CN117428601A - Grinding operation robot control system - Google Patents

Abstract

The invention discloses a control system of a grinding operation robot, which comprises a main control system, a motion control system and an electric control system, wherein the main control system is connected with the motion control system for data transmission and gives action instructions to the motion control system, wheels are controlled by the motion control system to change the state of corresponding motion modes according to the action instructions, the motion control system collects the running speed and the running direction of the current wheels and transmits the running speed and the running direction to the main control system for forming closed-loop control of the motion control system, the main control system is connected with the electric control system for data transmission and gives the action instructions to the electric control system, and the electric control system is used for controlling a grinding device to realize corresponding operation according to the action instructions. According to the scheme, the control system is integrated with the grinding robot, so that the automatic grinding of the grinding robot can be realized, the intelligent grinding robot is used for replacing manual operation, and the efficiency of the ground grinding operation on the ground can be improved.

Description

Grinding operation robot control system

Technical Field

The scheme relates to the technical field of intelligent control, in particular to a grinding operation robot control system.

Background

Wear-resistant terraces are used for concrete floors that are required to be wear-resistant, impact-resistant and dust-reducing, for example: warehouse, dock, factory building, parking area, maintenance shop, garage, warehouse type market, dock and places where uniform color is needed to improve working sanitary environment and beautiful appearance without corrosive medium.

Traditional terrace grinds and handles and need the workman to grind the terrace through operating the continuous repetition of terrace machine, grinds the work efficiency poor.

Therefore, it is urgently needed to provide an intelligent floor grinding robot to replace manual work to automatically grind floors, so that grinding operation efficiency is improved.

Disclosure of Invention

Aiming at the technical problem that the existing floor grinding machine has low working efficiency, the invention aims to provide a grinding operation robot control system which can improve the efficiency of floor grinding operation by replacing manual operation with an intelligent grinding robot and effectively solve the problems in the prior art.

In order to achieve the above purpose, the invention provides a control system of a grinding operation robot, which comprises a main control system, a motion control system and an electric control system, wherein the main control system is connected with the motion control system for data transmission and gives action instructions to the motion control system, the motion control system is in driving connection with a wheel motor of the robot, the motion control system is used for controlling the wheel to change the state of a corresponding motion mode according to the action instructions, the motion control system is used for collecting the running speed and the running direction of the current wheel and transmitting the running speed and the running direction to the main control system for forming closed-loop control of the motion control system, the main control system is connected with the electric control system for data transmission and gives the action instructions to the electric control system, and the electric control system is in driving connection with a grinding device of the robot and controls the grinding device to perform corresponding operation according to the action instructions.

Further, the motion control system and the main control system are connected with each other through a communication module to conduct data interaction.

Further, the motion control system comprises a processor, a servo driving module and a feedback signal receiving module, wherein the processor receives and analyzes the control instruction sent by the main control system, the processor is connected with the servo driving module, the analyzed signal is transmitted to the servo driving module, the servo driving module is in driving connection with a wheel motor of the robot, and the feedback signal receiving module feeds back the speed and direction information of the current wheel to the processor, and the processor transmits the speed and direction information to the main control system.

Further, the servo driving module comprises a servo driver and a servo motor, wherein the servo driver is used for carrying out calculation amplification on signals transmitted by the processor, and is connected with the servo motor to drive the wheels to rotate.

Further, the electric control system comprises a polishing control module and a dust collection control module, and is respectively connected with the main control system for data interaction.

Further, the polishing control module is composed of a polishing motor driving unit, the polishing motor driving unit is connected with the main control system, the polishing motor driving unit is in driving connection with the polishing device, a control signal generated by the main control system is transmitted to the polishing motor driving unit, and the rotating speed of the polishing device is controlled.

Further, the dust collection control module is composed of a relay and a dust collection motor driving unit, the main control system outputs high and low levels to the relay, the motor driving unit is controlled to supply power through a relay switch, and the dust collection motor driving unit is in driving connection with the grinding device.

Further, the grinding operation robot control system further comprises a power management module, wherein the power management module is in communication connection with a power supply in the robot and displays the current electric quantity of the ground grinding robot.

Further, the grinding operation robot control system further comprises a key control module, the key control module is connected with the main control system, a control instruction of a corresponding function is sent to the main control system through the key control module, and each module corresponding to the function instruction is realized to work through the main control system.

According to the grinding operation robot control system, the control system is integrated with the grinding robot, automatic grinding of the grinding robot can be achieved, and the intelligent grinding robot replaces manual operation, so that the efficiency of grinding operation on a terrace can be improved.

Drawings

The invention is further described below with reference to the drawings and the detailed description.

Fig. 1 is a schematic perspective view of the polishing robot;

FIG. 2 is a schematic diagram of a system division of a control system of the present polishing robot;

FIG. 3 is a general architecture diagram of the control system of the present grinding robot;

fig. 4 is a diagram showing a hardware structure connection structure of the control system of the polishing robot;

FIG. 5 is a block diagram of a motion control system in the control system of the present polishing robot;

FIG. 6 is a schematic diagram of a closed loop flow of a motion control system in the control system of the present grinding robot;

Detailed Description

The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.

Aiming at the technical problem that the existing floor grinding machine has low working efficiency, the invention aims to provide a grinding operation robot control system, which integrates the control system with a grinding robot, the grinding robot can be controlled by the control system to automatically grind the floor, and the intelligent grinding robot replaces manual operation to realize automation of floor grinding and improve the efficiency of floor grinding operation.

The grinding robot is a front-end device, which is used for grinding a terrace, referring to fig. 1, and comprises a car body 100, a power supply, and an industrial personal computer arranged on the car body 100, a motion device 400, a sensing device 200, a navigation device 300, and a grinding device 500, wherein the industrial personal computer, the motion device 400, the sensing device 200, the navigation device 300, and the grinding device 500 are powered by the power supply.

The sensing device 200 is a laser sensor, and is fixed on the top of the vehicle body through a bracket, the laser sensor is matched with the navigation module, and the map framework of the area to be polished is constructed according to the environment scanned by the laser sensor and then is led into the navigation module.

By cooperation of the sensor device 200 and the navigation device 300, a working path plan of the polishing robot can be formed, and the robot can pass through the movement device to a working area according to the working path.

Further, the movement device 400 includes a servo motor and wheels, wherein the wheels are symmetrically arranged at two sides of the bottom of the vehicle body, and the wheels are matched with the servo motor, and the wheels can be driven by the servo motor to move forwards, backwards, rotate left and rotate right.

When the motion device 400 walks according to the planned working path, the grinding device 500 grinds the terrace, and the motion device comprises a grinding machine and a grinding motor, wherein the grinding machine is arranged on the car body relative to the terrace and matched with the grinding motor, and the grinding of the terrace by the grinding motor can be realized through the driving of the grinding motor.

Meanwhile, when polishing, the dust collection device is matched, impurities generated during polishing are absorbed, no pollution to the environment is guaranteed, the dust collection device comprises a dust collector and a dust collection motor, the dust collector and the polishing machine are oppositely arranged and mounted on a vehicle body, the dust collection motor is matched, and the dust collection motor can collect the impurities generated after polishing through driving of the dust collection motor.

The front end grinding robot formed by the structural cooperation can polish the terrace, and on the basis, the scheme integrates a control system on the grinding robot, can be integrated with the grinding robot through the control system, can realize automatic grinding of the grinding robot, and improves the efficiency of terrace grinding operation.

Further, referring to fig. 2-4, the control system provided by the present embodiment includes a power supply system, a main control system, a motion control system, and an electric control system.

The main control system is powered by the power supply system, can acquire the regional map framework to be polished acquired in the laser sensor in real time, builds a map according to the regional map framework to be polished, performs optimal path planning on the map according to the starting point of the robot and the polishing end point and matching with polishing requirements, sends a planned path forming control instruction to the motion control system through serial port communication, and after the motion control system analyzes the control instruction, completes control of wheels of the robot according to the instruction.

In some embodiments, the master control system may be implemented by an STM32F103Z control chip, and the model selection of the specific control chip is not limited, and may be determined according to practical situations.

Referring to fig. 2, the motion control system is used to control a motion device on the grinding robot, which can implement a motion control function of the motion device, a calculation function of a motion speed, and a function of a speed control algorithm.

The motion control system is connected with the main control system through the communication module to conduct data interaction, and the motion control system conducts data transmission through the serial port to transmit current pose, speed and other information of the ground polishing robot to the main control system in real time, so that decision making is provided for use.

Referring to fig. 5, the motion control system includes a processor, a servo drive module, and a feedback signal receiving module.

Further, the motion control function of the motion device mainly completes the change of the motion mode state of the robot, including the straight running, the large-radius turning, the in-situ turning and the stopping of the robot.

Firstly, the processor is used for analyzing a control instruction sent by the main control system, then sending a given value to the servo driving module, calculating the given value through the servo driving module, and then amplifying and driving signals, so that the control of the driving wheel of the robot is completed.

Specifically, after receiving an instruction for controlling the motion device through the CAN bus communication protocol, the processor further decodes the transmitted instruction to determine the type, parameters and targets of the instruction, for example, but not limited to, information such as keywords of the instruction, the instruction type, execution actions and the like, so that the processor CAN determine the running track and speed of the motion device through decoding, then generates a corresponding control signal for the running track and speed of the motion device, and transmits the control signal to the servo driving module, and the servo driving module executes the movement of the wheels at the corresponding speed and path according to the control signal.

The servo driving module is composed of a servo driver and a servo motor in the motion device, the servo driving module is connected with the wheels, the servo driver calculates control signals output by the processor, then the servo driver amplifies the signals, and the servo motor is driven to drive the wheels to rotate, so that corresponding control of the wheels of the robot is completed.

In particular, the signal amplification may be performed by increasing the amplitude of the input signal to control the motion of the servo driver. The servo driver receives command signals from the processor and then drives the servo motor by amplifying these signals.

In some embodiments, this may be accomplished using a power amplifier. The power amplifier converts the low power signal of the processor into a current or voltage signal that is large enough to drive the motion of the servo motor.

The design and specifications of the power amplifier must be matched to the requirements of the servo motor to ensure good performance and response.

As an example, a specific robot control manner may be: the same PWM wave frequency is sent to the servo drivers at the left side and the right side of the bottom of the vehicle body through the processor, and the wheels at the two sides of the bottom of the vehicle body synchronously rotate under the control of the driving motor, so that the ground polishing robot can move straight (forwards or backwards).

And secondly, different PWM wave frequencies can be sent to servo drivers at the left side and the right side of the bottom of the vehicle body through the processor so as to realize turning action of the ground polishing robot.

By way of example, if the PWM wave frequency sent to the left servo driver is greater than that of the right servo driver, the left wheel of the robot is controlled by the servo motor to rotate at a speed greater than that of the right wheel, and the vehicle body rotates to the right; similarly, if the pulse PWM wave frequency sent to the left servo driver is smaller than that of the right servo driver, the left wheel of the robot is controlled by the servo motor to rotate at a lower speed than that of the right wheel, and the vehicle body rotates leftwards.

The magnitude of the turning radius is determined according to the speeds of the two driving wheels.

The speed of the drive wheel is controlled by varying the duty cycle of the PWM wave, for example, increasing the duty cycle increases the speed of the motor and decreasing the duty cycle decreases the speed of the motor. This is because the motor controller determines that the motor should rotate at a constant speed according to the duty cycle.

By way of example: if the frequency of the PWM wave sent by the servo driver is 1kHz (i.e. 1000 PWM cycles per second are generated), the duty cycle can be adjusted in the range of 0% to 100%. In this case, if the duty cycle is set to 50%, the motor will operate at half maximum speed because the high and low levels each account for 50% of the period. If the duty cycle is set to 100%, the motor will operate at maximum speed, and if the duty cycle is set to 0%, the motor will stop rotating.

The present solution is preferably used to adjust the speed and torque of the motor by means of such a PWM control method to meet the requirements of different applications, such as the control of two drive wheels on a robot chassis. By independently controlling the PWM duty cycle of each drive wheel, speed differences for different wheels can be achieved, enabling the robot to rotate or move at different speeds to achieve the desired navigational and movement tasks.

Meanwhile, when the wheels move according to the planned path, the feedback signal receiving module feeds back the speed and direction information of the current wheels to the processor, the processor transmits the speed and direction information to the main control system through the communication module, the main control system compares the speed and direction information of the current wheels with the planned path, closed-loop control of the servo system is formed, and the speed and direction of the wheels can be timely adjusted, so that the vehicle body can move on the established path.

In some embodiments, the feedback signal receiving module uses a photoelectric encoder as a feedback component, the rotation amount of each driving wheel is tracked through the photoelectric encoder, the servo motor returns the position and the speed to the main control system in real time through the photoelectric encoder in the rotation process, then the displacement and the running speed of the current robot are calculated based on the rotation amount of each driving wheel fed back by the photoelectric encoder, then a speed control algorithm can be realized according to the running speed of the current wheel, the algorithm is discretized, and the implantation controller system generates a control signal. The robot realizes mode conversion and speed control according to a control signal generated by a control algorithm.

In particular, the robot may adjust the input to the drive wheel or motor in real time based on the sensor data, the speed set point, and the output of the control algorithm to achieve the desired speed or behavior. The transition of modes is typically accomplished by changing a speed set point or adjusting parameters in a control algorithm.

In the scheme, the speed data is fed back to the main control system of the robot through the setting feedback component so as to monitor the gap between the actual movement and the expected movement. This may be used to adjust the output of the processor to keep the robot within a predetermined speed range.

The fed back speed information can be used to avoid obstacles, plan paths and achieve navigation. The robot may adjust the trajectory according to the speed data to avoid an obstacle or to advance according to a predetermined path.

Meanwhile, the fed-back speed information can be used for estimating the state of the robot and constructing a map in real time. The robot may autonomously decide based on current speed information, e.g. automatically stop when encountering an obstacle or adjust the speed according to the task demand.

Here, the present embodiment is not limited to the use of the photoelectric encoder, but may use a wheel sensor or the like, and the embodiment may be specific according to the actual situation.

Referring to fig. 6, the method includes the steps that a processor analyzes a command sent by a main control system, the speeds of two driving wheels are controlled, the speeds of the driving wheels are obtained through a photoelectric encoder and fed back to the main control system for calculation, the speeds are converted into the running speeds of driving motors, the running speeds are further simplified into the current running speeds of a robot, closed-loop control of a servo system is completed, and finally a preset action command is completed.

In addition, when the ground polishing robot runs, in order to realize smooth transition of the speed and reduce impact on the robot, a curve algorithm is required to be downloaded into a main control system through an emulator, so that the speed of the ground polishing robot is controlled.

In some embodiments, the Curve algorithm may use an S-Curve (S-Curve) acceleration Curve, which is used to ensure smoother movement of the robot, reduce impact and vibration, and improve comfort and safety.

Further, in the process that the motion control system controls the motion device to operate, the main control system synchronously controls the electric control system to drive the robot grinding device to grind and suck dust. The electric control system comprises a polishing control module and a dust collection control module.

The polishing control module and the dust collection control module are connected with each other and conduct data interaction, when the polishing control module starts to operate, the dust collection control module is automatically started at the same time to collect and clear dust and fragments generated in the polishing process, and the dust collection control module stops after polishing is finished.

The polishing control module is composed of a polishing motor driving unit and sends PWM signals generated by the main control system to the polishing motor driving unit so as to control the rotating speed of the polishing motor.

In some embodiments, controlling the rotational speed of the sharpening motor is accomplished using the duty cycle of a PWM (pulse width modulation) signal. By changing the duty ratio of the PWM signal, the output power of the grinding motor driving unit may be adjusted, thereby controlling the rotational speed of the grinding motor driving unit. The duty cycle of the PWM signal is proportional to the rotational speed of the motor. The ratio of the duty cycle to the time of one complete PWM cycle is high. For example, if the period of the PWM signal is 1 second and the duty cycle is 50%, the sanding motor drive unit will operate at half maximum speed.

Meanwhile, the polishing control module is connected with the motion control system in a matched mode, and data interaction and cooperation are carried out between the motion control system and the polishing control module.

The motion control system communicates the target position to the sanding control module to ensure that the sanding tool is properly positioned in the target area.

Further, the dust collection control module is composed of a relay and a dust collection motor driving unit, and the relay is used for connecting the dust collection motor driving unit, so that the dust collection motor driving unit can work correspondingly.

The main control system sends a control signal to the relay, and when the relay receives the control signal, the relay can switch the circuit to connect the power supply to the dust collection motor driving unit.

At this time, the dust collection motor driving unit starts to work, and after the dust collection motor driving unit starts to work, the dust collection motor driving unit is responsible for controlling the running and the speed of the motor so as to meet the requirements of dust collection equipment.

When the control signal is stopped or cut off, the relay supplies the cut-off power to the dust suction motor driving unit, thereby stopping the operation of the dust suction motor driving unit.

Example 2:

the embodiment is based on the motion control system and the electric control system described in embodiment 1, and the embodiment is further provided with a peripheral control system, where the peripheral control system includes a power management module and a key control module.

The power management module is respectively in communication connection with the power supply and the industrial personal computer, and can display the current electric quantity of the ground polishing robot, so that workers can monitor the electric quantity in real time, and the robot is ensured to be powered normally.

The key control module is connected with the main control system, and sends control instructions of corresponding functions to the main control system through the key control module, and each module of the corresponding function instructions is realized to work through the main control system.

By the grinding operation robot control system that above-mentioned scheme constitutes, it integrates control system and grinding robot, and steerable grinding robot carries out automatic grinding to the terrace through control system, replaces manual operation through intelligent grinding robot, realizes the automation that the terrace ground, has improved the efficiency to terrace grinding operation.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. The utility model provides a grinding operation robot control system, its characterized in that includes main control system, motion control system and electric control system, main control system is connected with motion control system and is carried out data transmission and gives action command to motion control system, motion control system is connected with the wheel motor drive of robot, carries out the change of corresponding motion mode state through motion control system control wheel according to action command, motion control system gathers current wheel's running speed and direction and transmits to main control system and form the closed-loop control of motion control system, main control system is connected with electric control system and carries out data transmission to give action command to electric control system, electric control system is connected with the grinder drive of robot, carries out the realization of corresponding operation through electric control system control grinder according to action command.

2. The grinding work robot control system of claim 1, wherein the motion control system and the master control system are in data interaction with each other by being connected with the master control system through a set communication module.

3. The control system of claim 1, wherein the motion control system comprises a processor, a servo driving module and a feedback signal receiving module, the processor receives and analyzes the control command sent by the main control system, the processor is connected with the servo driving module, the analyzed signal is transmitted to the servo driving module, the servo driving module is in driving connection with a wheel motor of the robot, and the feedback signal receiving module feeds back the speed and direction information of the current wheel to the processor, and the processor is transmitted to the main control system.

4. A control system for a grinding robot according to claim 3, wherein the servo driving module comprises a servo driver and a servo motor, the servo driver performs calculation amplification on signals transmitted by the processor, the servo driver is connected with the servo motor, and the servo motor is driven to rotate the wheels.

5. The system of claim 1, wherein the electric control system comprises a polishing control module and a dust collection control module, and is respectively connected with the main control system for data interaction.

6. The system according to claim 5, wherein the polishing control module is composed of a polishing motor driving unit, the polishing motor driving unit is connected with the main control system, the polishing motor driving unit is in driving connection with the polishing device, and a control signal generated by the main control system is transmitted to the polishing motor driving unit to control the rotation speed of the polishing device.

7. The system according to claim 5, wherein the dust collection control module is composed of a relay and a dust collection motor driving unit, the relay outputs high and low levels to the relay through the main control system, the motor driving unit is controlled to supply power through a relay switch, and the dust collection motor driving unit is in driving connection with the grinding device.

8. The finishing robot control system of claim 1, further comprising a power management module communicatively coupled to a power source in the robot and displaying a current power level of the floor finishing robot.

9. The control system of claim 1, further comprising a key control module, wherein the key control module is connected with the main control system, and the key control module sends a control instruction of a corresponding function to the main control system, and each module corresponding to the function instruction is implemented to work through the main control system.