Light rail robot four-wheel-drive motion control system and method thereof

Abstract

The invention discloses a light rail robot four-wheel-drive motion control system and a method thereof. A central control unit communicates with a power energy management unit, a motion driving unit and a peripheral sensing auxiliary unit; the central control unit controls the motion driving unit and the peripheral sensing auxiliary unit, and receives feedback information of the peripheral sensing auxiliary unit at the same time to adjust control parameters of the motion driving unit in real time, thus realizing the safe and stable operation of the system; and the central control unit reasonably adjusts the load balance of the motion driving unit according to the electricity quantity control and feedback of the power energy management unit. The light rail robot four-wheel-drive motion control system and the method have the following advantages: the driving of four independent step-servo motors of a light rail robot in an electrical power tunnel is realized; with an optimal energy efficiency ratio, the synchronization of the running of four wheels is realized; and the problems, such as the unstable gravity center of single-wheel-drive on-rail motion, insufficient driving force, the slipping of driving wheels on a slope, great motion noise after the addition of a speed reducer, and the like are solved.

Description

technical field [0001] The invention relates to the technical field of electric tunnel robot monitoring, in particular to a four-wheel drive optimization control system and method for a light track robot. Background technique [0002] With the wide application of cables in urban power grids, power tunnels have become one of the main channels for cable laying. [0003] Power cable tunnels generally have a relatively small space, and the ground is uneven, and obstacles are prone to appear on the internal construction ground, which is not conducive to the application of ground robots. Suspension robots are more suitable for tunnel space applications, but the quality of power tunnels in China varies, so it is necessary to fully consider the weight of the track and the potential threat caused by the vibration impact of the inspection robot walking on the power tunnel. At present, domestic power cable tunnels often have criss-crossing situations. Single or circular track inspecti...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the above problems. The present invention provides a light rail robot four-wheel drive motion control system and method thereof. The driving force is unbalanced, the center is unstable, the driving force is insufficient, and the mechanical structure is complex. It also solves the problems of low energy efficiency and utilization of conventional tunnel inspection robots, which greatly improves the cruising distance of the on-orbit robot.

Make the inspection robot adapt to various (slope less than 35°) complex tunnel rail conditions

Images