Mobile platform control system and method for semi-automatic grinding equipment

Abstract

The embodiment of the invention discloses a control system and method for a mobile platform of semi-automatic grinding equipment, in the system, a scanner and a safety contact edge effectively realize safety detection of the operating environment of the mobile platform of the semi-automatic grinding equipment, and when an obstacle is detected, an alarm is given out in time to prompt a user to deal with the obstacle in time; the mobile platform controller supports selection of an automatic mode and a manual mode by a user, automatically plans a motion path of the mobile platform of the semi-automatic polishing equipment after the automatic mode is selected, and realizes motion control of the mobile platform of the semi-automatic polishing equipment through a remote controller in the manual mode according to a periodic operation ending signal of a polishing head. And the problem that the mobile platform of the semi-automatic grinding equipment cannot operate due to the fact that a scanner and a safety contact edge always check obstacles due to the fact that places are cramped can be effectively solved. The defects of an existing wind power blade grinding scheme are overcome, adaptability is high, grinding efficiency is high, stability is good, and the device is suitable for application and popularization.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of semi - automatic grinding equipment control, and particularly to a control system and method for a moving platform of a semi - automatic grinding equipment. Background Art

[0002] Currently, under the premise of global warming, the world is undergoing an energy transformation. From traditional energy to sustainable green energy, the utilization rate of wind energy is developing rapidly. Wind turbines convert wind energy into electrical energy. Wind turbine blades are the core components that convert wind energy into mechanical energy in wind turbines, and their aerodynamic efficiency directly affects the power generation capacity of the whole machine. However, the traditional grinding method for wind turbine blades still uses manual grinding or gantry module grinding structures. When the grinding object exceeds the accommodation range of the gantry module, it can only be ground manually. In actual use scenarios, this traditional grinding method has poor adaptability, low grinding efficiency, and low stability.

[0003] The above problems need to be solved urgently. Summary of the Invention

[0004] To solve the related technical problems, the embodiments of the present invention provide a control system and method for a moving platform of a semi - automatic grinding equipment to solve the problems mentioned in the above background art section.

[0005] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0006] In a first aspect, the embodiments of the present invention provide a control system for a moving platform of a semi - automatic grinding equipment, including:

[0007] A scanner, configured to detect whether there are obstacles in the area where the moving platform of the semi - automatic grinding equipment is located, and feedback an obstacle signal to the moving platform controller after detecting an obstacle;

[0008] A moving platform controller, configured to control the movement of the moving platform of the semi - automatic grinding equipment according to the selected moving platform operation mode; and control the moving platform to stop moving after receiving the obstacle signal; wherein, the moving platform operation mode includes an automatic mode and a manual mode.

[0009] As an optional implementation manner, the control system for the moving platform of the semi - automatic grinding equipment further includes:

[0010] A safety edge, configured to compensate for the visual blind area detected by the scanner, intervene in obstacle detection within a short distance range, and feedback an obstacle signal to the moving platform controller after detecting an obstacle.

[0011] As an optional implementation manner, the control system for the moving platform of the semi - automatic grinding equipment further includes:

[0012] A remote controller is used for a user to manually input control instructions to the mobile platform of a semi-automatic grinding device, so as to complete the manual control of the mobile platform of the semi-automatic grinding device.

[0013] As an optional implementation manner, the control system of the mobile platform of the semi-automatic grinding device further includes:

[0014] An alarm prompt module is used for sending an alarm prompt after the scanner or the safety edge detects an obstacle; wherein, the manners of the alarm prompt include but are not limited to beeping sound alarm and light alarm.

[0015] As an optional implementation manner, the scanner adopts but is not limited to a laser area scanner.

[0016] As an optional implementation manner, the remote controller adopts but is not limited to a handheld remote controller; the handheld remote controller is wirelessly connected to the mobile platform controller.

[0017] As an optional implementation manner, the mobile platform controller controls the movement of the mobile platform of the semi-automatic grinding device by controlling the steering wheels.

[0018] In a second aspect, an embodiment of the present invention provides a control method for a mobile platform of a semi-automatic grinding device. The method adopts the control system of the mobile platform of the semi-automatic grinding device proposed in the first aspect above, and includes:

[0019] The scanner detects whether there is an obstacle in the area where the mobile platform of the semi-automatic grinding device is located, and feeds back an obstacle signal to the mobile platform controller after detecting the obstacle;

[0020] The mobile platform controller controls the movement of the mobile platform of the semi-automatic grinding device according to the selected running mode of the mobile platform; after receiving the obstacle signal, it controls the mobile platform to stop moving; wherein, the running mode of the mobile platform includes an automatic mode and a manual mode.

[0021] As an optional implementation manner, the control method for the mobile platform of the semi-automatic grinding device further includes:

[0022] Compensate for the blind area of the field of view detected by the scanner through the safety edge, intervene in the obstacle detection within a short distance range, and feed back an obstacle signal to the mobile platform controller after detecting the obstacle.

[0023] As an optional implementation manner, the control method for the mobile platform of the semi-automatic grinding device further includes:

[0024] The user manually inputs control instructions to the mobile platform of the semi-automatic grinding device through the remote controller, so as to complete the manual control of the mobile platform of the semi-automatic grinding device.

[0025] The technical solution proposed in the embodiment of the present invention effectively realizes the safety detection of the operating environment of the mobile platform of the semi-automatic grinding equipment through a scanner and a safety edge. When an obstacle is detected, an alarm is issued in a timely manner to prompt the user to handle it in a timely manner; the mobile platform controller supports the user to select the automatic mode and the manual mode. After selecting the automatic mode, it automatically plans the movement path of the mobile platform of the semi-automatic grinding equipment. According to the signal indicating the end of the periodic operation of the grinding head, in the manual mode, the movement of the mobile platform of the semi-automatic grinding equipment is controlled through a remote controller, effectively solving the situation where the mobile platform of the semi-automatic grinding equipment cannot operate because the scanner and the safety edge always detect obstacles due to the narrow space. The technical solution proposed in the embodiment of the present invention solves the deficiencies existing in the existing wind turbine blade grinding solutions, has strong adaptability, high grinding efficiency, good stability, and is suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the background art and the description of the embodiments of the present invention. Obviously, the 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 also be obtained according to the content of the embodiments of the present invention and these drawings.

[0027] Figure 1 It is a schematic diagram of the control system principle of the mobile platform of the semi-automatic grinding equipment provided by the embodiment of the present invention;

[0028] Figure 2 It is a control logic diagram of the control system of the mobile platform of the semi-automatic grinding equipment provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] In order to make the technical problems solved by the present invention, the technical solutions adopted and the achieved technical effects clearer, the following will further describe the technical solutions of the embodiments of the present invention in detail with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0030] Embodiment 1

[0031] Please refer to Figure 1 as shown in Figure 1 It is a schematic diagram of the control system principle of the mobile platform of the semi-automatic grinding equipment provided by the embodiment of the present invention. As shown in the figure, in this embodiment, the control system 100 of the mobile platform of the semi-automatic grinding equipment includes:

[0032] A scanner 101 is used to detect whether there are obstacles in the area where the moving platform 102 of the semi-automatic grinding equipment is located, and feedback an obstacle signal to the moving platform controller 103 after detecting an obstacle.

[0033] The moving platform controller 103 is used to control the action of the moving platform 102 of the semi-automatic grinding equipment according to the selected moving platform operation mode by the user; and control the moving platform to stop moving after receiving the obstacle signal; wherein, the moving platform operation mode includes an automatic mode and a manual mode.

[0034] In this embodiment, the scanner 101 is preferably a laser area scanner. Specifically, the laser area scanner can customize the area detection range according to the actual on-site use scenario. Within the area detection range, an obstacle signal is feedback to the moving platform controller 103 after detecting an obstacle.

[0035] Exemplarily, the moving platform control system 100 of the semi-automatic grinding equipment further includes:

[0036] A safety edge 104 is used to compensate for the visual blind area detected by the scanner 101, intervene in obstacle detection within a short distance range, and feedback an obstacle signal to the moving platform controller 103 after detecting an obstacle.

[0037] In this embodiment, the moving platform control system 100 of the semi-automatic grinding equipment further includes: an alarm prompt module, which is used to issue an alarm prompt after the scanner 101 or the safety edge 104 detects an obstacle; wherein, the alarm prompt method includes but is not limited to buzzer sound alarm and light alarm.

[0038] In this embodiment, the alarm prompt module includes a buzzer and a light alarm. In actual application, when the alarm prompt module works, the buzzer emits a buzzer prompt and the light alarm flashes a red signal light.

[0039] In this embodiment, external sensors such as the laser area scanner and the safety edge 104 are connected to the moving platform controller 103 through analog signals.

[0040] Exemplarily, the moving platform control system 100 of the semi-automatic grinding equipment further includes:

[0041] A remote controller 105 is used for the user to manually input a control instruction to the moving platform 102 of the semi-automatic grinding equipment to complete the manual control of the moving platform 102 of the semi-automatic grinding equipment.

[0042] In this embodiment, the remote control 105 is, but is not limited to, a handheld remote control. The handheld remote control is wirelessly connected to the mobile platform controller 103, effectively avoiding the clutter of exposed wires caused by complex wiring. Specifically, the remote control 105 communicates with the mobile platform controller 103 via a wireless module using the TCP / IP protocol.

[0043] Exemplarily, the mobile platform controller 103 controls the motion of the mobile platform 102 of the semi-automatic grinding equipment by controlling a steering wheel.

[0044] In this embodiment, the steering wheel preferably uses a synchronous servo motor. The steering wheel communicates with the mobile platform controller 103 using the ECAT industrial bus protocol. The handheld remote control controls the steering wheel's forward, backward, left, right, and in-place rotations through the mobile platform controller 103.

[0045] Specifically, such as Figure 2 As shown, in this embodiment, the semi-automatic polishing equipment mobile platform control system 100 performs a self-test upon startup. This self-test includes checking the core control program of the mobile platform controller 103, including but not limited to checking for servo errors and successful communication with the handheld remote controller. It also checks the safety system, for example, whether the laser area scanner and the safety edge 104 are generating alarms. If a system error occurs, the alarm prompt module will flash and sound a buzzer, prompting a user to manually address the alarm. After the alarm is resolved, the user selects a control mode, either manual or automatic. The specific process is as follows: The user selects automatic or manual mode.

[0046] When the user selects automatic mode, the automatic operation path is automatically planned in the automatic operation scenario. The safety protection system, consisting of a laser area scanner and a safety edge 104, detects obstacles within the area. Upon detection, the laser area scanner sends a signal to the mobile platform controller 103, which then shuts down the semi-automatic grinding equipment's mobile platform 102 and flashes a red signal light and a buzzer. The safety edge 104 compensates for the laser area scanner's blind spots and intervenes at close range. In this embodiment, if the safety edge 104 encounters an obstacle, it has the same effect as the laser area scanner.

[0047] Waiting for the grinding cycle signal, and executing the position command after the signal is triggered. In this embodiment, in automatic mode, the semi-automatic grinding equipment mobile platform 102 is controlled by the mobile platform controller 103 according to the grinding head cycle operation end signal, and executes displacement. The displacement distance is determined by the grinding head working width.

[0048] When the user selects the manual mode, manual operation can be fully realized, and the operation is flexible. The user manually operates the moving platform 102 of the semi-automatic grinding equipment through a handheld remote control, and decides the displacement of the moving platform 102 of the semi-automatic grinding equipment independently according to the periodic signal or manual experience.

[0049] Specifically, the control system 100 of the moving platform of the semi-automatic grinding equipment can also be flexibly configured according to the actual use scenario, an operation interface for the user is added, and the operation status of the moving platform 102 of the semi-automatic grinding equipment is observed in real time. Through the human-machine interface, observe the position of the current moving platform 102 of the semi-automatic grinding equipment, the remaining workpiece length, the fault code, the periodic signal, etc.; parameter modification can also be performed, such as the displacement speed of the moving platform, the periodic displacement position command value, the clearing of the fault code, etc. In this embodiment, the remaining workpiece length is calculated according to the difference between the input workpiece length and the already executed length; the periodic signal can display which specific numerical value is being executed currently; modify the periodic displacement position command value, and customize the modification according to the actual use effect on site, and this value is a constant. The laser scanner 101 and the safety edge 104 form a safety protection system, and functions such as left-right, front-back, horizontal movement, and rotation in place are realized through the control of the steering wheel by the moving platform controller 103.

[0050] The control system 100 of the moving platform of the semi-automatic grinding equipment proposed in this embodiment effectively realizes the safety detection of the operating environment of the moving platform 102 of the semi-automatic grinding equipment through the scanner 101 and the safety edge 104, issues an alarm in time when an obstacle is detected, and prompts the user to handle it in time; the moving platform controller 103 supports the user to select the automatic mode and the manual mode. After selecting the automatic mode, the movement path of the moving platform 102 of the semi-automatic grinding equipment is automatically planned. According to the signal indicating the end of the periodic operation of the grinding head, the movement of the moving platform 102 of the semi-automatic grinding equipment is controlled through the remote control 105 in the manual mode, effectively solving the situation where the moving platform 102 of the semi-automatic grinding equipment cannot operate because the scanner and the safety edge 104 always detect obstacles due to the narrow space. The control system 100 of the moving platform of the semi-automatic grinding equipment proposed in this embodiment solves the deficiencies in the existing wind turbine blade grinding solutions, has strong adaptability, high grinding efficiency, and good stability.

[0051] Embodiment 2

[0052] This embodiment proposes a control method for the moving platform of a semi-automatic grinding equipment. This method uses the control system of the moving platform of the semi-automatic grinding equipment proposed in the above Embodiment 1, and includes:

[0053] The scanner detects whether there are obstacles in the area where the moving platform of the semi-automatic grinding equipment is located, and feeds back the obstacle signal to the moving platform controller after detecting the obstacle;

[0054] The mobile platform controller controls the movement of the mobile platform of the semi-automatic grinding equipment according to the selected operation mode of the mobile platform; after receiving the obstacle signal, it controls the mobile platform to stop moving; wherein, the operation mode of the mobile platform includes an automatic mode and a manual mode.

[0055] Exemplarily, the method for controlling the mobile platform of the semi-automatic grinding equipment further includes: detecting the blind area of vision through the safety edge compensation scanner, intervening in obstacle detection within a short distance range, and feeding back the obstacle signal to the mobile platform controller after detecting an obstacle.

[0056] Exemplarily, the user manually inputs control instructions to the mobile platform of the semi-automatic grinding equipment through a remote controller to complete the manual control of the mobile platform of the semi-automatic grinding equipment.

[0057] Specifically, the scanner is preferably a laser area scanner. Specifically, the laser area scanner can customize the area detection range according to the actual on-site use scenario. Within the area detection range, after detecting an obstacle, it feeds back the obstacle signal to the mobile platform controller.

[0058] Specifically, after the scanner or the safety edge detects an obstacle, the alarm prompt module issues an alarm prompt; wherein, the ways of the alarm prompt include but are not limited to buzzer sound alarm and light alarm. In this embodiment, the alarm prompt module includes a buzzer and a light alarm. In actual application, when the alarm prompt module works, the buzzer emits a buzzer prompt and the light alarm flashes a red signal light.

[0059] Specifically, external sensors such as laser area scanners and safety edges are connected to the mobile platform controller through analog signals.

[0060] Specifically, the remote controller adopts but is not limited to a handheld remote controller; the handheld remote controller is wirelessly connected to the mobile platform controller, effectively avoiding the clutter of exposed wires caused by complex lines. Specifically, the remote controller communicates with the mobile platform controller through a wireless module using the TCP / IP protocol.

[0061] Specifically, the mobile platform controller controls the movement of the mobile platform of the semi-automatic grinding equipment by controlling the steering wheels. In this embodiment, the steering wheels preferably adopt synchronous servo motors. The steering wheels communicate with the mobile platform controller using the ECAT industrial bus protocol. The handheld remote controller controls the forward, backward, left, right, and rotation in place of the steering wheels through the mobile platform controller.

[0062] In this embodiment, the semi-automatic polishing equipment performs a self-test upon startup. This self-test includes checks of the mobile platform controller's core program, including but not limited to checking for servo errors and successful communication with the handheld remote controller. Safety system self-tests include checks for alarms from the laser area scanner and the safety edge. If a system error occurs, the alarm module flashes and sounds a buzzer, prompting a user to manually address the alarm. After the alarm is resolved, the user selects a control mode, either manual or automatic. The specific process is as follows: The user selects automatic or manual mode.

[0063] When the user selects the automatic mode, the operation path is automatically planned in the automatic operation scenario. The safety protection system composed of the laser area scanner and the safety touch edge detects obstacles in the area. After the obstacle is detected, it is sent to the mobile platform controller. The mobile platform controller controls the mobile platform of the semi-automatic grinding equipment to stop and flashes a red signal light and a buzzer; the safety touch edge compensates for the blind spot of the laser area scanner's field of view and intervenes at close range. In this embodiment, if the safety touch edge encounters an obstacle, the effect is the same as that of the laser area scanner. Wait for the grinding cycle signal, and run the position instruction after the signal is triggered. In this embodiment, in the automatic mode, the mobile platform of the semi-automatic grinding equipment executes displacement according to the grinding head cycle end signal under the control of the mobile platform controller. The displacement distance is determined by the working width of the grinding head.

[0064] When the user selects manual mode, full manual operation is possible, providing flexibility. The user manually operates the semi-automatic grinding equipment's mobile platform through a handheld remote control, and independently determines the displacement of the semi-automatic grinding equipment's mobile platform based on periodic signals or manual observation.

[0065] Specifically, the control system of the mobile platform of the semi-automatic grinding equipment can also be flexibly configured according to the actual usage scenario, and a user operation interface can be added to observe the operation status of the mobile platform of the semi-automatic grinding equipment in real time. The current position of the mobile platform of the semi-automatic grinding equipment, the remaining workpiece length, the fault code, the periodic signal, etc. can be observed through the human-machine interface; parameters can also be modified, such as the displacement speed of the mobile platform, the periodic displacement position instruction value, the fault code clearing, etc. In this embodiment, the remaining workpiece length is calculated based on the difference between the input workpiece length and the executed length; the periodic signal can display which specific value is currently being executed; modify the periodic displacement position instruction value, and customize the modification according to the actual on-site use effect. The value is a constant. The laser scanner and the safety touch edge form a safety protection system, and the control of the steering wheel by the mobile platform controller realizes functions such as left and right forward and backward lateral movement and in-situ rotation.

[0066] The control method of the mobile platform of the semi-automatic grinding equipment proposed in this embodiment effectively realizes the safety detection of the operating environment of the mobile platform of the semi-automatic grinding equipment through the scanner and the safety edge. When an obstacle is detected, an alarm is issued in time to prompt the user to handle it in time. The mobile platform controller supports the user to select the automatic mode and the manual mode. After selecting the automatic mode, it automatically plans the movement path of the mobile platform of the semi-automatic grinding equipment. According to the signal at the end of the cycle operation of the grinding head, in the manual mode, the movement of the mobile platform of the semi-automatic grinding equipment is controlled through the remote control, effectively solving the situation where the mobile platform of the semi-automatic grinding equipment cannot operate because the scanner and the safety edge always detect obstacles due to the narrow space. The control method of the mobile platform of the semi-automatic grinding equipment proposed in this embodiment solves the deficiencies existing in the existing wind turbine blade grinding solutions, has strong adaptability, high grinding efficiency and good stability.

[0067] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control system for a mobile platform of a semi-automatic grinding device, characterized in that, Comprising: A scanner, configured to detect whether there are obstacles in the area where the mobile platform of the semi-automatic grinding device is located, and feedback an obstacle signal to the mobile platform controller after detecting an obstacle; A mobile platform controller, configured to control the movement of the mobile platform of the semi-automatic grinding device according to the selected operating mode of the mobile platform; and control the mobile platform to stop moving after receiving the obstacle signal; wherein, the operating mode of the mobile platform includes an automatic mode and a manual mode.

2. The semi-automatic grinding equipment mobile platform control system according to claim 1, characterized in that Further comprising: A safety edge, configured to compensate for the blind spot of the scanner's detection field of view, intervene in obstacle detection within a short distance range, and feedback an obstacle signal to the mobile platform controller after detecting an obstacle.

3. The semi-automatic grinding equipment moving platform control system according to claim 1, characterized in that Further comprising: A remote controller, configured to allow a user to manually input control instructions to the mobile platform of the semi-automatic grinding device to complete the manual control of the mobile platform of the semi-automatic grinding device.

4. The semi-automatic grinding equipment mobile platform control system according to claim 2, characterized in that, Further comprising: An alarm prompt module, configured to issue an alarm prompt after the scanner or the safety edge detects an obstacle; wherein, the manner of the alarm prompt includes but is not limited to beeping sound alarm and light alarm.

5. The semi-automatic grinding equipment mobile platform control system according to claim 1, characterized in that, The scanner uses but is not limited to a laser area scanner.

6. The semi-automatic grinding equipment moving platform control system according to claim 3, characterized in that, The remote controller uses but is not limited to a handheld remote controller; the handheld remote controller is wirelessly connected to the mobile platform controller.

7. The semi-automatic grinding equipment moving platform control system according to any one of claims 1 to 6, characterized in that, The mobile platform controller controls the movement of the mobile platform of the semi-automatic grinding device by controlling the steering wheels.

8. A control method for a mobile platform of a semi-automatic grinding device, characterized in that, This method uses the semi-automatic grinding device mobile platform control system described in claim 1, comprising: The scanner detects whether there are obstacles in the area where the mobile platform of the semi-automatic grinding device is located, and feedbacks an obstacle signal to the mobile platform controller after detecting an obstacle; The mobile platform controller controls the movement of the mobile platform of the semi-automatic grinding device according to the selected operating mode of the mobile platform; and controls the mobile platform to stop moving after receiving the obstacle signal; wherein, the operating mode of the mobile platform includes an automatic mode and a manual mode.

9. The control method of the mobile platform of the semi-automatic grinding equipment according to claim 8, characterized in that, Further comprising: Compensating for the blind spot of the scanner's detection field of view through the safety edge, intervening in obstacle detection within a short distance range, and feedbacking an obstacle signal to the mobile platform controller after detecting an obstacle.

10. The control method for the mobile platform of the semi-automatic grinding equipment according to any one of claims 8 or 9, characterized in that Further comprising: The user manually inputs control instructions to the mobile platform of the semi-automatic grinding device through the remote controller to complete the manual control of the mobile platform of the semi-automatic grinding device.

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