Control method and system of rail robot and improved rail robot

Abstract

The invention discloses a control method and system of a rail robot and an improved rail robot, and relates to the technical field of robot control. The method comprises the steps that the current advancing state, the current rail condition and the current load condition of the improved rail robot are obtained; the expected advancing speed of the improved orbit robot and the expected output torque of a motor of the improved orbit robot are obtained through real-time calculation; and controlling a motor of the improved orbital robot to output the expected output torque, so that the improved orbital robot reaches the expected advancing speed. According to the method, the advancing speed of the improved rail robot can be adjusted in real time according to the current advancing state, the current rail condition and the current load condition of the improved rail robot, the slipping phenomenon can be effectively prevented, stable operation of the rail robot is guaranteed, and potential safety hazards are avoided.

Description

Background Art

[0002] Track robots are widely used in industrial automation, inspection and monitoring, etc. However, in actual operation, due to the influence of various factors such as track surface material, humidity, robot's own structure, etc., slippage often occurs, resulting in unstable operation of track robots, reduced accuracy, and even safety accidents. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide a control method and system for a track robot and an improved track robot, which are as follows:

[0004] 1) In the first aspect, the present invention provides a control method for a rail robot, and the specific technical solution is as follows:

[0005] Obtaining and calculating in real time the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot according to the current travel state of the improved track robot, the current track condition and the current load condition;

[0006] The motor of the improved track robot is controlled to output a desired output torque so that the improved track robot reaches a desired traveling speed.

[0007] The beneficial effects of the control method of a track robot provided by the present invention are as follows:

[0008] The traveling speed of the improved track robot can be adjusted in real time according to the current traveling state, current track conditions and current load conditions of the improved track robot, which can effectively prevent the occurrence of slipping, ensure the stable operation of the track robot and avoid safety hazards.

[0009] On the basis of the above scheme, the control method of a track robot of the present invention can also be improved as follows.

[0010] Furthermore, it also includes:

[0011] The on-orbit moving distance of the improved track robot is monitored in real time, and the deviation between the monitored on-orbit moving distance and the predetermined moving distance of the improved track robot is calculated. When the deviation exceeds a preset deviation threshold, the trajectory of the improved track robot is corrected.

[0012] The beneficial effect of adopting the above further solution is that the trajectory of the improved track robot can be corrected in real time, thereby ensuring the accuracy of the movement of the improved track robot.

[0013] Further, the angular velocity variation error of the improved track robot is calculated based on the rotation information of the wheels of the improved track robot in real time monitoring;

[0014] According to the angular velocity change error, it is determined whether the improved track robot has the risk of slipping.

[0015] The beneficial effect of adopting the above further scheme is that it can determine in real time whether the improved track robot has the risk of slipping. If there is a risk of slipping, it can be handled in time to effectively prevent slipping.

[0016] Furthermore, the improved track robot is a track robot after structural optimization design, and the structural optimization design includes at least one of: balance design, anti-slip wheel set design, adaptive tightening structure design and track cleaning device design.

[0017] The beneficial effects of adopting the above further scheme are: on the one hand, by balancing the track robot, designing anti-slip wheels, and designing an adaptive clamping structure, the risk of slipping can be effectively reduced; on the other hand, by designing a track cleaning device, oil and particulate matter on the track can be removed, thereby ensuring the cleanliness of the track, and increasing friction to further reduce the risk of slipping.

[0018] 2) In the second aspect, the present invention also provides a control system for a track robot, and the specific technical solution is as follows:

[0019] including a calculation module and a control module;

[0020] The calculation module is used to: obtain and calculate in real time the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot according to the current travel state of the improved track robot, the current track condition and the current load condition;

[0021] The control module is used to control the motor of the improved track robot to output a desired output torque so that the improved track robot can reach a desired travel speed.

[0022] On the basis of the above scheme, the control system of a rail robot of the present invention can also be improved as follows.

[0023] Furthermore, the control module is also used for:

[0024] The on-orbit moving distance of the improved track robot is monitored in real time, and the deviation between the monitored on-orbit moving distance and the predetermined moving distance of the improved track robot is calculated. When the deviation exceeds a preset deviation threshold, the trajectory of the improved track robot is corrected.

[0025] Furthermore, it also includes a skidding risk judgment module, which is used to:

[0026] Real-time monitoring and calculation of the angular velocity variation error of the improved track robot based on the rotation information of the wheels of the improved track robot;

[0027] According to the angular velocity change error, it is determined whether the improved track robot has the risk of slipping.

[0028] 3) In a third aspect, the present invention further provides an improved track robot, the improved track robot being: a track robot after structural optimization design, the structural optimization design comprising: at least one of a balancing design, an anti-slip wheel set design, an adaptive tightening structure design and a track cleaning device design.

[0029] 4) In a fourth aspect, the present invention further provides an electronic device, comprising a processor, the processor being coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor so that the electronic device implements any of the above-mentioned control methods for the rail robot.

[0030] 5) In a fifth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, any of the above-mentioned control methods for the rail robot is implemented.

[0031] It should be noted that the beneficial effects achieved by the technical solutions of the second to fifth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments of the present invention:

[0033] Figure 1 A schematic flow chart of a control method for a rail robot according to an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the structure of the wheel set for improving the track robot;

[0035] Figure 3 This is a schematic diagram of the structure of a control system of a rail robot according to an embodiment of the present invention;

[0036] Figure 4 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, a control method of a track robot according to an embodiment of the present invention comprises the following steps:

[0040] S1, obtaining and calculating in real time the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot according to the current travel state, current track condition and current load condition of the improved track robot;

[0041] S2. Control the motor of the improved track robot to output a desired output torque so that the improved track robot reaches a desired travel speed.

[0042] The intelligent speed control algorithm is used to dynamically adjust the travel speed and output torque according to the current travel state of the improved track robot, the current track conditions and the current load conditions. When a slipping trend is detected, the speed is reduced in time to avoid slipping; during stable operation, the speed can be gradually increased to maintain the best moving efficiency.

[0043] RFID tags are set on different sections of the track in advance, and the speed V0 and acceleration time T0 of each section are set. For example, horizontal sections, uphill sections, downhill sections and turning sections, etc.; that is, the track conditions are divided into uphill sections, downhill sections and turning sections, etc., and a safe driving mode is set inside the improved track robot. Specifically, in the uphill section, the motor output speed is appropriately increased, the speed is reduced in the downhill section, the speed is reduced in the turning section, and a certain speed is maintained in the horizontal section. The expected travel speed of the improved track robot corresponding to each horizontal section, uphill section, downhill section and turning section is set. There is a relationship between the expected travel speed of different sections, the current track conditions and the current load conditions and the output torque of the motor, which can determine the expected output torque of the motor of the improved track robot under different sections, different loads and different expected travel speeds. Then:

[0044] By acquiring and calculating the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot based on the current travel state, current track condition and current load condition of the improved track robot, the expected travel speed is compared with the actual travel speed to obtain the travel speed difference, and the expected output torque of the motor is compared with the actual output torque to obtain the output torque difference, and an intelligent speed control algorithm such as a PID algorithm is used for adjustment to control the motor of the improved track robot to output the expected output torque, so that the improved track robot reaches the expected travel speed.

[0045] At the same time, the rail pressure, current acceleration and current wheel speed of the improved track robot are obtained in real time, and the pre-set driving mode is compared with the real-time data (current actual travel speed, current track conditions and current load conditions). If they are different, it means that the wheels have an idling tendency; by comparing the acceleration within a preset time period and using the RFID tags on the track for auxiliary judgment, the optimal on-track travel state of the improved track robot is finally achieved.

[0046] Optionally, in the above technical solution, it also includes:

[0047] S3. Monitor the on-orbit moving distance of the improved track robot in real time, and calculate the deviation between the monitored on-orbit moving distance and the predetermined moving distance of the improved track robot. When the deviation exceeds a preset deviation threshold, perform trajectory correction on the improved track robot.

[0048] Integrate high-precision odometers, accelerometers, gyroscopes and other sensors to monitor and improve the track robot's motion trajectory and posture in real time. Once a deviation from the predetermined trajectory is detected, the correction algorithm is immediately activated to correct the deviation by adjusting the wheel speed to ensure that the robot is always on the correct odometer trajectory.

[0049] The on-orbit moving distance is obtained by improving the odometer of the track robot. At the same time, it is judged by the accelerometer and gyroscope. Statistics are detected to see whether the improved track robot bounces up and down while on track, as well as sudden acceleration and deceleration. This ensures that the travel distance obtained by the odometer is the data obtained when the wheel group fits closely to the track.

[0050] For example, by improving the process of the track robot accelerating from an initial velocity of 0 to a velocity of V1, the displacement S1 can be calculated using an accelerometer, S1 = V O T+aT1 2 / 2,V O represents the initial speed of the improved track robot, and a represents the acceleration; when the improved track robot is running at a constant speed V1, the forward distance S2 can be calculated, S2 = V1T2; in the deceleration stage, the moving distance S3 can be calculated, S3 = V1T3-aT32 / 2, so the on-track moving distance S of the improved track robot is the sum of S1, S2 and S3.

[0051] Compare the deviation between the on-track moving distance S and the predetermined moving distance, use the RFID tags on the track to assist in judgment, start the correction algorithm, and correct the deviation by adjusting the wheel speed, so that the operation of the improved track robot can be more accurate. Specifically:

[0052] According to the deviation between the on-track moving distance S and the predetermined moving distance, a speed adjustment strategy is designed. Generally, the larger the deviation, the larger the speed that needs to be adjusted. The process of obtaining the speed adjustment strategy is as follows:

[0053] According to the deviation between the on-track moving distance S and the predetermined moving distance, the speed adjustment amount of each wheel that needs to be adjusted is calculated. The calculated speed adjustment amount is applied to the corresponding wheel to correct the deviation.

[0054] Optionally, in the above technical solution, it also includes:

[0055] S4, real-time monitoring and calculating the angular velocity change error of the improved track robot according to the rotation information of the wheels of the improved track robot;

[0056] S5. Determine whether the improved track robot has a risk of slipping based on the angular velocity change error.

[0057] The rotation information includes the angular velocity ω of the wheel. Specifically, when the motor of the improved track robot returns to the traveling speed, the angular velocity ω of the wheel will be returned synchronously. According to the expected output torque of the motor of the improved track robot under different road sections, different loads and different expected traveling speeds, the expected angular velocity ω' of the wheel can be calculated. ω-ω' is taken as the angular velocity change error between the angular velocity ω of the wheel and the expected angular velocity ω' of the wheel. When the angular velocity change error is greater than 0, it is determined that the improved track robot has a risk of slipping. If the angular velocity change error is not greater than 0, it is determined that the improved track robot has no risk of slipping.

[0058] In another embodiment, the rotation speed V of the wheel can be obtained, V=ω×r, r is the radius of the wheel, and if the rotation speed V is greater than the travel speed of the improved track robot, it is determined that the improved track robot has a risk of slipping.

[0059] When it is determined that the improved track robot has a risk of slipping, the emergency response mechanism is immediately activated, including measures such as reducing speed and wheel output torque, to quickly eliminate the risk of slipping.

[0060] When slippage is detected, there is a clear difference between the actual wheel data and the value returned by the sensor, and the compensation mechanism is immediately judged and started. By adjusting the output torque of the motor, changing the robot's motion trajectory or reducing the running speed, the slippage is compensated in real time to ensure that the robot can run stably and accurately. Specifically, by controlling the servo and setting reasonable motor parameters, including acceleration and deceleration time, current limit, etc., the motor can smoothly transition during the start, acceleration, deceleration and stop process, reducing wheel slippage caused by sudden acceleration or deceleration.

[0061] Optionally, in the above technical solution, the improved track robot is a track robot after structural optimization design, and the structural optimization design includes: at least one of a balance design, an anti-slip wheel set design, an adaptive tight structure design, and a track cleaning device design, which are as follows:

[0062] 1) Balance design: Adjust the center of gravity of the rail robot to ensure and improve the stability of the rail robot during operation. By rationally arranging the components and loads inside the rail robot, the center of gravity of the improved rail robot is as close to the support point of the wheel as possible, reducing the uneven force and slippage of the wheel caused by the center of gravity offset.

[0063] 2) Anti-skid wheel design: The wheels are designed with anti-skid structure. The wheel surface is made of high friction coefficient materials, such as rubber or polyurethane, and fine textures or grooves are processed on the wheel surface to increase the friction between the wheel surface and the track surface. In addition, there is an adjustable pressure device to adjust the wheel pressure according to the material and conditions of different tracks to further enhance the anti-skid effect.

[0064] There are usually springs under the two motors of the track to assist the wheels in clamping the track. The present invention adopts the method of adding a screw rod inside the spring, and automatically adjusting the spring tension through the stepper motor, thereby changing the pressure of the wheel set on the track and increasing or reducing the friction against the track. When the robot control algorithm feedback motor slippage, the stepper motor automatically tightens the spring to increase friction. When the robot control algorithm determines that the equipment is operating normally and at a faster speed, the stepper motor recovers, thereby reducing the pressure of the wheel set on the track. This device is automatic and intelligently adjusted, and is more adaptable to more complex track environments than a single spring.

[0065] 3) Adaptive abutment structure design: An adaptive abutment structure is set on the wheel assembly mounting frame, which includes an elastic element and a connecting rod mechanism. When the track robot moves, the elastic element drives the connecting rod mechanism to make the wheel automatically adapt to the track surface, ensuring that the wheel fits tightly with the track, and can maintain good contact even on a slightly tilted or vibrating track, thereby improving adhesion and effectively preventing slipping.

[0066] like Figure 2As shown, the wheel group of the improved track robot adopts a completely symmetrical structure on the left and right. The wheel group marked with 1 in the figure is the load-bearing wheel, and its main function is to meet the load-bearing requirements of the improved track robot when hanging on the rail; the wheel group marked with 2 in the figure is the tensioning wheel, and the load-bearing wheel 1 and the tensioning wheel 2 are connected by a pneumatic connecting rod to maintain the spacing between the wheel groups and the pressure on the rail, so that the improved track robot cannot slip on the track; at the same time, there is a pressure sensor behind the load-bearing wheel 1, which can detect and read the load condition of the entire machine on the track.

[0067] 4) Track cleaning device design: A track cleaning device is installed on the track robot. The device includes a cleaning brush and a foreign matter shovel, which can remove oil and particulate matter on the track, thereby cleaning the track and increasing friction.

[0068] Moreover, brushes capable of high-speed rotation are respectively arranged at both ends of the improved track robot, and have an adjustable height function, which can not only meet the requirements of cleaning foreign objects, but also meet the requirements of not causing wear to the track and itself.

[0069] Optionally, in the above technical solution, it also includes:

[0070] During the movement of the improved track robot, a moving video of the improved track robot is obtained, and sub-videos of the improved track robot at different sections are intercepted from the video;

[0071] A plurality of marking positions are set along the outer contour of the improved track robot, and the marking positions can be set according to actual conditions, and the marking positions are identified from each video frame in each sub-video;

[0072] The sizes of all video frames are the same. The same two-dimensional coordinate system is established on the plane where each video frame is located, and the coordinates of each marked position in each video frame can be obtained;

[0073] Each sub-video is further divided into multiple sub-video segments, and the number of video frames in each sub-video segment can be 30 frames, etc., which can be set according to actual conditions.

[0074] Using the coordinates of each marked position in each video frame of each sub-video segment, fitting a first function between the x-axis coordinate and the y-axis coordinate of each marked position in each sub-video segment;

[0075] Fitting the first function corresponding to each marked position of each sub-video segment of each sub-video, which may be implemented by a linear regression method or a polynomial regression method, to obtain a second function corresponding to each marked position of each sub-video segment of each sub-video;

[0076] Using the coordinates of each marked position in each video frame of each sub-video, a third function between the x-axis coordinate and the y-axis coordinate of each marked position in each sub-video is fitted.

[0077] By using an integral method or a kernel method, the second function and the third function corresponding to each marking position are calculated to perform similarity calculation to obtain the similarity corresponding to each marking position. When all similarities are higher than a preset similarity threshold, it is determined that there is no abnormality in the movement of the improved track robot. If there is a similarity less than the preset similarity threshold, it means that there is abnormal data in the second function corresponding to the similarity less than the preset similarity threshold, so that the second function cannot be consistent with the third function. In this case, it is determined that there is an abnormality in the movement of the improved track robot. According to the second function corresponding to the similarity less than the preset similarity threshold, the marking position where the abnormality occurs can be determined, so as to facilitate maintenance and other operations on the marking position.

[0078] The beneficial effects of the present invention are as follows:

[0079] 1) Significantly improved anti-skid performance: By optimizing the wheel set design, adding an adaptive clamping structure and improving the track surface treatment, the friction between the robot wheels and the track is significantly improved, effectively solving the slipping problem.

[0080] 2) Improve movement efficiency and stability: The application of intelligent speed control algorithm and trajectory correction algorithm enables the robot to maintain a stable travel speed and accurate trajectory control under various working conditions, thereby improving the overall operation efficiency.

[0081] 3) Enhanced safety and reliability: The addition of slip warning and emergency response mechanisms further improves the safety and reliability of the robot and reduces the risk of safety accidents caused by slipping.

[0082] The present invention achieves effective prevention and real-time processing of wheel slippage by optimizing the structural design of the rail robot, increasing friction, adjusting motor parameters, and introducing intelligent detection and compensation mechanisms. This solution not only improves the stability and operating efficiency of the rail robot in various complex environments, but also reduces the accuracy drop and safety risks caused by slippage, and has significant technical and economic benefits.

[0083] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0084] like Figure 3 As shown, a control system 200 of a rail robot according to an embodiment of the present invention includes a computing module 201 and a control module 202;

[0085] The calculation module 201 is used to: obtain and calculate in real time the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot according to the current travel state of the improved track robot, the current track condition and the current load condition;

[0086] The control module 202 is used to control the motor of the improved track robot to output a desired output torque so that the improved track robot reaches a desired travel speed.

[0087] Optionally, in the above technical solution, the control module 202 is further used for:

[0088] The on-orbit moving distance of the improved track robot is monitored in real time, and the deviation between the monitored on-orbit moving distance and the predetermined moving distance of the improved track robot is calculated. When the deviation exceeds a preset deviation threshold, the trajectory of the improved track robot is corrected.

[0089] Optionally, in the above technical solution, a skidding risk judgment module is further included, and the skidding risk judgment module is used to:

[0090] Real-time monitoring and calculation of the angular velocity variation error of the improved track robot based on the rotation information of the wheels of the improved track robot;

[0091] According to the angular velocity change error, it is determined whether the improved track robot has the risk of slipping.

[0092] It should be noted that the beneficial effects of the control system 200 of a rail robot provided in the above embodiment are the same as the beneficial effects of the control method of a rail robot provided in the above embodiment, which will not be described in detail here. In addition, when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0093] Among them, the control system of the rail robot of the present invention can be a computer program (including program code) running in a computer device. For example, the control system of the rail robot of the present invention is an application software that can be used to execute the corresponding steps in the control method of the rail robot of the present invention.

[0094] In some embodiments, the control system of the rail robot of the present invention can be implemented by a combination of software and hardware. As an example, the control system of the rail robot of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the control method of the rail robot of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0095] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0096] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned methods for controlling a rail robot is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing a method for controlling a rail robot shown in any embodiment of the present invention by calling a computer program.

[0097] In an alternative embodiment, an electronic device is provided, such as Figure 4 As shown, Figure 4 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0098] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0099] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0100] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0101] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0102] Among them, the electronic device can also be a terminal device, and the terminal device can be any device that can install applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0103] It should be noted that Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0104] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned control methods for a rail robot is implemented.

[0105] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0106] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes any of the above-mentioned control methods of a track robot.

[0107] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0108] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0109] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0110] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0111] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0112] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0113] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0114] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for a rail robot, characterized in that: include: Acquire and calculate in real time the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot according to the current travel state, current track condition and current load condition of the improved track robot; The motor of the improved track robot is controlled to output the desired output torque, so that the improved track robot reaches the desired travel speed.

2. A control method for a rail robot according to claim 1, characterized in that: Also includes: The on-track moving distance of the improved track robot is monitored in real time, and the deviation between the monitored on-track moving distance and the predetermined moving distance of the improved track robot is calculated. When the deviation exceeds a preset deviation threshold, the trajectory of the improved track robot is corrected.

3. The control method of a rail robot according to claim 1, characterized in that: Also includes: Real-time monitoring and calculation of the angular velocity variation error of the improved track robot based on the rotation information of the wheels of the improved track robot; According to the angular velocity variation error, it is determined whether the improved track robot has a risk of slipping.

4. A control method for a rail robot according to any one of claims 1 to 3, characterized in that: The improved track robot is a track robot after structural optimization design, and the structural optimization design includes at least one of: balance design, anti-slip wheel set design, adaptive tightening structure design and track cleaning device design.

5. A control system for a rail robot, characterized in that: including a calculation module and a control module; The calculation module is used to: obtain and calculate in real time the expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot according to the current travel state of the improved track robot, the current track condition and the current load condition; The control module is used to control the motor of the improved track robot to output the desired output torque so that the improved track robot reaches the desired travel speed.

6. A control system for a rail robot according to claim 5, characterized in that: The control module is also used for: The on-track moving distance of the improved track robot is monitored in real time, and the deviation between the monitored on-track moving distance and the predetermined moving distance of the improved track robot is calculated. When the deviation exceeds a preset deviation threshold, the trajectory of the improved track robot is corrected.

7. A control system for a rail robot according to claim 5, characterized in that: The system also includes a skidding risk judgment module, which is used to: Real-time monitoring and calculation of the angular velocity variation error of the improved track robot based on the rotation information of the wheels of the improved track robot; According to the angular velocity variation error, it is determined whether the improved track robot has a risk of slipping.

8. An improved track robot, characterized in that: The improved track robot is a track robot after structural optimization design, wherein the structural optimization design includes at least one of a balance design, an anti-slip wheel set design, an adaptive tight structure design and a track cleaning device design.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements a control method for a rail robot as claimed in any one of claims 1 to 4 when executing the computer program.

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 control method of a rail robot according to any one of claims 1 to 4 is implemented.

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