Winch control device for cable-driven robot and control method thereof

Abstract

The application provides a winch control device and a control method thereof, in particular to a winch control device and a control method thereof for a cable-driven robot. The winch control device for the cable-driven robot comprises a winch, a sensor hardware system, a data processing module and a winch execution module, the sensor hardware system is used for detecting the running state of the cable-driven robot and surrounding environment information, and the information for adjusting and controlling the motion state of the cable-driven robot is obtained through a fusion algorithm. The winch control device and the control method thereof for the cable-driven robot have high control precision, and also guarantee the use safety and operation reliability of the cable-driven robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cable robot, in particular to a winch control device for cable robot and a control method thereof. BACKGROUND

[0002] In the winch mechanism controlled by the motor, since the load generally occupies a certain volume and has a large dead weight, in order to accurately control the load, a plurality of end portions on both sides of the load are usually connected with the ropes to control the plurality of end portions of the load independently.

[0003] In the movement of the load, the winches on both sides need to be coordinated, and the actual situation of rope slipping needs to be considered, so the control precision of the winches on both sides in the prior art cannot meet the requirements of precise operation of workpieces such as some special robots. In particular, in actual use, obstacles may suddenly appear in the application environment, causing certain safety hazards. SUMMARY

[0004] To solve the technical problems of unstable operation and large safety hazards of the robot in the prior art, the present application provides a winch control device for cable robot, characterized in that the winch comprises two driving ropes and two motors, and the two ends of the cable robot are connected with one driving rope respectively, each driving rope is driven by one motor, and the winch control device comprises a sensor hardware system, a data processing module and a winch execution module, the data processing module is connected with the sensor hardware system and the winch execution module respectively; the sensor hardware system comprises an inertial measurement unit for detecting the attitude information of the cable robot, at least two force sensors for detecting the tension values of each driving rope in the winding and unwinding directions respectively, an encoder for detecting the actual running length of each driving rope of the winch, a distance sensor for detecting the distance between the cable robot and a preset limiting mechanism, and a touch sensor for detecting the obstacle information in the running range of the cable robot; the winding and unwinding speeds of each driving rope are determined by fusion calculation based on at least the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable robot, the tension difference value calculated based on the tension values of each rope collected by the force sensor, and the winding and unwinding speed of the driving rope at the previous moment.

[0005] Preferably, the fusion calculation at least includes the offset compensation winding and unwinding speed determined based on the attitude information, and the slipping compensation winding and unwinding speed determined based on the actual running length.

[0006] Preferably, the fusion calculation at least includes the offset compensation winding and unwinding speed determined based on the attitude information, and the slipping compensation winding and unwinding speed determined based on the actual running length.

[0007] Preferably, the data processing module is configured to acquire the attitude information, the tension value, the slip length, the distance, and the obstacle information in the operation range, and perform fusion calculation on the attitude information, the tension value, and the slip length to determine the winding and unwinding speed of the motor of the winch, generate a speed control instruction according to the winding and unwinding speed, and the slip length is the difference between the theoretical winding and unwinding length and the actual operation length of each driving rope; and generate a termination instruction when it is determined according to the distance and the obstacle information that the cable-driven robot should terminate operation; and the winch execution module controls the motor according to the speed control instruction or the termination instruction, wherein the priority of the termination instruction is higher than that of the speed control instruction.

[0008] Preferably, the cable-driven robot further comprises two other driving ropes and two other motors, so that the four ends of the cable-driven robot are connected to one driving rope respectively, and each driving rope is independently driven by one motor.

[0009] A winch control method for a cable-driven robot, characterized in that the winch control method comprises the following steps: detecting the operation state of the cable-driven robot through a sensor hardware system, the sensor hardware system comprising an inertial measurement unit for detecting the attitude information of the cable-driven robot, at least two force sensors for detecting the tension value of each driving rope in the winding and unwinding direction respectively, an encoder for detecting the actual operation length of each driving rope of the winch, a distance sensor for detecting the distance between the cable-driven robot and a preset limiting mechanism, and a touch sensor for detecting the obstacle information in the operation range of the cable-driven robot; performing fusion calculation based on at least the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot, the tension difference calculated based on the tension value of each rope collected by the force sensor, and the winding and unwinding speed of the driving rope at the previous moment to determine the winding and unwinding speed of each driving rope; and controlling the motor of the winch by the winch execution module according to the winding and unwinding speed.

[0010] Preferably, the fusion calculation at least comprises an offset compensation winding and unwinding speed determined based on the attitude information, and a slip compensation winding and unwinding speed determined based on the actual operation length.

[0011] Preferably, the winch control method for a cable-driven robot further comprises acquiring the attitude information, the tension value, the slip length, the distance, and the obstacle information in the operation range, and performing fusion calculation on the attitude information, the tension value, and the slip length to determine the winding and unwinding speed of the motor of the winch, generating a speed control instruction according to the winding and unwinding speed, and the slip length is the difference between the theoretical winding and unwinding length and the actual operation length of each driving rope; and generating a termination instruction when it is determined according to the distance and the obstacle information that the cable-driven robot should terminate operation; and controlling the motor by the winch execution module according to the speed control instruction or the termination instruction, wherein the priority of the termination instruction is higher than that of the speed control instruction.

[0012] Preferably, when the distance between the cable-driven robot and any one of the preset limit mechanisms is detected to be less than a threshold value, or an obstacle is detected within the operating range of the cable-driven robot, it is determined that the cable-driven robot should terminate operation.

[0013] Preferably, two driving ropes and two motors are further included, so that the four ends of the cable-driven robot are respectively connected to one driving rope, and each driving rope is independently driven by one motor.

[0014] The present application detects the motion state information of the cable-driven robot through various sensors, which includes the attitude angle information of the cable-driven robot, the tension value of the driving rope, and the slip length of the winch motor when pulling the driving rope, etc., and accurately determines the next moment speed of each driving rope connected to the cable-driven robot through fusion calculation, avoiding the error caused by only considering the influence of the pose angle or only considering the influence of the rope tension on the speed.

[0015] The present application constructs a winch control device through a sensor hardware system, a data processing module, and a winch execution module, and obtains the control information of the driving ropes on both sides of the winch through real-time driving rope state and external environment information, adjusts the running state and running speed of the winches on both sides of the winch according to the winding control information, so that the winch motors on both sides of the cable-driven robot can obtain appropriate and accurate winding speed, and the use safety and operation reliability of the cable-driven robot are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0017] Figure 1 is a winch control device for a cable-driven robot provided by the first embodiment of the present application;

[0018] Figure 2 is a schematic diagram of the winch control device for the cable-driven robot provided by the first embodiment of the present application;

[0019] Figure 3 is a calculation method block diagram of the winch control device for the cable-driven robot provided by the first embodiment of the present application.

[0020] In the drawings, 1 is a cable-driven robot, 2 is a distance sensor, 3 is a force sensor, 4 is a pulley, 5 is an encoder, and 6 is a motor. DETAILED DESCRIPTION

[0021] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0023] Example 1

[0024] This embodiment provides a winch control device and control method for a cable-driven robot, as shown in the attached figure. Figure 1 The diagram shown is of the winch control device for the cable-driven robot. Figure 2 The schematic diagram shown illustrates the winch control device for the cable-driven robot. The winch includes two drive ropes and two motors 6. One drive rope is connected to each end of the cable-driven robot 1, and each drive rope is driven by one motor 6. The winch control device includes a sensor hardware system, a data processing module, and a winch execution module. The two drive ropes are connected to the left and right sides of the cable-driven robot 1, preferably to the left and right sides of the upper end of the robot 1.

[0025] The sensor hardware system includes multiple types of sensors, such as sensors that measure changes in angle, force sensors 3 that measure changes in tension, encoders 5, distance sensors 2, and contact sensors.

[0026] Among them, the sensor for measuring angle change is used to detect the attitude deviation angle of the cable-driven robot 1, the sensor for measuring tension change is used to detect the tension value of the drive rope in the winding and unwinding direction, the encoder 5 is installed near each winch motor 6 to detect the actual running length of each drive rope, the distance sensor 2 is used to detect the distance between the cable-driven robot 1 and the preset limit mechanism, and the contact sensor is used to detect whether there are obstacles within the running range of the cable-driven robot 1.

[0027] The limiting mechanism is typically preset at the virtual connection line between the two upper pulleys 4 to limit the upper boundary of the cable-driven robot 1's movement, and at the virtual connection line between the two winches to limit the lower boundary of the cable-driven robot 1. In another embodiment, the limiting mechanism is also set at the virtual connection line between the upper left pulley 4 and the left winch to limit the left boundary of the cable-driven robot 1's movement, and at the virtual connection line between the upper right pulley 4 and the right winch to limit the right boundary of the cable-driven robot 1's movement.

[0028] Specifically, the sensors measuring the angle change include, but are not limited to, a gyroscope, an inertial measurement unit (IMU); the force sensors 3 measuring the driving rope tension change include, but are not limited to, a tension sensor, a tension force sensor; the distance sensors 2 include, but are not limited to, an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor.

[0029] The winch control device further comprises a data acquisition module connected with the sensor hardware system to receive the detection data of the sensor hardware system and output the operation state information of the cable-driven robot.

[0030] The data acquisition module is directly connected with each sensor to receive the detection data of each sensor, obtain the attitude angle information of the cable-driven robot 1, the tension values of each driving rope on the two sides of the winding and unwinding, the actual running lengths of each driving rope on the two sides of the winding and unwinding, the distances between the cable-driven robot 1 and each limiting mechanism, and the existence of obstacles within the activity range of the cable-driven robot 1, and perform analog-digital conversion on the above-mentioned physical signals. The relevant detection data processed are converted into the operation state information of the cable-driven robot 1 for subsequent processing, and then the operation state information is output to the data processing module at the back end.

[0031] The data processing module is connected with the data acquisition module through wired or wireless mode to receive and process the operation state information of the cable-driven robot 1. The data processing module obtains the termination instruction for controlling whether the winch stops and the speed control instruction for controlling the winding and unwinding speed of each winch on the two sides by fusing the obtained operation state information of the cable-driven robot 1.

[0032] Among them, the attitude offset angle of the cable-driven robot 1, the tension values of the driving ropes on the two sides of the winding and unwinding, and the slip lengths of each driving rope are grouped together to calculate the speed control instruction of the winch, which is obtained by fusing calculation through a PID control algorithm and the like. Among them, the slip length is obtained by the difference between the theoretical winding and unwinding length of each driving rope and the actual running length obtained through the encoder 5.

[0033] The winding and unwinding speed V of the motor on one side of the winch on the two sides at the last moment is selected A as the reference speed, such as the winding and unwinding speed of the motor of the left winch at the last moment. The slip compensation winding and unwinding speeds V X2 and V Y2 of the motors of the winches on the two sides are calculated according to the slip lengths of the winches on the two sides. The offset compensation winding and unwinding speed V1 of the motor of the winch on the other side is calculated according to the attitude offset angle of the cable-driven robot 1, which is V1 in this embodiment. The tension compensation winding and unwinding speed V3 of the motor of the winch on the other side is calculated according to the difference between the tension values on the two sides, which is V3 in this embodiment.

[0034] In a preferred embodiment, as shown in the appendix Figure 3 The block diagram of the calculation method in this embodiment shows the winch motor winding speed V as the reference side. X The previous speed of the motor, V, is the take-up / release speed. A The slippage compensation speed V of the winch motor on this side X2 The fusion speed; the winding and unwinding speed of the motor on the other side of the winch is the winding and unwinding speed V of the motor on the reference side of the winch. X The offset compensation winding speed V1 and the slippage compensation winding speed V of the winch motor on this side. Y2 The combined speed of the pull-compensation winding speed V3 of the winch motor on this side. The slippage compensation winding speed V... X2 V Y2 The offset compensation winding speed V1 and the tension compensation winding speed V3 of the winch motor are determined by PID based on the difference between the actual running length of each drive rope (encoder 5) and the theoretical winding length of each drive rope, the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot 1, and the tension value between each rope collected by the force sensor 3.

[0035] In another preferred embodiment, the winding and unwinding speed of the winch motor on the reference side is the winding and unwinding speed V at the previous moment. A The slippage compensation speed V of the winch motor on this side X2 The fusion speed; the winding and unwinding speed of the motor on the other side of the winch is the winding and unwinding speed V of the motor on the other side at the previous moment. B The offset compensation winding speed V1 and the slippage compensation winding speed V of the winch motor on this side. Y2 The fusion speed of the pull-out speed V3 is compensated by the tension on this side. The slippage compensation speed V... X2 V Y2 The offset compensation winding speed V1 and the tension compensation winding speed V3 of the winch motor are determined by PID based on the difference between the actual running length of each drive rope (encoder 5) and the theoretical winding length of each drive rope, the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot 1, and the tension value between each rope collected by the force sensor 3.

[0036] In a further preferred embodiment of the embodiment, the deviation compensation winding and unwinding speed V1 of the winch motor is determined based on both the angle difference between the angle collected by the inertial measurement unit and the angle maintained by the cable-driven robot 1 and the force difference between the tension values of each cable collected by the force sensor 3. Considering the angle difference and the force difference can effectively reflect the motion state of the cable-driven robot 1, for example, when the cable-driven robot 1 touches a small protruding obstacle on one side during vertical plane driving, the force on that side will change greatly in the instant when the cable-driven robot 1 turns to one side. If the deviation is caused by the inclination of the whole vertical plane, the force on that side will deviate from the expected force for a long distance. The deviation compensation winding and unwinding speed V1 determined based on the force condition and the angle difference can improve the accuracy of responding to different vertical plane road conditions.

[0037] The calculation method for determining whether the cable-driven robot 1 should terminate operation includes determining whether the cable-driven robot 1 is in a limit position or whether there is a dangerous obstacle. Whether the cable-driven robot 1 is in a limit position is determined by determining whether the distance between the cable-driven robot 1 and each limit mechanism is less than a threshold value. When the distance between the cable-driven robot 1 and one of the limit mechanisms is less than the threshold value, it is determined that the cable-driven robot 1 is in a limit position. In the selection of the threshold value, the size of the cable-driven robot 1 is usually considered.

[0038] Whether there is a dangerous obstacle in the running range of the cable-driven robot 1 is determined by comprehensively judging whether there is an obstacle in the running range of the cable-driven robot 1, the size of the obstacle, whether the obstacle itself moves, and the like.

[0039] The winch execution module is usually used to receive termination instructions and speed control instructions to control whether the winches on both sides of the winding and unwinding are braked and the winding and unwinding speed of each driving cable.

[0040] When the winch execution module adjusts the motor motion, it is first determined whether there is a termination instruction in the information output by the data processing module. If yes, the winch motor is turned off to terminate the motion of the driving cables on both sides of the winding and unwinding;

[0041] If not, the subsequent steps are performed. When a speed control instruction is received, the winch motors on both sides of the winding and unwinding are adjusted according to the speed control instruction. The winding and unwinding speed of the winch motors on both sides is adjusted according to the winding and unwinding speed in the speed control instruction, so that the driving cables on both sides of the cable-driven robot can obtain appropriate and accurate winding and unwinding speed, ensuring the safety of the cable-driven robot and the reliability of the operation.

[0042] Embodiment Two

[0043] The embodiment provides a winch control device for a four-cable parallel cable-driven robot, the winch comprising four driving ropes and four motors, four ends of the cable-driven robot being connected with the four driving ropes respectively, each driving rope being driven by one motor, the winch control device comprising a sensor hardware system, a data acquisition module, a data processing module and a winch execution module. The four driving ropes are uniformly arranged at the four ends of the cable-driven robot.

[0044] It can be found that the embodiment is an embodiment in which two driving ropes and two motors are additionally added on the basis of the first embodiment, and therefore the related technical details mentioned in the first embodiment are still valid in the embodiment, and in order to reduce repetition, the details are not described herein again. The differences between the four-cable driving fusion calculation method applied in the embodiment and the two-cable driving method in the first embodiment are described below.

[0045] selecting a reeling and unreeling speed V of one motor on one side of the winch A The reeling and unreeling speed of the motor on the left upper side of the winch is taken as the reference speed. The slip compensation reeling and unreeling speeds V of the motors of the winches on the two sides are calculated according to the slip lengths of the winches on the two sides X2 , V X’2 , and V Y2 , V Y’2 In the embodiment, the slip compensation reeling and unreeling speed of the motor of the left upper winch is V X2 , the slip compensation reeling and unreeling speed of the motor of the left lower winch is V X’2 , the slip compensation reeling and unreeling speed of the motor of the right upper winch is V Y2 , and the slip compensation reeling and unreeling speed of the motor of the right lower winch is V Y’2 The offset compensation reeling and unreeling speeds V of the motors of the winches other than the motor of the winch at the reference position are calculated according to the posture offset angle of the cable-driven robot X’1 and V Y1 , V Y’1 In the embodiment, the offset compensation reeling and unreeling speed of the motor of the left lower winch is V X’1 , the offset compensation reeling and unreeling speed of the motor of the right upper winch is V Y1 , and the offset compensation reeling and unreeling speed of the motor of the right lower winch is V Y’1 The tension compensation reeling and unreeling speeds V of the motors of the winches other than the motor of the winch at the reference position are calculated according to the difference between the tension values of the driving ropes and the tension value of the driving rope driven by the reference motor X’3、 and V Y3 , V Y’3 In the embodiment, the tension compensation reeling and unreeling speed of the motor of the left lower winch is V X’3, the pull force compensation winding and unwinding speed of the right upper hoist motor is V Y3 , the pull force compensation winding and unwinding speed of the right lower hoist motor is V Y’3 .

[0046] In a preferred embodiment, the winding and unwinding speed V X of a hoist motor selected as a reference is the fusion speed of the previous winding and unwinding speed V A of the hoist motor and the slip compensation winding and unwinding speed V X2 of the hoist motor; the winding and unwinding speed of other hoist motors is the fusion speed of the winding and unwinding speed V X of the hoist motor selected as a reference and the offset compensation winding and unwinding speed of the hoist motor, the slip compensation winding and unwinding speed of the hoist motor on the same side and the pull force compensation winding and unwinding speed of the hoist motor on the same side. Wherein the slip compensation winding and unwinding speed of each hoist motor, the offset compensation winding and unwinding speed of each hoist motor and the pull force compensation winding and unwinding speed of each hoist motor are determined by PID based on the difference between the actual running length of each driving rope and the theoretical winding and unwinding length of each driving rope, the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot and the tension value of each driving rope collected by the force sensor.

[0047] In another preferred embodiment, the winding and unwinding speed V X of a hoist motor selected as a reference is the fusion speed of the previous winding and unwinding speed V A of the hoist motor and the slip compensation winding and unwinding speed V X2 of the hoist motor; another hoist motor on the same side as the hoist motor selected as a reference is defined as a second hoist motor, the winding and unwinding speed of the second hoist motor is the fusion speed of the winding and unwinding speed V X of the hoist motor selected as a reference and the offset compensation winding and unwinding speed of the second hoist motor, the slip compensation winding and unwinding speed of the second hoist motor and the pull force compensation winding and unwinding speed of the second hoist motor; a hoist motor on the other side of the hoist and in the same relative position in the vertical direction as the hoist motor selected as a reference is defined as a third hoist motor, the winding and unwinding speed of the third hoist motor is the fusion speed of the previous winding and unwinding speed V B of the third hoist motor and the offset compensation winding and unwinding speed of the third hoist motor, the slip compensation winding and unwinding speed of the third hoist motor and the pull force compensation winding and unwinding speed of the third hoist motor; a hoist motor on the other side of the hoist and in the opposite position in the vertical direction as the hoist motor selected as a reference is defined as a fourth hoist motor, the winding and unwinding speed of the fourth hoist motor is the fusion speed of the previous winding and unwinding speed V BThe fusion speed of the slip compensation winding and unwinding speed of the fourth winch motor, the offset compensation winding and unwinding speed of the fourth winch motor, and the tension compensation winding and unwinding speed of the fourth winch motor. The slip compensation winding and unwinding speed of the winch motor, the offset compensation winding and unwinding speed of the winch motor, and the tension compensation winding and unwinding speed of the winch motor are determined by PID based on the difference between the actual running length encoder of each driving rope and the theoretical winding and unwinding length of each driving rope, the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot, and the tension value between each rope collected by the force sensor.

[0048] In another preferred embodiment, the winding and unwinding speed V X is the winding and unwinding speed V A of the winch motor at the previous moment, and the fusion speed of the slip compensation winding and unwinding speed of the winch motor; another winch motor on the same side as the winch motor serving as the reference is defined as the second winch motor, and the winding and unwinding speed of the second winch motor is the winding and unwinding speed V C of the second winch motor at the previous moment, and the fusion speed of the offset compensation winding and unwinding speed of the second winch motor, the slip compensation winding and unwinding speed of the second winch motor, and the tension compensation winding and unwinding speed of the second winch motor; a winch motor on the other side of the winch that is in the same relative position as the winch motor serving as the reference in the vertical direction is defined as the third winch motor, and the winding and unwinding speed of the third winch motor is the winding and unwinding speed V B of the third winch motor at the previous moment, and the fusion speed of the offset compensation winding and unwinding speed of the third winch motor, the slip compensation winding and unwinding speed of the third winch motor, and the tension compensation winding and unwinding speed of the third winch motor; a winch motor on the other side of the winch that is in the opposite relative position as the winch motor serving as the reference in the vertical direction is defined as the fourth winch motor, and the winding and unwinding speed of the fourth winch motor is the winding and unwinding speed V D of the fourth winch motor at the previous moment, and the fusion speed of the offset compensation winding and unwinding speed of the fourth winch motor, the slip compensation winding and unwinding speed of the fourth winch motor, and the tension compensation winding and unwinding speed of the fourth winch motor. The slip compensation winding and unwinding speed of the winch motor, the offset compensation winding and unwinding speed of the winch motor, and the tension compensation winding and unwinding speed of the winch motor are determined by PID based on the difference between the actual running length encoder of each driving rope and the theoretical winding and unwinding length of each driving rope, the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot, and the tension value between each rope collected by the force sensor.

[0049] In a further preferred embodiment of the embodiment, the deviation compensation winding and unwinding speed V1 of the winch motor is determined based on both the angle difference between the angle collected by the inertial measurement unit and the angle maintained by the cable-driven robot 1 and the force difference between the tension values of each cable collected by the force sensor 3. Considering the angle difference and the force difference can effectively reflect the motion state of the cable-driven robot 1, for example, when the cable-driven robot 1 is driving in the vertical plane and one side touches a small protruding obstacle, the force on that side will change greatly in the instant when the cable-driven robot 1 turns to one side. If the deviation is caused by the inclination of the entire vertical plane, the force on one side will deviate from the expected force over a long distance. The deviation compensation winding and unwinding speed V1 determined based on the force condition and the angle difference can improve the accuracy of responding to different vertical plane road conditions.

[0050] The calculation method for determining whether the cable-driven robot 1 should terminate operation includes determining whether the cable-driven robot 1 is in a limit position or whether there is a dangerous obstacle. Whether the cable-driven robot 1 is in a limit position is determined by determining whether the distance between the cable-driven robot 1 and each limit mechanism is less than a threshold value. When the distance between the cable-driven robot 1 and one of the limit mechanisms is less than the threshold value, it is determined that the cable-driven robot 1 is in a limit position. In the selection of the threshold value, the size of the cable-driven robot 1 is usually considered.

[0051] Whether there is a dangerous obstacle in the running range of the cable-driven robot 1 is determined by comprehensively judging whether there is an obstacle in the running range of the cable-driven robot 1, the size of the obstacle, whether the obstacle itself can be moved, etc.

[0052] The winch execution module is usually used to receive termination instructions and speed control instructions to control whether the winches on both sides of the winding and unwinding are braked and the winding and unwinding speed of each driving cable is controlled. The specific control calculation method is as follows:

[0053] When the winch execution module adjusts the motor motion, first determine whether there is a termination instruction in the information output by the data processing module. If yes, turn off the winch motor to terminate the motion of the driving cables on both sides of the winding and unwinding;

[0054] If not, proceed to the next step. When a speed control instruction is received, adjust the running state of the winch motors on both sides of the winding and unwinding according to the speed control instruction. Adjust the winding and unwinding speed according to the winding and unwinding speed of the winch motors on both sides in the speed control instruction to make the driving cables on both sides of the cable-driven robot obtain appropriate and accurate winding and unwinding speed, and ensure the safety of the cable-driven robot and the reliability of the operation.

[0055] For the purposes of illustration, the foregoing description uses specific nomenclature to provide a thorough understanding of the described embodiments. However, it will be apparent to one of ordinary skill in the art that the described embodiments can be practiced without the specific details. Accordingly, the foregoing description is presented in terms of exemplary embodiments for the purposes of illustration and description. It is not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. Additionally, the above and below terms or their synonyms when used in this document to refer to the position of a component do not necessarily refer to the absolute position relative to an external reference, but rather to the relative position of the component with reference to the accompanying drawings.

[0056] Furthermore, the foregoing description includes many concepts and features that can be combined in a variety of ways to achieve a variety of beneficial effects and advantages. Accordingly, features from different embodiments and / or aspects can be combined to produce embodiments or implementations not specifically described herein. Additionally, not all features need be included in a particular embodiment or implementation. It will be apparent to one of ordinary skill in the art that such embodiments and / or implementations fall within the scope of the present specification.

Claims

1. A winch control device for a cable-driven robot, characterized in that, The winch includes two drive ropes and two motors. The two ends of the cable-driven robot are respectively connected to one of the drive ropes. Each drive rope is driven by one of the motors. The winch control device includes a sensor hardware system, a data processing module and a winch execution module. The data processing module is connected to the sensor hardware system and the winch execution module respectively. The sensor hardware system includes an inertial measurement unit for detecting the attitude information of the cable-driven robot, at least two force sensors for detecting the tension value of each drive rope in the retraction and extension direction, an encoder for detecting the actual running length of each drive rope of the winch, a distance sensor for detecting the distance between the cable-driven robot and the preset limit mechanism, and a contact sensor for detecting obstacle information within the running range of the cable-driven robot. The system obtains the attitude angle information of the cable-driven robot, the tension value of each drive rope on both sides, the actual running length of each drive rope on both sides, the distance between the cable-driven robot and each limiting mechanism, and the existence of obstacles within the range of the cable-driven robot's activity. It outputs the running status information, and performs fusion calculation on the obtained running status information to obtain the termination command to control whether the winch stops, and the speed control command to control the winding and unwinding speed of each winch on both sides. The fusion calculation is performed based on at least the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot, the tension difference calculated by the force sensor based on the tension value between each rope, and the previous release and take-up speed of the drive rope. The release and take-up speed of each drive rope is determined by fusing these factors. The release and take-up speed of one motor of the winches on both sides is selected as the reference speed. The slippage compensation release and take-up speeds of the winch motors on both sides are calculated based on the slippage length of the winches on both sides. The offset compensation release and take-up speed of the other motor of the winch is calculated based on the attitude offset angle of the cable-driven robot. The release and take-up speed of the winch motor on the reference side is the fusion speed of the release and take-up speed of the previous moment and the slippage compensation release and take-up speed of the current winch motor. The release and take-up speed of the motor on the other side of the winch is the fusion speed of the release and take-up speed of the other motor on the previous moment, the offset compensation release and take-up speed of the current winch motor, the slippage compensation release and take-up speed of the current winch motor, and the tension compensation release and take-up speed of the current side.

2. The winch control device for cable-driven robots according to claim 1, characterized in that, The fusion calculation, based at least on the angle difference between the angle acquired by the inertial measurement unit and the holding angle of the cable-driven robot, the tension difference calculated from the tension values ​​between each cable acquired by the force sensor, and the release / retraction speed of the drive cable at the previous moment, includes at least the following: The offset compensation extension and take-up speed is determined based on the attitude information, and the slippage compensation extension and take-up speed is determined based on the actual running length.

3. The winch control device for cable-driven robots according to claim 1, characterized in that, Also includes: A data acquisition module is connected to the sensor hardware system to receive detection data from the sensor hardware system and output the operating status information of the cable-driven robot.

4. The winch control device for cable-driven robots according to claim 1, characterized in that, The data processing module is used to acquire the posture information, the tension value, the slip length, the distance, and the obstacle information within the operating range, and to perform fusion calculation on the posture information, the tension value, and the slip length to determine the winding and unwinding speed of the winch motor, and to generate a speed control command based on the winding and unwinding speed. The slip length is the difference between the theoretical winding and unwinding length of each drive rope and the actual operating length. And based on the distance and the obstacle information, if it is determined that the cable-driven robot should terminate operation, a termination command is generated; The winch execution module controls the motor according to the speed control command or the termination command, wherein the termination command has a higher priority than the speed control command.

5. The winch control device for cable-driven robots according to claim 1, characterized in that, It also includes two additional drive ropes and two additional motors, such that each of the four ends of the cable-driven robot is connected to one of the drive ropes, and each drive rope is independently driven by one of the motors.

6. A winch control method for a cable-driven robot, characterized in that, The winch control method includes the following steps: The operating status of the cable-driven robot is detected by a sensor hardware system, which includes an inertial measurement unit for detecting the attitude information of the cable-driven robot, at least two force sensors for detecting the tension value of each drive rope in the retraction and extension direction, an encoder for detecting the actual running length of each drive rope of the winch, a distance sensor for detecting the distance between the cable-driven robot and the preset limit mechanism, and a contact sensor for detecting obstacle information within the operating range of the cable-driven robot. The system obtains the attitude angle information of the cable-driven robot, the tension value of each drive rope on both sides, the actual running length of each drive rope on both sides, the distance between the cable-driven robot and each limiting mechanism, and the existence of obstacles within the range of the cable-driven robot's activity. It outputs the running status information, and performs fusion calculation on the obtained running status information to obtain the termination command to control whether the winch stops, and the speed control command to control the winding and unwinding speed of each winch on both sides. The fusion calculation is performed based on at least the angle difference between the angle collected by the inertial measurement unit and the holding angle of the cable-driven robot, the tension difference calculated by the force sensor between each rope, and the release / retraction speed of the drive rope at the previous moment. The release / retraction speed of each drive rope is determined by fusing these factors. The release / retraction speed of one motor of the winches on both sides is selected as the reference speed. The slippage compensation release / retraction speed of the winch motors on both sides is calculated based on the slippage length of the winches on both sides. The offset compensation release / retraction speed of the other motor of the winch is calculated based on the attitude offset angle of the cable-driven robot. The release / retraction speed of the winch motor on the reference side is the fusion speed of the release / retraction speed of the previous moment and the slippage compensation release / retraction speed of the current winch motor. The release / retraction speed of the motor on the other side of the winch is the fusion speed of the release / retraction speed of the other motor at the previous moment, the offset compensation release / retraction speed of the current winch motor, the slippage compensation release / retraction speed of the current winch motor, and the tension compensation release / retraction speed of the current side. The winch execution module controls the winch motor according to the winding and unwinding speed.

7. The winch control method for a cable-driven robot according to claim 6, characterized in that, The calculation, which integrates the angle difference between the angle acquired by the inertial measurement unit and the holding angle of the cable-driven robot, the tension difference calculated based on the tension values ​​between each cable acquired by the force sensor, and the release / retraction speed of the drive cable at the previous moment, includes at least the following: The offset compensation extension and take-up speed is determined based on the attitude information, and the slippage compensation extension and take-up speed is determined based on the actual running length.

8. The winch control method for a cable-driven robot according to claim 6, characterized in that, The winch control method for the cable-driven robot further includes acquiring the posture information, the tension value, the slip length, the distance, and the obstacle information within the operating range, and performing a fusion calculation on the posture information, the tension value, and the slip length to determine the winding and unwinding speed of the winch motor, and generating a speed control command based on the winding and unwinding speed. The slip length is the difference between the theoretical winding and unwinding length of each drive rope and the actual operating length. And based on the distance and the obstacle information, if it is determined that the cable-driven robot should terminate operation, a termination command is generated; The winch execution module controls the motor according to the speed control command or the termination command, wherein the termination command has a higher priority than the speed control command.

9. The winch control method for a cable-driven robot according to claim 7, characterized in that, When the distance between the cable-driven robot and any preset limit mechanism is less than a threshold, or when an obstacle is detected within the operating range of the cable-driven robot, it is determined that the cable-driven robot should terminate its operation.

10. The winch control method for a cable-driven robot according to claim 7, characterized in that, It also includes two drive ropes and two motors, such that each of the four ends of the cable-driven robot is connected to one of the drive ropes, and each drive rope is driven independently by one of the motors.

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