CN116872213B - Preheating method and device of optical fiber wiring robot and electronic equipment - Google Patents
Preheating method and device of optical fiber wiring robot and electronic equipment Download PDFInfo
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- CN116872213B CN116872213B CN202311034476.2A CN202311034476A CN116872213B CN 116872213 B CN116872213 B CN 116872213B CN 202311034476 A CN202311034476 A CN 202311034476A CN 116872213 B CN116872213 B CN 116872213B
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- 239000013307 optical fiber Substances 0.000 title claims abstract description 67
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- 238000004364 calculation method Methods 0.000 claims description 11
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The application provides a preheating method and device of an optical fiber wiring robot and electronic equipment, wherein the method comprises the following steps: when the mechanical arm moves into a non-first preheating window, calculating a pulse difference value between the total transmission pulse quantity sent to the driving motor and the total feedback pulse quantity fed back by the driving motor in the process that the driving motor drives the mechanical arm to move in a previous preheating window of the non-first preheating window; when the pulse difference value is smaller than or equal to the pulse precision requirement, the driving motor is controlled to drive the mechanical arm to move in the non-initial preheating window at the first current and the first rotating speed until the pulse difference value between the total sending pulse quantity sent to the driving motor in each target quantity of continuous non-initial preheating windows and the total feedback pulse quantity fed back by the driving motor is smaller than or equal to the pulse precision requirement in the target quantity of continuous non-initial preheating windows. By the method, the phenomenon of rotation resistance of the driving motor can be avoided.
Description
Technical Field
The present disclosure relates to the field of optical fiber wiring technologies, and in particular, to a preheating method and apparatus for an optical fiber wiring robot, and an electronic device.
Background
Optical communication is an important information communication mode, and refers to transmission of optical signals through a constructed optical transmission channel. Fig. 1 is a schematic diagram of an optical transmission channel between an optical line terminal and an optical network unit according to an embodiment of the present application, as shown in fig. 1, where the optical transmission channel is a channel formed by connecting a plurality of optical network nodes between an Optical Line Terminal (OLT) and an Optical Network Unit (ONU) through an optical fiber. Specifically, as shown in fig. 1, one end of the optical network node includes a plurality of optical fiber ports, and the other end also includes a plurality of optical fiber ports. Each optical fiber port is pre-connected with a preset optical fiber (for example, optical fiber 1), and the preset optical fiber is used for connecting two optical network nodes through the optical fiber ports. After two optical fiber ports in the same optical network node are connected through a jumper connection optical fiber (for example, optical fiber 2) in the optical network node, the two optical network nodes can be communicated. The optical network nodes from the management end to the user end are connected to establish an optical fiber path (i.e., an optical transmission channel) from the management end to the user end.
Currently, an optical fiber distribution robot is disposed in each optical network node, and a jumper optical fiber (for example, optical fiber 2) in the optical network node can be inserted into corresponding (two) optical fiber ports by the optical fiber distribution robot in the optical network node, that is, the two optical fiber ports in the optical network node are connected by the optical fiber distribution robot in the optical network node.
The optical fiber distribution robot generally comprises a driving motor and a mechanical arm, and the driving motor drives the mechanical arm to move, so that the jumper optical fiber in the optical network node is inserted into a corresponding optical fiber port through the mechanical arm. Since some of the optical network nodes are located outdoors, the fiber distribution robots in these optical network nodes are also located outdoors. When outdoor temperature is lower, driving motor is in low temperature state, owing to still be provided with arm (i.e. load) on the driving motor, lead to the driving motor to appear blocking the commentaries on classics phenomenon under low temperature state easily, and driving motor can't drive the arm and remove promptly this moment.
Disclosure of Invention
In view of the foregoing, an object of the present application is to provide a preheating method, apparatus and electronic device for an optical fiber wiring robot, so as to preheat the optical fiber wiring robot in a low temperature state, thereby avoiding a rotation blocking phenomenon of a driving motor in the optical fiber wiring robot in the low temperature state.
In a first aspect, an embodiment of the present application provides a preheating method of an optical fiber wiring robot, where the optical fiber wiring robot includes a driving motor, a mechanical arm, and at least one guide rail; the driving motor is used for driving the mechanical arm to move on the guide rail; the target guide rail comprises a plurality of continuous preheating windows, and the target guide rail is any guide rail; the method comprises the following steps:
step S1: when the external environment temperature is lower than the preset temperature, controlling the mechanical arm to be positioned in a first preheating window, and controlling the driving motor to drive the mechanical arm to move in the first preheating window by using initial current and initial rotating speed in the first preheating window;
step S2: for each non-first preheating window, when the mechanical arm moves into the non-first preheating window according to the arrangement sequence of the preheating windows, calculating a pulse difference value between the total sending pulse quantity sent to the driving motor and the total feedback pulse quantity fed back by the driving motor in the process that the driving motor drives the mechanical arm to move in the previous preheating window of the non-first preheating window, and collecting the current temperature of the driving motor; wherein, in the previous preheating window of the non-first preheating window, the driving motor drives the mechanical arm to move at a first current and a first rotation speed;
Step S3: when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the non-first preheating window at the first current and the first rotating speed, the non-first preheating window is used as a new previous preheating window, the next preheating window of the non-first preheating window is used as a new non-first preheating window, the steps S2-S3 are continuously executed until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and when the pulse difference value between the total transmitted pulse number sent to the driving motor in each target number of continuous non-first preheating windows and the total feedback pulse number fed back by the driving motor is smaller than or equal to the pulse precision requirement, preheating is stopped.
With reference to the first aspect, the embodiments of the present application provide a first possible implementation manner of the first aspect, where after performing step S2, the method further includes:
when the pulse difference value is larger than the pulse precision requirement of a first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a second current and a second rotating speed; the current value of the second current is larger than that of the first current; the second rotational speed is less than the first rotational speed; the first preset multiple is larger than 1.
With reference to the first possible implementation manner of the first aspect, the present application provides a second possible implementation manner of the first aspect, wherein the current value of the second current is calculated by the following formula:
wherein j represents the j-th preheating window; i j+1 A current value representing the second current; i j A current value representing the first current; i rated A current value representing a rated current of the drive motor; the second rotational speed is calculated by the following formula:
V j+1 ＝V j ×(1-e -(j+1) )
wherein V is j+1 Representing the second rotational speed, V j Representing the first rotational speed.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present application provides a third possible implementation manner of the first aspect, where after performing step S2, the method further includes:
when the pulse difference value is larger than or equal to the pulse precision requirement and smaller than the pulse precision requirement of the first preset multiple, and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the non-initial preheating window at the second current and the first rotating speed.
With reference to the first aspect, the embodiments of the present application provide a fourth possible implementation manner of the first aspect, where after performing step S2, the method further includes:
when the current temperature of the driving motor is not less than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a third current and a third rotating speed; the current value of the third current is smaller than the current value of the first current; the third rotational speed is less than the first rotational speed.
With reference to the fourth possible implementation manner of the first aspect, the present embodiment provides a fifth possible implementation manner of the first aspect, wherein a current value of the third current is calculated by the following formula:
I’ j+1 ＝70％×I rated
wherein I' j+1 A current value representing the third current; i rated A current value representing a rated current of the drive motor;
the third rotational speed is calculated by the following formula:
V’ j+1 ＝V j ×(1-e -j )
wherein V 'is' j+1 Representing the third rotational speed; v (V) j Representing the first rotational speed; j represents the j-th preheat window.
With reference to the first aspect, the embodiment of the present application provides a sixth possible implementation manner of the first aspect, where, before performing step S1, the method further includes:
When receiving an optical fiber jumper connection task, collecting external environment temperature to judge whether the external environment temperature is lower than a preset temperature or not;
when the external environment temperature is lower than the preset temperature, calculating the pulse precision requirement of the driving motor when the driving motor drives the mechanical arm to move on the target guide rail according to the moving distance precision requirement of the mechanical arm when the mechanical arm moves on the target guide rail;
determining the length of each preheating window on the target guide rail according to the first pulse quantity and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end; the length of the preheating window is represented by the number of second pulses required by the driving motor in driving the mechanical arm to move from one end of the preheating window to the other end.
With reference to the sixth possible implementation manner of the first aspect, the embodiment of the present application provides a seventh possible implementation manner of the first aspect, wherein calculating, according to a movement distance accuracy requirement of the mechanical arm when the mechanical arm moves on the target rail, a pulse accuracy requirement of the driving motor when the driving motor drives the mechanical arm to move on the target rail includes:
The pulse accuracy requirement is calculated by the following formula:
wherein PA represents the pulse accuracy requirement; d represents the moving distance precision requirement; s is the lead of the screw rod; θ is the inherent step angle of the driving motor; m is a subdivision number, the whole step is 1, and the half step is 2;
the determining the length of each preheating window on the target guide rail according to the first pulse number and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end of the target guide rail comprises the following steps:
when the first pulse number is greater than the pulse precision requirement of a second preset multiple, the length of the preheating window is equal to 20 times the pulse precision requirement;
when the first pulse number is not more than the pulse accuracy requirement of a second preset multiple, the length of the preheating window is less than or equal to one tenth of the first pulse number.
In a second aspect, an embodiment of the present application further provides a preheating device of an optical fiber wiring robot, where the optical fiber wiring robot includes a driving motor, a mechanical arm, and at least one guide rail; the driving motor is used for driving the mechanical arm to move on the guide rail; the target guide rail comprises a plurality of continuous preheating windows, and the target guide rail is any guide rail; the device comprises:
The first control module is used for executing the step S1; step S1 is to control the mechanical arm to be positioned in a first preheating window when the external environment temperature is lower than a preset temperature, and control the driving motor to drive the mechanical arm to move in the first preheating window by using initial current and initial rotating speed in the first preheating window;
the first calculation module is used for executing the step S2; step S2 is to calculate, for each non-first preheating window, a pulse difference value between a total transmission pulse number sent to the driving motor and a total feedback pulse number fed back by the driving motor and a current temperature of the driving motor when the driving motor drives the mechanical arm to move in a previous preheating window of the non-first preheating window when the mechanical arm moves into the non-first preheating window according to an arrangement sequence of the preheating windows; wherein, in the previous preheating window of the non-first preheating window, the driving motor drives the mechanical arm to move at a first current and a first rotation speed;
the second control module is used for executing the step S3; and step S3, when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-first preheating window at the first current and the first rotating speed, taking the non-first preheating window as a new previous preheating window, taking the next preheating window of the non-first preheating window as a new non-first preheating window, continuing to execute steps S2-S3 until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and stopping preheating when the pulse difference value between the total number of transmitted pulses sent to the driving motor and the total number of feedback pulses fed back by the driving motor in each target number of continuous non-first preheating windows is smaller than or equal to the pulse precision requirement.
With reference to the second aspect, embodiments of the present application provide a first possible implementation manner of the second aspect, where the apparatus further includes:
the third control module is used for controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a second current and a second rotating speed when the pulse difference value is larger than the pulse precision requirement of a first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor after the calculation module finishes the step S2; the current value of the second current is larger than that of the first current; the second rotational speed is less than the first rotational speed; the first preset multiple is larger than 1.
With reference to the first possible implementation manner of the second aspect, the present application examples provide a second possible implementation manner of the second aspect, wherein the current value of the second current is calculated by the following formula:
wherein j represents the j-th preheating window; i j+1 A current value representing the second current; i j A current value representing the first current; i rated A current value representing a rated current of the drive motor;
the second rotational speed is calculated by the following formula:
V j+1 ＝V j ×(1-e -(j+1) )
Wherein V is j+1 Representing the second rotational speed, V j Representing the first rotational speed.
With reference to the first possible implementation manner of the second aspect, the present embodiment provides a third possible implementation manner of the second aspect, where the apparatus further includes:
and the fourth control module is used for controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at the second current and the first rotating speed when the pulse difference value is larger than or equal to the pulse precision requirement and smaller than the pulse precision requirement of the first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor after the calculation module finishes the step S2.
With reference to the second aspect, embodiments of the present application provide a fourth possible implementation manner of the second aspect, where the apparatus further includes:
the fifth control module is used for controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a third current and a third rotating speed when the current temperature of the driving motor is not less than the highest working temperature of the driving motor after the step S2 is executed by the calculation module; the current value of the third current is smaller than the current value of the first current; the third rotational speed is less than the first rotational speed.
With reference to the fourth possible implementation manner of the second aspect, the present application example provides a fifth possible implementation manner of the second aspect, wherein the current value of the third current is calculated by the following formula:
I’ j+1 ＝70％×I rated
wherein I' j+1 A current value representing the third current; i rated A current value representing a rated current of the drive motor;
the third rotational speed is calculated by the following formula:
V’ j+1 ＝V j ×(1-e -j )
wherein V 'is' j+1 Representing the third rotational speed; v (V) j Representing the first rotational speed; j represents the j-th preheat window.
With reference to the second aspect, embodiments of the present application provide a sixth possible implementation manner of the second aspect, where the apparatus further includes:
the acquisition module is used for acquiring the external environment temperature when the optical fiber jumper connection task is received before the first control module executes the step S1 so as to judge whether the external environment temperature is lower than a preset temperature or not;
the second calculation module is used for calculating the pulse precision requirement of the driving motor when the driving motor drives the mechanical arm to move on the target guide rail according to the moving distance precision requirement of the mechanical arm when the mechanical arm moves on the target guide rail when the external environment temperature is lower than the preset temperature;
The determining module is used for determining the length of each preheating window on the target guide rail according to the first pulse quantity and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end; the length of the preheating window is represented by the number of second pulses required by the driving motor in driving the mechanical arm to move from one end of the preheating window to the other end.
With reference to the second aspect, an embodiment of the present application provides a seventh possible implementation manner of the second aspect, where the second calculating module is configured to calculate, according to a movement distance accuracy requirement of the mechanical arm when the mechanical arm moves on the target rail, a pulse accuracy requirement of the driving motor when the driving motor drives the mechanical arm to move on the target rail, where the pulse accuracy requirement is specifically used:
the pulse accuracy requirement is calculated by the following formula:
wherein PA represents the pulse accuracy requirement; d represents the moving distance precision requirement; s is the lead of the screw rod; θ is the inherent step angle of the driving motor; m is a subdivision number, the whole step is 1, and the half step is 2;
The determining module is used for determining the length of each preheating window on the target guide rail according to the first pulse number and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end, and is specifically used for:
when the first pulse number is greater than the pulse precision requirement of a second preset multiple, the length of the preheating window is equal to 20 times the pulse precision requirement;
when the first pulse number is not more than the pulse accuracy requirement of a second preset multiple, the length of the preheating window is less than or equal to one tenth of the first pulse number.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of any one of the possible implementations of the first aspect.
In a fourth aspect, the present embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the possible implementations of the first aspect described above.
According to the preheating method, the preheating device and the electronic equipment for the optical fiber wiring robot, when the external environment is lower than the preset temperature, the driving motor is controlled to drive the mechanical arm to move in each preheating window, and as the mechanical arm is driven to move through the driving motor in the process of driving the mechanical arm to move, the driving motor needs to drive the mechanical arm to move according to the current and the rotating speed corresponding to each preheating window, and at the moment, the preheating process for the driving motor is realized. In this embodiment, when the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-initial preheating windows, and the pulse difference between the total transmission pulse number sent to the driving motor and the total feedback pulse number fed back by the driving motor in each target number of continuous non-initial preheating windows is smaller than or equal to the pulse precision requirement, it indicates that the driving precision of the driving motor in the driving mechanical arm moving process reaches a certain requirement, and at this time, the preheating of the driving motor can be stopped. By the method in the embodiment, the driving motor in the optical fiber wiring robot in the low-temperature state can be preheated, so that the phenomenon of rotation resistance of the driving motor in the optical fiber wiring robot in the low-temperature state is avoided.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an optical transmission channel between an optical line terminal and an optical network unit according to an embodiment of the present application;
fig. 2 shows a flowchart of a preheating method of an optical fiber wiring robot according to an embodiment of the present application;
fig. 3 shows a schematic structural diagram of a fiber distribution robot according to an embodiment of the present application;
FIG. 4 illustrates a schematic diagram of a plurality of successive preheat windows on a target rail according to an embodiment of the present application;
fig. 5 shows a schematic structural diagram of a preheating device of an optical fiber wiring robot according to an embodiment of the present application;
Fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
Considering that when the driving motor is in a low-temperature state, the driving motor is also provided with the mechanical arm (namely a load), so that the driving motor can be prevented from rotating, namely the driving motor can not drive the mechanical arm to move. Based on this, the embodiment of the application provides a preheating method, a preheating device and an electronic device of an optical fiber wiring robot, so as to preheat a driving motor in the optical fiber wiring robot in a low-temperature state, thereby avoiding a rotation blocking phenomenon of the driving motor in the optical fiber wiring robot.
Embodiment one:
for the convenience of understanding the present embodiment, a preheating method of an optical fiber wiring robot disclosed in the present embodiment will be described in detail first. The optical fiber wiring robot comprises a driving motor, a mechanical arm and at least one guide rail; the driving motor is used for driving the mechanical arm to move on the guide rail; the target guide rail comprises a plurality of continuous preheating windows, and is any guide rail; fig. 2 shows a flowchart of a preheating method of an optical fiber distribution robot according to an embodiment of the present application, as shown in fig. 2, including the following steps S1 to S3:
step S1: when the external environment temperature is lower than the preset temperature, the control mechanical arm is positioned in the first preheating window, and in the first preheating window, the control driving motor drives the mechanical arm to move in the first preheating window by using the initial current and the initial rotating speed.
In this embodiment, fig. 3 shows a schematic structural diagram of an optical fiber wiring robot provided in the embodiment of the present application, and as shown in fig. 3, the optical fiber wiring robot includes a driving motor (not shown in the figure), a mechanical arm, three guide rails (as shown in fig. 3: an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail), a connection board, an optical fiber adapter located on the connection board, and a sliding table. As shown in fig. 3, the optical fiber wiring robot performs optical fiber connection through a three-degree-of-freedom mechanical arm, and the three-degree-of-freedom mechanical arm can move along an X axis, a Y axis and a Z axis, and inserts an optical fiber into an optical fiber adapter on a connecting plate through triaxial movement, so that connection of two optical fibers is completed.
In this embodiment, the driving motor operates as follows: and sending a pulse to the driving motor, and driving the mechanical arm to move after the driving motor receives the pulse. The driving motor is provided with an encoder, the encoder is coaxial with the driving motor, the encoder is driven to rotate when the driving motor rotates, the number of turns of the encoder is read in the process, and the number of feedback pulses is determined according to the number of turns of the encoder. The quantity of the feedback pulses represents the distance that the driving motor actually drives the mechanical arm to move. And the number of pulses sent to the drive motor indicates the distance that the drive motor is expected to move the mechanical arm. When the difference between the number of pulses sent to the driving motor and the number of feedback pulses is smaller, the driving motor can be characterized as better driving the mechanical arm to move. And when the difference between the number of pulses sent to the driving motor and the number of feedback pulses is larger, the driving motor is characterized as failing to normally drive the mechanical arm to move.
That is, in the present embodiment, the distance accuracy of the movement of the robot arm is not used as a measure of whether the drive motor is operating normally, but a measure of whether the drive motor is operating normally is represented by a difference between the number of pulses sent to the drive motor and the number of feedback pulses.
In this embodiment, the target guide rail is any one of an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail, where the extending directions of any two guide rails between the X-axis guide rail, the Y-axis guide rail, and the Z-axis guide rail are perpendicular to each other.
Fig. 4 is a schematic diagram of a plurality of continuous preheating windows on a target rail according to an embodiment of the present application, where, as shown in fig. 4, the length of each preheating window on the target rail is the same.
In one possible embodiment, before performing step S1, it may also be performed by the following steps S01-S03:
s01: when the optical fiber jumper connection task is received, the external environment temperature is collected to judge whether the external environment temperature is lower than the preset temperature.
As shown in fig. 3, the fiber jumper task refers to the insertion of an optical fiber (i.e., a jumper optical fiber) into a corresponding fiber optic adapter (i.e., a fiber port) by a fiber optic distribution robot. Since the fiber adaptation robot is located outdoors, the collected external ambient temperature is specifically referred to as an outdoor ambient temperature. And when the external environment temperature is lower than the preset temperature, the optical fiber wiring robot is characterized as being positioned in a low-temperature environment.
S02: when the external environment temperature is lower than the preset temperature, calculating the pulse precision requirement of the driving motor when the driving motor drives the mechanical arm to move on the target guide rail according to the moving distance precision requirement of the mechanical arm when the mechanical arm moves on the target guide rail.
In one possible implementation, the pulse accuracy requirement is calculated by the following formula:
wherein PA represents the pulse accuracy requirement; d represents the moving distance precision requirement; s is the lead of the screw rod; θ is the inherent step angle of the driving motor; m is a subdivision number, the whole step is 1, and the half step is 2.
S03: determining the length of each preheating window on the target guide rail according to the first pulse quantity and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end; the length of the preheating window is represented by the number of second pulses required by the drive motor in driving the robot arm to move from one head of the preheating window to the other.
When the first pulse number is larger than the pulse precision requirement of the second preset multiple, the length of the preheating window is equal to 20 times the pulse precision requirement; illustratively, the second predetermined multiple is 200.
When the first pulse number is not more than the pulse accuracy requirement of the second preset multiple, the length of the preheating window is less than or equal to one tenth of the first pulse number.
In this embodiment, the length of the preheat window is determined by the following equation:
RPS＝M×PA
wherein RPS represents the length of the preheat window; when the first pulse number is greater than the pulse precision requirement of the second preset multiple, M is 20; when the first pulse number is not larger than the pulse accuracy requirement of the second preset multiple, the value of M meets the condition that RPS is less than or equal to one tenth of the first pulse number.
In this embodiment, as shown in fig. 4, the first preheating window is the first preheating window from left to right. The control mechanical arm is positioned in the first preheating window, and in the first preheating window, the control driving motor drives the mechanical arm to move from left to right in the first preheating window by using initial current and initial rotating speed.
Wherein, initial current and initial rotational speed are:
I 1 ＝70％×I rated
wherein I is 1 Is the initial current; i rated Rated current for driving the motor; v (V) 1 Is the initial rotation speed; p is the pulse frequency (Hz) sent to the drive motor; θ is the inherent step angle of the driving motor; m is a subdivision number, the whole step is 1, and the half step is 2. In this embodiment, the rotation speed of the driving motor is controlled according to an S-shaped curve in each preheating window, V j Indicating the maximum rotation speed reached by the jth preheating window, the first preheating window adopts a low rotation speed V 1 And driving the mechanical arm to operate.
Step S2: for each non-first preheating window, when the mechanical arm moves into the non-first preheating window according to the arrangement sequence of the preheating windows, calculating a pulse difference value between the total sending pulse quantity sent to the driving motor and the total feedback pulse quantity fed back by the driving motor in the process that the driving motor drives the mechanical arm to move in the previous preheating window of the non-first preheating window, and collecting the current temperature of the driving motor; wherein, in the preceding preheating window of this non-first preheating window, driving motor is with first electric current and first rotational speed drive arm removal.
When the mechanical arm moves to the second preheating window, the pulse difference value between the total sending pulse quantity sent to the driving motor and the total feedback pulse quantity fed back by the driving motor and the current temperature of the driving motor are calculated in the process that the driving motor drives the mechanical arm to move in the first preheating window. And driving the motor to drive the mechanical arm to move at a first current and a first rotating speed in the first preheating window, wherein the first current is an initial current at the moment, and the first rotating speed is an initial rotating speed at the moment.
Step S3: when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the non-first preheating window at the first current and the first rotation speed, the non-first preheating window is used as a new previous preheating window, the next preheating window of the non-first preheating window is used as a new non-first preheating window, the steps S2-S3 are continuously executed until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and when the pulse difference value between the total transmitted pulse number sent to the driving motor in each target number of continuous non-first preheating windows and the total feedback pulse number fed back by the driving motor is smaller than or equal to the pulse precision requirement, the preheating is stopped.
In the embodiment, whether the pulse difference value is smaller than or equal to the pulse precision requirement in the process that the driving motor drives the mechanical arm to move in the first preheating window is judged, and whether the current temperature of the driving motor is smaller than the highest working temperature of the driving motor is judged.
According to the embodiment, when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the process that the driving motor drives the mechanical arm to move in the first preheating window, the driving motor is controlled to drive the mechanical arm to move in the second preheating window at the first current and the first rotating speed. And taking the second preheating window as a new previous preheating window, taking the third preheating window as a new non-first preheating window, and continuously executing the steps S2-S3, namely:
when the mechanical arm moves to the third preheating window, calculating a pulse difference value between the total sending pulse quantity sent to the driving motor and the total feedback pulse quantity fed back by the driving motor in the process that the driving motor drives the mechanical arm to move in the second preheating window, and collecting the current temperature of the driving motor. And driving the motor to drive the mechanical arm to move at a first current and a first rotating speed in the second preheating window.
Judging whether the pulse difference value is smaller than or equal to the pulse precision requirement in the process that the driving motor drives the mechanical arm to move in the second preheating window, and judging whether the current temperature of the driving motor is smaller than the highest working temperature of the driving motor. When the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the third preheating window at the first current and the first rotating speed. And taking the third preheating window as a new previous preheating window, taking the fourth preheating window as a new non-first preheating window, and continuing to execute the steps S2-S3 until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and stopping preheating when the pulse difference value between the total transmission pulse number sent to the driving motor and the total feedback pulse number fed back by the driving motor in each target number of continuous non-first preheating windows is smaller than or equal to the pulse precision requirement.
The target number is a positive integer of 5 or more, wherein the target number is 10 when the first pulse number required for driving the robot arm to move from one end of the target rail to the other end is greater than the pulse accuracy requirement of a second preset multiple (i.e., 200 PA) according to the driving motor.
In the embodiment, in the target number of continuous non-initial preheating windows, the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, and when the pulse difference value between the total sending pulse number sent to the driving motor and the total feedback pulse number fed back by the driving motor in each target number of continuous non-initial preheating windows is smaller than or equal to the pulse precision requirement, the driving motor is indicated to move to a stable state, and the preheating is ended.
In a possible embodiment, after step S2 is performed, the following steps may be further performed:
when the pulse difference value is greater than the pulse precision requirement of the first preset multiple and the current temperature of the driving motor is less than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at the second current and the second rotating speed; the current value of the second current is larger than that of the first current; the second rotational speed is less than the first rotational speed; the first preset multiple is greater than 1.
In this embodiment, the first preset multiple is 10. In the process of driving the mechanical arm to move in the first preheating window by the driving motor, when the pulse difference is larger than 10PA and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the current value of the second current is calculated according to the current value of the first current, and the second rotating speed is calculated according to the first rotating speed so as to control the driving motor to drive the mechanical arm to move in the second preheating window by the second current and the second rotating speed.
In this embodiment, the pulse accuracy requirement that the pulse difference is greater than the first preset multiple indicates that the driving motor does not drive the mechanical arm to move, and at this time, the driving motor torque is greater by increasing the current and decreasing the rotation speed, so that the driving motor can pull and drive a heavier load (i.e. the mechanical arm), that is, the driving motor has a larger air force to drive the mechanical arm to move.
In one possible embodiment, the current value of the second current is calculated by the following formula:
wherein j represents the j-th preheating window; i j+1 A current value representing the second current; i j A current value representing the first current; i rated A current value indicating a rated current of the drive motor;
the second rotational speed is calculated by the following formula:
V j+1 ＝V j ×(1-e -(j+1) )
wherein V is j+1 Representing the second rotation speed, V j Indicating the first rotational speed.
In a possible embodiment, after step S2 is performed, the following steps may be further performed:
when the pulse difference value is greater than or equal to the pulse precision requirement and smaller than the pulse precision requirement of the first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the non-initial preheating window at the second current and the first rotating speed.
In the process of carrying out the embodiment, when the pulse difference value is more than or equal to PA and less than 10PA and the current temperature of the driving motor is less than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the second preheating window at the second current and the first rotating speed.
In this embodiment, when the pulse difference is greater than or equal to PA and less than 10PA, the driving motor may drive the mechanical arm to move, but the moving precision may not meet the requirement, at this time, the current is increased, and the rotation speed is maintained, so as to obtain a larger moment to drive the mechanical arm to move.
In a possible embodiment, after step S2 is performed, the following steps may be further performed:
when the current temperature of the driving motor is not less than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a third current and a third rotating speed; the current value of the third current is smaller than the current value of the first current; the third rotational speed is less than the first rotational speed.
And when the current temperature of the driving motor is not less than the highest working temperature of the driving motor in the process of driving the mechanical arm to move in the first preheating window by the driving motor, calculating a third current and a third rotating speed to control the driving motor to drive the mechanical arm to move in the non-first preheating window by the third current and the third rotating speed.
In this embodiment, when the current temperature of the driving motor is not less than the maximum operating temperature of the driving motor, the current is reduced to reduce the speed, so as to avoid the influence of the too high temperature of the driving motor on the service life of the driving motor.
In one possible embodiment, the current value of the third current is calculated by the following formula:
I’ j+1 ＝70％×I rated
wherein I' j+1 A current value representing the third current; i rated A current value indicating a rated current of the drive motor;
the third rotational speed is calculated by the following formula:
V’ j+1 ＝V j ×(1-e -j )
wherein V 'is' j+1 Representing a third rotational speed; v (V) j Representing a first rotational speed; j represents the j-th preheat window.
Embodiment two:
based on the same technical conception, the application also provides a preheating device of the optical fiber wiring robot, wherein the optical fiber wiring robot comprises a driving motor, a mechanical arm and at least one guide rail; the driving motor is used for driving the mechanical arm to move on the guide rail; the target guide rail comprises a plurality of continuous preheating windows, and the target guide rail is any guide rail; fig. 5 shows a schematic structural diagram of a preheating device of an optical fiber distribution robot according to an embodiment of the present application, as shown in fig. 5, where the device includes:
A first control module 501, configured to execute step S1; step S1 is to control the mechanical arm to be positioned in a first preheating window when the external environment temperature is lower than a preset temperature, and control the driving motor to drive the mechanical arm to move in the first preheating window by using initial current and initial rotating speed in the first preheating window;
a calculation module 502, configured to execute step S2; step S2 is to calculate, for each non-first preheating window, a pulse difference value between a total transmission pulse number sent to the driving motor and a total feedback pulse number fed back by the driving motor and a current temperature of the driving motor when the driving motor drives the mechanical arm to move in a previous preheating window of the non-first preheating window when the mechanical arm moves into the non-first preheating window according to an arrangement sequence of the preheating windows; wherein, in the previous preheating window of the non-first preheating window, the driving motor drives the mechanical arm to move at a first current and a first rotation speed;
a second control module 503, configured to perform step S3; and step S3, when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-first preheating window at the first current and the first rotating speed, taking the non-first preheating window as a new previous preheating window, taking the next preheating window of the non-first preheating window as a new non-first preheating window, continuing to execute steps S2-S3 until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and stopping preheating when the pulse difference value between the total number of transmitted pulses sent to the driving motor and the total number of feedback pulses fed back by the driving motor in each target number of continuous non-first preheating windows is smaller than or equal to the pulse precision requirement.
Optionally, the apparatus further includes:
the third control module is used for controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a second current and a second rotating speed when the pulse difference value is larger than the pulse precision requirement of a first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor after the calculation module finishes the step S2; the current value of the second current is larger than that of the first current; the second rotational speed is less than the first rotational speed; the first preset multiple is larger than 1.
Optionally, the current value of the second current is calculated by the following formula:
wherein j represents the j-th preheating window; i j+1 A current value representing the second current; i j A current value representing the first current; i rated A current value representing a rated current of the drive motor;
the second rotational speed is calculated by the following formula:
V j+1 ＝V j ×(1-e -(j+1) )
wherein V is j+1 Representing the second rotational speed, V j Representing the first rotational speed.
Optionally, the apparatus further includes:
and the fourth control module is used for controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at the second current and the first rotating speed when the pulse difference value is larger than or equal to the pulse precision requirement and smaller than the pulse precision requirement of the first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor after the calculation module finishes the step S2.
Optionally, the apparatus further includes:
the fifth control module is used for controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a third current and a third rotating speed when the current temperature of the driving motor is not less than the highest working temperature of the driving motor after the step S2 is executed by the calculation module; the current value of the third current is smaller than the current value of the first current; the third rotational speed is less than the first rotational speed.
Optionally, the current value of the third current is calculated by the following formula:
I’ j+1 ＝70％×I rated
wherein I' j+1 A current value representing the third current; i rated A current value representing a rated current of the drive motor;
the third rotational speed is calculated by the following formula:
V’ j+1 ＝V j ×(1-e -j )
wherein V 'is' j+1 Representing the third rotational speed; v (V) j Representing the first rotational speed; j represents the j-th preheat window.
Optionally, the apparatus further includes:
the acquisition module is used for acquiring the external environment temperature when the optical fiber jumper connection task is received before the first control module executes the step S1 so as to judge whether the external environment temperature is lower than a preset temperature or not;
the second calculation module is used for calculating the pulse precision requirement of the driving motor when the driving motor drives the mechanical arm to move on the target guide rail according to the moving distance precision requirement of the mechanical arm when the mechanical arm moves on the target guide rail when the external environment temperature is lower than the preset temperature;
The determining module is used for determining the length of each preheating window on the target guide rail according to the first pulse quantity and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end; the length of the preheating window is represented by the number of second pulses required by the driving motor in driving the mechanical arm to move from one end of the preheating window to the other end.
Optionally, the second calculating module is configured to calculate, according to a movement distance accuracy requirement of the mechanical arm when the mechanical arm moves on the target guide rail, a pulse accuracy requirement of the driving motor when the driving motor drives the mechanical arm to move on the target guide rail, where the pulse accuracy requirement is specifically:
the pulse accuracy requirement is calculated by the following formula:
wherein PA represents the pulse accuracy requirement; d represents the moving distance precision requirement; s is the lead of the screw rod; θ is the inherent step angle of the driving motor; m is a subdivision number, the whole step is 1, and the half step is 2;
the determining module is used for determining the length of each preheating window on the target guide rail according to the first pulse number and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end, and is specifically used for:
When the first pulse number is greater than the pulse precision requirement of a second preset multiple, the length of the preheating window is equal to 20 times the pulse precision requirement;
when the first pulse number is not more than the pulse accuracy requirement of a second preset multiple, the length of the preheating window is less than or equal to one tenth of the first pulse number.
Embodiment III:
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, including: the electronic device comprises a processor 601, a memory 602 and a bus 603, wherein the memory 602 stores machine-readable instructions executable by the processor 601, and when the electronic device runs the information processing method, the processor 601 communicates with the memory 602 through the bus 603, and the processor 601 executes the machine-readable instructions to execute the method steps in the first embodiment.
Embodiment four:
the fourth embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor performs the method steps described in the first embodiment.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus, electronic device and computer readable storage medium described above may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The preheating method of the optical fiber wiring robot is characterized in that the optical fiber wiring robot comprises a driving motor, a mechanical arm and at least one guide rail; the driving motor is used for driving the mechanical arm to move on the guide rail; the target guide rail comprises a plurality of continuous preheating windows, and the target guide rail is any guide rail; the method comprises the following steps:
step S1: when the external environment temperature is lower than the preset temperature, controlling the mechanical arm to be positioned in a first preheating window, and controlling the driving motor to drive the mechanical arm to move in the first preheating window by using initial current and initial rotating speed in the first preheating window;
step S2: for each non-first preheating window, when the mechanical arm moves into the non-first preheating window according to the arrangement sequence of the preheating windows, calculating a pulse difference value between the total sending pulse quantity sent to the driving motor and the total feedback pulse quantity fed back by the driving motor in the process that the driving motor drives the mechanical arm to move in the previous preheating window of the non-first preheating window, and collecting the current temperature of the driving motor; wherein, in the previous preheating window of the non-first preheating window, the driving motor drives the mechanical arm to move at a first current and a first rotation speed;
Step S3: when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the non-first preheating window at the first current and the first rotating speed, the non-first preheating window is used as a new previous preheating window, the next preheating window of the non-first preheating window is used as a new non-first preheating window, the steps S2-S3 are continuously executed until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and when the pulse difference value between the total transmitted pulse number sent to the driving motor in each target number of continuous non-first preheating windows and the total feedback pulse number fed back by the driving motor is smaller than or equal to the pulse precision requirement, preheating is stopped.
2. The method according to claim 1, characterized in that after performing step S2, the method further comprises:
when the pulse difference value is larger than the pulse precision requirement of a first preset multiple and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a second current and a second rotating speed; the current value of the second current is larger than that of the first current; the second rotational speed is less than the first rotational speed; the first preset multiple is larger than 1.
3. The method of claim 2, wherein the current value of the second current is calculated by the following formula:
wherein j represents the j-th preheating window; i j+1 A current value representing the second current; i j A current value representing the first current; i rated A current value representing a rated current of the drive motor;
the second rotational speed is calculated by the following formula:
V j+1 ＝V j ×(1-e -(j+1) )
wherein V is j+1 Representing the second rotational speed, V j Representing the first rotational speed.
4. The method according to claim 2, characterized in that after performing step S2, the method further comprises:
when the pulse difference value is larger than or equal to the pulse precision requirement and smaller than the pulse precision requirement of the first preset multiple, and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, the driving motor is controlled to drive the mechanical arm to move in the non-initial preheating window at the second current and the first rotating speed.
5. The method according to claim 1, characterized in that after performing step S2, the method further comprises:
when the current temperature of the driving motor is not less than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-initial preheating window at a third current and a third rotating speed; the current value of the third current is smaller than the current value of the first current; the third rotational speed is less than the first rotational speed.
6. The method of claim 5, wherein the current value of the third current is calculated by the formula:
I’ j+1 ＝70％×I rated
wherein I' j+1 A current value representing the third current; i rated A current value representing a rated current of the drive motor;
the third rotational speed is calculated by the following formula:
V’ j+1 ＝V j ×(1-e -j )
wherein V 'is' j+1 Representing the third rotational speed; v (V) j Representing the first rotational speed; j represents the j-th preheat window.
7. The method according to claim 1, characterized in that before performing step S1, the method further comprises:
when receiving an optical fiber jumper connection task, collecting external environment temperature to judge whether the external environment temperature is lower than a preset temperature or not;
when the external environment temperature is lower than the preset temperature, calculating the pulse precision requirement of the driving motor when the driving motor drives the mechanical arm to move on the target guide rail according to the moving distance precision requirement of the mechanical arm when the mechanical arm moves on the target guide rail;
determining the length of each preheating window on the target guide rail according to the first pulse quantity and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end; the length of the preheating window is represented by the number of second pulses required by the driving motor in driving the mechanical arm to move from one end of the preheating window to the other end.
8. The method of claim 7, wherein calculating the pulse accuracy requirement of the drive motor for driving the robotic arm to move on the target rail according to the movement distance accuracy requirement of the robotic arm when the robotic arm moves on the target rail comprises:
the pulse accuracy requirement is calculated by the following formula:
wherein PA represents the pulse accuracy requirement; d represents the moving distance precision requirement; s is the lead of the screw rod; θ is the inherent step angle of the driving motor; m is a subdivision number, the whole step is 1, and the half step is 2;
the determining the length of each preheating window on the target guide rail according to the first pulse number and the pulse precision requirement required by the driving motor in the process of driving the mechanical arm to move from one end of the target guide rail to the other end of the target guide rail comprises the following steps:
when the first pulse number is greater than the pulse precision requirement of a second preset multiple, the length of the preheating window is equal to 20 times the pulse precision requirement;
when the first pulse number is not more than the pulse accuracy requirement of a second preset multiple, the length of the preheating window is less than or equal to one tenth of the first pulse number.
9. The preheating device of the optical fiber wiring robot is characterized by comprising a driving motor, a mechanical arm and at least one guide rail; the driving motor is used for driving the mechanical arm to move on the guide rail; the target guide rail comprises a plurality of continuous preheating windows, and the target guide rail is any guide rail; the device comprises:
the first control module is used for executing the step S1; step S1 is to control the mechanical arm to be positioned in a first preheating window when the external environment temperature is lower than a preset temperature, and control the driving motor to drive the mechanical arm to move in the first preheating window by using initial current and initial rotating speed in the first preheating window;
the calculation module is used for executing the step S2; step S2 is to calculate, for each non-first preheating window, a pulse difference value between a total transmission pulse number sent to the driving motor and a total feedback pulse number fed back by the driving motor and a current temperature of the driving motor when the driving motor drives the mechanical arm to move in a previous preheating window of the non-first preheating window when the mechanical arm moves into the non-first preheating window according to an arrangement sequence of the preheating windows; wherein, in the previous preheating window of the non-first preheating window, the driving motor drives the mechanical arm to move at a first current and a first rotation speed;
The second control module is used for executing the step S3; and step S3, when the pulse difference value is smaller than or equal to the pulse precision requirement and the current temperature of the driving motor is smaller than the highest working temperature of the driving motor, controlling the driving motor to drive the mechanical arm to move in the non-first preheating window at the first current and the first rotating speed, taking the non-first preheating window as a new previous preheating window, taking the next preheating window of the non-first preheating window as a new non-first preheating window, continuing to execute steps S2-S3 until the current temperature of the driving motor is smaller than the highest working temperature of the driving motor in the target number of continuous non-first preheating windows, and stopping preheating when the pulse difference value between the total number of transmitted pulses sent to the driving motor and the total number of feedback pulses fed back by the driving motor in each target number of continuous non-first preheating windows is smaller than or equal to the pulse precision requirement.
10. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine-readable instructions executable by said processor, said processor and said memory communicating over the bus when the electronic device is running, said machine-readable instructions when executed by said processor performing the steps of the method according to any one of claims 1 to 8.
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| CN111399136A (en) * | 2020-04-29 | 2020-07-10 | 北京瑞祺皓迪技术股份有限公司 | Network wiring device and wiring method thereof |
| CN114434418A (en) * | 2020-11-04 | 2022-05-06 | 苏州艾利特机器人有限公司 | Industrial robot with intensification and heat preservation ability |
| CN114337821A (en) * | 2021-11-24 | 2022-04-12 | 国网山东省电力公司潍坊供电公司 | Novel intelligent optical fiber distribution unit based on full switching technology |
| CN116582180A (en) * | 2023-07-14 | 2023-08-11 | 北京瑞祺皓迪技术股份有限公司 | Task execution method and device of optical fiber wiring robot, electronic equipment and medium |
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| CN116872213A (en) | 2023-10-13 |
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