CN103631274A - Three-wheel planar position finder - Google Patents

Abstract

The invention discloses a three-wheel planar position finder. Three universal wheels are axially uniformly designed at the lower surface of a mounting plane, and angular displacement signals of the three universal wheels are respectively measured by three photoelectric coders and are converted into pulse signals for outputting; damping structures are designed between the mounting plane and the three universal wheels. A variable resistor is arranged between a damping spring in each damping structure and the mounting plane; the variable resistors are used for measuring the pressure signals applied by the damping springs, and then the rotary states of the universal wheels are represented; when two or all of the pressure signals corresponding to the three universal wheels are larger than a threshold value, digit data are obtained by adopting a two-wheel or three-wheel algorithm. The three-wheel planar position finder has the advantages that the vibration degree of main power equipment can be output by the data of a pressure sensor, the rotary states of the universal wheels can be judged, the operation can be switched to the two-wheel algorithm when one universal wheel leaves the ground, and the error possibly caused in the time period can be compensated.

Description

A kind of Three-wheel type plane positioning instrument

Technical field

The invention belongs to electronic information, automatic control technology field, specifically, is a kind of Three-wheel type plane positioning instrument.

Background technology

Along with scientific and technological development, photoelectric encoder appear at the process of having accelerated to a certain extent industrial automation.For incremental optical-electricity encoder, the mechanical rotation of interface unit can be changed and output pulse signal, host computer can be processed to it (normally integration) to obtain positional information.But for the photoelectric encoder of this type, A phase, B phase signals that output pulse differs pi/2 by two-way output phase represent forward and inversion pulse number, and during forward, A phase output terminal pulse advance is in B phase output terminal pulse pi/2; During reversion, A phase output terminal output pulse lags behind B phase pulse pi/2.

For user or developer, if utilize photoelectric encoder to obtain the positional information of equipment when doing plane motion, need developer's a set of physical construction of algorithm, hardware supported additional designs could realize positioning function, workload is extremely huge.The situation of a set of Special Equipment is not manufactured, is packaged into the existing location technology based on photoelectric encoder, in use used in a large number.There are the situations such as two-wheeled right angle, two-wheeled is parallel, three-wheel is symmetrical, four-wheel is symmetrical.Their total shortcomings are that specificity is strong, single with regard to communication interface, are only applicable to that certain is specific or do not have a communication function.

Summary of the invention

In order to address the above problem, the present invention proposes a kind of Three-wheel type plane positioning instrument, adopts ripe universal wheel technology, the technology such as single-cantilever spring shock absorption in Machine Design; On software, designed three-wheel, two-wheeled algorithm changeover mechanism, the abnormality detection mechanism of reporting an error etc., have greatly improved the universal of this equipment, can avoid developer when obtaining positional information, to do extra development.

Three-wheel type plane positioning instrument of the present invention, comprises mechanical driving part and electronic control part; Wherein, mechanical driving part comprises mounting plane, universal wheel, incremental optical-electricity encoder, scrambler support, shock-damping structure and voltage dependent resistor; Electronic control part comprises data acquisition module.

In mechanical driving part, mounting plane bottom surface week is upwards evenly provided with three scrambler supports; On each scrambler support, fixedly mount an incremental optical-electricity encoder; A universal wheel of the coaxial connection of each incremental optical-electricity encoder; The angular displacement signal that can respectively three universal wheels be rotated by three incremental optical-electricity encoders is transformed into pulse signal and exports.

Between above-mentioned each scrambler support and mounting plane, all by shock-damping structure, be connected; Described shock-damping structure comprises pillar, damping spring, slide block and spacing jump ring; Wherein, pillar one end and scrambler support are connected, and the other end is through the through hole on mounting plane and the slide block that is fixed on mounting plane upper surface, and end is provided with spacing jump ring; On pillar, cover has damping spring; One end of damping spring contacts with the voltage dependent resistor of mounting plane lower surface with fixing, and the other end contacts with scrambler support; Voltage dependent resistor is used for measuring damping spring to voltage dependent resistor applied pressure, realizes the measurement of universal wheel vibration amplitude.

In electronic control part, described data acquisition module is used for gathering three pulse signal S that universal wheel is corresponding ₁, S ₂, S ₃and voltage signal V ₁, V ₂, V ₃, at interval of the moment, Δ t sends to data processing module; The pulse signal S that data processing module receives current time t ₁, S ₂, S ₃process, obtain the angular velocity omega of three universal wheels ₁, ω ₂, ω ₃; And according to the voltage signal V receiving ₁, V ₂, V ₃, judge and be specially the situation that lands of three universal wheels:

If three voltage signals of a are all greater than the threshold value V of setting, data processing module by three-wheel location algorithm to obtaining position data;

Three-wheel algorithm is:

$\left[\begin{array}{c}\mathrm{\θ}\\ x\\ y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\θ}}_0\\ x_0\\ y_0\end{array}\right]+\underset{0}{\overset{t}{\∫}}{A}^{-1}\left[\begin{array}{c}{\mathrm{R\ω}}_1\\ {\mathrm{R\ω}}_2\\ {\mathrm{R\ω}}_3\end{array}\right]\mathrm{dt}---\left(1\right)$

Wherein, $\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]$ For current time active force device location information, x, y are horizontal stroke, ordinate in the coordinate system O (x, y) being set by host computer; θ be active force equipment towards with x axle positive dirction angle; $\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]$ Initial position message for active force equipment; $\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]$ Initial value be set to (90 °, 0,0), before computing for the first time, the initial position of active force equipment is positioned at the initial point (0,0) of coordinate system O (x, y), towards identical with Y-axis positive dirction; T is current time; R is universal wheel radius; $A=\left[\begin{array}{ccc}-l_1& \cos {\mathrm{\&beta;}}_1& \sin {\mathrm{\&beta;}}_1\\ {\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HDA0000417890520000022.png"\; state="\{\{state\}\}">l</figure-callout>}}_2& \cos {\mathrm{\&beta;}}_2& \sin {\mathrm{\&beta;}}_2\\ -{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HDA0000417890520000011.png,HDA0000417890520000022.png"\; state="\{\{state\}\}">l</figure-callout>}}_3& \cos {\mathrm{\&beta;}}_3& \sin {\mathrm{\&beta;}}_3\end{array}\right],$ Wherein, l ₁, l ₂, l ₃be respectively the center of three universal wheels and the distance of three incremental encoder crossing point of axes; β ₁, β ₂, β ₃for the normal value relevant to orientator structural parameters,

l is half of two universal wheel central point spacing.

If a threshold value V who is less than setting in three voltage signals of b, data processing module obtains position data by two-wheeled location algorithm.

Two-wheeled algorithm is:

$\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]+\underset{0}{\overset{t}{\&Integral;}}{A}^{-1}\left[\begin{array}{c}{\mathrm{R\&omega;}}_1\\ {\mathrm{R\&omega;}}_2\\ {\mathrm{R\&omega;}}_3\end{array}\right]\mathrm{Pdt}---\left(2\right)$

Wherein, P is constant matrices corresponding to universal wheel in vacant state;

If two or the threshold value V all arranging in three voltage signals of c, send abnormal prompt information to host computer, by PC control, quit work.

The invention has the advantages that:

1, Three-wheel type plane positioning instrument of the present invention, can export the extent of vibration of object in motion process by pressure sensor data, and judge and the rotary state of universal wheel also can mode of operation be set with the delta data of pressure sensor output by programming, for user provides reference; And at a wheel liftoff two-wheeled location algorithm that switches to constantly that soars, reduce even to make up the error that the severe jolt in the small time period causes.

2, Three-wheel type plane positioning instrument of the present invention can not only can be exported object real time position coordinate under normal operation, and can judge whether to occur extremely, and reporting errors information;

3, Three-wheel type plane positioning instrument of the present invention, has preset the multiple programmable interfaces such as UART, I2C, and user can arrange by programming communication pattern, the working method of the present invention and host computer, to obtain the positional information of main motion equipment;

Accompanying drawing explanation

Fig. 1 is Three-wheel type plane positioning instrument superstructure schematic diagram of the present invention;

Fig. 2 is Three-wheel type plane positioning instrument polycrystalline substance schematic diagram of the present invention;

Fig. 3 is damping schematic diagram in Three-wheel type plane positioning instrument of the present invention;

Fig. 4 is electronic control part structured flowchart in Three-wheel type plane positioning instrument of the present invention;

Fig. 5 is data processing module working method process flow diagram in Three-wheel type plane positioning instrument of the present invention;

Fig. 6 is Three-wheel type plane positioning instrument structural parameters definition schematic diagram of the present invention.

In figure:

1-mounting plane 2-universal wheel 3-incremental optical-electricity encoder

4-scrambler support 5-shock-damping structure 6-voltage dependent resistor

7-data acquisition module 8-data processing module 9-Working mode set module

501-pillar 502-damping spring 503-slide block

The spacing jump ring of 504-

Embodiment

Below in conjunction with accompanying drawing, the present invention will be further described.

Three-wheel type plane positioning instrument of the present invention, comprise mechanical driving part and electronic control part, as shown in Figure 1, Figure 2, Figure 3 shows, wherein, mechanical drive department is divided into the three-wheel passive type plane Omni-mobile chassis that adopts universal wheel to design, and specifically comprises mounting plane 1, universal wheel 2, incremental optical-electricity encoder 3, scrambler support 4, shock-damping structure 5 and voltage dependent resistor 6.Electronic control part comprises data acquisition module 7, data processing module 8 and Working mode set module 9, as shown in Figure 4.

In mechanical driving part, mounting plane 1 upper surface is used for being fixed with active force equipment, and bottom surface week is upwards evenly provided with three scrambler supports 4; On each scrambler support 4, fixedly mount an incremental optical-electricity encoder 3; Three incremental optical-electricity encoder 3 axes intersect are in a bit.A universal wheel 2 of each incremental optical-electricity encoder 3 coaxial connection, after mounting plane 1 and active force equipment are fixing, make three universal wheels 2 and plane of movement (ground) close contact, thus when active force equipment moves on plane of movement, three universal wheels 2 also can move on plane of movement, and the angular displacement signal can be respectively three universal wheels 2 being rotated by three incremental optical-electricity encoders 3 be transformed into pulse signal and exports.Above-mentioned each scrambler support 4 is all connected by shock-damping structure 5 with 1 of mounting plane; Described shock-damping structure 5 comprises pillar 501, damping spring 502, slide block 503 and spacing jump ring 504; Wherein, pillar 501 one end and scrambler support 4 are connected, and the other end is through the through hole on mounting plane 1 and the slide block 503 that is fixed on mounting plane upper surface, and end is provided with spacing jump ring 504.The diameter of above-mentioned pillar 501 is less than the diameter of through hole, and slide block 503 inside have ball, ball and pillar 501 sidewall contacts, thus, the ball by slide block 503 inside is along pillar 501 axial rollings, realize mounting plane 1 along boom shaft to move up and down.On above-mentioned pillar, cover has damping spring 502, damping spring 502 to be positioned at 4, mounting plane 1 and scrambler support; One end of damping spring 502 contacts with the voltage dependent resistor 6 of mounting plane 1 lower surface with fixing, and the other end contacts with scrambler support 4; Moving up and down of mounting plane 1 can be undertaken spacing by damping spring 502 and spacing jump ring 504 thus; The shock-absorbing function of simultaneously realizing when vibrations appear in active devices by damping spring 502; And can make active force equipment three universal wheels 2 being pressed on plane of movement tightly when plane of movement moves by damping spring 502.Damping spring, to voltage dependent resistor 6 applied pressures, can be measured by voltage dependent resistor 6, realizes the measurement of universal wheel 2 vibration amplitude.

In electronic control part, described data acquisition module 7 is used for gathering three pulse signal S that universal wheel is corresponding ₁, S ₂, S ₃and voltage signal V ₁, V ₂, V ₃, at interval of the moment, Δ t sends to data processing module 8.The pulse signal S that 8 couples of current time t of data processing module receive ₁, S ₂, S ₃process, obtain the angular velocity omega of three universal wheels 2 ₁, ω ₂, ω ₃; And according to the voltage signal V receiving ₁, V ₂, V ₃, judge and as shown in Figure 5, be specially the situation that lands of three universal wheels 2:

Data processing module 8 is according to three voltage signal V that receive ₁, V ₂, V ₃contrast with threshold value respectively, if certain in three voltage signals is less than the threshold value V of setting, represent that universal wheel 2 that this voltage signal is corresponding and the contact condition between plane of movement cannot make these universal wheel 2 normal rotation (as: universal wheel gets stuck, stall, liftoff unsettled); Otherwise, represent that this universal wheel 2 is in normal rotation state.If three voltage signals are all greater than the threshold value V of setting, data processing module 8 by three-wheel location algorithm to obtaining position data; If two threshold value V that are greater than setting in three voltage signals, data processing module 8 obtains position data by two-wheeled location algorithm; If two or the threshold value V all arranging in three voltage signals, represent Three-wheel type plane positioning instrument dyskinesia, now to host computer, send abnormal prompt information, now by PC control, quit work.

Described three-wheel algorithm is:

$\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]+\underset{0}{\overset{t}{\&Integral;}}{A}^{-1}\left[\begin{array}{c}{\mathrm{R\&omega;}}_1\\ {\mathrm{R\&omega;}}_2\\ {\mathrm{R\&omega;}}_3\end{array}\right]\mathrm{dt}---\left(1\right)$

Wherein, $\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]$ For current time active force device location information, as shown in Figure 6, x, y are horizontal stroke, ordinate in the coordinate system O (x, y) being set by host computer; θ be active force equipment towards with x axle positive dirction angle; $\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]$ Initial position message for active force equipment; $\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]$ Initial value be set to (90 °, 0,0), before computing for the first time, the initial position of active force equipment is positioned at the initial point (0,0) of coordinate system O (x, y), towards identical with Y-axis positive dirction; T is current time; R is universal wheel 2 radiuses; $A=\left[\begin{array}{ccc}-l_1& \cos {\mathrm{\&beta;}}_1& \sin {\mathrm{\&beta;}}_1\\ {\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HDA0000417890520000022.png"\; state="\{\{state\}\}">l</figure-callout>}}_2& \cos {\mathrm{\&beta;}}_2& \sin {\mathrm{\&beta;}}_2\\ -{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HDA0000417890520000011.png,HDA0000417890520000022.png"\; state="\{\{state\}\}">l</figure-callout>}}_3& \cos {\mathrm{\&beta;}}_3& \sin {\mathrm{\&beta;}}_3\end{array}\right],$ Wherein, l ₁, l ₂, l ₃be respectively the center of three universal wheels 2 and the distance of three incremental encoder 3 crossing point of axes; β ₁, β ₂, β ₃for the normal value relevant to orientator structural parameters,

β ₃=θ ₀-90 °, l is half of two universal wheels, 2 central point spacing.

Two-wheeled algorithm is:

$\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]+\underset{0}{\overset{t}{\&Integral;}}{A}^{-1}\left[\begin{array}{c}{\mathrm{R\&omega;}}_1\\ {\mathrm{R\&omega;}}_2\\ {\mathrm{R\&omega;}}_3\end{array}\right]\mathrm{Pdt}---\left(2\right)$

Wherein, P is the constant matrices of universal wheel 2 correspondences in vacant state.

Described Working mode set module 9 comprises that communication interface chooses module, postbacks set of time module; Wherein, communication interface is chosen module and is had UART, I2C, CAN, many kinds of programmable interfaces of SPI, by host computer, by serial ports, programmable interface is set, Three-wheel type plane positioning instrument of the present invention and active movement equipment room are realized by the programmable interface setting.Host computer is set Three-wheel type plane positioning instrument and active movement equipment room data transmission T interval time by postbacking set of time module simultaneously; Thus, make Three-wheel type plane positioning instrument to active movement equipment, send position data and vibration data at interval of time T.

In the present invention, can by two cover shock-damping structures 5, be connected 1 of each scrambler support 4 and mounting plane, reach better damping effect, prevent that incremental optical-electricity encoder 3 and universal wheel 2 from rotating around pillar 501, makes motion process more stable simultaneously.In these cases, between described each scrambler support and mounting plane, by two cover shock-damping structures, be connected, two overlap shock-damping structures respectively to there being a voltage dependent resistor; , before carrying out three-wheel algorithm or two-wheeled algorithm, data acquisition module carries out mean value computation by gathering the voltage signal of two voltage dependent resistors, obtains the voltage signal that each universal wheel is corresponding carry out and the comparison that threshold value V is set.

Claims (5)

1. a Three-wheel type plane positioning instrument, is characterized in that: comprise mechanical driving part and electronic control part; Wherein, mechanical driving part comprises mounting plane, universal wheel, incremental optical-electricity encoder, scrambler support, shock-damping structure and voltage dependent resistor; Electronic control part comprises data acquisition module, data processing module;

In mechanical driving part, mounting plane bottom surface week is upwards evenly provided with three scrambler supports; On each scrambler support, fixedly mount an incremental optical-electricity encoder; A universal wheel of the coaxial connection of each incremental optical-electricity encoder; The angular displacement signal that can respectively three universal wheels be rotated by three incremental optical-electricity encoders is transformed into pulse signal and exports;

Between above-mentioned each scrambler support and mounting plane, all by shock-damping structure, be connected; Described shock-damping structure comprises pillar, damping spring, slide block and spacing jump ring; Wherein, pillar one end and scrambler support are connected, and the other end is through the through hole on mounting plane and the slide block that is fixed on mounting plane upper surface, and end is provided with spacing jump ring; On pillar, cover has damping spring; One end of damping spring contacts with the voltage dependent resistor of mounting plane lower surface with fixing, and the other end contacts with scrambler support; Voltage dependent resistor is used for measuring damping spring to voltage dependent resistor applied pressure, realizes the measurement of universal wheel vibration amplitude;

In electronic control part, described data acquisition module is used for gathering three pulse signal S that universal wheel is corresponding ₁, S ₂, S ₃and voltage signal V ₁, V ₂, V ₃, at interval of the moment, Δ t sends to data processing module; The pulse signal S that data processing module receives current time t ₁, S ₂, S ₃process, obtain the angular velocity omega of three universal wheels ₁, ω ₂, ω ₃; And according to the voltage signal V receiving ₁, V ₂, V ₃, judge and be specially the situation that lands of three universal wheels:

If three voltage signals of a are all greater than the threshold value V of setting, data processing module by three-wheel location algorithm to obtaining position data;

Three-wheel algorithm is:

$\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]+\underset{0}{\overset{t}{\&Integral;}}{A}^{-1}\left[\begin{array}{c}{\mathrm{R\&omega;}}_1\\ {\mathrm{R\&omega;}}_2\\ {\mathrm{R\&omega;}}_3\end{array}\right]\mathrm{dt}---\left(1\right)$

Wherein, $\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]$ For current time active force device location information, x, y are horizontal stroke, ordinate in the coordinate system O (x, y) being set by host computer; θ be active force equipment towards with x axle positive dirction angle; $\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]$ Initial position message for active force equipment; $\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]$ Initial value be set to (90 °, 0,0), before computing for the first time, the initial position of active force equipment is positioned at the initial point (0,0) of coordinate system O (x, y), towards identical with Y-axis positive dirction; T is current time; R is universal wheel radius; $A=\left[\begin{array}{ccc}-l_1& \cos {\mathrm{\&beta;}}_1& \sin {\mathrm{\&beta;}}_1\\ l_2& \cos {\mathrm{\&beta;}}_2& \sin {\mathrm{\&beta;}}_2\\ -l_3& \cos {\mathrm{\&beta;}}_3& \sin {\mathrm{\&beta;}}_3\end{array}\right],$ Wherein, l ₁, l ₂, l ₃be respectively the center of three universal wheels and the distance of three incremental encoder crossing point of axes; β ₁, β ₂, β ₃for the normal value relevant to orientator structural parameters,

l is half of two universal wheel central point spacing;

If a threshold value V who is less than setting in three voltage signals of b, data processing module obtains position data by two-wheeled location algorithm;

Two-wheeled algorithm is:

$\left[\begin{array}{c}\mathrm{\&theta;}\\ x\\ y\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&theta;}}_0\\ x_0\\ y_0\end{array}\right]+\underset{0}{\overset{t}{\&Integral;}}{A}^{-1}\left[\begin{array}{c}{\mathrm{R\&omega;}}_1\\ {\mathrm{R\&omega;}}_2\\ {\mathrm{R\&omega;}}_3\end{array}\right]\mathrm{Pdt}---\left(2\right)$

Wherein, P is constant matrices corresponding to universal wheel in vacant state;

If two or the threshold value V all arranging in three voltage signals of c, send abnormal prompt information to host computer, by PC control, quit work.

2. a kind of Three-wheel type plane positioning instrument as claimed in claim 1, is characterized in that: described three incremental optical-electricity encoder axes intersect are in a bit.

3. a kind of Three-wheel type plane positioning instrument as claimed in claim 1, it is characterized in that: the diameter of above-mentioned pillar is less than the diameter of through hole, and slide block inside has ball, ball and pillar sidewall contact.

4. a kind of Three-wheel type plane positioning instrument as claimed in claim 1, is characterized in that: also comprise Working mode set module; Working mode set module comprises that communication interface chooses module, postbacks set of time module; Wherein, communication interface is chosen module and is had UART, I2C, CAN, SPI programmable interface, by host computer, by serial ports, programmable interface is set, and realizes communicating by letter of data processing module and active movement equipment room; Meanwhile, host computer is set and active movement equipment room data transmission T interval time by postbacking set of time module; Make data processing module to active movement equipment, send position data and vibration data at interval of time T.

5. a kind of Three-wheel type plane positioning instrument as claimed in claim 1, is characterized in that: between described each scrambler support and mounting plane, by two cover shock-damping structures, be connected; Between each scrambler support and mounting plane, by two cover shock-damping structures, be connected, two overlap shock-damping structures respectively to there being a voltage dependent resistor; Data acquisition module carries out mean value computation by gathering the voltage signal of two voltage dependent resistors, and then obtains the voltage signal that each universal wheel is corresponding ${\stackrel{\&OverBar;}{V}}_1,{\stackrel{\&OverBar;}{V}}_2,{\stackrel{\&OverBar;}{V}}_3.$

Images