing device according to an embodiment of the present application is shown in fig. 2, where the method includes steps S201 to S203:
s201, monitoring parameters in the climbing device, and sending monitoring data to a ground workstation;
s202, the climbing device receives an instruction of the ground workstation;
and S203, the scramblers perform control operation according to the instructions and the monitoring data.
In the embodiment of the application, the overall framework of the cooperative work between the climber and the ground workstation is as shown in fig. 3, and the ground workstation sends an instruction to the climber to realize the operation of the climber, including climbing, returning, hovering, attitude adjustment, fault processing and other operations at a certain speed. The climbing ware has certain monitoring to self internal parameter simultaneously, including speed, gesture, mains voltage, motor temperature isoparametric to transmit monitoring data to ground workstation, in time operate the climbing ware through these parameters ground workstation and guarantee that the climbing ware operates according to the instruction, climbing ware self accessible obtains gesture speed isoparametric simultaneously and carries out feedback control, independently carries out closed loop feedback through the anomaly of detecting the parameter and adjusts.
In the embodiment of the application, the monitoring of the parameters inside the climber can include one or a combination of the following:
the climbing device monitors the speed of the climbing device;
the climbing device monitors the posture of the climbing device;
the climbing device monitors the height of the climbing device;
the climbing device monitors the power supply voltage of the climbing device;
the climbing device monitors the temperature of the motor of the climbing device.
The following description will be made for different operation commands.
The first condition is as follows: climb instruction
When the command is climb, the climber control structure is as shown in fig. 4, and the altimeter and the thermometer send the current climber height and temperature to the air viscosity database module. And the air viscosity database module outputs the current air viscosity data and sends the current air viscosity data to the system dynamics model database module. And the system dynamics database module outputs a dynamics model corresponding to the current scrambler in the system dynamics database and sends the dynamics model to the control system parameter database. And the control system parameter database module outputs control system parameters Kp, Ki and Kd corresponding to the current scrambler and sends the control system parameters Kp, Ki and Kd to the PID controller module.
And when the height and temperature commands are sent, the set speed command is sent to the PID controller as an input, the PID controller is used for outputting two paths of PWM signals to the driving motor, and the rotating speed of the driving motor is controlled, so that the climbing speed of the robot is controlled. And the encoder is used for measuring the actual rotating speed of the motor, so that feedback input is provided for the PID controller, and finally the climbing speed of the robot is controlled.
The control steps are shown in fig. 5, that is, when the instruction is climbing, the control operation of the climbing device according to the instruction and the monitoring data includes:
s501, the climbing device collects height data and temperature data;
s502, acquiring the current air viscosity from an air viscosity database according to the height data and the temperature data;
s503, acquiring a dynamic model from a dynamic model database according to the air viscosity;
s504, acquiring control parameters from a control system parameter database according to the dynamic model;
and S505, controlling the climbing speed according to the control parameters.
In the step S505, the controlling the climbing speed according to the control parameter includes:
the control parameters comprise a proportional control parameter Kp, a derivative control parameter Kd and an integral control parameter Ki;
and sending the Kp, the Ki and the Kd to a PID controller, and outputting two paths of Pulse Width Modulation (PWM) signals by the PID controller to control the rotating speed of a driving motor.
Case two: return instruction
When the instruction is for returning, control structure is as shown in figure 6, scrambler driving motor gets into the follow-up mode, does not need the energy supply, and the downward accelerated motion of scrambler because of self action of gravity, the attenuator begins to consume the gravity acting of scrambler, utilizes the encoder to measure the falling speed of scrambler, and the scrambler utilizes closing device to adjust the frictional force of scrambler to the clamp force control scrambler drive wheel climbing area in climbing area simultaneously, finally realizes the control of scrambler gliding speed.
The control flow of the return instruction is shown in fig. 7, that is, when the instruction is a return instruction, the control operation of the climber according to the instruction and the monitoring data includes:
s701, determining the descending speed of a return target;
s702, enabling a driving motor of the climbing device to enter a follow-up mode, and enabling the climbing device to move downwards under the action of self gravity;
s703, measuring the actual descending speed by using an encoder;
s704, inputting the target descending speed and the actual descending speed into a PID controller;
s705, the PID controller outputs control parameters, and the pressing device is controlled to adjust the clamping force of the climbing device on the climbing belt so as to control the friction force between the driving wheel of the climbing device and the climbing belt.
Case three: attitude adjustment instruction
When the command is a posture adjustment command, the control structure of the climbing device is shown in fig. 8, the climbing device can sense the posture parameters of the climbing device through a gyroscope inside the climbing device during movement, the posture error is calculated, the posture feedback of the climbing device is realized, four paths of PWM are calculated and output by using a PID control algorithm and sent to a steering engine, the steering engine is used for controlling the rotation of the wings of the steering engine, the inclination angle in the advancing direction is changed, the wings of the rudder of the steering engine can be subjected to air resistance, and the posture adjustment of the climbing device is finally realized.
The posture adjustment control flow is shown in fig. 9, that is, when the instruction is posture adjustment, the control operation of the climber according to the instruction and the monitoring data includes:
s901, determining an expected posture;
s902, measuring an actual attitude parameter by a gyroscope of the climbing device;
s903, inputting the expected attitude and the actual attitude parameters into a PID controller;
s904, the PID controller outputs four-way Pulse Width Modulation (PWM) signals to control the four-way gyroscope;
and S905, controlling the rotation of the wing of the rudder by the gyroscope to change the inclination angle with the advancing direction.
Case four: hover instruction
When the instruction is hovering, the control operation of the scrambler according to the instruction and the monitoring data comprises the following steps:
a motor of the climbing device brakes and starts a damper to decelerate the climbing device;
the clamping device of the climbing device holds the climbing belt tightly, so that the climbing device stops moving.
By using the control method of the climbing device provided by the invention, the climbing device receives the operation instruction of the ground workstation and performs corresponding control operation by combining with the data monitoring of the climbing device. In the control operation process, the closed-loop high-precision control is realized through PID control, so that the high-precision operation control is realized, and the safety of the climbing device is improved.
Example two
Based on the same inventive concept, an embodiment of the present invention further provides a control device for a climbing device, as shown in fig. 10, the control device includes:
a parameter monitoring module 1001, which is used for monitoring the parameters inside the climbing device;
the data transceiver module 1002 is configured to send data monitored by the parameter monitoring module to a ground workstation, and receive an instruction of the ground workstation;
and the operation control module 1003 is used for controlling the operation of the climbing device according to the instruction and the monitoring data.
It should be noted that, the parameter monitoring module 1001 provided in this embodiment can implement the parameter monitoring function included in step S201 in the first embodiment, solve the same technical problem, and achieve the same technical effect, which is not described herein again;
it should be noted that the data transceiver module 1002 provided in this embodiment can implement the data sending function included in step S201 and all functions of S202 in the first embodiment, solve the same technical problem, achieve the same technical effect, and is not described herein again;
it should be noted that the operation control module 1003 provided in this embodiment can implement the parameter monitoring function included in step S203 in the first embodiment, solve the same technical problem, achieve the same technical effect, and is not described herein again;
it should be noted that the apparatus provided in the second embodiment and the method provided in the first embodiment belong to the same inventive concept, solve the same technical problem, and achieve the same technical effect, and the apparatus provided in the second embodiment can implement all the methods of the first embodiment, and the same parts are not described again.
EXAMPLE III
Based on the same inventive concept, an embodiment of the present invention further provides a control system of a climbing device, as shown in fig. 11, the system includes:
a ground workstation 1100 configured to send control instructions to the climber;
a climber 1101 configured to receive instructions of the ground workstation and perform corresponding control operations;
wherein the climber 1101 comprises:
a processor 11011 configured to control the operation of other devices of the climber;
a data transceiver module 11013 configured to receive instructions of the ground workstation and transmit monitoring data to the ground workstation under the control of the processor;
a gyroscope 11012 configured to measure a pose of the climber under control of a processor;
a temperature sensor 11014 configured to measure a temperature under control of the processor;
a motor 11015 configured to provide power under control of the processor;
and the gyroscope 11016 is configured to control the rotation of the steering engine wings to change the inclination angle with the advancing direction under the control of the processor.
As a preferred example, the motor 11015 may be a brushless dc motor, driven by a driver.
As a preferred example, the climbing device 1101 may further include a damper, the damper may be driven by a relay, and the relay is connected to the processor through a serial port.
As a preferred example, the climber 1101 may further include an encoder configured to measure a speed of the climber.
As a preferred example, the gyroscope 11016 and the motor 11015 are connected to the processor 11011 through a PWM interface.
As a preferred example, the data transceiver module 11013 may be a receiver/data transmission module.
A specific example is given below, as shown in fig. 12:
the compaction motor is communicated with the processor in a CAN bus communication mode through electric regulation, the brushless direct current motor realizes speed regulation through PWM, and the processor is divided into two CAN buses including CAN1 and CAN 2. The electric tuning is mainly communicated with the processor through a CAN1 interface to control the adhesion device of the climbing device; brushless DC motor driver communicates through PWM interface and treater, carries out speed control to 2 drive wheels of climbing ware, and the climbing ware outside is equipped with the encoder and realizes feeding back the rotational speed of motor.
The electromagnetic brake is controlled by sending high and low levels to the relay through a serial port of the processor to control the power input of the hysteresis damper, so that the brake function of the hysteresis brake is realized. The attitude adjustment steering engine of climbing ware mainly controls the turned angle of four steering engines through making the PWM output pin of treater, and the climbing ware can be measured the operation gesture of climbing ware through the gyroscope to attitude control system adjusts the operation gesture.
It should be noted that the system provided in the third embodiment and the method provided in the first embodiment belong to the same inventive concept, the same technical problem is solved, the same technical effect is achieved, the system provided in the third embodiment can implement all the methods of the first embodiment, and the same parts are not described again.
The present application also proposes a processor-readable storage medium. The processor-readable storage medium stores a computer program, and the processor executes the computer program to implement any one of the climber control methods in the first embodiment.
It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. In addition, functional units in the embodiments of the present application 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.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method of controlling a climber, comprising:
the climbing device monitors parameters in the climbing device and sends monitoring data to the ground workstation;
the climber receives an instruction of the ground workstation;
the scramblers perform control operation according to the instructions and the monitoring data;
the instructions include one of:
climbing;
returning;
adjusting the posture;
hovering;
and (5) fault processing.
2. The method of claim 1, wherein the climber monitors its internal parameters including one or a combination of:
the climbing device monitors the speed of the climbing device;
the climbing device monitors the posture of the climbing device;
the climbing device monitors the height of the climbing device;
the climber monitors the power supply voltage of the climber;
the climber monitors the temperature of the motor of the climber.
3. The method of claim 1, wherein when the instruction is climb, the climber performing control operations according to the instruction and the monitoring data comprises:
the climber acquires height data and temperature data;
acquiring the current air viscosity from an air viscosity database according to the height data and the temperature data;
acquiring a dynamic model from a dynamic model database according to the air viscosity;
acquiring control parameters from a control system parameter database according to the dynamic model;
and controlling the climbing speed according to the control parameters.
4. The method of claim 3, wherein the controlling a rate of climb, as a function of the control parameter, comprises:
the control parameters comprise a proportional control parameter Kp, a derivative control parameter Kd and an integral control parameter Ki;
and sending the Kp, the Ki and the Kd to a PID controller, and outputting two paths of Pulse Width Modulation (PWM) signals by the PID controller to control the rotating speed of a driving motor.
5. The method of claim 1, wherein when the instruction is a return, the scramblers performing control operations according to the instruction and the monitoring data comprises:
determining a return target descent speed;
a driving motor of the climbing device enters a follow-up mode, and the climbing device moves downwards under the action of self gravity;
measuring an actual descent speed with an encoder;
inputting the target descending speed and the actual descending speed into a PID controller;
the PID controller outputs control parameters, and the pressing device is controlled to adjust the clamping force of the climbing device on the climbing belt so as to control the friction force between the driving wheel of the climbing device and the climbing belt.
6. The method of claim 1, wherein when the instruction is an attitude adjustment, the climber performing a control operation according to the instruction and the monitoring data comprises:
determining a desired pose;
a gyroscope of the climbing device measures actual attitude parameters;
inputting the desired attitude and the actual attitude parameters into a PID controller;
the PID controller outputs four-way Pulse Width Modulation (PWM) signals to control the four-way gyroscope;
the gyroscope controls the rotation of the steering engine wings to change the inclination angle with the advancing direction.
7. The method of claim 1, wherein when the instruction is hovering, the scramblers performing control operations according to the instruction and the monitoring data comprises:
a motor of the climbing device brakes and starts a damper to decelerate the climbing device;
the clamping device of the climbing device holds the climbing belt tightly, so that the climbing device stops moving.
8. A control device for a climber, comprising:
the parameter monitoring module is used for monitoring the parameters in the scramblers;
the data transceiver module is used for transmitting the data monitored by the parameter monitoring module to a ground workstation and receiving an instruction of the ground workstation;
and the operation control module is used for controlling the operation of the scramblers according to the instructions and the monitoring data.
9. A climber control device comprising a memory, a processor, and a user interface;
the memory for storing a computer program;
the user interface is used for realizing interaction with a user;
the processor for reading the computer program in the memory, the processor implementing the climber control method as claimed in one of claims 1 to 7 when executing the computer program.
10. A climber control system, comprising:
the ground workstation is configured for sending a control instruction to the climbing device;
the climbing device is configured for receiving the instruction of the ground workstation and executing corresponding control operation;
wherein, the climbing ware includes:
a processor configured to control operation of other devices of the climber;
a data transceiver module configured to receive instructions of the ground workstation and transmit monitoring data to the ground workstation under the control of the processor;
a gyroscope configured to measure a pose of the climber under control of a processor;
a temperature sensor configured to measure a temperature under control of the processor;
a motor configured to provide power under control of the processor;
and the gyroscope is configured for controlling the steering engine wings to rotate to change the inclination angle with the advancing direction under the control of the processor.
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| CN202011601574.6A CN113189860A (en) | 2020-12-30 | 2020-12-30 | Control method, device and system of climbing device |
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| CN202011601574.6A CN113189860A (en) | 2020-12-30 | 2020-12-30 | Control method, device and system of climbing device |
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Citations (8)
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