Upper computer control system of pipeline dredging robot

Abstract

The invention discloses an upper computer control system of a pipeline dredging robot, and the system comprises a serial port communication module which is used for carrying out the data transmission with the pipeline dredging robot, reading the state information of the pipeline dredging robot, and writing the driving information of the pipeline dredging robot; the data processing module is used for packaging and analyzing the serial port data of the serial port communication module and analyzing and processing the driving information and the state information; the fault detection module is used for performing fault detection on the pipeline dredging robot; the motor control module is used for controlling the pipeline dredging robot to walk and dredge; and the state monitoring module is used for monitoring the state of the pipeline dredging robot. The system is suitable for process monitoring and driving of small and medium-sized pipeline dredging robots, and an operator can easily achieve accurate control and real-time monitoring of the pipeline dredging robot through a visual man-machine interaction interface.

Description

Technical Field

[0001] The embodiments of the present application relate to the fields of computers and automation technology, and in particular to a host computer control system of a pipeline dredging robot. Background Art

[0002] Seasonal rainwater, urban construction and other natural and human activities have placed high demands on urban drainage capacity. Maintaining the normal operation of the drainage network is an important part of urban infrastructure operation and maintenance. At present, the operation and maintenance of urban drainage pipelines mainly rely on manual work, which has problems such as difficult operation, large workload and high risk.

[0003] The mode of replacing manual work with machinery has become the development trend of urban drainage pipeline operation and maintenance because of its safety and efficiency. The operation and maintenance robots used in drainage pipelines have evolved from traditional large industrial robots to "small, sophisticated" special robots that can adapt to complex pipe conditions and complete tasks.

[0004] Pipeline operation and maintenance robots can be divided into detection robots and operation robots. Detection robots refer to robots that collect information and rebuild models inside pipelines through acoustic and optical equipment or technology; operation robots refer to robots that clean up siltation inside pipes or repair and replace pipe defects. Detection robots and operation robots work together to assist in the operation and maintenance of drainage pipelines.

[0005] However, the host computer control system of the existing pipeline dredging robot has problems such as low control accuracy, incomplete control and poor fault detection performance. In addition, there is no corresponding response plan when controller mismatch occurs, so the efficiency and progress of the dredging work cannot be guaranteed. Summary of the invention

[0006] In view of this, an embodiment of the present application provides a host computer control system for a pipeline dredging robot with high control accuracy, comprehensive control and the ability to analyze and detect faults, and can support providing a redundant control system in the event of a mismatch in the lower computer controller to address the shortcomings of the prior art and to solve or alleviate one or more of the above-mentioned problems.

[0007] According to a first aspect of an embodiment of the present application, a host computer control system of a pipeline dredging robot is provided, including: a serial communication module, a data processing module, a fault detection module, a motor control module, and a state monitoring module, wherein: The serial communication module is used to transmit data with the pipeline dredging robot, read the status information of the pipeline dredging robot, and write the driving information of the pipeline dredging robot; The data processing module is used to package and analyze the serial port data of the serial port communication module, and to parse and process the drive information and status information; The fault detection module is used to perform fault detection on the pipeline dredging robot; The motor control module is used to control the pipeline dredging robot to walk and dredge; The state monitoring module is used to monitor the state of the pipeline dredging robot.

[0008] In some exemplary embodiments, the system further includes a redundant control module for controlling the pipeline dredging robot when the control system of the lower machine fails.

[0009] In some exemplary embodiments, the serial communication module adopts the modbus protocol, wherein the modbus protocol information includes the ID information, register address, register value, and check code of the pipeline dredging robot; The serial communication module drives the pipeline dredging robot by writing into registers, and obtains the status information of the pipeline dredging robot by reading from registers.

[0010] In some exemplary embodiments, the data processing module uses multi-threading to package control information, parse response information, and calculate status information.

[0011] In some exemplary embodiments, the control information is divided into walking ability control information and dredging ability control information, wherein: The response information includes: decimal address information, register address information and register value; The state information calculation includes: drive information calculation, state register calculation, and controller calculation.

[0012] In some exemplary embodiments, the fault detection module is used to perform fault detection on the pipeline dredging robot, including: the fault detection module is used to perform walking system fault detection, dredging system fault detection, sensor fault detection, and controller fault detection on the pipeline dredging robot.

[0013] In some exemplary embodiments, the fault detection module is further used to push and display the fault detection information obtained by reading the lower computer and the fault information solved by the upper computer data.

[0014] In some exemplary embodiments, the motor control module is used to drive and control the walking ability motor and the dredging motor.

[0015] In some exemplary embodiments, the motor control module is used to perform point control and cruise control on the walking ability motor and switch the dredging motor between an operating mode and an idle mode; The operation mode is divided into three gears: stop, slow, medium and fast; In the operation mode, the motor control module issues a command to drive the front auger to be lowered through the steering gear, and the auger motor and the rear brush motor rotate according to the given command mode; In the idle mode, the motor control module sends out a command to drive the auger to lift up through the servo, and the auger motor and the brush motor stop rotating.

[0016] In some exemplary embodiments, the status monitoring module is also used to monitor the position information, speed information, dredging information and fault status information of the pipeline dredging robot.

[0017] In some exemplary embodiments, the status monitoring module displays the monitored status of the pipeline desilting robot in the form of a dashboard on the interface.

[0018] In some exemplary embodiments, the redundant control module is used to perform motor parameter configuration, differential speed calculation and sliding mode control on the pipeline dredging robot when the lower computer control system fails.

[0019] In some exemplary embodiments, the motor parameter configuration includes configuring the torque parameters of the motor; the differential solution is used to achieve the steering of the pipeline dredging robot; the sliding mode control is used to control the driving walking motor, the auger servo, the auger motor and the rear end brush motor.

[0020] The host computer control system of the pipeline dredging robot in the embodiment of the present application controls the pipeline dredging robot through a serial communication module, a data processing module, a fault detection module, a motor control module, a state monitoring module and a redundant control module, so as to meet the drive control, state monitoring, fault detection and redundant control of the pipeline dredging robot. The control accuracy is higher, and the operator can realize precise speed control of the pipeline dredging robot; the control mode is richer, so that the pipeline dredging robot can realize point mode and cruise mode in walking ability, so as to meet the needs of multiple scenarios; the detection capability is higher, and the load of the motor is monitored in the form of an extended state observer, so as to more accurately judge whether the walking system and the dredging system are faulty; the redundant control module is set, so as to better solve the problem of failure of the lower computer controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1A schematic diagram showing the composition structure of the host computer control system of the pipeline dredging robot according to an embodiment of the present application is shown; Figure 2 The overall control block diagram of the pipeline dredging robot according to an embodiment of the present application is shown; Figure 3 A schematic diagram of a human-machine interaction interface of a host computer of a pipeline dredging robot according to an embodiment of the present application is shown; Figure 4 A block diagram of an extended state observer of a pipeline dredging robot according to an embodiment of the present application is shown; Figure 5 A schematic diagram of the redundant control module workflow of an embodiment of the present application is shown; Figure 6 A diagram showing the structure of a neural network for differential speed calculation of a pipeline dredging robot according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0024] The essence of the technical solution of the embodiment of the present application is explained in detail below with reference to the accompanying drawings.

[0025] The present application embodiment provides a host computer control system of a pipeline dredging robot. Figure 1 FIG. 1 shows a schematic diagram of the composition structure of the host computer control system of the pipeline dredging robot according to an embodiment of the present application, as shown in FIG. Figure 1 As shown, the host computer control system of the pipeline dredging robot of the embodiment of the present application includes: a serial communication module 1, a data processing module 2, a fault detection module 3, a motor control module 4, a state monitoring module 5, and a redundant control module 6, wherein: The serial communication module 1 is used to transmit data with the pipeline dredging robot, read the status information of the pipeline dredging robot, and write the driving information of the pipeline dredging robot; In the embodiment of the present application, the serial communication module 1 adopts the modbus protocol to read the status information of the pipeline dredging robot and write the driving information of the pipeline dredging robot. The modbus protocol information includes the ID information, register address, register value, and check code of the pipeline dredging robot, wherein the check code is set to two bytes to ensure the correctness of the data; the serial communication module 1 drives the pipeline dredging robot by writing to the register and obtains the status information of the pipeline dredging robot by reading the register.

[0026] Modbus is a serial communication protocol that is commonly used to connect industrial electronic devices.

[0027] The data processing module 2 is used to package and analyze the serial port data of the serial port communication module 1, and to parse and process the drive information and status information; In the embodiment of the present application, in order to improve the data processing speed, the data processing module 2 uses a multi-threaded form to package and analyze the response information of the lower computer and the request information sent by the upper computer, and perform data calculation and data analysis on the response information. In the embodiment of the present application, the data processing module 2 is used to package control information, parse response information, and calculate status information. Among them, The control information is divided into walking ability control information and dredging ability control information, including: hexadecimal address information, register address information and register value; The response information includes: decimal address information, register address information and register value; The state information calculation includes: control information used in driving information calculation, state register calculation, and controller operation.

[0028] The control information packaging includes packaging the driving information of the pipeline desilting robot set on the human-machine interaction interface into a form of modbus protocol for sending; The response information analysis includes analyzing the response of the pipeline dredging robot to the host computer to determine the type of information; The state information solution includes solving the state information in the modbus protocol frame into state information that can be understood by the operator and displaying it on the human-machine interface.

[0029] The fault detection module 3 is used to perform fault detection on the pipeline dredging robot; In the embodiment of the present application, the fault detection module 3 is used to perform walking system fault detection, silt removal system fault detection, sensor fault detection, and controller fault detection on the pipeline desilting robot. The fault detection module 3 is also used to push and display the fault detection information obtained by reading the lower computer and the fault information solved by the upper computer data, so that the operator can make timely adjustments.

[0030] As in the embodiment of the present application, the walking system fault detection and the silt removal system fault detection include detecting the corresponding motor faults. Since the common fault of the system is the stall problem, in the embodiment of the present application, the load torque is detected in the form of an extended state observer, and when the torque is too large, it is determined that the motor has a fault.

[0031] The controller fault detection includes detecting a controller failure problem. When the motor cannot rotate according to a given instruction within a preset time, it is determined that the controller has failed.

[0032] The motor control module 4 is used to control the pipeline dredging robot to walk and dredge; Specifically, the motor control module 4 is used to drive and control the walking motor and the dredging motor. In the embodiment of the present application, the motor control module 4 is used to perform point control and cruise control on the walking motor, and switch the dredging motor between the working mode and the idle mode; Among them, the operation mode is divided into three gears: stop, slow, medium and fast; in the operation mode, the motor control module 4 issues a command to drive the front auger to be lowered through the servo, and the auger motor and the rear end brush motor rotate according to the given command mode; in the idle mode, the motor control module 4 issues a command to drive the auger to be lifted through the servo, and the auger motor and the brush motor stop rotating.

[0033] The state monitoring module 5 is used to monitor the state of the pipeline desilting robot; In the embodiment of the present application, the status monitoring module 5 is used to monitor the position information, speed information, dredging information and fault status information of the pipeline dredging robot, and display the monitored status information of the pipeline dredging robot on the interface in the form of a dashboard.

[0034] In the embodiment of the present application, the status monitoring information is transmitted from the lower computer to the upper computer through communication, and finally displayed on the interface as information on the dashboard. The status monitoring information includes the current position and speed of the pipeline dredging robot, as well as the dredging working status and whether a fault occurs.

[0035] The redundant control module 6 is used to control the pipeline desilting robot when the lower control system fails.

[0036] In the embodiment of the present application, the redundant control module 6 is used to perform motor parameter configuration, differential speed calculation and sliding mode control on the pipeline dredging robot when the lower computer control system fails.

[0037] Among them, the motor parameter configuration includes configuring the torque parameters of the motor; the differential solution is used to realize the steering of the pipeline dredging robot; the sliding mode control is used to control the driving walking motor, the auger servo, the auger motor and the rear end brush motor.

[0038] Figure 2 This is the overall control block diagram of the pipeline dredging robot according to the embodiment of the present application, such as Figure 2As shown, the upper computer control system 10 of the pipeline dredging robot of the embodiment of the present application exchanges data with the control board of the pipeline dredging robot through serial communication, sends data request signals and drive signals and receives response signals from the control board. The control board converts the drive signal sent by the upper computer into a corresponding pulse width modulation (PWM) to the drive board to drive the motors including the walking motor, the auger motor, the auger servo and the brush motor, and receives the encoder signal and sensor signal of the motor through the signal receiving board and stores them in the corresponding register area of ​​the control board to become the closed-loop feedback signal of the lower computer control system and can be read by the upper computer.

[0039] Figure 3 Schematic diagram of the human-machine interaction interface of the host computer of the pipeline dredging robot according to the embodiment of the present application, such as Figure 3 As shown in the figure, the upper computer control system panel of the pipeline dredging robot consists of serial communication, dredging control, walking drive, instrument panel, status monitoring, and fault detection. Among them, the serial communication completes the parameter configuration of the serial port; the dredging control completes the control of the front auger servo, the front auger motor, and the rear brush motor, and indicates whether the response motor is in working state through the indicator light; the walking drive completes the walking control of the pipeline dredging robot, including forward, backward, left, right, and acceleration and deceleration; the instrument panel is used to indicate speed information and steering information. The speed instrument panel and the steering instrument panel have two pointers, one for indicating the expected value and the other for indicating the actual value; the status monitoring module is used to display the position information of the trolley and the torque information of each motor; the fault detection detects whether each motor is blocked and whether the lower computer control system fails.

[0040] Figure 4 The pipeline dredging robot extended state observer block diagram of the embodiment of the present application, the pipeline dredging robot host computer control system of the embodiment of the present application observes the load torque of each motor through the extended state observer, and uses the input voltage of the motor and motor angle information is the input signal of the extended state observer. The motor is a second-order system. By setting the order of the extended state observer to third order, the observed value of the rotation angle can be obtained. , Observation of rotation speed and the observed value of the load moment Observed value of .

[0041] The mathematical model of the motor can be expressed as:

[0042] In the formula Used to indicate the rotation angle of the motor , Used to indicate the speed of the motor , is the input voltage of the motor, is the moment of inertia of the motor, is the load torque of the motor. , then:

[0043] The nonlinear extended state observer is designed as:

[0044] In the formula, , is the observer gain coefficient, the saturation function The role of is to suppress signal jitter, expressed as:

[0045] in, is a constant between 0 and 1. is a constant that affects the filtering effect, then .

[0046] Figure 5 This is a schematic diagram of the redundant control module workflow of an embodiment of the present application, wherein: is the robot's forward speed, is the turning angle of the robot, is the desired rotation speed of the left and right sides of the robot, is the rotation speed error of the left and right sides of the robot, is the voltage input at the left and right ends of the robot, is the actual rotation speed of the left and right sides of the robot. Figure 6 This is a diagram of a neural network structure for differential speed calculation of a pipeline dredging robot according to an embodiment of the present application, wherein: is the robot's forward speed, is the turning angle of the robot, is the weight, is the bias, is the activation function. Figure 5 and Figure 6 As shown, when the control system in the lower computer control panel cannot work normally, the upper computer will start the redundant control module to control the pipeline desilting robot. The redundant control module of the present invention is composed of a differential speed solving module and a sliding mode controller.

[0047] The differential speed calculation is solved in the form of BP neural network. The input signal of the neural network is the turning angle information and speed information of the pipeline desilting robot. The output is the speed of the walking motors on the left and right sides. The number of hidden layer neurons is selected as 10 according to the experience value. Figure 6 As shown, the output of the neural network can be expressed as:

[0048] In the formula is the input value of the i-th neuron in the input layer, is the output value of the kth neuron in the output layer, is the connection weight of the neuron; is the bias of the neuron, is the activation function, which is designed here as:

[0049] The host computer control system of the pipeline dredging robot in the embodiment of the present application controls the pipeline dredging robot through a serial communication module, a data processing module, a fault detection module, a motor control module, a state monitoring module and a redundant control module, so as to meet the drive control, state monitoring, fault detection and redundant control of the pipeline dredging robot. The control accuracy is higher, and the operator can realize accurate speed control of the pipeline dredging robot; the control mode is richer, so that the pipeline dredging robot can realize point mode and cruise mode in walking ability, so as to meet the needs of multiple scenarios; the detection capability is higher, and the load of the motor is monitored in the form of an extended state observer, so as to more accurately judge whether the walking system and the dredging system are faulty; the redundant control module can better solve the problem of failure of the lower computer controller.

[0050] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present invention, the size of the sequence number of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0051] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0052] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways.

[0053] The above is only an embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A host computer control system for a pipeline dredging robot, characterized in that: The system includes: a serial communication module, a data processing module, a fault detection module, a motor control module, and a state monitoring module, wherein: The serial communication module is used to transmit data with the pipeline dredging robot, read the status information of the pipeline dredging robot, and write the driving information of the pipeline dredging robot; The data processing module is used to package and analyze the serial port data of the serial port communication module, and to parse and process the drive information and status information; The fault detection module is used to perform fault detection on the pipeline dredging robot; The motor control module is used to control the pipeline dredging robot to walk and dredge; The state monitoring module is used to monitor the state of the pipeline dredging robot; The serial communication module adopts the modbus protocol, wherein the modbus protocol information includes the ID information, register address, register value, and check code of the pipeline dredging robot; The serial communication module drives the pipeline dredging robot by writing into registers, and obtains the status information of the pipeline dredging robot by reading from registers.

2. The host computer control system of the pipeline dredging robot according to claim 1 is characterized in that: The system also includes a redundant control module for controlling the pipeline desilting robot when the lower control system fails.

3. The host computer control system of the pipeline dredging robot according to claim 1 is characterized in that: The data processing module uses a multi-threaded form to package control information, parse response information, and calculate status information.

4. The host computer control system of the pipeline dredging robot according to claim 3 is characterized in that: The control information is divided into walking ability control information and dredging ability control information, wherein: The response information includes: decimal address information, register address information and register value; The state information calculation includes: drive information calculation, state register calculation, and controller calculation.

5. The host computer control system of the pipeline dredging robot according to claim 1 is characterized in that: The fault detection module is used to perform fault detection on the pipeline dredging robot, including: the fault detection module is used to perform walking system fault detection, dredging system fault detection, sensor fault detection, and controller fault detection on the pipeline dredging robot.

6. The host computer control system of the pipeline dredging robot according to claim 5 is characterized in that: The fault detection module is also used to push and display the fault detection information obtained by reading the lower computer and the fault information solved by the upper computer data.

7. The host computer control system of the pipeline dredging robot according to claim 1 is characterized in that: The motor control module is used to drive and control the walking ability motor and the silt clearing motor.

8. The host computer control system of the pipeline dredging robot according to claim 7, characterized in that: The motor control module is used to perform point control and cruise control on the walking motor and switch the dredging motor between the operation mode and the idle mode; The operation mode is divided into three gears: stop, slow, medium and fast; In the operation mode, the motor control module issues a command to drive the front auger to be lowered through the steering gear, and the auger motor and the rear brush motor rotate according to the given command mode; In the idle mode, the motor control module sends out a command to drive the auger to lift up through the servo, and the auger motor and the brush motor stop rotating.

9. The host computer control system of the pipeline dredging robot according to claim 1, characterized in that: The state monitoring module is also used to monitor the position information, speed information, dredging information and fault state information of the pipeline dredging robot.

10. The host computer control system of the pipeline dredging robot according to claim 9, characterized in that: The status monitoring module displays the monitored status of the pipeline desilting robot in the form of a dashboard on the interface.

11. The host computer control system of the pipeline dredging robot according to claim 2, characterized in that: The redundant control module is used to perform motor parameter configuration, differential speed calculation and sliding mode control on the pipeline desilting robot when the lower computer control system fails.

12. The host computer control system of the pipeline dredging robot according to claim 11, characterized in that: The motor parameter configuration includes configuring the torque parameters of the motor; the differential speed solver is used to realize the steering of the pipeline dredging robot; the sliding mode control is used to control the driving walking motor, the auger servo, the auger motor and the rear end brush motor.

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