CN114402811B - Intermittent static operation mechanism, equipment and method - Google Patents
Intermittent static operation mechanism, equipment and method Download PDFInfo
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- CN114402811B CN114402811B CN202111670745.5A CN202111670745A CN114402811B CN 114402811 B CN114402811 B CN 114402811B CN 202111670745 A CN202111670745 A CN 202111670745A CN 114402811 B CN114402811 B CN 114402811B
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- 230000003068 static effect Effects 0.000 title claims abstract description 81
- 230000007246 mechanism Effects 0.000 title claims abstract description 75
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- 230000033001 locomotion Effects 0.000 claims abstract description 212
- 238000010977 unit operation Methods 0.000 claims description 64
- 238000001514 detection method Methods 0.000 claims description 58
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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, intermittent static operation equipment and an intermittent static operation method. According to the technical scheme provided by the embodiment of the application, the operation device is arranged on the mounting module, the mounting module is controlled to be static relative to the current operation position through the motion control module in the static operation period in the process of driving the mounting base to operate forward, the operation device is static relative to the operation target in the current operation position at the moment, the operation can be stably carried out on the operation target, the mounting module is controlled to catch up to the next operation position forward through the motion control module in the catch-up period, the static operation period is reached at the moment, 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 can continue to operate the operation target, and the operation device can be kept static relative to the current operation position in the operation period through intermittent static operation in the advancing process, so that the operation quality is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of crop treatment, in particular to an intermittent static operation mechanism, intermittent static operation equipment and intermittent static operation method.
Background
In the process of planting crops, the crops need to be treated on time, such as topping and picking of cotton. In order to accelerate the crop processing efficiency and quality, the corresponding working devices are generally used for working, such as topping operation of crops by using a topping device, picking operation of crops by using a picking device, and the like.
The working device is generally mounted on a movable carrier (such as a tractor) to work, and the movable carrier drives the working device to move on a target field, so that the working device works on crops on the target field after reaching a working position. However, during the operation, the operation device moves synchronously with the moving carrier, and the position between the operation device and 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, intermittent static operation equipment and an intermittent static operation method, which are used for solving the technical problem that the operation effect is poor because the position between an operation device and crops is always changed in the prior art, so that the operation device is kept static relative to the current operation position in an operation period, and the operation quality is improved.
In a first aspect, an embodiment of the present application provides an intermittent rest working mechanism, including a mounting base, a mounting module, a motion detection module, and a 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 arranged on the mounting base and is 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 working position in a static working period and moves to the next working position in a catch-up period.
Further, a chute arranged along the horizontal direction is arranged on the mounting base, and the mounting module is slidably connected to the chute.
Further, the mounting module is connected to the chute in a sliding manner through a bearing.
Further, the sliding grooves are formed in a plurality of ways and are symmetrically formed in two sides of the mounting base.
Further, the motion control module comprises a connecting mechanism and a linear control mechanism, the connecting mechanism is slidably connected to the mounting base along the horizontal direction, the connecting mechanism is fixedly connected with the mounting module, the linear control mechanism is connected to 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 arranged on the mounting base and used for collecting first motion information of the mounting base, and the second detection module is arranged on the mounting module and used for detecting second motion information of the mounting module;
And the motion control module controls the motion of the mounting module 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, an embodiment of the present application provides an intermittent rest working apparatus comprising a carrier, a working device and an intermittent rest working mechanism as claimed in any one of the first aspects, the working device being mounted on a mounting module of the intermittent rest working mechanism, a mounting base of the intermittent rest working mechanism being mounted on the carrier.
In a third aspect, an embodiment of the present application provides an intermittent rest operation method applied to the intermittent rest operation apparatus according to the second aspect, including:
Acquiring motion information acquired by a motion detection module, wherein the unit operation duration and the unit operation distance of the intermittent rest operation performed by the intermittent rest operation equipment are;
According to the motion information, the unit operation time length and the unit operation distance, the catch-up control information and the static control information of the motion control module are determined;
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 a motion control module based on the catch-up control information so as to enable the mounting module to move to the next working 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 is used for storing one or more programs;
When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the intermittent rest job method as described in the third aspect.
In a fifth aspect, embodiments of the present application provide a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform the intermittent rest job method of the third aspect.
According to the embodiment of the application, the operation device is arranged on the mounting module, in the process of driving the mounting base to work forward, the mounting module is controlled to be static relative to the current operation position through the motion control module in the static operation period, the operation device is static relative to the operation target in the current operation position at the moment, the operation can be stably carried out on the operation target, the mounting module is controlled to catch up to the next operation position forward through the motion control module in the catch-up period, the static operation period is reached at the moment, 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 can continue to operate the operation target, and the operation device can be kept static relative to the current operation position in the operation period through intermittent static operation in the forward process, so that the operation quality is improved.
Drawings
FIG. 1 is a schematic view of an intermittent rest work mechanism according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a connection mode between a mounting module and a mounting base according to an embodiment of the present application;
FIG. 3 is a flow chart of an intermittent rest operation method provided by an embodiment of the present application;
FIG. 4 is a schematic view of an intermittent rest working device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals: 1. a mounting 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, the following detailed description of specific embodiments of the present application is given 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 thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. In describing embodiments of the present application, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 shows a schematic structural diagram of an intermittent rest operation mechanism according to an embodiment of the present application, and as shown in fig. 1, the intermittent rest 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 a working device (not shown in the figure), and the mounting module 2 is slidably connected to the mounting base 1 along a horizontal direction. The working device may be a topping working device (e.g., cotton topping working device), a picking working device (e.g., cotton picking working device), etc., and when the working device works on the target crop, the working device moves to the next working position to continue working on the subsequent target work after completing the working on one working position.
Fig. 2 is a schematic diagram of a connection manner between a mounting module 2 and a mounting base 1 according to an embodiment of the present application, as shown in fig. 2, a chute 5 disposed along a horizontal direction is disposed on the mounting base 1, and the mounting module 2 is slidably connected to the chute 5. Optionally, the mounting module 2 may be slidably connected to the chute 5 through the bearing 6, and friction between the mounting module 2 and the chute 5 is reduced through the cooperation of the bearing 6 and the chute 5, so that the sliding of the mounting module 2 on the chute 5 is smoother. Further, the sliding grooves 5 provided by the scheme are arranged in a plurality and symmetrically arranged on two sides of the installation base 1. Optionally, in the scheme, 4 sliding grooves 5 are arranged on the mounting base 1, two sliding grooves 5 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 will be appreciated that two sliding grooves 5 are provided in the mounting base 1 at intervals on opposite sides facing the mounting module 2.
Optionally, an anti-slip washer may be disposed on the outer side of the bearing 6 to reduce the slipping of the bearing 6 on the chute 5. In one possible embodiment, a rack may be further disposed on the chute 5 along the length direction of the chute 5, a gear is fixedly disposed on the outer ring of the bearing 6, and the mounting module 2 is stably slidably connected on the mounting base 1 through the engagement and cooperation of the gear and the teeth.
Further, the motion detection module provided in this embodiment is connected to the mounting base 1, and is used for collecting motion information of the intermittent rest 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 modules may be a first detection module 31 arranged on the mounting base 1, a first detection module 31 arranged on the mounting base 1 and a second detection module 32 arranged on the mounting module 2.
Further, the motion control module 4 provided in this embodiment is mounted on the mounting base 1, and the motion control module 4 is configured to drive the mounting module 2 to move in a horizontal direction according to the motion information detected by the motion detection module, that is, to control the mounting module 2 to move within a length range of the 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 is specifically: the mounting module 2 is made stationary with respect to the current work position during a stationary work cycle and is moved to the next work 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 connected in sequence) is divided into a stationary operation period and a catch-up period, and it is to be interpreted that the stationary operation period is understood as a time corresponding to the operation of the operation device with respect to the current operation position in order to facilitate the operation of the operation device on the target operation in the unit operation time, and the catch-up period is understood as a time corresponding to the operation device after the operation device completes the operation of the target operation on the current operation device because the mounting base 1 is still moving forward during the stationary operation, and it is necessary to catch up the forward distance of the mounting base 1 and reach the next operation position.
In one embodiment, the motion detection module provided by the present solution includes a first detection module 31 and a second detection module 32. The first detection module 31 is mounted on the mounting base 1 and is used for collecting first motion information (motion speed or acceleration) of the mounting base 1, and the second detection module 32 is mounted on the mounting module 2 and is used for detecting 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 the first displacement information of the mounting base 1 according to the first motion information and the second displacement information of the mounting module 2 according to the second motion information by the motion control module 4, determines the control information (for example, controls the displacement, the speed, the acceleration, the time, etc. when the mounting module 2 moves) of 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 stationary work cycle, the mounting module 2 is controlled to move in a direction opposite to the advancing direction of the mounting base 1, and the movement speed of the mounting module 2 relative to the mounting base 1 is made to coincide with the movement speed of the mounting base 1 relative to the ground, at which time the mounting module 2 will be stationary relative to the ground. In the catch-up period, the mounting module 2 is controlled to move in the same direction as the advancing direction of the mounting base 1, so that the advancing distance of the mounting module 2 is the distance of one operation unit, and at the moment, the mounting module 2 reaches the next operation position and enters the next stationary operation period.
Further, the motion control module 4 provided in this embodiment includes a connection mechanism 41 and a linear control mechanism 42, where the connection mechanism 41 is slidably connected to the mounting base 1 along a 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 used to control the connection mechanism 41 to move along the horizontal direction. Alternatively, the guide rail 7 provided 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. The connection mechanism 41 may be provided as a slider, which is slidably mounted on the guide rail 7 and is detachably connected (e.g. hung, bolted, clamped, etc.) to the mounting module 2. By detachable connection with the mounting module 2, an adapted mounting module can be selected according to the mounting requirements of the working device, or the mounting module 2 can be provided on the working device, and when working is required, the working device provided with the mounting module 2 can be connected with the connection mechanism 41.
Alternatively, the present embodiment provides that the linear control mechanism 42 may be provided as a synchronous belt type linear slide mechanism, and the link mechanism 41 is fixedly connected to a synchronous belt of the synchronous belt type linear slide mechanism, that is, the movement of the link 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, wherein a driven belt pulley and a driving belt pulley are respectively arranged at two ends of the synchronous belt, the driven belt pulley, the driving belt pulley and the synchronous belt are in transmission fit, the synchronous belt driving motor 8 and the driving belt pulley are coaxially and fixedly connected, the driving belt pulley is driven to rotate by the synchronous belt driving motor 8, the synchronous belt is driven to move, the movement of the connecting mechanism 41 in the horizontal direction is realized, and then the movement of the mounting module 2 (and the operation device) in the horizontal direction is driven.
In other embodiments, the linear control mechanism 42 may also be configured as a screw sliding table mechanism, that is, a horizontally placed screw is disposed on the guide rail 7, two ends of the screw are rotationally connected with the guide rail 7, a screw driving motor for driving the screw to rotate is disposed on the guide rail 7 (the screw driving motor is directly and fixedly connected with the screw coaxially or through a gear transmission), the screw passes through the connecting mechanism 41, threads adapted to the screw are disposed in the connecting mechanism 41, and the screw is driven to rotate by the screw driving motor, so as to drive the connecting mechanism 41 to horizontally move in the length unit of the guide rail 7.
When the intermittent static operation mechanism provided by the scheme works, an operation device which needs to operate target crops is mounted on the mounting module 2, the mounting base 1 is mounted on the carrying device, or the mounting base 1 is set as the carrying device, and the operation device moves forward on a target field at a constant speed through the carrying device. The position of the target crop in the set advancing direction of the target field is divided into a plurality of working units which are connected in sequence, and the position corresponding to each working unit is one working position. In the process of uniform speed advancing, when the operation device reaches an operation unit, a static operation period is entered, and according to the motion information of the intermittent static operation mechanism collected by the motion detection module, the motion control module 4 controls the mounting module 2 to move in the direction opposite to the advancing direction of the carrying device, so that the operation device is relatively static at the current operation position, and the operation device can stably operate the target crops at the current operation position.
After the operation at the current position is completed, a catch-up period is entered, the mounting module 2 is controlled to move in the same direction as the advancing direction of the mounting base 1 by the motion control module 4 according to the motion information of the intermittent static operation mechanism acquired by the motion detection module, the advancing progress of the carrying device is caught up, the mounting module 2 reaches the next operation position, and the next static operation period is entered. In the process of uniformly advancing the carrier device, the operation in the stationary operation period is repeated in the above manner, the advancing progress of the carrier device is chased in the chase period, the operation of the target crop in the set advancing direction on the target field is completed, and the operation device keeps stationary with the target crop during the operation of the target crop, and the operation of the operation device on the target crop is more stable.
In the above-mentioned process, the operation device is mounted on the mounting module 2, during the process of driving the mounting base 1 to operate forward, the mounting module 2 is controlled to be stationary relative to the current operation position by the motion control module 4 in the stationary operation period, at this time, the operation device is stationary relative to the operation target at the current operation position, so that the operation device can operate stably, and during the catch-up period, the mounting module 2 is controlled to catch up to the next operation position forward by the motion control module 4, at this time, the stationary operation period is reached, the mounting module 2 is controlled to be stationary relative to the current operation position again by the motion control module 4, so that the operation device can continue to operate the operation target, and during the intermittent stationary operation in the forward process, the operation device can be kept stationary relative to the current operation position in the operation period, so as to improve the operation quality.
The present embodiment also provides an intermittent rest operation apparatus including a carrier device, an operation device, and an intermittent rest operation mechanism as provided in the above embodiments. Wherein, the carrying device can be unmanned aerial vehicle, unmanned vehicle, farmland robot or tractor etc.. Further, the working device is mounted on a mounting module of the intermittent rest working mechanism (for example, detachably connected with the mounting module by means of, for example, hooking, bolting, clamping, etc.), and a mounting base of the intermittent rest working mechanism is mounted on the carrying device.
When the intermittent static operation equipment provided by the scheme works, the position for operating the target crop 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. When the operation device reaches an operation unit, the operation device enters a static operation period, and is controlled to be relatively static at a current operation position by the motion control module, so that the operation device can operate the target crops at the current operation position.
After the operation of the current position is completed, a catch-up period is entered, the mounting module is controlled by the motion control module to reach the next operation position, and the next stationary operation period is entered. And in the stationary working period and the catch-up period, the carrying device keeps moving forward at a constant speed, and after the working device finishes the operation at one working position, the carrying device moves to the next working position to continue the operation, so that the operation of the target crops in the set advancing direction on the target field is finished.
In the process of driving the mounting base to operate by the carrier, the mounting module is controlled to be stationary relative to the current operation position by the motion control module in a stationary operation period, the operation device is stationary relative to the operation target in the current operation position at the moment, the operation device can stably operate the operation target, the mounting module is controlled to catch up to the next operation position forward by the motion control module in a catch-up period, the stationary operation period is reached at the moment, the mounting module can be controlled to be stationary relative to the current operation position by the motion control module again, so that the operation device can continue to operate the operation target, and the operation device can be kept stationary relative to the current operation position in the operation period by the intermittent stationary operation in the advancing process, so that the operation quality is improved.
Fig. 3 is a flowchart of an intermittent rest operation method according to an embodiment of the present application, which is used to control the intermittent rest operation mechanism according to the above embodiment and is applied to the intermittent rest operation apparatus according to the above embodiment.
The intermittent rest operation mechanism is described below by taking an example of the intermittent rest operation device. Referring to fig. 3, the intermittent rest operation mechanism includes:
s101: and acquiring motion information acquired by a motion detection module, wherein the unit operation duration and the unit operation distance of the intermittent rest operation performed by the intermittent rest operation equipment are longer.
The unit working distance of the intermittent rest working device provided in this embodiment for performing the intermittent rest working is understood to be a distance corresponding to a distance from one working position to a next working position (corresponding to a displacement distance of the working device relative to the ground in the catch-up period), or a distance between adjacent target working center points in the working advancing direction.
The unit job duration of intermittent rest operation performed by the intermittent rest operation apparatus provided in the present embodiment may be understood as the time required from entering one job unit to leaving the job unit, wherein the unit job duration includes a rest operation period and a catch-up period. Alternatively, the unit operation duration may be determined according to the unit operation distance and the uniform forward speed of the carrier.
Specifically, motion information acquired by the motion detection module and unit operation time and unit operation distance of intermittent stationary operation performed by the intermittent stationary operation equipment are acquired. The motion detection module acquires motion information of the intermittent stationary operation equipment by using corresponding sensors (a speed sensor, an acceleration sensor, a gyroscope and the like) in the motion process of the intermittent stationary operation equipment.
Specifically, when the unit operation duration and the unit operation distance of the intermittent rest operation equipment for intermittent rest operation are obtained, 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 unit operation duration and unit operation distance of the intermittent rest operation equipment for intermittent rest operation according to the distribution condition of the operation targets and the uniform speed advancing speed.
Specifically, the unit operation duration and the unit operation distance can be determined according to the distribution condition of the operation targets on the target field and the set uniform speed of the carrier device. For example, the distance between adjacent target operation center points in the operation advancing direction is determined according to the distribution condition of the operation targets on the target field, the unit operation distance is determined, and the unit operation duration is determined according to the unit operation distance and the uniform advancing speed of the carrier device.
S102: and determining catch-up control information and rest control information of the motion control module according to the motion information, the unit operation duration and the unit operation distance.
The control information for controlling the motion control module comprises catch-up control information and static control information, wherein the control information can be a control mode for indicating the speed, the acceleration and the like of the motion control module. Specifically, catch-up control information and rest control information for the motion control module are determined according to the motion information, the unit operation duration and the unit operation distance. The catch-up control information is used for indicating a control mode for controlling the motion control module in a catch-up period so that the mounting module reaches 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 enable the mounting module to be static relative to the current working position.
In one embodiment, when the catch-up control information and the rest control information of the motion control module are determined according to the motion information, the unit operation duration and the unit operation distance, the following are specifically:
S1021: and determining the catch-up control information of the motion control module according to the motion information, the unit operation duration and the unit operation distance based on the first motion speed constraint of the mounting module in the catch-up period.
S1022: and determining catch-up control information of the motion control module according to the motion information based on a second motion speed constraint of the mounting module in the static working period.
In one embodiment, assuming that in the unit operation duration, the unit operation distance is Du, the advancing speed of the carrier (mounting base) is V1, that is, the speed of the carrier relative to the ground, the unit operation duration is Tu, and the duration of the stationary operation is p, the stationary operation period in the current unit operation duration is t1=p×tu, and the catch-up period is t2= (1-p) ×tu.
If the motion detection module is a speed detection module, when the static control information of the motion control module is determined, the motion speed of the mounting module controlled by the motion control module can be consistent with the advancing speed V1 and opposite in direction, namely, the second motion speed of the mounting module is constrained to be consistent with the advancing speed V1 and opposite in direction in the static working period. When determining the catch-up control information of the motion control module, it is necessary to ensure that the first motion speed constraint of the mounting module during the catch-up period, that is, the motion speed of the mounting module controlled by the motion control module during the catch-up period, satisfies the following relationship:
(1-p)*Tu*V2＝Du
Wherein 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 mounting module and the carrying device relative to the ground can be determined according to the real-time control of the motion control module. When the mounting module is controlled, the speed of the mounting module relative to the carrying device (mounting base) or the ground is controlled to ensure that the moving distance of the mounting module relative to the ground is the 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 mounting module controlled by the motion control module can be opposite to the advancing direction of the mounting base, and the second motion speed constraint of the mounting module in the static working period is that the motion speed of the mounting module controlled by the motion control module in the static working period meets the following relation:
Wherein a1 is acceleration of the carrier (mounting base), and a2 is acceleration of the mounting module. When determining the catch-up control information of the motion control module, it is necessary to ensure that the first motion speed constraint of the mounting module in the catch-up period, that is, the motion speed of the mounting module controlled by the motion control module in the catch-up period satisfies the relationship:
when the mounting module is controlled, the acceleration of the mounting module relative to the carrying device (mounting base) or the ground is controlled to ensure that the moving distance of the mounting module relative to the ground is the unit operation distance after one unit operation time.
S103: and controlling the motion control module based on the static control information so as to enable the mounting module to be static relative to the current working position in a static working period and control the working device to work at the current working position.
Specifically, when the carrying device moves forward at a constant speed and the mounting module enters a new working position, the intermittent rest working flow enters a rest working period, and the motion control module is controlled based on the determined rest control information, so that the mounting module is static relative to the current working position in the rest working period, and the working device is controlled to work at the current working position.
In one embodiment, the motion detection module is a speed detection module, based on which, when controlling the motion control module based on the stationary control information, it is specifically: and controlling the speed of the mounting module through the motion control module based on the static control information in a static working period 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, based on which, when controlling the motion control module based on the stationary control information, specifically: and controlling the acceleration of the mounting module through the motion control module based on the static control information in a static working period so that the acceleration of the mounting module is consistent with the acceleration of the carrier device and opposite to the time integration in the acceleration direction.
In the stationary working period, the motion control module controls the corresponding speed or acceleration of the mounting module during motion, so that the motion speed of the mounting module is consistent with the advancing speed of the carrying device and opposite in direction, or the acceleration of the mounting module and the acceleration of the carrying device are consistent with each other and opposite in 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 a motion control module based on the catch-up control information so as to enable the mounting module to move to the next working position in the catch-up period.
Specifically, when the carrying device moves forward at a constant speed and the operation device completes the operation at the current operation position, the intermittent rest 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 rest operation period.
In one embodiment, the motion detection module is a speed detection module, based on which, when controlling the motion control module based on the catch-up control information, specifically: in the catch-up period, based on the catch-up control information, the movement speed of the mounting module is controlled by the movement control module so that the movement speed of the mounting module is the same as the advancing speed direction of the carrying device, and the movement distance of the mounting module relative to the ground is the unit operation distance.
In one embodiment, the motion detection module is an acceleration detection module, based on which, when controlling the motion control module based on the catch-up control information, specifically: and controlling the acceleration of the motion of the mounting module by the motion control module based on the catch-up control information in a catch-up period so that 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 with respect to time is the unit operation distance.
In the catch-up period, the motion control module controls the corresponding speed or acceleration of the mounting module during motion, so that the motion speed of the mounting module is guaranteed to be the same as the advancing speed direction of the carrying device, the moving distance of the mounting module relative to the ground is a 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 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 process of driving the mounting base to operate by the carrier, the mounting module is controlled to be stationary relative to the current operation position by the motion control module in a stationary operation period, the operation device is stationary relative to the operation target in the current operation position at the moment, the operation device can stably operate the operation target, the mounting module is controlled to catch up to the next operation position forward by the motion control module in a catch-up period, the stationary operation period is reached at the moment, the mounting module can be controlled to be stationary relative to the current operation position by the motion control module again, so that the operation device can continue to operate the operation target, and the operation device can be kept stationary relative to the current operation position in the operation period by the intermittent stationary operation in the advancing process, so that the operation quality is improved.
Fig. 4 is a schematic structural diagram of an intermittent rest working device according to an embodiment of the present application. Referring to fig. 4, the intermittent rest job apparatus includes a motion information acquisition module 401, a control information determination module 402, a rest job control module 403, and a catch-up motion control module 404.
The motion information obtaining module 401 is configured to obtain the motion information collected by the motion detecting module, and a unit operation duration and a unit operation distance of the intermittent rest operation performed by the intermittent rest operation device; the control information determining module 402 is configured to determine catch-up control information and rest control information for the motion control module according to the motion information, the unit operation duration and the unit operation distance; the stationary operation control module 403 is configured to control the motion control module based on the stationary control information, so that the mounting module is stationary with respect to the current operation position during a stationary operation period, and control the operation device to perform an 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 a next working position in a catch-up period.
In the process of driving the mounting base to operate by the carrier, the mounting module is controlled to be stationary relative to the current operation position by the motion control module in a stationary operation period, the operation device is stationary relative to the operation target in the current operation position at the moment, the operation device can stably operate the operation target, the mounting module is controlled to catch up to the next operation position forward by the motion control module in a catch-up period, the stationary operation period is reached at the moment, the mounting module can be controlled to be stationary relative to the current operation position by the motion control module again, so that the operation device can continue to operate the operation target, and the operation device can be kept stationary relative to the current operation position in the operation period by the intermittent stationary operation in the advancing process, so that 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 is configured to store one or more programs; when executed by the one or more processors 51, causes the one or more processors 51 to implement the intermittent rest operation method as provided by the above-described embodiments. Wherein the input device 53, the output device 54, the memory 52 and the processor 51 may be connected by a bus or otherwise, for example by a bus connection in fig. 5.
The memory 52 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and a module corresponding to the intermittent rest operation method according to any embodiment of the present application (for example, the motion information acquisition module 401, the control information determination module 402, the rest operation control module 403, and the catch-up motion control module 404 in the intermittent rest operation device). 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, at least one application program required for functions; the storage data area may store data created according to the use of the device, etc. In addition, 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, memory 52 may further include memory remotely located relative to processor 51, which may be connected to the device via 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 means 53 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. 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, i.e., implements the intermittent rest operation method described above.
The intermittent rest operation device, the intermittent rest operation equipment and the intermittent rest operation computer provided by the embodiment can be used for executing the intermittent rest operation method provided by any embodiment, and have corresponding functions and beneficial effects.
The present application also provides a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform the intermittent rest job method as provided by the above embodiments, the intermittent rest job method comprising: acquiring motion information acquired by a motion detection module, wherein the unit operation duration and the unit operation distance of the intermittent rest operation performed by the intermittent rest operation equipment are; according to the motion information, the unit operation time length and the unit operation distance, the catch-up control information and the static control information of the motion control module are determined; 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 a motion control module based on the catch-up control information so as to enable the mounting module to move to the next working position in the catch-up period.
Storage media-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.; nonvolatile 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 second, different 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 (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present application is not limited to the intermittent rest operation method described above, and may also perform the relevant operations in the intermittent rest operation method provided in any embodiment of the present application.
The intermittent rest operation device, the apparatus and the storage medium provided in the above embodiments may perform the intermittent rest operation method provided in any embodiment of the present application, and technical details not described in detail in the above embodiments may be referred to the intermittent rest operation method provided in any embodiment of the present application.
The foregoing description is only of the preferred embodiments of the application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit of the application, the scope of which is set forth in the following claims.
Claims (12)
1. The intermittent static operation mechanism is characterized by comprising a mounting base, a mounting module, a motion detection module and a 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 arranged on the mounting base and is used for driving the mounting module to move along the horizontal direction according to the catch-up control information and the static control information so as to enable the mounting module to be static relative to the current working position in a static working period and move to the next working position in the catch-up period, and the catch-up control information and the static control information are determined according to the motion information, the unit working duration for intermittent static working and the unit working distance;
The motion control module comprises a connecting mechanism and a linear control mechanism, wherein the connecting mechanism is connected to the mounting base in a sliding manner along the horizontal direction, the connecting mechanism is fixedly connected with the mounting module, the linear control mechanism is connected to the mounting base and is used for controlling the connecting mechanism to move along the horizontal direction, 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;
The motion detection module comprises a first detection module and a second detection module; the first detection module is arranged on the mounting base and used for collecting first motion information of the mounting base, and the second detection module is arranged on the mounting module and used for detecting second motion information of the mounting module; the motion control module controls the motion of the mounting module in the horizontal direction according to the first motion information and the second motion information; the motion detection module is a speed detection module and/or an acceleration detection module.
2. The intermittent rest operation mechanism according to claim 1, wherein a chute arranged along a horizontal direction is arranged on the mounting base, and the mounting module is slidably connected to the chute.
3. The intermittent rest operation mechanism of claim 2, wherein the mounting module is slidably connected to the chute by a bearing.
4. The intermittent rest operation mechanism according to claim 2, wherein a plurality of the slide grooves are provided and symmetrically provided on both sides of the mounting base.
5. An intermittent rest operation device, characterized by comprising a carrier, an operation device and an intermittent rest operation mechanism as claimed in any one of claims 1-4, wherein the operation device is mounted on a mounting module of the intermittent rest operation mechanism, and a mounting base of the intermittent rest operation mechanism is mounted on the carrier.
6. A method of intermittent rest operation for use with the intermittent rest operation apparatus of claim 5, comprising:
Acquiring motion information acquired by a motion detection module, wherein the unit operation duration and the unit operation distance of the intermittent rest operation performed by the intermittent rest operation equipment are;
According to the motion information, the unit operation time length and the unit operation distance, the catch-up control information and the static control information of the motion control module are determined;
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 a motion control module based on the catch-up control information so as to enable the mounting module to move to the next working position in the catch-up period.
7. The intermittent rest operation method according to claim 6, wherein acquiring a unit operation duration and a unit operation distance for the intermittent rest operation by the intermittent rest operation apparatus includes:
Acquiring the distribution condition of the operation targets on the target field and the set uniform speed advancing speed of the carrying device;
And determining unit operation duration and unit operation distance of the intermittent rest operation equipment for intermittent rest operation according to the distribution condition of the operation targets and the uniform speed advancing speed.
8. The intermittent rest operation method according to claim 6, wherein the determining catch-up control information and rest control information for a motion control module according to the motion information and the unit operation time length and unit operation distance includes:
Determining catch-up control information of a motion control module according to the motion information, the unit operation duration and the unit operation distance based on a first motion speed constraint of the mounting module in a catch-up period;
and determining catch-up control information of the motion control module according to the motion information based on a second motion speed constraint of the mounting module in the static working period.
9. The intermittent rest operation method according to claim 6, wherein the controlling the motion control module based on the rest control information includes:
In a static working period, based on the static control information, controlling the speed of the mounting module through 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 in direction; or (b)
And controlling the acceleration of the mounting module through the motion control module based on the static control information in a static working period so that the acceleration of the mounting module is consistent with the acceleration of the carrier device and opposite to the time integration in the acceleration direction.
10. The intermittent rest operation method according to claim 6, wherein the controlling a motion control module based on the catch-up control information includes:
in the catch-up period, controlling the movement speed of the mounting module by 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 movement distance of the mounting module relative to the ground is the unit operation distance; or (b)
And controlling the acceleration of the motion of the mounting module by the motion control module based on the catch-up control information in a catch-up period so that 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 with respect to time is the unit operation distance.
11. An electronic device, comprising: a memory and one or more processors;
the memory is used for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the intermittent rest operation method of any of claims 6-10.
12. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the intermittent rest job method of any of claims 6-10.
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