The Research On Coordinated Control Technology Of Double Robots In Crane Track Detection

With the development of large-tonnage and large-span hoisting machinery,the length of the running track and the track spacing are constantly expanding,which puts new demands on equipment installation,inspection and maintenance.The traditional detection method has low detection precision,high labor intensity,low detection efficiency,and potential safety hazards.In order to realize the wireless,network and intelligentization of crane track detection,Jiangsu University and Jiangsu Provincial Special Inspection Institute Zhenjiang Branch jointly developed an intelligent automatic detection system for crane tracks based on mobile measurement robot technology.The synchronous coordinated control technology of two mobile measuring robots in this system are studied in this paper,which provided the basic guarantee for the safe,efficient,accurate and reliable intelligent detection of crane tracks.The main research contents and results are as follows:(1)The architecture and working sequence of “one station and two robots” in the intelligent automatic detection system of crane track are studied.Which the master station computer is the master control,and the two mobile measurement robots cooperate with each other is determined to complete the master-slave distributed control synchronization mechanism of the crane track detection.The design flow of collaborative control of mobile measurement robot is given,which laid the foundation for the intelligent automatic detection of crane track.(2)The reasons for the unsynchronization of the two mobile measuring robots during operation are analyzed.The position adjustment and compensation methods of two mobile measuring robots in the track detection process are designed.Used Simulink in MATLAB to simulate,PID parameters are adjusted,and then the PID position algorithm is used to calculate the PWM duty cycle.By PWM adjusted the motor speed,the difference value ?X of the two mobile measuring robots is synchronized.Corrected that the control ?X is within ±0.1 cm,and the relative error of the non-synchronous operation is ±1.42%.(3)The information communication mechanism of two mobile measurement robots studied,TCP/IP communication protocol is adopted to realize wireless transmission of data stream,and the serial transmission protocol is designed.In order to realize the synchronization of communication,the delay problem in the data transmission process is analyzed.he video image compression methods is studied.The time synchronization algorithm is given.The MJPEGstream streaming service is used to realize the real-time display of video images,which improved the synchronization accuracy of the system.The real-time display of the control platform on the main station computer is less than 150 ms.(4)Experimental study on collaborative control of dual robots.The robotic track intelligent online detection device of "robot + user terminal" is developed,the source of the error in the detection process is analyzed and corrected.The communication mechanism and position adjustment and compensation in the dual robot cooperative control technology are simulated accordingly.According to the simulation results,the detection test of the dual robot cooperative control is carried out.Finally,according to the test results,the intelligent detection device of the crane mechanical track is detected and tested.After many times of debugging,the test parameters of the crane track are obtained,and the correctness of the proposed test plan and the feasibility of the designed test system are verified.