风机运维机器人的上位机控制界面设计方法

为了实现风机运维机器人中的控制器、传感器应用及执行部件的系统集成,提出了一种上位机控制界面的设计方法。该方法主要解决了作为上位机的控制系统(包括工控机及上位机控制界面)与下位机(包括视觉系统、磁测量系统和驱动系统3个子系统)进行系统集成的问题。同时,在上位机控制界面的后台程序里,针对视觉系统采集到的坐标数值和角度数值,进行判断实际数值是否符合基准值的要求,从而判定风机中的螺栓是否有松动。通过比较磁测量系统采集到的磁通量和应力实际数值与基准值,判定螺栓是否有损坏的情况。在控制系统中开发了上位机控制界面,实现了对视觉系统、磁测量系统和驱动系统的联合控制。同时,该系统具备检测螺栓是否松动和损坏的功能。

Design Method of Control Interface in Host Computer of Operation and Maintenance Robot for Wind Generator

In order to realize the system integration of controller,sensors application and execution unit in wind generator operation and maintenance robot,a design method of host computer control interface is proposed.This method mainly solves the problem of system integration between host computer(including control system and control interface in host computer)and lower computer(including vision system,magnetic measurement system and driver system).Meanwhile,according to coordinate value and angle value from the vision system,it is judged that if the actual value meets the requirement of reference value by the background program of control interface in the host computer.Then,it is determined whether the bolts in wind generator are loose or not.The actual value of magnetic flux and stress from the magnetic measurement system is compared with the reference value to determine whether the bolt is damaged.The host computer control interface is developed in the control system to realize the combined control of vision system,magnetic measurement system and driver system.Meanwhile,this system has the function of detecting the damaged or loosen bolts.