CN113909066A - Multi-channel remote control communication method for insulating coating robot - Google Patents
Multi-channel remote control communication method for insulating coating robot Download PDFInfo
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- CN113909066A CN113909066A CN202111230538.8A CN202111230538A CN113909066A CN 113909066 A CN113909066 A CN 113909066A CN 202111230538 A CN202111230538 A CN 202111230538A CN 113909066 A CN113909066 A CN 113909066A
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- robot
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- insulating coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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Abstract
一种用于绝缘涂覆机器人的多路遥控通信方法，属控制领域。包括在每一对遥控器和机器人之间，采用“一对一”的通信模式；在每一对遥控器和机器人之间，采用使用同一个频点进行收发通信；给每台机器人都分配一个唯一并且相同的ID，根据设备ID来进行身份识别；当出现两台设备信号同频冲撞时，在设备启动重发机制的时候，引入随机延时策略，降低信号同频发送干扰问题的出现概率。本发明的技术方案，解决了现场操控过程中多台设备同时作业遇到“同频干扰”的问题，避免信号干扰和串号现象的发生，保障在了施工现场设备操控的稳健性，提升了作业质量和效率。
A multi-channel remote control communication method for an insulating coating robot belongs to the field of control. Including between each pair of remote controllers and robots, the "one-to-one" communication mode is adopted; between each pair of remote controllers and robots, the same frequency is used for sending and receiving communication; each robot is assigned a The unique and identical ID is used for identification based on the device ID; when the signals of two devices collide on the same frequency, when the device starts the retransmission mechanism, a random delay strategy is introduced to reduce the probability of the interference problem of signal transmission on the same frequency . The technical scheme of the present invention solves the problem of "same-frequency interference" encountered by multiple pieces of equipment operating at the same time during the on-site control process, avoids the occurrence of signal interference and serial number phenomenon, ensures the robustness of equipment control on the construction site, and improves the Job quality and efficiency.
Description
Technical Field
The invention belongs to the field of control, and particularly relates to a multi-channel remote control communication method for an insulation coating robot.
Background
Overhead transmission lines are the primary means of power transmission. Because the power transmission line has a large range, multiple distribution points and a wide range, complex geographic environment and severe natural environment, and the power transmission line, the tower and accessories are exposed outdoors for a long time, branches, high-altitude objects and other objects possibly touching the overhead line are often close to the power transmission lead due to the action of external force, and adverse effects are brought to safe and efficient power supply; in addition, among the accidents reported by national power grids every year, the accidents caused by low-voltage electric shocks account for a great percentage.
At present, each power supply company is dedicated to insulation transformation of an overhead bare conductor, and for an overhead line which cannot change an insulated conductor, an insulating material is directly coated on the bare conductor of the overhead line to insulate the bare conductor, so that the power supply company is gradually popularized and applied in actual production transformation.
The apparatus for coating the bare overhead conductor with an insulating material is generally called an insulating coating robot or coating robot, abbreviated as a robot.
The control of the prior art to the coating device of the overhead bare conductor is not problematic in normal environment. Can be in outdoor actual coating working process, have many robots and many remote control handheld terminal simultaneous workings, will produce signal interference and serial number like this easily, lead to the scene to control the instruction unusual.
After the robot is on-line (which means that the robot is erected on an overhead bare conductor), the robot generally breaks a bag and extrudes materials, then insulating coating (coating or material for short) comes out and starts to spray, and if the signal receiving and sending are abnormal, the risk that the on-site robot extrudes too much raw material in situ and the coating falls off is caused. Similarly, if the spraying is about to end and the end of the overhead line is reached, the signal is abnormally received and transmitted, so that the machine can continuously push against the obstacle to advance, the motor generates heat and blocks rotation, and the risk of abnormal damage to equipment is caused.
An insulation spraying robot (also called coating equipment) is generally composed of a power supply battery, a control signal acquisition module, a wireless data transmission module and a motor control output module. The handheld control end is composed of an android control module, a wireless data communication module and an LED display screen. Because the existing insulating spraying robot and the handheld control end are correspondingly controlled in a one-to-one mode, the real working scene is that a plurality of coating robots are always constructed and live at the same time on site, the phenomenon of same frequency interference (commonly called signal serial number) can be caused, and even a plurality of coating devices on site can not work normally in severe cases.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-channel remote control communication method for an insulation coating robot. Aiming at the problem of co-channel interference when a plurality of devices operate simultaneously in the field control process, the problem of signal interference during simultaneous construction of the plurality of devices in the actual application scene is effectively solved by adopting the device ID for identification, using the same frequency point for transceiving communication by the robot and the remote controller and adopting a restarting random delay sending strategy, the field operation construction safety is ensured, the operation efficiency is improved, the signal interference and the serial number phenomenon are avoided, the control stability of the devices in the construction field is ensured, and the operation quality and the operation efficiency are improved.
The technical scheme of the invention is as follows: the utility model provides a multichannel remote control communication method for insulating coating robot, including setting up communication module and carrying out the communication between multiunit remote controller and robot, wherein a remote controller corresponds the corresponding control of a robot and carries out insulating coating operation, characterized by:
a one-to-one communication mode is adopted between each pair of remote controllers and the robot;
the same frequency point is used for transmitting and receiving communication between each pair of remote controllers and the robot;
assigning a unique and same ID to each robot, and performing identity identification according to the equipment ID;
when the same-frequency collision of signals of two devices occurs, a random delay strategy is introduced when the devices start a retransmission mechanism, so that the occurrence probability of the problem of signal same-frequency transmission interference is reduced; avoid the emergence of signal interference and serial number phenomenon, guarantee at the robustness of construction field device control, promote operating quality and efficiency.
Specifically, the one-to-one communication mode includes corresponding matching communication between one robot and one remote controller for operation and control.
Specifically, the frequency of the communication module is between 470MHz and 510MHz, the bandwidth is set to 400KHZ, the frequency point settings of the robot and the remote controller are kept consistent, and the same-frequency information sending and receiving are realized.
Specifically, when each robot is assigned with a unique and same ID, the frequency point corresponding to the robot device is assumed to be n, and a remainder algorithm may be used: and n is x% 100, and a frequency point value of the corresponding equipment ID is obtained.
Furthermore, in the communication process of the remote controller and the robot, the remote controller is defined as a master machine, and the robot is defined as a slave machine.
Further, a LoRa communication mode is adopted between the remote controller and the robot.
Specifically, the random delay policy includes introducing a random delay policy when the device starts a retransmission mechanism, where the random time R is in a range of 1 to 10 seconds.
Compared with the prior art, the invention has the advantages that:
1. by adopting the technical scheme, the problem of signal interference caused by simultaneous construction of multiple devices in an actual application scene can be effectively solved, the safety of field operation construction is guaranteed, and the operation efficiency is improved;
2. according to the ID of the equipment, the identity identification is carried out, and a plurality of robots and a plurality of remote control handheld terminals can work simultaneously, so that the phenomena of signal interference and serial numbers are avoided;
3. and a random delay sending strategy is restarted after the series frequency fails, so that the probability of the problem of signal same-frequency sending interference tends to be infinitesimal, the control robustness of the equipment on the construction site is ensured, and the operation quality and efficiency are improved.
Drawings
FIG. 1 is a schematic diagram of frequency point setting of a communication module according to the present invention;
FIG. 2 is a schematic diagram of frequency point values of the ID of the device of the present invention;
FIG. 3 is a flow chart illustrating the identification according to the device ID in the present invention;
fig. 4 is a schematic diagram of the "restart random delay transmission" strategy of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
In the actual coating process of the insulating material, the robot and the hand-held remote controller (the remote controller for short) adopt a one-to-one control mode (namely, one robot and one remote controller are correspondingly matched for communication and control), and the two robots and the remote controller are communicated with each other; however, in field operation, a situation that a plurality of robots operate simultaneously is encountered, and at the moment, a plurality of devices operate simultaneously, so that the problem of 'same frequency interference' may be encountered, and field operation and control are affected. In order to solve the problem of same frequency interference, the technical idea of the invention for solving the problem is as follows:
firstly, the remote controller and the robot use the same frequency point to carry out transceiving communication:
the frequency of the communication module selected by the invention is between 470MHz and 510MHz, the frequency width is set to 400KHZ, 100 frequency points (shown in detail in figure 1) can be set, and the information can be transmitted and received at the same frequency as long as the frequency points of the robot and the hand-held remote controller (also called remote controller) are set to be consistent.
For example, 100 frequency points are better than 100 FM radio channels, and each remote controller and the corresponding robot set the same frequency point, and the frequency band can be used for sending and receiving communication between the remote controller and the corresponding robot.
Secondly, how to allocate frequency points to the robot and the remote controller:
according to the technical scheme of the invention, each robot is assigned with a unique and same ID (assumed as x), and it is known that 100 frequency points can be assigned at present, and the frequency point corresponding to the robot equipment is assumed as n, and the method can be implemented by an algorithm: and n is x% 100 (remainder), and a frequency point value corresponding to the device ID is obtained, which can be specifically shown in fig. 2.
For example, when the ID of the robot and the remote controller is written to be 9, the above formula is nested, and the corresponding frequency point is the frequency point 9, and when the ID of the robot and the remote controller is written to be 109, the above formula is nested, and the corresponding frequency point is the frequency point 9.
Thirdly, how to deal with the same frequency interference of equipment with the same frequency points on the operation site?
When the same equipment with the same frequency point appears in the operation field, the identity can be identified according to the equipment ID, and the communication between the remote controller and the robot is ensured to be normal. Because the communication between the robot and the remote controller (the handheld terminal) is involved, and the communication is mutual, the remote controller is defined as a master machine, and the robot is a slave machine.
The flow of the identification according to the device ID of the present invention is schematically shown in fig. 3.
How does the same-time information transmission failure occur in the same-frequency-point equipment on site?
When multiple devices with the same frequency point work and operate simultaneously on the spot, due to the fact that signal string frequency exists, an operation instruction is likely to be unsuccessful all the time, the remote controller and the robot are enabled to be disconnected, and potential safety accidents are likely to be caused in serious situations. In order to solve the problem, the technical scheme of the invention adopts a restarting random time delay sending strategy after the serial frequency fails.
LoRa communication is adopted between the remote controller and the robot, 100ms is needed for sending and receiving, when two devices at the same frequency point send information collision, the devices start a retransmission mechanism, but if retransmission time of all the devices is kept consistent, the probability of next same frequency information collision is very high.
As shown in fig. 4, in order to solve the above problem, the technical solution of the present invention introduces a random delay strategy when the device starts the retransmission mechanism, and the random time R ranges from (1 to 10) seconds. After the two equipment signals collide with each other at the same frequency, the collision probability of the retransmission time of the equipment 1 and the equipment 2 is changed into 1/10, the two equipment start the random delay transmission again, the collision probability of the two equipment signals at the 2 nd time is changed into 1/100, and so on, the probability of the interference of the signal transmission at the same frequency tends to be infinitesimal, the control robustness of the equipment on a construction site is ensured, and the operation quality and the operation efficiency are improved.
The invention adopts a protection scheme that the same frequency point is used for transmitting and receiving communication between each pair of remote controllers and robots, each robot and equipment are distributed with a unique and same ID, when the same equipment with the same frequency point appears in an operation field, the identity is identified according to the equipment ID, and a restarting random time delay sending strategy is adopted after the frequency series failure, thereby solving the problem that a plurality of pieces of equipment simultaneously operate and encounter 'same frequency interference' in the field operation process; the problem of signal interference is under construction simultaneously to many equipment of practical application scene can be effectively solved, the field operation construction safety has been ensured, the operating efficiency has been promoted, the emergence of signal interference and serial number phenomenon has been avoided, the robustness of controlling at construction site equipment has been ensured, operation quality and efficiency have been promoted.
The invention can be widely applied to the field of manufacturing and controlling of the charged insulating coating robot.
Claims (7)
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| CN202111230538.8A CN113909066A (en) | 2021-10-22 | 2021-10-22 | Multi-channel remote control communication method for insulating coating robot |
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| CN202111230538.8A CN113909066A (en) | 2021-10-22 | 2021-10-22 | Multi-channel remote control communication method for insulating coating robot |
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Application publication date: 20220111 |