CN107256022A - Outstanding rail robot inspection control method and system - Google Patents
Outstanding rail robot inspection control method and system Download PDFInfo
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- CN107256022A CN107256022A CN201710615254.8A CN201710615254A CN107256022A CN 107256022 A CN107256022 A CN 107256022A CN 201710615254 A CN201710615254 A CN 201710615254A CN 107256022 A CN107256022 A CN 107256022A
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- 238000007689 inspection Methods 0.000 title claims abstract description 18
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
This application provides outstanding rail robot inspection control method and system, it is related to technical field of intelligent traffic, wherein, the outstanding rail robot inspection control method includes：First, speed control sends control signal to programmable multi-axle motion controller, group of motors is sent control signals to by programmable multi-axle motion controller, to control monitoring device to be moved, afterwards, the direction of motion and movement velocity of encoder group acquisition monitoring device, and, the direction of motion and movement velocity are fed back into speed control, so, when the direction of motion and movement velocity are with standard movement direction set in advance and inconsistent standard movement speed, speed control can send adjustment signal to programmable multi-axle motion controller, so that the reliable and stable operation of monitoring device.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly to outstanding rail robot inspection control method and system.
Background technology
With the development and the progressively popularization of modernization smart machine of science and technology, particularly in some special occasions, for example, high
Piezo plant, nuclear power plant, high-speed railway etc., due to, these special occasions have the larger voltage of intensity, electromagnetism and interference etc.,
If directly to live equipment day and night operate and monitor by staff, then, so, it can not only expend a large amount of
Human resources, moreover, staff also can be at the scene in environment by very strong radiation and interference etc., the person of staff
Health also can be by very big threat.
And modernize smart machine typically all electrical equipment, you can electrical equipment is grasped by electric switch etc.
Control, is generally also equipped with the running status that special status indicator lamp is used to constantly show electrical equipment.In order to avoid work people
Member goes directly to scene and operated etc., and rack is more and more appeared in the visual field of people.The setting of rack is mainly use
In the electric switch and status indicator lamp that load control modernization smart machine, common, rack is remotely from work on the spot ring
In the rear computer room in border, particularly when the equipment in site environment is more, for the ease of management, set many simultaneously in computer room
The electric switch and status indicator lamp of a live equipment are mounted with group rack, every group of rack, to realize unified management.
Therefore, in order to strengthen the supervision to rack, there is provided related monitoring device is entered to the running situation of rack
Row monitoring in real time, to ensure its normal operation.But, current monitoring device is some tool being directly anchored to around rack mostly
On body position, when rack breaks down, overall monitoring directly is carried out to rack, either, when rack is larger, can by
The direction and position of monitoring device is finely tuned in limited range in horizontal direction or vertical direction to realize to the further of rack
Monitoring.But, existing monitoring device motion control process is simple, causes to be unable to accurate stable by the motion of monitoring device
Where the problem of following the trail of rack.
To sum up, being unable to flexible motion on monitoring device causes the problem of rack can not be monitored effectively, there is no at present
Effective solution.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is the provision of outstanding rail robot inspection control method and system,
By setting programmable multi-axle motion controller and encoder group etc., monitoring device traveling comfort is effectively improved.
In a first aspect, the embodiments of the invention provide outstanding rail robot inspection control method, including：
Speed control sends control signal to programmable multi-axle motion controller；
Programmable multi-axle motion controller sends control signals to group of motors, to control monitoring device to be moved；
The direction of motion and movement velocity of encoder group acquisition monitoring device, and, the direction of motion and movement velocity is anti-
Feed speed control；
When the direction of motion and movement velocity are with standard movement direction set in advance and inconsistent standard movement speed, speed
Spend controller and send adjustment signal to programmable multi-axle motion controller.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, can
Programming multi-axis motion controller sends control signals to group of motors, is included with controlling monitoring device to carry out motion：
Speed control sends steering controling signal to the first axle of programmable multi-axle motion controller；
Steering controling signal is sent to the first motor by first axle, wherein, the first motor is stepper motor；
First motor adjusts the direction of motion of the front-wheel of monitoring device according to steering controling signal；
First encoder gathers the direction of motion of front-wheel, and the direction of motion is sent into speed control.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, programmable multi-axle motion controller sends control signals to group of motors, to control monitoring device
Being moved also includes：
Speed control sends the first movement velocity control signal to the second axle of programmable multi-axle motion controller；
First movement velocity control signal is sent to the second motor by the second axle, wherein, the second motor is DC servo electricity
Machine；
Second motor adjusts the first movement velocity of the first trailing wheel of monitoring device according to the first movement velocity control signal；
Second encoder gathers the first movement velocity of the first trailing wheel, and the first movement velocity is sent into speed control
Device.
With reference to second of possible embodiment of first aspect, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, programmable multi-axle motion controller sends control signals to group of motors, to control monitoring device
Being moved also includes：
Speed control sends the second movement velocity control signal to the 3rd axle of programmable multi-axle motion controller；
Second movement velocity control signal is sent to the 3rd motor by the 3rd axle, wherein, the 3rd motor is DC servo electricity
Machine；
3rd motor adjusts the second movement velocity of the second trailing wheel of monitoring device according to the second movement velocity control signal；
3rd encoder gathers the second movement velocity of the second trailing wheel, and the second movement velocity is sent into speed control
Device.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 4th of first aspect kind, wherein, speed
Degree controller is connected with programmable multi-axle motion controller by PC buses.
Second aspect, the embodiments of the invention provide outstanding rail robot patrolling control system, including：
Sending module, control signal is sent for speed control to programmable multi-axle motion controller；
Control module, group of motors is sent control signals to for programmable multi-axle motion controller, to control monitoring to set
It is standby to be moved；
Acquisition module, for the direction of motion and movement velocity of encoder group acquisition monitoring device, and, by the direction of motion and
Movement velocity feeds back to speed control；
Adjusting module, for when the direction of motion and movement velocity and standard movement direction set in advance and standard movement speed
When spending inconsistent, speed control sends adjustment signal to programmable multi-axle motion controller.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, control
Molding block includes：
First turns to transmitting element, sends and turns to the first axle of programmable multi-axle motion controller for speed control
Control signal；
First turning control cell, the first motor is sent to for first axle by steering controling signal, wherein, the first motor
For stepper motor；
First turns to adjustment unit, adjusts the motion of the front-wheel of monitoring device according to steering controling signal for the first motor
Direction；
First turns to collecting unit, and the direction of motion of front-wheel is gathered for the first encoder, and the direction of motion is sent to
Speed control.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide second of second aspect
Possible embodiment, wherein, control module also includes：
First Speed collecting unit, first is sent for speed control to the second axle of programmable multi-axle motion controller
Movement velocity control signal；
First Speed control unit, the second motor is sent to for the second axle by the first movement velocity control signal, wherein,
Second motor is DC servo motor；
First Speed adjustment unit, the of monitoring device is adjusted according to the first movement velocity control signal for the second motor
First movement velocity of one trailing wheel；
First Speed collecting unit, the first movement velocity of the first trailing wheel is gathered for second encoder, and first is transported
Dynamic speed is sent to speed control.
With reference to second of possible embodiment of second aspect, the embodiments of the invention provide the third of second aspect
Possible embodiment, wherein, control module also includes：
Second speed transmitting element, second is sent for speed control to the 3rd axle of programmable multi-axle motion controller
Movement velocity control signal；
Second speed control unit, the 3rd motor is sent to for the 3rd axle by the second movement velocity control signal, wherein,
3rd motor is DC servo motor；
Second speed adjustment unit, the of monitoring device is adjusted according to the second movement velocity control signal for the 3rd motor
Second movement velocity of two trailing wheels；
Second speed collecting unit, the second movement velocity of the second trailing wheel is gathered for the 3rd encoder, and second is transported
Dynamic speed is sent to speed control.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the 4th of second aspect kind, wherein, hang
Rail robot patrolling control system also includes：
Link block, is connected for speed control with programmable multi-axle motion controller by PC buses.
Outstanding rail robot inspection control method and system provided in an embodiment of the present invention, wherein, the outstanding rail robot
Inspection control method includes：First, speed control sends control signal to programmable multi-axle motion controller, afterwards, can compile
Journey multi-axis motion controller sends control signals to group of motors, to control monitoring device to be moved, meanwhile, by encoder group
The direction of motion and movement velocity of acquisition monitoring device, also, encoder group is equal by the direction of motion collected and movement velocity
Speed control is fed back to, so, when the direction of motion and movement velocity and standard movement direction set in advance and standard movement
When speed is inconsistent, speed control can send adjustment signal in time to programmable multi-axle motion controller, pass through above-mentioned side
Method, realizes effective regulation to the monitoring device direction of motion and movement velocity, so as to ensure the even running of monitoring device.
Other features and advantages of the present invention will be illustrated in the following description, also, partly be become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows the flow chart for the outstanding rail robot inspection control method that the embodiment of the present invention is provided；
Fig. 2 shows the connection figure for the outstanding rail robot patrolling control system that the embodiment of the present invention is provided；
Fig. 3 shows the structural framing figure for the outstanding rail robot patrolling control system that the embodiment of the present invention is provided；
Fig. 4 shows the structure connection figure for the outstanding rail robot patrolling control system that the embodiment of the present invention is provided.
Icon：1- sending modules；2- control modules；3- acquisition modules；4- adjusting modules；21- first turns to transmitting element；
The turning control cells of 22- first；23- first turns to adjustment unit；24- first turns to collecting unit；It is single that 25- first turns to collection
Member；26- First Speed control units；27- First Speed adjustment units；28- First Speed collecting units.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
At present, in order to strengthen the supervision to rack, there is provided related monitoring device is entered to the running situation of rack
Row monitoring in real time, to ensure its normal operation.But, current monitoring device is some tool being directly anchored to around rack mostly
On body position, when rack breaks down, overall monitoring directly is carried out to rack, either, when rack is larger, can by
The direction and position of monitoring device is finely tuned in limited range in horizontal direction or vertical direction to realize to the further of rack
Monitoring.But, existing monitoring device motion control process is simple, causes to be unable to accurate stable by the motion of monitoring device
Where the problem of following the trail of rack.
Based on this, the embodiments of the invention provide outstanding rail robot inspection control method and system, below by implementation
Example is described.
Embodiment 1
Referring to Fig. 1, the outstanding rail robot inspection control method that the present embodiment is proposed specifically includes following steps：
Step S101：Speed control sends control signal to programmable multi-axle motion controller.
First, programmable multi-axle motion controller (the Programmable Multi-Axes used in this application
Controller, abbreviation PMAC) it is internal use digital signal processing chip, thus, its processing speed is fast, high resolution, bandwidth
Greatly.PMAC mainly uses SERVO CONTROL, here, and SERVO CONTROL mainly includes speed, feed forward of acceleration control etc., its servo period
Single shaft is up to 60 microseconds, and 2-axis linkage is up to 110 microseconds.Compared with similar products, PMAC integration is higher, and it allows same
Control software is run in three kinds of different types of buses, also, each axle can be each configured to different servo types and
Various feedback type, is easy to and various hardware compatibilities.
In this application, control signal is sent from speed control to programmable multi-axle motion controller, to drive monitoring
The actuating unit of equipment, for example, motor etc..
Step S102：Programmable multi-axle motion controller sends control signals to group of motors, to control monitoring device to enter
Row motion.
Moved for the ease of monitoring device along vertical, level and along outstanding rail, group of motors be provided with this application,
Include three motors in group of motors, be a stepper motor and two servomotors respectively.
Step S103：The direction of motion and movement velocity of encoder group acquisition monitoring device, and, by the direction of motion and motion
Speed feeds back to speed control.
Encoder can be converted to signal or data the signal that can be used to communicate, transmit and store.Generally, according to reading
Mode, encoder is divided into contact and contactless two kinds.When in use, encoder is that swing offset is converted into digit pulse
The rotating detector of signal, compared with other equipment, using encoder as sensor, is measured more accurate.In the application
In, in order to be corresponded with motor, encoder group includes three encoders, is respectively used on a PMAC axle measure monitoring
The direction of motion and movement velocity of equipment, also, after encoder group collects the direction of motion and movement velocity of monitoring device,
The direction of motion and movement velocity can also be fed back to speed control.
Step S104：When the direction of motion and movement velocity and standard movement direction set in advance and standard movement speed not
When consistent, speed control sends adjustment signal to programmable multi-axle motion controller.
So, when speed control judges the direction of motion and movement velocity and standard movement direction set in advance and standard
When movement velocity is inconsistent, speed control generation adjustment signal specifically includes direction adjustment signal and speed adjustment signal, and
Adjustment signal is sent to programmable multi-axle motion controller, to adjust the direction of motion and movement velocity of monitoring device in time, from
And the motion for avoiding monitoring device shifts, the stability of its operation has been ensured.
In order to which the direction of motion to monitoring device is controlled in real time, here, to illustrate programmable multi-axle motion controller
Group of motors is sent control signals to, is specifically included with controlling monitoring device to carry out motion：
Speed control sends steering controling signal to the first axle of programmable multi-axle motion controller, here, turns to control
Signal processed is corresponded with the direction of motion.
Steering controling signal is sent to the first motor by first axle by being driven, wherein, the first motor is stepper motor, step
The angle of stepper motor rotation is proportional to umber of pulse, the precision often walked due to stepper motor between three to percent five percent,
Moreover, will not be by the accumulation of error of a step to next step, therefore, the precision of motion control is high.In addition, the response of motor is only by counting
Word input pulse is determined, thus can use opened loop control so that motor it is relatively simple for structure.
Afterwards, the first motor adjusts the direction of motion of the front-wheel of monitoring device according to steering controling signal, i.e., by front-wheel
The direction of motion regulates and controls the direction of advance of monitoring device.
Also, after the first encoder gathers the direction of motion of front-wheel, the direction of motion is also sent to speed control, this
Sample, whether speed control can compare the current direction of motion in real time consistent with standard movement direction set in advance, when not
When consistent, adjustment signal is sent from speed control to programmable multi-axle motion controller.
Meanwhile, programmable multi-axle motion controller sends control signals to group of motors, to control monitoring device to be transported
It is dynamic also to include：
Speed control sends the first movement velocity control signal to the second axle of programmable multi-axle motion controller, this
In, the first movement velocity control signal is corresponded with horizontal/vertical motion speed.
So, the first movement velocity control signal is sent to the second motor by the second axle, wherein, the second motor is watched for direct current
Motor is taken, the operation principle of DC servo motor is to receive a pulse, corresponding angle will be rotated, so as to realize position
Move, i.e., the rotation of motor can be accurately controlled very much by the control of pulse, so as to realize accurate positioning.DC servo motor
Including DC brush servomotor and direct current brushless servo motor, wherein, the cost height of DC brush servomotor, structure are multiple
Miscellaneous, detent torque is big, speed-regulating range width, still, because to regularly replace carbon brush etc. causes to safeguard inconvenient, can also produce electromagnetism
Interference.The small volume of direct current brushless servo motor, fast lightweight, response, speed height, service life length, torque are stable, still,
Power of motor is limited.
So, the second motor adjusts the first fortune of the first trailing wheel of monitoring device according to the first movement velocity control signal
Dynamic speed, to drive the first trailing wheel to be moved along horizontal.
At the same time, second encoder is responsible for gathering the first movement velocity of the first trailing wheel, and the above-mentioned first motion is fast
Whether degree is sent to speed control, consistent with standard movement speed set in advance to compare first movement velocity, when not
When consistent, adjustment signal is sent from speed control to programmable multi-axle motion controller.
Similarly, programmable multi-axle motion controller sends control signals to group of motors, to control monitoring device to be transported
It is dynamic also to include：
Speed control sends the second movement velocity control signal to the 3rd axle of programmable multi-axle motion controller, this
In, the second movement velocity control signal is corresponded with vertical/horizontal motion speed.
So, the second movement velocity control signal is sent to the 3rd motor by the 3rd axle, wherein, the 3rd motor is watched for direct current
Motor is taken, the operation principle of DC servo motor is to receive a pulse, corresponding angle will be rotated, so as to realize position
Move, i.e., the rotation of motor can be accurately controlled very much by the control of pulse, so as to realize accurate positioning.DC servo motor
Including DC brush servomotor and direct current brushless servo motor, wherein, the cost height of DC brush servomotor, structure are multiple
Miscellaneous, detent torque is big, speed-regulating range width, still, because to regularly replace carbon brush etc. causes to safeguard inconvenient, can also produce electromagnetism
Interference.The small volume of direct current brushless servo motor, fast lightweight, response, speed height, service life length, torque are stable, still,
Power of motor is limited.
While the movement velocity of the trailing wheel of monitoring device first is adjusted, the 3rd motor is controlled always according to the second movement velocity
Second movement velocity of the second trailing wheel of signal adjustment monitoring device, if the control of i.e. the first trailing wheel is monitoring device level side
To movement velocity when, the second trailing wheel control be monitoring device vertical direction movement velocity；The control of first trailing wheel is prison
When controlling the movement velocity of equipment vertical direction, what the second trailing wheel was controlled is the movement velocity of monitoring device horizontal direction.
So, the 3rd encoder gathers the second movement velocity of the second trailing wheel, and the second movement velocity is sent into speed
Controller, it is whether consistent with standard movement speed set in advance to compare second movement velocity, when inconsistent, by speed
Controller sends adjustment signal to programmable multi-axle motion controller.
Furthermore, it is necessary to which explanation is that speed control is connected with programmable multi-axle motion controller by PC buses.
Bus is the common communication circuit of transmission information between each functional part of computer, and generally, bus can be divided into number
According to bus, address bus and controlling bus, wherein, data/address bus is used for transmitting data, and address bus is used for transmitting data address,
Controlling bus is used for transmission of control signals.By bus by the number between central processing unit, internal memory, input equipment and output equipment
According to being transmitted, PC buses are usually used between notebook computer and other portable sets, so as to facilitate it to be attached.
In summary, the outstanding rail robot inspection control method that the present embodiment is provided includes：First, speed control to
Programmable multi-axle motion controller sends control signal, and afterwards, programmable multi-axle motion controller sends control signals to electricity
Unit, to control monitoring device to be moved, so, the direction of motion and movement velocity of encoder group acquisition monitoring device, and
And, the direction of motion and movement velocity are fed back into speed control, thus realize when the direction of motion and movement velocity with advance
When the standard movement direction of setting and inconsistent standard movement speed, speed control is sent to programmable multi-axle motion controller
Signal is adjusted, so, monitoring device changes the direction of motion and movement velocity in time under the control of adjustment signal, and then ensure that
Monitoring device operates steadily, and direction is accurate.
Embodiment 2
Referring to Fig. 2, Fig. 3 and Fig. 4, present embodiments providing outstanding rail robot patrolling control system includes：It is sequentially connected
Sending module 1, control module 2, acquisition module 3 and adjusting module 4, during work, by the speed control of sending module 1 to can
Program multi-axis motion controller and send control signal, sent out control signal by the programmable multi-axle motion controller of control module 2
Group of motors is given, to control monitoring device to be moved, passes through the direction of motion of the encoder group acquisition monitoring device of acquisition module 3
And movement velocity, also, the direction of motion and movement velocity are fed back into speed control, by adjusting module 4 when motion side
To with movement velocity and when standard movement direction set in advance and inconsistent standard movement speed, speed control is to programmable
Multi-axis motion controller sends adjustment signal.
Include in above-mentioned control module 2：First be sequentially connected turns to transmitting element 21, the first turning control cell
22nd, first the steering collecting unit 24 of adjustment unit 23 and first is turned to, during work, passes through first and turn to the speed control of transmitting element 21
Device processed sends steering controling signal to the first axle of programmable multi-axle motion controller, passes through the first turning control cell 22 first
Steering controling signal is sent to the first motor by axle, wherein, the first motor is stepper motor, and adjustment unit 23 is turned to by first
First motor adjusts the direction of motion of the front-wheel of monitoring device according to steering controling signal, and collecting unit 24 the is turned to by first
One encoder gathers the direction of motion of front-wheel, and the direction of motion is sent into speed control.
In addition, also including in control module 2：The First Speed collecting unit 28 that is sequentially connected, First Speed control unit
26th, First Speed adjustment unit 27 and First Speed collecting unit 28, during work, pass through the speed control of First Speed collecting unit 28
Device processed sends the first movement velocity control signal to the second axle of programmable multi-axle motion controller, is controlled by First Speed single
First movement velocity control signal is sent to the second motor by first 26 second axles, wherein, the second motor is DC servo motor, is led to
The motor of First Speed adjustment unit 27 second is crossed according to the first trailing wheel of the first movement velocity control signal adjustment monitoring device
First movement velocity, the first movement velocity of the first trailing wheel is gathered by the second encoder of First Speed collecting unit 28, and will
First movement velocity is sent to speed control.
In addition, also including in control module 2：The second speed transmitting element that is sequentially connected, second speed control unit,
Two speed adjustment units and second speed collecting unit, during work, by second speed transmitting element speed control to can compile
3rd axle of journey multi-axis motion controller sends the second movement velocity control signal, will by the axle of second speed control unit the 3rd
Second movement velocity control signal is sent to the 3rd motor, wherein, the 3rd motor is DC servo motor, is adjusted by second speed
The whole motor of unit the 3rd adjusts the second movement velocity of the second trailing wheel of monitoring device according to the second movement velocity control signal, leads to
Cross the encoder of second speed collecting unit the 3rd and gather the second movement velocity of the second trailing wheel, and the second movement velocity is sent to
Speed control.
In addition, also including in the outstanding rail robot patrolling control system：Link block, for speed control with that can compile
Journey multi-axis motion controller is connected by PC buses.
In summary, the outstanding rail robot patrolling control system that the present embodiment is provided includes：The transmission mould being sequentially connected
Block 1, control module 2, acquisition module 3 and adjusting module 4, during work, by the speed control of sending module 1 to programmable multi-axle
Motion controller sends control signal, and motor is sent control signals to by the programmable multi-axle motion controller of control module 2
Group, to control monitoring device to be moved, passes through the direction of motion and motion speed of the encoder group acquisition monitoring device of acquisition module 3
Degree, also, the direction of motion and movement velocity are fed back into speed control, the direction of motion and motion are worked as by adjusting module 4
When speed is with standard movement direction set in advance and inconsistent standard movement speed, speed control is moved to programmable multi-axle
Controller sends adjustment signal.
Finally it should be noted that：Embodiment described above, is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. outstanding rail robot inspection control method, it is characterised in that including：
Speed control sends control signal to programmable multi-axle motion controller；
The control signal is sent to group of motors by the programmable multi-axle motion controller, to control monitoring device to be transported
It is dynamic；
The direction of motion and movement velocity of encoder group acquisition monitoring device, and, by the direction of motion and the movement velocity
Feed back to the speed control；
When the direction of motion and the movement velocity and standard movement direction set in advance and standard movement speed are inconsistent
When, the speed control sends adjustment signal to the programmable multi-axle motion controller.
2. outstanding rail robot inspection control method according to claim 1, it is characterised in that the programmable multi-axle fortune
The control signal is sent to group of motors by movement controller, is included with controlling monitoring device to carry out motion：
Speed control sends steering controling signal to the first axle of programmable multi-axle motion controller；
The steering controling signal is sent to the first motor by the first axle, wherein, first motor is stepper motor；
First motor adjusts the direction of motion of the front-wheel of monitoring device according to the steering controling signal；
First encoder gathers the direction of motion of the front-wheel, and the direction of motion is sent into the speed control.
3. outstanding rail robot inspection control method according to claim 2, it is characterised in that the programmable multi-axle fortune
The control signal is sent to group of motors by movement controller, is also included with controlling monitoring device to be moved：
Speed control sends the first movement velocity control signal to the second axle of programmable multi-axle motion controller；
The first movement velocity control signal is sent to the second motor by second axle, wherein, second motor is straight
Flow servo motor；
Second motor adjusts the first motion of the first trailing wheel of monitoring device according to the first movement velocity control signal
Speed；
Second encoder gathers first movement velocity of first trailing wheel, and first movement velocity is sent into institute
State speed control.
4. outstanding rail robot inspection control method according to claim 3, it is characterised in that the programmable multi-axle fortune
The control signal is sent to group of motors by movement controller, is also included with controlling monitoring device to be moved：
Speed control sends the second movement velocity control signal to the 3rd axle of programmable multi-axle motion controller；
The second movement velocity control signal is sent to the 3rd motor by the 3rd axle, wherein, the 3rd motor is straight
Flow servo motor；
3rd motor adjusts the second motion of the second trailing wheel of monitoring device according to the second movement velocity control signal
Speed；
3rd encoder gathers second movement velocity of second trailing wheel, and second movement velocity is sent into institute
State speed control.
5. outstanding rail robot inspection control method according to claim 1, it is characterised in that the speed control with
The programmable multi-axle motion controller is connected by PC buses.
6. outstanding rail robot patrolling control system, it is characterised in that including：
Sending module, control signal is sent for speed control to programmable multi-axle motion controller；
Control module, group of motors is sent to for the programmable multi-axle motion controller by the control signal, to control prison
Control equipment is moved；
Acquisition module, for the direction of motion and movement velocity of encoder group acquisition monitoring device, and, by the direction of motion and
The movement velocity feeds back to the speed control；
Adjusting module, for when the direction of motion and the movement velocity and standard movement direction set in advance and standard fortune
When dynamic speed is inconsistent, the speed control sends adjustment signal to the programmable multi-axle motion controller.
7. outstanding rail robot patrolling control system according to claim 6, it is characterised in that the control module bag
Include：
First turns to transmitting element, and course changing control is sent to the first axle of programmable multi-axle motion controller for speed control
Signal；
First turning control cell, the first motor is sent to for the first axle by the steering controling signal, wherein, it is described
First motor is stepper motor；
First turns to adjustment unit, adjusts the front-wheel of monitoring device according to the steering controling signal for first motor
The direction of motion；
First turns to collecting unit, and the direction of motion of the front-wheel is gathered for the first encoder, and the direction of motion is sent out
Give the speed control.
8. outstanding rail robot patrolling control system according to claim 7, it is characterised in that the control module is also wrapped
Include：
First Speed collecting unit, sends first to the second axle of programmable multi-axle motion controller for speed control and moves
Speed control signal；
First Speed control unit, the second motor is sent to for second axle by the first movement velocity control signal,
Wherein, second motor is DC servo motor；
First Speed adjustment unit, monitoring device is adjusted for second motor according to the first movement velocity control signal
The first trailing wheel the first movement velocity；
First Speed collecting unit, gathers first movement velocity of first trailing wheel for second encoder, and by institute
State the first movement velocity and be sent to the speed control.
9. outstanding rail robot patrolling control system according to claim 8, it is characterised in that the control module is also wrapped
Include：
Second speed transmitting element, sends second to the 3rd axle of programmable multi-axle motion controller for speed control and moves
Speed control signal；
Second speed control unit, the 3rd motor is sent to for the 3rd axle by the second movement velocity control signal,
Wherein, the 3rd motor is DC servo motor；
Second speed adjustment unit, monitoring device is adjusted for the 3rd motor according to the second movement velocity control signal
The second trailing wheel the second movement velocity；
Second speed collecting unit, gathers second movement velocity of second trailing wheel for the 3rd encoder, and by institute
State the second movement velocity and be sent to the speed control.
10. outstanding rail robot patrolling control system according to claim 6, it is characterised in that also include：
Link block, is connected for the speed control with the programmable multi-axle motion controller by PC buses.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710615254.8A CN107256022A (en) | 2017-07-25 | 2017-07-25 | Outstanding rail robot inspection control method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710615254.8A CN107256022A (en) | 2017-07-25 | 2017-07-25 | Outstanding rail robot inspection control method and system |
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