Wireless operation cantilever platform system

Abstract

The invention relates to the power industry, in particular to a wireless operation cantilever platform system. Comprising a cantilever support, a cantilever support control system, a wireless communication remote controller and a cloud platform, the cantilever support is provided with three rotating joints which are a joint 1, a joint 2 and a joint 3 in sequence, the three rotating joints are connected through connecting rods, and the connecting rod of the joint 3 is provided with a clamping jaw used for clamping an insulating rod; joint motors, namely a joint motor 1, a joint motor 2 and a joint motor 3, are used for the rotating joints, and rotating shafts of the joint motors are parallel to one another; an angle sensor for detecting the rotation angle and a torque sensor for detecting the torsional force of the joints are mounted at each rotating joint; during working and hot-line working, a worker only needs to place the insulating rod on the cantilever support and adjust the supporting angle through a cantilever support control system and the like, the weight of the insulating rod and the weight of working equipment do not need to be borne, and therefore the working intensity of working is reduced.

Description

Technical Field

[0001] The invention relates to the electric power industry, and in particular to a wireless operation cantilever platform system. Background Art

[0002] With the development and progress of the power industry, non-stop operation has gradually become an important way of working. The use of insulating tools such as insulating rods has effectively ensured the personal safety of personnel performing non-stop operations on distribution networks and promoted the widespread implementation of non-stop operations on distribution networks. However, in actual operations, the following problems are widely encountered: (1) During the operation, it is necessary to lift and operate the insulating rod for a long time, which consumes a lot of physical strength and has low work efficiency; (2) Insulating rod operations are usually carried out around power equipment or power transmission and distribution lines. During the operation, there are risks such as contact with live parts, indirect contact with conductive objects, or electric shock due to operational errors; (3) When performing tasks such as cutting and crimping the lines, it is inconvenient to operate in a small space and there are major safety hazards.

[0003] In summary, there is an urgent need for a system that can replace manual lifting and realize remote control to save manpower and eliminate safety hazards such as electric shock. Summary of the invention

[0004] In view of the above problems, the present invention provides a wireless operation cantilever platform system which is convenient to operate, saves labor and improves safety.

[0005] The technical solution of the present invention is: a wireless operation cantilever platform system, including a cantilever support, a cantilever support control system, a wireless communication remote controller and a cloud platform,

[0006] The cantilever bracket has three rotating joints, namely joint 1, joint 2 and joint 3, the three rotating joints are connected by connecting rods, and the connecting rod of joint 3 is provided with a clamping claw for clamping the insulating rod;

[0007] Each rotating joint uses a joint motor, namely joint motor 1, joint motor 2 and joint motor 3, and the rotation axes of each joint motor are parallel to each other;

[0008] An angle sensor for detecting the rotation angle and a torque sensor for detecting the torsional force of the joint are installed at each rotating joint;

[0009] The three joint motors and the corresponding angle sensors and torque sensors are respectively connected to the cantilever support control system. The cantilever support control system is connected to the cloud platform via a wireless communication remote controller, and the cloud platform is connected to the display terminal.

[0010] The cantilever support control system includes a main control board 1, a motor controller and a motor driver.

[0011] The main control board 1 uses the STM32 single-chip computer 1 as the main control module, including an A / D conversion module, a serial port module, and a LoRa communication module.

[0012] The serial port module in the main control board 1 is connected to the motor driver through the motor controller, and the motor driver is connected to the joint motor;

[0013] The A / D conversion module in the main control board 1 is connected to the angle sensor and the torque sensor.

[0014] The wireless communication remote controller includes a main control board 2 and two dual-axis button joysticks, the two dual-axis button joysticks are joystick 1 and joystick 2,

[0015] The main control board 2 uses an STM32 single-chip microcomputer 2 as the main control module, including an A / D conversion module, a serial port module, a LoRa communication module and an ESP-8266WiFi transmission module.

[0016] The A / D conversion module in the main control board 2 is connected to the rocker 1 and the rocker 2, wherein the rocker 1 is used to control the up and down and left and right spatial positions of the joint 3, and the rocker 2 is used to control the rotation direction of the joint motor 3;

[0017] The LoRa communication module in the wireless communication remote controller is remotely connected to the LoRa communication module in the cantilever support control system.

[0018] The ESP-8266WiFi transmission module is connected to the cloud platform.

[0019] The rotation angles of the joint motors 1 and 2 of the cantilever bracket are automatically adjusted based on the spatial position of the joint 3;

[0020] In the cantilever support forward kinematics, let f(θ) be the joint angle vector θ = [θ1θ2] T The spatial pose vector of joint 3 is X d ,

[0021] in,

[0022] The relationship between the position (x, y) of joint 3 and the joint angles θ1 and θ2 is as follows:

[0023] x=l1cosθ1+l2cos(θ1+θ2)

[0024] y=l1 sinθ1+l2 sin(θ1+θ2)

[0025] The partial derivative matrix J of the positive kinematics function f(θ) with respect to the joint angle is:

[0026]

[0027] Adjust the position of joint 3 by wireless communication remote control to (x d ,y d ), the initial joint angle vector is According to the Newton-Raphson iteration formula θ k+1 =θ k -J -1 (θ k )(f(θ k )-X d ) Update the joint angle vector so that The obtained θ k+1 is the desired joint angle solution; where,

[0028] θ k is the joint angle vector of the kth iteration; θ k+1 is the joint angle vector of the k+1th iteration;

[0029] f(θ k ) is the function of the joint angle vector θ after the kth iteration;

[0030] f(θ k+1 ) is the function of the joint angle vector θ after the k+1th iteration;

[0031] f i (θ k+1 ) is the i-th component of the calculated pose vector of joint 3;

[0032] X di is the i-th component of the desired pose of joint 3;

[0033] n is the pose vector X d Dimensions;

[0034] c is the Euclidean norm,

[0035] l1 is the length of the connecting rod between joint 1 and joint 2, l2 is the length of the connecting rod between joint 2 and joint 3, θ1 is the rotation angle of joint motor 1, and θ2 is the rotation angle of joint motor 2.

[0036] The dual-axis button joystick includes two 10K potentiometers, and the two potentiometers output the corresponding analog voltage values ​​on the X and Y axes respectively according to the twisting angle;

[0037] Connect the two ends of the potentiometer corresponding to the X-axis and Y-axis of the dual-axis button joystick to a stable power supply voltage and ground respectively to form a voltage divider circuit, and connect the middle tap to the GPIO channel interface of the A / D conversion module of the main control board 2.

[0038] Assume that the STM32 MCU 2 continuously samples the dual-axis joystick output voltage values ​​N times, and the values ​​are v1, v2, ... v N, remove the maximum value v max and the minimum value v min , the arithmetic mean of the remaining N-2 data is the output value y(n) after filtering, that is, The y(n) output value is used as the voltage output of the X-axis and Y-axis of the dual-axis joystick.

[0039] In the operation of the present invention, when working with electricity, the workers only need to place the insulating rod on the cantilever bracket and adjust the support angle using the cantilever bracket control system, etc., without having to bear the weight of the insulating rod and the working equipment, thereby reducing the labor intensity of the work.

[0040] Operators can use the equipment remote control to remotely control the joint angle adjustment. The detection information of the angle sensor and torque sensor of the cantilever bracket can be uploaded to the cloud platform, and the information such as the cantilever angle and joint angle stress status can be displayed on the display terminal. When working with live wires, there is no need to directly touch the insulating rod to avoid the risk of electric shock. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the following briefly introduces the drawings required for the specific implementation or the prior art description. In the drawings, each part is not necessarily drawn according to the actual scale.

[0042] Figure 1 is a system block diagram of the present invention,

[0043] Figure 2 is a control flow chart of the present invention,

[0044] Figure 3 is a schematic diagram of the structure of the cantilever platform in the present invention,

[0045] Figure 4 This is the schematic diagram of the dual-axis button joystick;

[0046] In the figure, 1 is the angle sensor, 2 is the torque sensor, and 3 is the joint motor.

[0047] 4 is the cantilever support control system,

[0048] 4-1 is the main control board 1,

[0049] 4-2 is the motor controller,

[0050] 4-3 is the motor driver,

[0051] 5 is a wireless communication remote controller,

[0052] 5-1 is the main control board 2,

[0053] 5-2 is joystick 1,

[0054] 5-3 is joystick 2,

[0055] 6 is the cloud platform,

[0056] 7 is a display terminal. DETAILED DESCRIPTION

[0057] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0058] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "vertical", "horizontal", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] The present invention Figure 1-4 As shown, a wireless operation cantilever platform system includes a cantilever support, a cantilever support control system 4, a wireless communication remote controller 5 and a cloud platform.

[0061] The cantilever bracket has three rotating joints, namely joint 1, joint 2 and joint 3, the three rotating joints are connected by connecting rods, and the connecting rod of joint 3 is provided with a clamping claw for clamping the insulating rod;

[0062] Each rotating joint uses a joint motor 3, which are joint motor 1, joint motor 2 and joint motor 3, and the rotation axes of each joint motor are parallel to each other;

[0063] An angle sensor 1 for detecting the rotation angle and a torque sensor 2 for detecting the torsional force of the joint are installed at each rotating joint;

[0064] The three joint motors and the corresponding angle sensors and torque sensors are respectively connected to the cantilever support control system. The cantilever support control system is connected to the cloud platform 6 via a wireless communication remote controller, and the cloud platform is connected to the display terminal 7.

[0065] In the present invention, when working with live wires, the worker only needs to place the insulating rod on the cantilever bracket and adjust the support angle by using the cantilever bracket control system, etc., without having to bear the weight of the insulating rod and the working equipment, thereby reducing the labor intensity of the work. In application, the cantilever bracket is connected to the insulating bucket, and the insulating bucket is lifted and lowered by a lift.

[0066] In the present invention, each rotating joint uses a worm gear high torque self-locking motor (hereinafter referred to as "joint motor", namely joint motor 1, joint motor 2 and joint motor 3) as a driving device, and the rotation axes of the joint motors are parallel to each other, that is, the cantilever bracket adjusts the posture in the (xy) plane. An angle sensor for detecting the rotation angle and a torque sensor for detecting the torsional force of the joint are installed at each rotating joint to Figure 3 The y-axis is the normal line, the rotation angle of joint 1 is ±90°, the rotation angle of joint 2 is set to ±60°, and the rotation angle of joint 3 is ±90°, which are set as the thresholds for the rotation of each joint. 80% of the upper limit of the self-locking torque of each joint motor is used as the torque sensor detection threshold. When the joint rotation angle or the torque received reaches the set threshold, the motors of each joint of the cantilever bracket are forced to stop rotating, providing protection for the safe operation of the cantilever bracket. A clamp for clamping the insulating rod is provided on joint 3, and the clamp posture can rotate around the end joint.

[0067] The present invention adopts a three-joint cantilever bracket, which has three degrees of freedom in space. Compared with a single-joint or double-joint bracket, it can achieve a more complex motion trajectory and reach more positions in three-dimensional space. Compared with a bracket with more joints (such as a six-joint bracket), a three-joint bracket can meet the actual working position planning needs of the insulating rod to maximize cost savings.

[0068] The cantilever support control system includes a main control board 14-1, a motor controller 4-2 and a motor driver 4-3.

[0069] The main control board 1 uses the STM32 single-chip microcomputer 1 as the main control module, including an A / D conversion module, a serial port module, and a LoRa communication module (i.e., a slave module).

[0070] The serial port module in the main control board 1 is connected to the motor driver through the motor controller, and the motor driver is connected to the joint motor;

[0071] The A / D conversion module in the main control board 1 is connected to the angle sensor and the torque sensor.

[0072] Specifically, the motor controller is connected to the main control board 1 via RS-485, and the communication with the main control board follows the ModeBus protocol; the main control board 1 outputs the rotation speed, direction, and angle information of the joint motor to the motor controller.

[0073] The motor driver is electrically connected to the motor controller and outputs the motor rotation speed, direction, and angle information to the joint motor.

[0074] The slave module is remotely connected to the master module and receives the motor control command from the master module. At the same time, the angle sensor and torque sensor detection values ​​are input to determine the sensor threshold for emergency stop and protection. The maximum detection voltage V ref =3.3V, the AD conversion register is a 12-bit data register, and its detection voltage resolution is If the sensor range is a~b, and the output discrete digital quantity is N, then the AD module GPIO pin input voltage Detected sensor value (ba). The sensor detection value P is calculated by the STM32 microcontroller 1 through the above steps, uploaded to the cloud platform, and can be displayed in real time on the terminal.

[0075] The wireless communication remote controller 5-1 (referred to as "remote controller") comprises a main control board 2 and two dual-axis key joysticks, the two dual-axis key joysticks being joystick 15-2 and joystick 25-3.

[0076] The main control board 2 uses the STM32 single-chip microcomputer 2 as the main control module, including an A / D conversion module, a serial port module, a LoRa communication module (i.e., the main module) and an ESP-8266WiFi transmission module.

[0077] The ESP-8266WiFi transmission module is connected to an Internet-accessible router or hotspot network to upload information such as angle sensors, torque sensors, and joystick positions to a cloud platform developed based on Alibaba Cloud. The cantilever platform monitoring information display area is divided on the platform, and relevant information can be displayed on the computer web terminal and mobile terminal.

[0078] The A / D conversion module in the main control board 2 is connected to the rocker 1 and the rocker 2, wherein the rocker 1 is used to control the up and down and left and right spatial positions of the joint 3, and the rocker 2 is used to control the rotation direction of the joint motor 3;

[0079] The LoRa communication module in the wireless communication remote controller is remotely connected to the LoRa communication module in the cantilever support control system.

[0080] The ESP-8266WiFi transmission module is connected to the cloud platform.

[0081] The rotation angles of the joint motors 1 and 2 of the cantilever bracket are automatically adjusted based on the spatial position of the joint 3;

[0082] In the cantilever support forward kinematics, let f(θ) be the joint angle vector θ = [θ1θ2] T The spatial pose vector of joint 3 is X d , we only need to calculate the joint vector θ so that f(θ) = X d , the target rotation angle of each joint motor can be obtained, thereby obtaining the spatial posture of the cantilever bracket.

[0083] in,

[0084] The relationship between the position (x, y) of joint 3 and the joint angles θ1 and θ2 is as follows:

[0085] x=l1cosθ1+l2cos(θ1+θ2)

[0086] y=l1 sinθ1+l2 sin(θ1+θ2)

[0087] The partial derivative matrix J of the positive kinematics function f(θ) with respect to the joint angle is:

[0088]

[0089] Adjust the position of joint 3 by wireless communication remote control to (x d ,y d ), the initial joint angle vector is According to the Newton-Raphson iteration formula θ k+1 =θ k -J -1 (θ k )(f(θ k )-X d ) Update the joint angle vector so that The obtained θ k+1 is the desired joint angle solution; where,

[0090] θ k is the joint angle vector of the kth iteration; θ k+1 is the joint angle vector of the k+1th iteration;

[0091] f(θ k ) is the function of the joint angle vector θ after the kth iteration;

[0092] f(θ k+1 ) is the function of the joint angle vector θ after the k+1th iteration;

[0093] f i (θ k+1) is the i-th component of the calculated pose vector of joint 3;

[0094] X di is the i-th component of the desired pose of joint 3;

[0095] n is the pose vector X d The dimension, X d is a two-dimensional matrix about θ, so n=2.

[0096] c is the Euclidean norm,

[0097] l1 is the length of the connecting rod between joint 1 and joint 2, l2 is the length of the connecting rod between joint 2 and joint 3, θ1 is the rotation angle of joint motor 1, and θ2 is the rotation angle of joint motor 2.

[0098] The spatial position of joint 3, such as Figure 3 As shown in the figure, the length of the connecting rod between joint 1 and joint 2 is l1, the length of the connecting rod between joint 2 and joint 3 is l2, and the length of the connecting rod between joint 3 and the gripper is l3. Taking the y-axis coordinate as the normal, the maximum angle of the connecting rod between joint 1 and joint 2, and between joint 2 and joint 3 relative to the normal. Based on the connecting rod length and the maximum angle relative to the normal, the maximum length of joint 3 in the positive and negative directions of the y-axis and in the positive and negative directions of the x-axis can be calculated, that is, y max ,y min 、x max 、x min The coordinate position of joint 3 in the (x, y) coordinate system satisfies: min ≤x≤x max ,y min ≤y≤y max .

[0099] The position of joint 3 in the coordinate system is determined by the analog output of the X-axis and Y-axis of joystick 1. The X-axis outputs discrete digital values ​​0 to 2 12 -1, corresponding to the positive and negative directions of the X axis min to x max Position, similarly, the Y axis outputs scattered digital values ​​0 to 2 12 -1, corresponding to the positive and negative directions of the Y axis min To max Position. The microcontroller 2 detects the offset of the joystick 1 in the X and Y axis directions, and obtains the true position (x, y) of the joint 3 in the coordinate system.

[0100] Specifically, the uppermost position of joint 3 is y max =l1+l2, the lowest position is The leftmost position is The rightmost position is By moving the joystick, confirm that the spatial position (x, y) of joint 3 is: Wherein, N is the discrete digital quantity output by the rocker axis.

[0101] In the present invention, the A / D conversion module of the STM32 single-chip computer 2 detects the X-axis and Y-axis output analog quantities of the rocker 1 to obtain the spatial coordinate position of the joint 3. Only the analog quantity in the X-axis direction of the rocker 2 is detected as a basis for determining whether the joint motor 3 rotates forward or reversely.

[0102] The dual-axis button joystick includes two 10K potentiometers, and the two potentiometers output the corresponding analog voltage values ​​on the X and Y axes respectively according to the twisting angle;

[0103] Connect the two ends of the potentiometer corresponding to the X-axis and Y-axis in the dual-axis button joystick to the stable power supply voltage (VCC) and ground (GND) respectively to form a voltage divider circuit, and connect the middle tap to the GPIO channel interface of the A / D conversion module of the main control board 2.

[0104] In the initial state, the output voltage of the X-axis and Y-axis are both about 1.5V. When the joystick 2 is pushed left or right in the X-axis direction, the resistance of the potentiometer tap will change accordingly, causing the output voltage value of the corresponding axis to increase or decrease. The voltage change range is 1.5V to 3.3V and 1.5V to 0V.

[0105] In practice, in order to avoid interference from rocker voltage fluctuations, a median average filtering algorithm is used to filter and sample the rocker output voltage value.

[0106] Assume that the STM32 MCU 2 continuously samples the dual-axis joystick output voltage values ​​N times, and the values ​​are v1, v2, ... v N , remove the maximum value v max and the minimum value v min , the arithmetic mean of the remaining N-2 data is the output value y(n) after filtering, that is, The y(n) output value is used as the voltage output of the X-axis and Y-axis of the dual-axis joystick.

[0107] The communication process between the cantilever bracket control system and the remote control in the present invention is described as follows: ① The LoRa communication module (slave module) of the cantilever bracket control system and the LoRa communication module (master module) of the remote control, the software sets the PAN ID, frequency and channel parameters to be the same, and pairs the connection; ② The LoRa master and slave modules use transparent transmission to send and receive data sets, and transparent transmission means that the sent and received data are exactly the same; ③ The STM32 microcontroller 2 on the remote control can directly detect the output voltage analog quantity of the rocker 1 through the A / D conversion module, thereby obtaining the target position of the joint 3. The rotation direction of the joint motor 3 can be determined through the X-axis output voltage of the rocker 2, thereby driving the insulating rod to rotate to the target angle. The target position of joint 3 and the rotation direction information of joint motor 3 are remotely sent to LoRa communication module (slave module) through LoRa communication module (master module); ④ The STM32 microcontroller 1 of the cantilever support control system reads the position of joint 3 and the rotation control information of joint motor 3 received by LoRa communication module (slave module), and automatically calculates the target rotation angle of joint motor 1 and joint motor 2 according to the target position of joint 3, and sends the rotation information of joint motor 3 to the motor controller through the serial port module on the main control board. The motor controller drives the motor driver to make the joint motor rotate in the specified direction. ⑤ The detection values ​​of angle sensor and torque sensor are transmitted through the transmission link of "STM32 microcontroller 1-LoRa communication module (slave module)-LoRa communication module (master module)-STM32 microcontroller 2-ESP-8266 module-cloud platform-display terminal", so as to realize the real-time display of sensor detection data on the terminal. If the sensor exceeds the threshold, the terminal can issue a warning prompt, which is convenient for the staff to handle in time. The joystick position information is displayed on the terminal through the transmission link of "STM32 microcontroller 2 - ESP-8266 module - cloud platform - display terminal".

[0108] Regarding the contents disclosed in this case, there are a few points that need to be explained:

[0109] (1) The drawings of the embodiments disclosed in this case only involve the structures involved in the embodiments disclosed in this case, and other structures can refer to the general design;

[0110] (2) In the absence of conflict, the embodiments and features of the embodiments disclosed in this case can be combined with each other to obtain new embodiments;

[0111] The above are only specific implementation methods disclosed in this case, but the protection scope of the present disclosure is not limited thereto. The protection scope disclosed in this case should be based on the protection scope of the claims.

Claims

1. A wirelessly operated cantilever platform system, characterized in that: It includes a cantilever support, a cantilever support control system, a wireless communication remote controller and a cloud platform. The cantilever bracket has three rotating joints, namely joint 1, joint 2 and joint 3, the three rotating joints are connected by connecting rods, and the connecting rod of joint 3 is provided with a clamping claw for clamping the insulating rod; Each rotating joint uses a joint motor, namely joint motor 1, joint motor 2 and joint motor 3, and the rotation axes of each joint motor are parallel to each other; An angle sensor for detecting the rotation angle and a torque sensor for detecting the torsional force of the joint are installed at each rotating joint; The three joint motors and the corresponding angle sensors and torque sensors are respectively connected to the cantilever support control system. The cantilever support control system is connected to the cloud platform via a wireless communication remote controller, and the cloud platform is connected to the display terminal.

2. A wireless operation cantilever platform system according to claim 1, characterized in that: The cantilever support control system includes a main control board 1, a motor controller and a motor driver. The main control board 1 uses the STM32 single-chip computer 1 as the main control module, including an A / D conversion module, a serial port module, and a LoRa communication module. The serial port module in the main control board 1 is connected to the motor driver through the motor controller, and the motor driver is connected to the joint motor; The A / D conversion module in the main control board 1 is connected to the angle sensor and the torque sensor.

3. A wireless operation cantilever platform system according to claim 2, characterized in that: The wireless communication remote controller includes a main control board 2 and two dual-axis button joysticks, the two dual-axis button joysticks are joystick 1 and joystick 2, The main control board 2 uses an STM32 single-chip microcomputer 2 as the main control module, including an A / D conversion module, a serial port module, a LoRa communication module and an ESP-8266WiFi transmission module. The A / D conversion module in the main control board 2 is connected to the rocker 1 and the rocker 2, wherein the rocker 1 is used to control the up and down and left and right spatial positions of the joint 3, and the rocker 2 is used to control the rotation direction of the joint motor 3; The LoRa communication module in the wireless communication remote controller is remotely connected to the LoRa communication module in the cantilever support control system. The ESP-8266WiFi transmission module is connected to the cloud platform.

4. A wireless operation cantilever platform system according to claim 3, characterized in that: The rotation angles of the joint motors 1 and 2 of the cantilever bracket are automatically adjusted based on the spatial position of the joint 3; In the cantilever support forward kinematics, let f(θ) be the joint angle vector θ = [θ1θ2] T The spatial pose vector of joint 3 is X d , in, The relationship between the position (x, y) of joint 3 and the joint angles θ1 and θ2 is as follows: x=l1cosθ1+l2cos(θ1+θ2) y=l1 sinθ1+l2 sin(θ1+θ2) The partial derivative matrix J of the positive kinematics function f(θ) with respect to the joint angle is: Adjust the position of joint 3 by wireless communication remote control to (x d ,y d ), the initial joint angle vector is According to the Newton-Raphson iteration formula θ k+1 =θ k -J -1 (θ k )(f(θ k )-X d ) Update the joint angle vector so that The obtained θ k+1 is the desired joint angle solution; where, θ k is the joint angle vector of the kth iteration; θ k+1 is the joint angle vector of the k+1th iteration; f(θ k ) is the function of the joint angle vector θ after the kth iteration; f(θ k+1 ) is the function of the joint angle vector θ after the k+1th iteration; f i (θ k+1 ) is the i-th component of the calculated pose vector of joint 3; X di is the i-th component of the desired pose of joint 3; n is the pose vector X d Dimensions; c is the Euclidean norm, l1 is the length of the connecting rod between joint 1 and joint 2, l2 is the length of the connecting rod between joint 2 and joint 3, θ1 is the rotation angle of joint motor 1, and θ2 is the rotation angle of joint motor 2.

5. A wireless operation cantilever platform system according to claim 4, characterized in that: The dual-axis button joystick includes two 10K potentiometers, and the two potentiometers output the corresponding analog voltage values ​​on the X and Y axes respectively according to the twisting angle; Connect the two ends of the potentiometer corresponding to the X-axis and Y-axis of the dual-axis button joystick to a stable power supply voltage and ground respectively to form a voltage divider circuit, and connect the middle tap to the GPIO channel interface of the A / D conversion module of the main control board 2.

6. A wireless operation cantilever platform system according to claim 5, characterized in that: Assume that the STM32 MCU 2 continuously samples the dual-axis joystick output voltage values ​​N times, and the values ​​are v1, v2, ... v N , remove the maximum value v max and the minimum value v min , the arithmetic mean of the remaining N-2 data is the output value y(n) after filtering, that is, The y(n) output value is used as the voltage output of the X-axis and Y-axis of the dual-axis joystick.

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