CN114563982A - Method for controlling motion trail of mobile equipment on circular tube - Google Patents
Method for controlling motion trail of mobile equipment on circular tube Download PDFInfo
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- CN114563982A CN114563982A CN202210119996.2A CN202210119996A CN114563982A CN 114563982 A CN114563982 A CN 114563982A CN 202210119996 A CN202210119996 A CN 202210119996A CN 114563982 A CN114563982 A CN 114563982A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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Abstract
The invention provides a method for controlling the motion trail of mobile equipment on a circular tube, which relates to the technical field of motion trail control, and comprises the following steps: s1: the mobile equipment travels at a preset deflection angle relative to the axis of the circular tube, and a theoretical elliptic equation of the motion track of the mobile equipment on the circular tube is established, wherein the major axis of the ellipse is on the X axis, and the minor axis of the ellipse is on the Y axis; s2: selecting any two points of the mobile equipment in the actual running process, measuring the included angle of the motion direction of the mobile equipment relative to the X axis when the two points are selected, and calculating the theoretical arc length between the two selected points by combining a theoretical elliptic equation; s3: and comparing the calculated theoretical arc length with the actual arc length of the mobile equipment, and if the actual arc length is deviated from the theoretical arc length, adjusting the deflection angle of the mobile equipment relative to the axis of the circular tube. The method for controlling the motion track of the mobile equipment on the circular tube can realize effective control of the walking track of the mobile equipment.
Description
Technical Field
The invention relates to the technical field of motion trail control, in particular to a method for controlling a motion trail of mobile equipment on a circular tube.
Background
The mobile equipment moves around the circular pipe at a fixed angle with the axis of the circular pipe, the theoretical movement track of the mobile equipment is elliptical, but due to the limitation of field installation working conditions and mechanical movement abrasion, the running direction of the mobile equipment and the axis of the circular pipe can not be always kept at a preset angle, so that the deviation between the actual track of running and the theoretical ellipse is large, and the accurate control of the movement track of the mobile equipment on the circular pipe can not be realized.
Disclosure of Invention
The invention aims to provide a method for controlling the motion trail of a mobile device on a circular tube, and solves the technical problems that the motion trail of the mobile device on the circular tube cannot be accurately controlled and has large deviation.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for controlling the motion trail of a mobile device on a circular tube comprises the following steps:
s1: the method comprises the following steps that the mobile equipment walks at a preset deflection angle relative to the axis of a circular tube, and a theoretical elliptic equation of the motion track of the mobile equipment on the circular tube is established, wherein the major axis of an ellipse is on an X axis, and the minor axis of the ellipse is on a Y axis;
s2: selecting any two points of the mobile equipment in the actual traveling process, measuring an included angle of the motion direction of the mobile equipment relative to an X axis when the two points are selected, and calculating the theoretical arc length between the two selected points by combining the theoretical elliptic equation;
S3: and comparing the calculated theoretical arc length with the actual arc length of the mobile equipment, and if the actual arc length is deviated from the theoretical arc length, adjusting the deflection angle of the mobile equipment relative to the axis of the circular tube.
The invention relates to a method for controlling the motion trail of a mobile device on a circular tube, which is characterized in that the theoretical trail of the mobile device is an ellipse when the mobile device runs on the circular tube at a preset deflection angle relative to the axis of the circular tube, the major axis and the minor axis of the ellipse are related to the preset deflection angle and the diameter of the circular tube, and a theoretical ellipse equation is established; by measuring the included angle of the instantaneous motion direction of any two points of the mobile equipment relative to the horizontal direction, namely the X axis, in the real-time walking process, whether the mobile equipment runs to the two points or not is on the theoretical track, the tangential directions of the two points are always the same as the instantaneous motion direction of the mobile equipment on the theoretical track, and the arc length of the two points on the theoretical track is calculated to be the theoretical arc length of any two points of the mobile equipment in the real-time walking process; measuring the actual arc length of the mobile device; and continuously correcting the deviation between the theoretical arc length and the actual arc length until the theoretical arc length and the actual arc length are consistent. By adopting the method, the real-time correction of the motion track of the mobile equipment on the circular tube can be realized, and the track control precision is improved.
Optionally, the actual arc length of the mobile device is measured by using a first encoder, and the first encoder is arranged on a traveling wheel of the mobile device; the deflection angle of the walking direction of the mobile equipment relative to the axis of the circular tube is measured by adopting a second encoder, and the second encoder is arranged on a direction motor of the walking wheel (11).
Optionally, in S1, the theoretical ellipse equation is:
wherein, the semiminor axis b of the ellipse is equal to the radius R of the circular tube, and the semimajor axis of the ellipse
And alpha is a deflection angle value measured by the second encoder.
Optionally, in S2, the angle between the moving direction of the mobile device at the two selected points and the X axis is measured by using a tilt sensor.
Optionally, in S2, the calculating the theoretical arc length between the two selected points includes:
s21: derivation of the theoretical equation
The y' is defined in combination with the derivative tan θ to obtain the formula
Wherein θ is an angle value measured by the tilt sensor;
s22: combining the formula obtained in the S21 with the theoretical equation to obtain the coordinates of the two selected points;
s23: calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points.
Optionally, in S23, the step of calculating a theoretical arc length between the two selected points according to the coordinates of the two selected points includes:
Respectively making the motion directions of the mobile equipment at the two selected points form an included angle theta relative to the X axis1、θ2The interval between the two points is divided into a plurality of small intervals, the step of S22 is repeated to calculate the coordinates of two end points of each small interval in sequence, then the straight line distance between the two coordinates is calculated, and the theoretical arc length between the two selected points is obtained by accumulating section by section.
Optionally, when α is 90 °, the theoretical motion trajectory of the mobile device on the circular tube is a perfect circle.
Optionally, in S2, the calculating a theoretical arc length between the selected two points is:
wherein theta is1、θ2And respectively forming an included angle between the motion direction of the mobile equipment at the two selected points and the X axis.
Optionally, in S3, if there is a deviation between the actual arc length and the theoretical arc length, adjusting a deflection angle of the mobile device relative to the axis of the circular pipe includes:
if the actual arc length is larger than the theoretical arc length, the deflection angle of the mobile equipment relative to the axis of the circular tube is increased until the actual arc length is consistent with the theoretical arc length;
and if the actual arc length is smaller than the theoretical arc length, reducing the deflection angle of the mobile equipment relative to the axis of the circular tube until the actual arc length is consistent with the theoretical arc length.
Optionally, a magnet is arranged in the walking wheel, and the round tube is a steel tube or an iron tube.
Drawings
Fig. 1 is a flowchart of a method for controlling a motion trajectory of a mobile device on a circular tube according to an embodiment of the present invention;
FIG. 2 is a front view of a mobile device of an embodiment of the present invention moving on a circular pipe;
FIG. 3 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;
FIG. 4 is a top view of a mobile device of an embodiment of the present invention moving on a circular pipe;
fig. 5 is a schematic diagram of a motion trajectory of a mobile device according to an embodiment of the present invention.
Description of the reference numerals:
1. a mobile device; 11. a running wheel; 12. a direction motor; 13. a control box; 14. a power source; 2. a circular tube; 3. a motion trajectory; 4. a first encoder; 5. a second encoder; 6. an inclination angle sensor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The terms "first" and "second" mentioned in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
A coordinate system XY is provided herein, wherein the X-axis is the direction indicated by the minor axis of the ellipse, i.e. the diameter of the circular tube, and the Y-axis is the direction indicated by the major axis of the ellipse.
The length of the movement track 3 of the mobile device 1 on the pipe 2 can generally be calculated by counting pulses by an encoder. The direction control of the motion track 3 of the existing mobile equipment 1 on the circular tube 2 is of two types, the first type can adopt that a rack is arranged on the circular tube, a walking gear is arranged on the mobile equipment, and the purpose of controlling the mobile equipment to move according to a preset track is achieved through the mutual meshing of the rack and the gear, but the rack is higher in manufacturing and mounting precision, the use cost is increased, and the additional arrangement of the rack is needed, so that the limitation of an application scene is increased; the second method directly controls the traveling direction of the traveling wheels 11 of the mobile equipment 1 through the direction motor 12, and by adopting the method, the traveling direction of the mobile equipment at the initial moment can be ensured to be in accordance with the specified direction, but the traveling direction of the mobile equipment gradually deviates from the specified direction due to the progress of the traveling process, the abrasion among the equipment and the actual installation condition, and the movement track has larger deviation.
As shown in fig. 1, a method for controlling a motion trajectory of a mobile device on a circular tube according to an embodiment of the present invention includes the following steps:
S1: the mobile equipment 1 walks at a preset deflection angle relative to the axis of the circular tube 2, and a theoretical elliptic equation of a motion track 3 of the mobile equipment 1 on the circular tube 2 is established, wherein the long axis of the ellipse is on the X axis, and the short axis of the ellipse is on the Y axis.
As shown in fig. 2, the mobile device 1 includes a traveling wheel 11, a direction motor 12, a control box 13 and a power supply 14, the direction motor 12 is connected to the traveling wheel 11 in a driving manner for controlling a traveling direction of the traveling wheel 11, the control box 13 controls the direction motor 12 to start and stop, and the power supply 14 supplies power to the control box 13.
In this step, as shown in fig. 2, the mobile device 1 is placed on the circumferential side wall of the circular pipe 2, and the running wheels 11 of the mobile device 1 can move along the circumferential side wall of the circular pipe 2. In order to enable the motion track 3 of the mobile device 1 on the circular tube 2 to be on the same plane, initially, the traveling wheel 11 of the mobile device 1 is vertically contacted with the circumferential side wall of the circular tube 2, the motion direction of the traveling wheel 11 and the axis of the circular tube 2 form a preset deflection angle, the deflection angle is smaller than or equal to 90 degrees, under the condition that external influence factors are ignored, the mobile device 1 always keeps the traveling track of the mobile device 1 and the axis of the circular tube 2 at the preset deflection angle to be an ellipse, the short axis of the ellipse is the radius of the circular tube, and the long axis of the ellipse is related to the deflection angle and the radius of the circular tube.
The motion trail of the mobile device 1 is shown in fig. 4-5, an X axis is established by using a straight line where a major axis of an ellipse is located, a Y axis is established by using a straight line where a minor axis of the ellipse is located, a point where the major axis and the minor axis of the ellipse intersect is a coordinate origin, the established coordinate system is shown in fig. 5, and the theoretical elliptic equation of the motion trail is as follows:
wherein, the semiminor axis b of the ellipse is equal to the radius R of the circular tube, and the semimajor axis of the ellipse
α is the angle of deflection of the mobile device 1 with respect to the axis of the pipe 2, as shown in fig. 4.
It should be noted here that the larger the preset deflection angle between the mobile device 1 and the axis of the circular tube 2 is, the shorter the major axis of the theoretical ellipse is, the more the ellipse tends to be circular, when the deflection angle is 90 °, the equal major axis and minor axis of the ellipse are both the radius of the circular tube 2, and the theoretical motion trajectory 3 is a special ellipse, i.e. a perfect circle; when the deflection angle is larger than 0 degree and smaller than 90 degrees, the theoretical motion trail of the mobile device 1 is an ellipse, and the smaller the preset deflection angle between the mobile device 1 and the axis of the circular tube 2 is, the longer the long axis of the theoretical ellipse is, and the flatter the ellipse is.
S2: selecting any two points of the mobile equipment 1 in the actual running process, measuring an included angle of the motion direction of the mobile equipment 1 relative to the X axis when the two points are selected, and calculating the theoretical arc length between the two selected points by combining the theoretical elliptic equation.
In this step, any two points F of the mobile device 1 during the walking process are selected1、F2Said mobile device 1 is at F1、F2The instantaneous motion direction at the point is the direction shown by the straight line tangent to the ellipse in fig. 5, and the angle between the instantaneous motion direction at the point of the measuring mobile device 1 and the X axis (i.e. the horizontal direction) is θ1、θ2. Whether or not F1、F2Whether two points are on the theoretical locus or not, always finding two points on the theoretical locus, and F and the tangential direction of the two points and the theoretical locus1、F2The instantaneous movement directions of the points are the same, and the arc length of the two points on the theoretical track is calculated to be F1、F2Theoretical arc length of two points.
The calculating the theoretical arc length between the selected two points comprises the following steps:
s21: derivation of the theoretical equation
The y' is defined in combination with the derivative tan θ to obtain the formula
Where θ is the value of the angle measured by the tilt sensor 6.
S22: combining the formula obtained in S21 with the theoretical equation to obtain the coordinates of the two selected points.
In this step, the formula
And formula
Form a system of equations in a simultaneous manner, wherein a,b can be calculated by correlating the deflection angle alpha and the radius R of the circular tube, and the mobile equipment 1 is placed in F1、F2The angle theta between the instantaneous moving direction and the X-axis1、θ2By substituting the above equations, the simultaneous equations can be solved 1、F2Coordinates of points (X)1、Y1)、(X2、Y2)。
S23: calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points.
In this step, the moving directions of the two selected points are respectively inclined to the X-axis by an angle theta1、θ2The interval between the two points is divided into a plurality of small intervals, the step S22 is repeated to sequentially calculate the coordinates of the two end points of each small interval, then the straight-line distance between the two coordinates is calculated, and the theoretical arc length between the two selected points is obtained by accumulating section by section.
Illustratively, θ will be1、θ2The interval between the two cells is equally divided into 10000 small intervals, and the corresponding angle value of the two end points of the first small interval is theta1、
Repeating the step of S22 to obtain theta1、
The two angle values are substituted into an equation set to solve theta1、
Calculating the linear distance between the two points according to the linear distance formula between the two points by using the coordinates corresponding to the two points; the angle value corresponding to the two end points of the angle between the second cells is
And
calculating the coordinates corresponding to the two points in the same way, and then calculating the distance between the second section of straight line; heavy loadRepeating the above operation, sequentially calculating the distances between two end points in different intervals, and summing the 10000 linear distances to approximately equal F1、F2The two points correspond to a theoretical arc length, θ 1、θ2The larger the number of cells into which the interval therebetween is divided, the final calculated F1、F2The closer the theoretical arc length between the two points is to the actual arc length.
It should be noted that, when the deflection angle α is 90 °, the theoretical motion trajectory of the mobile device 1 on the circular tube 2 is a perfect circle (special ellipse), and the theoretical arc length can be calculated by using the steps described in S21-S23, and can also be calculated by using a formula
Calculating the theoretical arc length, wherein θ2-θ1From F for the mobile device 11Point to F2The circular arc angle of the running in the process of pointing.
The actual arc length of the mobile device 1 is the measured distance between the selected two points.
S3: and comparing the calculated theoretical arc length with the actual arc length of the mobile device 1, and if the actual arc length is deviated from the theoretical arc length, adjusting the deflection angle of the mobile device 1 relative to the axis of the circular tube 2.
In this step, when the mobile device is known to travel within a range of 0 to 90 ° relative to the axis of the circular tube, the length of the minor axis of the formed elliptical trajectory is fixed and equal to the diameter of the circular tube, and the longer the travel direction of the mobile device 1 is, the longer the major axis of the ellipse is, the flatter the ellipse is. Two different ellipses, finding A from the first ellipse 1、A2Two points, respectively passing through the two points to make tangent lines, and finding out point A at the corresponding position on the second ellipse1'、A2', passing A1' Point, A2' Point tangent, such that A1' Point, A2' the tangential direction of the points is respectively equal to A1Dot, A2The tangential directions of the points are the same, if the major axis of the first ellipse is longer than the major axis of the second ellipse, then A1、A2Arc between pointsLength greater than A1'、A2' the arc length between points, i.e. the theoretical arc length of the mobile device is longer the smaller alpha, in case the mobile trolley is turned through the same angle relative to the horizontal.
Illustratively, the mobile device 1 is moving under conditions when the angle α is 30 °, measured at a1At the point, the angle relative to the horizontal is 5 DEG at A2The angle between the point and the horizontal direction is 50 DEG, and A is calculated1、A2Theoretical arc length between points is L1(ii) a The mobile device 1 is moved in a situation when the angle alpha is 90 deg., measured at A1At point the angle relative to horizontal is 5 deg., measured at A2' the angle at the point relative to the horizontal is 50 DEG, calculate A1'、A2' theoretical arc length between points is L2Then there is L1>L2。
According to the theory, when the actual arc length of the traveling of the mobile equipment 1 is larger than the theoretical arc length, the deflection angle of the actual traveling direction of the mobile equipment 1 relative to the axis of the circular tube is smaller than the preset deflection angle, and at the moment, the deflection angle of the mobile equipment 1 needs to be increased; conversely, when the actual arc length of the moving of the mobile device 1 is smaller than the theoretical arc length, it indicates that the deflection angle of the actual moving direction of the mobile device 1 relative to the axis of the circular pipe is larger than the preset deflection angle, and at this time, the deflection angle of the mobile device 1 needs to be adjusted to be smaller. In the process of adjusting the size and the deflection angle, a mode of adjusting and observing simultaneously can be adopted until the actual arc length is consistent with the theoretical arc length, so that the control of the motion track of the mobile equipment 1 on the circular tube 2 is realized.
Optionally, as shown in fig. 2 to 3, the actual arc length of the mobile device 1 is measured by using a first encoder 4, where the first encoder 4 is disposed on a traveling wheel 11 of the mobile device 1; the deflection angle of the walking direction of the mobile equipment 1 relative to the axis of the circular tube 2 is measured by adopting a second encoder 5, and the second encoder 5 is arranged on a direction motor 12 of the walking wheel 11.
In this embodiment, the first encoder 4 is a high-precision encoder, and is configured to measure an actual arc length of the traveling of the mobile device, so as to facilitate comparison with a theoretical arc length obtained by calculation and perform trajectory correction; the second encoder 5 is an absolute value encoder, measures the deflection angle of the walking direction of the walking wheel 11 relative to the axis of the circular tube 2, and starts the direction motor 12 to adjust the deflection angle of the walking wheel 11 when the actual track deviates from the theoretical track.
Optionally, in S2, the angle between the moving direction of the mobile device 1 at the two selected points and the X axis is measured by using the tilt sensor 6.
In this embodiment, the tilt sensor 6 can realize rapid measurement of an angle.
Optionally, a magnet is arranged in the traveling wheel 11, and the circular tube 2 is a steel tube or an iron tube.
In this embodiment, the walking wheels 11 with magnets move on the steel pipe or the iron pipe, and the walking wheels 11 can be adsorbed on the circular pipe 2 by using the magnetic attraction between the magnets and the steel pipe, so as to avoid the problem that the actual arc length measured by the first encoder 4 has an error due to the slip and idle rotation of the mobile device 1 during the walking process.
The specific application is as follows: the control method of the movement track of the mobile equipment on the circular tube can control the movement track of the mobile equipment on the circular tube, and the control method is applied to the cutting and positioning of the circular tube, and if an elliptical section is required to be cut on the circular tube; or the device is used for measuring the arc degree of the round pipe, exemplarily, the mobile device moves on the arc surface of the round pipe to be measured in a direction of 90 degrees with the axis of the round pipe, the actual running length measured by the moving track encoder is compared with the theoretical arc length calculated by adopting the angle variation (the method shown in the above-mentioned S21-S23), the two are consistent, the arc degree of the round pipe is better, the larger the deviation value is, the worse the arc degree of the round pipe is, and whether the roundness of the traction cable composed of the multi-strand steel wire rope reaches the theoretical value can be detected by using the principle.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A method for controlling the motion trail of a mobile device on a circular tube is characterized by comprising the following steps:
S1: the method comprises the following steps that the mobile equipment (1) walks at a preset deflection angle relative to the axis of a circular tube (2), and a theoretical elliptic equation of a motion track (3) of the mobile equipment (1) on the circular tube (2) is established, wherein the long axis of an ellipse is on an X axis, and the short axis of the ellipse is on a Y axis;
s2: selecting any two points of the mobile equipment (1) in the actual running process, measuring the included angle of the motion direction of the mobile equipment (1) relative to the X axis when the two points are selected, and calculating the theoretical arc length between the two points by combining the theoretical elliptic equation;
s3: and comparing the calculated theoretical arc length with the actual arc length of the mobile equipment (1), and if the actual arc length is deviated from the theoretical arc length, adjusting the deflection angle of the mobile equipment (1) relative to the axis of the circular tube (2).
2. The method for controlling the motion trail of the mobile equipment on the circular pipe according to the claim 1, wherein the actual arc length of the mobile equipment (1) is measured by a first encoder (4), and the first encoder (4) is arranged on a traveling wheel (11) of the mobile equipment (1); the deflection angle of the walking direction of the mobile equipment (1) relative to the axis of the circular tube (2) is measured by adopting a second encoder (5), and the second encoder (5) is arranged on a direction motor (12) of the walking wheel (11).
3. The method for controlling a motion trajectory of a mobile device on a circular tube according to claim 2, wherein in S1, the theoretical elliptic equation is:
wherein, the semiminor axis b of the ellipse is equal to the radius R of the circular tube, and the semimajor axis of the ellipse
A is measured by the second encoder (5)The deflection angle value of (c).
4. The method for controlling the motion trajectory of a mobile device on a circular pipe according to claim 3, wherein in step S2, the included angle between the motion direction of the mobile device (1) at the two selected points and the X axis is measured by using a tilt sensor (6).
5. The method for controlling the motion trajectory of a mobile device on a circular pipe according to claim 4, wherein in step S2, the step of calculating the theoretical arc length between the two selected points comprises the following steps:
s21: derivation of said theoretical equation
The y' is defined in combination with the derivative tan θ to obtain the formula
Wherein θ is the value of the angle measured by the tilt sensor (6);
s22: combining the formula obtained in the S21 with the theoretical equation to obtain the coordinates of the two selected points;
s23: calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points.
6. The method of claim 5, wherein the calculating the theoretical arc length between the two selected points according to the coordinates of the two selected points comprises:
The movement directions of the mobile equipment (1) at the two selected points are respectively inclined to the X axis by an angle theta1、θ2The interval between the two points is divided into a plurality of small intervals, the step of S22 is repeated to calculate the coordinates of two end points of each small interval in sequence, then the straight line distance between the two coordinates is calculated, and the theoretical arc length between the two selected points is obtained by accumulating section by section.
7. The method for controlling the motion trajectory of a mobile device on a circular pipe according to claim 3, wherein when α is 90 °, the theoretical motion trajectory of the mobile device (1) on the circular pipe (2) is a perfect circle.
8. The method of claim 7, wherein in step S2, the calculating the theoretical arc length between the two selected points is:
wherein theta is1、θ2The motion directions of the mobile equipment (1) at the two selected points are respectively included angles relative to the X axis.
9. The method for controlling a movement trajectory of a mobile device on a circular pipe according to any one of claims 6 to 8, wherein in step S3, if the actual arc length is deviated from the theoretical arc length, the method for controlling a deflection angle of the mobile device (1) relative to an axis of the circular pipe (2) comprises the following steps:
If the actual arc length is larger than the theoretical arc length, the deflection angle of the mobile equipment (1) relative to the axis of the circular tube (2) is increased until the actual arc length and the theoretical arc length tend to be consistent;
and if the actual arc length is smaller than the theoretical arc length, reducing the deflection angle of the mobile equipment (1) relative to the axis of the circular tube (2) until the actual arc length and the theoretical arc length tend to be consistent.
10. The method for controlling the motion trail of the mobile equipment on the circular tube as claimed in claim 2, wherein magnets are arranged in the walking wheels (11), and the circular tube (2) is a steel tube or an iron tube.
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| PCT/CN2022/095282 WO2023137939A1 (en) | 2022-01-24 | 2022-05-26 | Method for controlling movement trajectory of mobile device on circular pipe |
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| CN116695235A (en) * | 2023-08-08 | 2023-09-05 | 苏州晨晖智能设备有限公司 | Control method for inhibiting crystal arcing |
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| CN116695235B (en) * | 2023-08-08 | 2023-10-24 | 苏州晨晖智能设备有限公司 | Control method for inhibiting crystal arcing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114563982B (en) | 2023-05-09 |
| WO2023137939A1 (en) | 2023-07-27 |
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