PLC manipulator intelligent control method for electric energy meter detection and computer readable storage medium

Abstract

The invention provides a PLC mechanical arm intelligent control method for electric energy meter detection, and relates to the technical field of automatic control. Position information, speed, current, voltage and electromagnetic field intensity data of a mechanical arm are collected in real time; calculating a path weight based on the data, and selecting an optimal motion path of the manipulator according to the path weight; monitoring the electromagnetic field change on the optimal motion path in real time, calculating the dynamic correction of the path, and updating the weight of the path according to the dynamic correction; the electromagnetic force borne by the manipulator is calculated, and the track offset of the manipulator is calculated according to the electromagnetic force; and the motion track of the manipulator is corrected in real time according to the track offset, and motion parameters of the manipulator are adjusted through a PLC control system. The technical problem that a traditional fixed path control method lacks dynamic adjustment capability in a complex electromagnetic environment and is easy to deviate from a predetermined track is effectively solved, and the detection precision and reliability of the electric energy meter are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a PLC manipulator intelligent control method for electric energy meter detection and a computer-readable storage medium. Background Art

[0002] In modern power systems, the accuracy and reliability of electric energy meters, as key equipment for measuring power consumption, are of great significance to power metering, user charges and the stable operation of power systems. With the rapid development of smart grids, the functions of electric energy meters are becoming increasingly complex. They must not only be able to accurately measure electric energy, but also have multiple functions such as communication, storage and anti-theft. Therefore, the quality requirements for electric energy meters in the design, production and testing links are becoming increasingly higher. Among them, electromagnetic compatibility testing (EMC) is a key link to ensure the stable operation of electric energy meters in various electromagnetic environments.

[0003] At present, in order to improve the efficiency of electric energy meter detection, automated detection technology has been widely used in the detection process. In particular, PLC (Programmable Logic Controller), as the core of industrial automation control, is widely used to control actuators such as manipulators to complete electric energy meter detection tasks. However, in the electromagnetic compatibility test environment, due to the existence of complex electromagnetic field interference, traditional manipulator control systems face severe challenges.

[0004] The manipulator control method in the prior art mainly relies on a preset fixed path for motion control. This method has the following technical problems: first, the manipulator lacks dynamic adjustment capabilities and cannot adjust the motion path according to real-time changes in the electromagnetic environment. It is easily disturbed and deviates from the predetermined trajectory; second, the control system cannot respond to instantaneous changes in the electromagnetic field in real time, making it difficult to ensure the accuracy of the manipulator when performing detection tasks; third, in a complex electromagnetic environment, the motion trajectory of the manipulator is easily disturbed and offset, affecting the detection quality of the electric energy meter, resulting in poor reliability of the detection results. These problems seriously restrict the automation level of electric energy meter detection and the improvement of detection efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a PLC manipulator intelligent control method and a computer-readable storage medium for electric energy meter detection, so as to realize high-precision control of the manipulator in a complex electromagnetic environment and ensure the stability and reliability of the electric energy meter detection process.

[0006] To achieve the above object, the present invention is implemented through the following technical solutions: A PLC manipulator intelligent control method for electric energy meter detection comprises the following steps: S1: Collect the position information, speed, current, voltage and electromagnetic field strength of the manipulator; S2: Calculating a path weight based on the data, and selecting an optimal motion path of the manipulator according to the path weight; S3: monitoring the electromagnetic field changes on the optimal motion path in real time, calculating the path dynamic correction amount, and updating the path weight according to the dynamic correction amount; S4: when the manipulator moves along the optimal path, calculating the electromagnetic force exerted on the manipulator, and calculating the trajectory deviation of the manipulator according to the electromagnetic force; S5: Correcting the motion trajectory of the manipulator in real time according to the trajectory offset, and adjusting the motion parameters of the manipulator through a PLC control system.

[0007] Further: In step S2, the calculation formula of the path weight is:

[0008] in, is the path weight, is the spatial coordinate of the manipulator at the current moment, is the spatial coordinate of the manipulator's target position, For the robot at the moment t The speed of the robot is used to evaluate the movement efficiency of the robot by dividing the distance from the current position to the target position by the speed; d is the adjustment coefficient, which is used to control the influence of electromagnetic field intensity and robot working state on path weight; is the electromagnetic field strength, is the current, is the voltage, i is the correction coefficient, which is used to adjust the impact of trajectory changes on path weight; is the position trajectory of the robot; The dynamic fluctuation of the robot trajectory is described by the time rate of change of the trajectory.

[0009] Further: In step S3, the calculation formula of the dynamic correction amount is:

[0010] in, is the dynamic correction of the path, It represents the rate of change of electromagnetic field strength. Indicates the working status of the robot. is the coefficient for adjusting the path correction, is the rate of change of the robot position.

[0011] Further: in step S4, the calculation formula of the electromagnetic force is:

[0012] in, It is the force of the electromagnetic field on the manipulator, that is, the electromagnetic force on the manipulator; is the magnetic field coupling coefficient, which controls the contribution of magnetic field strength to the electromagnetic force; is the electric field coupling coefficient, which controls the contribution of the electric field strength to the electromagnetic force; is the amount of charge in the manipulator; is the magnetic field strength; It is the speed of light; is the electric field strength to which the manipulator is subjected in the entire space; is the angular frequency of the electromagnetic wave.

[0013] Further: in step S4, the calculation formula of the trajectory offset is:

[0014] in, is the trajectory offset of the robot, is the mass of the robot, is the adjustment coefficient of trajectory correction, which controls the influence of electromagnetic force on trajectory correction; is the initial phase, used to adjust the time offset of trajectory correction.

[0015] Further: after step S5, step S6 is also included: collecting multi-dimensional data detected by the electric energy meter, and performing standardization processing on the multi-dimensional data to obtain a standardized value , judge whether the electromagnetic compatibility of the electric energy meter is passed according to the standardized value.

[0016] Furthermore: the step S5 further comprises fusing the standardized values ​​into a determination function:

[0017] in, It is the comprehensive judgment result after fusion; is the number of data dimensions; is the weight of each dimension data; It is the parameter that controls the slope of the nonlinear curve of the fusion process; It is the balance point of data fusion; is the sinusoidal regulation coefficient; is the sinusoidal modulation frequency.

[0018] Furthermore: the step S5 also includes: With preset threshold For comparison, Greater than When , it is determined that the electromagnetic compatibility test of the electric energy meter has passed.

[0019] Further: in the step S5, the calculation formula for correcting the motion trajectory of the manipulator is:

[0020] in, is the corrected manipulator position, is the current robot position, is the offset direction.

[0021] The present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned PLC manipulator intelligent control method for electric energy meter detection are implemented.

[0022] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention collects key parameters such as the manipulator's spatial coordinates, speed, current, voltage, and electromagnetic field strength in real time, and calculates the path weight based on these parameters to ensure that the manipulator can automatically select the optimal motion path; at the same time, according to the changes in the electromagnetic field and the working status of the manipulator, the path dynamic correction amount is calculated in real time and the path weight is updated, so that the manipulator can adaptively adjust the motion trajectory in a complex electromagnetic environment, effectively overcoming the technical problem of the traditional fixed path control method lacking dynamic adjustment capability.

[0023] Second, the present invention can calculate the force of the electromagnetic field on the manipulator in real time by establishing an electromagnetic force calculation model, and calculate the trajectory offset based on the force, thereby correcting the motion trajectory of the manipulator in real time. This trajectory correction mechanism based on electromagnetic force enables the manipulator to adjust its motion state in time when it is subject to electromagnetic interference and maintain its established motion trajectory, effectively solving the technical problem that the manipulator is prone to deviate from the predetermined trajectory in a complex electromagnetic environment.

[0024] 3. The present invention uses a PLC control system to perform closed-loop control on the motion parameters of the manipulator, and adjusts the speed and acceleration of the manipulator in real time by comparing the actual position of the manipulator with the target position, ensuring that the manipulator can operate stably in an electromagnetic interference environment. This intelligent control method significantly improves the detection accuracy and reliability of the manipulator in a complex electromagnetic environment, overcoming the technical problem of poor reliability of detection results in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the steps of a PLC manipulator intelligent control method for electric energy meter detection in an embodiment of the present invention; Figure 2 The present invention is a schematic flow chart of the steps of a PLC manipulator intelligent control method for electric energy meter detection in another embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0028] like Figure 1 As shown: A PLC manipulator intelligent control method for electric energy meter detection includes the following steps: S1: Collect the position information, speed, current, voltage and electromagnetic field strength of the manipulator; Among them, the current position and target position of the manipulator are collected in real time through position sensors (such as laser ranging sensors, inertial navigation systems, etc.), and the coordinates reflect the specific position of the manipulator in the three-dimensional workspace. The speed of the manipulator is measured in real time through the built-in motion controller or speed sensor. The current and voltage of the manipulator are collected by the current sensor and the voltage sensor respectively to reflect the working status of the manipulator. Especially in the electromagnetic interference environment, the changes in current and voltage can help determine whether the manipulator is working stably or whether it is subject to external electromagnetic interference. The electromagnetic field sensor installed around the manipulator obtains the electromagnetic field strength of the environment in which the manipulator is located in real time, reflecting the level of electromagnetic interference in the environment. By collecting the electromagnetic field strength, the interference situation on the path can be evaluated in real time, and then the path selection can be optimized and interference regulation can be performed. The motion trajectory of the manipulator is collected through the built-in inertial sensor, and the trajectory change rate of the manipulator is recorded in real time. The trajectory change rate reflects the stability and deviation degree of the manipulator on the current path, which is an important basis for subsequent correction of path deviation and maintenance of manipulator stability.

[0029] S2: Calculating a path weight based on the data, and selecting an optimal motion path of the manipulator according to the path weight; It should be noted that in the electromagnetic compatibility test scenario, the robot needs to perform operations in different spatial areas, and different spatial areas may have different electromagnetic field strengths and working conditions. Therefore, it is necessary to divide different spatial areas, each of which is a level, and calculate the path weight separately. express.

[0030] Specifically, the level Indicates the different spatial positions that the robot may pass through in the working area. Each level With different electromagnetic field strengths, different environmental interference parameters and different manipulator working conditions, by calculating the path weights for each level, the optimal moving path of the manipulator in different spatial areas can be selected.

[0031] All collected data are used as the input of path weight. Path weight is a comprehensive parameter that reflects the motion cost of the manipulator at different levels, trajectory changes and the influence of the electromagnetic environment.

[0032] In one embodiment, in step S2, the calculation formula of the path weight is:

[0033] in, is the path weight, is the spatial coordinate of the manipulator at the current moment, is the spatial coordinate of the manipulator's target position, For the robot at the moment t The speed of the robot is used to evaluate the movement efficiency of the robot by dividing the distance from the current position to the target position by the speed; d is the adjustment coefficient, which is used to control the influence of electromagnetic field intensity and robot working state on path weight; is the electromagnetic field strength, is the current, is the voltage, i is the correction coefficient, which is used to adjust the impact of trajectory changes on path weight; is the position trajectory of the robot; The dynamic fluctuation of the robot trajectory is described by the time rate of change of the trajectory.

[0034] The calculation of path weight provides a basis for initial path selection, and the current optimal path is selected based on the path weight. The formula for initial path selection is as follows:

[0035] in, It is the current moment The optimal path hierarchy is the path with the smallest weight; is the number of levels. However, the electromagnetic field strength and the working state of the manipulator will change over time, so the initial path selection is only a static result and the path needs to be further adjusted according to the real-time environment.

[0036] S3: monitoring the electromagnetic field changes on the optimal motion path in real time, calculating the path dynamic correction amount, and updating the path weight according to the dynamic correction amount; It should be noted that after the path selection is completed, the manipulator will move along the new optimal path. During the movement, the manipulator will inevitably be affected by the local electromagnetic force, which is not only related to the electromagnetic environment on the path, but also to specific factors such as the manipulator's speed, charge, and magnetic field. At this time, the path has been determined, but the actual movement of the manipulator may still be affected by the instantaneous electromagnetic force, so trajectory correction becomes necessary.

[0037] The technical purpose of trajectory correction is not to change the overall path, but to fine-tune the instantaneous deviation of the robot as it moves along a predetermined path; since the influence of electromagnetic force on the robot is dynamic and instantaneous, the robot may deviate from the predetermined path due to the influence of electromagnetic force.

[0038] During the path correction process, the changes in the electromagnetic field on the path are monitored in real time, especially the time rate of change of the electromagnetic field intensity. The dynamic correction amount of the path is calculated by calculating the changes in the electromagnetic field on the path and the working status (current and voltage) of the manipulator.

[0039] In another example, the dynamic correction amount is calculated as follows:

[0040] in, is the dynamic correction of the path, It represents the rate of change of electromagnetic field strength. Indicates the working status of the robot. is the coefficient for adjusting the path correction, is the rate of change of the robot position.

[0041] The path is adjusted according to the calculated dynamic correction amount, and the adjusted path weight is:

[0042] in, is the path weight after dynamic correction. After adjustment, the weights of all paths are re-evaluated, and the current optimal path is selected again based on the latest weight:

[0043] in, The path selection is not only based on the initial environment data, but also dynamically adjusts the path according to the changes in the real-time environment to ensure that the robot always moves along the optimal path.

[0044] S4: when the manipulator moves along the optimal path, calculating the electromagnetic force exerted on the manipulator, and calculating the trajectory deviation of the manipulator according to the electromagnetic force; When the manipulator moves along the adjusted path, the influence of the electromagnetic field on the manipulator is manifested through electromagnetic force. In another embodiment, the calculation formula of the electromagnetic force is:

[0045] in, It is the force of the electromagnetic field on the manipulator, that is, the electromagnetic force on the manipulator; is the magnetic field coupling coefficient, which controls the contribution of magnetic field strength to the electromagnetic force; is the electric field coupling coefficient, which controls the contribution of the electric field strength to the electromagnetic force; is the amount of charge in the manipulator; is the magnetic field strength; It is the speed of light; is the electric field strength to which the manipulator is subjected in the entire space; is the angular frequency of the electromagnetic wave.

[0046] The ratio of the manipulator speed to the speed of light reflects the influence of the relativistic effect. As the speed approaches the speed of light, the relativistic effect becomes significant, so it is necessary to introduce The calculated electromagnetic force will be used to adjust the trajectory of the robot to ensure its stable operation in an electromagnetic interference environment.

[0047] In another embodiment, the calculation formula of the trajectory offset is:

[0048] in, is the trajectory offset of the robot, is the mass of the robot, is the adjustment coefficient of trajectory correction, which controls the influence of electromagnetic force on trajectory correction; is the initial phase, used to adjust the time offset of trajectory correction.

[0049] The motion trajectory of the robot is adjusted through electromagnetic force, ensuring that the robot can automatically correct its path and maintain the optimal trajectory when it is subject to electromagnetic interference.

[0050] S5: Correcting the motion trajectory of the manipulator in real time according to the trajectory offset, and adjusting the motion parameters of the manipulator through a PLC control system.

[0051] Among them, the PLC control system monitors the current position of the manipulator in real time through the position sensor on the manipulator (such as a laser rangefinder or an optical encoder), compares the current position data with the target position on the theoretical trajectory, and calculates the difference between the actual position of the manipulator at the current time point t and the preset target position based on the current position of the manipulator and the target trajectory position; normalizes the difference vector to obtain a unit vector; divides the difference in each coordinate direction by the unit vector to obtain a normalized direction vector, that is, the offset direction of the current position of the manipulator relative to the target position.

[0052] Project the trajectory offset to the offset direction to correct the displacement of the robot:

[0053] in, is the corrected manipulator position, is the current robot position, is the offset direction.

[0054] The movement of the robot is driven by the PLC control system through an actuator (such as a servo motor or a stepper motor). The PLC control system , calculate the updated speed and acceleration information, and generate new control signals to the actuator. For example, the PD or PID controller adjusts the speed and acceleration to ensure that the robot moves along the new corrected trajectory. The PLC system calculates the error between the robot and the corrected target position in real time through the controller to ensure that the robot's motion trajectory can follow the corrected trajectory.

[0055] In another embodiment, the present invention further comprises step S6: collecting multi-dimensional data detected by the electric energy meter, and performing standardization processing on the multi-dimensional data to obtain a standardized value , judge whether the electromagnetic compatibility of the electric energy meter is passed according to the standardized value.

[0056] Specifically, after the manipulator completes the path adjustment and trajectory correction, it enters the data fusion stage of the electromagnetic compatibility test. Collect test data of multiple dimensions, including current, voltage, electromagnetic field strength and temperature, and unify them into a judgment standard through data fusion technology; first, standardize the data of each dimension, and the standardization process specifically adopts minimum-maximum standardization to obtain the standardized value , Represents the dimensional ordinal number of the data; through standardization, all data can be compared and integrated at the same scale.

[0057] The standardized data is integrated into a decision function, and the integration formula is:

[0058] in, It is the comprehensive judgment result after fusion; is the number of data dimensions; is the weight of each dimension data, indicating its influence on the final result; It is the parameter that controls the slope of the nonlinear curve of the fusion process; It is the balance point of data fusion, indicating the reference point of data within the standardized range; is the sinusoidal adjustment coefficient, which controls the fluctuation effect of periodic data; It is the sinusoidal modulation frequency, which indicates the periodic change frequency in the data. Through the fusion formula, the data of all dimensions are integrated into a unified judgment result to ensure the accuracy and reliability of the test results.

[0059] Finally, the result With the preset threshold Compare and automatically determine whether the electric energy meter has passed the electromagnetic compatibility test. If the test fails, the test passes; otherwise, the test is considered unqualified and a detailed report is generated, indicating the specific reasons for the test failure.

[0060] The intelligent control method of the PLC manipulator for electric energy meter detection proposed in the present invention is mainly based on real-time perception and adaptive control. The method continuously collects the operation status of the manipulator through multiple sensors, including using laser ranging or inertial navigation to obtain spatial position information, measuring movement speed through speed sensors, monitoring working status using current and voltage sensors, and collecting environmental electromagnetic field strength through electromagnetic field sensors.

[0061] Based on the collected data, the system builds a complete adaptive control mechanism. At the path level, the path weight is calculated by comprehensively considering multiple factors such as spatial distance, speed, and electromagnetic environment to achieve dynamic selection of the optimal motion path. At the trajectory control level, the robot movement is closed-loop controlled by combining the PLC system through real-time calculation of electromagnetic force and trajectory offset. At the detection and evaluation level, a data fusion algorithm is used to process multi-dimensional detection data to achieve intelligent judgment of detection results.

[0062] This multi-level intelligent control mechanism effectively solves the problem of the lack of dynamic adjustment capability of the traditional fixed path control method, enabling the manipulator to adaptively adjust the motion path according to the real-time electromagnetic environment. At the same time, through precise electromagnetic force compensation and trajectory correction, the problem of the manipulator easily deviating from the trajectory in the electromagnetic interference environment is overcome, ensuring the motion accuracy. In addition, the use of closed-loop control and data fusion methods significantly improves the reliability of detection results in complex electromagnetic environments.

[0063] This intelligent control method not only improves the automation level and efficiency of electricity meter detection, but also provides an effective solution for other application scenarios that require precise control in strong electromagnetic environments.

[0064] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A PLC manipulator intelligent control method for electric energy meter detection, characterized in that: The following steps are involved: S1: Collect the position information, speed, current, voltage and electromagnetic field strength data of the manipulator; S2: Calculating a path weight based on the data, and selecting an optimal motion path of the manipulator according to the path weight; S3: monitoring the electromagnetic field changes on the optimal motion path in real time, calculating the path dynamic correction amount, and updating the path weight according to the dynamic correction amount; S4: when the manipulator moves along the optimal path, calculating the electromagnetic force exerted on the manipulator, and calculating the trajectory deviation of the manipulator according to the electromagnetic force; S5: Correcting the motion trajectory of the manipulator in real time according to the trajectory offset, and adjusting the motion parameters of the manipulator through a PLC control system.

2. According to claim 1, a PLC manipulator intelligent control method for electric energy meter detection is characterized in that: In step S2, the calculation formula of the path weight is: in, is the path weight, is the spatial coordinate of the manipulator at the current moment, is the spatial coordinate of the manipulator's target position, For the robot at the moment t speed, δ is the adjustment coefficient, is the electromagnetic field strength, is the current, is the voltage, θ is the correction factor, is the position trajectory of the robot; is the dynamic fluctuation of the robot trajectory.

3. The PLC manipulator intelligent control method for electric energy meter detection according to claim 1 is characterized in that: In step S3, the calculation formula of the dynamic correction amount is: in, is the dynamic correction of the path, It represents the rate of change of electromagnetic field strength. Indicates the working status of the robot. is the coefficient for adjusting the path correction, is the rate of change of the robot position.

4. The PLC manipulator intelligent control method for electric energy meter detection according to claim 1 is characterized in that: In step S4, the calculation formula of the electromagnetic force is: in, is the force exerted by the electromagnetic field on the manipulator; is the magnetic field coupling coefficient; is the electric field coupling coefficient; is the amount of charge in the manipulator; is the magnetic field strength; It is the speed of light; is the electric field strength to which the manipulator is subjected in the entire space; is the angular frequency of the electromagnetic wave.

5. The PLC manipulator intelligent control method for electric energy meter detection according to claim 1 is characterized in that: In step S4, the calculation formula of the trajectory offset is: in, is the trajectory offset of the robot, is the mass of the robot, is the adjustment coefficient of trajectory correction, which controls the influence of electromagnetic force on trajectory correction; is the initial phase, used to adjust the time offset of trajectory correction.

6. The PLC manipulator intelligent control method for electric energy meter detection according to claim 1 is characterized in that: The step S5 also includes a step S6: collecting multi-dimensional data detected by the electric energy meter, and performing standardization processing on the multi-dimensional data to obtain a standardized value , judge whether the electromagnetic compatibility of the electric energy meter is passed according to the standardized value.

7. A PLC manipulator intelligent control method for electric energy meter detection according to claim 6, characterized in that: The step S6 also includes fusing the standardized values ​​into a decision function: in, It is the comprehensive judgment result after fusion; is the number of data dimensions; is the weight of each dimension data; It is the parameter that controls the slope of the nonlinear curve of the fusion process; It is the balance point of data fusion; is the sinusoidal regulation coefficient; is the sinusoidal modulation frequency.

8. A PLC manipulator intelligent control method for electric energy meter detection according to claim 7, characterized in that: The step S6 also includes: With preset threshold For comparison, Greater than When , it is determined that the electromagnetic compatibility test of the electric energy meter has passed.

9. The PLC manipulator intelligent control method for electric energy meter detection according to claim 1 is characterized in that: In step S5, the calculation formula for correcting the motion trajectory of the manipulator is: in, is the corrected manipulator position, is the current robot position, is the offset direction.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the PLC manipulator intelligent control method for electric energy meter detection described in any one of claims 1 to 9 are implemented.

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