CN105157737B - Orbit movable multi-dimensional measurement platform and its control method - Google Patents
Orbit movable multi-dimensional measurement platform and its control method Download PDFInfo
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- CN105157737B CN105157737B CN201510615921.3A CN201510615921A CN105157737B CN 105157737 B CN105157737 B CN 105157737B CN 201510615921 A CN201510615921 A CN 201510615921A CN 105157737 B CN105157737 B CN 105157737B
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- dimensional measurement
- vertical lifting
- platform
- automatic telescopic
- walking
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Abstract
Orbit movable multi-dimensional measurement platform and its control method, it is related to ground remote sensing apparatus measures platform technology field, it includes walking track（1）, multi-dimensional measurement platform pylon, vertical lifting mechanism（8）, measuring instrument mounting platform（9）With distribution and automatic control system（13）, it is described walking track 1 lay on the ground, the multi-dimensional measurement platform pylon includes lower tower base（2）, walking mechanism（3）, rotating mechanism（4）, top pylon（5）, automatic telescopic tower arm（6）And balancing weight（7）, the lower tower base（2）Bottom pass through walking mechanism（3）In walking track（1）Upper movement；The orbit movable multi-dimensional measurement platform measurement accuracy is high, and auto-control degree is high, especially in remote sensing fields, can be used for the measurement to underlying surface in the remote sensing experiment including visible, infrared, microwave.
Description
Technical field
The present invention relates to ground remote sensing apparatus measures platform technology field, and in particular to orbit movable multi-dimensional measurement platform
And its control method.
Background technology
The instrument that sensor is carried in observation measurement is referred to as measuring table.At present in multi-dimensional measurement platform, multi-angle is seen
The research for surveying platform is more.Such as in remote sensing fields, in order to study multiple-angle thinking theory, Univ Zurich Switzerland opens for 1999
A kind of ground survey platform FIGOS is sent out, its advantage is big for stable, precision height, loading capacity.Shortcoming is measurement height（Radius）
SHAPE * MERGEFORMAT are constant, shade is big, are inconvenient to move.
Patent No. ZL200910243719.7 patent of invention proposes a kind of mobile multi-angle observation platform and use
Its observation procedure, including：For tricycle chassis that is mobile and supporting；Height adjustable and the inclination girder for supporting；Length
Adjustable horizontal plane rotates large arm；Length-adjustable perpendicular wheel measuring arm；The adjustable reference plate bracket of extension elongation,
The bottom of tricycle chassis is provided with wheel, tilts the top that girder is fixed on the tricycle chassis, tilts rolling of the girder by upper end
Bearing is rotatablely connected with rotation large arm realization, and rotation connection is realized in the lower end for rotating large arm using bearing and measuring arm one end, surveys
There is probe mounting platform one end of amount arm, is fixed with observation probe, and reference plate bracket is used for fixed reference plate, leads to tilting girder
Overwinding axis of rotation connects.The mobile multi-angle observation platform has mobile chassis, can move, and all-dimensional multi-angle is to same sight
Calorimetric point is observed, and the distance of sensor to observation focus is adjustable.But the platform is mainly applied to object spectrum
The multi-angle observation of instrument, and its observation radius is limited.
The content of the invention
The purpose of the present invention be exactly in order to solve the above-mentioned technical problem, and provide orbit movable multi-dimensional measurement platform and its
Control method.
The present invention includes walking track, multi-dimensional measurement platform pylon, vertical lifting mechanism, measuring instrument mounting platform and matched somebody with somebody
Electricity and automatic control system, on the ground, the multi-dimensional measurement platform pylon includes lower tower bottom to the walking track laying
Seat, walking mechanism, rotating mechanism, top pylon, automatic telescopic tower arm and balancing weight, the bottom of the lower tower base pass through
Walking mechanism moves on walking track, and the bottom of the top pylon is arranged on the top of lower tower base by rotating mechanism
Portion, the automatic telescopic tower arm are arranged on the top of top pylon, and the balancing weight is arranged on the afterbody of automatic telescopic tower arm, institute
The power set for stating vertical lifting mechanism are fixedly mounted on the head of automatic telescopic tower arm, the measuring instrument mounting platform carry
In the lifting steel cable end of vertical lifting mechanism, the distribution and automatic control system be respectively walking mechanism, rotating mechanism, from
Dynamic flexible tower arm and each actuator power supply of vertical lifting mechanism, and control each actuator performs action.
The rotating mechanism is electrically connected by central rotation current-collector with distribution and automatic control system, and central rotation collection
Electric mounting is in rotating mechanism.
The vertical lifting mechanism is by servomotor, turbine and worm decelerator, rotating disk, fixed pulley assembly and steel wire rope group
Into the support of the servomotor, turbine and worm decelerator and fixed pulley assembly is respectively and fixedly installed to automatic telescopic tower arm
Head position, the turbine and worm decelerator are connected with servo motor transmission, the power of the rotating disk and turbine and worm decelerator
Output shaft transmission is connected, and one end of steel wire rope is connected with rotating disk, and rotating around on the fixed pulley of rotating disk and fixed pulley assembly, institute
State the other end of the measuring instrument mounting platform carry in steel wire rope.
It also has from folding and unfolding coiling apparatus and three cables, described flat installed in measuring instrument installation from folding and unfolding coiling apparatus
On platform, three cables are electrically connected by central rotation current-collector with distribution and automatic control system, and are wound on from retractable volume
On line apparatus.
The distribution and automatic control system control walking mechanism, rotating mechanism, automatic by wireless transport module respectively
Flexible tower arm and each actuator of vertical lifting mechanism perform action.
The wireless transport module is 2.4GZigBee transport modules.
The distribution and automatic control system are arranged on tower mount.
The control method of the orbit movable multi-dimensional measurement platform comprises the following steps：
A. experiment demand, planning experiments key position information, velocity information are determined.
B. after system electrification, System self-test is carried out, function self-test is carried out to encoder and motor driving machine；If system is certainly
Inspection passes through, into step C, if without self-test by being alarmed, exiting experiment；
C. observed for discrete fixing point, it is thus necessary to determine that horizontal direction translation positional information x, the rotating mechanism of walking mechanism
Rotation angle information y, the vertical direction height position information z of vertical lifting mechanism, the tower arm distance letter of automatic telescopic tower arm
Cease t；Each corresponding location variable of fixed observer point（Xi, yi, zi, ti）, the label of wherein i expression fixed observer points；
D. the location variable of fixed observer point is inputted in the control program of distribution and automatic control system；
E. operating personnel, which click on, needs the position that moves to, and control program is according to the location variable of the position correspondence, automatically
Control the action of walking mechanism, rotating mechanism, vertical lifting mechanism, each actuator of automatic telescopic tower arm；
F. after acting in place, control remote sensing instrument equipment is observed, and completes the measurement of the point；
G. repeat step E and step F, the motion control and measurement of all fixed observer points are realized.
The present invention has advantages below：The orbit movable multi-dimensional measurement platform measurement accuracy is high, auto-control degree
Height, especially in remote sensing fields, it can be used for the measurement to underlying surface in the remote sensing experiment including visible, infrared, microwave.Separately
Outside, the remarkable advantage of rail-mounted multi-dimensional measurement platform is swing arm length, can be done in the case where not destroying earth's surface and its covering
The measurement of extensive area.In addition, the power supply and all cables of signal on traditional tower crane rotating mechanism top are sagging by centre bore
To the control room of bottom so that tower arm can not do continuous 360 degree of rotations.When high tower does not work, turning arm is not braked, because of wind
The reason for, can continuously it be rotated with multi-turn so that cable is twisted together, and produces hidden danger.Invention introduces the progress of central rotation current-collector
Electrical connection.Central rotation current-collector is the extremely continuous rotation electrical collector of high current 5, and No. 5 electrical equipment connection any angle water can be achieved
Good contact is kept during flat rotation.So that tower crane can realize horizontal any number of turns rotation.The control of each mechanism uses nothing
Ray mode, realized from 2.4GZigBee transport modules.It is connected with each other, is owned by unified wireless RS485 modules in system
Frequency converter, measurement module, control main frame communicated by this bus.The antijamming capability of ZigBee technology and communication are certainly
Recovery capability, it is sufficient to which safeguards system controls safe and reliable.The connection cables of big handle have been abandoned, have avoided what is occurred in tower crane observing and controlling
The problems such as cable contact is bad.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure：1st, walking track；2nd, tower mount；3rd, walking mechanism；4th, rotating mechanism；5th, top pylon；6th, stretch automatically
Contracting tower arm；7th, balancing weight；8th, vertical lifting mechanism；9th, measuring instrument mounting platform；10th, from folding and unfolding coiling apparatus；11st, three electricity
Cable；13rd, distribution and automatic control system；14th, central rotation current-collector.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes walking track 1, multi-dimensional measurement platform pylon, vertical lifting mechanism 8, measuring instrument
Mounting platform 9 and distribution and automatic control system 13, the walking track 1 are laid on the ground, the multi-dimensional measurement platform tower
Frame includes lower tower base 2, walking mechanism 3, rotating mechanism 4, top pylon 5, automatic telescopic tower arm 6 and balancing weight 7, described
The bottom of lower tower base 2 is moved by walking mechanism 3 on walking track 1, and the bottom of the top pylon 5 passes through rotation
Mechanism 4 is arranged on the top of lower tower base 2, and the automatic telescopic tower arm 6 is arranged on the top of top pylon 5, described to match somebody with somebody
Pouring weight 7 is arranged on the afterbody of automatic telescopic tower arm 6, and the power set of the vertical lifting mechanism 8 are fixedly mounted on automatic telescopic
The head of tower arm 6, the carry of measuring instrument mounting platform 9 in the lifting steel cable end of vertical lifting mechanism 8, the distribution and
Automatic control system 13 is respectively walking mechanism 3,8 each actuator of rotating mechanism 4, automatic telescopic tower arm 6 and vertical lifting mechanism
Power supply, and control each actuator performs action.
The rotating mechanism 4 is electrically connected by central rotation current-collector 14 with distribution and automatic control system 13, and center
Rotation electrical collector 14 is arranged in rotating mechanism 4.
The vertical lifting mechanism 8 is by servomotor, turbine and worm decelerator, rotating disk, fixed pulley assembly and steel wire rope group
Into the support of the servomotor, turbine and worm decelerator and fixed pulley assembly is respectively and fixedly installed to automatic telescopic tower arm 6
Head position, the turbine and worm decelerator are connected with servo motor transmission, the power of the rotating disk and turbine and worm decelerator
Output shaft transmission is connected, and one end of steel wire rope is connected with rotating disk, and rotating around on the fixed pulley of rotating disk and fixed pulley assembly, institute
State the other end of the carry of measuring instrument mounting platform 9 in steel wire rope；The vertical lift structure 8 passes through worm gear using servomotor
Worm reducer 1 steel wire rope of drive realizes the vertical lift of measuring instrument mounting platform 9 in a manner of single action pulley, and single action is slided
Wheel construction can increase the load capacity of vertical lifting mechanism 8 and improve the rigidity of system compared to the structure of single wire rope.
It also has from folding and unfolding coiling apparatus 10 and three cables 11, described to be arranged on measuring instrument from folding and unfolding coiling apparatus 10
On mounting platform 9, three cables 11 are electrically connected by central rotation current-collector 14 with distribution and automatic control system 13, and
It is wound on from folding and unfolding coiling apparatus 10.
The distribution and automatic control system 13 respectively by wireless transport module control walking mechanism 3, rotating mechanism 4,
8 each actuator of automatic telescopic tower arm 6 and vertical lifting mechanism performs action.
The wireless transport module is 2.4GZigBee transport modules.
The distribution and automatic control system 13 are arranged on tower mount 2.
The control method of the orbit movable multi-dimensional measurement platform comprises the following steps：
A. experiment demand, planning experiments key position information, velocity information are determined.
B. after system electrification, System self-test is carried out, function self-test is carried out to encoder and motor driving machine；If system is certainly
Inspection passes through, into step C, if without self-test by being alarmed, exiting experiment；
C. observed for discrete fixing point, it is thus necessary to determine that horizontal direction translation positional information x, the whirler of walking mechanism 3
The rotation angle information y of structure 4, the vertical direction height position information z of vertical lifting mechanism 8, automatic telescopic tower arm 6 tower arm away from
From information t；Each corresponding location variable of fixed observer point（Xi, yi, zi, ti）, the mark of wherein i expression fixed observer points
Number；
D. the location variable of fixed observer point is inputted in the control program of distribution and automatic control system 13；
E. operating personnel, which click on, needs the position that moves to, and control program is according to the location variable of the position correspondence, automatically
Control the action of walking mechanism 3, rotating mechanism 4, vertical lifting mechanism 8,6 each actuator of automatic telescopic tower arm；
F. after acting in place, control remote sensing instrument equipment is observed, and completes the measurement of the point；
G. repeat step E and step F, the motion control and measurement of all fixed observer points are realized.
Operation principle：Multi-dimensional measurement platform pylon is walked by walking mechanism 3 on walking track 1, automatic telescopic tower arm 6
Spinning movement is completed by rotating mechanism 4, the flexible of automatic telescopic tower arm 6 is pacified to adjust vertical lifting mechanism 8 and measuring instrument
The vertical range of assembling platform 9 and top pylon 5, distribution and automatic control system 13 by 2.4GZigBee transport modules respectively to
Walking mechanism 3, rotating mechanism 4, vertical lifting mechanism 8,6 each actuator of automatic telescopic tower arm send action command
Control is arranged on the three-dimensional position of the measuring instrument on measuring instrument mounting platform 9；
Rotation electrical collector is introduced to be electrically connected.Central rotation current-collector 14 is that high current 5 extremely continuously rotates current collection
Device, it can be achieved to keep good contact when No. 5 electrical equipment connection any angles rotate horizontally.So that top pylon 5 can realize water
Flat any number of turns rotation.5 poles connect 380v 3 phase lines and 1 zero line and ground wire respectively.
Most remote sensors needs to use 220V alternating currents when working.It is mounted with platform vertical direction from retractable volume
Line apparatus 10, there are three cables 11 in the device, wherein 2 are given instrument and equipment to provide 220V AC powers, 1 is ground in addition
Line.The lowermost end of digitlization vertical lift structure is fixed on from folding and unfolding coiling apparatus 10 and is fixed on one with instrument construction of platform
Rise.Mainly include cable reel spindle, the motor being connected on cable reel spindle, motor driver from folding and unfolding coiling apparatus.Vertically
When elevating mechanism 8 rises, motor driver motor rotates, and drives cable reel spindle to take in cable in rotating shaft.Vertical lift
When mechanism 8 declines, measuring instrument mounting platform 9 overcomes the torque of motor, and cable directly is pulled out into spool.
The action command transmission of each actuator, using wireless mode, is realized from 2.4GZigBee transport modules.Distribution
And it is connected with each other in automatic control system 13 by unified wireless RS485 modules, all frequency converters, measurement module, control
Main frame is communicated by this bus.The antijamming capability and communication automatic recovery ability of ZigBee technology, it is sufficient to safeguards system
What is controlled is safe and reliable.The connection cables of big handle are abandoned, the problems such as avoiding the cable contact that occurs in tower crane observing and controlling bad.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the common of technical field
Technical staff, without departing from the spirit and scope of the present invention, it can also make a variety of changes and modification, thus it is all
It is equivalent.Technical scheme fall within scope of the invention, scope of patent protection of the invention should be defined by the claims.
Claims (5)
1. orbit movable multi-dimensional measurement platform, it is characterised in that it includes walking track (1), multi-dimensional measurement platform pylon, hung down
Go straight up to descending mechanism (8), measuring instrument mounting platform (9) and distribution and automatic control system (13), walking track (1) laying
On the ground, the multi-dimensional measurement platform pylon includes lower tower base (2), walking mechanism (3), rotating mechanism (4), top
Pylon (5), automatic telescopic tower arm (6) and balancing weight (7), the bottom of the lower tower base (2) are existed by walking mechanism (3)
Moved on walking track (1), the bottom of the top pylon (5) is arranged on lower tower base (2) by rotating mechanism (4)
Top, the automatic telescopic tower arm (6) are arranged on the top of top pylon (5), and the balancing weight (7) is arranged on automatic telescopic tower
The afterbody of arm (6), the power set of the vertical lifting mechanism (8) are fixedly mounted on the head of automatic telescopic tower arm (6), described
Measuring instrument mounting platform (9) carry is in the lifting steel cable end of vertical lifting mechanism (8), the distribution and automatic control system
(13) it is respectively that walking mechanism (3), rotating mechanism (4), automatic telescopic tower arm (6) and each actuator of vertical lifting mechanism (8) supply
Electricity, and control each actuator performs action；
The rotating mechanism (4) is electrically connected by central rotation current-collector (14) with distribution and automatic control system (13), and in
Heart rotation electrical collector (14) is arranged in rotating mechanism (4)；
The vertical lifting mechanism (8) is made up of servomotor, turbine and worm decelerator, rotating disk, fixed pulley assembly and steel wire rope,
The support of the servomotor, turbine and worm decelerator and fixed pulley assembly is respectively and fixedly installed to automatic telescopic tower arm (6)
Head position, the turbine and worm decelerator are connected with servo motor transmission, the power of the rotating disk and turbine and worm decelerator
Output shaft transmission is connected, and one end of steel wire rope is connected with rotating disk, and rotating around on the fixed pulley of rotating disk and fixed pulley assembly, institute
State the other end of measuring instrument mounting platform (9) carry in steel wire rope；The vertical lifting mechanism (8) is passed through using servomotor
Worm type of reduction gearing drive steel cable realizes the vertical liter of measuring instrument mounting platform (9) in a manner of single action pulley
Drop；
It is additionally provided with from folding and unfolding coiling apparatus (10) and three cables (11), it is described to be arranged on measurement from folding and unfolding coiling apparatus (10)
On instrument mounting platform (9), three cables (11) pass through central rotation current-collector (14) and distribution and automatic control system
(13) electrically connect, and be wound on from folding and unfolding coiling apparatus (10)；Mainly include cable reel spindle, connection from folding and unfolding coiling apparatus (10)
Motor, motor driver on cable reel spindle, when vertical lifting mechanism (8) rises, motor driver motor turns
It is dynamic, drive cable reel spindle to take in cable in rotating shaft, when vertical lifting mechanism (8) declines, measuring instrument mounting platform (9) overcomes
The torque of motor, directly pulls out spool by cable.
2. orbit movable multi-dimensional measurement platform according to claim 1, it is characterised in that the distribution and automatically control
System (13) respectively by wireless transport module control walking mechanism (3), rotating mechanism (4), automatic telescopic tower arm (6) and vertically
Elevating mechanism (8) each actuator performs action.
3. orbit movable multi-dimensional measurement platform according to claim 2, it is characterised in that the wireless transport module is
2.4GZigBee transport module.
4. orbit movable multi-dimensional measurement platform according to claim 1, it is characterised in that the distribution and automatically control
System (13) is arranged on tower mount (2).
5. orbit movable multi-dimensional measurement platform according to claim 1, it is characterised in that the orbit movable multidimensional
The control method of measuring table comprises the following steps：
A. experiment demand, planning experiments key position information, velocity information are determined；
B. after system electrification, System self-test is carried out, function self-test is carried out to encoder and motor driving machine；If System self-test leads to
Cross, into step C, if without self-test by being alarmed, exiting experiment；
C. observed for discrete fixing point, it is thus necessary to determine that horizontal direction translation positional information x, the rotating mechanism of walking mechanism (3)
(4) rotation angle information y, the vertical direction height position information z of vertical lifting mechanism (8), the tower of automatic telescopic tower arm (6)
Arm range information t；Each corresponding location variable (xi, yi, zi, ti) of fixed observer point, wherein i represent fixed observer point
Label；
D. the location variable of fixed observer point is inputted in the control program of distribution and automatic control system (13)；
E. operating personnel click on the position for needing to move to, and control program automatically controls according to the location variable of the position correspondence
The action of walking mechanism (3), rotating mechanism (4), vertical lifting mechanism (8), automatic telescopic tower arm (6) each actuator；
F. after acting in place, control remote sensing instrument equipment is observed, and completes the measurement of the point；
G. repeat step E and step F, the motion control and measurement of all fixed observer points are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615921.3A CN105157737B (en) | 2015-09-24 | 2015-09-24 | Orbit movable multi-dimensional measurement platform and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615921.3A CN105157737B (en) | 2015-09-24 | 2015-09-24 | Orbit movable multi-dimensional measurement platform and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105157737A CN105157737A (en) | 2015-12-16 |
| CN105157737B true CN105157737B (en) | 2018-03-20 |
Family
ID=54798676
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510615921.3A Expired - Fee Related CN105157737B (en) | 2015-09-24 | 2015-09-24 | Orbit movable multi-dimensional measurement platform and its control method |
Country Status (1)
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| CN (1) | CN105157737B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106711572B (en) * | 2016-11-07 | 2019-06-04 | 常州大学 | A kind of tower running track of carried SAR antenna |
| CN107702736A (en) * | 2017-11-20 | 2018-02-16 | 河南力方网络科技有限公司 | Packaged type sensor fastening device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6418081B1 (en) * | 1998-02-10 | 2002-07-09 | The Research Foundation Of State University Of New York | System for detection of buried objects |
| DE19958306C2 (en) * | 1999-12-03 | 2002-03-14 | Zeiss Carl | Coordinate measuring |
| CN101726733B (en) * | 2009-12-23 | 2011-07-06 | 北京农业智能装备技术研究中心 | Mobile multi-angle observation platform and method for observing by using same |
| CN102252707B (en) * | 2011-06-29 | 2012-09-05 | 北京农业信息技术研究中心 | Observation device and method |
| CN103134535A (en) * | 2011-11-29 | 2013-06-05 | 中国科学院遥感应用研究所 | Rail-mounted multi-dimensional measurement platform |
| CN103134548A (en) * | 2011-11-29 | 2013-06-05 | 中国科学院遥感应用研究所 | Movable type multi-dimensional measuring platform |
| CN103868592B (en) * | 2012-12-12 | 2015-11-18 | 中国科学院光电研究院 | The full-automatic recording geometry of target property multi-angle |
| CN204944519U (en) * | 2015-09-24 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | Orbit movable multi-dimensional measurement platform |
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