Platform regulation control system and regulation method

Abstract

The invention relates to a platform adjustment control system and a regulation method, the platform adjustment control system comprises a working telescopic rod, support telescopic rods and a control bin, the control bin is fixedly arranged at the top of the working telescopic rod, and a plurality of support telescopic rods are arranged around a console and hinged to the top of the console; a main control module is arranged in the control bin. The working telescopic rod and the support telescopic rod are electrically connected with the main control module. A posture detection module used for detecting the posture of the control bin is further arranged in the control bin, and the posture detection module is electrically connected with the main control module. According to the invention, the working telescopic rod is supported by the bracket telescopic rod, and the working telescopic rod carries surveying equipment to survey underground conditions, so that the underground operation efficiency of workers and the personal safety risk are reduced.

Description

Technical Field

[0001] The present invention relates to the field of surveying, and in particular to a platform regulating control system and a regulating method. Background Art

[0002] In the process of designing and constructing urban cable conduits, according to the requirements of power grid development, a method of building multiple conduits at one time is adopted to provide reserved channels for the subsequent laying of cable lines. After years of operation, these reserved cable conduit channels have incomplete or lost data, which leads to the need for preliminary exploration of them during the design of new cable lines, such as the size of the pipelines involved, the distribution status of existing cables, etc. The current preliminary exploration is carried out by artificial well opening measurement, that is, measurement is carried out after the cable well is drained. However, because the cable well has been in a closed state for a long time, there are potential risks of harmful gases and leakage of running cables in the cable well, which brings many difficulties to the cable well status survey, and also brings safety hazards to operators with weak safety signs, and even causes personal injury accidents to surveyors in serious cases.

[0003] In addition, the traditional manual exploration method requires the discharge of sewage in the cable well before exploration. Under the premise that cities have increasingly higher requirements for environmental protection, this work will become increasingly difficult to carry out. At the same time, the current time required for well opening and measurement is long (at least 4 hours or more), which also seriously affects the efficiency of cable well status exploration.

[0004] Therefore, a platform adjustment control system is now needed to survey the cable well to reduce the efficiency and personal safety risks of workers working underground. Summary of the invention

[0005] In view of this, the present invention aims to provide a platform adjustment control system and a control method to solve the problems in the prior art.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] The present invention provides a platform adjustment control system, comprising a working telescopic rod, a support telescopic rod and a control compartment, wherein the control compartment is fixedly arranged on the top of the working telescopic rod, and the support telescopic rod is hingedly arranged around the console and the top of the console;

[0008] A main control module is provided in the control compartment, and the working telescopic rod and the support telescopic rod are electrically connected to the main control module;

[0009] The control chamber is also provided with a posture detection module for detecting the posture of the control chamber, and the posture detection module is electrically connected to the main control module.

[0010] Furthermore, a pan-tilt servo is provided between the control compartment and the working telescopic rod, and the pan-tilt servo is used to control the horizontal rotation of the working telescopic rod, and the pan-tilt servo is electrically connected to the main control module.

[0011] Furthermore, at least three telescopic rods of the working bracket are provided.

[0012] The posture detection module is an MPU6050 posture sensor.

[0013] Furthermore, the main control module is vertically installed in the control compartment, and the posture detection module is inserted into the main control module through a 90° bent needle.

[0014] The present invention also provides a platform control method, which is used for the above-mentioned platform control system;

[0015] The platform control method comprises the following steps:

[0016] S1: Adjust the working telescopic rod to above the wellhead. After the working telescopic rod is retracted to the minimum value, place the support telescopic rod on the horizontal ground;

[0017] S2: The main control module issues a lifting command to the telescopic rod of the bracket;

[0018] S3: After the posture detection module obtains the lifting signal of the telescopic rod of the bracket, it continuously obtains the posture data of the control cabin;

[0019] S4: The main control module integrates the lifting signals of the telescopic rods of each support and the posture data of the control chamber and compares them with the initial state data of the detection module to determine and control the extension and contraction of the telescopic rods of each support to keep the control chamber horizontal.

[0020] Furthermore, the telescopic rods of each support in S1 are expanded to all sides with the working telescopic rod as the center line to adapt to wellheads of different sizes.

[0021] Furthermore, in S1, the telescopic rods of the supports are raised to the highest position, and after working, the telescopic rods of the supports are retracted.

[0022] Furthermore, when determining in S4 whether the telescopic rods of each support are to be extended or contracted, they may be adjusted individually or simultaneously.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] In the present invention, the support telescopic rod supports the working telescopic rod, and the working telescopic rod carries the survey equipment to survey the underground conditions, thereby reducing the efficiency and personal safety risks of workers working underground.

[0025] In addition, when conducting surveys, the control cabin can be kept horizontal by adjusting the extension and retraction of the telescopic rod of the bracket, so that the working telescopic rod can be raised and lowered horizontally, further ensuring the stable progress of the survey work and preventing accidents or omissions in the survey. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the connection between the main control module and the attitude detection module, the support telescopic rod, the pan-tilt servo and the working telescopic rod of the present invention;

[0029] Figure 3 The platform control method of the present invention;

[0030] Figure 4 It is a partial circuit diagram of the main control module and the telescopic support and the working telescopic rod of the present invention;

[0031] Figure 5 This is another part of the circuit diagram of the control module and the telescopic support and the working telescopic rod of the present invention.

[0032] Description of reference numerals:

[0033] 1. Control compartment; 2. Working telescopic rod; 3. Bracket telescopic rod; 4. PTZ servo; 5. Strengthening bracket. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0035] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "back", etc. are based on the directions 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0036] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connected", and "connector" 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 an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0037] The following will refer to the attached Figure 1 to Figure 2 The present invention is described in detail with reference to embodiments.

[0038] Example 1

[0039] In general, this embodiment relates to a platform adjustment control system, which includes a working telescopic rod 2, a support telescopic rod 3 and a control compartment 1. The control compartment 1 is fixedly arranged on the top of the telescopic rod of the rod body. Multiple support telescopic rods 3 are hingedly arranged around the control console and the top thereof. The working telescopic rod 2 drives the detection equipment to detect inside the cable well, and the support telescopic rod 3 supports and fixes the working telescopic rod 2.

[0040] like Figure 1 to Figure 2 As shown, in addition, a main control module for control and adjustment is provided in the control chamber 1, and the working telescopic rod 2 and the support telescopic rod 3 are electrically connected to the main control module; a posture detection module for detecting the posture of the control chamber 1 is also provided in the control chamber 1, and the posture detection module is electrically connected to the main control module. It should be further explained that, since the hole of the control chamber 1 is arranged above the working telescopic rod 2 and is on the same central axis as the working telescopic rod 2, the posture angle detection module detects whether the posture of the control chamber 1 is horizontal, which is also to detect whether the posture of the working telescopic rod 2 is horizontal.

[0041] In actual work, it is preferred that at least three telescopic rods 3 of the bracket are provided so as to maintain stability. Of course, the number may also be determined according to actual conditions and is not further limited here.

[0042] like Figure 1 As shown, preferably, in order to facilitate the stability between the overall working telescopic rod 2 and each bracket telescopic rod 3, a reinforcing bracket 5 is provided in this embodiment, one end of the reinforcing bracket 5 is hinged to the working telescopic rod 2 and the other end is hinged to the working telescopic rod 2.

[0043] In this embodiment, the main control chip of the main control module selects the STM32F103C8T6 single-chip microcomputer, and the attitude detection module selects the MPU6050. The MPU6050 attitude sensor is a 6-axis motion processing unit (MPU) that integrates a three-axis accelerometer and a three-axis gyroscope. This sensor can provide information such as acceleration, angular velocity, and attitude angle (such as Euler angle or quaternion) of an object in real time through high-precision measurement and calculation. In order to ensure that the attitude detection module remains horizontal during specific installation, the attitude detection module is inserted into the circuit board of the control board through a 90° bent pin.

[0044] The working principle of MPU6050 is mainly based on the following two core components:

[0045] 1. Three-axis accelerometer: An accelerometer is used to measure the acceleration of an object in three axes (X, Y, and Z). When the object is stationary, the accelerometer mainly measures the acceleration due to gravity, and this information can be used to determine the object's tilt angle.

[0046] 2. Three-axis gyroscope: A gyroscope is used to measure the angular velocity (angular rate) of an object's rotation around three axes. The gyroscope is very sensitive to rotation, so it can accurately measure the rotation angle and angular velocity of an object.

[0047] The MPU6050 is also equipped with a digital motion processor (DMP), which can automatically perform complex motion analysis and gesture tracking algorithms. This makes the device easier to use and provides more intuitive information to the user.

[0048] It should be noted that when working, according to different work requirements, a camera, sonar, ranging sensor and other equipment are installed at the end of the working telescopic rod 2, and the working telescopic rod 2 drives the well downward to detect the well, completing the survey of the cable well without the need for workers to go down the well. This greatly reduces the efficiency and personal safety risks of workers working underground.

[0049] like Figure 1 As shown, as a preferred embodiment, a pan-tilt servo 4 is further provided between the control compartment 1 and the working telescopic rod 2, and the pan-tilt servo 4 is used to control the horizontal rotation of the working telescopic rod 2, and the pan-tilt servo 4 is electrically connected to the main control module. When performing well detection, a rotation command can be issued through the main control module, so that the pan-tilt servo 4 drives the working telescopic rod 2 to rotate, thereby realizing 360° no-dead-angle survey in the well.

[0050] It should be further explained that, when working, it is necessary to ensure that the working telescopic rod 2 is horizontal, so the telescopic rod 3 of the bracket needs to be adjusted by extension, and the specific adjustment length of the extension depends on the actual situation.

[0051] It should be further explained that the main control module adjusts the support telescopic rod 3 and the working telescopic rod 2 as follows: Figure 4 and Figure 5 As shown, the control of each telescopic rod includes power supply and switching. The main control chip controls the power supply through MOTOREN and controls the switching through MOTORDIR.

[0052] When MOTORDIR is at a low level, transistor Q2 is turned off, optocoupler U8 is turned off, the voltage on MOTORDIRX is +24V, reversing relay U2 is not closed, COM terminal is connected to NC terminal, that is, pin 3 is connected to pin 2, pin 6 is connected to pin 7, MOTOR+ on telescopic rod interface P7 is connected to MOTORVCC, and MOTOR- is connected to GND. When the power supply relay is closed, MOTOR+ on telescopic rod interface P7 is connected to +24V, MOTOR- is connected to GND, and the telescopic rod is extended. When MOTORDIR is at a high level, transistor Q2 is turned on, optocoupler U8 is turned on, the voltage on MOTORDIRX is 0V, reversing relay U2 is closed, COM terminal is connected to NO terminal, that is, pin 3 is connected to pin 4, pin 6 is connected to pin 5, MOTOR+ on telescopic rod interface P7 is connected to GND, and MOTOR- is connected to MOTORVCC. When the power supply relay is closed, MOTOR+ on the telescopic rod interface P7 is connected to GND, MOTOR- is connected to +24V, and the telescopic rod retracts.

[0053] When MOTOREN is at a low level, transistor Q7 is turned off, optocoupler U11 is turned off, the voltage on MOTORENX is +24V, power supply relay U4 is not closed, pins 3 and 4 are not connected, and MOTORVCC is not connected to +24V. When MOTOREN is at a high level, transistor Q7 is turned on, optocoupler U11 is turned on, the voltage on MOTOREN is 0V, power supply relay U4 is closed, pins 3 and 4 are connected, and MOTORVCC is connected to +24V.

[0054] In order to reduce the overvoltage amplitude formed by the relay coil when the relay is disconnected, a freewheeling diode is connected in parallel to each relay coil to achieve freewheeling of the coil current.

[0055] Embodiment 2

[0056] This embodiment proposes a platform control method based on the implementation, and the control method is applicable to a platform adjustment control system involved in the first embodiment.

[0057] like Figure 3 As shown, the platform control method includes the following steps:

[0058] S1: Adjust the working telescopic rod 2 to above the wellhead, and after the working telescopic rod 2 is retracted to the minimum value, place the support telescopic rod 3 on the horizontal ground; each support telescopic rod 3 is spread out in all directions with the working telescopic rod 2 as the center line to adapt to the wellheads of different sizes. The support telescopic rod 3 is raised to the highest position, and each support telescopic rod 3 is retracted after working, so that the installation of the survey equipment at the end of the working telescopic rod 2 is convenient.

[0059] S2: The main control module issues a lifting command to the bracket telescopic rod 3;

[0060] S3: After the posture detection module obtains the lifting signal of the telescopic rod 3 of the support, it continuously obtains the posture data of the control cabin 1;

[0061] S4: The main control module integrates the lifting signals of each support telescopic rod 3 and the posture data of the control chamber 1 and compares them with the initial state data of the detection module, and determines and controls the extension and contraction of each support telescopic rod to keep the control chamber 1 horizontal. When determining the extension and contraction adjustment of each support telescopic rod 3, it can be adjusted individually or simultaneously, depending on the actual situation on site.

[0062] In summary, through the platform control method, the posture of the control cabin 1 can be maintained horizontal, and the horizontal lifting and lowering of the working telescopic rod 2 can be achieved, which further ensures the stable progress of the survey work and prevents accidents or omissions in the survey.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A platform adjustment control system, characterized in that: It includes a working telescopic rod, a support telescopic rod and a control compartment, wherein the control compartment is fixedly arranged on the top of the working telescopic rod, and a plurality of support telescopic rods are hingedly arranged around the console and the top of the console; A main control module is provided in the control compartment, and the working telescopic rod and the support telescopic rod are electrically connected to the main control module; The control chamber is also provided with a posture detection module for detecting the posture of the control chamber, and the posture detection module is electrically connected to the main control module.

2. A platform adjustment control system according to claim 1, characterized in that: A pan-tilt servo is also provided between the control compartment and the working telescopic rod. The pan-tilt servo is used to control the horizontal rotation of the working telescopic rod. The pan-tilt servo is electrically connected to the main control module.

3. A platform adjustment control system according to claim 1, characterized in that: At least three telescopic rods of the working support are provided.

4. A platform adjustment control system according to claim 1, characterized in that: The posture detection module is an MPU6050 posture sensor.

5. A platform adjustment control system according to claim 1, characterized in that: The main control module is vertically installed in the control compartment, and the posture detection module is inserted into the main control module through a 90° bent needle.

6. A platform control method, characterized in that: The control method is used for a platform control system as claimed in any one of claims 1 to 5; The platform control method comprises the following steps: S1: Adjust the working telescopic rod to above the wellhead; S2: The main control module issues a lifting command to the telescopic rod of the bracket; S3: After the posture detection module obtains the lifting signal of the telescopic rod of the bracket, it continuously obtains the posture data of the control cabin; S4: The main control module integrates the lifting and lowering signals of the telescopic rods of each support and the posture data of the control chamber and compares them with the initial state data of the detection module, and determines and controls the extension and contraction of the telescopic rods of each support to keep the control chamber horizontal.

7. A platform control method according to claim 6, characterized in that: The telescopic rods of each bracket in S1 are expanded to the surrounding areas with the working telescopic rod as the center line to adapt to wellheads of different sizes.

8. A platform control method according to claim 6, characterized in that: In S1, the telescopic rods of the brackets are raised to the highest position, and the telescopic rods of the brackets are retracted after working.

9. A platform control method according to claim 6, characterized in that: In S1, after the working telescopic rod is retracted to the minimum position, the support telescopic rod is placed on the horizontal ground.

10. A platform control method according to claim 6, characterized in that: When determining in S4 that the telescopic rods of each support are to be extended and contracted, they can be adjusted individually or simultaneously.

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