Control device, method, electronic terminal and computer readable storage medium

Abstract

The present invention provides a control device, method, electronic terminal and computer-readable storage medium for controlling a manipulator, wherein the control device includes a plurality of control units, including an audio and video control unit, a power control unit and an amplifier drive control unit; each control unit includes a housing, and each housing can be stacked on top of each other; wherein each housing includes at least one contact surface that contacts an adjacent stacked housing, and each contact surface has the same shape and size. The present invention modularizes the housings of each control unit, and reduces the volume and floor space of the control device by stacking them on top of each other, making it easier for operators to use. In addition, if the functions of some control units need to be updated and upgraded, only the corresponding modular control unit needs to be replaced, thereby greatly improving the maintenance efficiency of the device. Furthermore, the length of the connecting wires between the stacked housings is correspondingly reduced, effectively avoiding the potential safety hazards caused by messy connecting wires.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a control device, method, electronic terminal and computer-readable storage medium for controlling a robot. Background Art

[0002] The safety of nuclear power plants is of vital importance. During each refueling period, nuclear power plants must be fully inspected and maintained. Among them, in-service inspection is one of the important contents. The welds of key equipment (such as pressure vessels, steam generators, main pipelines, etc.) must be ultrasonically inspected by remote-controlled manipulators. Especially in the reactor pressure vessel (RPV) inspection system and the reactor pressure vessel head cover (RPVH) inspection system, the manipulator control box is an important component. The stability and reliability of the manipulator control box are directly related to the safety and progress of the RPV / RPVH inspection system. Its importance is self-evident.

[0003] The robot is a very complex control system, involving multiple disciplines such as mechanics, power electronics, and computer control. At the same time, the operation of each unit and component is intricate, involving a large amount of information exchange and processing. Therefore, a complex and meticulous control system device is indispensable for the robot, so that the various components of the robot can work in coordination, and the status, operation mode, instructions and other parameters of the system and each unit can be displayed in a timely manner, following reasonable modular design, effective task planning, and having real-time and network communication functions. Not only RPV and RPVH detection systems, but also many automated detection equipment based on robots are required to be equipped with corresponding control boxes.

[0004] However, the existing manipulator control box products have a single function and can only meet the control requirements of the manipulator in some occasions. However, for different working environments, the manipulator control box needs to be reassembled and the software and hardware need to be replaced. It has defects such as high failure rate, low work efficiency and limited functions, and cannot meet the complex working environment and different manipulator control methods. Therefore, the development of manipulator control boxes and the improvement of system reliability are important guarantees to ensure the smooth completion of pre-service and in-service inspections of nuclear power plants. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a control device, method, electronic terminal and computer-readable storage medium for controlling a manipulator, so as to solve technical problems such as the single function of existing manipulator control box products.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a control device for controlling a manipulator, which is used for on-site detection; the control device includes: multiple control units, which include an audio and video control unit, a power supply control unit, and an amplifier drive control unit; each control unit includes a box, and each box can be stacked on each other; wherein each of the boxes includes at least one contact surface that contacts an adjacent stacked box, and the shape and size of each contact surface are consistent.

[0007] In one embodiment of the present invention, one or more openings are provided on the side of the box of each control unit for airflow and / or connection lines to pass through.

[0008] In one embodiment of the present invention, the control device includes a main control unit; the power amplifier drive control unit includes a PWM power amplifier drive control unit and a linear power amplifier drive control unit; the PWM power amplifier drive control unit and the linear power amplifier drive control unit are respectively communicatively connected to and control the manipulator, and are both communicatively connected to the main control unit through a first switch; the main control unit selects one or the other of the PWM power amplifier drive control unit and the linear power amplifier drive control unit according to the operating status information of the manipulator; the operating status information of the manipulator includes the detection object of the manipulator and the environmental information of the detection environment in which the manipulator is located.

[0009] In one embodiment of the present invention, the first switch is located at the detection site, and its communication connection is located at the second switch at the control site, and the second switch is also communicatively connected to an external device; the external device synchronizes data with the main control unit through the first switch and the second switch to control the manipulator in real time and remotely.

[0010] In one embodiment of the present invention, the PWM power amplifier drive control unit includes a first controller, a PWM power amplifier servo driver, and a first panel interface; the linear power amplifier drive control unit includes a second controller, a linear power amplifier servo driver, and a second panel interface.

[0011] In one embodiment of the present invention, the power control unit is electrically connected to the manipulator, the power amplifier drive control unit, and the audio and video control unit respectively to provide power; the power control power supply includes: an AC-DC module for converting AC power into DC power; a DC-DC module for changing the voltage level of the DC power supply; and a leakage protection module for leakage protection.

[0012] In one embodiment of the present invention, the audio and video control unit is used to collect environmental information of the monitoring environment in which the manipulator is located and the operating status information of the manipulator; the audio and video control unit is communicatively connected to the main control unit to transmit the environmental information and operating status information to the main control unit in the form of audio and / or video.

[0013] In one embodiment of the present invention, the audio and video control unit includes: a video splitter, which is communicatively connected to the video capture card of the main control unit so that the main control unit can capture multiple video signals after being split by the video splitter; an audio and video interface, which is used to connect an external input device to capture audio and video signals; an audio and video signal conversion board, which is used to perform analog-to-digital conversion on the captured audio and video signals; and a signal distribution board, which is used to receive and distribute the digital signals after the analog-to-digital conversion.

[0014] To achieve the above-mentioned object and other related objects, the present invention provides a control method for a manipulator, which is applied to a main control unit, the main control unit is installed in a control device applied to the manipulator, and the control device is communicatively connected to an audio control unit, a PWM power amplifier drive control unit and a linear power amplifier drive control unit; the control method comprises: receiving environmental information of a detection environment of the manipulator from the audio control unit; selecting one or the other of the PWM power amplifier drive control unit and the linear power amplifier drive control unit according to the operation status information of the manipulator; the operation status information of the manipulator comprises a detection object of the manipulator and the environmental information; communicating and connecting with an external device through a first switch located at a detection site and a second switch located at a control site, so that the external device can remotely control the manipulator in real time; wherein the control device comprises a plurality of control units, including an audio and video control unit, a power supply control unit and a power amplifier drive control unit; each control unit comprises a box, and each box can be stacked on each other; wherein each box comprises at least one contact surface that contacts with an adjacent stacked box, and the shape and size of each contact surface are consistent.

[0015] To achieve the above-mentioned purpose and other related purposes, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the control method of the manipulator when executed by a processor.

[0016] To achieve the above-mentioned purpose and other related purposes, the present invention provides an electronic terminal, including: a processor, a memory, and a communicator; the memory is used to store computer programs, the communicator is used to communicate with an external terminal, and the processor is used to execute the computer program stored in the memory so that the electronic terminal executes the control method of the manipulator.

[0017] As described above, the control device, method, electronic terminal and computer-readable storage medium of the present invention have the following beneficial effects: modular processing of the boxes of each control unit, reducing the volume and floor space of the control device by stacking each other, making it easier for operators to use. In addition, if the functions of some control units need to be updated or upgraded, only the corresponding modular control unit needs to be replaced, thereby greatly improving the maintenance efficiency of the device. Furthermore, the length of the connecting wires between the stacked boxes is correspondingly reduced, effectively avoiding the safety hazards caused by messy connecting wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a schematic diagram of a control device in one embodiment of the present invention.

[0019] Figure 2 Shown is a module schematic diagram of a control device in one embodiment of the present invention.

[0020] Figure 3 Shown is a schematic flow chart of a method for controlling a manipulator in one embodiment of the present invention.

[0021] Figure 4 Shown is a schematic diagram of the structure of the electronic terminal of the present invention.

[0022] Component number description

[0023] 11 Audio and video control unit

[0024] 12 Power Control Unit

[0025] 13 PWM power amplifier drive control unit

[0026] 14 Linear amplifier drive control unit

[0027] 21 Audio and video control unit

[0028] 211 Video Splitter

[0029] 212 Audio and video interface

[0030] 213 Audio and video signal conversion board

[0031] 214 signal distribution board

[0032] 22 Power Control Unit

[0033] 221 AC-DC Module

[0034] 222 DC-DC Module

[0035] 223 Leakage protection module

[0036] 224 Power output interface

[0037] 23 PWM power amplifier drive control unit

[0038] 231 First Controller

[0039] 232 PWM amplifier servo driver

[0040] 233 First Panel Interface

[0041] 24 Linear amplifier drive control unit

[0042] 241 Second Controller

[0043] 242 Linear Amplifier Servo Driver

[0044] 243 Second panel interface

[0045] 25 Main control unit

[0046] 251 Video Capture Card

[0047] 252 Audio intercom interface

[0048] 253 ATX motherboard

[0049] 254 Memory

[0050] 255 Graphics Card

[0051] 256 Sound Card

[0052] 257 Display

[0053] 258 Control panel interface

[0054] S31~S33 Method Flow

[0055] 41 Processor

[0056] 42 Memory

[0057] 43 Communicator

[0058] 44 Communication Interface

[0059] 45 System Bus DETAILED DESCRIPTION

[0060] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0061] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0062] like Figure 1 As shown, a schematic diagram of a control device in one embodiment of the present invention is shown. The control device is used to control a manipulator, and the manipulator is used for on-site detection. The on-site detection includes detection of nuclear power plants; the safety of nuclear power plants is of vital importance, and the nuclear power plants must be fully inspected and repaired during each refueling. Among them, in-service inspection is one of the important contents. The welds of key equipment such as pressure vessels, steam generators, and main pipelines need to be ultrasonically inspected by a remote-controlled manipulator. In particular, in the reactor pressure vessel (RPV) detection system and the reactor pressure vessel head cover (RPVH) detection system, the manipulator control box is an important component. The stability and reliability of the manipulator control box are directly related to the safety and progress of the RPV / RPVH detection system. Its importance is self-evident.

[0063] The control device includes a plurality of control units, including: an audio and video control unit 11, a power control unit 12, and a power amplifier drive control unit; the power amplifier drive control unit specifically includes a PWM power amplifier drive control unit 13 and a linear power amplifier drive control unit 14. Each control unit includes a box, and each box can be stacked on each other. In this embodiment, the box of the PWM power amplifier drive control unit 13 is stacked on the box of the linear power amplifier drive control unit 14, the box of the power control unit 12 is stacked on the box of the PWM power amplifier drive control unit 13, and the box of the audio and video control unit 11 is stacked on the box of the power control unit 12.

[0064] In a preferred design, the boxes of each control unit are all in the shape of a rectangular parallelepiped, and the length and width of each box are consistent, but the height may be consistent or inconsistent, so that one box can be conveniently stacked on another box. However, it should be noted that the shape of the box is not limited to the rectangular parallelepiped shape in this embodiment, and boxes with triangular, circular or other shapes of the bottom surface may also be used in other embodiments, as long as the shape and size of the contact surface of each box with the adjacent stacked boxes are consistent, and the present invention does not limit this.

[0065] The control device further includes a main control unit (not shown), and the housing of the main control unit does not need to be stacked on the housings of other control units, so the outer dimensions of the housing of the main control unit may be different from the outer dimensions of the housings of other control units. However, in actual applications, if the housing of the main control unit needs to be stacked with the housings of other control units, the dimensions of the housing of the main control unit may be designed to be consistent with the dimensions of the housings of other control units.

[0066] It is worth noting that the functions of existing manipulator control box products are very simple and can only meet the control requirements of the manipulator in some occasions. However, for different working environments, the manipulator control box needs to be reassembled and the software and hardware need to be replaced. The failure rate is very high, the work efficiency is low, and the functions are extremely limited. Therefore, it cannot meet the complex working environment and changeable manipulator control methods. The present invention adopts a modular design concept, modularly processes the boxes of each control unit, and reduces the volume and floor space of the control device by stacking them on each other, which is convenient for operators to use. In addition, if the functions of some control units need to be updated and upgraded, only the corresponding modular control unit needs to be replaced, thereby greatly improving the maintenance efficiency of the device. Furthermore, the length of the connecting wires between the stacked boxes is correspondingly reduced, which effectively avoids the safety hazards caused by messy connecting wires.

[0067] In a preferred design, each control unit box is processed by metal wire drawing, or by anodizing, or by both metal wire drawing and anodizing. A sealing ring is provided between the box panels that contact each other, thereby effectively reducing noise, improving dust and interference prevention capabilities, and increasing the pressure bearing capacity of the box.

[0068] In a preferred design, each control unit has an opening on the side of the box, which can be used as a heat dissipation port for airflow to pass through, thereby achieving heat dissipation. Alternatively, the opening can also be used for connecting wires to pass through, so that the wires can be easily led out from the side of the box to connect to other control units.

[0069] like Figure 2 The module schematic diagram of the control device in one embodiment of the present invention is shown. The control device includes an audio and video control unit 21, a power control unit 22, a power amplifier drive control unit, and a main control unit 25; wherein the power amplifier drive control unit includes a PWM power amplifier drive control unit 23 and a linear power amplifier drive control unit 24, and each control unit is explained and described below.

[0070] Those skilled in the art will Figure 1 and Figure 2It can be seen that the PWM power amplifier drive control unit 23 includes a first controller 231, a PWM power amplifier servo driver 232, and a first panel interface 233, whose input voltage is usually +5VDC, ±12VDC; and also includes various aviation plug connectors, RJ45 network interfaces, I / O transmission interfaces, etc., which are not shown in the figure. Among them, the PWM power amplifier drive control unit 23 is electrically connected to the manipulator through the first panel interface 233, and the first controller 231 and the PWM power amplifier servo driver 232 are combined to control the operation of the manipulator.

[0071] Specifically, the multi-axis brushless or brushed servo motor of the manipulator is driven by the multi-channel transconductance PWM amplifier included in the PWM power amplifier servo driver 232, and overvoltage protection, low voltage protection, overcurrent protection, short circuit protection and temperature protection are provided. The first controller 231 reads the state of the PWM power amplifier servo driver 232, and uses dual encoder encoders to feedback to realize the origin reset and positive and negative polarity functions, and provides executable conditional drive instructions to the PWM power amplifier servo driver 232 through economical Ethernet to process all motion control functions on all axes of the manipulator. In addition, the first controller 231 can increase the number of drive axes through the programmable I / O transmission interface, for example: 1 to 4 axes use 8 groups of TTL input points and 8 groups of output points, and 5 to 8 axes use 16 groups of TTL input points and 16 groups of output points. The user only needs to select the corresponding number of axes according to the type of the manipulator, and use jumpers to realize the open-loop or closed-loop control of each axis of the manipulator.

[0072] Based on the working principle similar to that of the PWM power amplifier driving control unit 23, the linear power amplifier driving control unit 24 includes a second controller 241, a linear power amplifier servo driver 242, and a second panel interface 243, and its input voltage is usually 24VDC and 96VDC DC power supply; it also includes various aviation plug connectors, RJ45 network interface, I / O transmission interface, etc., which are not shown in the figure. Because its implementation method is similar to that of the PWM power amplifier driving control unit 23, it will not be repeated.

[0073] It is worth noting that the PWM power amplifier driving control unit 23 has advantages such as high efficiency, high power, low heat generation, small size, and convenient handling compared to the linear power amplifier driving control unit 24 because the PWM amplifier used by it belongs to the Class D power amplifier, but it also has disadvantages such as poor low-frequency strength and weak anti-interference ability. The linear power amplifier driving control unit 24 has a general efficiency, medium to high power, and high heat generation compared to the PWM power amplifier driving control unit 23 because the linear amplifier used by it belongs to the analog power amplifier, but its low-frequency strength is very favorable and has strong anti-interference ability. In addition, both power amplifier driving control units support Linux, DOS, and all Windows operating systems.

[0074] Therefore, it is particularly important to select different power amplifier drive control units according to different detection environments. The PWM power amplifier drive control unit 23 and the linear power amplifier drive control unit 24 are both connected to the main control unit 25 through the first switch. In this embodiment, the first switch is located at the detection site. The main control unit 25 selects one or the other of the PWM power amplifier drive control unit 23 and the linear power amplifier drive control unit 24 according to the operation status information of the manipulator; the operation status information of the manipulator includes the detection object of the manipulator and the environmental information of the detection environment in which the manipulator is located. For example: if the manipulator is in a detection environment with strong interference, such as a high radiation environment for nuclear power plants, the main control unit 25 selects a linear power amplifier drive control unit 24 with stronger anti-interference ability; and in a working environment with weak interference, the PWM power amplifier drive control unit 23 with higher efficiency is selected. In this way, it can be ensured that the most suitable power amplifier drive control unit is always used in different detection environments, thereby ensuring the control accuracy and control efficiency of the manipulator.

[0075] Those skilled in the art will Figure 1 and Figure 2 It can be seen that the power control unit 22 is used to provide power for the audio and video control unit 21, the PWM power amplifier drive control unit 23, the linear power amplifier drive control unit 24, and the manipulator. The power control unit 22 mainly includes an AC-DC module 221, a DC-DC module 222, and a leakage protection module 223. The AC-DC module 221 is used to convert the mains power into a DC power supply, such as converting the mains power 220VAC into 220VDC; the DC-DC module 222 is used to convert a DC power supply of one voltage level into a DC power supply of another voltage level, such as providing a DC power supply of 220VAC, 96VDC, 48VDC, 24VDC, 15VDC, 12VDC, 5VDC and other voltage levels; the leakage protection module 223 is used for leakage protection, such as a leakage protector or a leakage circuit breaker, which has overload and short circuit protection functions, and is used to prevent electric shock when a leakage fault occurs in the equipment.

[0076] In a preferred design, the power control unit 22 also includes an electrical isolation module not shown in the figure, which can be, for example, an electrical isolation switch, for electrically isolating the power supply from the power circuit, thereby reducing electromagnetic interference. Preferably, each power output interface 224 of the power control unit 22 is arranged on the side of the box, so that it is convenient for the power receiving control unit to introduce power from the power output interface 224 on the side.

[0077] Those skilled in the art will Figure 1 and Figure 2It can be seen that the audio and video control unit 21 is used to collect environmental information of the monitoring environment where the manipulator is located; the audio and video control unit 21 is connected to the main control unit 25 in communication to transmit the environmental information to the main control unit 25 in the form of audio and / or video. The audio and video control unit 21 specifically includes: a video splitter 211, an audio and video interface 212, an audio and video signal conversion board 213, a signal distribution board 214, and also includes a power indicator light, various aviation plug connectors, I / O interfaces, etc. that are not shown in the figure. The main control unit 25 is, for example, a main server, which includes a video capture card 251, an audio intercom interface 252, an ATX motherboard 253, a memory 254, a graphics card 255, a sound card 256, a display screen 257, and a control panel interface 258.

[0078] The video splitter 211 is communicatively connected to the video capture card 251 of the main control unit 25, so that the main control unit 25 can capture the multi-channel video signals after the video splitter 211. The audio and video interface 212 is used to connect an external input device to capture audio and video signals; the external input device is, for example, a pan-tilt camera, a fixed camera, or an extended camera. The audio and video signal conversion board 213 is used to perform analog-to-digital conversion on the captured audio and video signals. The signal distribution board 214 is used to receive and distribute the digital signals after analog-to-digital conversion.

[0079] In a possible design, the audio and video control unit 21 provides 8 fixed camera interfaces and 2 pan / tilt camera interfaces through the audio and video interface 212, and reserves 2 aviation plugs for connecting to expansion cameras for functional expansion. The audio and video interface 212 transmits the collected audio and video signals to the audio and video signal conversion board 213 to convert the audio and video signals from analog signals to digital signals. The converted digital signals are transmitted to the signal distribution board 214 to be transmitted to the main control unit 25 to complete the collection of the video signals of each channel after the video splitter 211 is split through its video capture card 251.

[0080] In a possible design, the main control unit 25 can use the PCI bus to collect the multi-channel video signals after the video splitter 211 performs the segmentation processing through the video capture card 251, and display the collected video signals on the display screen 257 for operation by external operation devices such as keyboard and mouse. Optionally, the main control unit 25 can also use the audio intercom interface 252 to connect with the audio and video control unit 21 for audio and video signal transmission, and realize multi-channel audio communication between the detection site and the control site through the microphone or earphone connected to the main control unit 25 and the microphone or earphone of the external device.

[0081] In a possible design, the main control unit 25 completes the communication connection with the PWM power amplifier drive control unit 23 and the linear power amplifier drive control unit 24 through the control panel interface 258 and the first switch with an RJ45 connector, and sends control instructions to the power amplifier drive control unit to implement corresponding control operations on the manipulator; the main control unit 25 also receives motion data about the manipulator from the power amplifier drive control unit, and realizes data synchronization between the remote client and the main control unit 25 through the optical fiber transmission channel between the first switch located at the detection site and the second switch located at the control site, so as to achieve the purpose of remote real-time control of the manipulator by the client.

[0082] It is worth noting that the inspection site of the manipulator is usually dangerous and poses a serious threat to human health, such as the inspection and maintenance site of a nuclear power plant. Therefore, the present invention provides a control device that can realize remote control of the manipulator, so that the operator can remotely control the manipulator at the inspection site while being in a safe control site, which is not only convenient for the operator to use but also ensures the personal safety and health of the operator.

[0083] It should be noted that the housing of each control unit is provided with a corresponding heat dissipation device, such as a fan, to dissipate heat from each control unit. Preferably, the airflow output by the heat dissipation device is discharged from the side of the housing, so as to facilitate the stacking of the housings of each control unit, reduce the floor space and facilitate use.

[0084] like Figure 3 As shown, a flow chart of a control method for a manipulator in an embodiment of the present invention is shown. The control method is applied to a main control unit, the main control unit is installed in a control device applied to the manipulator, the control device is communicatively connected to an audio control unit, a PWM power amplifier drive control unit and a linear power amplifier drive control unit; the control method includes:

[0085] S31: Receive environmental information of the detection environment where the manipulator is located from the audio control unit.

[0086] S32: selecting one or the other of the PWM power amplifier driving control unit and the linear power amplifier driving control unit according to the operation status information of the manipulator; the operation status information of the manipulator includes the detection object of the manipulator and the environmental information.

[0087] S33: Communicate and connect with an external device through a first switch located at the detection site and a second switch located at the control site, so that the external device can remotely control the manipulator in real time.

[0088] The control device includes a plurality of control units, including an audio and video control unit, a power control unit, and an amplifier drive control unit; each control unit includes a box, and each box can be stacked on top of each other; wherein each box includes at least one contact surface that contacts the adjacent stacked boxes, and the shape and size of each contact surface are consistent. It should be noted that the implementation method of the control method of the manipulator is similar to the implementation method of the control device described above, so it will not be repeated.

[0089] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0090] like Figure 4 As shown, a schematic diagram of the structure of an electronic terminal in an embodiment of the present invention is shown. The electronic terminal includes a processor 41, a memory 42, a communicator 43, a communication interface 44 and a system bus 45; the memory 42 and the communication interface 44 are connected to the processor 41 and the communicator 43 through the system bus and complete the communication between them, the memory 42 is used to store computer programs, the communication interface 44 is used to communicate with other devices, the processor 41 and the communicator 43 are used to run computer programs, so that the electronic terminal executes each step of the control method of the manipulator as described above.

[0091] The system bus mentioned above can be a Peripheral Pomponent Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage.

[0092] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0093] In summary, the control device, method, electronic terminal, and computer-readable storage medium provided by the present invention modularize the boxes of each control unit, and reduce the volume and floor space of the control device by stacking them on each other, which is convenient for operators to use. In addition, if the functions of some control units need to be updated and upgraded, only the corresponding modular control unit needs to be replaced, thereby greatly improving the maintenance efficiency of the device. Furthermore, the length of the connecting wires between the stacked boxes is correspondingly reduced, effectively avoiding the safety hazards caused by messy connecting wires. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0094] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A control device, It is characterized in that Used to control a manipulator, the manipulator is used for on-site detection; the control device includes a main control unit and: A plurality of control units, including an audio and video control unit, a power control unit, and an amplifier drive control unit; each control unit includes a box, and each box is stacked on top of each other; each box includes at least one contact surface that contacts with an adjacent stacked box, and each contact surface has the same shape and size; a sealing ring is provided between the box panels that contact each other; The audio and video control unit is used to collect environmental information of the monitoring environment in which the manipulator is located and the operating status information of the manipulator; the audio and video control unit is communicatively connected to the main control unit to transmit the environmental information and operating status information to the main control unit in the form of audio and / or video; The power amplifier drive control unit includes a PWM power amplifier drive control unit and a linear power amplifier drive control unit; the PWM power amplifier drive control unit and the linear power amplifier drive control unit are respectively connected in communication and control the manipulator, and are both connected in communication with the main control unit through a first switch; the main control unit selects one or the other of the PWM power amplifier drive control unit and the linear power amplifier drive control unit according to the operating status information of the manipulator; the operating status information of the manipulator includes the detection object of the manipulator and the environmental information of the detection environment in which the manipulator is located.

2. The control device according to claim 1, It is characterized in that One or more openings are provided on the side of the box of each control unit for airflow and / or connecting wires to pass through.

3. The control device according to claim 1, It is characterized in that The first switch is located at the detection site, and its communication connection is located at the second switch at the control site, and the second switch is also communicatively connected to an external device; the external device synchronizes data with the main control unit through the first switch and the second switch to control the manipulator in real time and remotely.

4. The control device according to claim 3, It is characterized in that The PWM power amplifier drive control unit includes a first controller, a PWM power amplifier servo driver, and a first panel interface; the linear power amplifier drive control unit includes a second controller, a linear power amplifier servo driver, and a second panel interface.

5. The control device according to claim 1, It is characterized in that The power control unit is electrically connected to the manipulator, the power amplifier drive control unit, and the audio and video control unit to provide power; The power control unit comprises: AC-DC module, used to convert AC power into DC power; DC-DC module, used to change the voltage level of DC power supply; Leakage protection module, used for leakage protection.

6. The control device according to claim 1, It is characterized in that The audio and video control unit comprises: A video splitter, communicatively connected to the video capture card of the main control unit, so that the main control unit can capture the multi-channel video signals split by the video splitter; Audio and video interface, for connecting external input devices to collect audio and video signals; An audio and video signal conversion board, used to perform analog-to-digital conversion on the collected audio and video signals; The signal distribution board is used to receive and distribute the digital signal after analog-to-digital conversion.

7. A control method for a manipulator, It is characterized in that Applied to a main control unit, the main control unit is installed in a control device applied to a manipulator, the main control unit is communicatively connected to an audio and video control unit, a PWM power amplifier drive control unit and a linear power amplifier drive control unit; the control method includes: Receiving environmental information of the detection environment of the manipulator from the audio and video control unit; Selecting one or the other of the PWM power amplifier drive control unit and the linear power amplifier drive control unit according to the operation status information of the manipulator; the operation status information of the manipulator includes the detection object of the manipulator and the environmental information; The first switch located at the detection site and the second switch located at the control site are connected to the external device for communication, so that the external device can remotely control the manipulator in real time; Wherein, the control device includes multiple control units, including an audio and video control unit, a power control unit, and an amplifier drive control unit; each control unit includes a box, and each box is stacked on top of each other; wherein each box includes at least one contact surface that contacts the adjacent stacked box, and the shape and size of each contact surface are consistent; a sealing ring is provided between the box panels that contact each other.

8. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the robot control method according to claim 7 is implemented.

9. An electronic terminal, It is characterized in that include: processor, memory, and communicator; The memory is used to store computer programs, the communicator is used to communicate with an external terminal, and the processor is used to execute the computer program stored in the memory so that the electronic terminal executes the control method of the manipulator as described in claim 7.

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