CN116266059A - Track type pipe gallery inspection robot control system and control method - Google Patents
Track type pipe gallery inspection robot control system and control method Download PDFInfo
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention belongs to the field of intelligent robots, in particular to a control system and a control method of a track type pipe gallery inspection robot, wherein the control system comprises the following steps: the robot comprises an electronic tag, a robot body, a robot controller, a network module, a motor driving module, a track position positioning module, a visual controller, an obstacle avoidance module and an image acquisition module, wherein the network module, the motor driving module, the track position positioning module, the visual controller, the obstacle avoidance module and the image acquisition module are connected with the robot controller; a plurality of electronic tags are arranged on the track; each module is arranged on the robot body; the robot controller is used for receiving the command signal sent by the upper computer through the network module, resolving the command signal into a speed command and sending the speed command to the motor driving module, and simultaneously reading a torque value generated by a motor shaft of the driving motor; the result image processed by the visual controller is also received; the robot provided by the invention can realize accurate positioning by using a small number of electronic tags by using a positioning technology, and the used motor control mode can reduce the failure times of a motor and a driver, so that the service life of a driving system is prolonged, and the reliability of the robot is improved.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to a control system and a control method of a track type pipe gallery inspection robot.
Background
The utility tunnel for urban underground pipeline is a tunnel space built underground, integrates various pipelines such as electric power, communication, water supply and drainage, fuel gas, municipal administration and the like, is convenient for relevant departments to implement unified planning, design, construction and management, and has the advantages of small occupied urban space and effective improvement of urban capacity. The utility tunnel is an important measure for ensuring the reliable and stable operation of the utility tunnel. The urban comprehensive pipe gallery is safely inspected by a manual inspection method, namely inspection personnel enter the comprehensive pipe gallery to inspect in a visual mode, inspection results are manually recorded, and the problems of working environment danger, subjectivity of the inspection results, low inspection efficiency and the like exist.
In order to effectively solve the problem of manual inspection, robots are adopted to replace manual inspection for safety inspection of comprehensive pipe racks at present, and work such as daily working condition inspection, state recording and accident alarming is completed. The utility model provides a robot is movable robot system is patrolled and examined in the piping lane under initiative or remote control mode, can patrol and examine and monitor, real-time supervision surrounding environment, report to the police and record the abnormal conditions to form the control network system in coordination with current fixed monitored control system, improve the automation level of piping lane inspection effect and control.
The inspection robot working in the comprehensive pipe rack has very important significance for realizing autonomous inspection of the robot and constructing a multi-robot scheduling system because the environment is relatively single and the robot can be accurately positioned in the pipe rack which is up to several kilometers under the closed underground.
The current pipe gallery inspection robot generally adopts a suspended track type robot and a double-wheel driving mode, so that the occupation of a motor and a speed reducer to the robot space can be effectively reduced, and a new problem is brought to the running mode of the motor. In general, two motors are in a speed control mode, along with the running of the motors, the accumulated error of the running distance between two wheels can possibly cause the two motors to generate a phenomenon of 'strong', specifically, the control current value of one motor can be obviously larger than that of the other motor, along with the increasing of the running distance, the strong force between the motors can be more and more severe, and finally, the overcurrent alarm of a driver or the motor or the driver can be burnt out.
Disclosure of Invention
The invention aims to provide a track type pipe gallery robot which can be used for realizing accurate positioning in a pipe gallery, and meanwhile, a motor control mode is adopted, so that the damage to a driving system caused by 'relatively strong' motors can be effectively avoided, and the defect of the track type pipe gallery inspection robot control system is overcome.
The technical scheme adopted by the invention for achieving the purpose is as follows: track formula piping lane inspection robot control system, robot body locates on the track in the piping lane, includes: the robot comprises an electronic tag, a robot body, a robot controller, a network module, a motor driving module, a track position positioning module, a visual controller, an obstacle avoidance module and an image acquisition module, wherein the network module, the motor driving module, the track position positioning module, the visual controller, the obstacle avoidance module and the image acquisition module are connected with the robot controller;
a plurality of electronic tags are arranged on the track; the robot controller, the network module, the motor driving module, the track position positioning module, the visual controller, the obstacle avoidance module and the image acquisition module are all arranged on the robot body;
the robot controller is used for receiving a command signal sent by the upper computer through the network module, resolving the command signal into a speed command and sending the speed command to the motor driving module, and simultaneously reading a torque value generated by a motor shaft of the driving motor; the result image processed by the visual controller is received and transmitted to the upper computer through the network module;
the network module is used for transmitting the received command signal sent by the upper computer to the robot controller so as to realize remote control of the robot; the received instructions of the robot controller are respectively sent to each module so as to realize information interaction of each module;
the motor driving module is used for receiving a speed instruction of the robot controller and sending the speed instruction to the driving motor;
the track position positioning module is an electronic tag reading device and is used for reading an electronic tag on a track to obtain the absolute position of the current robot; collecting a code wheel value generated by a motor shaft of a driving motor in real time, collecting the code wheel value of a robot body, and sending the code wheel value to a robot controller to calculate the current actual position of the robot body;
the visual controller is used for processing the image information acquired by the image acquisition module to process the image, sending the processed result image to the robot controller and storing the processed result in the robot controller;
the obstacle avoidance module is used for acquiring the distance of the obstacle and sending the distance to the robot controller so as to enable the robot body to avoid and stop;
the image acquisition module is connected with the vision controller and is used for providing a view in any observing direction and a view in any observing angle for the upper computer and also used for receiving a running track set by the robot controller to patrol.
The robot body includes: the device comprises a mobile platform, a chassis, a frame, a front axle and a rear axle;
the mobile platform is arranged below the chassis, the front axle and the rear axle are both arranged on the mobile platform, and the front axle is connected with the rear axle through a frame; the rear axle is provided with two driving wheels which are connected with a motor driving module to provide power for the robot body; and the front axle is provided with two driven wheels.
The motor driving module includes: the first driver and the second driver are respectively connected with the robot controller through a CAN bus; the driving motor A and the driving motor B are connected with two corresponding driving wheels; the driving motor A and the driving motor B are the same driving motor.
The track position locating module comprises: the electronic tag reading device, the absolute value code disc and the driving motor code disc;
the electronic tag reading device is an RFID reader and is arranged below the chassis of the robot body and used for reading the electronic tag in the track;
the absolute value code disc is arranged on the driven wheel of the robot body, two driving motor code discs are respectively arranged on two driving motors of the motor driving module.
The network module comprises: the switch and the wireless network module are respectively connected with the upper computer; the switch and the wireless network module are both connected with the robot controller.
The obstacle avoidance module is a sonar arranged on the front side and the rear side of the frame, and the sonar is connected with the robot controller.
The image acquisition module is a tripod head camera, and the tripod head camera is connected with the robot controller.
A control method of a track type pipe gallery inspection robot control system comprises the following steps:
1) The robot body moves, the robot controller controls the second driver to change along with the setting of the first controller, and when the track position positioning module detects the electronic tag, the current position of the robot body is obtained; if the electronic tag is not detected by the track position positioning module, the robot controller acquires the absolute value code wheel value of the track position positioning module, the code wheel value of the driving motor A and the code wheel value of the driving motor B;
2) For a period of window time, the robot controller obtains the moving distance A of the center point of the robot body according to the code wheel value of the driving motor A and the code wheel value of the driving motor B; meanwhile, calculating according to the absolute value code disc value to obtain the travelling distance B of the robot body;
3) Data fusion is carried out on the distance A and the distance B, so that the travelling distance C of the robot body in window time is obtained, namely the current position of the robot body is obtained;
the data fusion is specifically as follows:
distance c=k1 distance a+k2 distance B
k1+k2＝1
Wherein k1 and k2 are respectively the weighting coefficient of the code wheel value of the driving motor A and the weighting coefficient of the code wheel value of the driving motor B;
inquiring a measured variance value sigma 1 according to a motor code disc manual, and determining a measured variance value sigma 2 given by an absolute value code disc data manual, wherein the measured variance value sigma 1 is:
k1＝(σ1)2/[(σ1)2(σ2)2]
k2＝(σ2)2/[(σ1)2(σ2)2]
4) When an obstacle exists on the track, the obstacle avoidance module sends the acquired obstacle distance to the robot controller, and the robot controller obtains an obstacle avoidance instruction according to the obstacle distance and sends the obstacle avoidance instruction to the motor driving module.
The robot body moves, and the robot controller controls the second driver to change along with the setting of the first controller, specifically:
the robot controller sends a speed instruction to the first driver in real time, reads the actual moment value of the motor shaft of the driving motor A in real time, and sends the actual moment value of the motor shaft of the driving motor A to the second driver in the next period so that the moment of the motor shaft of the driving motor B is identical to the moment of the motor shaft of the driving motor A.
The step 2) specifically comprises the following steps:
the number of turns of the wheel rotation recorded by the absolute value code wheel is combined with the outer diameter of the wheel, the distance travelled by the robot in window time is calculated, and the travelling distance B of the robot body is obtained;
the window time represents two moments of T1 and T2 in a set time;
the distance B is:
wheel diameter [ (T2 moment absolute value code number-T1 moment absolute value code number)/absolute value code single-turn code value ] =robot body travel distance B;
according to the two driving motors, according to the diameters of the driving motor code wheel and the wheels, the distance of the two driving wheels respectively walking can be obtained in combination with window time, the average value of the distance of the two driving wheels respectively walking is obtained, and according to the single-circle code value of the driving motor A or B and the reduction ratio of the reducer of the driving motor, the moving distance A of the center point of the robot body is obtained, namely:
wheel circumference (drive motor a code wheel value + drive motor B code wheel value)/2/drive motor single turn code value/drive motor reducer reduction ratio = distance a.
The invention has the following beneficial effects and advantages:
1. the track type inspection robot control system is suitable for a pipe gallery scene, and the robot can be directly used without changing the existing environment after a user performs path planning and can work for a long time under the unattended condition;
2. the robot can realize accurate positioning by using a small number of electronic tags by using a positioning technology, and the used motor control mode can reduce the failure times of a motor and a driver, improve the service life of a driving system and improve the reliability of the robot;
3. the robot controller controls the second driver to change along with the setting of the first driver, and pushes the load to move together, so that the problem of strong motor is solved.
Drawings
FIG. 1 is a block diagram of a system of the present invention;
FIG. 2 is a robot positioning process of the present invention;
fig. 3 is a control flow of the robot motion driving motor according to the present invention.
FIG. 4 is a schematic view of the positions of the electronic tags on the rails of the robot body according to the present invention;
fig. 5 is a schematic view of the body structure of the robot according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
FIG. 1 is a block diagram of a system according to the present invention; the robot comprises a robot body and a mobile platform, wherein the robot body is arranged on the mobile platform. The robot body is internally provided with a robot controller, a network module, a motor driving module, a track position positioning module, a visual controller, an obstacle avoidance module, an image acquisition module and a power management module; the robot controller is respectively connected with the network module, the motor driving module, the track position positioning module, the visual controller, the obstacle avoidance module and the power management module.
Fig. 5 is a schematic view of the robot body according to the present invention. Wherein the robot body is a hollow shell; the robot body includes: the device comprises a mobile platform, a chassis, a frame, a front axle and a rear axle;
the mobile platform is arranged below the chassis, wheels for walking and guiding are arranged on the mobile platform, the front axle and the rear axle are arranged on the mobile platform, the front axle is connected with the rear axle through a frame, electromechanical equipment is carried on the chassis, and the shell is arranged; the rear axle is the transaxle, walks through the bi-motor that sets up on the chassis, and mobile platform driving mode is two-wheeled drive structure, promptly: the rear axle is provided with two driving wheels; the driving wheels are connected with the motor driving module and provide power for the robot body; the front axle is provided with two driven wheels.
Fig. 4 is a schematic diagram of the positions on the track of the robot body and the positions of the electronic tags according to the present invention; the robot body is arranged on a track in the pipe gallery, the arrangement of the electronic tag is divided into two types, one type is to correct the positioning error of the robot caused by wheel slipping, the arrangement is generally 10 meters, and the positioning accuracy can reach 2cm at the moment; the other is to identify a specific point: electronic tags are required to be arranged before and after the charging point and at the charging pile to inform the robot that the robot is about to reach the charging point and the robot reaches the charging point; and two ends of the track are used as electronic limit alarms.
FIG. 1 is a block diagram of a system according to the present invention; the specific functions of each module are as follows:
the robot controller is a central processing unit of the robot control system and is used for receiving a command signal sent by the upper computer through the network module, resolving the command signal into a speed command and sending the speed command to the motor driving module, and simultaneously reading a torque value generated by a motor shaft of the driving motor; the result image processed by the visual controller is received and transmitted to the upper computer through the network module;
the robot controller is also responsible for analyzing and calculating the information related to the motion positioning such as the absolute value code wheel value, the electronic tag value, the motor state and the like acquired by the sensor, and performing corresponding processing.
The network module consists of a switch and a wireless network module. The system has the functions that information interaction of all parts in the robot system is realized, a user can conduct information interaction with the remote pipe gallery robot through the network module, and the network module transmits a user command signal to a control interface of the robot controller to realize remote control of the robot.
The motor driving module is used for receiving a speed instruction of the robot controller and sending the speed instruction to the driving motor; a motor drive module, comprising: the first driver and the second driver are respectively connected with the robot controller through a CAN bus; the driving motor A and the driving motor B are connected with two corresponding driving wheels; the driving motor A and the driving motor B are the same driving motor.
When the robot enters a motion state, the robot controller firstly sends a speed instruction to the first driver, meanwhile reads the actual moment value of the motor shaft of the driving motor A, and transmits the moment value of the motor shaft of the driving motor A to the second driver in the next period, wherein the moment of the motor shaft of the driving motor B is the same as that of the motor shaft of the driving motor A, and thus, the control of the second driver can be changed along with the setting of the first driver to push the load to move together. Thereby solving the problem of the motor being relatively strong.
The track position locating module comprises: the electronic tag reading device, the absolute value code disc and the driving motor code disc;
the electronic tag reading device is an RFID reader and is arranged below the chassis of the robot body and used for reading the electronic tag in the track;
the absolute value code disc is arranged on the driven wheel of the robot body, two driving motor code discs are respectively arranged on two driving motors of the motor driving module.
The track position positioning module is an electronic tag reading device and is used for reading an electronic tag on a track to obtain the absolute position of the current robot; collecting a code wheel value generated by a motor shaft of a driving motor in real time, collecting the code wheel value of a robot body, and sending the code wheel value to a robot controller to calculate the current actual position of the robot body;
the electronic tag reading device is used for reading the electronic tag arranged on the track and acquiring the absolute position of the current robot; the number of turns of the wheel rotation recorded by the multi-turn absolute value encoder is combined with the outer diameter of the wheel, so that the distance B can be obtained by calculating the distance travelled by the robot body in the window time; the two travelling motors are provided with encoders combined with motor reduction ratios and wheel outer diameters, the distance of the two outer wheels travelling respectively can be obtained by combining window time, and the distance A of the robot is obtained by averaging the two distances. And carrying out Kalman filtering on the distance A obtained by driving the motor code disc and the distance B obtained by driving the absolute value code disc to obtain the distance C of the robot body advancing in the window time. The electronic tag can be attached to key points of the track in a small amount, such as a charging position and boundaries at two ends of the track, when the robot scans the electronic tag, a current absolute position can be obtained, and the current actual position is obtained by adding the distance C as an initial position.
Visual controller: the cloud platform processing system is used for processing image information returned by the cloud platform, fault recognition, data recording, human body detection and other visual information related operation processing, changing the processing content according to the requirements of a service layer, including but not limited to meter recognition, fire bullet state recognition and thermal infrared temperature early warning, transmitting an operation result to a user side through a network module, and storing the result in a local database.
Obstacle avoidance module: the obstacle avoidance module consists of sonar obstacle avoidance. The front and back of the robot adopt sonar to realize avoidance and stop.
And an image acquisition module: the image acquisition module comprises a 1-stage tripod head camera. The pan-tilt camera can remotely control the observation direction and angle of the pan-tilt camera by a user, and can also patrol according to the set track.
And a power management module: the power management module can record the electricity consumption, so that the real-time endurance time of the robot is calculated and returned to the user side.
As shown in fig. 2, the robot positioning process of the invention is a control method of a track type pipe gallery inspection robot control system, which comprises the following steps:
1) The robot body moves, the robot controller controls the second driver to change along with the setting of the first controller, and when the track position positioning module detects the electronic tag, the current position of the robot body is obtained; if the electronic tag is not detected by the track position positioning module, the robot controller acquires the absolute value code wheel value of the track position positioning module, the code wheel value of the driving motor A and the code wheel value of the driving motor B;
2) For a period of window time, the robot controller obtains the moving distance A of the center point of the robot body according to the code wheel value of the driving motor A and the code wheel value of the driving motor B; meanwhile, calculating according to the absolute value code disc value to obtain the travelling distance B of the robot body;
3) Data fusion is carried out on the distance A and the distance B, so that the travelling distance C of the robot body in window time is obtained, namely the current position of the robot body is obtained;
the data fusion is specifically as follows:
distance c=k1 distance a+k2 distance B
k1+k2＝1
Wherein k1 and k2 are respectively the weighting coefficient of the code wheel value of the driving motor A and the weighting coefficient of the code wheel value of the driving motor B;
according to a motor code disc data manual in the prior art, a measured variance value sigma 1 of a driving motor A or a driving motor B is given, and a measured variance value sigma 2 given by an absolute value code disc data manual is given;
k1＝(σ1)2/[(σ1)2(σ2)2]
k2＝(σ2)2/[(σ1)2(σ2)2]
4) When an obstacle exists on the track, the obstacle avoidance module sends the acquired obstacle distance to the robot controller, and the robot controller obtains an obstacle avoidance instruction according to the obstacle distance and sends the obstacle avoidance instruction to the motor driving module.
As shown in fig. 3, in order to provide a control flow of the robot motion driving motor, the robot body moves, and the robot controller controls the second driver to change along with the setting of the first controller, specifically:
the robot controller sends a speed instruction to the first driver in real time, reads the actual moment value of the motor shaft of the driving motor A in real time, and sends the actual moment value of the motor shaft of the driving motor A to the second driver in the next period so that the moment of the motor shaft of the driving motor B is identical to the moment of the motor shaft of the driving motor A.
The step 2) specifically comprises the following steps:
the number of turns of the wheel rotation recorded by the absolute value code wheel is combined with the outer diameter of the wheel, the distance travelled by the robot in window time is calculated, and the travelling distance B of the robot body is obtained;
the window time represents two moments of T1 and T2 in a set time;
the distance B is:
wheel diameter [ (T2 moment absolute value code number-T1 moment absolute value code number)/absolute value code single-turn code value ] =robot body travel distance B;
according to the two driving motors, according to the diameters of the driving motor code wheel and the wheels, the distance of the two driving wheels respectively walking can be obtained in combination with window time, the average value of the distance of the two driving wheels respectively walking is obtained, and according to the single-circle code value of the driving motor A or B and the reduction ratio of the reducer of the driving motor, the moving distance A of the center point of the robot body is obtained, namely:
wheel circumference × (drive motor a code wheel value+drive motor B code wheel value /) 2 +.drive motor single turn code value +.drive motor reducer reduction ratio = distance a.
Claims (10)
1. Track formula piping lane inspection robot control system, robot body locates on the track in the piping lane, its characterized in that includes: the robot comprises an electronic tag, a robot body, a robot controller, a network module, a motor driving module, a track position positioning module, a visual controller, an obstacle avoidance module and an image acquisition module, wherein the network module, the motor driving module, the track position positioning module, the visual controller, the obstacle avoidance module and the image acquisition module are connected with the robot controller;
a plurality of electronic tags are arranged on the track; the robot controller, the network module, the motor driving module, the track position positioning module, the visual controller, the obstacle avoidance module and the image acquisition module are all arranged on the robot body;
the robot controller is used for receiving a command signal sent by the upper computer through the network module, resolving the command signal into a speed command and sending the speed command to the motor driving module, and simultaneously reading a torque value generated by a motor shaft of the driving motor; the result image processed by the visual controller is received and transmitted to the upper computer through the network module;
the network module is used for transmitting the received command signal sent by the upper computer to the robot controller so as to realize remote control of the robot; the received instructions of the robot controller are respectively sent to each module so as to realize information interaction of each module;
the motor driving module is used for receiving a speed instruction of the robot controller and sending the speed instruction to the driving motor;
the track position positioning module is an electronic tag reading device and is used for reading an electronic tag on a track to obtain the absolute position of the current robot; collecting a code wheel value generated by a motor shaft of a driving motor in real time, collecting the code wheel value of a robot body, and sending the code wheel value to a robot controller to calculate the current actual position of the robot body;
the visual controller is used for processing the image information acquired by the image acquisition module to process the image, sending the processed result image to the robot controller and storing the processed result in the robot controller;
the obstacle avoidance module is used for acquiring the distance of the obstacle and sending the distance to the robot controller so as to enable the robot body to avoid and stop;
the image acquisition module is connected with the vision controller and is used for providing a view in any observing direction and a view in any observing angle for the upper computer and also used for receiving a running track set by the robot controller to patrol.
2. The track pipe rack inspection robot control system of claim 1, wherein the robot body comprises: the device comprises a mobile platform, a chassis, a frame, a front axle and a rear axle;
the mobile platform is arranged below the chassis, the front axle and the rear axle are both arranged on the mobile platform, and the front axle is connected with the rear axle through a frame; the rear axle is provided with two driving wheels which are connected with a motor driving module to provide power for the robot body; and the front axle is provided with two driven wheels.
3. The track pipe rack inspection robot control system of claim 1, wherein the motor drive module comprises: the first driver and the second driver are respectively connected with the robot controller through a CAN bus; the driving motor A and the driving motor B are connected with two corresponding driving wheels; the driving motor A and the driving motor B are the same driving motor.
4. The track pipe lane inspection robot control system of claim 1, wherein the track position locating module comprises: the electronic tag reading device, the absolute value code disc and the driving motor code disc;
the electronic tag reading device is an RFID reader and is arranged below the chassis of the robot body and used for reading the electronic tag in the track;
the absolute value code disc is arranged on the driven wheel of the robot body, two driving motor code discs are respectively arranged on two driving motors of the motor driving module.
5. The track pipe gallery inspection robot control system of claim 1, wherein the network module comprises: the switch and the wireless network module are respectively connected with the upper computer; the switch and the wireless network module are both connected with the robot controller.
6. The track-type pipe gallery inspection robot control system according to claim 1, wherein the obstacle avoidance modules are sonar arranged on the front side and the rear side of the frame, and the sonar is connected with the robot controller.
7. The track pipe gallery inspection robot control system of claim 1, wherein the image acquisition module is a pan-tilt camera, the pan-tilt camera being connected to the robot controller.
8. The control method of a track-type pipe gallery inspection robot control system according to claims 1 to 7, characterized by comprising the steps of:
1) The robot body moves, the robot controller controls the second driver to change along with the setting of the first controller, and when the track position positioning module detects the electronic tag, the current position of the robot body is obtained; if the electronic tag is not detected by the track position positioning module, the robot controller acquires the absolute value code wheel value of the track position positioning module, the code wheel value of the driving motor A and the code wheel value of the driving motor B;
2) For a period of window time, the robot controller obtains the moving distance A of the center point of the robot body according to the code wheel value of the driving motor A and the code wheel value of the driving motor B; meanwhile, calculating according to the absolute value code disc value to obtain the travelling distance B of the robot body;
3) Data fusion is carried out on the distance A and the distance B, so that the travelling distance C of the robot body in window time is obtained, namely the current position of the robot body is obtained;
the data fusion is specifically as follows:
distance c=k1 distance a+k2 distance B
k1+k2＝1
Wherein k1 and k2 are respectively the weighting coefficient of the code wheel value of the driving motor A and the weighting coefficient of the code wheel value of the driving motor B;
inquiring a measured variance value sigma 1 according to a motor code disc manual, and determining a measured variance value sigma 2 given by an absolute value code disc data manual, wherein the measured variance value sigma 1 is:
k1＝(σ1) 2 /[(σ1) 2 (σ2) 2 ]
k2＝(σ2) 2 /[(σ1) 2 (σ2) 2 ]
4) When an obstacle exists on the track, the obstacle avoidance module sends the acquired obstacle distance to the robot controller, and the robot controller obtains an obstacle avoidance instruction according to the obstacle distance and sends the obstacle avoidance instruction to the motor driving module.
9. The control method of the track-type pipe gallery inspection robot control system according to claim 8, wherein the robot body moves, and the robot controller controls the second driver to change along with the setting of the first controller, specifically:
the robot controller sends a speed instruction to the first driver in real time, reads the actual moment value of the motor shaft of the driving motor A in real time, and sends the actual moment value of the motor shaft of the driving motor A to the second driver in the next period so that the moment of the motor shaft of the driving motor B is identical to the moment of the motor shaft of the driving motor A.
10. The method for controlling the track-type pipe gallery inspection robot control system according to claim 8, wherein the step 2) specifically comprises:
the number of turns of the wheel rotation recorded by the absolute value code wheel is combined with the outer diameter of the wheel, the distance travelled by the robot in window time is calculated, and the travelling distance B of the robot body is obtained;
the window time represents two moments of T1 and T2 in a set time;
the distance B is:
wheel diameter [ (T2 moment absolute value code number-T1 moment absolute value code number)/absolute value code single-turn code value ] =robot body travel distance B;
according to the two driving motors, according to the diameters of the driving motor code wheel and the wheels, the distance of the two driving wheels respectively walking can be obtained in combination with window time, the average value of the distance of the two driving wheels respectively walking is obtained, and according to the single-circle code value of the driving motor A or B and the reduction ratio of the reducer of the driving motor, the moving distance A of the center point of the robot body is obtained, namely:
wheel circumference × (drive motor a code wheel value+drive motor B code wheel value /) 2 +.drive motor single turn code value +.drive motor reducer reduction ratio = distance a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111549756.8A CN116266059A (en) | 2021-12-17 | 2021-12-17 | Track type pipe gallery inspection robot control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111549756.8A CN116266059A (en) | 2021-12-17 | 2021-12-17 | Track type pipe gallery inspection robot control system and control method |
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| Publication Number | Publication Date |
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| CN116266059A true CN116266059A (en) | 2023-06-20 |
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|---|---|---|---|
| CN202111549756.8A Pending CN116266059A (en) | 2021-12-17 | 2021-12-17 | Track type pipe gallery inspection robot control system and control method |
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| Country | Link |
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| CN (1) | CN116266059A (en) |
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