Dedicated controller for intelligent wall plastering robot

• Main Authors: TANG YINGZHONG, LIANG ZIZE, TAN MIN, ZHAO WEIQING, FANG ZAOJUN, LONG TENG, FAN JUNFENG, LI EN
• Format: Patent
• Language: English
• Published: 05.08.2015
• Subjects: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; DYNAMO-ELECTRIC MACHINES; ELECTRICITY; GENERATION; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a dedicated controller for an intelligent wall plastering robot. The controller has an automatic control mode and a manual control mode. The controller comprises an ARM processor and a peripheral module. The peripheral module comprises a power module, a laser distance-measuring sensor data receiving module, a DC propulsion motor speed regulation module, a DC lifting motor control module, a stepping motor angle control module, a DC support motor control module, a motor current feedback module, an magnetic encoder interface module, a limit switch interface module and a man-machine interaction module. The controller adopts a median filtering algorithm to carry out filtering and noise reduction on the collected data, and track interpolation calculation is carried out; and an incremental PID algorithm is adopted to carry out rotating speed loop and current loop double closed loop control on the motor. Real-time measurement data is obtained through a laser distance-measuring sensor and a magnetic encoder; and the ARM controller controls each motor of the wall plastering robot to move cooperatively, so that the wall plastering robot is allowed to plaster the wall accurately and smoothly, and the error thickness meets plastering work requirement.