A control method and system for a track robot and an improved track robot

Abstract

The present invention discloses a control method and system for a track robot, and an improved track robot, relating to the field of robot control technology. The method comprises: obtaining and calculating in real time the desired travel speed of the improved track robot and the desired output torque of the improved track robot's motor based on the improved track robot's current travel state, current track conditions, and current load conditions; and controlling the improved track robot's motor to output the desired output torque so that the improved track robot reaches the desired travel speed. The present invention can adjust the travel speed of the improved track robot in real time based on the improved track robot's current travel state, current track conditions, and current load conditions, effectively preventing slippage, ensuring stable operation of the track robot, and avoiding safety hazards.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a control method and system for a track robot and an improved track robot. Background Art

[0002] Track robots are widely used in industrial automation, inspection, and monitoring. However, in actual operation, slippage often occurs due to factors such as the track surface material, humidity, and the robot's internal structure. This can lead to unstable operation, 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 existing technology and specifically provide a control method and system for a track robot and an improved track robot, as follows:

[0004] 1) In a first aspect, the present invention provides a control method for a rail robot, the specific technical solution of which 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 based on 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 condition and current load condition 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] Based on the above solution, the control method of a track robot of the present invention can be further 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] Furthermore, 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] Based on 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 solution is that it can determine in real time whether the improved track robot has a 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-mentioned further scheme are: on the one hand, by designing the balance, anti-slip wheel set, and adaptive tightening structure of the track robot, 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, further reducing the risk of slipping.

[0018] 2) In a second aspect, the present invention further provides a control system for a rail robot, the specific technical solution of which 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 based on the current travel state, current track condition and current load condition of the improved track robot;

[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 reaches a desired travel speed.

[0022] On the basis of the above solution, the control system of a track robot of the present invention can be further improved as follows.

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

[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, a skidding risk judgment module is included, 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] Based on 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, which is a track robot with optimized structure design, wherein the optimized structure design includes at least one of a balance 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 coupled to a memory, wherein the memory stores at least one computer program, and the at least one computer program is 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, which implements any of the above-mentioned control methods for the rail robot when the computer program is executed by a processor.

[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 1 is a 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 structural diagram of a control system of a rail robot according to an embodiment of the present invention;

[0036] Figure 4 The figure is a schematic structural diagram 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 following describes in detail the technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems using 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 following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, a control method of a rail robot according to an embodiment of the present invention includes 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 based on 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] An intelligent speed control algorithm dynamically adjusts the robot's speed and output torque based on the robot's current state, track conditions, and load. When slippage is detected, the robot's speed is reduced to prevent it. During stable operation, the speed is gradually increased to maintain optimal movement efficiency.

[0043] RFID tags are pre-set on different sections of the track, and the speed V0 and acceleration time T0 are set for each section. For example, horizontal sections, uphill sections, downhill sections, and turning sections; that is, the track conditions are divided into uphill sections, downhill sections, and turning sections. A safe driving mode is set inside the improved track robot. Specifically, the motor output speed is appropriately increased on uphill sections, slowed down on downhill sections, slowed down on turning sections, and maintained at a certain speed on horizontal sections. 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. The expected output torque of the improved track robot's motor under different sections, different loads, and different expected travel speeds can be determined. Then:

[0044] The expected travel speed of the improved track robot and the expected output torque of the motor of the improved track robot are obtained and calculated 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. 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 compared with the real-time data (current actual travel speed, current track conditions and current load conditions) through the pre-set driving mode. 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 travel state of the improved track robot on the track is finally achieved.

[0046] Optionally, in the above technical solution, the following is further included:

[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] The robot integrates high-precision odometers, accelerometers, gyroscopes, and other sensors to monitor and improve the robot's trajectory and posture in real time. If a deviation from the planned trajectory is detected, a correction algorithm is immediately activated to adjust the wheel speed to correct the deviation, ensuring the robot always stays on the correct odometer trajectory.

[0049] By improving the track robot's odometer to obtain the on-track moving distance, and at the same time using the accelerometer and gyroscope to make judgments, statistical detection is performed to determine whether the improved track robot bounces up and down while on track, as well as sudden acceleration and deceleration, to ensure that the travel distance obtained by the odometer is the data obtained when the wheel set is closely fitted to the track.

[0050] For example, by improving the process of the track robot accelerating from the initial velocity 0 to the velocity V1, the displacement S1 can be calculated using the accelerometer, S1 = V O T+aT1 2 / 2,V O Indicates the initial speed of the improved track robot, 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] Comparing the deviation between the on-track moving distance S and the predetermined moving distance, and using the RFID tags on the track to assist in judgment, the correction algorithm is activated and the deviation is corrected by adjusting the wheel speed. This can make the operation of the improved track robot more accurate. Specifically:

[0052] The speed adjustment strategy is designed based on the deviation between the on-orbit moving distance S and the predetermined moving distance. Generally, the larger the deviation, the larger the speed adjustment needs to be. The speed adjustment strategy is obtained as follows:

[0053] Based on the deviation between the on-track travel distance S and the predetermined travel distance, the speed adjustment required for each wheel is calculated. The calculated speed adjustment is applied to the corresponding wheel to correct the deviation.

[0054] Optionally, in the above technical solution, the following is further included:

[0055] S4. Real-time monitoring and calculation of an angular velocity variation error of the improved track robot based on the rotation information of the wheels of the improved track robot;

[0056] S5. Determine whether the improved track robot has a slip risk 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 travel speed, the angular velocity ω of the wheel will be synchronously returned. According to the expected output torque of the motor of the improved track robot under different road sections, different loads and different expected travel speeds, the expected angular velocity ω' of the wheel can be calculated. ω-ω' is used 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, where V=ω×r, and r is the radius of the wheel. 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 slip is detected, and there's a clear discrepancy between the actual wheel data and the sensor's return value, the system immediately detects the discrepancy and initiates a compensation mechanism. This system compensates for slip in real time by adjusting the motor's output torque, altering the robot's trajectory, or reducing its speed, ensuring stable and accurate robot operation. This is achieved by controlling the servo and setting appropriate motor parameters, including acceleration and deceleration times and current limits. This ensures smooth transitions during motor startup, acceleration, deceleration, and stopping, minimizing 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: balance design, anti-slip wheel set design, adaptive abutment structure design, and track cleaning device design, as follows:

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

[0063] 2) Anti-slip Wheel Design: Wheels with an anti-slip structure are designed. The wheel surface is made of a high-friction material, such as rubber or polyurethane. Micro-textures or grooves are machined into the wheel tread to increase friction between the wheel and the track surface. In addition, an adjustable pressure device can be used to adjust the wheel pressure according to the material and conditions of the track, further enhancing the anti-slip effect.

[0064] Typically, springs beneath the two track motors help the wheels clamp to the track. However, this invention incorporates a screw within the springs, and uses a stepper motor to automatically adjust the spring tension, thereby varying the wheel-rail pressure and increasing or decreasing friction. If the robot control algorithm indicates motor slippage, the stepper motor automatically tightens the spring, increasing friction. If the algorithm determines the equipment is operating normally and at a high speed, the stepper motor returns to its normal position, further reducing the wheel-rail pressure. This device offers automatic, intelligent adjustment, adapting to more complex track environments than a single spring.

[0065] 3) Adaptive Clamping Structure Design: An adaptive clamping structure, consisting of an elastic element and a linkage, is installed on the wheel mounting frame. As the track robot moves, the elastic element drives the linkage, causing the wheels to automatically adapt to the track surface. This ensures a tight fit between the wheels and the track, maintaining good contact even on slightly tilted or vibrating tracks, improving adhesion and effectively preventing slippage.

[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 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 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 provided at both ends of the improved track robot, and have an adjustable height function, which can not only clean foreign objects but also avoid causing wear to the track and itself.

[0069] Optionally, in the above technical solution, the following is further included:

[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 of the road are intercepted from the video;

[0071] A plurality of marking positions are set along the outer contour of the improved track robot, 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] All video frames are the same size. The same two-dimensional coordinate system is established on the plane where each video frame is located, and the coordinates of each marker position in each video frame can be obtained;

[0073] Each sub-video is further divided into multiple sub-video segments. 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 marker 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 marker 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 can be specifically achieved 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 marker position in each video frame of each sub-video, a third function between the x-axis coordinate and the y-axis coordinate of each marker 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. Based on 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-slip performance: By optimizing the wheel design, adding an adaptive clamping structure, and improving the track surface treatment, the friction between the robot wheels and the track is significantly increased, effectively solving the slip 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 overall operating 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] This invention achieves effective prevention and real-time handling of wheel slip by optimizing the rail robot's structural design, increasing friction, adjusting motor parameters, and introducing intelligent detection and compensation mechanisms. This solution not only improves the rail robot's stability and operational efficiency in various complex environments, but also reduces the accuracy degradation and safety risks caused by slip, resulting in 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 scope of protection 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 calculation 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 based on the current travel state, current track condition and current load condition of the improved track robot;

[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 configured to:

[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, the above technical solution further includes a skidding risk judgment module, which 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] Based on 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, and will not be repeated here. In addition, when implementing its functions, the system provided in the above embodiment is only illustrated by the division of the above functional modules. In actual 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. The specific implementation process is detailed in the method embodiment and will not be repeated 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 described in the embodiments of the present invention may be implemented in software or hardware, and the name of a module does not necessarily limit the module itself.

[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, an electronic device according to an embodiment of the present invention may include, but is not limited to, a processor and a memory; the memory is used to store the computer program; and the processor is used to execute the method for controlling a rail robot shown in any embodiment of the present invention by calling the 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, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data exchange 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 number of transceivers 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 the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. 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, and the like.

[0099] Bus 4002 may include a path for transmitting information between the above components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. 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 may 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 compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0101] The memory 4003 is used to store application code (computer program) for executing the solution of the present invention, and 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 smartphone, 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 limit 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, which implements any of the above-mentioned control methods for a rail robot when executed by a processor.

[0105] Alternatively, 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, or the like.

[0106] In an exemplary embodiment, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform any of the aforementioned methods for controlling a rail 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 stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the 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 flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for implementing 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 different order than the order 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 flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0109] The computer-readable storage medium provided in the embodiments 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 can be used by or in combination 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 merely a preferred embodiment of the present invention and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present invention.

[0112] It should be noted that the terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects and to define a specific order or precedence. Where appropriate, the order used for similar objects may be interchanged, such 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 will appreciate that the present invention may be implemented as a system, method, or computer program product. Therefore, the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or in a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the present invention may be implemented in the form of a computer program product embodied in one or more computer-readable media containing computer-readable program code.

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

Claims

1. A control method for a track robot, characterized in that: include: Obtaining and calculating in real time based on the current travel state, current track condition, and current load condition of the improved track robot an expected travel speed of the improved track robot and an expected output torque of a motor of the improved track robot; controlling the motor of the improved track robot to output the desired output torque so that the improved track robot reaches the desired travel speed; 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 of the road are intercepted from the video; Setting a plurality of marker positions along the outer contour of the improved track robot, and identifying the marker positions from each video frame in each sub-video; All video frames have the same size. The same two-dimensional coordinate system is established on the plane where each video frame is located to obtain the coordinates of each marker position in each video frame. Further dividing each sub-video into multiple sub-video segments; Using the coordinates of each marker 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 marker position in each sub-video segment; Fitting the first function corresponding to each marked position of each sub-video segment of each sub-video to obtain a second function corresponding to each marked position of each sub-video segment of each sub-video; Using the coordinates of each marker position in each video frame of each sub-video, fitting a third function between the x-axis coordinate and the y-axis coordinate of each marker position in each sub-video; Using an integral method or a kernel method, the similarity of the second function and the third function corresponding to each marked position is calculated to obtain the similarity corresponding to each marked position. When all similarities are higher than a preset similarity threshold, it is determined that there is no abnormality in the movement process of the improved track robot. If there is a similarity less than the preset similarity threshold, it is determined 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. It is then determined that there is an abnormality in the movement process of the improved track robot, and the marked position where the abnormality occurs is determined based on the second function corresponding to the similarity less than the preset similarity threshold.

2. The control method of 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; Whether the improved track robot has a slip risk is determined based on the angular velocity variation error.

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 based on the current travel state, current track condition and current load condition of the improved track robot; 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; 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 of the road are intercepted from the video; Setting a plurality of marker positions along the outer contour of the improved track robot, and identifying the marker positions from each video frame in each sub-video; All video frames have the same size. The same two-dimensional coordinate system is established on the plane where each video frame is located to obtain the coordinates of each marker position in each video frame. Further dividing each sub-video into multiple sub-video segments; Using the coordinates of each marker 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 marker position in each sub-video segment; Fitting the first function corresponding to each marked position of each sub-video segment of each sub-video to obtain a second function corresponding to each marked position of each sub-video segment of each sub-video; Using the coordinates of each marker position in each video frame of each sub-video, fitting a third function between the x-axis coordinate and the y-axis coordinate of each marker position in each sub-video; Using an integral method or a kernel method, the similarity of the second function and the third function corresponding to each marked position is calculated to obtain the similarity corresponding to each marked position. When all similarities are higher than a preset similarity threshold, it is determined that there is no abnormality in the movement process of the improved track robot. If there is a similarity less than the preset similarity threshold, it is determined 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. It is then determined that there is an abnormality in the movement process of the improved track robot, and the marked position where the abnormality occurs is determined based on the second function corresponding to the similarity less than the preset similarity threshold.

6. The control system of a rail robot according to claim 5, characterized in that: The control module is further configured to: 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. The control system of a rail robot according to claim 5, characterized in that: The system further 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; Whether the improved track robot has a slip risk is determined based on the angular velocity variation error.

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 abutment 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 when the processor executes the computer program, a control method for a rail robot according to any one of claims 1 to 4 is implemented.

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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