Holder lifting control system, control method and inspection robot

Abstract

The invention discloses a cradle head lifting control system and method and an inspection robot, the cradle head lifting control system comprises a lifting module, a control module and a control module, the lifting module is located between a movable panel and a fixed panel, and a shear fork assembly is located between the movable panel and the fixed panel; the angle detection module is fixedly arranged on one side of the fixed panel and is used for detecting a current included angle between the shear fork assembly and the fixed panel; the driving module is connected with the lifting module and used for driving the shear fork assembly to move in the first direction; the control module is connected with the angle detection module and the driving module and used for obtaining the current included angle, determining the current lifting height of the lifting module according to the current included angle and controlling the driving module to output a driving signal to the shear fork assembly according to the current lifting height and the preset lifting height so as to drive the shear fork assembly to move in the first direction. Therefore, the adjustment precision of the lifting height of the cradle head lifting control system can be improved.

Description

Technical Field

[0001] This invention relates to the field of lifting control technology, and in particular to a gimbal lifting control system, control method, and inspection robot. Background Technology

[0002] Currently available inspection robot gimbal lifting devices typically use encoders to obtain the number of motor rotations and indirectly calculate the lifting height of the lifting module. The disadvantage is that there are unavoidable gear backlashes and coupling backlashes in the transmission mechanism, which cause backlash in the system, resulting in cumulative errors between the calculated height and the actual height, and the accuracy cannot be guaranteed. Summary of the Invention

[0003] This invention provides a gimbal lifting control system, a control method, and an inspection robot to improve the adjustment accuracy of the gimbal lifting control system's lifting height.

[0004] In a first aspect, embodiments of the present invention provide a gimbal lifting control system, comprising:

[0005] The lifting module includes a movable panel, a fixed panel, and a scissor assembly; the movable panel and the fixed panel are arranged along a first direction, and the scissor assembly is located between the movable panel and the fixed panel; the first direction intersects both the plane where the movable panel is located and the plane where the fixed panel is located.

[0006] An angle detection module is fixedly installed on one side of the fixed panel and is used to detect the current included angle between the scissor assembly and the fixed panel.

[0007] A drive module, connected to the lifting module, is used to drive the scissor lift assembly to move along the first direction;

[0008] The control module, connected to the angle detection module and the drive module, is used to obtain the current included angle and determine the current lifting height of the lifting module based on the current included angle. It is also used to control the drive module to output a drive signal to the scissor assembly based on the current lifting height and a preset lifting height, so as to drive the scissor assembly to move along the first direction, thereby causing the moving panel to move relative to the fixed panel.

[0009] Optionally, the pan-tilt lifting control system further includes an alarm module; the drive module includes a drive motor;

[0010] The control module is also used to acquire the rotational speed of the drive motor, and determine the height adjustment period of the lifting module based on the difference between the current lifting height and the preset lifting height and the rotational speed of the drive motor;

[0011] The control module is also connected to the alarm module and is used to output an alarm signal to the alarm module when the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height.

[0012] Optionally, the lifting module further includes: a track, a first moving shaft, a first fixed shaft, a second moving shaft, a second fixed shaft, a first moving ring, a second moving ring, a third moving ring, a fourth moving ring, a central shaft, a first copper sleeve, a second copper sleeve, a third copper sleeve, and a fourth copper sleeve;

[0013] The track includes a first track portion and a second track portion located on the fixed panel, and a third track portion and a fourth track portion located on the movable panel; the fixed panel includes a first side and a second side disposed opposite to each other along a second direction; the first track portion is located on the first side, and the extension length of the first track portion is less than the length of the first side; the second track portion is located on the second side, and the extension length of the second track portion is less than the length of the second side; the movable panel includes a third side and a fourth side disposed opposite to each other along a second direction; the third track portion is located on the third side, and the extension length of the third track portion is less than the length of the third side; the fourth track portion is located on the fourth side, and the extension length of the fourth track portion is less than the length of the fourth side; the second direction intersects the first direction;

[0014] The fixed panel further includes a fifth side and a sixth side arranged along a third direction; the first moving axis is located on the fifth side and extends along the second direction; the first fixed axis is located on the sixth side and extends along the second direction; the moving panel further includes a seventh side and an eighth side arranged along the third direction; the second moving axis is located on the seventh side and extends along the second direction; the second fixed axis is located on the eighth side and extends along the second direction; the third direction intersects both the first direction and the second direction;

[0015] Along the second direction, one end of the first moving shaft is fixed to the first moving ring and slidably connected to the first track section through the first moving ring; the other end of the first moving shaft is fixed to the second moving ring and slidably connected to the second track section through the second moving ring; one end of the second moving shaft is fixed to the third moving ring and slidably connected to the third track section through the third moving ring; the other end of the second moving shaft is fixed to the fourth moving ring and slidably connected to the fourth track section through the fourth moving ring.

[0016] The scissor lift assembly includes a first bracket and a second bracket; the centers of the first bracket and the second bracket are connected by a central shaft; along the first direction, one end of the first bracket is fixed to the first copper sleeve and rotatably connected to the first moving shaft through the first copper sleeve; the other end of the first bracket is fixed to the second copper sleeve and rotatably connected to the second fixed shaft through the second copper sleeve; one end of the second bracket is fixed to the third copper sleeve and rotatably connected to the first fixed shaft through the third copper sleeve; the other end of the second bracket is fixed to the fourth copper sleeve and rotatably connected to the second moving shaft through the fourth copper sleeve.

[0017] Optionally, the lifting module further includes: a fixed plate and a rotating plate;

[0018] Along the second direction, the fixing plate includes a first surface and a second surface; the angle detection module is fixedly disposed on the first surface;

[0019] The rotating plate extends along the second direction, and one end of the rotating plate is fixedly disposed on the second surface along the second direction, while the other end of the rotating plate is fixed to the third copper sleeve.

[0020] The angle detection module is used to detect the rotation angle of the rotating plate, and the control module is also used to acquire the rotation angle and determine the current included angle between the scissor assembly and the fixed panel based on the rotation angle.

[0021] Optionally, the lifting module further includes: a lead screw;

[0022] The lead screw extends along the third direction, and along the third direction, one end of the lead screw is fixed to the seventh side through a lead screw hole, and the other end of the lead screw is connected to the drive module, and the drive module is fixedly disposed on the eighth side.

[0023] Optionally, the lifting module further includes: a vertical plate;

[0024] The upright plate covers the first side, the second side, the third side, and the fourth side.

[0025] In a second aspect, embodiments of the present invention also provide a gimbal lifting control method, applied in a gimbal lifting control system as described in any of the first aspects, the gimbal lifting control method comprising:

[0026] The angle detection module is controlled to acquire the current included angle between the scissor lift assembly and the fixed panel;

[0027] Obtain the current included angle;

[0028] The current lifting height of the lifting module is determined based on the current included angle;

[0029] Based on the current lifting height and the preset lifting height, the drive module outputs a drive signal to the scissor lift assembly, driving the scissor lift assembly to move along the first direction, thereby causing the movable panel to move relative to the fixed panel.

[0030] Optionally, the gimbal lifting control method further includes:

[0031] Obtain the rotational speed of the drive motor;

[0032] The height adjustment period of the lifting module is determined based on the difference between the current lifting height and the preset lifting height, as well as the rotational speed of the drive motor.

[0033] If the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height, an alarm signal is output to the alarm module.

[0034] Optionally, the angle detection module is controlled to acquire the current included angle between the scissor lift assembly and the fixed panel, including:

[0035] The angle detection module is controlled to acquire the rotation angle of the rotating plate;

[0036] Obtain the rotation angle;

[0037] Obtaining the current included angle includes:

[0038] The current angle between the scissor assembly and the fixed panel is determined based on the rotation angle.

[0039] Thirdly, embodiments of the present invention also provide an inspection robot, including a gimbal lifting control system as described in any of the first aspects;

[0040] The inspection robot further includes: an inspection robot body; along the first direction, the inspection robot body is located on the side of the movable panel away from the fixed panel.

[0041] The technical solution provided by this invention includes a gimbal lifting control system comprising a lifting module, an angle detection module, a drive module, and a control module. The lifting module includes a movable panel, a fixed panel, and a scissor lift assembly. The scissor lift assembly is located between the movable panel and the fixed panel. Moving the scissor lift assembly moves the movable panel up and down, thus changing the height of the lifting module. The angle detection module is fixedly mounted on one side of the fixed panel and is used to detect the current angle between the scissor lift assembly and the fixed panel. The control module is connected to the angle detection module, allowing the control module to obtain the current angle detected by the angle detection module and determine the current lifting height of the lifting module based on this angle. This eliminates the need to determine the current lifting height based on the parameters of the transmission mechanism; instead, the current lifting height is determined by the current angle detected by the angle detection module, resulting in higher accuracy. Furthermore, the control module is also connected to the drive module and is used to control the drive module to output a drive signal to the scissor lift assembly based on the current lifting height and a preset lifting height. This drives the scissor lift assembly to move along a first direction, causing the movable panel to move relative to the fixed panel, thereby moving the lifting module from the current lifting height to the preset lifting height, thus improving the control accuracy of the gimbal lifting control system. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of a gimbal lifting control system provided in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of a lifting module provided in an embodiment of the present invention;

[0045] Figure 3 A side view of a lifting module provided in an embodiment of the present invention;

[0046] Figure 4 for Figure 3 Equivalent schematic diagram of the corresponding lifting module;

[0047] Figure 5 This is a bottom view of a lifting module provided in an embodiment of the present invention;

[0048] Figure 6 This is a front view schematic diagram of a lifting module provided in an embodiment of the present invention;

[0049] Figure 7 A partial schematic diagram of a lifting module provided in an embodiment of the present invention;

[0050] Figure 8 A flowchart illustrating the first gimbal lifting control method provided in an embodiment of the present invention;

[0051] Figure 9 A flowchart illustrating the second gimbal lifting control method provided in this embodiment of the invention;

[0052] Figure 10 A flowchart illustrating the third gimbal lifting control method provided in this embodiment of the invention;

[0053] Figure 11 This is a structural schematic diagram of an inspection robot provided in an embodiment of the present invention. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0055] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connection" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] In the description of this embodiment, the terms "upper" and "lower," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0057] Figure 1 This is a schematic diagram of a gimbal lifting control system provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a lifting module provided in an embodiment of the present invention, as shown below. Figure 1 and Figure 2As shown, the gimbal lifting control system 100 includes: a lifting module 10, including a movable panel 101, a fixed panel 102, and a scissor lift assembly 103; the movable panel 101 and the fixed panel 102 move along a first direction (e.g., ...). Figure 2 The Z-direction shown is configured, and the scissor lift assembly 103 is located between the moving panel 101 and the fixed panel 102; the first direction Z intersects both the plane where the moving panel 101 is located and the plane where the fixed panel 102 is located; the angle detection module 20 is fixedly installed on one side of the fixed panel 102 and is used to detect the current included angle between the scissor lift assembly 103 and the fixed panel 102; the drive module 30 is connected to the lifting module 10 and is used to drive the scissor lift assembly 103 to move along the first direction Z; the control module 40 is connected to the angle detection module 20 and the drive module 30 and is used to obtain the current included angle and determine the current lifting height of the lifting module according to the current included angle, and is also used to control the drive module 30 to output a drive signal to the scissor lift assembly 103 according to the current lifting height and the preset lifting height, so as to drive the scissor lift assembly 103 to move along the first direction Z, so as to drive the moving panel 101 to move relative to the fixed panel 102.

[0058] For details, please refer to Figure 2 The lifting module 10 includes a movable panel 101, a fixed panel 102, and a scissor assembly 103. The fixed panel 102 is essentially the base of the gimbal lifting control system. The scissor assembly 103 is shaped like scissors and is located between the movable panel 101 and the fixed panel 102. Along the first direction Z, the movable panel 101 is located above the scissor assembly 103, and the fixed panel 102 is located below the scissor assembly 103. Thus, when the scissor assembly 103 moves, it can drive the movable panel 101 to move up and down, while the fixed panel 102 remains stationary, thereby enabling the lifting module 10 to rise or fall.

[0059] Continue to refer to Figure 2 Angle detection module 20 is fixedly installed on one side of fixed panel 102 and is used to detect the current angle between scissor assembly 103 and fixed panel 102. In other words, angle detection module 20 can collect the angle between scissor assembly 103 and fixed panel 102 in real time during the process of scissor assembly 103 rising or falling.

[0060] Specifically, the control module 40 is connected to the angle detection module 20, so that the control module 40 can obtain the current included angle detected by the angle detection module 20. Figure 3 This is a side view schematic diagram of a lifting module provided in an embodiment of the present invention. Figure 4 for Figure 3 The equivalent schematic diagram of the corresponding lifting module is as follows: Figure 3 and Figure 4As shown, in isosceles triangle OAB, since the arm length of the scissor lift assembly 103 is known (i.e., the side length OB is half the arm length of the scissor lift assembly 103), assuming the side length OB is L, the angle detection module 20 detects the current included angle between the scissor lift assembly 103 and the fixed panel 102 as θ. Thus, according to trigonometric functions, H / 2 = L × sinθ, i.e., H = 2 × L × sinθ. In other words, the control module 40 can determine the current lifting height of the lifting module based on the current included angle. As a comparison, in the prior art, the lifting height of the lifting module is indirectly calculated by obtaining the parameters of the transmission mechanism. However, due to gear backlash and coupling backlash in the transmission mechanism, the accuracy of the lifting height calculation is affected, thus affecting the control precision of the gimbal lifting control system. However, in this embodiment of the invention, the control module 40 obtains the current included angle between the scissor lift assembly 103 and the fixed panel 102 detected by the angle detection module, and can then determine the current lifting height of the lifting module according to trigonometric functions, thereby improving the detection accuracy of the current lifting height of the lifting module.

[0061] Specifically, the drive module 30 is connected to the lifting module 10 and is used to drive the scissor lift assembly 103 to move along the first direction Z. Thus, the scissor lift assembly 103 can rise or fall along the first direction Z, thereby achieving the lifting of the lifting module 10. The control module 40 is also connected to the drive module 30 and is used to control the drive module 30 to output a drive signal to the scissor lift assembly 103 based on the current lifting height and a preset lifting height. This drives the scissor lift assembly 103 to move along the first direction Z, thereby causing the movable panel 101 to move relative to the fixed panel 102. This ensures that the current lifting height of the lifting module 10 reaches the preset lifting height, thus achieving height control of the gimbal lifting control system.

[0062] The gimbal lifting control system provided in this embodiment of the invention connects a control module to an angle detection module. This allows the control module to acquire the current included angle detected by the angle detection module and determine the current lifting height of the lifting module based on this angle. That is, the current lifting height is determined directly from the current angle detected by the angle detection module, eliminating the need to rely on parameters of the transmission mechanism. This results in higher accuracy of the current lifting height. Furthermore, the control module is also connected to a drive module and is used to control the drive module to output a drive signal to the scissor lift assembly based on the current lifting height and a preset lifting height. This drives the scissor lift assembly to move along a first direction, thereby moving the movable panel relative to the fixed panel. This, in turn, moves the lifting module from the current lifting height to the preset lifting height, thus improving the control accuracy of the gimbal lifting control system.

[0063] Optional, continue to refer to Figure 1 and Figure 2The PTZ lifting control system 100 also includes an alarm module 50; the drive module 30 includes a drive motor 301; the control module 40 is also used to acquire the rotational speed of the drive motor 301, and determine the height adjustment period of the lifting module 10 based on the difference between the current lifting height and the preset lifting height and the rotational speed of the drive motor; the control module 40 is also connected to the alarm module 50, and is used to output an alarm signal to the alarm module 50 when the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height.

[0064] Specifically, since the drive module 30 is connected to the lifting module 10, that is, the drive motor 301 is connected to the lifting module 10, the drive motor 301 drives the scissor lift assembly 103 to move along the first direction Z. Thus, the lifting speed of the lifting module 10 is related to the rotational speed of the drive motor 301; that is, the faster the rotational speed of the drive motor 301, the faster the lifting speed of the lifting module 10, meaning the shorter the time it takes for the lifting module 10 to reach the preset lifting height from the current lifting height. The control module 40 is connected to the drive motor 301, so the control module 40 can obtain the rotational speed of the drive motor 301, and then determine the height adjustment period of the lifting module 10 based on the difference between the current lifting height and the preset lifting height and the rotational speed of the drive motor. In other words, the control module 40 can determine the height that the lifting module 10 needs to move based on the difference between the current lifting height and the preset lifting height, and determine the movement speed of the lifting module 10 based on the rotational speed of the drive motor, and then determine the time required to move from the current lifting height to the preset lifting height based on the ratio between the two. For example, the height adjustment period of the lifting module 10 can be 30 seconds or 1 minute, etc., and the embodiment of the present invention does not specifically limit the height adjustment period.

[0065] Furthermore, if the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height, it indicates that the lifting module 10 has not reached the preset lifting height during the height adjustment period, which means that the lifting module 10 has malfunctioned. In this case, the control module 40 can control the drive motor to stop moving and output an alarm signal to the alarm module 50 to prompt the maintenance personnel to inspect the lifting module 10. This enables the pan-tilt lifting control system to have a self-diagnostic function for faults, preventing the system from performing the scheduled operations when the lifting module is faulty, which would lead to ineffective inspections and, in severe cases, damage to the lifting module.

[0066] For example, suppose the height adjustment period is 1 minute. However, if the current lifting height of the lifting module 10 is not equal to the preset lifting height after 1 minute of movement, it indicates that the lifting module 10 has malfunctioned. If the current lifting height of the lifting module 10 is equal to the preset lifting height after 1 minute of movement, it indicates that the lifting module 10 is normal and has not malfunctioned.

[0067] It should be noted that the alarm module 50 can emit audible alarm messages and / or visual alarm messages to alert maintenance personnel.

[0068] Optional, Figure 5 This is a bottom view of a lifting module provided in an embodiment of the present invention. Figure 6 This is a front view schematic diagram of a lifting module provided in an embodiment of the present invention. (Continuing to refer to...) Figure 2 , Figure 3 , Figure 5 and Figure 6 The lifting module 10 further includes: a track 104, a first moving shaft 105, a first fixed shaft 106, a second moving shaft 107, a second fixed shaft 108, a first moving ring 109, a second moving ring 110, a third moving ring 111, a fourth moving ring 112, a central shaft 113, a first copper sleeve 114, a second copper sleeve 115, a third copper sleeve 116, and a fourth copper sleeve 117; the track 104 includes a first track portion 1041 and a second track portion 1042 located on the fixed panel 102, and a third track portion 1043 and a fourth track portion 1044 located on the moving panel 102; the fixed panel 102 includes a track portion along a second direction (e.g., Figure 2 The first side 1021 and the second side 1022 are arranged opposite each other in the X direction shown in the diagram; the first track portion 1041 is located on the first side 1021, and the extension length of the first track portion 1041 is less than the length of the first side 1021; the second track portion 1042 is located on the second side 1022, and the extension length of the second track portion 1042 is less than the length of the second side 1022; the movable panel 101 includes a third side 1011 and a fourth side 1012 arranged opposite each other in the second direction X; the third track portion 1043 is located on the third side 1011, and the extension length of the third track portion 1043 is less than the length of the third side 1011; the fourth track portion 1044 is located on the fourth side 1012, and the extension length of the fourth track portion 1044 is less than the length of the fourth side 1012; the second direction X intersects the first direction Z; the fixed panel 102 also includes a third track portion (e.g., in the third direction X) arranged opposite each other in the first direction Z; Figure 2The fifth side 1023 and the sixth side 1024 (shown in the Y direction) are arranged; the first moving axis 105 is located on the fifth side 1023 and extends along the second direction X; the first fixed axis 106 is located on the sixth side 1024 and extends along the second direction X; the movable panel 101 also includes a seventh side 1013 and an eighth side 1014 arranged along the third direction Y; the second moving axis 107 is located on the seventh side 1013 and extends along the second direction X; the second fixed axis 108 is located on the eighth side 1014. The first moving shaft 105 extends upwards and along the second direction X; the third direction Y intersects both the first direction Z and the second direction X; along the second direction X, one end of the first moving shaft 105 is fixed to the first moving ring 109 and is slidably connected to the first track section 1041 through the first moving ring 109; the other end of the first moving shaft 105 is fixed to the second moving ring 110 and is slidably connected to the second track section 1042 through the second moving ring 110; one end of the second moving shaft 107 is fixed to the third moving ring 111, and... The third moving ring 111 is slidably connected to the third track section 1043; the other end of the second moving shaft 107 is fixed to the fourth moving ring 112 and slidably connected to the fourth track section 1044 through the fourth moving ring 112; the scissor lift assembly 103 includes a first bracket 1031 and a second bracket 1032; the center of the first bracket 1031 and the center of the second bracket 1032 are connected by a central shaft 113; along the first direction Z, one end of the first bracket 1031 is fixed to the first copper sleeve 114 and rotatably connected to the first moving shaft 105 through the first copper sleeve 114; the other end of the first bracket 1031 is fixed to the second copper sleeve 115 and rotatably connected to the second fixed shaft 108 through the second copper sleeve 115; one end of the second bracket 1032 is fixed to the third copper sleeve 116 and rotatably connected to the first fixed shaft 106 through the third copper sleeve 116; the other end of the second bracket 1032 is fixed to the fourth copper sleeve 117 and rotatably connected to the second moving shaft 106 through the fourth copper sleeve 117.

[0069] Specifically, the first support 1031 and the second support 1032 can rotate around the central axis 113, thereby realizing the lifting movement of the lifting module 10. Along the first direction Z, the first moving shaft 105 and the second moving shaft 107 are correspondingly arranged, and the first fixed shaft 106 and the second fixed shaft 108 are correspondingly arranged. Along the second direction X, the first track section 1041 and the second track section 1042 are correspondingly arranged, and the third track section 1043 and the fourth track section 1044 are correspondingly arranged. During the lifting process of the lifting module 10, the first moving shaft 105 moves towards the side closer to the first fixed shaft 106 on the first track section 1041 and the second track section 1042 through the first moving ring 109 and the second moving ring 110. At the same time, the second moving shaft 107 moves towards the side closer to the second fixed shaft 108 on the third track section 1043 and the fourth track section 1044 through the third moving ring 111 and the fourth moving ring 112. During the lowering process of the lifting module 10, the first moving shaft 105 moves away from the first fixed shaft 106 on the first track section 1041 and the second track section 1042 via the first moving ring 109 and the second moving ring 110. At the same time, the second moving shaft 105 moves away from the second fixed shaft 108 on the third track section 1043 and the fourth track section 1044 via the third moving ring 111 and the fourth moving ring 112.

[0070] It should be noted that during the movement of the first moving axis 105 and the second moving axis 107, the first fixed axis 106 and the second fixed axis 108 remain stationary.

[0071] Specifically, during the rotation of the first support 1031 and the second support 1032 around the central axis 113, the first support 1031 rotates on the first moving shaft 105 via the first copper sleeve 114 and on the second fixed shaft 108 via the second copper sleeve 115, and the second support 1032 rotates on the first fixed shaft 106 via the third copper sleeve 116 and on the second moving shaft 106 via the fourth copper sleeve 117, so as to ensure the raising or lowering of the lifting module 10.

[0072] Specifically, the extension length of the first track section 1041 is less than the length of the first side 1021, the extension length of the second track section 1042 is less than the length of the second side 1022, the extension length of the third track section 1043 is less than the length of the third side 1011, and the extension length of the fourth track section 1044 is less than the length of the fourth side 1012. This ensures the lifting height of the lifting module 10 and the stability during the lifting process.

[0073] It should be noted that, taking the first moving ring 109 as an example, the first moving ring 109 is fitted onto the first track section 1041 to ensure that the first moving ring 109 slides on the first track section 1041. Taking the first copper sleeve 114 as an example, the first copper sleeve 114 is fitted onto the first moving shaft 105 to ensure that the first copper sleeve 114 can rotate on the first moving shaft 105.

[0074] It is understandable that the number of scissor lift assemblies 103 can be two or more sets, which helps to ensure the stability and reliability of the lifting module 10 during the lifting process.

[0075] Optional, Figure 7 This is a partial schematic diagram of a lifting module provided in an embodiment of the present invention. (Continuing to refer to...) Figure 2 , Figure 5 and Figure 7 The lifting module 10 further includes: a fixed plate 118 and a rotating plate 119; along the second direction Y, the fixed plate 118 includes a first surface 1181 and a second surface 1182; an angle detection module 30 is fixedly disposed on the first surface 1181; one end of the rotating plate 119 is fixedly disposed on the second surface 1182; the rotating plate 119 extends along the second direction X, and along the second direction X, one end of the rotating plate 119 is fixedly disposed on the second surface 1182, and the other end of the rotating plate 119 is fixed to the third copper sleeve 116; the angle detection module 30 is used to detect the rotation angle of the rotating plate 119, and the control module 40 is also used to obtain the rotation angle and determine the current included angle between the scissor lift assembly 103 and the fixed panel 102 according to the rotation angle.

[0076] Specifically, the angle detection module 30 and the rotating plate 119 are respectively disposed on both sides of the fixed plate 118 and along the second direction X. One end of the rotating plate 119 is fixedly disposed on the second surface 1182, and the other end of the rotating plate 119 is fixed to the third copper sleeve 116. Thus, during the movement of the scissor lift assembly 103, the rotating plate 119 can rotate with the third copper sleeve 116, and the angle detection module 30 can collect the rotation angle of the rotating plate 119 and send the rotation angle signal to the control module. Since the included angle between the scissor lift assembly 103 and the fixed panel 102 is related to the rotation angle of the rotating plate 119, the control module can determine the current included angle between the scissor lift assembly 103 and the fixed panel 102 according to the rotation angle, so as to determine the current lifting height of the lifting module 10 according to the current angle.

[0077] Optional, continue to refer to Figure 5The lifting module 10 also includes a lead screw 120; the lead screw 120 extends along the third direction Y, and one end of the lead screw 120 is fixed to the seventh side 1013 through the lead screw hole 121, and the other end of the lead screw 120 is connected to the drive module 30, and the drive module 30 is fixedly disposed on the eighth side 1014.

[0078] Specifically, the lead screw 120 is located between the movable panel 101 and the fixed panel 102, and is located on the side closer to the movable panel 101. Along the third direction Y, one end of the lead screw 120 is fixed to the seventh side 1013 through the lead screw hole 121, and can be fixed to the seventh side 1013 by the fixing block 122 to ensure the stability of the lifting module 10. The other end of the lead screw 120 is connected to the drive module 30, so that the drive module 30 can drive the lead screw 120 to move linearly along the third direction Y, thereby driving the scissor lift assembly 103 to move, so that the lifting module 10 can be raised or lowered along the first direction Z.

[0079] Optional, continue to refer to Figure 2 The lifting module 10 also includes: a vertical plate 123; the vertical plate 123 covers the first side 1021, the second side 1022, the third side 1011 and the fourth side 1012.

[0080] Specifically, the upright plate 123 covers the first side 1021, the second side 1022, the third side 1011 and the fourth side 1012. In this way, by setting the upright plate 123, the first track section 1041, the second track section 1042, the third track section 1043 and the fourth track section 1044 can be shielded.

[0081] Based on the same inventive concept, this invention also provides a gimbal lifting control method. Figure 8 This is a flowchart illustrating the first gimbal lifting control method provided in an embodiment of the present invention, as shown below. Figure 8 As shown, the gimbal lifting control method includes:

[0082] S101, The control angle detection module collects the current angle between the scissor lift assembly and the fixed panel.

[0083] For details, please refer to Figure 2 The lifting module 10 includes a movable panel 101, a fixed panel 102, and a scissor assembly 103. The scissor assembly 103 is shaped like scissors and is located between the movable panel 101 and the fixed panel 102. Along the first direction Z, the movable panel 101 is located above the scissor assembly 103, and the fixed panel 102 is located below the scissor assembly 103. Thus, when the scissor assembly 103 moves, it can drive the movable panel 101 to move up and down, while the fixed panel 102 remains stationary, thereby enabling the lifting module 10 to rise or fall.

[0084] Continue to refer to Figure 2 Angle detection module 20 is fixedly installed on one side of fixed panel 102 and is used to detect the current angle between scissor assembly 103 and fixed panel 102. In other words, angle detection module 20 can collect the angle between scissor assembly 103 and fixed panel 102 in real time during the process of scissor assembly 103 rising or falling.

[0085] S102, Get the current included angle.

[0086] Continue to refer to Figure 2 The control module 40 is connected to the angle detection module 20, so that the control module 40 can obtain the current included angle detected by the angle detection module 20.

[0087] S103. Determine the current lifting height of the lifting module based on the current included angle.

[0088] Continue to refer to Figure 3 and Figure 4 In isosceles triangle OAB, since the arm length of the scissor lift assembly 103 is known (i.e., the side length OB is half the arm length of the scissor lift assembly 103), assuming the side length OB is L, the angle detection module 20 detects the current included angle between the scissor lift assembly 103 and the fixed panel 102 as θ. Thus, according to trigonometric functions, H / 2 = L × sinθ, i.e., H = 2 × L × sinθ. In other words, the control module 40 can determine the current lifting height of the lifting module based on the current included angle. As a comparison, in the prior art, the lifting height of the lifting module is indirectly calculated by obtaining the parameters of the transmission mechanism. However, due to gear backlash and coupling backlash in the transmission mechanism, the accuracy of the lifting height acquisition is affected, which in turn affects the accuracy of the lifting height calculation, thus affecting the control precision of the gimbal lifting control system. However, in this embodiment of the invention, the control module 40 obtains the current included angle between the scissor lift assembly 103 and the fixed panel 102 detected by the angle detection module, and can then determine the current lifting height of the lifting module according to trigonometric functions, thereby improving the detection accuracy of the current lifting height of the lifting module.

[0089] S104. Based on the current lifting height and the preset lifting height, the control drive module outputs a drive signal to the scissor lift assembly, driving the scissor lift assembly to move along the first direction, thereby causing the moving panel to move relative to the fixed panel.

[0090] For details, please refer to Figure 1 and Figure 2The drive module 30 is connected to the lifting module 10 and is used to drive the scissor lift assembly 103 to move along the first direction Z. Thus, the scissor lift assembly 103 can rise or fall along the first direction Z, thereby achieving the lifting of the lifting module 10. The control module 40 is also connected to the drive module 30 and is used to control the drive module 30 to output a drive signal to the scissor lift assembly 103 according to the current lifting height and a preset lifting height. This drives the scissor lift assembly 103 to move along the first direction Z, thereby causing the movable panel 101 to move relative to the fixed panel 102. This ensures that the current lifting height of the lifting module 10 reaches the preset lifting height, thereby achieving height control of the gimbal lifting control system.

[0091] The gimbal lifting control method provided in this embodiment of the invention allows the control module to determine the current lifting height of the lifting module based on the current included angle, and to control the drive module to output a drive signal to the scissor lift assembly based on the current lifting height and the preset lifting height, thereby driving the scissor lift assembly to move along the first direction, so as to move the moving panel relative to the fixed panel. That is, it is not necessary to determine the current lifting height based on the parameters of the transmission mechanism, but to determine the current lifting height through the current angle detected by the angle detection module, thus the accuracy of the current lifting height is high.

[0092] Optional, Figure 9 This is a flowchart illustrating the second gimbal lifting control method provided in an embodiment of the present invention. Figure 9 Based on the above embodiments, the gimbal lifting control method will be further described, such as... Figure 9 As shown, the gimbal lifting control method includes:

[0093] S201, The control angle detection module collects the current angle between the scissor lift assembly and the fixed panel.

[0094] S202, Get the current included angle.

[0095] S203. Determine the current lifting height of the lifting module based on the current included angle.

[0096] S204. Based on the current lifting height and the preset lifting height, control the drive motor to output a drive signal to the scissor lift assembly, drive the scissor lift assembly to move along the first direction, so as to move the moving panel relative to the fixed panel.

[0097] S205, Obtain the speed of the drive motor.

[0098] Specifically, the control module is connected to the drive motor, so that the control module can obtain the speed of the drive motor.

[0099] S206. Determine the height adjustment period of the lifting module based on the difference between the current lifting height and the preset lifting height, as well as the speed of the drive motor.

[0100] For details, please refer to [link / reference]. Figure 2 The lifting speed of the lifting module 10 is related to the rotational speed of the drive motor 301. That is, the faster the rotational speed of the drive motor 301, the faster the lifting speed of the lifting module 10, meaning the shorter the time it takes for the lifting module 10 to reach the preset lifting height from the current lifting height. The control module 40 can obtain the rotational speed of the drive motor 301 and then determine the height adjustment period of the lifting module 10 based on the difference between the current lifting height and the preset lifting height, as well as the rotational speed of the drive motor. In other words, the control module 40 can determine the required height of the lifting module 10 based on the difference between the current lifting height and the preset lifting height, and determine the movement speed of the lifting module 10 based on the rotational speed of the drive motor. Then, it can determine the time required to move from the current lifting height to the preset lifting height based on the ratio between the two. For example, the height adjustment period of the lifting module 10 can be 30 seconds or 1 minute, etc. This embodiment of the invention does not specifically limit the height adjustment period.

[0101] S207. When the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height, an alarm signal is output to the alarm module.

[0102] Continue to refer to Figure 1 and Figure 2 If the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height, it indicates that the lifting module 10 has not reached the preset lifting height during the height adjustment period, which means that the lifting module 10 has malfunctioned. Then the control module 40 can control the drive motor to stop moving and output an alarm signal to the alarm module 50 to prompt the maintenance personnel to inspect the lifting module 10. This enables the self-diagnosis function of the pan-tilt lifting control system.

[0103] The gimbal lifting control method provided in this embodiment of the invention allows the control module to determine the height adjustment period of the lifting module based on the difference between the current lifting height and the preset lifting height, as well as the rotational speed of the drive motor. When the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height, the control module can output an alarm signal to the alarm module to prompt maintenance personnel to inspect the lifting module. This enables the gimbal lifting control system to achieve a self-diagnosis function for faults.

[0104] Optional, Figure 10 This is a flowchart illustrating the third gimbal lifting control method provided in an embodiment of the present invention. Figure 10 Based on the above embodiments, the operation of the control angle detection module in acquiring the current included angle between the scissor lift assembly and the fixed panel is further described, such as... Figure 10 As shown, the gimbal lifting control method includes:

[0105] S301, The control angle detection module collects the rotation angle of the rotating plate.

[0106] For details, please refer to [link / reference]. Figure 2 and Figure 7 Angle detection module 30 and rotating plate 119 are respectively disposed on both sides of fixed plate 118 and along the second direction X. One end of rotating plate 119 is fixedly disposed on second surface 1182, and the other end of rotating plate 119 is fixed to third copper sleeve 116. Thus, during the movement of scissor assembly 103, rotating plate 119 can rotate with third copper sleeve 116, and angle detection module 30 can collect the rotation angle of rotating plate 119 and send the rotation angle signal to control module.

[0107] S302, Obtain the rotation angle.

[0108] Specifically, the control module obtains the rotation angle.

[0109] S303. Determine the current included angle between the scissor lift assembly and the fixed panel based on the rotation angle.

[0110] For details, please refer to [link / reference]. Figure 2 Since the included angle between the scissor lift assembly 103 and the fixed panel 102 is related to the rotation angle of the rotating plate 119, the control module can determine the current included angle between the scissor lift assembly 103 and the fixed panel 102 based on the rotation angle, so as to determine the current lifting height of the lifting module 10 based on the current angle.

[0111] S304. Determine the current lifting height of the lifting module based on the current included angle.

[0112] S305. Based on the current lifting height and the preset lifting height, the control drive module outputs a drive signal to the scissor lift assembly, driving the scissor lift assembly to move along the first direction, thereby causing the moving panel to move relative to the fixed panel.

[0113] The gimbal lifting control method provided in this embodiment of the invention collects the rotation angle of the rotating plate through a control angle detection module; obtains the rotation angle; and determines the current angle between the scissor assembly and the fixed panel based on the rotation angle. In this way, the rotation angle of the rotating plate can be converted into the current angle between the scissor assembly and the fixed panel, so that the current lifting height of the lifting module can be determined subsequently based on the current angle.

[0114] Based on the same inventive concept, this invention also provides an inspection robot. Figure 11 This is a schematic diagram of the structure of an inspection robot provided in an embodiment of the present invention, as shown below. Figure 11As shown, the inspection robot 1000 includes the gimbal lifting control system 100 familiar from the above embodiments. Therefore, the inspection robot provided in this embodiment also possesses the beneficial effects described in the above embodiments, which will not be repeated here. Furthermore, the inspection robot 1000 also includes: an inspection robot body 200; along the first direction Z, the inspection robot body 200 is located on the side of the movable panel 101 away from the fixed panel 102, and is used to perform corresponding task operations. The inspection robot 1000 may also include a camera 300; along the first direction Z, the camera 300 is located below the gimbal lifting control system 100, and is located in the sensing component of the inspection robot, used for functions such as visual data acquisition, thereby laying the foundation for the inspection robot to perform specific tasks.

[0115] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A gimbal lifting control system, characterized in that, include: The lifting module includes a movable panel, a fixed panel, and a scissor assembly; the movable panel and the fixed panel are arranged along a first direction, and the scissor assembly is located between the movable panel and the fixed panel; the first direction intersects both the plane where the movable panel is located and the plane where the fixed panel is located. An angle detection module is fixedly installed on one side of the fixed panel and is used to detect the current included angle between the scissor assembly and the fixed panel. A drive module, connected to the lifting module, is used to drive the scissor lift assembly to move along the first direction; The control module, connected to the angle detection module and the drive module, is used to obtain the current included angle and determine the current lifting height of the lifting module based on the current included angle. It is also used to control the drive module to output a drive signal to the scissor assembly based on the current lifting height and a preset lifting height, so as to drive the scissor assembly to move along the first direction, thereby causing the moving panel to move relative to the fixed panel.

2. The gimbal lifting control system according to claim 1, characterized in that, The gimbal lifting control system also includes an alarm module; the drive module includes a drive motor. The control module is also used to acquire the rotational speed of the drive motor, and determine the height adjustment period of the lifting module based on the difference between the current lifting height and the preset lifting height and the rotational speed of the drive motor; The control module is also connected to the alarm module and is used to output an alarm signal to the alarm module when the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height.

3. The gimbal lifting control system according to claim 1, characterized in that, The lifting module further includes: a track, a first moving shaft, a first fixed shaft, a second moving shaft, a second fixed shaft, a first moving ring, a second moving ring, a third moving ring, a fourth moving ring, a central shaft, a first copper sleeve, a second copper sleeve, a third copper sleeve, and a fourth copper sleeve; The track includes a first track portion and a second track portion located on the fixed panel, and a third track portion and a fourth track portion located on the movable panel; the fixed panel includes a first side and a second side disposed opposite to each other along a second direction; the first track portion is located on the first side, and the extension length of the first track portion is less than the length of the first side; the second track portion is located on the second side, and the extension length of the second track portion is less than the length of the second side; the movable panel includes a third side and a fourth side disposed opposite to each other along a second direction; the third track portion is located on the third side, and the extension length of the third track portion is less than the length of the third side; the fourth track portion is located on the fourth side, and the extension length of the fourth track portion is less than the length of the fourth side; the second direction intersects the first direction; The fixed panel further includes a fifth side and a sixth side arranged along a third direction; the first moving axis is located on the fifth side and extends along the second direction; the first fixed axis is located on the sixth side and extends along the second direction; the moving panel further includes a seventh side and an eighth side arranged along the third direction; the second moving axis is located on the seventh side and extends along the second direction; the second fixed axis is located on the eighth side and extends along the second direction; the third direction intersects both the first direction and the second direction; Along the second direction, one end of the first moving shaft is fixed to the first moving ring and slidably connected to the first track section through the first moving ring; the other end of the first moving shaft is fixed to the second moving ring and slidably connected to the second track section through the second moving ring; one end of the second moving shaft is fixed to the third moving ring and slidably connected to the third track section through the third moving ring; the other end of the second moving shaft is fixed to the fourth moving ring and slidably connected to the fourth track section through the fourth moving ring. The scissor lift assembly includes a first bracket and a second bracket; the centers of the first bracket and the second bracket are connected by a central shaft; along the first direction, one end of the first bracket is fixed to the first copper sleeve and rotatably connected to the first moving shaft through the first copper sleeve; the other end of the first bracket is fixed to the second copper sleeve and rotatably connected to the second fixed shaft through the second copper sleeve; one end of the second bracket is fixed to the third copper sleeve and rotatably connected to the first fixed shaft through the third copper sleeve; the other end of the second bracket is fixed to the fourth copper sleeve and rotatably connected to the second moving shaft through the fourth copper sleeve.

4. The gimbal lifting control system according to claim 3, characterized in that, The lifting module also includes: a fixed plate and a rotating plate; Along the second direction, the fixing plate includes a first surface and a second surface; the angle detection module is fixedly disposed on the first surface; The rotating plate extends along the second direction, and one end of the rotating plate is fixedly disposed on the second surface along the second direction, while the other end of the rotating plate is fixed to the third copper sleeve. The angle detection module is used to detect the rotation angle of the rotating plate, and the control module is also used to acquire the rotation angle and determine the current included angle between the scissor assembly and the fixed panel based on the rotation angle.

5. The gimbal lifting control system according to claim 3, characterized in that, The lifting module also includes: a lead screw; The lead screw extends along the third direction, and along the third direction, one end of the lead screw is fixed to the seventh side through a lead screw hole, and the other end of the lead screw is connected to the drive module, and the drive module is fixedly disposed on the eighth side.

6. The gimbal lifting control system according to claim 3, characterized in that, The lifting module also includes: a vertical plate; The upright plate covers the first side, the second side, the third side, and the fourth side.

7. A method for controlling the lifting and lowering of a gimbal, characterized in that, Applied to the gimbal lifting control system as described in any one of claims 1-6, the gimbal lifting control method includes: The angle detection module is controlled to acquire the current included angle between the scissor lift assembly and the fixed panel; Obtain the current included angle; The current lifting height of the lifting module is determined based on the current included angle; Based on the current lifting height and the preset lifting height, the drive module outputs a drive signal to the scissor lift assembly, driving the scissor lift assembly to move along the first direction, thereby moving the movable panel relative to the fixed panel.

8. The gimbal lifting control method according to claim 7, characterized in that, The gimbal lifting control method also includes: Obtain the rotational speed of the drive motor; The height adjustment period of the lifting module is determined based on the difference between the current lifting height and the preset lifting height, as well as the rotational speed of the drive motor. If the height adjustment period is exceeded and the current lifting height is not equal to the preset lifting height, an alarm signal is output to the alarm module.

9. The gimbal lifting control method according to claim 7, characterized in that, The angle detection module is controlled to acquire the current included angle between the scissor lift assembly and the fixed panel, including: The angle detection module is controlled to acquire the rotation angle of the rotating plate; Obtain the rotation angle; Obtaining the current included angle includes: The current angle between the scissor assembly and the fixed panel is determined based on the rotation angle.

10. An inspection robot, characterized in that, Including the gimbal lifting control system as described in any one of claims 1-6; The inspection robot further includes: an inspection robot body; along the first direction, the inspection robot body is located on the side of the movable panel away from the fixed panel.

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