CN110426042A - Motion track recording device - Google Patents
Motion track recording device Download PDFInfo
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- CN110426042A CN110426042A CN201910711538.6A CN201910711538A CN110426042A CN 110426042 A CN110426042 A CN 110426042A CN 201910711538 A CN201910711538 A CN 201910711538A CN 110426042 A CN110426042 A CN 110426042A
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- front fork
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- 230000033001 locomotion Effects 0.000 title claims abstract description 56
- 238000004891 communication Methods 0.000 claims description 28
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 14
- 230000004807 localization Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
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- 230000000712 assembly Effects 0.000 description 1
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- 210000004556 brain Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to a kind of motion track recording devices, including the first rotary encoder and the second rotary encoder, wherein first rotary encoder is configured as the moving distance of record described device, and second rotary encoder is configured as the moving direction of record described device.The apparatus structure is simple, and equipment cost and artificial running cost are relatively low, and job stability is high, improves the efficiency of indoor two-dimensional localization, and then the efficiency of indoor dimensional Modeling Technology can be improved.
Description
Technical field
The present invention relates to indoor positioning technologies field more particularly to a kind of motion track recording devices.
Background technique
Indoor positioning technologies are the technologies that many years have been developed, and current technology includes: that Wi-Fi positioning, bluetooth are fixed
Position, RFID positioning, UWB (ultra wide band) positioning, infrared technique, ultrasonic wave etc., the positioning accuracy of every technology centimetre with rice it
Between, the difference of positioning accuracy depends primarily on the use environment of each technology.The common ground of these technologies is all to need to assist setting
Standby (such as: transmitting base station) positions to realize.It will be apparent that haveing the defects that certain or limitation: base station equipment increases equipment
Cost and operating cost (needing to install in advance, debugging base station), and the range except these base stations cannot achieve positioning, this
It is unfavorable for very much the positioning of large area, more room scenes.In addition, having also appeared a kind of position immediately and ground in the last century 80's
Figure building Simultaneous Localization And Mapping (SLAM) technology.SLAM technology is real using inertial navigation device
Existing consecutive tracking, precision is also between centimetre-meter.SLAM device is mounted on by can be real on positioning object by SLAM location technology
It now positions, without any other ancillary equipment.Relatively above for several location technologies, SLAM technology seems more square
Just.But due to having used inertial navigation device, the relative cost of SLAM equipment is also relatively high.
Summary of the invention
Be given below about brief overview of the invention, in order to provide the base about certain aspects of the invention
This understanding.It should be appreciated that this summary is not an exhaustive overview of the invention, it is not intended to limit use of the invention
Range, purpose are only to summarize in a simplified manner the present invention.
The present invention provides a kind of motion track recording devices, are unfavorable for large area to solve existing indoor positioning technologies
Positioning, and equipment cost and the higher problem of operating cost.
According to the above technical problem, the present invention provides following technical schemes:
A kind of motion track recording device (100), including the first rotary encoder (101) and the second rotary encoder
(102), wherein first rotary encoder (101) be configured as record described device (100) moving distance, described second
Rotary encoder (102) is configured as the moving direction of record described device (100).
Optionally, first rotary encoder (101) and the second rotary encoder (102) are photoelectricity rotary coding
Device.
Optionally, first rotary encoder (101) and the second rotary encoder (102) are configured as to same wheel
It is recorded.
Optionally, described device (100) further includes and the first rotary encoder (101) and the second rotary encoder (102)
The processor (103) of connection, the processor (103) are configured as being determined according to the moving distance and moving direction of record
The motion track of described device (100).
Optionally, described device (100) further includes the communication module (104) connecting with the processor (103), described logical
Letter module (104) is configured as sending the moving distance of described device (100) and/or moving direction and/or motion track to
Preset external equipment.
Optionally, described device (100) further includes and the first rotary encoder (101) and the second rotary encoder (102)
The communication module (104) of connection, the communication module (104) are configured as the moving distance and movement of described device (100)
Direction is sent to preset external equipment, so that the external equipment determines the dress according to the moving distance and moving direction
Set the motion track of (100).
Optionally, the communication module (104) is additionally configured in response to receiving external control instruction, by the control
System instruction is sent to corresponding element, to control unlatching/closing/pause first rotary encoder (101) and the second rotation
Turn encoder (102).
Optionally, described device (100) further includes the front fork assembly (105) connecting with vehicle frame, the front fork assembly (105)
Upper end be connected with second rotary encoder (102), lower end is connected with wheel (1061).
Optionally, the front fork assembly (105) is detachably connected with vehicle frame.
Optionally, described device (100) further includes roll wheel assembly (106), the roll wheel assembly (106) and the front fork group
The lower end of part (105) connects.
Optionally, the roll wheel assembly (106) includes a roller bearing (1062) for being parallel to ground, first rotary coding
Device (101) is installed on the roller bearing (1062).
Optionally, the upper end of the front fork assembly (105) includes mounting hole.
Optionally, described device (100) further includes the steering assembly (107) connecting with vehicle frame, the steering assembly (107)
It is connect with the front fork assembly (105), when rotating transfer (107), the front fork assembly (105) is accordingly rotated,
And it controls connected wheel (1061) and is rotated.
Optionally, the steering assembly (107) includes hand handle (1071), the steering assembly (107) and the front fork group
The upper end of part (105) is socketed, and is located at the lower section of second rotary encoder (102).
Optionally, the steering assembly (107) further includes limit assembly, is configured as limiting the steering assembly (107)
Rotation amplitude.
Optionally, described device (100) further includes telescopic component (108), the telescopic component (108) and the front fork group
The upper end of part (105) connects, and the steering assembly (107) and the second rotary encoder (102) stretch with described from bottom to top
The upper end of component (108) is sequentially connected.
Optionally, first rotary encoder (101) and the second rotary encoder (102) are both configured to based on default
Frequency records described device (100).
Optionally, second rotary encoder (102) is configured as in first rotary encoder (101) record
After moving distance of the described device (100) apart from a upper anchor point meets preset threshold, the mobile side of described device (100) is recorded
To.
Optionally, the angle of the moving direction is the angle between moving direction and preset geographical positive direction.
Optionally, the preset geographical positive direction is geographical direct north.
A kind of motion track recording device proposed by the invention, the apparatus structure is simple, equipment cost and manual operation
Advantage of lower cost, job stability is high, improves the efficiency of indoor two-dimensional localization, and then indoor three-dimensional modeling skill can be improved
The efficiency of art.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the motion track recording device that an embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram for the motion track recording device that another embodiment of the present invention provides；
Fig. 3 is the schematic diagram that the motion track recording device that a further embodiment of this invention provides is interacted with external equipment；
Fig. 4 is the schematic diagram that the motion track recording device that a further embodiment of the present invention provides is interacted with external equipment；
Fig. 5 is the schematic diagram that the motion track recording device that a further embodiment of this invention provides is interacted with external equipment；
Fig. 6 is the schematic diagram that the motion track recording device that another embodiment of the present invention provides is interacted with external equipment；
Fig. 7 is that the structure for the motion track recording device for being equipped with steering assembly that a further embodiment of this invention provides is shown
It is intended to；
Fig. 8 is that the structure for the motion track recording device for being equipped with telescopic component that a further embodiment of this invention provides is shown
It is intended to；
Fig. 9 is the motion track schematic diagram that motion track recording device described in each embodiment of the present invention determines；
Figure 10 is the method schematic diagram that wheel deflection angle is determined in each embodiment of the present invention；
In figure, 100- device entirety, the first rotary encoder of 101-, the second rotary encoder of 102-, 103- processor,
104- communication module, 105- front fork assembly, 106- roll wheel assembly, 107- steering assembly, 108- telescopic component, 1061- idler wheel,
1062- roller bearing, 1071- hand handle.
Specific embodiment
Below in conjunction with attached drawing, clear and complete description is carried out to the present invention, it should be understood that embodiment as described herein
It is a part of the embodiments of the present invention, rather than whole embodiments.
Although it should be understood that be used herein technical term " first ", " second " etc. to describe encoder,
These encoders should should not be limited by these terms, and carry out area to each encoder the use of these items is only for convenient
Point.For example, under the premise of without departing substantially from exemplary embodiment, the first rotary encoder can be referred to as the second rotary coding
Device, the second rotary encoder can also be referred to as the first rotary encoder.
Referring to Fig.1, one aspect according to the present embodiment provides a kind of motion track recording device 100, including first
Rotary encoder 101 and the second rotary encoder 102, wherein first rotary encoder 101 is configured as recording the dress
100 moving distance is set, second rotary encoder 102 is configured as the moving direction of record described device 100；Institute in figure
The device 100 shown is moved by the rolling of wheel, first rotary encoder 101 and the second rotary encoder 102
The moving distance and moving direction of described device 100 can be recorded by being respectively arranged on different wheels.
It is considered that the position of different wheels may be different, if first rotary encoder 101 and the second rotary coding
Device 102 is respectively arranged on the wheel at different location, it is more likely that the moving distance of record and moving direction is caused to mismatch
Consequence so that there are deviations for the motion track finally obtained, therefore, in one embodiment of present embodiment, described
One rotary encoder 101 and the second rotary encoder 102 are installed on same wheel, so that they remember same wheel
Record.
In addition, it is necessary to explanation, in the present embodiment, first rotary encoder 101 and the second rotary encoder
102 be same type of rotary encoder, such as optical rotary encoder.But first rotary encoder and the second rotation
Different types of rotary encoder, such as the types such as magneto-electric or contact brushes formula, this hair can also be respectively adopted by turning encoder
It is bright not limit this.
In one embodiment of present embodiment, referring to Fig. 2, described device 100 further includes and the first rotary encoder
101 and second processor 103 that connects of rotary encoder 102, the processor 103 be used for according to the moving distance of record
The motion track of described device 100 is determined with moving direction, specifically, in the moving process of described device 100, the first rotation
The mobile message (moving distance and moving direction) that encoder 101 and the second rotary encoder 102 are recorded it is transmitted to place
Device 103 is managed, processor 103 generates motion track according to the mobile message, and referring to Fig. 9, device 100 is from D1It is moved to D2, first
Rotary encoder 101 records the set (distance set Ji) of the moving distance generated in moving process, the second rotary encoder 102
The set (angle set Fi) of the moving direction generated in record moving process, then according to D1Coordinate (X1, Y1), Ji Keli
D is calculated with calculation formula (1) and (2)2Coordinate (X2, Y2), the calculation formula are as follows:
In one embodiment of present embodiment, described device 100 further includes the communication connecting with the processor 103
Module 104, it is preset outer in order to send the moving distance of described device 100 and/or moving direction and/or motion track to
Portion's equipment, as shown in figure 3, the processor 103 can be respectively from first rotary encoder 101 and the second rotary encoder
Moving distance and moving direction information in 102 acquisition device, 100 moving process, are then based on the moving distance and movement side
It is handled to information, obtains the motion track of described device 100, the motion track is then transmitted to communication module 104,
It is shown so that the motion track is sent preset external equipment by the communication module 104.In addition, the communication mould
Block 104 can also by the moving distance and moving direction synchronize be sent to the external equipment, facilitate the external equipment same
When show mobile message (moving direction and moving distance), in addition, the external equipment can also be obtained according to the moving distance
To the current movement speed of described device 100 and show；Wherein, the external equipment may include mobile phone, plate electricity
Brain and computer or other have the general or specialized equipment of video capture function and data communication function.
It is understood that untreated mobile message can also be sent directly to external equipment by communication module 104,
Motion track and the display of described device 100 are obtained according to the mobile message by the external equipment, at this point, described device
100 can not include the processor 103 in above-described embodiment, described in one embodiment of present embodiment referring to Fig. 4
Communication module 104 is directly connect with the first rotary encoder 101 and the second rotary encoder 102, and the communication module 104 is matched
It is set to and sends preset external equipment for the moving distance of described device 100 and/or moving direction, it should be noted that In
In the present embodiment, the external equipment still can obtain the movement of described device according to the method described in above-described embodiment
Speed and the mobile message for showing described device (mobile message may also comprise the movement speed).
In another embodiment of present embodiment, referring to Fig. 5, the communication module 104 be additionally configured in response to
External control instruction is received, sends the control instruction to corresponding element, the control instruction may include that control is opened
It opens/closing/and suspends first rotary encoder and the second rotary encoder record mobile message, it is in the present embodiment, described
External equipment can issue corresponding control instruction according to the actual conditions of indoor environment, Xiang Suoshu communication module 104, in addition,
The communication module 104 can also receive the working condition of first rotary encoder 101 and the second rotary encoder 102 simultaneously
It is sent to corresponding external equipment, to monitor the operating condition of described device at any time.It should be noted that in the present embodiment
In, the communication module 104 can be only used for the control instruction outside reception and forward to corresponding element.
In addition, referring to Fig. 6, the communication module 104 is also used to set to outside in one embodiment of present embodiment
Preparation send mobile message and receives the control instruction of external equipment.
It should be noted that when described device 100 includes simultaneously the processor 103 and communication module 104, it is described logical
The control instruction received can be sent to processor 103 by letter module 104, be referred to by the processor 103 according to the control
Order controls first rotary encoder 101 and the second rotary encoder 102 respectively.
It is understood that first rotary encoder 101 passes through the record wheel in moving process of described device 100
The circle number of rolling records the moving distance of described device, meanwhile, second rotary encoder 102 passes through recording device 100
Wheel deflects in moving process direction and angle record the moving direction of described device, specifically, as shown in Fig. 2, institute
Stating device 100 further includes the front fork assembly 105 connecting with the wheel, the upper end of the front fork assembly 105 and second rotation
Turn encoder 102 to be connected, lower end is connected with the wheel, to record deflection direction and the angle of the wheel；The front fork
Component 105 is to connect wheel with vehicle frame, and wheel is made to move freely and rotate on this basis.
In the moving process of described device 100, when device 100 turns to, wheel drives front fork assembly 105 to rotate, front fork
Component 105 drives second rotary encoder 102 to rotate, to record the moving direction information of described device 100, in this base
On plinth, what the moving distance and the second rotary encoder 102 that described device 100 is recorded by first rotary encoder recorded
The set of moving direction can determine the relative positioning of any two points in moving process.
In one embodiment of present embodiment, the front fork assembly 105 is removably to connect with the vehicle frame
Components are installed and/or replaced in use to (not shown) convenient for described device 100；In the present embodiment, described
The front fork assembly 105 and vehicle frame of device 100 are socketed and fix, and can be used for installing the second rotary coding on the front fork assembly 105
Device 102 or socket other assemblies.
In one embodiment of present embodiment, as shown in Fig. 2, the motion track recording device 100 further includes rolling
Wheel assembly 106, the idler wheel include at least one idler wheel 1061, roller bearing 1062 and other be used to that the components of idler wheel, institute to be installed
Roll wheel assembly 106 is stated to connect with the lower end of the front fork assembly 105；In the present embodiment, the roll wheel assembly 106 can also basis
It needs to be arranged multiple idler wheels, keeps the movement in record of described device 100 more stable, the present embodiment does not limit this.
In addition, the roller bearing 1062 can be used for connecting the idler wheel 1061 and the front fork assembly 105, and the roller bearing
1062 settings parallel to the ground, in the present embodiment, the first rotary encoder 101 for recording moving distance are mounted on roller bearing 1062
On, so as to the determining circle number that in the moving process of described device 100, corresponding wheel is turned over；It is understood that in this reality
It applies in example, the idler wheel 1061 is fixedly connected with the roller bearing 1062, when described device 100 is mobile, idler wheel 1061 and roller bearing
1062 rotate synchronously, and then drive the rotary shaft rotation of first encoder, so as to first rotary encoder 101 record
The moving distance information of described device 100.
In one embodiment of present embodiment, as shown in Fig. 2, there is a mounting hole in the upper end of the front fork assembly 105,
To install second rotary encoder 102, in the present embodiment, movement side occurs in moving process for described device 100
To transformation when, the wheel 1061 drives the front fork assembly 105 to deflect, and then drives the rotation of second rotary encoder
Shaft rotation, so as to record the deflection direction, the i.e. moving direction of described device 100.
In one embodiment of present embodiment, as shown in fig. 7, the motion track recording device 100 further include with
The steering assembly 107 of vehicle frame connection, the steering assembly 107 are connect with the front fork assembly 105, mobile in described device 100
During, by rotating the transfer 107, the accordingly rotation of front fork assembly 105 can be driven, correspondingly, with institute
The rotation that the wheel 1061 on the roll wheel assembly 106 of the connection of front fork assembly 105 carries out same magnitude is stated, at this point, described the
Two rotary encoders 102 can carry out the record of moving direction according to the identical principle of above-described embodiment.
In one embodiment of present embodiment, as shown in fig. 7, the steering assembly 107 further includes hand handle 1071, institute
The upper end for stating steering assembly 1071 and the front fork assembly 105 is socketed and fixes, described in 107 upper end of the steering assembly installation
Second rotary encoder 102；The steering assembly 107 is controlled by the hand handle 1071, and then controls what front fork assembly 105 connected
The deflection direction of wheel 1061, then by the moving direction information of second rotary encoder 102 record described device 100, need
It is noted that the hand handle 1071 in the steering assembly 107 is not limited to shape and structure shown in fig. 7, the side of can also be
To disk, rudder etc. is turned to convenient for operation, is able to carry out the other shapes structure of the conversion in direction, the present embodiment does not limit this.
In one embodiment of present embodiment, limit assembly is also equipped on the steering assembly 107 and (is not shown in figure
Out), for limiting the rotation amplitude of the steering assembly 107, so that the steered wheel of steering assembly control is suitable
Angular range in rotation.In the present embodiment, the limit assembly is also mountable on the front fork assembly, by limiting institute
The deflection amplitude of wheel is stated to limit the deflection direction of described device 100.In addition, in the present embodiment, the limit assembly
Can also be after the steering of described device 100, the deflection angle of the fixed steered wheel, so that described device 100 is being moved through
The variation of moving direction will not occur in journey.
In one embodiment of present embodiment, as shown in figure 8, the motion track recording device 100 further includes stretching
Contracting component 108, to adapt to different indoor environments and/or operating environment (for example, operator can be according to oneself height pair
The telescopic component 108 is configured, so that it can more comfortably operate the steering assembly 107).In the present embodiment
In, the lower end of the telescopic component 108 is connect with the upper end of the front fork assembly 105, the lower end of the steering assembly 107 and institute
The upper end connection of telescopic component 108 is stated, second rotary encoder 102 is installed on the top of the steering assembly 107.
In one embodiment of present embodiment, first rotary encoder 101 and second rotary encoder
102 are both configured to record motion track recording device based on predeterminated frequency, referring to Fig. 9, between any two D point,
Motion track recording device 100 will record multiple moving distance/directions, and the predeterminated frequency can be set based on distance or time
It sets, for example, when device moves a certain distance or when the time, the first rotary encoder 101 and the second rotary encoder 102 can be same
Mobile message in this time of Shi Jilu or distance segment.
When carrying out the record of mobile message according to moving distance, second rotary encoder 102 of recording device 100
It is configured as recording moving distance of the motion track recording device 100 apart from a upper anchor point in first rotary encoder
After meeting preset threshold, the moving direction of the motion track recording device 100 is recorded, such as: default moving distance is J, i.e.,
When the mobile distance of described device 100 reaches J, the moving direction of the second rotary encoder record instantly, for example, working as
Described device 100 from a record point Dn, and be moved at a distance of it is described record point Dn distance for J position when, it is described
Second rotary encoder records the deflection situation (deflection angle) of wheel instantly, the i.e. moving direction of described device.
It should be noted that in one embodiment of present embodiment, the movement of the motion track recording device 100
Direction can determine in the following manner: the vehicle based on preset geographical positive direction and second rotary encoder record
Wheel deflection direction determines the moving direction (angle), specifically, as described in Figure 10, the angle of the moving direction is wheel deflection
Angle F between direction and preset geographical positive direction, in the present embodiment, preset geography positive direction is the geographical positive north
To, it is to be understood that it is described geography positive direction be also possible to other orientation geographical positive direction (such as east, Xi Henan
Deng), the present embodiment does not limit this.
From the description above, it can be seen that this application discloses following technical schemes:
1. a kind of motion track recording device, including the first rotary encoder (101) and the second rotary encoder (102),
Wherein first rotary encoder (101) is configured as the moving distance of record described device (100), and second rotation is compiled
Code device (102) is configured as the moving direction of record described device (100).
2. device as described in technical solution 1, wherein first rotary encoder (101) and the second rotary encoder
It (102) is optical rotary encoder.
3. device as described in technical solution 2, wherein first rotary encoder (101) and the second rotary encoder
(102) it is configured as recording same wheel.
4. device as described in technical solution 3, wherein described device further includes and the first rotary encoder (101) and
The processor (103) of two rotary encoders (102) connection, the processor (103) are configured as the movement according to record
Distance and moving direction determine the motion track of described device (100).
5. device as described in technical solution 4, wherein described device (100) further includes connecting with the processor (103)
Communication module (104), the communication module (104) is configured as the moving distance of described device (100) and/or movement side
To and/or motion track be sent to preset external equipment.
6. device as described in technical solution 1, wherein described device (100) further includes and the first rotary encoder (101)
With the communication module (103) of the second rotary encoder (102) connection, the communication module (104) is configured as described device
(100) moving distance and moving direction is sent to preset external equipment, so as to the external equipment according to the movement away from
From the motion track for determining described device (100) with moving direction.
7. the device as described in technical solution 5 or 6, wherein the communication module (104) is additionally configured in response to receiving
To external control instruction, the control instruction is sent to corresponding element, to control unlatching/closing/pause described the
One rotary encoder (101) and the second rotary encoder (102).
8. device as described in technical solution 1, wherein described device (100) further includes the front fork assembly connecting with vehicle frame
(105), the upper end of the front fork assembly (105) is connected with second rotary encoder (102), lower end and wheel (1061) phase
Even.
9. device as described in technical solution 8, wherein the front fork assembly (105) is detachably connected with vehicle frame.
10. device as described in technical solution 9, wherein described device (100) further includes roll wheel assembly (106), the rolling
Wheel assembly (106) is connect with the lower end of the front fork assembly (105).
11. device as described in technical solution 10, wherein the roll wheel assembly (106) includes a rolling for being parallel to ground
Axis (1062), first rotary encoder (101) are installed on the roller bearing (1062).
12. the device as described in technical solution 8-11 is any, wherein the upper end of the front fork assembly (105) includes installation
Hole.
13. the device as described in technical solution 12, wherein described device (100) further includes the steering group connecting with vehicle frame
Part (107), the steering assembly (107) connect with the front fork assembly (105), when rotating transfer (107), institute
It states front fork assembly (105) accordingly to rotate, and controls connected wheel (1061) and rotated.
14. the device as described in technical solution 13, wherein the steering assembly (107) includes hand handle (1071), and described turn
It is socketed to the upper end of component (107) and the front fork assembly (105), is located at the lower section of second rotary encoder (102).
15. the device as described in technical solution 14, wherein the steering assembly (107) further includes limit assembly, is configured
For the rotation amplitude for limiting the steering assembly (107).
16. the device as described in technical solution 13-15 is any, wherein described device (100) further includes telescopic component
(108), the telescopic component (108) connect with the upper end of the front fork assembly (105), the steering assembly (107) and
Upper end of two rotary encoders (102) from bottom to top with the telescopic component (108) is sequentially connected.
17. the device as described in technical solution 1-6 is any, wherein first rotary encoder (101) and the second rotation
Encoder (102) is both configured to record described device (100) based on predeterminated frequency.
18. the device as described in technical solution 1-6 is any, wherein second rotary encoder (102) is configured as
Moving distance of the described device (100) of first rotary encoder (101) record apart from a upper anchor point meets default threshold
After value, the moving direction of described device (100) is recorded.
19. the device as described in technical solution 1-6 is any, wherein the angle of the moving direction is for moving direction and in advance
If geographical positive direction between angle.
20. the device as described in technical solution 19, wherein the preset geographical positive direction is geographical direct north.
To those skilled in the art, the application and it is limited to the details of above-mentioned exemplary embodiment, and is not carrying on the back
In the case where from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter from which
Any is seen, should regard above-described embodiment as exemplary, and not restrictive, scope of the present application is wanted by appended right
Restriction is asked, rather than there is above description restriction, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes include in the application.Right involved in should not treating any reference in the claims as limiting is wanted
It asks.Furthermore, it is to be understood that one word of " comprising " does not exclude other units or steps, odd number is not excluded for plural number.
Although front is specifically shown and describes exemplary embodiment, it will be appreciated by those skilled in the art that
Without departing substantially from the spirit and scope of claims, it can be varied in terms of its form and details.The application
Sought protection illustrates in detail in the claims.
Claims (10)
1. a kind of motion track recording device, including the first rotary encoder (101) and the second rotary encoder (102), wherein
First rotary encoder (101) is configured as the moving distance of record described device (100), second rotary encoder
(102) it is configured as the moving direction of record described device (100).
2. device as described in claim 1, wherein first rotary encoder (101) and the second rotary encoder (102)
It is optical rotary encoder.
3. device as claimed in claim 2, wherein first rotary encoder (101) and the second rotary encoder (102)
It is configured as recording same wheel.
4. device as claimed in claim 3, wherein described device further includes revolving with the first rotary encoder (101) and second
Turn the processor (103) of encoder (102) connection, the processor (103) is configured as the moving distance according to record
The motion track of described device (100) is determined with moving direction.
5. device as claimed in claim 4, wherein described device (100) further include connect with the processor (103) it is logical
Believe module (104), the communication module (104) is configured as the moving distance and/or moving direction of described device (100)
And/or motion track is sent to preset external equipment.
6. device as described in claim 1, wherein described device (100) further includes and the first rotary encoder (101) and
The communication module (103) of two rotary encoders (102) connection, the communication module (104) are configured as described device (100)
Moving distance and moving direction be sent to preset external equipment, so that the external equipment is according to the moving distance and shifting
Dynamic direction determines the motion track of described device (100).
7. such as device described in claim 5 or 6, wherein the communication module (104) is additionally configured to outer in response to receiving
The control instruction is sent to corresponding element by the control instruction in portion, to control unlatching/closing/pause first rotation
Turn encoder (101) and the second rotary encoder (102).
8. device as described in claim 1, wherein described device (100) further includes the front fork assembly connecting with vehicle frame
(105), the upper end of the front fork assembly (105) is connected with second rotary encoder (102), lower end and wheel (1061) phase
Even.
9. device as claimed in claim 8, wherein the front fork assembly (105) is detachably connected with vehicle frame.
10. device as claimed in claim 9, wherein described device (100) further includes roll wheel assembly (106), the roller group
Part (106) is connect with the lower end of the front fork assembly (105).
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