A tethered ball cart control system

Abstract

The utility model relates to electrical control technical field discloses a kind of tethered ball car control system, including local control control combination, the local control control combination communication connection upper control combination, upper control combination connection control outrigger and the action mechanism of tethered tower, the sensor and proportional valve group of local control control combination connection control outrigger;Local control control combination is connected with remote controller.The utility model constructs a set of automation operation system with high-precision control and high reliability by multidimensional technology integration, significantly surpass the limitation of traditional manual operation or single control mode, using the collaborative design of layered control architecture and hybrid communication network: local control control combination as core decision layer, realizes real-time data interaction with remote controller, upper control combination by CAN bus, while directly connected driving for analog quantity to key execution element, form the double security mechanism of 'digital communication+analog control'.

Description

Technical Field

[0001] This utility model relates to the field of electrical control technology. Background Technology

[0002] In current industrial applications, most industrial robots operate using a teach-in programming model. This model requires extensive debugging by technicians upfront, and re-tuning is necessary whenever the working platform changes, resulting in low efficiency and a lack of intelligence. Machine vision, however, can accurately and stably acquire external information and process and integrate it, enabling robots to perceive external information accurately and in real-time. A user-friendly human-machine interface allows for system operation control and monitoring of system status. During system operation, the system's current status can be monitored in real-time, historical operating status information can be stored, and alarm messages can be issued when faults occur.

[0003] With the continuous development of intelligent technologies, application environments are becoming increasingly complex, and the tasks requiring completion are becoming more and more intelligent, placing ever higher demands on control systems. Visual positioning and tracking technology, with its advantages of being non-contact, highly accurate, and fast in measurement, has gained widespread attention in fields such as medicine, advanced manufacturing, weapon guidance, and aerospace, demonstrating high research value and promising development prospects. Therefore, in recent years, the integration of machine vision technology and industrial robot technology has become an unstoppable trend.

[0004] The inventors have discovered at least the following problems in the prior art: the control freedom of the tethered balloon vehicle control system in the prior art is low and the response speed is slow. It is not reliable and not easy to expand, which makes it difficult to make full use of the intelligent technology in the prior art. As a result, it is impossible to ensure the safety and reliability of the entire process of releasing the small tethered balloon from the vehicle into the air and rising to an appropriate height, maintaining the small tethered balloon in the air for work, and recovering the small tethered balloon after use. Utility Model Content

[0005] The purpose of this utility model is to provide a tethered balloon vehicle control system that facilitates the safe and reliable release of small tethered balloons from a vehicle into the air and their ascent to an appropriate height, maintains the small tethered balloons in the air for operation, and safely recovers the small tethered balloons after use.

[0006] To solve the above-mentioned technical problems, this utility model provides a tethered ball vehicle control system, including a self-control assembly, which is communicatively connected to an upper control assembly, which is connected to the action mechanism of the control outrigger and the tethered tower, and the self-control assembly is connected to the sensor and proportional valve group of the control outrigger; the self-control assembly is also communicatively connected to a remote controller.

[0007] The actuation mechanism of the outriggers and mooring tower includes a left front outrigger proportional valve, a right front outrigger proportional valve, a left cable winch motor, a right cable winch motor, and a main cable winch motor.

[0008] The proportional valve group of the outriggers includes the proportional valve group of the right front outrigger, the proportional valve group of the right rear outrigger, the proportional valve group of the left front outrigger, and the proportional valve group of the left rear outrigger.

[0009] The outrigger sensors include a right front outrigger pressure sensor, a right rear outrigger pressure sensor, a left front outrigger pressure sensor, and a left rear outrigger pressure sensor.

[0010] The control unit is also connected to a level sensor.

[0011] The upper control assembly is also connected to control an erection proportional valve and a system pressure sensor.

[0012] The control unit is connected to the proportional valve group of the support leg via an analog signal line.

[0013] The control unit is connected to the sensors controlling the outriggers via a CAN bus.

[0014] The superstructure control assembly controls the winch motors in the action mechanisms of the outriggers and mooring towers via a CAN bus.

[0015] The remote controller, the local control unit, and the upper control unit are all connected and communicate via a CAN bus.

[0016] Compared to existing technologies, this invention integrates multiple technologies to construct an automated operation system that combines high-precision control with high reliability, significantly surpassing the limitations of traditional manual operation or single control modes. It employs a hierarchical control architecture and a hybrid communication network: the control unit acts as the core decision-making layer, achieving real-time data interaction with the remote controller and upper control unit via a CAN bus. Simultaneously, it uses direct analog connection drives for key actuators, forming a dual guarantee mechanism of "digital communication + analog control." This architecture utilizes the non-destructive arbitration mechanism and differential signal anti-interference capability of the CAN bus, while eliminating the impact of digital communication delays on the dynamic response of hydraulic actuators through analog lines. It is particularly suitable for scenarios requiring extremely high synchronization during balloon release and retrieval. It boasts advantages such as simple structure, flexible control, stable operation, high reliability, ease of maintenance, and low cost.

[0017] In addition, the outrigger pressure sensor and the level sensor form a vehicle attitude monitoring network. Combined with the real-time feedback from the system pressure sensor, the ground bearing stability can be dynamically assessed, solving the problem that traditional tethered equipment relies on manual judgment of ground flatness. When abnormal pressure on a single leg is detected or the vehicle body tilt exceeds the threshold, the action mechanism can be immediately triggered to lock.

[0018] In addition, the upper control unit focuses on the core operation of the mooring tower, while the main control unit takes the lead in the vehicle support system. The two achieve closed-loop interaction of commands and status through the CAN bus. This division of labor not only conforms to the "decentralization" trend of industrial control, but also reduces the system risk caused by the failure of a single controller. The winch motor adopts CAN bus control instead of analog drive, which takes advantage of its support for multi-master communication. When the main controller fails, the remote controller can directly take over the operation of the motor, forming a three-level control redundancy.

[0019] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0020] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0021] Figure 1 This is a system connection diagram of at least one embodiment of the present invention; Figure 2 yes Figure 1 A diagram showing the signal connection of the remote control. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this utility model to facilitate a better understanding of this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of this utility model. The embodiments can be combined with and referenced by each other without contradiction.

[0023] Example 1 like Figure 1 and2 The tethered ball vehicle control system shown includes a local control assembly, which is communicatively connected to an upper control assembly. The upper control assembly is connected to the actuation mechanisms of the control legs and the tethered tower. The local control assembly is connected to the sensors and proportional valve group of the control legs. The local control assembly is also communicatively connected to a remote controller.

[0024] Example 2 Based on Embodiment 1, the actuation mechanism of the outriggers and mooring tower includes a left front outrigger proportional valve, a lawsuit proportional valve, a right front outrigger proportional valve, a left cable winch motor, a right cable winch motor, and a main cable winch motor.

[0025] Furthermore, the outrigger proportional valve assembly includes the right front outrigger proportional valve assembly, the right rear outrigger proportional valve assembly, the left front outrigger proportional valve assembly, and the left rear outrigger proportional valve assembly.

[0026] Furthermore, the outrigger sensors include a right front outrigger pressure sensor, a right rear outrigger pressure sensor, a left front outrigger pressure sensor, and a left rear outrigger pressure sensor.

[0027] Furthermore, the control unit is also connected to a level sensor.

[0028] Furthermore, the upper control assembly is also connected to control the erection proportional valve and the system pressure sensor.

[0029] Example 3 Based on Embodiment 2, this control assembly is connected to the proportional valve group of the outrigger via analog signal lines.

[0030] Furthermore, the control unit connects to the sensors controlling the outriggers via a CAN bus.

[0031] Furthermore, the superstructure control unit controls the winch motors in the action mechanisms of the outriggers and mooring towers via a CAN bus.

[0032] Furthermore, the remote controller, the local control unit, and the upper control unit are all connected and communicate via a CAN bus.

[0033] Example 4 Based on the above embodiments, the system comprises a handheld remote controller, a lower power supply box, a local control assembly, an erection control assembly, and an upper electrical control cabinet. The electrical control system is powered by AC380V / 50Hz from the power supply vehicle, which is introduced into the upper electrical control cabinet via the power supply box and bus ring to supply power to the upper equipment. The vehicle control system is divided into local control and remote control based on the control mode; remote control can be wired or wireless. In remote control mode, control commands are sent to the local control assembly via the handheld remote controller. The local control assembly performs calculations and outputs control signals to the corresponding leveling bus valve group, enabling one-button automatic deployment and retraction control of the leveling outriggers; it also outputs control signals to the mooring tower and mooring arm bus valve group, enabling automatic erection and collapse control of the mooring tower, and automatic deployment and retraction control of the mooring arm. In local control mode, remote control is inactive. In this control mode, operating the switches on the control assembly enables automatic deployment and retraction of the leveling outriggers and single-step control of each outrigger; single-step inching erection and retraction control of the mooring tower; and single-step deployment and retraction control of the mooring boom. The connection status of the mooring tower interface is also displayed.

[0034] The remote controller sends commands to the control unit, which receives and processes control signals, angle data from the high-precision level sensor, pressure values ​​from each pressure sensor, angle values ​​from each encoder, and position information from the vision system. It then outputs control commands, executes corresponding actions, and uploads the system status to the remote controller for display.

[0035] The control unit adopts a modular design, including a PCC controller and a 4-channel CAN bus communication module. The 4-channel CAN communication communicates with the high-precision level sensor, each pressure sensor, each encoder, and the vision system, respectively.

[0036] The data from the high-precision level sensor is filtered and then connected to the control unit via the CAN bus. The PCC controller calculates the current X and Y angle values ​​of the platform where the folding boom crane is located and performs filtering. The filtering method used is sliding filtering.

[0037] The vision system uses a binocular fixed-focus camera for target localization. After acquiring the target position, it sends the target position to the control unit via the CAN bus.

[0038] The control system communicates with the vision system to obtain the target position. The PCC controller performs forward and inverse knives crane calculations and uploads the calculation information to the remote control for display.

[0039] The control unit communicates with the remote controller and uploads the current system status information to the remote controller's display. The remote controller can modify system operating parameters and issue commands to the control unit to execute corresponding actions.

[0040] The control unit communicates with the remote controller and uploads the folding boom crane's movement process to the remote controller for real-time dynamic display.

[0041] A specific control execution process can be as follows: 1) The vision positioning system is activated to acquire the target position and send the position information to the control assembly. 2) The control assembly receives in real time the angle data from the high-precision level sensor, the pressure values ​​from each pressure sensor, the angle values ​​from each encoder, and the position information fed back by the vision system. 3) After processing using positioning algorithms, path planning algorithms, filters, etc., the forward and inverse kinematic solutions are obtained, quickly completing the target positioning and trajectory planning of the folding boom crane. 4) Control commands are sent to the control assembly via the remote controller. Each actuator of the folding boom crane controls the opening direction and size of each proportional directional valve according to the planned trajectory, thereby realizing the movement of the folding boom crane. The current state of each actuator is judged to determine the action of each actuator. The purpose of designing pressure sensors is to protect the actuators. When the upper pressure limit signal is received, the actuator stops moving. The sensor corresponding to each actuator detects the actuator's positioning information and stops the actuator's movement. During the movement, the status of each actuator is uploaded to the remote controller display in real time, allowing for a better understanding of the system's execution status and enabling user-friendly human-machine interaction.

[0042] Therefore, this utility model features: a hydraulic cylinder as the action mechanism, which has a fast response speed and can be applied to the working conditions of heavy-load equipment; it facilitates the acquisition of target point position information through a vision system for forward and inverse kinematic calculations, enabling rapid target positioning and trajectory planning for the articulated boom crane; control commands can be sent to the control assembly via a remote controller, and each actuator of the articulated boom crane will perform its actions according to the planned trajectory. During the movement, the status of each actuator is uploaded to the remote controller in real time, allowing for a better understanding of the system's execution status and enabling user-friendly human-machine interaction; the communication between the control assembly and the high-precision level sensor, pressure sensors, encoders, proportional directional valves, remote controller, and vision system all adopt the CAN bus, which offers high reliability and ease of expansion.

[0043] Those skilled in the art will understand that the above embodiments can be modified in form and detail in practical applications without departing from the spirit and scope of this utility model.

Claims

1. A tethered ball vehicle control system, characterized in that: The system includes a control assembly, which is communicatively connected to an upper control assembly. The upper control assembly is connected to the actuation mechanisms of the control legs and the mooring tower. The control assembly is also connected to the sensors and proportional valve group of the control legs. The control assembly is also communicatively connected to a remote controller.

2. The tethered ball vehicle control system as described in claim 1, characterized in that: The actuation mechanism of the outriggers and mooring tower includes a left front outrigger proportional valve, a right front outrigger proportional valve, a left cable winch motor, a right cable winch motor, and a main cable winch motor.

3. The tethered ball vehicle control system as described in claim 1, characterized in that: The proportional valve group of the outriggers includes the proportional valve group of the right front outrigger, the proportional valve group of the right rear outrigger, the proportional valve group of the left front outrigger, and the proportional valve group of the left rear outrigger.

4. The tethered ball vehicle control system as described in claim 1, characterized in that: The outrigger sensors include a right front outrigger pressure sensor, a right rear outrigger pressure sensor, a left front outrigger pressure sensor, and a left rear outrigger pressure sensor.

5. The tethered ball vehicle control system as described in claim 1, characterized in that: The control unit is also connected to a level sensor.

6. The tethered ball vehicle control system as described in claim 1, characterized in that: The upper control assembly is also connected to control an erection proportional valve and a system pressure sensor.

7. The tethered ball vehicle control system as described in claim 1, characterized in that: The control unit is connected to the proportional valve group of the support leg via an analog signal line.

8. The tethered ball vehicle control system as described in claim 1, characterized in that: The control unit is connected to the sensors controlling the outriggers via a CAN bus.

9. The tethered ball vehicle control system as described in claim 1, characterized in that: The superstructure control assembly controls the winch motors in the action mechanisms of the outriggers and mooring towers via a CAN bus.

10. The tethered ball vehicle control system as described in claim 1, characterized in that: The remote controller, the local control unit, and the upper control unit are all connected and communicate via a CAN bus.

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