CN114402811A - Intermittent static operation mechanism, equipment and method - Google Patents
Intermittent static operation mechanism, equipment and method Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 84
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- 238000009434 installation Methods 0.000 claims abstract description 6
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
- A01D67/005—Arrangements of coupling devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The embodiment of the application discloses an intermittent static operation mechanism, equipment and a method. According to the technical scheme provided by the embodiment of the application, the operation device is installed on the mounting module, in the process of forward operation of the driving installation base, the mounting module is controlled to be static relative to the current operation position through the motion control module in the static operation period, at the moment, the operation device is static relative to the operation target in the current operation position, operation can be stably performed on the operation target, the mounting module is controlled to catch up to the next operation position through the motion control module in the catch-up period, at the moment, the static operation period is reached, the mounting module can be controlled to be static relative to the current operation position through the motion control module again, so that the operation device continues to perform operation on the operation target, and through intermittent static operation in the forward process, the operation device is kept static relative to the current operation position in the operation period, and the operation quality is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of crop processing, in particular to an intermittent static operation mechanism, equipment and a method.
Background
In the planting process of crops, the crops need to be treated on time, such as topping, picking and the like of cotton. In order to increase the efficiency and quality of the treatment of the crops, it is common to work with corresponding working devices, for example, topping the crops with a topping device, picking the crops with a picking device, etc.
The working device is generally mounted on a mobile vehicle (e.g., a tractor) to work, and the mobile vehicle drives the working device to move on the target field, and the working device performs work on the crop on the target field after reaching the working position. However, in the operation process, the operation device moves synchronously with the moving carrier, and the position between the operation device and the crops is always changed, so that the operation effect is poor.
Disclosure of Invention
The embodiment of the application provides an intermittent static operation mechanism, equipment and a method, which are used for solving the technical problem of poor operation effect caused by the fact that the position between an operation device and crops is changed all the time in the prior art, so that the operation device is kept static relative to the current operation position in the operation period, and the operation quality is improved.
In a first aspect, an embodiment of the present application provides an intermittent static work mechanism, including a mounting base, a mounting module, a motion detection module, and a motion control module, where:
the mounting module is connected to the mounting base in a sliding manner along the horizontal direction;
the motion detection module is connected to the mounting base and used for collecting motion information of the intermittent static operation mechanism;
the motion control module is installed on the installation base and used for driving the mounting module to move along the horizontal direction according to the motion information, so that the mounting module is static relative to the current operation position in a static operation period and moves to the next operation position in a catch-up period.
Furthermore, a sliding groove is formed in the mounting base in the horizontal direction, and the mounting module is connected to the sliding groove in a sliding mode.
Further, the mounting module is slidably connected to the chute through a bearing.
Furthermore, the sliding grooves are arranged in a plurality and symmetrically arranged on two sides of the mounting base.
Furthermore, the motion control module comprises a connecting mechanism and a linear control mechanism, the connecting mechanism is connected with the mounting base in a sliding mode along the horizontal direction, the connecting mechanism is fixedly connected with the mounting module, the linear control mechanism is connected with the mounting base, and the linear control mechanism is used for controlling the connecting mechanism to move along the horizontal direction.
Further, the linear control mechanism is a synchronous belt type linear sliding table mechanism, and the connecting mechanism is fixedly connected to a synchronous belt of the synchronous belt type linear sliding table mechanism.
Further, the motion detection module comprises a first detection module and a second detection module;
the first detection module is mounted on the mounting base and used for collecting first motion information of the mounting base, and the second detection module is mounted on the mounting module and used for detecting second motion information of the mounting module;
the motion control module controls the mounting module to move in the horizontal direction according to the first motion information and the second motion information.
Further, the motion detection module is a speed detection module.
Further, the motion detection module is an acceleration detection module.
In a second aspect, the present application provides intermittent static work equipment, which includes a carrying device, a work device and the intermittent static work mechanism according to any one of the first aspect, wherein the work device is mounted on a mounting module of the intermittent static work mechanism, and a mounting base of the intermittent static work mechanism is mounted on the carrying device.
In a third aspect, an embodiment of the present application provides an intermittent stationary work method applied to the intermittent stationary work apparatus according to the second aspect, including:
acquiring motion information acquired by a motion detection module, and unit operation duration and unit operation distance of the intermittent static operation equipment for intermittent static operation;
determining catch-up control information and static control information of the motion control module according to the motion information, the unit operation duration and the unit operation distance;
controlling a motion control module based on the static control information so that the mounting module is static relative to the current operation position in a static operation period and controlling an operation device to operate at the current operation position;
and controlling the motion control module based on the catch-up control information so as to enable the mounting module to move to the next operation position in the catch-up period.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory and one or more processors;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the intermittent stationary operation method of the third aspect.
In a fifth aspect, embodiments of the present application provide a storage medium containing computer-executable instructions for performing the intermittent stationary job method of the third aspect when executed by a computer processor.
According to the embodiment of the application, the operation device is arranged on the mounting module, in the process of forward operation of the drive mounting base, the mounting module is controlled to be static relative to the current operation position through the motion control module in the static operation period, at the moment, the operation device is static relative to the operation target on the current operation position, operation can be stably carried out on the operation target, the mounting module is controlled to forward catch up to the next operation position through the motion control module in the catch-up period, at the moment, the static operation period is reached, the mounting module can be controlled to be static relative to the current operation position through the motion control module again, so that the operation device continues to carry out operation on the operation target, and through intermittent static operation in the forward process, the operation device is kept static relative to the current operation position in the operation period, and the operation quality is improved.
Drawings
FIG. 1 is a schematic structural diagram of an intermittent stationary working mechanism according to an embodiment of the present disclosure;
fig. 2 is a schematic view illustrating a connection manner between a mounting module and a mounting base according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method of intermittent rest operation according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an intermittent stationary working device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals: 1. mounting a base; 2. mounting a module; 31. a first detection module; 32. a second detection module; 4. a motion control module; 41. a connecting mechanism; 42. a linear control mechanism; 5. a chute; 6. a bearing; 7. a guide rail; 8. the synchronous belt drives the motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. In the description of the embodiments of the present application, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 shows a schematic structural diagram of an intermittent static operation mechanism provided in an embodiment of the present application, and as shown in fig. 1, the intermittent static operation mechanism includes a mounting base 1, a mounting module 2, a motion detection module, and a motion control module 4. Wherein, the mounting base 1 is arranged in a frame type, the mounting module 2 is used for mounting an operation device (not shown in the figure), and the mounting module 2 is connected to the mounting base 1 in a sliding manner along the horizontal direction. The working device may be a topping device (for example, a cotton topping device), a picking device (for example, a cotton picking device), or the like, and when the working device performs work on a target crop, the working device moves to a next working position after completing the work on one working position, and continues to perform work on a subsequent target work.
Fig. 2 is a schematic view of a connection manner between a mounting module 2 and a mounting base 1 according to an embodiment of the present application, and as shown in fig. 2, a sliding groove 5 is provided in the mounting base 1 along a horizontal direction, and the mounting module 2 is slidably connected to the sliding groove 5. Optionally, the mounting module 2 may be slidably connected to the sliding groove 5 through a bearing 6, and the friction between the mounting module 2 and the sliding groove 5 is reduced through the cooperation between the bearing 6 and the sliding groove 5, so that the mounting module 2 slides more smoothly on the sliding groove 5. Further, the sliding grooves 5 provided by the scheme are provided in a plurality and symmetrically arranged on two sides of the mounting base 1. Optionally, in the scheme, 4 sliding grooves 5 are arranged on the mounting base 1, and two sliding grooves are respectively arranged on two sides in the horizontal direction, and the opening direction of each sliding groove 5 horizontally faces the inside of the mounting base 1; it can be understood that two sliding grooves 5 are respectively arranged at intervals on two opposite sides of the mounting base 1 facing the mounting module 2.
Optionally, an anti-slip washer may be provided on the outer side of the bearing 6 to reduce the slipping of the bearing 6 on the runner 5. In a possible embodiment, a rack may be further disposed on the sliding groove 5 along the length direction of the sliding groove 5, a gear is fixedly disposed on the outer ring of the bearing 6, and the rack and the bearing are engaged with each other to realize stable sliding connection of the mounting module 2 on the mounting base 1.
Further, the motion detection module provided by the embodiment is connected to the mounting base 1 and is used for collecting motion information of the intermittent static operation mechanism. The motion information may be a motion speed and/or an acceleration of the mounting base 1 and/or the mounting module 2, and correspondingly, the motion detection module provided in this embodiment may be a speed detection module and/or an acceleration detection module. The motion detection module may be a first detection module 31 disposed on the mounting base 1, or may be a first detection module 31 disposed on the mounting base 1 and a second detection module 32 disposed on the mounting module 2.
Further, the motion control module 4 provided in this embodiment is installed on the installation base 1, and the motion control module 4 is configured to drive the mounting module 2 to move along the horizontal direction according to the motion information detected by the motion detection module, that is, control the mounting module 2 to move within the length range of the sliding chute 5. Specifically, when the motion control module 4 drives the mounting module 2 to move along the horizontal direction according to the motion information, the following steps are specifically performed: the mounting module 2 is made stationary relative to the current working position during a stationary working cycle and moved to the next working position during a catch-up cycle. That is, during the forward operation of the mounting base 1, one unit operation time (one forward operation time is composed of a plurality of unit operation times which are sequentially connected) is divided into a stationary operation period and a catch-up period, and it should be explained that the stationary operation period means that the operation device needs to be stationary with respect to the current operation position during the unit operation time in order to facilitate the operation of the operation device on the target operation, and the catch-up period means that after the operation device completes the operation on the target operation on the current operation device, since the mounting base 1 is still moving forward during the stationary operation, the mounting base 1 needs to catch up the forward distance and reach the time corresponding to the next operation position.
In one embodiment, the present solution provides a motion detection module comprising a first detection module 31 and a second detection module 32. The first detection module 31 is installed on the installation base 1 and is configured to collect first motion information (motion speed or acceleration) of the installation base 1, and the second detection module 32 is installed on the mounting module 2 and is configured to detect second motion information (motion speed or acceleration) of the mounting module 2. Further, the motion control module 4 controls the motion of the mounting module 2 in the horizontal direction according to the first motion information and the second motion information, for example, determines first displacement information of the mounting base 1 according to the first motion information and second displacement information of the mounting module 2 according to the second motion information according to the motion control module 4, determines control information (for example, displacement, speed, acceleration, time, and the like when controlling the motion of the mounting module 2) for the motion control module 4 according to the first displacement information and the second displacement information, and controls the motion of the mounting module 2 in the horizontal direction according to the determined control information. For example, during a static work period, the mounting module 2 is controlled to move in a direction opposite to the advancing direction of the mounting base 1, and the moving speed of the mounting module 2 relative to the mounting base 1 is made to be consistent with the moving speed of the mounting base 1 relative to the ground, and at this time, the mounting module 2 will be static relative to the ground. And in the chasing period, the mounting module 2 is controlled to move towards the direction same as the advancing direction of the mounting base 1, the advancing distance of the mounting module 2 is the distance of one working unit, and at the moment, the mounting module 2 reaches the next working position and enters the next static working period.
Further, the motion control module 4 provided in this embodiment includes a connection mechanism 41 and a linear control mechanism 42, wherein the connection mechanism 41 is slidably connected to the mounting base 1 along the horizontal direction, the connection mechanism 41 is fixedly connected to the mounting module 2, the linear control mechanism 42 is connected to the mounting base 1, and the linear control mechanism 42 is configured to control the connection mechanism 41 to move along the horizontal direction. Alternatively, a guide rail 7 arranged in the horizontal direction may be provided on the mounting base 1, and the connection mechanism 41 may be slidably connected to the guide rail 7. Wherein, the connecting mechanism 41 can be configured as a sliding block, and the sliding block is slidably mounted on the guide rail 7 and detachably connected with the mounting module 2 (for example, hanging, bolting, clamping, etc.). Through the detachable connection with the mounting module 2, the adaptive mounting module can be selected according to the mounting requirement of the operation device, or the mounting module 2 is arranged on the operation device, and the operation device provided with the mounting module 2 is connected with the connecting mechanism 41 when the operation is needed.
Alternatively, the linear control mechanism 42 provided in this embodiment may be configured as a synchronous belt type linear sliding table mechanism, and the connection mechanism 41 is fixedly connected to a synchronous belt of the synchronous belt type linear sliding table mechanism, that is, the movement of the connection mechanism 41 in the horizontal direction is controlled by means of the synchronous belt. For example, the synchronous belt type linear sliding table comprises a synchronous belt and a synchronous belt driving motor 8 which are horizontally arranged, a driven belt wheel and a driving belt wheel are respectively arranged at two ends of the synchronous belt, the driven belt wheel, the driving belt wheel and the synchronous belt are in transmission fit, the synchronous belt driving motor 8 is coaxially and fixedly connected with the driving belt wheel, the driving belt wheel is driven to rotate by the synchronous belt driving motor 8, the synchronous belt is driven to move, the connecting mechanism 41 is moved in the horizontal direction, and then the hanging module 2 (and the operation device) is driven to move in the horizontal direction.
In other embodiments, the linear control mechanism 42 may also be configured as a lead screw sliding table mechanism, that is, a lead screw is horizontally disposed on the guide rail 7, two ends of the lead screw are rotatably connected to the guide rail 7, a lead screw driving motor (the lead screw driving motor is directly and fixedly connected to the lead screw coaxially, or connected through a gear transmission) for driving the lead screw to rotate is disposed on the guide rail 7, the lead screw passes through the connecting mechanism 41, and a thread adapted to the lead screw is disposed in the connecting mechanism 41, and the lead screw is driven to rotate by the lead screw driving motor, so as to drive the connecting mechanism 41 to horizontally move within the length unit of the guide rail 7.
The intermittent static operation mechanism provided by the scheme is used for mounting an operation device needing to operate a target crop on the mounting module 2 when working, and mounting the mounting base 1 on the carrying device, or setting the mounting base 1 as the carrying device and advancing on a target field at a constant speed through the carrying device. The position where the target crop is operated in the set advancing direction of the target field block is divided into a plurality of operation units which are connected in sequence, and the position corresponding to each operation unit is an operation position. In the process of uniform-speed forward, when the operation device reaches an operation unit, a static operation period is entered, the motion control module 4 controls the mounting module 2 to move towards the direction opposite to the forward direction of the carrying device according to the motion information of the intermittent static operation mechanism collected by the motion detection module, so that the operation device is relatively static at the current operation position, and the operation device can stably operate the target crop at the current operation position.
After the operation of the current position is finished, entering a catch-up period, controlling the mounting module 2 to move in the same direction as the advancing direction of the mounting base 1 through the motion control module 4 according to the motion information of the intermittent static operation mechanism collected by the motion detection module, catching up the advancing progress of the carrying device, and enabling the mounting module 2 to reach the next operation position and enter the next static operation period. During the process that the carrying device moves forwards at a constant speed, the operation in the static operation period is repeated according to the mode, the advancing progress of the carrying device is tracked in the tracking period, the operation of the target crop in the set advancing direction on the target field is completed, in addition, during the operation of the target crop, the operation device is kept static with the target crop, and the operation of the operation device on the target crop is more stable.
As described above, by mounting the working device on the mounting module 2, during the forward movement work of the mounting base 1, the mounting module 2 is controlled to be stationary with respect to the current working position by the motion control module 4 in the stationary working period, and at this time, the working device is stationary with respect to the working target at the current working position, so that the working device can stably perform the work on the working target, and the mounting module 2 is controlled to move forward to the next working position by the motion control module 4 in the catch-up period, and at this time, the stationary working period is reached, and the mounting module 2 is controlled to be stationary with respect to the current working position again by the motion control module 4, so that the working device continues to perform the work on the working target, and the working device is kept stationary with respect to the current working position in the working period by the intermittent stationary work during the forward movement, so that the working quality is improved.
The embodiment also provides intermittent static working equipment which comprises a carrying device, a working device and the intermittent static working mechanism provided by the embodiment. Wherein, the carrying device can be an unmanned aerial vehicle, an unmanned vehicle, a farmland robot or a tractor and the like. Further, the working device is mounted on a mounting module of the intermittent stationary working mechanism (for example, detachably connected to the mounting module by means of, for example, hooking, bolting, clipping, etc.), and the mounting base of the intermittent stationary working mechanism is mounted on the carrier.
When the intermittent static operation equipment works, the position where the target crop works in the set advancing direction of the target field is divided into a plurality of operation units which are connected in sequence, and the position corresponding to each operation unit is an operation position. The carrying device is enabled to move forward on the target field at a constant speed, when the operation device reaches an operation unit, a static operation period is entered, the operation device is controlled to be static relatively at the current operation position through the motion control module, and the operation device can operate the target crop at the current operation position.
After the operation of the current position is finished, entering a catching-up period, controlling the mounting module to reach the next operation position through the motion control module, and entering the next static operation period. In the static operation period and the catch-up period, the carrying device keeps forward at a constant speed, and after the operation device finishes the operation at one operation position, the carrying device goes to the next operation position to continue the operation, thereby finishing the operation of the target crops on the target field in the set forward direction.
In the above, by mounting the working device on the mounting module and mounting the intermittent stationary working mechanism on the carrying device, during the forward working of the carrying device driving the mounting base, the mounting module is controlled to be stationary relative to the current working position by the motion control module during the stationary working period, at this time, the working device is stationary relative to the working target at the current working position, the working target can be stably worked, and the mounting module is controlled to move forward to the next working position by the motion control module during the catching-up period, at this time, the stationary working period is reached, the mounting module is controlled to be stationary relative to the current working position by the motion control module again, so that the working device continues to work on the working target, and the working device is kept stationary relative to the current working position during the working period by the intermittent stationary working during the forward working period, the operation quality is improved.
Fig. 3 is a flowchart of an intermittent stationary work method according to an embodiment of the present application, which is used to control an intermittent stationary work mechanism according to the embodiment and is applied to an intermittent stationary work apparatus according to the embodiment.
The following description will be given taking an example in which the intermittent stationary working equipment performs the intermittent stationary working mechanism. Referring to fig. 3, the intermittent stationary working mechanism includes:
s101: and acquiring the motion information acquired by the motion detection module, and the unit operation duration and the unit operation distance of the intermittent static operation equipment for performing intermittent static operation.
The unit working distance of the intermittent stationary working equipment provided in this embodiment for performing intermittent stationary working can be understood as a distance (corresponding to a displacement distance of the working device relative to the ground during a catch-up period) from one working position to the next working position, or a distance between adjacent target working center points in the working direction.
The unit work duration for the intermittent stationary work equipment provided in the present embodiment to perform the intermittent stationary work can be understood as the time required from entering one work unit to leaving the work unit, wherein the unit work duration includes a stationary work period and a catch-up period. Optionally, the unit operation time length may be determined according to the unit operation distance and the uniform speed of the carrier.
Specifically, the motion information acquired by the motion detection module and the unit operation duration and the unit operation distance of the intermittent static operation equipment for intermittent static operation are acquired. The motion detection module acquires motion information of the intermittent static operation equipment by using corresponding sensors (a speed sensor, an acceleration sensor, a gyroscope and the like) in the motion process of the intermittent static operation equipment.
Specifically, when the unit operation duration and the unit operation distance of the intermittent static operation equipment for performing intermittent static operation are acquired, the scheme specifically comprises the following steps:
s1011: and acquiring the distribution condition of the operation targets on the target field and the set uniform-speed advancing speed of the carrying device.
S1012: and determining the unit operation time length and the unit operation distance of the intermittent static operation equipment for performing intermittent static operation according to the distribution condition of the operation targets and the uniform speed forward speed.
Specifically, the unit operation duration and the unit operation distance may be determined according to the distribution of the operation targets on the target field and the set uniform forward speed of the carrier device. For example, the distance between the center points of the adjacent target work in the working advancing direction is determined according to the distribution of the working targets on the target field, the unit working distance is determined, and the unit working duration is determined according to the unit working distance and the uniform speed of the carrying device.
S102: and determining catch-up control information and static control information of the motion control module according to the motion information, the unit operation time length and the unit operation distance.
The control information for controlling the motion control module includes catch-up control information and stationary control information, wherein the control information may indicate a control manner for the speed, acceleration, etc. of the motion control module. Specifically, the catch-up control information and the static control information for the motion control module are determined according to the motion information, the unit operation duration and the unit operation distance. The catching-up control information is used for indicating a control mode for controlling the motion control module in a catching-up period so as to enable the mounting module to reach the next operation position; the static control information is used for indicating a control mode for controlling the motion control module in a static working period so as to make the mounting module static relative to the current working position.
In one embodiment, when determining the catch-up control information and the static control information for the motion control module according to the motion information, the unit operation duration and the unit operation distance, specifically:
s1021: and determining catching-up control information for the motion control module according to the motion information, the unit operation time length and the unit operation distance based on the first motion speed constraint for the mounting module in the catching-up period.
S1022: and determining catch-up control information for the motion control module according to the motion information based on a second motion speed constraint for the mounted module in the static operation period.
In one embodiment, assuming that the unit working distance is Du, the forward speed of the carrier (mounting base) is V1, i.e., the speed of the carrier relative to the ground, the unit working duration is Tu, and the stationary working duration is p, the stationary working period in the current unit working duration is T1 ═ p ═ Tu, and the catch-up period is T2 ═ 1-p ═ Tu.
Assuming that the motion detection module is a speed detection module, when determining the static control information for the motion control module, the motion speed for the motion control module to control the mounting module may be constrained to be consistent with the magnitude and opposite direction of the forward speed V1, i.e., the second motion speed for the mounting module during the static work period is constrained to be consistent with the magnitude and opposite direction of the forward speed V1. When determining the catch-up control information for the motion control module, it is necessary to ensure that the first motion speed of the mounted module is constrained in the catch-up period, that is, the motion speed of the motion control module controlling the mounted module in the catch-up period satisfies the following relationship:
(1-p)*Tu*V2＝Du
where V2 is the speed of the mounted module relative to the ground. The speed of the mounting module relative to the carrying device can be determined according to the speed of the mounting module relative to the ground and the speed of the carrying device relative to the ground, or the speed of the carrying device relative to the ground can be determined according to the real-time control of the mounting module by the motion control module. When the mounting module is controlled, the speed of the mounting module relative to a carrying device (a mounting base) or the ground is controlled to ensure that the moving distance of the mounting module relative to the ground is a unit operation distance after one unit operation time.
Assuming that the motion detection module is an acceleration detection module, when determining the static control information of the motion control module, the motion speed of the motion control module control mounting module can be opposite to the forward speed of the mounting base, and the second motion speed of the mounting module is constrained during the static work period, that is, the motion speed of the motion control module control mounting module during the static work period satisfies the following relationship:
where a1 is the acceleration of the carrier (mounting base) and a2 is the acceleration of the mounted module. When determining the catch-up control information for the motion control module, it is necessary to ensure that the first motion speed of the mounted module is constrained in the catch-up period, that is, the motion speed of the motion control module controlling the mounted module in the catch-up period satisfies the relationship:
when the mounting module is controlled, the moving distance of the mounting module relative to the ground is ensured to be the unit operation distance after one unit operation time length by controlling the acceleration of the mounting module relative to a carrying device (a mounting base) or the ground.
S103: and controlling the motion control module based on the static control information so as to make the mounting module static relative to the current working position in the static working period and control the working device to work at the current working position.
Specifically, in the process that the carrying device advances at a constant speed, when the mounting module enters a new operation position, the intermittent static operation flow enters a static operation period, and the motion control module is controlled based on the determined static control information, so that the mounting module is static relative to the current operation position in the static operation period, and the operation device is controlled to operate at the current operation position.
In one embodiment, the motion detection module is a speed detection module, and based on this, when the motion control module is controlled based on the still control information, specifically: and in the static operation period, based on the static control information, the speed of the mounting module is controlled by the motion control module, so that the motion speed of the mounting module is consistent with the advancing speed of the carrying device and opposite to the advancing speed.
In one embodiment, the motion detection module is an acceleration detection module, and based on this, when the motion control module is controlled based on the static control information, specifically: and in the static operation period, controlling the acceleration of the mounting module through the motion control module based on the static control information so that the magnitude of the integral of the acceleration of the mounting module to the time is consistent with the magnitude of the integral of the acceleration of the carrying device to the time and the direction of the acceleration is opposite.
In a static operation period, the corresponding speed or acceleration of the mounting module during movement is controlled by the motion control module, so that the movement speed of the mounting module is ensured to be consistent with the advancing speed of the carrying device and opposite in direction, or the magnitude of the integral of the acceleration of the mounting module with time is consistent with the magnitude of the integral of the acceleration of the carrying device with time and opposite in acceleration direction. Meanwhile, the displacement distance of the mounting module relative to the mounting base is consistent with the displacement distance of the carrying device relative to the ground.
S104: and controlling the motion control module based on the catch-up control information so as to enable the mounting module to move to the next operation position in the catch-up period.
Specifically, in the process that the carrying device advances at a constant speed, when the operation device finishes the operation at the current operation position, the intermittent static operation flow enters the catch-up period, and the motion control module is controlled based on the determined catch-up control information, so that the mounting module moves to the next operation position in the catch-up period and enters the next static operation period.
In one embodiment, the motion detection module is a speed detection module, and based on this, when controlling the motion control module based on the catch-up control information, specifically: and in the catch-up period, controlling the movement speed of the mounting module through the movement control module based on the catch-up control information so that the movement speed of the mounting module is the same as the advancing speed direction of the carrying device, and the moving distance of the mounting module relative to the ground is a unit working distance.
In one embodiment, the motion detection module is an acceleration detection module, and based on this, when controlling the motion control module based on the catch-up control information, specifically: and in the catch-up period, controlling the acceleration of the motion of the mounting module through the motion control module based on the catch-up control information so that the acceleration of the mounting module is in the same direction as the acceleration of the carrying device, and the integral of the acceleration of the mounting module to the time is the unit working distance.
In the catch-up period, the corresponding speed or acceleration of the motion of the mounting module is controlled by the motion control module, so that the motion speed of the mounting module is the same as the advancing speed direction of the carrying device, the moving distance of the mounting module relative to the ground is the unit operation distance, or the acceleration of the mounting module is the same as the acceleration direction of the carrying device, and the integral of the acceleration of the mounting module to the time is the unit operation distance. Meanwhile, the displacement distance of the mounting module relative to the mounting base is consistent with the displacement distance of the carrying device relative to the ground.
In the above, by mounting the working device on the mounting module and mounting the intermittent stationary working mechanism on the carrying device, during the forward working of the carrying device driving the mounting base, the mounting module is controlled to be stationary relative to the current working position by the motion control module during the stationary working period, at this time, the working device is stationary relative to the working target at the current working position, the working target can be stably worked, and the mounting module is controlled to move forward to the next working position by the motion control module during the catching-up period, at this time, the stationary working period is reached, the mounting module is controlled to be stationary relative to the current working position by the motion control module again, so that the working device continues to work on the working target, and the working device is kept stationary relative to the current working position during the working period by the intermittent stationary working during the forward working period, the operation quality is improved.
Fig. 4 is a schematic structural diagram of an intermittent stationary working device according to an embodiment of the present application. Referring to fig. 4, the intermittent stationary work apparatus includes a motion information acquisition module 401, a control information determination module 402, a stationary work control module 403, and a catch-up motion control module 404.
The motion information acquiring module 401 is configured to acquire motion information acquired by the motion detecting module, and a unit operation duration and a unit operation distance of the intermittent stationary operation equipment for performing intermittent stationary operation; the control information determining module 402 is configured to determine catch-up control information and static control information for the motion control module according to the motion information, the unit operation duration and the unit operation distance; the static operation control module 403 is configured to control the motion control module based on the static control information, so that the mounting module is static relative to the current operation position in a static operation period, and control the operation device to perform operation at the current operation position; the catch-up motion control module 404 is configured to control the motion control module based on the catch-up control information, so that the mounting module moves to the next working position in the catch-up period.
In the above, by mounting the working device on the mounting module and mounting the intermittent stationary working mechanism on the carrying device, during the forward working of the carrying device driving the mounting base, the mounting module is controlled to be stationary relative to the current working position by the motion control module during the stationary working period, at this time, the working device is stationary relative to the working target at the current working position, the working target can be stably worked, and the mounting module is controlled to move forward to the next working position by the motion control module during the catching-up period, at this time, the stationary working period is reached, the mounting module is controlled to be stationary relative to the current working position by the motion control module again, so that the working device continues to work on the working target, and the working device is kept stationary relative to the current working position during the working period by the intermittent stationary working during the forward working period, the operation quality is improved.
The embodiment of the application also provides electronic equipment which can integrate the intermittent static operation device provided by the embodiment of the application. Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 5, the electronic device includes: an input device 53, an output device 54, a memory 52, and one or more processors 51; the memory 52 for storing one or more programs; when the one or more programs are executed by the one or more processors 51, the one or more processors 51 are caused to implement the intermittent stationary operation method provided in the above embodiment. Wherein the input device 53, the output device 54, the memory 52 and the processor 51 may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 52, which is a storage medium readable by a computing device, may be used for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the intermittent stationary work method according to any embodiment of the present application (for example, the motion information acquisition module 401, the control information determination module 402, the stationary work control module 403, and the catch-up motion control module 404 in the intermittent stationary work apparatus). The memory 52 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 52 may further include memory located remotely from the processor 51, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 53 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function control of the apparatus. The output device 54 may include a display device such as a display screen.
The processor 51 executes various functional applications of the apparatus and data processing by running software programs, instructions, and modules stored in the memory 52, that is, implements the above-described intermittent stationary work method.
The intermittent static operation device, the equipment and the computer provided by the above can be used for executing the intermittent static operation method provided by any of the above embodiments, and have corresponding functions and beneficial effects.
Embodiments of the present application further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the intermittent stationary work method provided in the above embodiments, the intermittent stationary work method including: acquiring motion information acquired by a motion detection module, and unit operation duration and unit operation distance of the intermittent static operation equipment for intermittent static operation; determining catch-up control information and static control information of the motion control module according to the motion information, the unit operation duration and the unit operation distance; controlling a motion control module based on the static control information so that the mounting module is static relative to the current operation position in a static operation period and controlling an operation device to operate at the current operation position; and controlling the motion control module based on the catch-up control information so as to enable the mounting module to move to the next operation position in the catch-up period.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided in the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the above-mentioned intermittent still work method, and may also perform related operations in the intermittent still work method provided in any embodiments of the present application.
The intermittent stationary operation device, the equipment and the storage medium provided in the above embodiments may execute the intermittent stationary operation method provided in any embodiments of the present application, and reference may be made to the intermittent stationary operation method provided in any embodiments of the present application without detailed technical details described in the above embodiments.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (17)
1. The utility model provides an intermittent type static operation mechanism which characterized in that, includes mounting base, mount module, motion detection module and motion control module, wherein:
the mounting module is connected to the mounting base in a sliding manner along the horizontal direction;
the motion detection module is connected to the mounting base and used for collecting motion information of the intermittent static operation mechanism;
the motion control module is installed on the installation base and used for driving the mounting module to move along the horizontal direction according to the motion information, so that the mounting module is static relative to the current operation position in a static operation period and moves to the next operation position in a catch-up period.
2. An intermittent stationary working mechanism according to claim 1, wherein the mounting base is provided with a slide groove arranged in a horizontal direction, and the mounting module is slidably connected to the slide groove.
3. An intermittent stationary work mechanism as claimed in claim 2 wherein the mounting module is slidably connected to the chute by a bearing.
4. An intermittent stationary working mechanism according to claim 2, wherein the slide groove is provided in plural and symmetrically provided on both sides of the mounting base.
5. An intermittent stationary working mechanism as recited in claim 1, wherein the motion control module comprises a connection mechanism and a linear control mechanism, the connection mechanism is slidably connected to the mounting base in a horizontal direction, the connection mechanism is fixedly connected to the mounting module, the linear control mechanism is connected to the mounting base, and the linear control mechanism is configured to control the connection mechanism to move in the horizontal direction.
6. An intermittent stationary working mechanism as recited in claim 5, wherein the linear control mechanism is a synchronized belt linear slide mechanism, and the coupling mechanism is fixedly coupled to a synchronized belt of the synchronized belt linear slide mechanism.
7. An intermittent stationary work mechanism according to claim 1, characterized in that the motion detection module comprises a first detection module and a second detection module;
the first detection module is mounted on the mounting base and used for collecting first motion information of the mounting base, and the second detection module is mounted on the mounting module and used for detecting second motion information of the mounting module;
the motion control module controls the mounting module to move in the horizontal direction according to the first motion information and the second motion information.
8. An intermittent stationary work mechanism as claimed in claim 1, characterized in that the motion detection module is a speed detection module.
9. An intermittent stationary work mechanism according to claim 1, characterized in that the motion detection module is an acceleration detection module.
10. An intermittent stationary working equipment comprising a carrier, a working device and an intermittent stationary working mechanism according to any one of claims 1 to 9, wherein the working device is mounted on a mounting module of the intermittent stationary working mechanism, and a mounting base of the intermittent stationary working mechanism is mounted on the carrier.
11. An intermittent stationary work method applied to the intermittent stationary work apparatus according to claim 10, comprising:
acquiring motion information acquired by a motion detection module, and unit operation duration and unit operation distance of the intermittent static operation equipment for intermittent static operation;
determining catch-up control information and static control information of the motion control module according to the motion information, the unit operation duration and the unit operation distance;
controlling a motion control module based on the static control information so that the mounting module is static relative to the current operation position in a static operation period and controlling an operation device to operate at the current operation position;
and controlling the motion control module based on the catch-up control information so as to enable the mounting module to move to the next operation position in the catch-up period.
12. An intermittent stationary work method according to claim 11, wherein acquiring a unit work time length and a unit work distance of the intermittent stationary work equipment for intermittent stationary work includes:
acquiring the distribution condition of operation targets on a target field and the set uniform-speed advancing speed of a carrying device;
and determining the unit operation time length and the unit operation distance of the intermittent static operation equipment for performing intermittent static operation according to the distribution condition of the operation targets and the uniform speed forward speed.
13. An intermittent stationary operation method as claimed in claim 11, wherein said determining catch-up control information and stationary control information for a motion control module based on said motion information and said unit operation time length and unit operation distance comprises:
determining catch-up control information for the motion control module according to the motion information, the unit operation duration and the unit operation distance based on first motion speed constraint on the mounted module in a catch-up period;
and determining catch-up control information for the motion control module according to the motion information based on a second motion speed constraint for the mounted module in the static operation period.
14. An intermittent stationary operation method according to claim 11, characterized in that said controlling a motion control module based on said stationary control information comprises:
in a static operation period, controlling the speed of the mounting module through the motion control module based on the static control information so that the motion speed of the mounting module is consistent with the advancing speed of the carrying device and opposite in direction; or
And in the static operation period, controlling the acceleration of the mounting module through the motion control module based on the static control information so that the magnitude of the integral of the acceleration of the mounting module to the time is consistent with the magnitude of the integral of the acceleration of the carrying device to the time and the direction of the acceleration is opposite.
15. An intermittent stationary operation method according to claim 11, wherein the controlling a motion control module based on the catch-up control information includes:
in the catch-up period, based on the catch-up control information, the motion speed of the mounting module is controlled through the motion control module, so that the motion speed of the mounting module is the same as the advancing speed direction of the carrying device, and the moving distance of the mounting module relative to the ground is a unit operation distance; or
And in the catch-up period, controlling the acceleration of the motion of the mounting module through the motion control module based on the catch-up control information so that the acceleration of the mounting module is in the same direction as the acceleration of the carrying device, and the integral of the acceleration of the mounting module to the time is the unit working distance.
16. An electronic device, comprising: a memory and one or more processors;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the intermittent stationary work method of any one of claims 11-15.
17. A storage medium containing computer-executable instructions for performing the intermittent stationary work method of any one of claims 11-15 when executed by a computer processor.
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