A rail robot automatic control method, device and system

Abstract

The present application relates to the field of rail robot operation control technology, and specifically to a rail robot automatic control method, device and system, the method comprising: obtaining the driving force, pressure, direction and rotation speed of each driving wheel of the rail robot; the steps of controlling the driving force of each driving wheel when running on a curve in the track are: determining the centripetal force and lateral overcoming force of each driving wheel at each curve point, and determining the driving speed holding force of each driving wheel at each curve point in combination with the friction coefficient between each driving wheel and the track; determining the driving control stabilizing force of the driving wheels on the inner and outer sides of the rail robot when running, and adjusting the driving force of the driving wheels based on the proportional relationship between the inner and outer curve lengths, the upper limit of the driving force of the driving wheel and the driving speed holding force; and feedback-adjusting the driving force of the driving wheels during the operation of the rail robot. The present application aims to improve the operation stability of the rail robot.

Description

Technical Field

[0001] The present application relates to the technical field of rail robot operation control, and in particular to a rail robot automation control method, device and system. Background Art

[0002] Track robots are automated equipment that run along specific tracks and are widely used in industries, inspections, services, and other fields. They achieve precise operation through chassis structures, sensors, and control systems. The chassis structure includes tracks, running mechanisms, and transmission devices. Track robots have different functions in different scenarios, such as power and industrial production scenarios.

[0003] In order to enable rail robots to patrol a wider range, the running tracks of rail robots often include straight roads and curves to adapt to different patrol environments. In order to enable rail robots to flexibly turn in curves and maintain stable operation, traditional technologies generally achieve this by controlling the driving wheels of rail robots to perform "Ackerman angle" steering. This does not take into account the different positions of the driving wheels of rail robots in curves, the different degrees of curvature at different positions in the curves, and the different lateral friction forces generated by the driving wheels. If the same driving force is used for driving wheels at the same level, the driving wheels will be inconsistent in their operating conditions, affecting the smooth operation of the rail robots. Summary of the invention

[0004] In view of the above, it is necessary to provide a rail robot automatic control method, device and system, which improve the operation stability of the rail robot compared with the traditional rail robot automatic control method:

[0005] In a first aspect, an embodiment of the present application provides a method for automatic control of a rail robot, the method comprising the following steps:

[0006] Obtain the driving force of each driving wheel of the rail robot, and collect the pressure, direction and speed of each driving wheel of the rail robot in real time;

[0007] The steps for controlling the driving force of each driving wheel when running on a curve in the track are:

[0008] (1) The points on the curve are recorded as curve points. The centripetal force of each driving wheel at each curve point is determined by combining the pressure and rotation speed of each driving wheel at each curve point and the curvature of the curve at each curve point.

[0009] (2) determining a driving lateral force of each driving wheel at each curve point based on the centripetal force, the direction, and the driving force;

[0010] (3) determining the lateral turning force of each driving wheel at each turning point based on the centripetal force, the direction and the driving lateral force;

[0011] (4) Determining the driving speed holding force of each driving wheel at each curve point by combining the curve lateral overcoming force, the driving force, and the friction coefficient between each driving wheel and the track;

[0012] (5) Determining the driving control stability force of the inner and outer driving wheels when the track robot is running based on the proportional relationship between the lengths of the inner and outer curves, the upper limit of the driving force of the driving wheels, and the driving speed holding force;

[0013] (6) adjusting the driving force of the driving wheel based on the driving control stabilizing force;

[0014] Based on the adjusted driving force, the driving force of the driving wheel during the operation of the track robot is feedback-adjusted according to steps (1) to (6).

[0015] In one embodiment, the process of determining the centripetal force is:

[0016] Constructing a coordinate system according to the curve data, obtaining a fitting curve of the curve coordinate data on either side, and calculating the curvature circle of the curve points at every preset distance on the fitting curve;

[0017] The centripetal force is respectively proportional to the pressure of each driving wheel at each curve point and the square of the rotation speed, and is respectively inversely proportional to the radius of the curvature circle and the acceleration of gravity at each curve point.

[0018] In one embodiment, the process of determining the driving lateral force is as follows:

[0019] The vector from each curve point to the center of its curvature circle is used as the centripetal direction vector of each curve point;

[0020] Obtain the angle between the direction of each driving wheel at each curve point and the centripetal direction vector;

[0021] The expression of the driving lateral force of any driving wheel at any curve point is:

[0022] ; Wherein, Fa and F represent the driving lateral force and centripetal force of any driving wheel at any curve point respectively; FC represents the driving force of any driving wheel; () represents the cosine function; θ represents the angle between the direction of any driving wheel at any curve point and the centripetal direction vector.

[0023] In one embodiment, the expression of the lateral overcoming force of the curve is:

[0024] ; In the formula, Ft represents the lateral force overcoming the curve of any driving wheel at any curve point; sin() represents the sine function.

[0025] In one embodiment, the process of determining the driving speed holding force is as follows:

[0026] Calculating the product of the friction coefficient and the lateral force to overcome the curve;

[0027] The driving speed maintaining force is a fusion result of the product and the centripetal force.

[0028] In one embodiment, the process of determining the driving control stabilizing force is as follows:

[0029] For the two driving wheels at the same position on the left and right sides of the track robot, based on the driving speed retention force of the driving wheel on the inner curve and the proportional relationship between the lengths of the inner and outer curves, determine the driving strength retention force of the driving wheel on the outer curve;

[0030] The expression of the driving control stability force of the driving wheel on the outer curve and the driving wheel on the inner curve is:

[0031] ; In the formula, , They respectively represent the driving control stability force of the driving wheel on the inner curve and the driving wheel on the outer curve when the track robot is running; FM represents the maximum driving force of the driving wheel; , Respectively represent the length of the inner and outer curves; represents the driving speed holding force of the driving wheel on the inner curve; FT represents the driving strength holding force of the driving wheel on the outer curve.

[0032] In one embodiment, the process of determining the driving strength retention force is as follows:

[0033] Calculate the ratio of the outside curve length to the inside curve length;

[0034] The driving strength maintaining force is the product of the ratio and the driving speed maintaining force of the driving wheel on the inner curve.

[0035] In one embodiment, the method for adjusting the driving force of the driving wheels is: inputting the driving control stabilizing force of each driving wheel into a PID controller, outputting a control signal of each driving wheel, and adjusting the driving force of each driving wheel to the driving control stabilizing force.

[0036] In a second aspect, an embodiment of the present application further provides a rail robot automation control device, the device comprising:

[0037] The driving wheel operation data acquisition module is used to obtain the driving force of each driving wheel of the rail robot and collect the pressure, direction and speed of each driving wheel of the rail robot in real time;

[0038] A driving force analysis module is used to determine the centripetal force of each driving wheel at each curve point by combining the pressure and rotation speed of each driving wheel at each curve point and the curvature of the curve at each curve point;

[0039] Determining a driving lateral force of each driving wheel at each curve point based on the centripetal force, the direction and the driving force;

[0040] Determine the lateral turning force of each driving wheel at each turning point by combining the centripetal force, the direction and the driving lateral force;

[0041] Determine the driving speed holding force of each driving wheel at each curve point by combining the curve lateral overcoming force, the driving force, and the friction coefficient between each driving wheel and the track;

[0042] Based on the proportional relationship between the lengths of the inner and outer curves, the upper limit of the driving force of the driving wheels and the driving speed retention force, the driving control stability force of the inner and outer driving wheels when the track robot is running is determined;

[0043] The feedback adjustment module is used to adjust the driving force of the driving wheel based on the driving control stabilizing force, and feed back the adjusted driving force to the driving force analysis module.

[0044] In the third aspect, an embodiment of the present application also provides a rail robot automation control system, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the steps of any one of the above-mentioned rail robot automation control methods.

[0045] This application has at least the following beneficial effects:

[0046] The present application obtains the centripetal force of the driving wheel when turning according to the curvature, speed and pressure of the curve when the driving wheel turns, and analyzes the influence of the centripetal force on the lateral friction force of the driving wheel when running, and then obtains the driving force required for the driving wheel to maintain a constant running speed. By calculating the centripetal force of the driving wheel, the dynamic behavior of the driving wheel when turning can be better understood, and the accuracy of analyzing the driving force required for the driving wheel to maintain a stable speed is improved;

[0047] Furthermore, according to the proportional relationship between the lengths of the inner and outer curves, the driving control stabilizing force of the driving wheels is determined, which reflects the driving force of the driving wheels on the inner and outer curves when the track robot is running stably. This fully considers the actual conditions of the curves, enables the track robot to better adapt to the curves, reduces the situation where the track robot's operation is unstable due to the different lengths of the inner and outer curves and the same driving force, and improves the operation stability of the track robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A flowchart of a method for automated control of a rail robot provided in one embodiment of the present application;

[0050] Figure 2 It is a schematic diagram of the curve fitting curve and curvature circle;

[0051] Figure 3 Schematic diagram of the process of obtaining the driving control stability force. DETAILED DESCRIPTION

[0052] In the description of the embodiments of the present application, words such as "exemplary", "or", "for example" and the like are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "or", "for example" and the like is intended to present related concepts in a concrete manner.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the present application. The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. It should be understood that, unless otherwise specified, " / " means or.

[0054] It should also be noted that the terms "first" and "second" in the present application are used to distinguish similar objects rather than to describe a specific order or sequence.

[0055] The specific scheme of a rail robot automatic control method, device and system provided by the present application is described in detail below with reference to the accompanying drawings.

[0056] See also Figure 1 , which shows a flow chart of a method for automatic control of a rail robot provided by an embodiment of the present application, the method comprising the following steps:

[0057] Step 1: Obtain the driving force of each driving wheel of the rail robot, and collect the pressure, direction and rotation speed of each driving wheel of the rail robot in real time.

[0058] A pressure sensor, a direction sensor, a power sensor and a speed sensor are installed on each driving wheel of the rail robot to obtain the pressure, direction, power and speed of each driving wheel of the rail robot in real time during operation, and obtain the radius and torque of the driving wheel through the design parameters of the driving wheel of the rail robot. Further, the driving force of each driving wheel is calculated according to the power, speed, radius and torque of each driving wheel. The calculation of the driving force is a well-known technology and will not be described in detail in this application.

[0059] Step 2, based on the relevant data when the driving wheel is running, control the driving force when the driving wheel runs on the curve in the track.

[0060] Step 2.1, record the points on the curve as curve points, and determine the centripetal force of each driving wheel at each curve point by combining the pressure and rotation speed of each driving wheel at each curve point and the curvature of the curve at each curve point.

[0061] First, the track design drawings are used to obtain the curve data of the track robot. Taking the inner curve as an example, the initial point of the track robot entering the curve is point O, the forward direction of the track robot is the Y-axis direction, and the direction of the right side of the track robot is the X-axis direction, and the XOY coordinate system is constructed. The inner curve coordinate data is used as the input of the curve fitting algorithm, and the output is the fitting curve.

[0062] In this embodiment, the least squares method is used to obtain the fitting curve of the inner curve coordinate data. As other implementation methods, on the basis of being able to obtain the fitting curve of the inner curve coordinate data, the implementer may use other existing technologies to obtain the fitting curve of the inner curve coordinate data, such as local weighted regression, K-nearest neighbor regression, etc., and this application does not impose any special restrictions.

[0063] Further, the points on the curve are recorded as curve points, and the curvature circles of the curve points at every preset distance on the fitting curve are calculated, and the vector from each curve point to the center of its curvature circle is used as the centripetal direction vector of each curve point. The calculation of the curvature circle is a well-known technology and will not be described in detail in this application. The curve fitting curve and the curvature circle schematic diagram are shown in FIG. Figure 2 As shown in the figure, the horizontal axis is the horizontal distance, the unit is m, which represents the horizontal distance between the curve point and the point O, and the vertical axis is the longitudinal distance, the unit is m, which represents the longitudinal distance between the curve point and the point O.

[0064] In this embodiment, the value of the preset distance is 0.1m. The value of the preset distance is preset manually and can be set by the implementer. This application does not impose any special restrictions.

[0065] When the turning radius of the track robot at a certain point in the curve is larger, the centripetal force it receives is smaller, and the influence of the curve on the speed of the track robot is smaller when turning. Since the turning radius on the inner and outer sides of the curve is different, any side of the curve is analyzed, and the centripetal force of any driving wheel at any curve point is determined based on the pressure and speed of any driving wheel at any curve point, and the curvature of the curve at any curve point. The expression is:

[0066] ; In the formula, F represents the centripetal force of any driving wheel at any bending point; f represents the pressure of any driving wheel at any bending point; v represents the rotation speed of any driving wheel at any bending point; g represents the acceleration of gravity, which is 9.8N / kg; R0 represents the radius of curvature circle of any bending point.

[0067] It should be noted that when the rail robot is running in a curve, the higher the degree of curvature of the curve, the smaller the value of the radius of curvature R0 of the curve point, which makes the driving wheel of the rail robot more affected when turning. The larger it is, the greater the kinetic energy of the driving wheel. When turning a curve, the degree of impact is greater, and the centripetal force of the driving wheel of the track robot is greater.

[0068] Step 2.2, based on the centripetal force, the direction and the driving force, determine the driving lateral force of each driving wheel at each curve point.

[0069] Since the direction of the driving wheel of the track robot is constantly changing when passing through a curve, the centripetal force at the curve point is not necessarily perpendicular to the direction of the driving wheel, so the centripetal force cannot completely affect the driving direction of the track robot. Get the angle between the direction of the driving wheel of the track robot at the curve point and the centripetal direction vector, denoted as θ, and the value range of θ is .

[0070] Based on the above analysis, based on the centripetal force of any driving wheel at any curve point, the corresponding angle, and the driving force of any driving wheel, the driving lateral force of any driving wheel at any curve point is determined, and the expression is:

[0071] ; Wherein, Fa is the driving lateral force of any driving wheel at any bending point; F represents the centripetal force of any driving wheel at any bending point; FC represents the driving force of any driving wheel; () represents the cosine function; θ represents the angle between the direction of any driving wheel at any curve point and the centripetal direction vector.

[0072] It should be noted that: when the angle between the direction of the driving wheel at the turning point and the centripetal direction vector is larger, the influence of the lateral centripetal force on the driving direction of the driving wheel is smaller. Therefore, when the driving force of the driving wheel of the track robot is smaller and the cosine value cos(θ) of the angle is smaller, the value Fa of the driving lateral force on the driving direction of the driving wheel is smaller.

[0073] Step 2.3, combining the centripetal force, the direction and the driving lateral force, to determine the lateral turning force of each driving wheel at each turning point.

[0074] When the track robot moves on a curve, there is not only the driving lateral force of the driving wheel but also the centripetal force of the driving wheel between the driving wheel and the track. Therefore, based on the driving lateral force, centripetal force and corresponding angle of any driving wheel at any curve point, the curve lateral overcoming force of any driving wheel at any curve point is determined, and the expression is:

[0075] ; Wherein, Ft, Fa, F represent the lateral force to overcome the curve, the driving lateral force, and the centripetal force of any driving wheel at any curve point, respectively; sin() represents a sine function; It represents the angle between the direction of the driving wheel at the curve point and the centripetal direction vector.

[0076] It should be noted that: when the angle between the direction of the driving wheel at the bend point and the centripetal direction vector is larger, the sine value of the angle is larger, which makes the centripetal force have a greater influence on the lateral force in the direction of the driving wheel movement, that is, The larger the value is, the larger the driving lateral force Fa of the driving wheel at the bending point is, which makes the value of the lateral bending overcoming force Ft of the driving wheel at the bending point larger.

[0077] Step 2.4, combining the lateral overcoming force of the curve, the driving force, and the friction coefficient between each driving wheel and the track, to determine the driving speed maintaining force of each driving wheel at each curve point.

[0078] The larger the value of the lateral force of the driving wheel on a curve is, the more the rail robot should increase the driving force of the driving wheel to keep the running state of the driving wheel in a stable state. Therefore, the driving speed holding force of the driving wheel at the curve point is calculated by the lateral force of the driving wheel on a curve, which represents the driving force required for the driving wheel to keep the speed stable at the curve point. The expression is:

[0079] ; In the formula, FU and Ft respectively represent the driving speed maintaining force and the lateral overcoming force of the curve of any driving wheel at any curve point; FC represents the driving force of any driving wheel; μ represents the friction coefficient between the driving wheel and the track, which is determined by the material of the driving wheel tire and the track. In this embodiment, the value of μ is 0.1.

[0080] It should be noted that: the greater the friction coefficient between the driving wheel of the track robot and the track, the greater the additional force that the driving wheel of the track robot needs to overcome, that is, the greater the value of μ×Ft, the greater the driving force required for the driving wheel to maintain a stable speed at the curve point, that is, the greater the driving speed maintenance force of the driving wheel at the curve point.

[0081] Step 2.5, based on the proportional relationship between the inner and outer curve lengths, the upper limit of the driving force of the driving wheel and the driving speed holding force, determine the driving control stability force of the inner and outer driving wheels when the track robot is running.

[0082] The driving speed holding force of the driving wheel determines the running speed of the driving wheel. However, due to the different lengths of the inner and outer sides of the track on which the track robot runs, the same level of driving wheels using the same running speed will cause the inner driving wheel to constantly approach the inner side of the track, affecting the stability of the track robot. The same level of driving wheels refers to the two driving wheels at the same position on the left and right sides of the track robot. For example, the two front wheels on the left and right sides of the track robot are at the same level, and the second driving wheels on the left and right sides of the track robot are also at the same level. Therefore, in order to ensure the stability of the track robot, it is necessary to maintain the consistency of the track running distance ratio, that is, within the same time range, the running distance of the driving wheels on the inner and outer sides is the same as the value of the length of the curve. For example, if the inner curve is 5 meters, the outer curve is 6 meters, and the inner driving wheel runs 1 meter, then the running distance of the outer driving wheel is (1 / 5) × 6 = 1.2 meters.

[0083] Therefore, the inner and outer curve lengths are obtained according to the track design drawings, and the inner length is recorded as , the outer length is recorded as . Since the driving motor of the driving wheel has the maximum output power, the driving force of the driving wheel has a maximum value. The maximum driving force of the driving wheel is obtained through the design parameters of the driving wheel of the track robot. Since the driving force of each driving wheel cannot exceed the maximum driving force, for the two driving wheels at the same level, based on the driving speed retention force of the driving wheel on the inner curve at each curve point and the proportional relationship between the inner and outer curve lengths, the driving strength retention force of the driving wheel on the outer curve is determined. The expression is:

[0084] ; Wherein, FT represents the driving strength retention force of the driving wheel on the outer curve; Indicates the driving speed maintaining force of the driving wheel on the inner curve; , Represents the length of the inner and outer curves respectively.

[0085] It should be noted that: when the rail robot is running on a curve, the inner curve length is shorter than the outer curve length. In order to ensure that the running distance of the driving wheel on the outer curve is the same as that of the driving wheel on the inner curve, the ratio of the inner and outer curve lengths is used. , obtain the driving force of the outer curve driving wheel.

[0086] Since the driving force of the driving wheel on the outer curve is greater than the driving force of the driving wheel on the inner curve, and the driving force of the driving wheel on the outer curve is less than the maximum driving force of the driving wheel, based on the proportional relationship between the lengths of the inner and outer curves, the maximum driving force of the driving wheel, and the driving strength retention force of the driving wheel on the outer curve and the driving speed retention force of the driving wheel on the inner curve, the driving control stability force of the driving wheel on the inner curve and the driving wheel on the outer curve when the track robot is running is determined, and the expression is:

[0087] ; In the formula, , They respectively represent the driving control stability force of the driving wheel on the inner curve and the driving wheel on the outer curve when the track robot is running; FM represents the maximum driving force of the driving wheel; , Respectively represent the length of the inner and outer curves; represents the driving speed holding force of the driving wheel on the inner curve; FT represents the driving strength holding force of the driving wheel on the outer curve.

[0088] It should be noted that: when the driving strength holding force of the driving wheel on the outer curve is greater than the maximum driving force FM of the driving wheel, in order to maintain the maximum speed, the maximum driving force FM of the driving wheel is used as the driving control stabilizing force of the driving wheel on the outer curve, and the maximum driving force FM of the driving wheel is proportionally reduced as the driving control stabilizing force of the driving wheel on the inner curve; when the driving strength holding force of the driving wheel on the outer curve is less than the maximum driving force FM of the driving wheel, the driving force values ​​of the driving wheels on the inner and outer curves remain unchanged to maintain the speed stability of the driving wheels. The schematic diagram of the process of obtaining the driving control stabilizing force is shown in the figure below. Figure 3 shown.

[0089] Step 2.6: adjusting the driving force of the driving wheels based on the driving control stabilizing force.

[0090] The driving control stabilizing force of each driving wheel is input into the PID controller, and the control signal of each driving wheel is output to adjust the driving force of each driving wheel to the driving control stabilizing force.

[0091] Continue to perform feedback adjustment on the driving force of the driving wheel during the operation of the track robot according to steps 2.1 to 2.6, wherein the driving force used is the adjusted driving force.

[0092] Based on the same inventive concept as the above method, the embodiment of the present application also provides a track robot automation control device, including:

[0093] The driving wheel operation data acquisition module is used to obtain the driving force of each driving wheel of the rail robot and collect the pressure, direction and speed of each driving wheel of the rail robot in real time;

[0094] A driving force analysis module is used to determine the centripetal force of each driving wheel at each curve point by combining the pressure and rotation speed of each driving wheel at each curve point and the curvature of the curve at each curve point;

[0095] Determining a driving lateral force of each driving wheel at each curve point based on the centripetal force, the direction and the driving force;

[0096] Determine the lateral turning force of each driving wheel at each turning point by combining the centripetal force, the direction and the driving lateral force;

[0097] Determine the driving speed holding force of each driving wheel at each curve point by combining the curve lateral overcoming force, the driving force, and the friction coefficient between each driving wheel and the track;

[0098] Based on the proportional relationship between the lengths of the inner and outer curves, the upper limit of the driving force of the driving wheels and the driving speed retention force, the driving control stability force of the inner and outer driving wheels when the track robot is running is determined;

[0099] The feedback adjustment module is used to adjust the driving force of the driving wheel based on the driving control stabilizing force, and feed back the adjusted driving force to the driving force analysis module.

[0100] Based on the same inventive concept as the above method, an embodiment of the present application also provides a rail robot automation control system, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of any one of the above-mentioned rail robot automation control methods are implemented.

[0101] In summary, the present application obtains the centripetal force of the driving wheel when turning according to the curvature, speed and pressure of the curve when the driving wheel turns, and analyzes the influence of the centripetal force on the lateral friction force of the driving wheel when running, and then obtains the driving force required for the driving wheel to maintain a constant running speed. By calculating the centripetal force of the driving wheel, the dynamic behavior of the driving wheel when turning can be better understood, and the accuracy of analyzing the driving force required for the driving wheel to maintain a stable speed is improved;

[0102] Furthermore, according to the proportional relationship between the lengths of the inner and outer curves, the driving control stabilizing force of the driving wheels is determined, which reflects the driving force of the driving wheels on the inner and outer curves when the track robot is running stably. This fully considers the actual conditions of the curves, enables the track robot to better adapt to the curves, reduces the situation where the track robot's operation is unstable due to the different lengths of the inner and outer curves and the same driving force, and improves the operation stability of the track robot.

[0103] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0104] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the basic features of the present application. Therefore, no matter from which point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive.

Claims

1. A rail robot automatic control method, characterized in that: The method comprises the following steps: Obtain the driving force of each driving wheel of the rail robot, and collect the pressure, direction and speed of each driving wheel of the rail robot in real time; The steps for controlling the driving force of each driving wheel when running on a curve in the track are: (1) The points on the curve are recorded as curve points. The centripetal force of each driving wheel at each curve point is determined by combining the pressure and rotation speed of each driving wheel at each curve point and the curvature of the curve at each curve point. (2) determining a driving lateral force of each driving wheel at each curve point based on the centripetal force, the direction, and the driving force; (3) determining the lateral turning force of each driving wheel at each turning point based on the centripetal force, the direction and the driving lateral force; (4) Determining the driving speed holding force of each driving wheel at each curve point by combining the curve lateral overcoming force, the driving force, and the friction coefficient between each driving wheel and the track; (5) Determining the driving control stability force of the inner and outer driving wheels when the track robot is running based on the proportional relationship between the lengths of the inner and outer curves, the upper limit of the driving force of the driving wheels, and the driving speed holding force; (6) adjusting the driving force of the driving wheel based on the driving control stabilizing force; Based on the adjusted driving force, feedback adjustment is performed on the driving force of the driving wheel during the operation of the track robot according to steps (1) to (6); The process of determining the driving control stabilizing force is as follows: For the two driving wheels at the same position on the left and right sides of the track robot, based on the driving speed retention force of the driving wheel on the inner curve and the proportional relationship between the lengths of the inner and outer curves, determine the driving strength retention force of the driving wheel on the outer curve; The expression of the driving control stability force of the driving wheel on the outer curve and the driving wheel on the inner curve is: ; In the formula, , They respectively represent the driving control stability force of the driving wheel on the inner curve and the driving wheel on the outer curve when the track robot is running; FM represents the maximum driving force of the driving wheel; , Respectively represent the length of the inner and outer curves; represents the driving speed holding force of the driving wheel on the inner curve; FT represents the driving strength holding force of the driving wheel on the outer curve.

2. A rail robot automatic control method as claimed in claim 1, characterized in that: The process of determining the centripetal force is: Constructing a coordinate system according to the curve data, obtaining a fitting curve of the curve coordinate data on either side, and calculating the curvature circle of the curve points at every preset distance on the fitting curve; The centripetal force is respectively proportional to the pressure of each driving wheel at each curve point and the square of the rotation speed, and is respectively inversely proportional to the radius of the curvature circle and the acceleration of gravity at each curve point.

3. A rail robot automatic control method as claimed in claim 1, characterized in that: The determination process of the driving lateral force is as follows: The vector from each curve point to the center of its curvature circle is used as the centripetal direction vector of each curve point; Obtain the angle between the direction of each driving wheel at each curve point and the centripetal direction vector; The expression of the driving lateral force of any driving wheel at any curve point is: ; Wherein, Fa and F represent the driving lateral force and centripetal force of any driving wheel at any curve point respectively; FC represents the driving force of any driving wheel; () represents the cosine function; θ represents the angle between the direction of any driving wheel at any curve point and the centripetal direction vector.

4. A rail robot automatic control method as claimed in claim 3, characterized in that: The expression of the lateral force to overcome the curve is: ; In the formula, Ft represents the lateral force overcoming the curve of any driving wheel at any curve point; sin() represents the sine function.

5. A rail robot automatic control method as claimed in claim 1, characterized in that: The determination process of the driving speed holding force is as follows: Calculating the product of the friction coefficient and the lateral force to overcome the curve; The driving speed maintaining force is a fusion result of the product and the centripetal force.

6. A rail robot automatic control method as claimed in claim 1, characterized in that: The determination process of the driving strength retention force is as follows: Calculate the ratio of the outside curve length to the inside curve length; The driving strength maintaining force is the product of the ratio and the driving speed maintaining force of the driving wheel on the inner curve.

7. A rail robot automatic control method as claimed in claim 1, characterized in that: The method for adjusting the driving force of the driving wheels is: inputting the driving control stabilizing force of each driving wheel into a PID controller, outputting a control signal of each driving wheel, and adjusting the driving force of each driving wheel to the driving control stabilizing force.

8. A rail robot automation control device, implementing the method according to any one of claims 1 to 7, characterized in that: The device comprises: The driving wheel operation data acquisition module is used to obtain the driving force of each driving wheel of the rail robot and collect the pressure, direction and speed of each driving wheel of the rail robot in real time; A driving force analysis module is used to determine the centripetal force of each driving wheel at each curve point by combining the pressure and rotation speed of each driving wheel at each curve point and the curvature of the curve at each curve point; Determining a driving lateral force of each driving wheel at each curve point based on the centripetal force, the direction and the driving force; Determine the lateral turning force of each driving wheel at each turning point by combining the centripetal force, the direction and the driving lateral force; Determine the driving speed holding force of each driving wheel at each curve point by combining the curve lateral overcoming force, the driving force, and the friction coefficient between each driving wheel and the track; Based on the proportional relationship between the lengths of the inner and outer curves, the upper limit of the driving force of the driving wheels and the driving speed retention force, the driving control stability force of the inner and outer driving wheels when the track robot is running is determined; The feedback adjustment module is used to adjust the driving force of the driving wheel based on the driving control stabilizing force, and feed back the adjusted driving force to the driving force analysis module.

9. A rail robot automation control system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the rail robot automatic control method as described in any one of claims 1-7 are implemented.

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