Control method, device and system for dual-motor-driven robot

Abstract

The invention provides a control method, device and system for a dual-motor-driven robot. The system comprises a main controller, a first servo driver, a second servo driver, a first motor, a second motor and a direct-current power source. The main controller is respectively connected with the first servo driver and the second servo driver through a communication bus; the first servo driver is connected with the first motor, and the second servo driver is connected with the second motor; the direct-current power supply is connected with the first servo driver and the second servo driver through direct-current lines respectively; the main controller is used for sending corresponding servo initialization signals and control signals to the first servo driver according to the received mode control signals and sending corresponding servo initialization signals and / or control signals to the second servo driver. According to the invention, stable operation, intelligent driving mode switching and real-time motor state monitoring of the inspection robot in a complex track environment are realized, and driver output is optimized through a self-adaptive control strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a control method, device and system for a dual-motor-driven robot. Background Art

[0002] With the advancement of coal mine intelligent work, various types of automated and intelligent equipment have been gradually introduced into the mine site to reduce the intensity of manual labor, improve production efficiency, and enhance the safety of mine operations at the same time. As a key tool for monitoring the operation status of underground equipment, fault warning and environmental detection, inspection robots are widely used in fully mechanized mining faces. However, due to the complex and changeable underground environment, the fully mechanized mining face is not a standard horizontal structure, but has obvious undulations and front-back misalignments. Therefore, the inspection robot tracks laid on the fully mechanized mining face have up-and-down slopes and V-shaped bends in the horizontal direction, making it a huge challenge for inspection robots to operate stably on underground tracks. Therefore, in order to ensure that the power system of the inspection robot has sufficient power redundancy and can adapt to different slopes and track shape changes, it has become a technical problem to be solved urgently in the design of inspection robots.

[0003] At present, inspection robots usually adopt single-motor-driven robots, which can operate normally when the track misalignment is small, but there are various limitations in the power output of the single-motor system when dealing with large undulating tracks and V-shaped bend tracks. First of all, since single-motor-driven robots use a large reduction ratio reducer to increase the rim torque, although the climbing ability can be enhanced, the power conversion efficiency of the robot during high-speed cruising is reduced, resulting in high energy consumption of the robot. Secondly, the power is distributed to the front and rear wheels through a chain, and torque fluctuations are likely to occur under certain working conditions. Once slipping occurs, it is difficult for the rear wheels to accumulate enough driving force through the low-speed mode, resulting in the robot continuously slipping and unable to move forward. Finally, during the climbing process, the current of the robot will increase significantly instantaneously. After the front wheel climbs to the next section of the track, due to the power output limitation of the motor, the rear wheels cannot provide enough climbing force, resulting in the robot stagnating. The above problems make the motor-driven robot have poor adaptability when dealing with large track misalignments, slope changes and complex working conditions, affecting the stability and reliability of the inspection robot in the mine environment.

[0004] This section aims to provide background or context for the embodiments of the present invention described in the claims. The description herein is not admitted to be prior art merely by including it in this section. Summary of the Invention

[0005] An embodiment of the present invention provides a dual-motor-driven robot control system, which is used to achieve the stable operation of the inspection robot in a complex track environment, intelligent drive mode switching, and real-time motor status monitoring, and optimize the output of the servo driver through an adaptive control strategy to ensure the accurate execution of the inspection task and the safety and reliability of the system. The dual-motor-driven robot control system includes: a main controller, a first servo driver, a second servo driver, a first motor, a second motor, and a DC power supply;

[0006] The main controller is respectively connected to the first servo driver and the second servo driver through a communication bus; the first servo driver is connected to the first motor, and the second servo driver is connected to the second motor; the DC power supply is respectively connected to the first servo driver and the second servo driver through a DC line;

[0007] The main controller is configured to send corresponding servo initialization signals and control signals to the first servo driver according to the received mode control signal, and send corresponding servo initialization signals and / or control signals to the second servo driver; the servo initialization signal includes a driver mode signal and a dynamic parameter signal, and the driver mode signal includes a speed mode signal and a torque mode signal.

[0008] In one embodiment, the mode control signal includes a dual-motor synchronous control signal, and the main controller is specifically configured to send the same servo initialization signal and control signal to the first servo driver and the second servo driver respectively.

[0009] In one embodiment, the servo initialization signal includes a first servo initialization signal and a second servo initialization signal, the mode control signal includes a single-motor free control signal, and the main controller is specifically configured to send the first servo initialization signal and control signal to the first servo driver, and send the second servo initialization signal to the second servo driver; the driving wheel corresponding to the first servo driver is in the same direction as the movement direction of the inspection robot; the dynamic parameter signal in the first servo initialization signal is the same as the dynamic parameter signal in the second servo initialization signal.

[0010] In one embodiment, the control signal includes a first control signal and a second control signal, the mode control signal includes a dual-motor hybrid control signal, and the main controller is specifically configured to send a speed mode signal and a first control signal to the first servo driver, and send a torque mode signal and a second control signal to the second servo driver; the rotational speed of the driving wheel of the first servo driver is less than the rotational speed of the driving wheel of the second servo driver.

[0011] In one embodiment, a locking switch is further provided on the DC line;

[0012] The locking switch is respectively connected to the first servo driver and the second servo driver, and in response to receiving the locking signal from the main controller, disconnects the power supply of the DC power supply to the first servo driver and the second servo driver.

[0013] In one embodiment, the main controller is further configured to send the locking signal to the locking switch in response to receiving the emergency docking and / or ramp parking signal of the inspection robot.

[0014] In one embodiment, the main controller includes a bus interface adaptation layer and a general bus device driver module.

[0015] The bus interface adaptation layer is provided with: a static communication handle for determining whether the communication port is activated, a mutex for locking the communication bus when the communication port is activated, and an IO resource identifier for calling the general bus device driver module to encode the servo initialization signal and the control signal in the data protocol format into control data in the bus protocol format.

[0016] The general bus device driver module is used to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format.

[0017] In one embodiment, the torque mode signal includes: a first torque mode signal and a second torque mode signal, and the main controller is specifically configured to send the first torque mode signal to the second servo driver, so that the second servo driver outputs different torque levels in sequence;

[0018] After the second servo driver outputs different torque levels in sequence, if the rotational speed difference between the two drive wheels is greater than the set threshold, the main controller is specifically configured to send the second torque mode signal to the second servo driver, so that the second servo driver reduces the torque level;

[0019] After the second servo driver reduces the torque level, if the rotational speed difference between the two drive wheels is greater than the set threshold, the main controller is specifically configured to send a speed mode signal to the second servo driver.

[0020] The embodiment of the present invention provides a control method for a dual-motor-driven robot, which is used to realize the stable operation, intelligent drive mode switching and real-time motor state monitoring of the inspection robot in a complex track environment, and optimize the output of the servo driver through an adaptive control strategy to ensure the accurate execution of the inspection task and the safety and reliability of the system. The control method for the dual-motor-driven robot includes:

[0021] Receiving the inspection task command sent by the upper computer;

[0022] Parse the inspection task command through the bus interface adaptation layer to generate a servo initialization signal and a control signal for the servo driver, and determine the target servo driver corresponding to the inspection task command;

[0023] Determine whether the communication port is activated through the static communication handle;

[0024] If the communication port is activated, lock the communication bus through a mutex;

[0025] Convert the servo initialization signal and the control signal into a data protocol format through the bus interface adaptation layer;

[0026] Call the general bus device driver module through the IO resource identifier to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format.

[0027] Transmit the control data to the target servo driver through the communication bus by calling the general bus device driver module, so that the target servo driver executes the inspection task command.

[0028] An embodiment of the present invention further provides a dual-motor drive robot control device, which is used to realize the stable operation of the inspection robot in a complex track environment, intelligent drive mode switching, and real-time motor state monitoring, and optimize the output of the servo driver through an adaptive control strategy to ensure the accurate execution of the inspection task and the safety and reliability of the system. The dual-motor drive robot control device includes:

[0029] A data receiving module, which is used to receive the inspection task command sent by the upper computer;

[0030] A signal generation module, which is used to parse the inspection task command through the bus interface adaptation layer to generate a servo initialization signal and a control signal for the servo driver, and determine the target servo driver corresponding to the inspection task command;

[0031] A port activation module, which is used to determine whether the communication port is activated through the static communication handle;

[0032] A bus locking module, which is used to lock the communication bus through a mutex if the communication port is activated;

[0033] A format conversion module, which is used to convert the servo initialization signal and the control signal into a data protocol format through the bus interface adaptation layer;

[0034] A data encoding module, which is used to call the general bus device driver module through the IO resource identifier to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format.

[0035] A data transmission module, configured to transmit the control data to the target servo driver through the communication bus by invoking the general bus device driver module, so that the target servo driver executes the inspection task command.

[0036] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned dual-motor-driven robot control method is implemented.

[0037] An embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned dual-motor-driven robot control method is implemented.

[0038] An embodiment of the present invention further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the above-mentioned dual-motor-driven robot control method is implemented.

[0039] The dual-motor-driven robot control method, device, and system provided by the embodiments of the present invention realize the stable driving and efficient inspection of the inspection robot in a complex track environment through the reasonable configuration of the main controller, servo driver, motor, and DC power supply. The dual-motor independent control architecture can provide better driving force distribution and stronger adaptability, improving the stability and safety of the inspection robot in the mine track. The main controller is connected to the first servo driver and the second servo driver through the communication bus, realizing precise control of the two motors, avoiding the torque fluctuation and mechanical loss problems of the traditional chain drive method, and improving the control accuracy and response speed. The main controller can also send servo initialization signals and control signals to the corresponding servo drivers according to different working mode requirements, ensuring that the inspection robot can adapt to different operating conditions. The servo initialization signal includes a driver mode signal and dynamic parameter signals, where the driver mode signal supports the speed mode and the torque mode, enabling the inspection robot to switch to a suitable driving method in different environments. In addition, during the driving process of the inspection robot, the main controller can monitor parameters such as the current, voltage, and temperature of the servo driver in real time, ensuring that the dual-motor-driven robot control system operates within a safe range and taking measures such as current limiting, speed reduction, or emergency stop in case of abnormalities, improving the safety and reliability of the system. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. In the drawings:

[0041] Figure 1 It is a schematic structural diagram of a dual-motor drive robot control system in an embodiment of the present invention;

[0042] Figure 2 It is a schematic internal structure diagram of the main controller in an embodiment of the present invention;

[0043] Figure 3 It is a schematic flow diagram of signal control for the dual-motor synchronous drive mode in an embodiment of the present invention;

[0044] Figure 4 It is a schematic flow diagram of signal control for the single-motor free drive mode in an embodiment of the present invention;

[0045] Figure 5 It is a schematic flow diagram of signal control for the dual-motor hybrid drive mode in an embodiment of the present invention;

[0046] Figure 6 It is a schematic flow diagram of the control method for a dual-motor drive robot in an embodiment of the present invention;

[0047] Figure 7 It is a schematic flow diagram of the control method for a dual-motor drive robot in another embodiment of the present invention;

[0048] Figure 8 It is a schematic structural diagram of the control device for a dual-motor drive robot in another embodiment of the present invention;

[0049] Figure 9 It is a schematic entity structure diagram of the electronic device provided by the embodiment of the present invention. Specific embodiments

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer and more understandable, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

[0051] The information collected in the technical solution of this application is information and data authorized by the user or fully authorized by all parties. For the processing of relevant data, such as collection, storage, use, processing, transmission, provision, disclosure, and application, etc., all comply with relevant laws, regulations, and standards of relevant countries and regions, necessary confidentiality measures are taken, it does not violate public order and good customs, and corresponding operation entrances are provided for users to choose to authorize or refuse.

[0052] Provide corresponding operation entrances for users to choose to agree or refuse the results of automated decision-making; if the user chooses to refuse, then enter the expert decision-making process.

[0053] In order to improve the running stability of the mine rail inspection robot in a complex rail environment, to ensure that the inspection robot has sufficient driving force and safety redundancy capabilities under non-flat rails (such as large slope rails, misaligned rails, and V-shaped bent rails), and effectively reduce running abnormalities caused by slipping, stalling, or insufficient power, this application proposes a dual-motor drive robot control system.

[0054] As Figure 1 shown, the dual-motor drive robot control system includes: a main controller 101, a first servo driver 103, a second servo driver 104, a first motor 105, a second motor 106, and a DC power supply 108.

[0055] The main controller 101 is respectively connected to the first servo driver 103 and the second servo driver 104 through a communication bus 102. The first servo driver 103 is connected to the first motor 105, and the second servo driver 104 is connected to the second motor 106. The DC power supply 108 is connected to the first servo driver 103 and the second servo driver 104 respectively through DC lines.

[0056] Specifically, the DC power supply 108 is used to provide appropriate voltage and current to the main controller 101, the first servo driver 103, and the second servo driver 104. The DC power supply 108 supplies power to the main controller 101 to maintain the complex calculations of the main controller 101 and the sending of various control instructions. The DC power supply 108 supplies power to the first servo driver 103 and the second servo driver 104, so that the servo drivers supply power to the corresponding motors to provide the power required for the inspection robot to run. The DC power supply 108 can also supply power to various sensors (such as radar sensors and infrared sensors, etc.) in the system to ensure that the inspection robot monitors the underground environment of the mine in real time.

[0057] The DC power supply 108 includes: a Battery Management System (BMS) and a multi-stage step-down and voltage-stabilizing power supply bridging board. Among them, the battery management system is used to manage battery power supply and real-time monitor battery voltage, current, temperature, charge and discharge status, etc. Since different devices require different voltages, the multi-stage step-down and voltage-stabilizing power supply bridging board is used to enable the power supply system to have multi-stage step-down and voltage-stabilizing capabilities to match the power supply requirements of different devices.

[0058] Specifically, the DC power supply 108 is also equipped with a variety of protection mechanisms, including: Overcurrent Protection (OCP) mechanism, Overvoltage Protection (OVP) mechanism and Overtemperature Protection (OTP) mechanism, etc. Among them, the overcurrent protection mechanism is used to monitor whether the current exceeds the safe range to prevent the DC power supply 108 from being damaged due to short circuit or servo drive overload. The overvoltage protection mechanism is used to automatically cut off the DC power supply 108 when the supply voltage rises abnormally to prevent the servo drive, the main controller 101 or the sensor from being damaged due to excessive voltage. The overvoltage protection mechanism is used to monitor the temperature of the DC power supply 108 to prevent power failure or battery overheating caused by high temperature.

[0059] For example: If the current of the servo drive suddenly increases due to excessive load, the battery management system will detect the overcurrent situation and automatically limit the current or disconnect the power supply to prevent damage to the drive. If the battery temperature is too high (such as exceeding 70°C), the battery management system will automatically reduce the discharge power or even cut off the battery output to prevent the power supply from overheating and catching fire.

[0060] The main controller 101 is used to send corresponding servo initialization signals and control signals to the first servo drive 103 according to the received mode control signal, and send corresponding servo initialization signals and / or control signals to the second servo drive 104. The servo initialization signal includes a drive mode signal and a dynamic parameter signal, and the drive mode signal includes a speed mode signal and a torque mode signal.

[0061] Specifically, the drive modes of the dual-motor drive robot control system in this application are divided into three types, namely the dual-motor synchronous drive mode, the single-motor free drive mode, and the dual-motor hybrid drive mode. Therefore, the mode control signal includes: a dual-motor synchronous control signal, a single-motor free control signal, and a dual-motor hybrid control signal. Among them, the drive mode is a global state parameter, which can be configured in the communication protocol field of the upper computer or can be adaptively switched according to the drive state of the inspection robot.

[0062] For example, during straight-line cruising, the control system can adopt a dual-motor synchronous drive mode. In this drive mode, both motors are in speed mode to ensure the uniform and stable operation of the inspection robot. In the case of a ramp or track slippage, the control system can adopt a dual-motor hybrid drive mode. In this drive mode, one motor uses speed mode and the other motor uses torque mode to ensure that the inspection robot can provide sufficient climbing power on the ramp and avoid power loss caused by slippage.

[0063] Initializing the servo driver in this application includes initializing the control mode of the servo driver and initializing the dynamic parameters of the servo driver. Therefore, the servo initialization signal includes the driver mode signal and the dynamic parameter signal.

[0064] Generally, the servo driver control modes include Speed Mode, Torque Mode, Position Mode, and homing mode, etc. The servo driver control modes in this application mainly adopt Speed Mode and Torque Mode. Therefore, the driver mode signal includes the speed mode signal and the torque mode signal.

[0065] The dynamic parameter signal includes the motion-related parameters of the servo driver (such as the maximum speed, acceleration, deceleration, and speed under different servo driver control modes), limit parameters (such as the forward limit position or the reverse limit position), emergency stop setting parameters, power-related parameters (such as the maximum torque, maximum peak current, and maximum current holding time), and safety-related parameters (such as servo driver alarms, sensor alarms, main controller 101 alarms, and their corresponding fault codes).

[0066] In the embodiment of the present invention, through the reasonable configuration of the main controller, servo driver, motor and DC power supply, the stable driving and efficient inspection of the inspection robot in a complex track environment are realized. The dual-motor independent control architecture can provide better driving force distribution and stronger adaptability, improving the stability and safety of the inspection robot in the mine track. The main controller is connected to the first servo driver and the second servo driver through a communication bus, realizing precise control of the two motors, avoiding the torque fluctuation and mechanical loss problems of the traditional chain drive method, and improving the control accuracy and response speed. The main controller can also send servo initialization signals and control signals to the corresponding servo drivers according to different working mode requirements, ensuring that the inspection robot can adapt to different operating conditions. The servo initialization signal includes a driver mode signal and dynamic parameter signals, where the driver mode signal supports the speed mode and torque mode, enabling the inspection robot to switch to a suitable driving method in different environments. In addition, during the driving process of the inspection robot, the main controller can real-time monitor parameters such as the current, voltage and temperature of the servo driver, ensuring that the control system of the dual-motor drive robot operates within a safe range, and taking measures such as current limiting, speed reduction or emergency stop in case of abnormalities, improving the safety and reliability of the system.

[0067] In one embodiment, as Figure 1 shown, a locking switch 107 is further provided on the DC line. The locking switch 107 is respectively connected to the first servo driver 103 and the second servo driver 104, and in response to receiving the locking signal from the main controller 101, disconnects the power supply of the DC power supply 108 to the first servo driver 103 and the second servo driver 104.

[0068] Specifically, when the main controller 101 issues a locking signal, the locking switch 107 will automatically cut off the power supply of the DC power supply 108 to the first servo driver 103 and the second servo driver 104, thereby powering off the first motor 105 and the second motor 106. Since a motor brake is provided in the motor of the present application, once the motor is powered off, the motor brake will automatically lock the motor to prevent the inspection robot from sliding or moving.

[0069] The specifications of the motor brake need to match the motor and servo drive, and the specifications of the motor brake are selected according to the base size parameters of the motor brake. This application uses a motor brake with a braking torque of 1.5Nm, a release voltage of 18.5VDC, a release time of less than 25ms, and a braking time of less than 70ms. Among them, the braking torque indicates the amount of resistance that the motor brake can withstand, which can ensure that the inspection robot will not slide easily; the motor brake needs to be powered on to release the voltage, and it will automatically lock when the release voltage is lower than 18.5V; the release time refers to the time from the motor brake being powered on to the unlocking state. The shorter release time can ensure that the inspection robot can quickly resume operation. The braking time refers to the time from the motor power off to the locking state, which can ensure that the motor can be quickly locked when it stops to prevent inertial sliding.

[0070] The motor brake also needs to be used in conjunction with the corresponding braking energy absorption device. In this application, the braking energy absorption device uses a braking resistor to absorb the extra electrical energy. When the servo drive detects the locking signal of the motor brake, it will transfer the excess electrical energy to the braking resistor, and consume the excess electrical energy through the braking resistor to prevent the servo drive from overvoltage damage. The selection of the braking resistor can refer to the drive manual. For example, a 200W servo drive matches a 10Ω regenerative resistor.

[0071] In one embodiment, the main controller 101 is further configured to send a locking signal to the locking switch 107 in response to receiving an emergency stop and / or slope parking signal of the inspection robot.

[0072] Specifically, the main controller 101 sends a locking signal to the locking switch 107, causing the servo driver to break and triggering the locking function of the motor brake to ensure that the inspection robot will not move due to external factors of the system (such as track vibration or slope gravity, etc.) after it stops completely.

[0073] The triggering conditions of the locking signal include: the inspection robot has entered a safe parking state (such as the inspection task is completed or reaches a preset parking point, etc.) or parked on a slope. When the inspection robot is parked on a slope, additional safety protection is required to prevent accidental sliding due to the slope of the track. Before the inspection robot stops completely (i.e., the speed is zero), the main controller 101 will not trigger the motor brake (i.e., the locking function) to prevent the inspection robot from suddenly locking the motor during movement, causing an emergency stop, mechanical shock, or damage to the equipment.

[0074] In one embodiment, if Figure 2 As shown, the main controller 101 includes a bus interface adaptation layer 201 and a universal bus device driver module 202 .

[0075] Specifically, Figure 1 andFigure 2 As shown, at the physical communication level, the main controller 101 is connected to the first servo driver 103 and the second servo driver 104 through the communication bus 102, that is, the first servo driver 103 and the second servo driver 104 share the same communication bus 102 (such as RS485 / CAN). At the software communication level, the internal program of the main controller 101 controls the servo drivers independently based on the driver node method.

[0076] As Figure 2 shown, the first driver node 203 and the second driver node 204 are respectively connected to the bus interface adaptation layer 201 (BusPort). The bus interface adaptation layer 201 is connected to the General Bus Device Driver module. The General Bus Device Driver module 202 directly controls the underlying communication bus 102 (such as RS485 / CAN). Among them, the first driver node 203 represents the first servo driver 103, and the second driver node 204 represents the second servo driver 104.

[0077] The first driver node 203 and the second driver node 204 do not directly access the underlying physical communication interface, but construct an abstraction layer between the driver node and the General Bus Device Driver module 202 through the bus interface adaptation layer 201 and the BusDriver to separate the control logic of the driver node from the hardware communication logic. Specifically, the driver node does not directly use a physical communication interface similar to ttyS* in the linux system to connect to the servo driver, but uses the IO resource identifier 212 in the bus interface adaptation layer 201 for communication connection, avoiding resource competition and system anomalies caused by multiple driver nodes asynchronously occupying the same physical communication interface ttyS*, and improving the flexibility of the system.

[0078] The bus interface adaptation layer 201 is provided with: a static communication handle 210 for determining whether the communication port is activated, a mutex 211 for locking the communication bus 102 when the communication port is activated, and an IO resource identifier 212 for calling the General Bus Device Driver module 202 to encode the servo initialization signal and control signal in the data protocol format into control data in the bus protocol format.

[0079] Specifically, the bus interface adaptation layer 201 (BusPort) includes a static communication handle 210 (sharedInstance), a mutex 211 (mutex), and an IO resource identifier 212 (m_bus_port).

[0080] The static communication handle 210 is a static shared pointer used to ensure that all communication interactions use a unique communication port throughout the life cycle of the program.

[0081] Port binding is performed through the static communication handle 210 to ensure that the communication port is bound to a unique physical communication interface. When the static communication handle 210 is called for the first time, since the static shared pointer is null, a BusPort instance (i.e., the communication port) is created and bound to a specific physical communication interface (such as an RS485 port or a CAN port). When the static communication handle 210 is called subsequently, since the static shared pointer already exists, the BusPort instance is directly returned to ensure that all drive nodes share the same BusPort instance during bus communication and do not create multiple BusPort instances repeatedly.

[0082] The IO resource identifier 212 is a shared pointer shared among all drive nodes, and data interaction among all drive nodes is carried out through the IO resource identifier 212 to ensure that data competition or communication conflicts are not caused. When initializing the IO resource identifier 212, it is bound to a unique physical communication interface (such as an RS485 port or a CAN port). When the first drive node 203 and the second drive node 204 communicate, neither the first drive node 203 nor the second drive node 204 creates a new physical communication interface separately, but accesses the same communication resources through the IO resource identifier 212.

[0083] The mutex 211 is used to control the access of the first drive node 203 and the second drive node 204 to the IO resource identifier 212, and synchronizes the management of the sending and receiving of bus data to prevent multiple devices from accessing the bus resources simultaneously, resulting in communication conflicts or data loss.

[0084] The general bus device driver module 202 is used to encode the servo initialization signal and control signal in the data protocol format to obtain the control data in the bus protocol format.

[0085] After the drive control is completely decoupled, the dual-motor drive robot control system will select a suitable drive mode according to different operating environments (i.e., working conditions) to improve the adaptability and operating efficiency of the inspection robot under different track conditions.

[0086] In one embodiment, as Figure 3 shown, the mode control signal includes a dual-motor synchronous control signal, and the main controller 101 is specifically used to send the same servo initialization signal and control signal to the first servo driver 103 and the second servo driver 104 respectively.

[0087] Specifically, when the driving mode is the dual-motor synchronous driving mode, the parameter servers of the first servo driver 103 and the second servo driver 104 are parameter-synchronized to achieve the synchronization of the dynamic parameters of the two servo drivers, the synchronization of the servo driver control modes, and the synchronization of the driver state control parameters. Among them, the dynamic parameters and the servo driver control modes are included in the servo initialization signal, and the driver state control parameters are included in the control signal. The driver state control parameters refer to the parameters dynamically adjusted during the operation of the inspection robot for real-time control of the motion state of the servo driver. The driver state control parameters include: Enable Signal, Current Speed, Current Torque, Stop Signal, Emergency Stop, and alarm clearing, etc.

[0088] In the dual-motor synchronous driving mode, when the inspection robot starts, the main controller 101 sends the same servo initialization signal to the first servo driver 103 and the second servo driver 104 respectively to set the control modes and dynamic parameters of the two servo drivers; and sends the same control signal to perform data acquisition and operation control on the two servo drivers. If the first servo driver 103 is set to the speed mode while the second servo driver 104 is set to the torque mode, a synchronization error will occur, resulting in an unstable motion state of the inspection robot. Only when the servo driver control modes and dynamic parameters of the two servo drivers are exactly the same can the dual-motor synchronous driving mode ensure the smooth operation of the inspection robot.

[0089] After the servo initialization signal and the control signal are synchronously issued, parameter verification is required to ensure that the parameter values of the two servo drivers are exactly the same. The main controller 101 reads the current parameter values of the first servo driver 103 and the second servo driver 104 (i.e., reads the control mode and dynamic parameters, etc.) and compares the parameter values of the two servo drivers. If it is detected that the parameters of the two servo drivers are inconsistent, secondary configuration (i.e., parameter correction) is immediately executed to make the parameters of the second servo driver 104 consistent with the parameters of the first servo driver 103. The main controller 101 reads the parameters of the first servo driver 103 and stores them in the cache, rewrites the parameters in the cache to the second servo driver 104, and performs parameter verification again to ensure successful parameter synchronization.

[0090] During the movement of the inspection robot, if the control signal of the servo driver is delayed for too long, it may cause the inspection robot to fail to respond quickly to emergencies (such as track obstacles and emergency stops, etc.). Therefore, it is necessary to issue the control signal with the minimum interval delay to enable the servo driver to respond as soon as possible, ensuring the real-time performance and safety of the inspection robot's operation. To achieve the minimum interval delay, a unified parameter configuration encapsulation is adopted when the driver nodes communicate with each other. After encapsulation, the parameters of all servo drivers are set through the same interface to ensure that the issuance of the servo driver control signal will not result in inconsistent execution speeds or parameter asynchronization due to different code structures.

[0091] In the dual-motor synchronous drive mode, when the control mode is the speed mode, the main controller 101 directly sets the target speed of the motor, and the two servo drivers send the same target speed to the corresponding motors. Therefore, the wheel speeds of the two drive wheels are the same. However, in the torque mode, the main controller 101 does not directly set the speed of the motor, but controls the output torque (i.e., torque) of the motor, and the final wheel speed is determined by the load (such as track friction and slope, etc.). Therefore, the two drive wheels often have different wheel speeds. At this time, both servo drivers use the maximum speed in the torque mode as the safety threshold to limit the maximum speed of the drive wheels and prevent the inspection robot from getting out of control or slipping. If the drive wheel speed exceeds the safety threshold, the inspection robot will automatically stop and alarm.

[0092] In one embodiment, as Figure 4 shown, the servo initialization signal includes a first servo initialization signal and a second servo initialization signal, and the mode control signal includes a single-motor free control signal. The main controller 101 is specifically configured to send the first servo initialization signal and the control signal to the first servo driver 103, and send the second servo initialization signal to the second servo driver 104. The drive wheel corresponding to the first servo driver 103 is in the same direction as the movement direction of the inspection robot. The dynamic parameter signal in the first servo initialization signal is the same as the dynamic parameter signal in the second servo initialization signal.

[0093] Specifically, when the drive mode of the inspection robot system is the single-motor free drive mode, the main controller 101 only performs motion control on one servo driver, while the other servo driver maintains a zero torque output state. The main controller 101 only sends the control signal to the main driver to collect and control the motion state information of the main driver in real time.

[0094] The main controller 101 selects the servo driver with the same movement direction as the inspection robot as the main driver, and sets the control mode of this servo driver to speed mode or torque mode, that is, the driver mode signal in the servo initialization signal sent by the main controller 101 to this servo driver includes speed mode or torque mode. The driver mode signal in the servo initialization signal sent by the main controller 101 to the other servo driver is torque mode, so that the control mode of this servo driver is set to torque mode, and its torque value is set to zero, so that this servo driver does not generate driving force.

[0095] The dynamic parameters of the servo driver in the zero torque output state need to be synchronized with the dynamic parameters of the main driver, that is, the dynamic parameter signals in the servo initialization signals sent by the main controller 101 to the two servo drivers are the same. Among them, the dynamic parameters include the movement-related parameters of the servo driver (such as maximum speed, acceleration, deceleration, and speed), limit parameters (such as forward limit position or reverse limit position), emergency stop setting parameters, etc. The servo driver in the zero torque output state must set a maximum speed threshold to prevent the speed of this servo driver from getting out of control in case of abnormality.

[0096] When the inspection robot is in a low-load operation state and there is no need for both motors to provide driving force at the same time, the single-motor free drive mode can be used to reduce energy consumption. When a certain side of the track is damaged or the friction is abnormal, resulting in a certain driving wheel not working properly, the main controller 101 can switch to the single-motor free drive mode, so that the normally working driving wheel continues to run. If a certain servo driver detects overload or failure (such as current overload), the main controller 101 automatically switches to the single-motor free drive mode, so that the inspection robot continues to run, avoiding the occurrence of downtime.

[0097] In one embodiment, as Figure 5 shown, the control signal includes a first control signal and a second control signal. The mode control signal includes a dual-motor hybrid control signal. Specifically, the main controller 101 is used to send a speed mode signal and a first control signal to the first servo driver 103, and send a torque mode signal and a second control signal to the second servo driver 104. The rotational speed of the driving wheel of the first servo driver 103 is less than the rotational speed of the driving wheel of the second servo driver 104.

[0098] Specifically, the main controller 101 obtains the rotational speed of the first motor 105 corresponding to the first servo driver 103 and the rotational speed of the second motor 106 corresponding to the second servo driver 104 in real time, calculates the rotational speeds of the two driving wheels corresponding to the two motors respectively according to formula (1), and calculates the speed difference and average speed of the rotational speeds of the two driving wheels.

[0099]

[0100] If the ratio of the speed difference to the average speed is greater than the set threshold, it is determined that there is an obvious speed difference in the rotational speeds of the two drive wheels, that is, an obvious slipping phenomenon occurs in a certain drive wheel of the inspection robot. Among them, the set threshold is 0.2.

[0101] At this time, the main controller 101 switches the drive mode of the inspection robot system to the dual-motor hybrid drive mode and determines the slipping drive wheel (that is, the drive wheel with a relatively higher rotational speed). If the rotational speed of one of the drive wheels is relatively high, it indicates that the drive wheel is slipping. The corresponding servo driver is used as the second servo driver 104. The main controller 101 sends a torque mode signal to the second servo driver 104 to switch the control mode of the second servo driver 104 to the torque mode, thereby reducing the torque output. The other servo driver is used as the first servo driver 103. The main controller 101 sends a speed mode signal to the first servo driver 103 to switch the control mode of the first servo driver 103 to the speed mode, thereby maintaining a stable driving force output.

[0102] In the dual-motor hybrid drive mode, the main controller 101 sends different control signals to the two servo drivers respectively to implement different drive strategies.

[0103] Specifically, the main controller 101 sends a first control signal to the servo driver in the speed mode so that the servo driver can provide a stable basic driving force to ensure the normal operation of the inspection robot. Among them, the first control signal includes a speed setpoint, acceleration, deceleration, and limit protection, etc.

[0104] The main controller 101 sends a second control signal to the servo driver in the torque mode to dynamically adjust the torque of the servo driver, thereby improving the grip and reducing slipping. Among them, the second control signal includes a maximum torque setpoint, a torque adjustment algorithm, and real-time load monitoring, etc.

[0105] In one embodiment, the torque mode signal includes: a first torque mode signal and a second torque mode signal. The main controller 101 is specifically used to send the first torque mode signal to the second servo driver 104 so that the second servo driver 104 outputs different torque levels in sequence.

[0106] Specifically, after the second servo driver 104 switches to the torque mode, the main controller 101 sends a first torque mode signal to the second servo driver 104 to dynamically adjust the torque of the second servo driver 104, so that the second servo driver 104 outputs large torque, medium torque, small torque, large torque, and small torque in sequence, thereby achieving redundant power output.

[0107] After the second servo driver 104 outputs different torque levels in sequence, if the rotational speed difference between the two drive wheels is greater than the set threshold, the main controller 101 is specifically configured to send a second torque mode signal to the second servo driver 104 to cause the second servo driver 104 to reduce the torque level.

[0108] Specifically, after the second servo driver 104 outputs different torque levels in sequence, the main controller 101 monitors the current speeds of the motors corresponding to the two servo drivers in real time, calculates the speeds of the two drive wheels according to formula (1), and calculates the speed difference and average speed of the two drive wheels. If the ratio of the speed difference to the average speed is greater than the set threshold, it means that the speed of the slipping wheel is still greater than the speed of the normal wheel (i.e., the wheel speeds are not synchronized), indicating that the torque is still too large and the torque output of the servo driver needs to be further reduced. At this time, the main controller 101 sends a second torque mode signal to the second servo driver 104 to set the torque output of the second servo driver 104 to small torque output.

[0109] After the second servo driver 104 reduces the torque level, if the rotational speed difference between the two drive wheels is greater than the set threshold, the main controller 101 is specifically configured to send a speed mode signal to the second servo driver 104.

[0110] Specifically, after the torque output of the second servo driver 104 is set to small torque output, the main controller 101 monitors the current speeds of the motors corresponding to the two servo drivers in real time, calculates the speeds of the two drive wheels according to formula (1), and calculates the speed difference and average speed of the two drive wheels. If the ratio of the speed difference to the average speed is greater than the set threshold, it means that the speed of the slipping wheel is still greater than the speed of the normal wheel (i.e., the wheel speeds are not synchronized), and the main controller 101 sends a speed mode signal to the second servo driver 104 to switch the control mode of the second servo driver 104 to the speed mode. Under this setting, the main control machine obtains the motion state information of the two servo drivers in real time and performs motion state evaluation to adjust the drive state control parameters of the servo driver in real time.

[0111] In the embodiments of the present invention, by completely decoupling the drive control, the adaptation of drive modes under different working conditions is achieved, and the adaptability and running stability of the inspection robot in a complex track environment are improved. The control system of the present application provides three drive modes: dual-motor synchronous drive mode, single-motor free drive mode, and dual-motor hybrid drive mode. Each drive mode is configured with a specific servo drive for different operation requirements, enabling the inspection robot to achieve the optimal drive method in different working environments, and improving the flexibility and safety of power output. In the dual-motor synchronous drive mode, the main controller synchronizes parameters, performs real-time verification, and performs secondary configuration on the two servo drives to ensure the parameter consistency of the two servo drives, preventing problems such as speed deviation or uneven driving force caused by parameter mismatch during operation. In the single-motor free drive mode, the main controller selects one servo drive as the main driving force output, and the other servo drive is set to the zero torque state, which can reduce energy consumption and improve the operation efficiency of the system. In the dual-motor hybrid drive mode, the main controller determines the slipping situation by real-time monitoring of the speed difference of the drive wheels and dynamically adjusts the torque output. One servo drive is set to the speed mode to provide a stable basic driving force, and the other servo drive is set to the torque mode and performs dynamic torque adjustment to ensure that the inspection robot can drive smoothly on a complex track. Through the intelligent switching and adaptive control of the drive mode, the present application enables the inspection robot to perform optimal driving force distribution under different working conditions, improving the stability and safety of the system. Especially when dealing with changes in track slope, changes in track surface friction, or load fluctuations, the inspection robot can effectively avoid problems such as out-of-control, slipping, and insufficient power by real-time adjusting the drive mode.

[0112] In the embodiments of the present invention, a control method for a dual-motor drive robot is also provided, which is applied to the above-mentioned main controller 101 as described in the following embodiments.

[0113] As Figure 6 shown, the control method for a dual-motor drive robot includes steps 601 to 607.

[0114] Step 601: Receive the inspection task command sent by the upper computer.

[0115] Specifically, the main controller 101 receives the inspection task command sent by the upper computer. The upper computer can send the inspection task command through a remote control system or a preset task scheduler.

[0116] Among them, the inspection task commands include: "The inspection robot travels along the track to the target position A", "The inspection robot performs a turn at the track intersection", and "The inspection robot stops and performs data collection", etc.

[0117] Step 602: Parse the inspection task command through the bus interface adaptation layer 201 to generate the servo initialization signal and control signal of the servo driver, and determine the target servo driver corresponding to the inspection task command.

[0118] Specifically, the inspection task command is parsed by the bus interface adaptation layer 201, and the bus interface adaptation layer 201 disassembles the inspection task command into specific control signals (such as speed value and torque value, etc.). Determine the drive mode of the system (such as dual-motor synchronous drive mode, single-motor free drive mode, and dual-motor hybrid drive mode) according to the inspection task command, generate the servo initialization signal of the servo driver, and determine the target driver node based on the device identifier (SlaveID) of the servo driver (such as SlaveID: 0x01 or 0x02).

[0119] Step 603: Determine whether the communication port is activated through the static communication handle 210.

[0120] Specifically, detect whether the communication port has been initialized and bound to a unique physical interface through the static communication handle 210. If the communication port is not activated, initialize the communication port through the static communication handle 210 and bind it to a unique physical interface.

[0121] Step 604: If the communication port is activated, lock the communication bus 102 through the mutex 211.

[0122] Specifically, after the mutex 211 locks the communication bus 102, only allows a single control signal to be sent at a certain moment, preventing multiple servo drivers from accessing the communication bus 102 simultaneously, resulting in packet loss or communication failure.

[0123] Step 605: Convert the servo initialization signal and control signal into the data protocol format through the bus interface adaptation layer 201.

[0124] Specifically, convert the servo initialization signal and control signal into the data protocol format recognizable by the target driver (such as Modbus RTU or CANopen format) through the bus interface adaptation layer 201.

[0125] Step 606: Call the general bus device driver module 202 through the IO resource identifier 212 to encode the servo initialization signal and control signal in the data protocol format to obtain the control data in the bus protocol format.

[0126] Specifically, access the general bus device driver module 202 through the IO resource identifier 212 to implement data encapsulation and encoding of the servo initialization signal and control signal in the data protocol format, and obtain the control data conforming to the RS485 or CAN bus protocol.

[0127] Step 607: Call the communication bus 102 through the general bus device driver module 202 to transmit control data to the target servo driver, so that the target servo driver executes the inspection task command.

[0128] Specifically, call the communication bus 102 through the general bus device driver module 202 to send the encoded control data to the target servo driver.

[0129] In one embodiment, as Figure 7 shown, during the process of the target servo driver executing the inspection task command, the method further includes steps 701 to 705.

[0130] Step 701: Call the communication bus 102 through the general bus device driver module 202 to receive in real time the motor operation parameters collected by the target servo driver.

[0131] Specifically, the general bus device driver module 202 calls the communication bus 102 to obtain the motor operation parameters transmitted by the target servo driver. Among them, the motor operation parameters include: the current motor speed, the current driving torque, the motor load current, the internal temperature of the motor, and abnormal parameters such as overcurrent, overtemperature, and undervoltage.

[0132] Step 702: Parse the motor operation parameters through the bus interface adaptation layer 201 to obtain the parsed operation status data.

[0133] Specifically, perform data parsing through the bus interface adaptation layer 201 to convert the original data transmitted by the communication bus 102 into standard motor operation status data. The parsed operation status data includes: whether the speed, torque, current, and temperature of the motor are within the set range, whether there are abnormalities in the motor (such as overload, slipping), and the current motor load situation, etc.

[0134] Step 703: Judge whether the motor operation status corresponding to the target servo driver is normal based on the operation status data.

[0135] Specifically, judge whether the above data exceeds the motor operation threshold according to the operation status data. For example, compare the current speed of the motor with the set value and calculate the speed deviation, and judge whether the motor current is in an overloaded state, etc.

[0136] Step 704: If the motor operation status is normal, continue to execute the inspection task command.

[0137] Specifically, if the motor operation status is normal, control the inspection robot to continue to execute the inspection task. The main controller 101 continues to send control signals to the servo driver to ensure that the inspection robot runs along the set path.

[0138] Step 705: If the operating state of the motor is abnormal, adjust the control signal of the corresponding servo driver.

[0139] Specifically, if it is detected that the operating state of the motor is abnormal, the main controller 101 adjusts the control signal of the servo driver to avoid damaging the motor or affecting the operation of the inspection robot.

[0140] In the embodiment of the present invention, through the dual-motor drive robot control method based on the bus interface adaptation layer, static communication handle, mutex, and general bus device driver module, the precise execution of the inspection task, the efficient transmission of the drive signal, and the real-time monitoring and dynamic adjustment of the motor operating state are realized, thereby improving the stability, safety, and adaptability of the system. By sending an inspection task command from the upper computer, the main controller parses the task requirements, disassembles the task command into executable control signals through the bus interface adaptation layer, and determines the applicable drive mode according to the task requirements (such as dual-motor synchronous drive mode, single-motor free drive mode, or dual-motor hybrid drive mode). Through the static communication handle, the communication port is uniquely bound to ensure communication stability, and the mutex mechanism is used to ensure that multiple servo drivers do not access the communication bus simultaneously, preventing data competition and conflicts and improving communication reliability. During the transmission of the control signal, the servo initialization signal and the control signal will first be converted by the bus interface adaptation layer into a data protocol format recognizable by the target driver, and then the general bus device driver module is called through the IO resource identifier to encapsulate and encode the data, and finally transmitted to the target servo driver through the communication bus, ensuring that the inspection robot precisely executes according to the set inspection task and improving the execution efficiency of the inspection task.

[0141] In the embodiment of the present invention, a dual-motor drive robot control device is also provided, as described in the following embodiments. Since the principle of the device for solving problems is similar to that of the dual-motor drive robot control method, the implementation of the device can refer to the implementation of the dual-motor drive robot control method, and the repeated parts will not be described again.

[0142] As Figure 8 shown, the dual-motor drive robot control device includes a data receiving module 801, a signal generating module 802, a port activation module 803, a bus locking module 804, a format conversion module 805, a data encoding module 806, and a data transmission module 807.

[0143] The data receiving module 801 is used to receive the inspection task command sent by the upper computer.

[0144] The signal generating module 802 is used to parse the inspection task command through the bus interface adaptation layer, generate the servo initialization signal and the control signal of the servo driver, and determine the target servo driver corresponding to the inspection task command.

[0145] The port activation module 803 is used to determine whether a communication port is activated through a static communication handle.

[0146] The bus locking module 804 is used to lock the communication bus through a mutex if the communication port is activated.

[0147] The format conversion module 805 is used to convert the servo initialization signal and the control signal into a data protocol format through the bus interface adaptation layer.

[0148] The data encoding module 806 is used to call the general bus device driver module through an IO resource identifier to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format.

[0149] The data transmission module 807 is used to call the communication bus through the general bus device driver module to transmit the control data to the target servo driver, so that the target servo driver executes the inspection task command.

[0150] Figure 9 It is a schematic diagram of the entity structure of the electronic device provided by the embodiment of the present invention. As Figure 9 shown, the electronic device 900 includes: a processor 901, a memory 902, and a bus 903.

[0151] Among them, the processor 901 and the memory 902 complete mutual communication through the bus 903.

[0152] The processor 901 is used to call program instructions in the memory 902 to execute the methods provided by the above method embodiments.

[0153] The embodiment of the present invention also provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the above dual-motor-driven robot control method is implemented.

[0154] The embodiment of the present invention also provides a computer program product, and the computer program product includes a computer program. When the computer program is executed by a processor, the above dual-motor-driven robot control method is implemented.

[0155] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0156] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce a means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0157] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0159] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot control system driven by dual motors, characterized in that, Including: A main controller, a first servo driver, a second servo driver, a first motor, a second motor, and a DC power supply; The main controller is respectively connected to the first servo driver and the second servo driver through a communication bus; The first servo driver is connected to the first motor, and the second servo driver is connected to the second motor; the DC power supply is respectively connected to the first servo driver and the second servo driver through a DC line; The main controller is configured to send corresponding servo initialization signals and control signals to the first servo driver according to the received mode control signal, and send corresponding servo initialization signals and / or control signals to the second servo driver; the servo initialization signals include driver mode signals and dynamic parameter signals, and the driver mode signals include speed mode signals and torque mode signals.

2. The system according to claim 1, wherein The mode control signal includes a dual-motor synchronous control signal, and the main controller is specifically configured to send the same servo initialization signals and control signals to the first servo driver and the second servo driver respectively.

3. The system according to claim 1, wherein The servo initialization signals include a first servo initialization signal and a second servo initialization signal, the mode control signal includes a single-motor free control signal, and the main controller is specifically configured to send the first servo initialization signal and control signal to the first servo driver, and send the second servo initialization signal to the second servo driver; the drive wheel corresponding to the first servo driver has the same direction as the movement direction of the inspection robot; the dynamic parameter signals in the first servo initialization signal are the same as the dynamic parameter signals in the second servo initialization signal.

4. The system according to claim 1, wherein The control signals include a first control signal and a second control signal, the mode control signal includes a dual-motor hybrid control signal, and the main controller is specifically configured to send a speed mode signal and a first control signal to the first servo driver, and send a torque mode signal and a second control signal to the second servo driver; the rotational speed of the drive wheel of the first servo driver is less than the rotational speed of the drive wheel of the second servo driver.

5. The system according to claim 1, wherein A lock switch is further provided on the DC line; The lock switch is respectively connected to the first servo driver and the second servo driver, and in response to receiving the lock signal from the main controller, disconnects the power supply of the DC power supply to the first servo driver and the second servo driver.

6. The system according to claim 5, wherein The main controller is further configured to send the lock signal to the lock switch in response to receiving the emergency stop and / or ramp stop signal of the inspection robot.

7. The system according to claim 1, wherein The main controller includes a bus interface adaptation layer and a general bus device driver module, The bus interface adaptation layer is provided with: a static communication handle for determining whether the communication port is activated, a mutex for locking the communication bus when the communication port is activated, and an IO resource descriptor for calling the general bus device driver module to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format. The general bus device driver module is used to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format.

8. The system according to claim 4, characterized in that, The torque mode signal includes: a first torque mode signal and a second torque mode signal. The main controller is specifically configured to send the first torque mode signal to the second servo driver so that the second servo driver outputs different torque levels in sequence. After the second servo driver outputs different torque levels in sequence, if the rotational speed difference between the two drive wheels is greater than the set threshold, the main controller is specifically configured to send the second torque mode signal to the second servo driver so that the second servo driver reduces the torque level. After the second servo driver reduces the torque level, if the rotational speed difference between the two drive wheels is greater than the set threshold, the main controller is specifically configured to send a speed mode signal to the second servo driver.

9. A control method for a robot driven by two motors, characterized in that, Applied to the main controller, it includes: Receiving the inspection task command sent by the upper computer; Parsing the inspection task command through the bus interface adaptation layer to generate the servo initialization signal and the control signal of the servo driver, and determining the target servo driver corresponding to the inspection task command; Determining whether the communication port is activated through the static communication handle; If the communication port is activated, locking the communication bus through a mutex; Converting the servo initialization signal and the control signal into the data protocol format through the bus interface adaptation layer; Invoking the general bus device driver module through the IO resource identifier to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format; Invoking the communication bus through the general bus device driver module to transmit the control data to the target servo driver so that the target servo driver executes the inspection task command.

10. A control device for a double-motor-driven robot, characterized in that, It includes: A data receiving module, which is used to receive the inspection task command sent by the upper computer; A signal generating module, which is used to parse the inspection task command through the bus interface adaptation layer to generate the servo initialization signal and the control signal of the servo driver, and determine the target servo driver corresponding to the inspection task command; A port activation module, which is used to determine whether the communication port is activated through the static communication handle; A bus locking module, which is used to lock the communication bus through a mutex if the communication port is activated; A format conversion module, which is used to convert the servo initialization signal and the control signal into the data protocol format through the bus interface adaptation layer; A data encoding module, which is used to invoke the general bus device driver module through the IO resource identifier to encode the servo initialization signal and the control signal in the data protocol format to obtain control data in the bus protocol format; A data transmission module, which is used to invoke the communication bus through the general bus device driver module to transmit the control data to the target servo driver so that the target servo driver executes the inspection task command.

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