CN108415440A - A kind of deformation trace reponse system - Google Patents
A kind of deformation trace reponse system Download PDFInfo
- Publication number
- CN108415440A CN108415440A CN201810469316.3A CN201810469316A CN108415440A CN 108415440 A CN108415440 A CN 108415440A CN 201810469316 A CN201810469316 A CN 201810469316A CN 108415440 A CN108415440 A CN 108415440A
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- China
- Prior art keywords
- floral whorl
- rotation angle
- type frame
- detection encoder
- speed
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- 238000001514 detection method Methods 0.000 claims abstract description 50
- 239000002184 metal Substances 0.000 claims abstract description 27
- 229910052751 metal Inorganic materials 0.000 claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 abstract description 23
- 238000010586 diagram Methods 0.000 description 5
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013079 data visualisation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of deformation trace reponse system, including floral whorl, ∩ type frame, the rotary shaft on ∩ type frame top surface, metal floral whorl magnetic measurement sensor, master control borad；It is cased with rotation angle detection encoder, spring, mounting base in rotary shaft successively from the bottom to top, and rotation angle detection encoder is located on ∩ type frame top surface, and height detection encoder and height detection sensor are provided on mounting base outer wall.Deformation trace reponse system provided by the invention, according to the speed of the floral whorl detected automatically and displacement, and according to pre-stored gross data output speed error signal and displacement error signal in master control borad, it is rectified a deviation to the speed and movement locus of floral whorl with feeding back to relevant driving part, the feedback system structure is simple and practical, unmanned vehicle at low cost, being used suitable for scene detection in pipeline.
Description
Technical field
The present invention relates to speed, the track detection technical fields when 360 degree of movements of moving object, more particularly to a kind of position
Move track reponse system.
Background technology
Currently, the speed and track detection of the object of movement, are typically sensed by the encoder or GPS of motor institute band
What device or laser radar were detected, this numerical value of indirect gain from motor is susceptible to error, such as if there is beating
Phenomenon is slided, then the numerical value measured is less than normal, occurs if there is turning to, and deformation trace mistake measured etc. passes through motor in this way
This indirect mode of encoder measures the speed come and path will appear a wide range of error, and by GPS measure come
Numerical value is inaccurate in precision.And laser radar has particular/special requirement to the position of installation, and laser radar is more expensive, economy effect
Benefit is not high.
Accordingly, it is desirable to provide a kind of deformation trace reponse system is to solve the above technical problems.
Invention content
The invention mainly solves the technical problem of providing a kind of deformation trace reponse systems, automatic to detect the vertical of floral whorl
Displacement, horizontal displacement, steering angle, and three axis component velocities, sum velocity, the fortune of floral whorl are calculated according to the data detected automatically
Dynamic rail mark, and speed error value and trajectory error value are calculated, and these error amounts are exported to controller, controller passes through function
Operation obtains required change value and is output to motion controller, to make the movement of object change, ensures moving object
The speed of body and track are in allowed limits., Displacement Feedback system of the invention is simple in structure, practical cost is low, convenient for inspection
Degree of testing the speed displacement data.
In order to solve the above technical problems, one aspect of the present invention is to provide one kind, including it is floral whorl 1, opposite
The ∩ type frame 5 at shaft both ends of inner wall connection floral whorl 1, the rotary shaft on 5 top surface of ∩ type frame, it is embedded on the rotary shaft
And detecting head is towards metal floral whorl magnetic measurement sensor 8, the master control borad 11 of floral whorl 1；
It is cased with rotation angle detection encoder 4, spring 6, mounting base 7 in rotary shaft successively from the bottom to top, 6 bottom end of spring connects
Rotation angle detection encoder 4, top 7 bottom surface of connection mounting base are connect, and rotation angle detection encoder 4 is located at the top of ∩ type frame 5
On face, height detection encoder 9 and height detection sensor 10 are provided on 7 outer wall of mounting base；
Master control borad 11 is electrically connected rotation angle detection encoder 4, metal floral whorl magnetic measurement sensor 8, height detection coding
Device 9, height detection encoder 9 are electrically connected height detection sensor 10；
Floral whorl 1 include the rubber part 3 being arranged around its shaft and it is equally spaced be embedded it is more on 3 circumference of rubber part
A metal part 2；
Metal floral whorl magnetic measurement sensor 8 just generates a signal, master control whenever detecting a metal part 2 and occurring
Plate 11 is according to detection data output X-axis speed, Y-axis speed, Z axis speed, sum velocity, real-time displacement track, the speed received
Error and displacement error signal.
The beneficial effects of the invention are as follows：A kind of deformation trace reponse system provided by the invention, using setting in floral whorl ∩
The time of signal is generated when two similar metal parts occur on metal floral whorl magnetic measurement sensor detection floral whorl in type frame
It is spaced to calculate the horizontal displacement of floral whorl, the vertical displacement of floral whorl in the time interval is detected using height detection sensor, profit
The angle turned over rotation angle detection encoder detection floral whorl, the conjunction speed of floral whorl is calculated using three data detected automatically
Degree no longer needs to speed and steering angle that sensing floral whorl is gone using independent exploring block, to save detection floral whorl speed
The use cost of system, and total is simple, use cost is low.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the first preferred embodiment of deformation trace reponse system of the present invention；
Fig. 2 is the circuit structure block diagram of floral whorl shown in FIG. 1；
Fig. 3 is the movement schematic diagram for the unmanned vehicle for applying the deformation trace reponse system of the present invention；
Fig. 4 is the circuit workflow schematic diagram of unmanned vehicle.
The corresponding component names difference of Digital ID in Figure of description is as follows：
1- floral whorls；2- metal parts；3- rubber parts；4- rotation angles detect encoder；5- ∩ type frame；6- springs；7-
Mounting base；8- metal floral whorl magnetic measurement sensors；9- height detection encoders；10- height detection sensors；11- master control borads；
100- unmanned vehicles；101- theory movements track；The track that 102- errors allow；103- actual motions track.
Specific implementation mode
Technical scheme of the present invention is described in detail with reference to diagram.
Shown in Figure 1, the deformation trace reponse system of the present embodiment, including floral whorl 1, opposite inner wall connect floral whorl
The ∩ type frame 5 at 1 shaft both ends, the rotary shaft on 5 top surface of ∩ type frame, it is embedded on the rotary shaft and detecting head is towards flower
Metal floral whorl magnetic measurement sensor 8, the master control borad 11 of wheel 1；
It is cased with rotation angle detection encoder 4, spring 6, mounting base 7 in rotary shaft successively from the bottom to top, 6 bottom end of spring connects
Rotation angle detection encoder 4, top 7 bottom surface of connection mounting base are connect, and rotation angle detection encoder 4 is located at the top of ∩ type frame 5
On face, height detection encoder 9 and height detection sensor 10 are provided on 7 outer wall of mounting base；
As shown in Fig. 2, master control borad 11 is electrically connected rotation angle detection encoder 4, metal floral whorl magnetic measurement sensor 8, height
Degree detection encoder 9, height detection encoder 9 are electrically connected height detection sensor 10；
Floral whorl 1 include the rubber part 3 being arranged around its shaft and it is equally spaced be embedded it is more on 3 circumference of rubber part
A metal part 2；
Metal floral whorl magnetic measurement sensor 8 just generates a signal, master control whenever detecting a metal part 2 and occurring
Plate 11 is according to detection data output X-axis speed, Y-axis speed, Z axis speed, sum velocity, real-time displacement track, the speed received
Error and displacement error signal.
It is assumed that：The number of metal part 2 included by floral whorl 1 is N, and the detection cycle of detection part is T, floral whorl 1 it is outer
Diameter is D；So in a detection cycle T, the signal that metal floral whorl magnetic measurement sensor 8 is sent out is n1, and n1 is metal part 2
The vertical displacement of the number of appearance, the floral whorl 1 that height detection sensor 10 detects is h, and rotation angle detects encoder 4 and detects
The angle turned over to floral whorl 1 is Ф；So according to the data of transmission, master control borad 11 goes out following data by functional operation：
Total displacement：L=n1*360D2/4N；
X axis displacement is：Lx=L*cos Ф；
Y-axis displacement is：Ly=L*sin Ф；
Z axis is to displacement：Lz=h；
Speed Vx=L*cos Ф/T；
Speed Vy=L*sin Ф/T；
Speed Vz=h/T；
Sum velocity
Then, by data visualization, establish and export L-T coordinates, X-Y-Z coordinates, X-T coordinates, Y-T coordinates, Z-T seats
Mark.And gross data is also output in the above coordinate, error is intuitively changed, is missed to calculate speed error signal and track
Difference signal.
Finally, data comparison is carried out, by real time data with theoretical comparing, calculates real-time speed error information and position
Shift error data, then after converting Real-time Error data to analog quantity by master control borad, driven to related to export deviation correcting signal
Dynamic component, to correct the movement velocity and movement locus of floral whorl.
The motion conditions of the unmanned vehicle 100 of the deformation trace reponse system of the present invention will be utilized as a specific example
The specific works situation of the deformation trace reponse system of the present invention is described in detail in son：
It please refers to shown in Fig. 3, the unmanned vehicle 100 of the deformation trace reponse system of the present invention is utilized, is moved in pipeline
When, if the track of its movement continues to advance, does not make drive signal within the scope of the track that error allows 102
Adjustment will will produce negative-feedback driving if actual motion track 103 has exceeded the track 102 of error permission
Signal drives the movement of the unmanned vehicle 100 to do the corresponding reality for being adjusted so that unmanned vehicle 100 to the drive system of unmanned vehicle
Movement locus 103 is within the scope of track 102 that error allows.
It please refers to shown in Fig. 4, the movement step of unmanned vehicle 100 is as follows：
S1：Drive system drives metal floral whorl to carry out rotation and forward travel along theory movement track 101；
S2：S21, height detection encoder are monitored altitude signal；S22, metal floral whorl magnetic measurement sensor are to gold
Belong to part 2 to be monitored；S23, rotation angle detection encoder 4 rotation angle is monitored, wherein step S21, S22,
S23, which is synchronized, to carry out, and step S2 includes step S21, S22, S23；
Angle signal that S3, master control borad 11 are detected according to step S2, metal magnetic signal, altitude signal calculate nobody
The actual motion track 103 of vehicle 100 and actual movement velocity；
S4, actual motion track 103 and actual movement velocity are compared with theory movement track 101 and theoretical velocity
Compared with；
S5, the error signal for generating track and speed；
S6, error in judgement signal are within the range of permission, if not, S7 is thened follow the steps, if it is, returning
To step S1；
S7, the drive system that error signal is added to metal floral whorl drive signal in, and return to step S1.
Deformation trace reponse system provided by the invention provides real-time deviation correcting signal, to ensure for the floral whorl of movement
Floral whorl can be moved in scheduled track, and be unlikely to deviate original track it is too far, the deformation trace reponse system, especially
Suitable for ensureing being used according to the operation of scheduled track for the robot in pipeline.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant technical fields, similarly
It is included within the scope of the present invention.
Claims (1)
1. a kind of deformation trace reponse system, it is characterised in that：Shaft including floral whorl (1), opposite inner wall connection floral whorl (1)
The ∩ type frame (5) at both ends, the rotary shaft being mounted on ∩ type frame (5) top surface, it is embedded on the rotary shaft and detecting head is towards floral whorl
(1) metal floral whorl magnetic measurement sensor (8), master control borad (11)；
It is cased with rotation angle detection encoder (4), spring (6), mounting base (7), spring (6) bottom in rotary shaft successively from the bottom to top
End connection rotation angle detection encoder (4), top connect mounting base (7) bottom surface, and rotation angle detection encoder (4) is located at
On ∩ type frame (5) top surface, height detection encoder (9) and height detection sensor (10) are provided on mounting base (7) outer wall；
Master control borad (11) is electrically connected rotation angle detection encoder (4), metal floral whorl magnetic measurement sensor (8), height detection and compiles
Code device (9), height detection encoder (9) are electrically connected height detection sensor (10)；
Floral whorl (1) includes around rubber part (3) that its shaft is arranged and equally spaced being embedded on rubber part (3) circumference
Multiple metal parts (2)；
Metal floral whorl magnetic measurement sensor (8) just generates a signal, master control whenever detecting a metal part (2) and occurring
Plate (11) is according to detection data output X-axis speed, Y-axis speed, Z axis speed, sum velocity, real-time displacement track, the speed received
Spend error and displacement error signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469316.3A CN108415440B (en) | 2018-05-16 | 2018-05-16 | Displacement track feedback system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469316.3A CN108415440B (en) | 2018-05-16 | 2018-05-16 | Displacement track feedback system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108415440A true CN108415440A (en) | 2018-08-17 |
| CN108415440B CN108415440B (en) | 2024-04-09 |
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ID=63139605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810469316.3A Active CN108415440B (en) | 2018-05-16 | 2018-05-16 | Displacement track feedback system |
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| Country | Link |
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| CN (1) | CN108415440B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426042A (en) * | 2019-08-02 | 2019-11-08 | 武汉华正空间软件技术有限公司 | Motion track recording device |
| CN110789606A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
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| CN105302142A (en) * | 2015-11-16 | 2016-02-03 | 桂林电子科技大学 | Unicycle device capable of achieving all-directional movement decoupling |
| CN107065887A (en) * | 2017-05-26 | 2017-08-18 | 重庆大学 | Backward air navigation aid in omni-directional mobile robots passage |
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2018
- 2018-05-16 CN CN201810469316.3A patent/CN108415440B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208521A (en) * | 1991-09-07 | 1993-05-04 | Fuji Jukogyo Kabushiki Kaisha | Control system for a self-moving vehicle |
| JP2001075648A (en) * | 1999-09-07 | 2001-03-23 | Shinko Electric Co Ltd | Method and device for adjusting driving wheel diameter parameter of unmanned vehicle |
| US20090171504A1 (en) * | 2007-12-26 | 2009-07-02 | Seung Yong Hyung | Method and apparatus for detecting movement error in mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426042A (en) * | 2019-08-02 | 2019-11-08 | 武汉华正空间软件技术有限公司 | Motion track recording device |
| CN110789606A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
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|---|---|
| CN108415440B (en) | 2024-04-09 |
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