Intelligent track inspection robot dual-drive three-closed-loop motion control device and control method of control device
A motion control device and inspection robot technology, applied in the field of robotics, can solve problems such as weak climbing ability and poor stability, and achieve the effects of eliminating accumulated errors, smooth acceleration and deceleration, and precise parking.
Pending Publication Date: 2019-05-24
NANJING TETRAELC ELECTRONICS TECH CO LTD
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AI Technical Summary
Problems solved by technology
The existing track inspection robot adopts a single-drive single-closed-loop control method, which has poor stability when starting, stopping, and high-speed operation, and weak climbing ability
Method used
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[0021] The present invention will be further described below in conjunction with the accompanying drawings.
[0022] Such as Figure 1 to Figure 3 As shown, the cascaded track inspection robot is composed of three sections, the first section is responsible for the front drive, the second section is driven, and the third section is responsible for the rear drive; the front drive and the rear drive provide the driving force in the forward or backward direction of the robot, Drive the robot to run in the forward and reverse directions. When running on a straight track, the robot is controlled in single-drive mode. When there is a slope track that requires greater driving force, the robot automatically switches to dual-drive mode to complete climbing.
[0023] Such as figure 2 As shown, the robot motion control system takes STM32F107 as the core, and forms a speed closed loop with the FPGA+DSP servo drive as a parameter, and a position closed loop with the position information c...
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The invention discloses an intelligent track inspection robot dual-drive three-closed-loop motion control device. The intelligent track inspection robot dual-drive three-closed-loop motion control device comprises a front driving device and a rear driving device which are connected with a robot; a first servo driver and a second servo driver are arranged on the front driving device and the rear driving device correspondingly, and the first servo driver and the second servo driver are connected with a front driving servo motor and a rear driving servo motor correspondingly; a controller is arranged on the robot, the controller is in signal connection with the first servo driver and the second servo driver; a coder is further arranged on the robot, and the coder is connected with the controller; and a plurality of radio frequency positioning sensors are uniformly distributed on a track of the robot, and the radio frequency position sensors are in signal connection with the controller. According to the intelligent track inspection robot dual-drive three-closed-loop motion control device and a control method of the device, when the robot runs, the position information of the robot canbe accurately provided, the smooth acceleration and deceleration of the robot are realized, and precise parking is achieved.
Description
technical field [0001] The invention relates to a dual-drive triple-closed-loop motion control device and a control method for an intelligent track inspection robot, belonging to the field of robots. Background technique [0002] Important facilities in the fields of highways, railways, electric power, national defense, and municipal administration need regular inspection and maintenance, and emergency rescue work in emergency situations. However, due to the large number of these facilities and scattered layout, they currently rely on manual inspections and Maintenance, resulting in heavy inspection and maintenance workload, high cost, and certain potential safety hazards. When a major accident occurs, the place where the accident occurred may be far away from the rescue personnel, and the rescue facilities cannot perform the rescue function in time. The track-type mobile inspection robot uses automation, communication, machinery and other technologies to move freely on the...
Claims
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Login to View More IPC IPC(8): B25J5/02B25J9/16
Inventor 刘爽闵济海雷凌刘宏钰姜红杉张志坚
Owner NANJING TETRAELC ELECTRONICS TECH CO LTD