CN103631274B - A kind of Three-wheel planar position finder - Google Patents

Abstract

The present invention discloses a kind of Three-wheel planar position finder, has three universal wheels, measure the angular displacement signal of three universal wheels rotations respectively and be converted to output of pulse signal by three photoelectric encoders in the axial uniform Design of mounting plane lower surface; Three are designed with shock-damping structure between universal wheel and mounting plane.Also be provided with voltage dependent resistor between damping spring and mounting plane in shock-damping structure, measure damping spring institute applied pressure signal by voltage dependent resistor, and then reflect the rotary state of universal wheel; When in the pressure signal that three universal wheels are corresponding two or when being all greater than setting threshold value, then two-wheeled algorithm or three-wheel algorithm is adopted to obtain figure place data.Advantage of the present invention is: export active force vibration equipment degree by pressure sensor data, and judge the rotary state of universal wheel, also can switch to two-wheeled location algorithm when a universal wheel is liftoff, make up the error that may cause in this time period.

Description

A kind of Three-wheel planar position finder

Technical field

The invention belongs to electronic information, automatic control technology field, specifically, is a kind of Three-wheel planar position finder.

Background technology

Along with the development of science and technology, photoelectric encoder appear at the process accelerating industrial automation to a certain extent.For incremental optical-electricity encoder, the mechanical rotation of interface unit can be carried out conversion and output pulse signal, host computer can process (normally integration) to obtain positional information to it.But for the photoelectric encoder of this type, export that pulse exports the A phase of phase pi/2 by two-way, B phase signals represents rotating forward and inversion pulse number, during rotating forward, A phase output terminal pulse advance is in B phase output terminal pulse pi/2; During reversion, A phase output terminal exports pulse and then 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 the algorithm of developer, hardware supported a set of physical construction of additional designs could realize positioning function, workload is extremely huge.The existing location technology based on photoelectric encoder does not manufacture, is packaged into the situation of a set of Special Equipment, is in use then widely used.There are the situations such as two-wheeled right angle, two-wheeled are parallel, three-wheel is symmetrical, four-wheel is symmetrical.Their total shortcomings are that specificity is strong, are singly only applicable to regard to communication interface that certain is specific or do not have communication function.

Summary of the invention

In order to solve the problem, the present invention proposes a kind of Three-wheel planar position finder, Machine Design adopts ripe universal wheel technology, the technology such as single-cantilever spring shock absorption; Software devises three-wheel, two-wheeled algorithm changeover mechanism, the abnormality detection mechanism of reporting an error etc., greatly improving the universal of this equipment, developer can being avoided to do extra development when obtaining positional information.

Three-wheel planar position finder 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 circumference is evenly provided with three scrambler supports; Each scrambler support fixedly mounts an incremental optical-electricity encoder; Each incremental optical-electricity encoder coaxially connects a universal wheel; Respectively the angular displacement signal that three universal wheels rotate can be transformed into pulse signal by three incremental optical-electricity encoders to export.

Above-mentioned each scrambler support is all connected by shock-damping structure with between mounting plane; 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 being 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 pulse signal S corresponding to collection three universal wheels ₁, S ₂, S ₃and voltage signal V ₁, V ₂, V ₃, be sent to data processing module at interval of moment Δ t; 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 received ₁, V ₂, V ₃, judge the situation that lands of three universal wheels, be specially:

If a three voltage signals are all greater than the threshold value V of setting, then 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, $\left[\begin{array}{c}\mathrm{\θ}\\ x\\ y\end{array}\right]$ For current time active force device location information, x, y be set by host computer coordinate system O (x, y) in horizontal stroke, ordinate; θ be active force equipment towards with x-axis positive dirction angle; $\left[\begin{array}{c}{\mathrm{\θ}}_0\\ x_0\\ y_0\end{array}\right]$ For the initial position message of active force equipment; $\left[\begin{array}{c}{\mathrm{\θ}}_0\\ x_0\\ y_0\end{array}\right]$ Initial value be set to (90 °, 0,0), namely before first time computing, the initial position of active force equipment is positioned at coordinate system O (x, initial point (0,0) y), towards identical with Y-axis positive dirction; T is current time; R is universal wheel radius; $A=\left[\begin{array}{ccc}-l_1& \cos {\mathrm{\β}}_1& \sin {\mathrm{\β}}_1\\ l_2& \cos {\mathrm{\β}}_2& \sin {\mathrm{\β}}_2\\ -l_3& \cos {\mathrm{\β}}_3& \sin {\mathrm{\β}}_3\end{array}\right],$ 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 constant value relevant to orientator structural parameters, l is the half of two universal wheel central point spacing.

If one in b three voltage signals threshold value V being less than setting, then data processing module obtains position data by two-wheeled location algorithm.

Two-wheeled algorithm is:

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

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

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

The invention has the advantages that:

1, Three-wheel planar position finder of the present invention, the extent of vibration of object in motion process is exported by pressure sensor data, and judge the rotary state of universal wheel, also mode of operation is set with the delta data of pressure sensor output, for user provides reference by programming; And soar at a wheel and liftoffly switch to two-wheeled location algorithm constantly, reduce even to make up the error that the severe jolt in tiny time section causes.

2, Three-wheel planar position finder of the present invention, can not only can export object real-time location coordinates in normal operating conditions, and can judge whether to occur extremely, and reporting errors information;

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

Accompanying drawing explanation

Fig. 1 is Three-wheel planar position finder superstructure schematic diagram of the present invention;

Fig. 2 is Three-wheel planar position finder polycrystalline substance schematic diagram of the present invention;

Fig. 3 is damping schematic diagram in Three-wheel planar position finder of the present invention;

Fig. 4 is electronic control part structured flowchart in Three-wheel planar position finder of the present invention;

Fig. 5 is data processing module working method process flow diagram in Three-wheel planar position finder of the present invention;

Fig. 6 is Three-wheel planar position finder structural parameters of the present invention definition schematic diagram.

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 planar position finder 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 adopting 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, bottom surface circumference is evenly provided with three scrambler supports 4; Each scrambler support 4 fixedly mounts an incremental optical-electricity encoder 3; Three incremental optical-electricity encoder 3 axes intersect are in a bit.Each incremental optical-electricity encoder 3 coaxially connects a universal wheel 2, 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 respectively the angular displacement signal that three universal wheels 2 rotate can be transformed into pulse signal by three incremental optical-electricity encoders 3 and export.Above-mentioned each scrambler support 4 is all connected by shock-damping structure 5 with between mounting plane 1; 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 being 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 has ball, ball and pillar 501 sidewall contact, thus, by the ball of slide block 503 inside along pillar 501 axial rolling, realize mounting plane 1 along boom shaft to move up and down.On above-mentioned pillar, cover has damping spring 502, and damping spring 502 is positioned between mounting plane 1 and scrambler support 4; 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 is undertaken spacing by damping spring 502 and spacing jump ring 504 thus; Realize the shock-absorbing function when vibrations appear in active devices by damping spring 502 simultaneously; And active force equipment three universal wheels 2 being pressed on plane of movement tightly when plane of movement moves can be made by damping spring 502.Damping spring, to voltage dependent resistor 6 applied pressure, can be measured by voltage dependent resistor 6, realize the measurement of universal wheel 2 vibration amplitude.

In electronic control part, described data acquisition module 7 is used for pulse signal S corresponding to collection three universal wheels ₁, S ₂, S ₃and voltage signal V ₁, V ₂, V ₃, be sent to data processing module 8 at interval of moment Δ t.The pulse signal S that data processing module 8 couples of current time t 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 received ₁, V ₂, V ₃, judge the situation that lands of three universal wheels 2, as shown in Figure 5, be specially:

Data processing module 8 is according to receive three voltage signal V ₁, V ₂, V ₃contrast with threshold value respectively, if certain in three voltage signals is less than the threshold value V of setting, then represent that the contact condition between universal wheel 2 and plane of movement that this voltage signal is corresponding cannot make this 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, then data processing module 8 by three-wheel location algorithm to obtaining position data; If two in three voltage signals threshold value V being greater than setting, then data processing module 8 obtains position data by two-wheeled location algorithm; If two in three voltage signals or the whole threshold value V arranged, then represent Three-wheel planar position finder dyskinesia, then now send abnormal prompt information to host computer, now quit work by PC control.

Described 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, $\left[\begin{array}{c}\mathrm{\θ}\\ x\\ y\end{array}\right]$ For current time active force device location information, as shown in Figure 6, x, y be set by host computer coordinate system O (x, y) in horizontal stroke, ordinate; θ be active force equipment towards with x-axis positive dirction angle; $\left[\begin{array}{c}{\mathrm{\θ}}_0\\ x_0\\ y_0\end{array}\right]$ For the initial position message of active force equipment; $\left[\begin{array}{c}{\mathrm{\θ}}_0\\ x_0\\ y_0\end{array}\right]$ Initial value be set to (90 °, 0,0), namely before first time computing, the initial position of active force equipment is positioned at coordinate system O (x, initial point (0,0) y), towards identical with Y-axis positive dirction; T is current time; R is universal wheel 2 radius; $A=\left[\begin{array}{ccc}-l_1& \cos {\mathrm{\β}}_1& \sin {\mathrm{\β}}_1\\ l_2& \cos {\mathrm{\β}}_2& \sin {\mathrm{\β}}_2\\ -l_3& \cos {\mathrm{\β}}_3& \sin {\mathrm{\β}}_3\end{array}\right],$ 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 constant value relevant to orientator structural parameters, β ₃=θ ₀-90 °, l is the half of two universal wheel 2 central point spacing.

Two-wheeled algorithm is:

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

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

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

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

Claims (5)

1. a Three-wheel planar position finder, 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 fixedly mounts active force equipment, mounting plane bottom surface circumference is evenly provided with three scrambler supports; Each scrambler support fixedly mounts an incremental optical-electricity encoder; Each incremental optical-electricity encoder coaxially connects a universal wheel; Respectively the angular displacement signal that three universal wheels rotate can be transformed into pulse signal by three incremental optical-electricity encoders to export;

Above-mentioned each scrambler support is all connected by shock-damping structure with between mounting plane; 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 being 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 being fixed on mounting plane lower surface, 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 pulse signal S corresponding to collection three universal wheels ₁, S ₂, S ₃and voltage signal V ₁, V ₂, V ₃, be sent to data processing module at interval of moment Δ t; 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 received ₁, V ₂, V ₃, judge the situation that lands of three universal wheels, be specially:

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

Three-wheel location algorithm is:

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

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

If one in b three voltage signals threshold value V being less than setting, then data processing module obtains position data by two-wheeled location algorithm;

Two-wheeled location algorithm is:

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

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

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

2. a kind of Three-wheel planar position finder 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 planar position finder as claimed in claim 1, 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 planar position finder as claimed in claim 1, is characterized in that: also comprise Working mode set module; Working mode set module comprises communication interface and chooses module, postbacks set of time module; Wherein, communication interface is chosen module and is had UART, I2C, CAN, SPI programmable interface, is set by serial ports by host computer to programmable interface, realizes the communication of data processing module and active force equipment room; Meanwhile, host computer is by postbacking the setting of set of time module and active force equipment room data transfer interval time T; Data processing module is made to send a position data and vibration data at interval of time T to active force equipment.

5. a kind of Three-wheel planar position finder as claimed in claim 1, is characterized in that: described each scrambler support with overlap shock-damping structure by two between mounting plane and be connected; Two cover shock-damping structures are respectively to there being a voltage dependent resistor; Then data acquisition module carries out mean value computation by the voltage signal of collection two voltage dependent resistors, and then obtains voltage signal corresponding to each universal wheel