WO2022227590A1

WO2022227590A1 - Control method, control apparatus, control system, and computer device

Info

Publication number: WO2022227590A1
Application number: PCT/CN2021/136961
Authority: WO
Inventors: 张福恩; 谢毅; 穆伟
Original assignee: 广东博智林机器人有限公司
Priority date: 2021-04-27
Filing date: 2021-12-10
Publication date: 2022-11-03
Also published as: CN115248571A

Abstract

A control method, a control apparatus, a control system, and a computer device. According to the method, machine body state information capable of reflecting an instant movement state of a machine body (10) is acquired; the pitch of a leveling plate (40) is linearly decoupled as a movement pitch set amount and an attitude pitch set amount by using the machine body state information and a preset movement parameter so as to achieve multi-stage serial control; the movement pitch set amount and the attitude pitch set amount of a leveling device (1) are obtained according to the machine body state information and the preset movement parameter; then an adjustment parameter of a pitch axis (50) is obtained according to the set amounts so as to adjust a working state of a pitch axis motor (60), such that the leveling device (1) can maintain working near with the preset movement parameter. After parameters such as movement direction, speed, and attitude are set, automatic movement control for the leveling device (1) can be achieved, without manual operation, thereby avoiding a construction effect difference caused by the manual operation level difference, so as to improve the construction effect stability and further improve precision of automatic movement working of the leveling device (1).

Description

Control method, control device, control system and computer equipment

technical field

The present application relates to the technical field of trowel control, and in particular, to a control method, a control device, a control system and a computer device.

Background technique

The troweling robot is used to polish the concrete surface after the initial setting and before the final setting. The machine-constructed surface is smoother and flatter than the manual construction surface, which can greatly improve the compactness and wear resistance of the concrete surface, and improve the work efficiency by more than 5 times compared with manual operation. The ground troweling machine can be widely used for grouting, troweling and troweling of concrete surfaces of high-standard workshops, warehouses, parking lots, squares, airports and frame buildings.

The existing trowels on the market are generally divided into two types of semi-automatic devices, hand-held and riding. . At present, the hand-held trowel relies on the movement of the manual handle guide device, while the ride-on trowel relies on the manual operation of the joystick guide device, and neither of them can get rid of the limitation of requiring manual operation.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a control method, control device, control system and computer equipment that can control the movement of the leveling device according to preset working parameters without manual operation.

According to an aspect of the present application, an embodiment of the present application provides a control method, which is applied to a leveling device, and the leveling device includes:

body;

The wiper is set at the bottom of the fuselage;

Main shaft, the main shaft is used to drive the wiper to work to level the work surface;

Spindle drive, the spindle drive is arranged inside the fuselage, and the spindle drive is connected with the spindle;

Inclination axis, the inclination axis is connected with the main shaft;

Inclination axis motor, the inclination axis motor is connected with the inclination axis, and the inclination axis motor is used to drive the inclination axis to move to adjust the posture of the wiper;

Control methods include:

Obtain the fuselage state information, which is used to represent the real-time moving state of the leveling device;

According to the fuselage state information and the preset movement parameters, the moving inclination and attitude inclination of the leveling device are obtained;

Obtain the adjustment parameters of the inclination axis according to the adjustment amount of the moving inclination angle and the attitude inclination angle;

Adjust the working state of the inclination shaft motor according to the adjustment parameters, so that the leveling device works with the preset moving parameters.

According to another aspect of the present application, an embodiment of the present application further provides a control system, comprising: a leveling device, the leveling device comprising:

body;

The wiper is set at the bottom of the fuselage;

Inclination axis, the inclination axis is connected with the main shaft;

The control system also includes:

A controller, the controller includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

According to another aspect of the present application, an embodiment of the present application further provides a control device, which is applied to a leveling device, and the leveling device includes:

body;

The wiper is set at the bottom of the fuselage;

Inclination axis, the inclination axis is connected with the main shaft;

Controls include:

The information acquisition module is used to acquire the airframe state information, and the airframe state information is used to represent the real-time moving state of the leveling device;

A set quantity acquisition module, used to obtain the set quantity of the moving inclination angle and the set quantity of the attitude inclination angle of the leveling device according to the airframe state information and preset movement parameters;

The adjustment parameter acquisition module is used to obtain the adjustment parameters of the inclination axis according to the adjustment amount of the moving inclination angle and the adjustment amount of the attitude inclination angle;

The adjustment execution module is used to adjust the working state of the inclination axis motor according to the adjustment parameters, so that the leveling device works with the preset movement parameters.

According to another aspect of the present application, an embodiment of the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above control method when the computer program is executed.

According to another aspect of the present application, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above control method are implemented.

One or more embodiments of the above-mentioned control method, control device, control system, and computer equipment have at least the following beneficial effects: the control method, by acquiring the fuselage state information that can reflect the instantaneous moving state of the fuselage, using the The moving parameters of the wiper plate linearly decouple the inclination angle of the wiper into the setting amount of the moving inclination angle and the setting amount of the attitude inclination angle to realize multi-level serial control. The leveling device can keep working near the preset movement parameters. On the one hand, after setting the moving direction, speed, attitude and other parameters, this method can realize the automatic movement control of the leveling device, without manual operation, and improve the work efficiency. , and there will be no difference in construction effect due to the difference in manual operation level, thereby improving the stability of construction effect; in addition, this method realizes multi-stage series by linearly decoupling the inclination of the wiper into the set amount of moving inclination and the set amount of attitude inclination. It can also improve the accuracy of the autonomous movement of the leveling device.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the traditional technology, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or the traditional technology. Obviously, the drawings in the following description are only the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a leveling device in one embodiment;

Fig. 2 is a partial structural schematic diagram of the interior of the leveling device shown in Fig. 1 in one embodiment;

FIG. 3 is an equivalent schematic diagram of the structure of FIG. 2 in one embodiment, to illustrate the definition of the angle of rotation of the inclination axis motor and the inclination angle of the inclination axis;

4 is a top view of the leveling device in one embodiment;

5 is a schematic flowchart of a control method in one embodiment;

6 is a schematic flowchart of a control method in another embodiment;

7 is a schematic flowchart of the steps of inputting airframe state information and preset movement parameters into an adjustment model in a control method in one embodiment, and obtaining a set amount of moving inclination and a set amount of attitude inclination;

8 is a schematic structural diagram of a control system in one embodiment;

9 is a schematic structural diagram of a control device in one embodiment;

FIG. 10 is a block diagram of the internal structure of a computer device in one embodiment.

Description of reference numbers:

1. Leveling device; 10. Body; 20. Spindle drive; 30. Spindle; 40. Wiper plate; 41. First wiper plate; 42, Second wiper plate; , GPS module; 80, IMU; 2, controller.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. Embodiments of the present application are presented in the accompanying drawings. However, the application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application.

It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

It should be noted that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or connected to the other element through intervening elements. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection" and the like if there is transmission of electrical signals or data between the objects to be connected.

As used herein, the singular forms "a," "an," and "the/the" can include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "comprising/comprising" or "having" etc. designate the presence of stated features, integers, steps, operations, components, parts or combinations thereof, but do not preclude the presence or addition of one or more Possibilities of other features, integers, steps, operations, components, parts or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.

As mentioned in the background art, the trowel in the prior art has the problem of relying on manual assisted traction movement and unable to perform autonomous and precise movement operations. The inventors have found that the reason for this problem is that the trowel is facing the ground. During construction, the ground environment is constantly changing, and the control system is a nonlinear time-varying system. It is difficult to perform precise automatic control of its position, attitude, speed, acceleration, etc., and its anti-interference ability is poor, resulting in poor robustness. Therefore, the current trowel is still mainly controlled in a semi-automatic manner, and the hand-held or riding-type semi-automatic trowel in the background art is used for operation.

Based on the above reasons, the present invention provides a control method, wherein the application object of the control method is the leveling device on the market, which is used to control the movement of the leveling device, which may be the leveling device shown in Figures 1-4. The device, the leveling device includes: the fuselage 10 ; Wherein, the wiper 40 is arranged at the bottom of the fuselage; the main shaft 30 is used to drive the wiper 40 to work to level the work surface; the main shaft driver 20 is arranged inside the fuselage, and the main shaft driver 20 is mechanically connected with the main shaft 30; 50 is mechanically connected with the main shaft 30 ; the tilt axis motor 60 is mechanically connected with the tilt axis 50 , and the tilt axis motor 60 is used to drive the tilt axis 50 to move to adjust the posture of the wiper 40 .

Among them, the fuselage refers to the carrier that can carry the electrical components and mechanical transmission parts that the leveling device depends on. The wiper 40 refers to a device capable of applying pressure to evenly wipe and smooth the material on the working surface. The wiper tray 40 may be a circular solid tray, or may be a structure including a plurality of fan blades as shown in FIG. 1 , and the shape of the wiper tray 40 is not limited herein. The main shaft 30 refers to a structure that can drive the wiper 40 to rotate under the action of the main shaft driver 20 to realize the wiping and wiping operations of the materials on the work surface. The structures of the main shaft 30 and the main shaft drive 20 in the functional leveling device are both applicable objects of the control method of the present application. Similarly, other structure of the leveling device can be selected according to the actual application scenario. In addition to the above-mentioned components, the leveling device is also allowed to include other components. This application does not specify the shape of the specific components of the leveling device. There are special restrictions on the model and the model, that is, the leveling device to which the control method proposed in the embodiment of the present application is applicable, as long as it has the above-mentioned function object.

The inclination axis 50 refers to a mechanical axis capable of changing the included angle of the plane where the wiper plate 40 is located relative to the working surface. When the inclination shaft motor 60 is working, its output end is mechanically connected with the inclination shaft 50, thereby driving the inclination shaft 50 to move. Under the action of mechanical transmission, the inclination shaft 50 changes the included angle of the wiper 40 relative to the working surface to adjust the wiper 40. The direction of the force on the action surface (or the material on the action surface). Wherein, the mechanical transmission structure between the inclination shaft 50 and the wiper 40 may be different according to the actual product model, and is not limited to the structure shown in FIG. The above-mentioned transmission function can be achieved by the components, that is, the direct mechanical connection or the indirect mechanical connection between the inclination shaft 50 and the wiper plate 40 is possible.

As shown in Figure 5, the control method includes:

S20: Acquire airframe state information, which is used to represent the real-time moving state of the leveling device.

Considering that the moving state of the leveling device plays a decisive role in the final leveling effect during the working process of the leveling device, the fuselage state information of the leveling device plays a very important role in realizing the automatic control of the movement of the leveling device. Therefore, first obtain the fuselage status information. The fuselage status information can include the overall leveling device or the real-time moving status of each component, and can also include the mechanical parameters of each component of the leveling device, such as the length of the inclination axis 50, model, etc. . The airframe state information may include information such as the position, attitude, speed, acceleration, and the like of the leveling device. Wherein, the position of the leveling device can be collected by installing a GPS (Global Positioning System, global positioning system, which can provide accurate geographic location, moving speed and accurate time information) module 70 on the leveling device, and the attitude information can be obtained by An IMU80 (Inertial Measurement Unit, an inertial measurement unit, a sensor used to detect and measure acceleration and rotational movement) is installed on the leveling device for data collection.

S40: Obtaining the set amount of the movement inclination angle and the set amount of the attitude inclination angle of the leveling device according to the airframe state information and the preset movement parameters.

The preset movement parameters refer to the parameters that the user expects the leveling device to operate with the movement parameters, which can be set in advance, for example, can be set in the execution body of the control method or input into the execution body with an external device.

S60: Obtain the adjustment parameter of the inclination axis 50 according to the adjustment amount of the moving inclination angle and the adjustment amount of the attitude inclination angle.

In order to ensure that the leveling device can move accurately according to the preset expected movement parameters, the control method provided by the embodiment of the present application maps the movement and attitude control amount of the leveling device to the movement inclination adjustment amount and the attitude inclination angle of the inclination axis 50. and the final output inclination axis 50 can be a linear superposition of the two, so the adjustment parameters of the inclination axis 50 can be further obtained according to the moving inclination adjustment and the attitude inclination adjustment. The adjustment parameters of the inclination axis 50 are used for guidance The operating parameters of the tilt axis motor 60 are adjusted in order to adjust the movement and steering of the leveling device. Among them, the set amount of the moving inclination angle is used to control the movement of the leveling device, and the set amount of the attitude inclination angle is used to control the steering of the leveling device.

S80: Adjust the working state of the inclination axis motor 60 according to the adjustment parameters, so that the leveling device works with preset movement parameters.

Specifically, the fuselage state information that can reflect the movement state of the leveling device is first obtained, and according to the difference between the fuselage state information and the preset movement parameters, the leveling device can be further adjusted to achieve the preset movement parameters. The movement amount and attitude amount that need to be adjusted, that is, according to the fuselage state information and the preset movement parameters, the moving inclination angle setting amount and the attitude inclination angle setting amount of the leveling device are obtained. According to the above description of the working process of the leveling device, it can be known that, There is a functional relationship between the set amount of the moving inclination angle and the set amount of the attitude inclination angle and the adjustment parameters of the inclination axis 50 , and the specific functional relationship can be determined according to the specific structure of the leveling device. Therefore, according to the obtained moving inclination angle setting amount and attitude inclination angle setting amount, the adjustment parameters of the inclination axis 50 can be further transformed and obtained, and then the working state of the inclination axis motor 60 can be controlled and adjusted according to the parameters (the adjustment parameters of the inclination axis 50 can be used, First calculate and convert the rotation angle adjustment parameters of the corresponding inclination shaft motor 60, and then perform the output control of the inclination shaft motor 60), and adjust the working parameters such as the rotation angle of the inclination shaft motor 60, so that the adjusted leveling device can be pre- The set movement parameters can be used for work, and the movement control can be realized independently under the premise of ensuring the leveling effect of the leveling device. During the work process, there is no need to rely on manual operation, which can liberate labor on the one hand, and avoid the difference in the level of manual operation on the other hand. The resulting difference in the leveling effect, thereby improving the smoothing and smoothing effect of the leveling device.

The control method provided by the embodiment of the present application aims to solve the problem that the current leveling device relies on manual assisted traction and cannot perform autonomous and precise movement operations. The attitude control amount is mapped to the moving inclination setting amount and the attitude inclination angle setting amount of the inclination axis 50, so as to obtain the parameters that the inclination axis 50 needs to adjust, and realize the automatic control of the leveling device without relying on manual operation. The moving state of the leveling device during the working process can not only know the difference between the current moving state and the preset moving parameters, but also the reaction force of the surrounding environment to the current leveling device. Precise control of movement to improve the noise immunity and robustness of the control method.

In one of the embodiments, as shown in FIG. 6 , step S40 "obtaining the adjusted amount of the moving inclination angle and the adjusted amount of the attitude inclination angle of the leveling device according to the fuselage state information and the preset moving parameters" includes:

S42: Input the airframe state information and preset movement parameters into the adjustment model to obtain the adjustment amount of the moving inclination angle and the adjustment amount of the attitude inclination angle.

The adjustment model refers to the model that can realize the determination of the self-tuning vector of the leveling device. For example, the adjustment model may be a PID control model. In the process control, the airframe state information and preset movement parameters are input into the adjustment model, and the PID control model is based on the relationship between the airframe state information and the corresponding preset movement parameters. The proportional (P, Proportional), integral (I, Integral) and differential (D, Differential) of the deviation are used to perform self-tuning PID control, and output the adjustment amount of the moving inclination angle and the attitude inclination angle to guide the determination of the adjustment parameters of the leveling device. . The adjustment model can be determined according to the specific model and structure of the leveling device. The specific PID control model is not limited here. The embodiments of this application provide a control method, which can realize multi-level serial PID closed-loop control of the moving direction, attitude, and speed of the leveling device by adopting adjustment models such as PID control models, and has strong anti-interference ability. The execution carrier of the adjustment model may be a hardware circuit or a control terminal with program processing capability. In the control terminal, the adjustment model realizes data processing when the program is executed.

In one of the embodiments, as shown in Figure 6, the control method further includes the steps:

S10 : Acquire torque feedback data of the spindle 30 of the spindle driver 20 .

S30: According to the torque feedback data of the main shaft 30, estimating the current working face state to obtain working face state estimation information. The estimation information of the working surface state refers to the working surface environmental information that can reflect the operation of the leveling device, such as the flatness of the working surface and the viscosity of the material to be leveled on the working surface.

S50: Obtain the movement error and error change rate of the leveling device according to the airframe state information and preset movement parameters. The movement error refers to the error value between each parameter in the airframe state information and the parameter corresponding to the preset movement parameter. The rate of change of error refers to the rate of change of the magnitude of the above-mentioned movement error with time. When the working parameters of the motor remain unchanged, the change of the error size and error rate can also reflect the change of the ground environment.

S70: Adjust the parameters of the adjustment model based on the fuzzy rules according to the movement error, the error rate of change, and the estimated information of the working surface state.

During the working process of the leveling device, the working surface of the leveling device is affected by the previous process, the weather, and the degree of dryness and humidity, and the ground environment is constantly changing during its operation. After sensing the change of the ground environment, the leveling device will automatically adjust the parameters of the adjustment model so that the control system or device equipped with the control method can adapt to the change of the ground environment and maintain the stability of the leveling device's own movement.

Specifically, in order to more accurately realize the movement control of the leveling device, the control method provided by the embodiment of the present application also acquires the parameters of the spindle drive 20 on the spindle 30 (which may be the feedback parameters of the load rate of the drive) to sense changes in the ground environment For the torque effect on the main shaft 30, when determining the setting vector, fully consider the influence of the working surface environment such as the ground on the moving state of the leveling device, and use the feedback data to guide the adjustment of the parameters of the adjustment model, for example, adjust each PID control model The process of adjusting the parameters of the adjustment model based on fuzzy rules according to the moving error, the error rate of change and the estimated information of the working surface state can be the process of determining the coefficients of the PID control model. If the PID coefficients of each PID control loop in the PID control model are set as k _p , _ki and k _d (here, three loops are used as an example, and the coefficients of each loop are different, it is only used as an example, not Limiting the substantial protection scope of this application), the variation of PID parameters can be determined by Δk _p , Δk _i , Δk _d =F(e,Δe,η), and the fuzzy rule F can be obtained by conducting construction experiments on different work surfaces.

In the follow-up work process, considering the problem of the amount of calculation, the online parameter adjustment process of the PID control model can be realized by the incremental PID algorithm, so as to improve the calculation speed, and the output calculation formula can be as follows:

Δu(k)=k _p (error(k)-error(k-1))+ _ki error(k)+k _d (error(k)-2error(k-1)+error(k-2))

Among them, error(k) is the difference between the expected value and the actual data of the kth tuning cycle, and Δu(k) is the output increment. Using the increment, the adjustment amount of the PID control model can be quickly determined, and the calculation speed can be improved.

In the control method provided by the embodiment of the present application, the final determined moving inclination angle setting amount and attitude inclination angle setting amount fully take into account the influence factors of the working surface environment, and formulate fuzzy rules through tests on different grounds. It has strong robustness and greatly improves the adaptability of the leveling device equipped with this control method to various application environments.

In one embodiment, the fuselage state information includes position information of the fuselage, speed information of the fuselage, and attitude information of the fuselage.

For example, before the operation, the desired moving speed V _d of the fuselage and the desired attitude angle φ _d of the fuselage of the leveling device can be set. Then acquire the fuselage state information, which may include the position coordinates (x _q , y _q ) of the leveling device, the moving speed V _q , the attitude angle φ _q and the angular velocity ω _q , and then obtain the load rate from the spindle drive 20 In order to calculate the estimated information of the working surface state (for example, it may be the equivalent friction torque τ _m currently experienced by the main shaft 30 ). According to the desired moving speed V _d , the desired attitude angle φ _d and the actual moving speed V _q of the fuselage, the actual attitude angle φ _q , the movement error e and the error change rate Δe are calculated. With reference to the above-mentioned embodiment, based on the movement error, the error rate of change and the working face state estimation information, the parameters of the PID control model are adjusted by means of fuzzy rules, so that the influence of the working face environment is fully considered in the movement control process of the leveling device, ensuring that the The leveling device equipped with this control method can achieve precise movement control in various application scenarios.

In one embodiment, as shown in FIG. 7 , the speed information of the fuselage includes the actual moving speed of the fuselage, the preset movement parameters include the expected moving speed of the fuselage, and the adjustment model includes a first adjustment model;

Step S42 "input the fuselage state information and preset movement parameters into the adjustment model to obtain the set amount of the moving inclination angle and the set amount of the attitude inclination angle" including:

S421: If the leveling device is in the forward or backward working mode, input the expected movement speed of the body and the actual movement speed of the body into the first adjustment model to obtain the adjustment amount of the movement inclination.

Wherein, the mediation model includes multiple cascade mediation models, for example, may include a multi-stage PID control model. When the leveling device is in the forward or backward working mode, the difference between the expected moving speed of the fuselage and the actual moving speed of the fuselage can reflect the amount of movement that the leveling device needs to adjust, and then combine the specific structure of the leveling device and the difference. Adjust the movement amount of the leveling device. For example, the first adjustment model may be a first PID adjustment model, and the expected moving speed V _d of the fuselage and the actual moving speed V _q of the fuselage are processed by PID algorithm, that is, input into the first PID adjustment model, and the moving inclination angle is obtained. Quantitative θ ₁ (the inclination setting is mathematically related to acceleration,

h ₁ is the calibration coefficient, so the expected moving velocity V _d of the fuselage and the actual moving velocity V _q of the fuselage can be processed by the PID algorithm first to obtain the expected acceleration, and then according to the relationship between the expected acceleration and the positive moving inclination angle, further get the positive quantification of the moving inclination).

In one embodiment, the speed information of the fuselage further includes an angular velocity feedback amount; the position information of the fuselage includes the position coordinates of the fuselage, the attitude information of the fuselage includes the actual attitude angle of the fuselage, the adjustment model includes a second adjustment model, and the adjustment The model includes a second adjustment model and a third adjustment model;

The step "input the fuselage state information and preset movement parameters into the adjustment model to obtain the attitude inclination adjustment amount" includes:

S422: If the leveling device is in the forward or backward working mode, calculate the lateral offset of the fuselage according to the position coordinates of the fuselage;

S423: Calculate the desired attitude angle of the fuselage according to the lateral offset of the fuselage;

S424: Input the desired attitude angle of the fuselage and the actual attitude angle of the fuselage into the second adjustment model to obtain a given angular velocity;

S425: Input the angular velocity given amount and the angular velocity feedback amount into the third adjustment model to obtain the attitude inclination adjustment amount.

Specifically, according to the position coordinates x _q and y _q of the fuselage, the lateral offset of the fuselage on the current moving route of the leveling device is calculated, and then based on the lateral offset of the fuselage, the fuselage used to correct the advancing direction of the leveling device can be obtained. attitude angle, which is set to the desired attitude of the fuselage φ _d . The PID algorithm is performed according to the desired attitude angle φ _d of the fuselage and the actual attitude angle φ _q of the fuselage, that is, the desired attitude angle and the actual attitude angle of the fuselage are input into the second adjustment model, and the given angular velocity ω _d can be obtained. Then, the given angular velocity ω _d and the angular velocity feedback ω _q are used as the input of the third adjustment model, and the attitude inclination angle adjustment θ ₂ is obtained. If the third adjustment model is a PID control model, then the angular velocity given quantity ω _d and the angular velocity feedback quantity ω _q are subjected to the PID algorithm to obtain the attitude inclination angle setting quantity θ ₂ .

In one embodiment, the control method further includes the steps:

Acquire the spindle position information fed back by the spindle drive 20;

The feedforward amount is obtained according to the spindle position information;

The step "input the angular velocity given amount and the angular velocity feedback amount into the third adjustment model to obtain the attitude inclination adjustment amount" includes:

Input the angular velocity given amount, the angular velocity feedback amount and the feedforward amount into the third adjustment model to obtain the attitude inclination adjustment amount.

Before the operation, the user can also set the initial speed v ₀ of the main shaft 30 and the different direction coefficients k ₀ for forward and backward (for example, it is agreed that k ₀ is 1 when moving forward, and k ₀ is -1 when moving backward), and the speed of the main shaft can be obtained. v _m =k ₀ v ₀ , the main shaft 30 drives the wiper disc 40 to rotate, when the wiper disc 40 is a vane type, the main shaft 30 drives the blades to rotate, so the speed of the blades is determined by the speed of the main shaft (determined according to the reduction ratio), and the rotational position of the main shaft 30 Determines where the blade is currently rotating. Therefore, the spindle position parameter also has important reference significance for the control of the wiper 40 . Therefore, in the control method provided in the embodiment of the present application, the main shaft position information fed back by the main shaft driver 20 is obtained, the feedforward amount is obtained according to the main shaft position information, the feedforward amount is obtained according to the position feedback α _m of the main shaft 30 , and the feedforward amount is obtained according to the position feedback α m of the main shaft 30 . The PID algorithm is carried out with the angular velocity feedback quantity ω _q and the angular velocity given quantity ω _d fed back by the sensor (that is, the three parameters are used as the input of the third adjustment model) to obtain the expected value of angular acceleration, and then similar to the above-mentioned embodiment for the adjustment of the moving inclination angle. The relationship between quantification and acceleration can be converted into the attitude inclination adjustment θ ₂ according to the functional relationship between the inclination angle adjustment and the angular acceleration.

In one of the embodiments, as shown in FIG. 7 , the adjustment model includes a fourth adjustment model. In the method, the step of “inputting the fuselage state information and preset movement parameters into the adjustment model to obtain the adjusted amount of attitude inclination” includes :

S426: If the leveling device is in the steering working mode, input the angular velocity given amount and the angular velocity feedback amount into the fourth adjustment model to obtain the attitude inclination adjustment amount.

When the moving speed of the leveling device is set to 0, the leveling device only turns and does not move, so it is necessary to set the moving inclination angle setting amount θ ₁ and the angular velocity setting amount ω _d to guide the leveling device to move in the desired state to do the work. Taking the angular velocity given quantity ω _d and the angular velocity feedback quantity ω _q as the input of the fourth adjustment model, the attitude angle setting quantity θ ₂ is obtained. When the fourth adjustment model is a PID adjustment model, this step is to perform a PID algorithm on the angular velocity given quantity and the angular velocity feedback quantity to obtain the attitude angle setting quantity θ ₂ .

In one embodiment, as shown in FIGS. 2 and 8 , the wiper tray 40 includes: a first wiper tray 41 and a second wiper tray 42 ; the adjustment parameters of the inclination axis 50 include the inclination angle adjustment parameters corresponding to the first wiper tray 41 . The inclination adjustment parameter corresponding to the second wiper 42;

The step S60 of obtaining the adjustment parameters of the inclination axis 50 according to the set amount of the movement inclination angle and the set amount of the attitude inclination angle includes:

The first preset model is used to obtain the inclination adjustment parameters corresponding to the first wiper plate 41 and the inclination angle adjustment parameters corresponding to the second wiper plate 42 according to the set amount of the moving inclination angle and the set amount of the attitude inclination angle.

When the leveling device includes two wipers 40, according to the first preset model that can reflect the moving relationship between the inclination axis 50 and each wiper 40, the inclination adjustment parameters corresponding to the set amount of the moving inclination and the set amount of the attitude inclination can be obtained .

In one embodiment, the first preset model includes the formula:

θ _R =θ ₁ +θ ₂ and θ _L =θ ₁ −θ ₂ , where θ _R is the inclination adjustment parameter corresponding to the first wiper 41 , θ _L is the inclination adjustment parameter corresponding to the second wiper 42 , θ ₁ is the set amount of the moving inclination angle, and θ ₂ is the set amount of the attitude inclination angle.

As shown in FIG. 2 and FIG. 8 , the control method under the illustrated structure, the inclination adjustment parameter θ _R corresponding to the first wiper plate 41 can be obtained by using θ _R =θ ₁ +θ ₂ in the first preset model, and Correspondingly, the inclination adjustment parameter θ _L corresponding to the second wiper plate 42 can be obtained by calculation using θ _L =θ ₁ −θ ₂ in the first preset model.

In one embodiment, after obtaining the inclination angle adjustment parameter corresponding to the first wiper tray 41 and the inclination angle adjustment parameter corresponding to the second wiper tray 42 by using the first preset model, the method further includes adjusting the inclination angle adjustment parameter corresponding to the first wiper tray 41 Converted to the motor adjustment angle of the corresponding tilt axis motor 60

Convert the inclination angle adjustment parameter corresponding to the second wiper 42 into the motor adjustment angle of the corresponding inclination axis motor 60

so that the main body performing the control method adjusts the angle according to the motor (

and

) to adjust the output of the motor 60 corresponding to the inclination angle axis, so that the inclination angle of the first wiper plate 41 reaches θ _R , and the inclination angle of the second wiper plate 42 reaches θ _L , that is, the fuselage state information matches the preset movement parameters. Among them, as shown in Figure 3, the motor adjustment angle (the angle of rotation of the tilt axis motor 60

) and the inclination angle adjustment parameter θ have a mathematical relationship. According to the mathematical relationship, the motor rotation angle that needs to be adjusted for the inclination axis motor 60 can be quickly known, thereby realizing fast control. The mathematical relationship is determined by a kinematic model between the tilt axis 50 and the wiper 40 and other components in the leveling device that act on tilt adjustment.

In one of the embodiments, step S40 "obtaining the set amount of the moving inclination angle and the set amount of the attitude inclination angle of the leveling device according to the fuselage state information and the preset movement parameters" includes:

Filter the fuselage state information;

Using the filtered fuselage state information and preset movement parameters, the moving inclination and attitude inclination are obtained.

By filtering the collected data, the validity of the data can be improved and the control accuracy of the control method can be improved. Among them, low-pass filtering and notch filtering can be performed on the fuselage state information, wherein the low-pass filtering can be realized by using a first-order low-pass digital filter as a carrier, and the notch filtering can be realized by using a second-order notch filter, wherein, The filtering implementation model can be set according to the actual scene, which is not limited here.

It should be understood that although the steps in the flowcharts of FIGS. 5-7 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 5-FIG. 7 may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages within the other steps.

One or more embodiments of the above-mentioned control method have at least the following beneficial effects: the control method, by acquiring the fuselage state information that can reflect the real-time moving state of the fuselage, and using it and the preset movement parameters to adjust the inclination angle of the wiper 40 The linear decoupling realizes multi-level serial control by moving the inclination angle adjustment amount and the attitude inclination angle adjustment amount. According to the adjustment amount, the adjustment parameters of the inclination axis 50 are obtained, so as to adjust the working state of the inclination axis motor 60, so that the leveling device can be maintained at the Work near the preset movement parameters. On the one hand, after setting the movement direction, speed, attitude and other parameters, this method can accurately control the movement direction, attitude and speed of the fuselage, get rid of the dependence on manual work, and improve work efficiency In addition, there will be no difference in construction effect due to the difference in manual operation level, thereby improving the stability of construction effect; in addition, the method is realized by linearly decoupling the inclination of the wiper 40 into a set amount of moving inclination and a set amount of attitude inclination. The multi-level serial PID control can also improve the accuracy of the autonomous movement of the leveling device.

In addition, the parameters of the adjustment model or the PID coefficients of the PID control model are automatically adjusted through fuzzy control to adapt to the environmental changes of different grounds, with strong robustness.

In addition, the control method does not require kinematic modeling and dynamic modeling of the leveling device, and there is no complex calculation, so the leveling device can achieve fast response when receiving a control command for adjusting its movement parameters, and at the same time It can also adapt to changes in the complex ground environment. The method gets rid of the dependence of manual assistance, reduces the construction difficulty and strength of the leveling device, and improves the construction efficiency.

On the other hand, as shown in FIG. 8 , a control system includes: a leveling device 1 and a controller 2 as shown in FIG. 1 . The leveling device 1 includes:

fuselage 10;

The wiper 40, the wiper 40 is arranged at the bottom of the fuselage;

The main shaft 30, the main shaft 30 is used to drive the wiper 40 to work to level the work surface;

a spindle drive 20, the spindle drive 20 is arranged inside the fuselage, and the spindle drive 20 is mechanically connected with the spindle 30;

The inclination shaft 50 is mechanically connected with the main shaft 30;

The tilt axis motor 60 is mechanically connected with the tilt axis 50, and the tilt axis motor 60 is used to drive the tilt axis 50 to move to adjust the posture of the wiper 40;

The controller 2 includes a memory and a processor, the memory stores a computer program, and the processor implements the method steps shown in Figure 1 when the processor executes the computer program:

S20: Acquire fuselage state information, which is used to represent the real-time moving state of the leveling device 1;

S40: Obtain the set amount of the moving inclination angle and the set amount of the attitude inclination angle of the leveling device 1 according to the airframe state information and the preset movement parameters;

S60: Obtain the adjustment parameter of the inclination axis 50 according to the adjustment amount of the moving inclination angle and the adjustment amount of the attitude inclination angle;

S80: Adjust the working state of the inclination axis motor 60 according to the adjustment parameters, so that the leveling device 1 works with preset movement parameters.

The controller 2 may be a device independent of the leveling device 1 , or may be a device embedded in the leveling device 1 , that is, a control device disposed on the body of the leveling device 1 . The components in the control system and the terms in the method steps executed by the controller 2 have the same definitions as those in the above method embodiments, and are not repeated here. It should be noted that the controller in the control system may also execute other method steps in the above method embodiments, and achieve corresponding beneficial effects, which will not be repeated here.

Wherein, the control system further includes a sensor module, and the sensor module is used for collecting airframe state information. For example, the sensor module may include the GPS module 70 and the IMU 80 mentioned in the above embodiments, which are used to collect the position information of the body, the speed information of the body, and the attitude information of the body.

In addition, the embodiment of the present application also provides a control device, which is applied to a leveling device, and the leveling device includes:

fuselage 10;

The wiper 40, the wiper 40 is arranged at the bottom of the fuselage;

The inclination shaft 50 is mechanically connected with the main shaft 30;

As shown in Figure 9, the control device includes:

The information acquisition module 200 is used to acquire airframe state information, and the airframe state information is used to represent the real-time moving state of the leveling device;

The setting quantity obtaining module 400 is used for obtaining the setting quantity of the moving inclination angle and the setting quantity of the attitude inclination angle of the leveling device according to the airframe state information and the preset movement parameters;

The adjustment parameter acquisition module 600 is used to obtain the adjustment parameters of the inclination axis 50 according to the adjustment amount of the moving inclination angle and the adjustment amount of the attitude inclination angle;

The adjustment execution module 800 is used to adjust the working state of the inclination shaft motor 60 according to the adjustment parameters, so that the leveling device works with preset movement parameters.

Wherein, the definition of each component in the leveling device 1 and the definition of terms such as airframe state information are the same as those in the above method embodiments, and will not be repeated here. The control device obtains the airframe state information through the information acquisition module 200, and then uses the set amount acquisition module 400 to obtain the movement inclination angle adjustment amount and the attitude inclination angle adjustment amount of the leveling device 1 according to the airframe state information and preset movement parameters; The adjustment parameter acquisition module 600 is used to obtain the adjustment parameters of the inclination axis 50 according to the adjustment amount of the moving inclination angle and the attitude inclination angle. The preset movement parameters work.

For the specific limitation of the control device, reference may be made to the limitation of the above-mentioned control method, which will not be repeated here. Each module in the above-mentioned control device for driving the movement of the leveling device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules. It should be noted that, the division of modules in the embodiments of the present application is schematic, and is only a logical function division, and there may be other division manners in actual implementation.

It should be noted that, in the above embodiments of the control method for driving the leveling device to move, each method step may be performed by a functional module capable of realizing the function of the method step in the control device for driving the leveling device to move. operation, and achieve corresponding beneficial effects, which will not be repeated here.

In one embodiment, a computer device is provided, and the computer device may be a server, and its internal structure diagram may be as shown in FIG. 10 . The computer device includes a processor, memory, and a network interface connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used to store preset movement parameters, initial PID parameters of the adjustment model, PID models and other data. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a control method.

Those skilled in the art can understand that the structure shown in FIG. 10 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:

S20: Obtain airframe state information, which is used to represent the real-time moving state of the leveling device;

S40: Obtain the set amount of the moving inclination angle and the set amount of the attitude inclination angle of the leveling device according to the airframe state information and the preset movement parameters;

In the computer device provided by the embodiments of the present application, when the processor executes the computer program, the processor also implements other steps in the above method embodiments, and achieves corresponding beneficial effects, which are not repeated here.

In one embodiment, a computer-readable storage medium is provided on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the various embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, and the like. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

In the description of this specification, description with reference to the terms "in one of the embodiments", "other embodiments", etc. means that a particular feature, structure, material or feature described in connection with the embodiment or example is included in at least one of the present invention examples or examples. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

A control method, applied to a leveling device, characterized in that the leveling device comprises:

body;

a wiper, which is arranged at the bottom of the fuselage;

a main shaft, which is used to drive the wiper to work to level the work surface;

a spindle drive, the spindle drive is arranged inside the fuselage, and the spindle drive is connected with the spindle;

an inclination axis, the inclination axis is connected with the main shaft;

an inclination axis motor, the inclination axis motor is connected with the inclination axis, and the inclination axis motor is used to drive the inclination axis to move to adjust the posture of the wiper;

The control method includes:

Obtain airframe state information, where the airframe state information is used to represent the real-time moving state of the leveling device;

Obtaining the set amount of movement inclination angle and the set amount of attitude inclination angle of the leveling device according to the airframe state information and preset movement parameters;

Obtain the adjustment parameter of the inclination axis according to the set amount of the moving inclination angle and the set amount of the attitude inclination angle;

The working state of the inclination axis motor is adjusted according to the adjustment parameters, so that the leveling device works with preset movement parameters.
The control method according to claim 1, wherein the step of "obtaining the adjustment amount of the moving inclination angle and the adjusted amount of the attitude inclination angle of the leveling device according to the airframe state information and the preset movement parameters" comprises:

The fuselage state information and the preset movement parameters are input into the adjustment model to obtain the set amount of the movement inclination angle and the set amount of the attitude inclination angle.
The control method according to claim 2, wherein the control method further comprises the steps of:

Acquire the spindle torque feedback data of the spindle drive;

According to the spindle torque feedback data, estimating the current working face state to obtain working face state estimation information;

The movement error and error rate of change of the leveling device are obtained according to the fuselage state information and the preset movement parameters; the movement error refers to the parameters in the fuselage state information and the preset movement parameters The error value between the corresponding parameters in ;

According to the movement error, the error rate of change and the working face state estimation information, the parameters of the adjustment model are adjusted based on fuzzy rules.
The control method according to any one of claims 2-3, wherein the fuselage state information includes position information of the fuselage, speed information of the fuselage, and attitude information of the fuselage.
The control method according to claim 4, wherein the speed information of the fuselage includes an actual moving speed of the fuselage, the preset movement parameter includes a desired moving speed of the fuselage, and the adjustment model includes a first adjustment Model;

The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the set amount of the movement inclination" includes:

If the leveling device is in the forward or backward working mode, input the expected movement speed of the fuselage and the actual movement speed of the fuselage into the first adjustment model to obtain a set amount of moving inclination.
The control method according to claim 5, wherein the velocity information of the fuselage further includes an angular velocity feedback amount; the position information of the fuselage includes the position coordinates of the fuselage, and the attitude information of the fuselage includes the fuselage the actual attitude angle, the adjustment model includes a second adjustment model and a third adjustment model;

The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the set amount of the attitude inclination" includes:

If the leveling device is in the forward or backward working mode, calculating the lateral offset of the fuselage according to the position coordinates of the fuselage;

Calculate the desired attitude angle of the fuselage according to the lateral offset of the fuselage;

Inputting the desired attitude angle of the fuselage and the actual attitude angle of the fuselage into the second adjustment model to obtain a given angular velocity;

The angular velocity given amount and the angular velocity feedback amount are input into the third adjustment model to obtain the attitude inclination adjustment amount.
The control method according to claim 6, further comprising:

obtaining the spindle position information fed back by the spindle drive;

obtain a feedforward amount according to the spindle position information;

The step of "inputting the angular velocity given amount and the angular velocity feedback amount into the third adjustment model to obtain the attitude inclination adjustment amount" includes:

Inputting the angular velocity given amount, the angular velocity feedback amount and the feedforward amount into the third adjustment model to obtain the attitude inclination adjustment amount.
The control method according to claim 4, wherein the preset movement parameter includes a given amount of angular velocity, and the adjustment model includes a fourth adjustment model;

The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the set amount of the attitude inclination" includes:

If the leveling device is in the steering working mode, the angular velocity given amount and the angular velocity feedback amount are input into the fourth adjustment model to obtain the attitude inclination adjustment amount.
The control method according to any one of claims 5-8, wherein the wiper tray includes: a first wiper tray and a second wiper tray; and the adjustment parameter of the inclination axis includes a corresponding value of the first wiper tray. an inclination adjustment parameter and an inclination adjustment parameter corresponding to the second wiper;

The step "acquiring the adjustment parameters of the inclination axis according to the adjustment amount of the movement inclination angle and the adjustment amount of the attitude inclination angle" includes:

According to the set amount of the moving inclination angle and the set amount of the attitude inclination angle, the first preset model is used to obtain the inclination angle adjustment parameter corresponding to the first wiper tray and the inclination angle adjustment parameter corresponding to the second wiper tray.
The control method according to claim 9, wherein the first preset model comprises a formula:

and, wherein, θ_R is the inclination adjustment parameter corresponding to the first wiper, θ_L is the inclination adjustment parameter corresponding to the second wiper, the θ_1 is the set amount of the moving inclination, and θ_2 is the attitude inclination adjustment. Quantitative.
The control method according to claim 1 or 2 or 3 or 5 or 6 or 7 or 8 or 10, wherein the step "obtains the leveling device according to the airframe state information and preset movement parameters. "Moving inclination setting amount and attitude inclination angle setting amount" include:

filtering the airframe state information;

The moving inclination adjustment amount and the attitude inclination angle adjustment amount are obtained by using the filtered airframe state information and preset movement parameters.
A control system, comprising: a leveling device, the leveling device comprising:

body;

a wiper, which is arranged at the bottom of the fuselage;

a main shaft, which is used to drive the wiper to work to level the work surface;

a spindle drive, the spindle drive is arranged inside the fuselage, and the spindle drive is connected with the spindle;

an inclination axis, the inclination axis is connected with the main shaft;

an inclination axis motor, the inclination axis motor is connected with the inclination axis, and the inclination axis motor is used to drive the inclination axis to move to adjust the posture of the wiper;

The control system also includes:

A controller, the controller includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain airframe state information, where the airframe state information is used to represent the real-time moving state of the leveling device;

Obtaining the set amount of movement inclination angle and the set amount of attitude inclination angle of the leveling device according to the airframe state information and preset movement parameters;

Obtain the adjustment parameter of the inclination axis according to the set amount of the moving inclination angle and the set amount of the attitude inclination angle;

The working state of the inclination axis motor is adjusted according to the adjustment parameters, so that the leveling device works with preset movement parameters.
A control device applied to a leveling device, wherein the leveling device comprises:

body;

a wiper, which is arranged at the bottom of the fuselage;

a main shaft, which is used to drive the wiper to work to level the work surface;

a spindle drive, the spindle drive is arranged inside the fuselage, and the spindle drive is connected with the spindle;

an inclination axis, the inclination axis is connected with the main shaft;

an inclination axis motor, the inclination axis motor is connected with the inclination axis, and the inclination axis motor is used to drive the inclination axis to move to adjust the posture of the wiper;

The control device includes:

an information acquisition module for acquiring airframe state information, where the airframe state information is used to represent the real-time moving state of the leveling device;

A set quantity acquisition module, configured to obtain the set quantity of the movement inclination angle and the set quantity of the attitude angle of the leveling device according to the airframe state information and preset movement parameters;

an adjustment parameter acquisition module, configured to obtain the adjustment parameters of the inclination axis according to the set amount of the moving inclination angle and the set amount of the attitude inclination angle;

The adjustment execution module is configured to adjust the working state of the inclination axis motor according to the adjustment parameters, so that the leveling device works with preset movement parameters.
A computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of the control method according to any one of claims 1 to 11 when the processor executes the computer program .
A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 11 are implemented.