CN114859702A - Electric digital control method of remote control system - Google Patents
Electric digital control method of remote control system Download PDFInfo
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- CN114859702A CN114859702A CN202210798927.9A CN202210798927A CN114859702A CN 114859702 A CN114859702 A CN 114859702A CN 202210798927 A CN202210798927 A CN 202210798927A CN 114859702 A CN114859702 A CN 114859702A
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- slave
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- remote control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an electric digital control method of a remote control system, wherein the remote control system comprises a host system and a slave system, and the host system comprises a host control unit used for receiving, processing and sending electric signals; the host detection unit is used for acquiring and processing sensor signals; the host communication unit is used for signal transmission between the host system and the slave system; the remote control unit is used for completing remote control of a slave system in the master system, and the slave system comprises a slave control unit; a slave detection unit; a slave communication unit; and the working unit is used for receiving the electric signal and completing remote control action.
Description
Technical Field
The invention belongs to the technical field of electric digital control, and particularly relates to an electric digital control method of a remote control system.
Background
Many biological laboratories, medical diagnosis rooms, special workshops and the like have adverse environments such as high temperature, high heat, toxicity, radiation and the like, which can cause serious influence on the body of an operator, at this time, the operator needs to use a remote control device to work, and for many operations with special requirements, very careful and careful operation is needed, however, the currently used remote control device can only realize one-way transmission of electric signals, for example, signal transmission is realized through a local area network from an outdoor device, but in actual control operation, the operator can only judge the strength of a working process according to experience and actual conditions, and the strength may be small, materials, medicines, instruments and the like cannot be sent to a target area, or the strength is too large, so that an emergency situation is generated. Therefore, a new electronic digital control method for a remote control system is needed to realize the fine control of the above situation.
Disclosure of Invention
In order to solve the above problems, the present invention provides an electrical digital control method of a remote control system, which comprises a host system and a slave system; the host system comprises a host control unit for receiving, processing and sending electrical signals;
the host detection unit is used for acquiring and processing the electric signals of the sensor;
the master communication unit is used for signal transmission between the master system and the slave system;
the remote control unit is used for remotely controlling the slave computer system in the master computer system;
the remote control unit includes: the device comprises a cable, a force adjusting motor, a force adjusting spring, a grating reading head, a grating ruler, a needle cylinder, a push rod, a pressure sensor and a touch cover;
the force adjusting motor is arranged at the far end of the needle cylinder and provides torque together with the force adjusting spring;
the grating reading head is arranged on one side of the near end of the needle cylinder;
the far end of the push rod is axially arranged in the needle cylinder in parallel, and the near end of the push rod extends out of two wings of the needle cylinder;
the pressure sensor is arranged inside the touch cover, and the pressure sensor and the touch cover are jointly arranged at the near end of the push rod;
the slave system comprises a slave control unit, a slave detection unit, a slave communication unit and a working unit;
the working unit comprises an executing element for receiving the electric digital signal of the remote control unit to complete the action;
the electrical digital control method comprises the following steps:
(1) an operator pushes a thumb against the touch cover, and a forefinger and a middle finger reversely push against two wings of the needle cylinder to push the push rod to move in the needle cylinder, and at the moment, the pressure sensor and the grating reading head read the pressure and the displacement of the push rod in real time;
(2) transmitting the pressure signal acquired by the pressure sensor in real time and the displacement signal acquired by the grating reading head to the host control unit to complete signal operation processing;
(3) the host communication unit transmits the displacement signal to the slave communication unit in a wireless or wired mode, and completes signal operation processing in the slave control unit;
(4) the working unit receives a target displacement signal and moves corresponding displacement through the execution element;
(5) the slave detection unit monitors the pressure signal A in the working unit in real time and feeds the pressure signal A back to the host control unit through the slave control unit, the slave communication unit and the host communication unit;
(6) performing PID (proportional integral differential) operation regulation on the pressure signal A and the pressure signal B in the host control unit;
(7) the remote control unit sends an electric action signal, and the force adjusting motor executes a torque adjusting action to enable the pressure signal B to approach the pressure signal A until the pressure signal B is equal to the pressure signal A.
Preferably, the grating ruler is installed in a groove on the inner wall of the needle cylinder and used for reading the moving distance of the push rod.
Preferably, the actuating element is used for receiving a displacement signal sent by the working unit, and the actuating element can be selected from a syringe pump.
Preferably, the transmission mode of the master communication unit and the slave communication unit is wireless bluetooth transmission or wired CAN bus mode.
Preferably, the host detection unit is connected to the host control unit.
Preferably, the master detection unit is connected with the slave control unit.
Preferably, the remote control system remotely operates one end of the slave system at one end of the master system and receives pressure feedback at one end of the slave system.
Compared with the prior art, the invention has the following technical effects:
1. the invention provides an electric digital control method of a remote control system, which can enable an operator to remotely operate a remote control unit in a laboratory, an operating room, a high-temperature and high-heat workshop and other spaces in an observation room to perform remote control operation, and reduce the exposure time of the operator in a high-harm environment.
2. The invention provides an electric digital control method of a remote control system, which not only can transmit the operation intention of an operator from a host system to a slave system, but also can provide force feedback of hand feeling, and has high reliability and strong stability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:
FIG. 1 is an overall view of the push rod of the present invention;
FIG. 2 is a view of the internal mechanical structure of the putter of the present invention;
fig. 3 is a control flow chart of the remote control system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example 1
Referring to fig. 1 to 3, a remote control system includes: a master system and a slave system;
the host system comprises a host control unit for receiving, processing and sending electric signals;
the host detection unit is used for acquiring and processing electric signals of the sensor, wherein the electric signals include but are not limited to pressure signals and displacement signals;
the master communication unit is used for signal transmission between the master system and the slave system;
the remote control unit is used for completing remote control of the slave computer system in the master computer system and is an important unit of the master computer system in the remote control system;
meanwhile, the slave system comprises a slave control unit, a slave detection unit, a slave communication unit and a working unit;
the working unit is an important unit for executing the transmission of the electric signal command of the host system from the slave system, and comprises an executing element for receiving the electric signal to complete the action.
The remote control unit includes: the device comprises a cable 1, a force adjusting motor 2, a force adjusting spring 3, a grating reading head 4, a grating ruler 5, a needle cylinder 6, a push rod 7, a pressure sensor 8 and a touch cover 9;
the force-adjusting motor 2 is arranged at the far end of the needle cylinder 6 and is used for adjusting torque in real time and providing stable torque together with the force-adjusting spring;
the grating reading head 4 is arranged on one side of the near end of the needle cylinder 6 in a bonding mode and the like, the grating ruler 5 is arranged in a groove on the inner wall of the needle cylinder 6, the grating reading head 4 and the grating ruler 5 jointly form a grating encoder, when the push rod 7 moves in the needle cylinder 6, the grating ruler 5 can form moire fringes to generate light and dark alternate transformation, a photoelectric signal is converted into an electric pulse signal and is displayed on the grating reading head 4, and the moving distance of the push rod 7 can be measured;
the far end of the push rod 7 is axially arranged inside the needle cylinder 6 in parallel, and the near end of the push rod 7 extends out of two wings of the needle cylinder 6;
the pressure sensor 8 is arranged inside the touch cover 9, and the pressure sensor 8 and the touch cover 9 are arranged at the proximal end of the push rod 7 together.
The flow chart of the electric digital control method of the remote control device scheme is shown in fig. 3, after an operator applies pressure to a touch cover 9 on a push rod 7 of a remote control unit, the push rod 7 axially moves from a far end to a near end in a needle cylinder 6, and a host detection unit timely processes a pressure signal B acquired by a pressure sensor 8 or transmits the pressure signal B to a host control unit of a host system for processing. Meanwhile, the grating reading head 4 reads the position information of the grating ruler 5 after the push rod 7 moves in the needle cylinder 6, and the position information is acquired and processed or transmitted to a host control unit in a host system for post-processing. The processed displacement signal is transmitted to the slave communication unit through the host communication unit, the information is transmitted in a wireless Bluetooth transmission mode or a wired CAN bus mode, after the slave communication unit receives the information transmitted by the host system, the processed displacement signal is sent to the executive component through the working unit to execute the electric signal action, because of different work types of operators, the corresponding executing elements are different, according to different operation modes of operators, for example, for experimenters and medical care personnel, the executing element in the working unit can be an injection pump, the generated effect can be forward injection, backward pumping, or stopping injection, for workshop workers, the actuating element can be a precision instrument such as a manipulator, and the generated effect can be clamping or loosening.
Meanwhile, a slave detection unit of the slave system collects a pressure signal A of an actuating element in a working unit and processes or transmits the pressure signal to a slave control unit for post-processing, the processed pressure signal A is transmitted to a host communication unit through the slave communication unit, the signal transmission mode is wireless Bluetooth transmission or wired CAN bus, the host communication unit receives the pressure signal A fed back by the slave system and processes or transmits the pressure signal A to the host control unit for processing, the processed pressure signal A and a pressure signal B collected by a pressure sensor 8 in the host detection unit are subjected to data comparison and analysis, PID adjustment is carried out according to the analysis result, so that the host control unit sends a corresponding electric action signal to control a force adjusting motor 2 in a remote control unit to immediately adjust the torque and execute a corresponding electric action, and the resultant force of the force adjusting motor 2 and the force adjusting spring 3 is the same as the pressure of a thumb pressing a touch cover 9, finally, the pressure signal B received by the pressure sensor 8 in real time in the host detection unit is close to or completely equal to the pressure signal A acquired by the slave detection unit.
The electric digital control method comprises the following steps:
1) an operator pushes a thumb against the touch cover 9, and the index finger and the middle finger reversely push against two wings of the needle cylinder 6 to push the push rod 7 to move in the needle cylinder 6, and at the moment, the pressure sensor 8 and the grating reading head 4 read a pressure signal B and a displacement signal of the push rod 7 in real time;
2) transmitting a pressure signal B acquired by a pressure sensor 8 in real time and a displacement signal acquired by the grating reading head 4 to a host control unit to complete signal operation processing;
3) the master communication unit transmits the displacement signal to the slave communication unit in a wireless Bluetooth transmission or wired CAN bus mode, and completes signal operation processing in the slave control unit;
4) the working unit receives the target displacement signal, and moves corresponding displacement through the actuating element, wherein the actuating element can be preferably a syringe pump;
5) the slave detection unit monitors the pressure signal A in the working unit in real time and feeds the pressure signal A back to the host control unit through the slave control unit, the slave communication unit and the host communication unit;
6) the pressure signal A and the pressure signal B are subjected to data comparison analysis in a host control unit to complete PID operation regulation;
7) at this time, the remote control unit sends out an electric action signal to control the force-adjusting motor 2 to execute a torque-adjusting action, so that the pressure signal B infinitely approaches the pressure signal A until the pressure signal B is equal to the pressure signal A.
In summary, the present invention discloses an electrical digital control method for a remote control system, which provides pressure detection, position displacement detection and force feedback functions, and can fulfill the action requirements of forward active action, backward active pull-back and stop. The operation intention of the operator can be transmitted from the host system of the observation room to the slave systems of a laboratory, an operating room, a diagnosis room and a special workshop, and the feedback of the action hand feeling is provided for the operator, namely the pressure of the execution element in the slave system can be fed back to the hand of the operator in real time.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. An electrical digital control method of a remote control system, the remote control system comprises a host system and a slave system; the host system comprises a host control unit for receiving, processing and sending electrical signals;
the host detection unit is used for acquiring and processing the electric signals of the sensor;
the master communication unit is used for signal transmission between the master system and the slave system;
the remote control unit is used for remotely controlling the slave system in the master system;
the remote control unit includes: the device comprises a cable, a force adjusting motor, a force adjusting spring, a grating reading head, a grating ruler, a needle cylinder, a push rod, a pressure sensor and a touch cover;
the force adjusting motor is arranged at the far end of the needle cylinder and provides torque together with the force adjusting spring;
the grating reading head is arranged on one side of the near end of the needle cylinder;
the far end of the push rod is axially arranged in the needle cylinder in parallel, and the near end of the push rod extends out of two wings of the needle cylinder;
the pressure sensor is arranged inside the touch cover, and the pressure sensor and the touch cover are jointly arranged at the near end of the push rod;
the slave system comprises a slave control unit, a slave detection unit, a slave communication unit and a working unit;
the working unit comprises an executing element for receiving the electric digital signal sent by the remote control unit to complete the action;
the method is characterized by comprising the following steps:
(1) an operator pushes a thumb against the touch cover, and a forefinger and a middle finger reversely push against the two wings of the needle cylinder to push the push rod to move in the needle cylinder;
(2) transmitting a pressure signal B acquired by the pressure sensor in real time and a displacement signal acquired by the grating reading head to the host control unit to complete signal operation processing;
(3) the host communication unit transmits the displacement signal to the slave communication unit, and the slave control unit completes signal operation processing;
(4) the working unit receives a target displacement signal and moves corresponding displacement through the execution element;
(5) the slave detection unit monitors the pressure signal A in the working unit in real time and feeds the pressure signal A back to the host control unit through the slave control unit, the slave communication unit and the host communication unit;
(6) carrying out PID operation regulation on the pressure signal A and the pressure signal B in the host control unit;
(7) the remote control unit sends an electric action signal, and the force adjusting motor executes a torque adjusting action to enable the pressure signal B to approach the pressure signal A until the pressure signal B is equal to the pressure signal A.
2. The electrical digital control method of a remote control system according to claim 1, wherein the grating ruler is installed in a groove on the inner wall of the cylinder for reading the moving distance of the push rod.
3. The electrical digital control method of a remote control system according to claim 1, wherein the actuator is used for receiving the displacement signal sent by the working unit, and the actuator is a syringe pump.
4. The electrical digital control method of a remote control system according to claim 1, wherein the master control unit and the slave control unit each comprise an AC to DA power supply module for supplying power to the master system and the slave system, respectively.
5. The electrical digital control method of claim 1, wherein the master communication unit and the slave communication unit are configured in a wireless bluetooth transmission mode or a wired CAN bus mode.
6. The electrical digital control method of a remote control system according to claim 1, wherein the host detection unit is connected to the host control unit.
7. The electrical digital control method of a remote control system according to claim 1, wherein the slave detection unit is connected to the slave control unit.
8. The electrical digital control method of claim 1, wherein the remote control system remotely operates the slave system at the master system side and receives the pressure feedback from the slave system side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210798927.9A CN114859702B (en) | 2022-07-08 | 2022-07-08 | Electric digital control method of remote control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210798927.9A CN114859702B (en) | 2022-07-08 | 2022-07-08 | Electric digital control method of remote control system |
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| CN114859702A true CN114859702A (en) | 2022-08-05 |
| CN114859702B CN114859702B (en) | 2022-09-30 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19617949A1 (en) * | 1996-04-16 | 1997-10-23 | Schreiber Hans | Automated syringe operation |
| US6245043B1 (en) * | 1997-12-03 | 2001-06-12 | Alain Villette | Injector for medical use |
| CN101951975A (en) * | 2007-09-17 | 2011-01-19 | 萨蒂什·桑达尔 | High precision infusion pumps |
| CN202526705U (en) * | 2012-03-29 | 2012-11-14 | 郑晓林 | Remote control injecting device |
| US20130245545A1 (en) * | 2011-09-20 | 2013-09-19 | Medingo Ltd. | Drug Injection Devices, Systems and Methods |
| CN107583144A (en) * | 2017-09-13 | 2018-01-16 | 浙江大学 | Towards the safe micro-injection pump of high accuracy and method of multi-brand syringe |
| WO2021056249A1 (en) * | 2019-09-25 | 2021-04-01 | 深圳迈瑞科技有限公司 | Syringe pump, method for confirming infusion information, medical device and storage medium |
-
2022
- 2022-07-08 CN CN202210798927.9A patent/CN114859702B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19617949A1 (en) * | 1996-04-16 | 1997-10-23 | Schreiber Hans | Automated syringe operation |
| US6245043B1 (en) * | 1997-12-03 | 2001-06-12 | Alain Villette | Injector for medical use |
| CN101951975A (en) * | 2007-09-17 | 2011-01-19 | 萨蒂什·桑达尔 | High precision infusion pumps |
| US20130245545A1 (en) * | 2011-09-20 | 2013-09-19 | Medingo Ltd. | Drug Injection Devices, Systems and Methods |
| CN202526705U (en) * | 2012-03-29 | 2012-11-14 | 郑晓林 | Remote control injecting device |
| CN107583144A (en) * | 2017-09-13 | 2018-01-16 | 浙江大学 | Towards the safe micro-injection pump of high accuracy and method of multi-brand syringe |
| WO2021056249A1 (en) * | 2019-09-25 | 2021-04-01 | 深圳迈瑞科技有限公司 | Syringe pump, method for confirming infusion information, medical device and storage medium |
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| CN114859702B (en) | 2022-09-30 |
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Effective date of registration: 20220913 Address after: 215000 unit 101d, B9 building, 218 Xinghu street, Suzhou Industrial Park, Jiangsu Province Applicant after: SUZHOU HENGRUI HONGYUAN MEDICAL TECHNOLOGY Co.,Ltd. Address before: 215000 8 Jinfeng Road, science and Technology City, Suzhou high tech Zone, Jiangsu Applicant before: SUZHOU HENGRUI CALLISYN BIOLOGICAL MEDICINE TECHNOLOGY Co.,Ltd. |
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