CN106155102B - Turntable limit based on Multi-sensor Fusion, speed-limiting protection system - Google Patents
Turntable limit based on Multi-sensor Fusion, speed-limiting protection system Download PDFInfo
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- CN106155102B CN106155102B CN201510148587.5A CN201510148587A CN106155102B CN 106155102 B CN106155102 B CN 106155102B CN 201510148587 A CN201510148587 A CN 201510148587A CN 106155102 B CN106155102 B CN 106155102B
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Abstract
The invention belongs to high-precision servo control fields; more particularly to a kind of turntable limit based on Multi-sensor Fusion, speed-limiting protection system; purpose be solve the problem of the limit of current turntable, speed limit measure reliability it is not high limited if control system failure, speed limit sensor also fails.It is characterized by: it includes positive level-one limit sensors, positive second level limit sensors, limit driving lever, positive mechanical position limitation, negative sense mechanical position limitation, negative sense second level limit sensors, negative sense level-one limit sensors, velocity sensor, visual sensor, turntable center visual beacon, turntable inside casing visual beacon and turntable outline border visual beacon.The failure risk of protection system of the invention is shared to each sensor protection module.The monitoring of multi-angle is carried out to the angular position of turntable, rate by different sensors, different levels, it is ensured that turntable is found in time when position transfinites, exceeds the speed limit.
Description
Technical field
The invention belongs to high-precision servo control fields, and in particular to it is a kind of based on Multi-sensor Fusion turntable limit,
Speed-limiting protection system.
Background technique
The present invention relates to a kind of limit for turntable, speed-limiting protection system, turntable described herein is referred mainly to for being used
Property device, target seeker, star sensor etc. the precision instrument and equipment of position, rate reference is provided, also referred to as inertia device is tested
Equipment, rather than industrial equipment field, the similar devices that can be realized rotation.Why turntable limit, speed-limiting protection are specially proposed
System, it is sufficiently expensive to be primarily due to the measurand that inertia device, target seeker and star sensor etc. are tested using turntable,
Price general charged is from tens of thousands of to up to a million, therefore the limit of turntable, speed-limiting protection are in fact primarily to prevent measurand from trying
It is damaged when testing.
Due to certain testing requirements, measurand require turntable within certain angle range, under certain speed conditions
Rotation, such as angle range are -90 °~+90 °, and revolving speed is lower than 100 °/s, therefore must be arranged to turntable limit under this condition
Position, speed-limiting protection measure.Turntable commonly limits, speed limit measure includes: software limit, electric limiting and mechanical position limitation etc. three
Layer, wherein software limit monitors position, rate from software algorithm；Electric limiting is by sensor come acquisition position, speed
Rate data；Mechanical position limitation reaches limit, speed limit effect by electromechanical stop.
Current existing related patents be all start with from the position-limit mechanism of research turntable, such as: a kind of angle range does not surpass
Cross 360 ° of turntable electric limiting mechanism (CN201210578352.6), a kind of angle range be more than 360 degree small turntable limit
Position mechanism (CN201210012936.7), a kind of big buffering Multi-angle limit mechanism of artificial rotary table
(CN201210283756.2), two-dimensional tracking turntable surpasses 360 ° of rotary position-limit mechanisms (CN201410247117.X), is greater than 360 °
It is to design a kind of turntable limit less than multiple patents such as 540 ° of vertical rotary limiting mechanism for turntable (CN201310309516.X)
Mechanical structure, but do not improved in terms of software limit, electric limiting, and limit, the effect of speed-limiting protection system by
Software electrically with mechanical position limitation three is cooperated to complete.
Summary of the invention
Present invention aim to address current turntables to limit, speed limit measure reliability is not high, if control system failure
Limit, speed limit sensor the problem of also failing propose a kind of limit based on Multi-sensor Fusion, speed-limiting protection system, core
The heart is the multi-angle, multi-level compound of safeguard measure, to prevent single safeguard measure failure bring from influencing, improves entire protect
The reliability of protecting system.
The present invention is implemented as follows:
A kind of turntable limit based on Multi-sensor Fusion, speed-limiting protection system, including positive level-one limit sensors, just
To second level limit sensors, limit driving lever, positive mechanical position limitation, negative sense mechanical position limitation, negative sense second level limit sensors, negative sense one
Outside grade limit sensors, velocity sensor, visual sensor, turntable center visual beacon, turntable inside casing visual beacon and turntable
Frame visual beacon；Positive level-one limit sensors, positive mechanical position limitation, negative sense mechanical position limitation, are born positive second level limit sensors
On the frame for being each attached to turntable to second level limit sensors, negative sense level-one limit sensors；Positive level-one limit sensors with
Positive second level limit sensors be mounted on turntable rotation legal position range positive direction outside, negative sense level-one limit sensors with
Negative sense second level limit sensors are sequentially arranged at the outside of turntable rotation legal position range negative direction；Limit driving lever and turntable axis
System is connected；Positive mechanical position limitation is located at the outside of positive level-one limit sensors and positive second level limit sensors；Negative sense is mechanical
Limit is located at the outside of negative sense level-one limit sensors and negative sense second level limit sensors；Velocity sensor and turntable shafting and turn
Platform motor is fixedly connected；Visual sensor is fixed on turntable oblique upper, and turntable is completely covered in the visual field of visual sensor；In turntable
Frame visual beacon is fixed on turntable center, and turntable inside casing visual beacon is fixed on turntable inside casing, turntable outline border visual beacon
It is fixed on turntable outline border.
Forward direction level-one limit sensors as described above deviate turntable and rotate 1~2 ° of legal position range positive direction, positive
Second level limit sensors deviate turntable and rotate 5~7 ° of legal position range positive direction, and negative sense level-one limit sensors deviate turntable
1~2 ° of legal position range negative direction is rotated, negative sense second level limit sensors deviate turntable and rotate legal position range negative direction 5
~7 °；Positive level-one limit sensors, positive second level limit sensors, negative sense level-one limit sensors and the limit of negative sense second level pass
Sensor is all made of photoelectric sensor, Hall sensor or microswitch, and velocity sensor uses tachometer, encoder, and vision passes
Sensor uses high-speed camera.
Turntable center visual beacon has multiple as described above, positioned at the different location of turntable center, when turntable moves to
When any position, at least one turntable center visual beacon is in the visual sensor visual field；Turntable inside casing visual beacon has
It is multiple, positioned at the different location of turntable inside casing, when turntable moves to any position, at least one turntable inside casing visual beacon
In the visual sensor visual field；Turntable outline border visual beacon have it is multiple, positioned at the different location of turntable outline border, when turntable moves
When to any position, at least one turntable outline border visual beacon is in the visual sensor visual field.
The beneficial effects of the present invention are:
The present invention includes positive level-one limit sensors, positive second level limit sensors, limit driving lever, positive mechanical limit
Position, negative sense mechanical position limitation, negative sense second level limit sensors, negative sense level-one limit sensors, velocity sensor, visual sensor,
Turntable center visual beacon, turntable inside casing visual beacon and turntable outline border visual beacon.Limit proposed by the invention, speed limit are protected
Protecting system is intended to improve the reliability of turntable limit, speed-limiting protection system, since each sensor and its data processing module are only
Vertical work, one of them will not influence the normal operation of other modules when failing, therefore the failure risk of system is protected to be shared
To each sensor protection module.Multi-angle is carried out to the angular position of turntable, rate by different sensors, different levels
Monitoring, it is ensured that turntable is found in time when position transfinites, exceeds the speed limit.
Detailed description of the invention
Fig. 1 be it is of the invention based on multi-sensor fusion technology turntable limit, speed-limiting protection system limit sensors
Working principle diagram；
Fig. 2 be it is of the invention based on multi-sensor fusion technology turntable limit, speed-limiting protection system velocity sensor
Working principle diagram；
Fig. 3 be it is of the invention based on multi-sensor fusion technology turntable limit, speed-limiting protection system visual sensor
Working principle diagram.
Wherein: 1. positive level-one limit sensors, 2. positive second level limit sensors, 3. limit driving levers, 4. is positive mechanical
Limit, 5. negative sense mechanical position limitations, 6. negative sense second level limit sensors, 7. negative sense level-one limit sensors, 8. turntable shaftings, 9. turns
Platform motor, 10. velocity sensors, 11. visual sensors, 12. turntable center visual beacons, 13. turntable inside casing visual beacons,
14. turntable outline border visual beacon, 15. turntable outline borders, 16. turntable centers, 17. turntable inside casings.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
As shown in Figure 1 to Figure 3, a kind of turntable limit based on multi-sensor fusion technology, speed-limiting protection system, including just
To level-one limit sensors 1, positive second level limit sensors 2, limit driving lever 3, positive mechanical position limitation 4, negative sense mechanical position limitation 5,
Negative sense second level limit sensors 6, negative sense level-one limit sensors 7, velocity sensor 10, visual sensor 11, turntable center view
Feel mark 12, turntable inside casing visual beacon 13 and turntable outline border visual beacon 14.Positive level-one limit sensors 1, positive second level
Limit sensors 2, positive mechanical position limitation 4, negative sense mechanical position limitation 5, negative sense second level limit sensors 6, negative sense level-one limit sensing
Device 7 is each attached on the frame of turntable.Positive level-one limit sensors 1 are mounted on turntable with positive second level limit sensors 2 and turn
The outside of dynamic legal position range positive direction, negative sense level-one limit sensors 7 are sequentially arranged at negative sense second level limit sensors 6
The outside of turntable rotation legal position range negative direction.It limits driving lever 3 and turntable shafting 8 is connected.Positive mechanical position limitation 4 is located at just
To the outside of level-one limit sensors 1 and positive second level limit sensors 2.Negative sense mechanical position limitation 5 is located at the limit of negative sense level-one and passes
The outside of sensor 7 and negative sense second level limit sensors 6.Velocity sensor 10 is fixedly connected with turntable shafting 8 and turntable motor 9.
Visual sensor 11 is fixed on turntable oblique upper, and turntable is completely covered in the visual field of visual sensor 11.Turntable center visual beacon
12 are fixed on turntable center 16, and turntable inside casing visual beacon 13 is fixed on turntable inside casing 17, turntable outline border visual beacon 14
It is fixed on turntable outline border 15.
Positive level-one limit sensors 1 deviate turntable and rotate 1~2 ° of legal position range positive direction, and positive second level limit passes
Sensor 2 deviates turntable and rotates 5~7 ° of legal position range positive direction, and it is legal that negative sense level-one limit sensors 7 deviate turntable rotation
1~2 ° of position range negative direction, negative sense second level limit sensors 6 deviate turntable and rotate 5~7 ° of legal position range negative direction.Just
To level-one limit sensors 1, positive second level limit sensors 2, negative sense level-one limit sensors 7 and negative sense second level limit sensors
6 are all made of photoelectric sensor, Hall sensor or microswitch, and velocity sensor 10 uses the sensors such as tachometer, encoder,
Visual sensor 11 uses high-speed camera or the sensor with similar functions.
Turntable center visual beacon 12 have it is multiple, positioned at the different location of turntable center, when turntable moves to any position
When, at least one turntable center visual beacon 12 is in 11 visual field of visual sensor.Turntable inside casing visual beacon 13 has more
It is a, positioned at the different location of turntable inside casing, when turntable moves to any position, at least one turntable inside casing visual beacon 13
In 11 visual field of visual sensor.Turntable outline border visual beacon 14 has multiple, positioned at the different location of turntable outline border, works as turntable
When moving to any position, at least one turntable outline border visual beacon 14 is in 11 visual field of visual sensor.
The working principle of limit sensors is as follows: when turntable rotation, limit driving lever 3 can follow turntable shafting 8 to rotate, if
Driving lever 3 is then limited when turntable is working properly to be rotated in legal position range always.When occurring abnormal, driving lever is limited
3 can deviate turntable under the drive of turntable shafting 8 rotates legal position range, into illegal position range, and limits and dials
Bar 3 can trigger the signal output of limit sensors.Trigger the signal of positive level-one limit sensors 1 first if rotating towards the positive direction
Output, rotating platform control system can collect the signal output of positive level-one limit sensors 1 first at this time, and turntable is immediately controlled
Stop and to reverse direction operation, until carrying out in legal position range；If rotating platform control system fails, turntable is by positive
Continue that positive second level limit sensors 2, positive second level limit sensors are rotated and triggered to positive direction after level-one limit sensors 1
2 trigger signal is exported to limit signal processing module, and limit signal processing module is not necessarily to the intervention of rotating platform control system, directly
Turntable driving power is cut off, motor is forced to stop operating rapidly.Conversely, being limited and being passed by negative sense level-one if rotating in the opposite direction
Sensor 7 and negative sense second level limit sensors 6 generate identical movement.
The working principle of velocity sensor 10 is as follows: it will drive velocity sensor 10 when turntable rotation and rotate, speed limit letter
Number processing module can acquire the signal output of velocity sensor 10, and converse corresponding turntable angle rate value, once angular speed
Beyond rate limit value, then restricting signal processing module can directly cut off turntable driving power, and motor is forced to stop operating rapidly.
The working principle of visual sensor 11 is as follows: when turntable rotates, by taking outline border as an example, visual sensor 11 can adopt in real time
Collect image information and export to image information processing module, image information processing module is from the image that visual sensor 11 acquires
It identifies outline border visual beacon 14, and obtains the angular position value of turntable according to its position in the picture, according in image
Change in location obtains the velocity of rotation of turntable outline border, once discovery revolving table position transfinites or rate transfinites, directly cutting turntable is driven
Dynamic power supply, forces motor to stop operating rapidly.
The present invention includes positive level-one limit sensors 1, positive second level limit sensors 2, limits driving lever 3, is positive mechanical
Limit 4, negative sense mechanical position limitation 5, negative sense second level limit sensors 6, negative sense level-one limit sensors 7, velocity sensor 10, vision
Sensor 11, turntable center visual beacon 12, turntable inside casing visual beacon 13 and turntable outline border visual beacon 14.The present invention is mentioned
Limit out, speed-limiting protection system are intended to improve the reliability of turntable limit, speed-limiting protection system, due to each sensor and its number
It works independently according to processing module, one of them will not influence the normal operation of other modules when failing, therefore protect system
Failure risk is shared to each sensor protection module.By different sensors, different levels to the angular position of turntable,
The monitoring of rate progress multi-angle, it is ensured that turntable is found in time when position transfinites, exceeds the speed limit.
Claims (2)
1. a kind of turntable limit based on Multi-sensor Fusion, speed-limiting protection system, it is characterised in that: it includes positive level-one limit
Level sensor (1), positive second level limit sensors (2), limit driving lever (3), positive mechanical position limitation (4), negative sense mechanical position limitation
(5), negative sense second level limit sensors (6), negative sense level-one limit sensors (7), velocity sensor (10), visual sensor
(11), turntable center visual beacon (12), turntable inside casing visual beacon (13) and turntable outline border visual beacon (14)；Positive level-one
Limit sensors (1), positive second level limit sensors (2), positive mechanical position limitation (4), negative sense mechanical position limitation (5), negative sense second level
Limit sensors (6), negative sense level-one limit sensors (7) are each attached on the frame of turntable；Positive level-one limit sensors (1)
The outside of turntable rotation legal position range positive direction is mounted on positive second level limit sensors (2), the limit of negative sense level-one passes
Sensor (7) and negative sense second level limit sensors (6) are sequentially arranged at the outside of turntable rotation legal position range negative direction；Limit
Driving lever (3) and turntable shafting (8) are connected；Positive mechanical position limitation (4) is located at positive level-one limit sensors (1) and positive second level limits
The outside of level sensor (2)；Negative sense mechanical position limitation (5) is located at negative sense level-one limit sensors (7) and the limit of negative sense second level senses
The outside of device (6)；Velocity sensor (10) is fixedly connected with turntable shafting (8) and turntable motor (9)；Visual sensor (11) is solid
It is scheduled on turntable oblique upper, turntable is completely covered in the visual field of visual sensor (11)；Turntable center visual beacon (12), which is fixed on, to be turned
On platform center (16), turntable inside casing visual beacon (13) is fixed on turntable inside casing (17), and turntable outline border visual beacon (14) is solid
It is scheduled on turntable outline border (15)；
Forward direction level-one limit sensors (1) as described above deviate turntable and rotate 1~2 ° of legal position range positive direction, forward direction two
Grade limit sensors (2) deviate turntable and rotate 5~7 ° of legal position range positive direction, and negative sense level-one limit sensors (7) deviate
Turntable rotates 1~2 ° of legal position range negative direction, and negative sense second level limit sensors (6) deviate turntable and rotate legal position range
5~7 ° of negative direction；Positive level-one limit sensors (1), positive second level limit sensors (2), negative sense level-one limit sensors (7)
It is all made of photoelectric sensor, Hall sensor or microswitch with negative sense second level limit sensors (6), velocity sensor (10) is adopted
With tachometer, encoder, visual sensor (11) uses high-speed camera.
2. the turntable limit according to claim 1 based on Multi-sensor Fusion, speed-limiting protection system, it is characterised in that:
The turntable center visual beacon (12) have it is multiple, positioned at the different location of turntable center, when turntable moves to any position
When, at least one turntable center visual beacon (12) is in visual sensor (11) visual field；Turntable inside casing visual beacon
(13) have it is multiple, positioned at the different location of turntable inside casing, when turntable moves to any position, at least one turntable inside casing view
Feel that mark (13) is in visual sensor (11) visual field；Turntable outline border visual beacon (14) have it is multiple, positioned at turntable outline border
Different location, when turntable moves to any position, at least one turntable outline border visual beacon (14) is in visual sensor
(11) in the visual field.
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| CN112684741B (en) * | 2020-12-21 | 2023-01-13 | 中国航空工业集团公司北京航空精密机械研究所 | Three-axis turntable overspeed protection system and method |
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| CN112710195B (en) * | 2020-12-29 | 2023-01-06 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Bidirectional limiting device for realizing all-dimensional scanning of laser emission rotary table |
| CN114204880A (en) * | 2021-11-06 | 2022-03-18 | 奥佳华智能健康科技集团股份有限公司 | Tooth-disengaging-collision-preventing protection control method for massage movement |
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