CN106200646A - A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system - Google Patents
A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system Download PDFInfo
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- CN106200646A CN106200646A CN201610754301.2A CN201610754301A CN106200646A CN 106200646 A CN106200646 A CN 106200646A CN 201610754301 A CN201610754301 A CN 201610754301A CN 106200646 A CN106200646 A CN 106200646A
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 101100408464 Caenorhabditis elegans plc-1 gene Proteins 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 4
- 238000012913 prioritisation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000013439 planning Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The present invention relates to field of mechanical technique, particularly relate to a kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system, system includes touch screen, hand-held remote control operating unit, PLC and AC servo motor, touch screen controls bus by Ethernet and is connected with PLC, hand-held remote control operating unit is connected with PLC by Modbus bus, is rotated around arbitrfary point by the Mecanum wheel of AC servo machinery driving omnidirectional car after the operational order that PLC reception touch screen or hand-held remote control operating unit send.The car linkage of multiple omnidirectionals can be travelled and rotate by the present invention, is stitched together by many cars, can transport the goods that area is big, improves the load of omnidirectional's car；Achieve multiple omnidirectionals car around arbitrfary point fixed-axis rotation, so that omnidirectional's car is according to various curve drivings, flexible manufacturing is realized automatization and provides technical support.
Description
Technical field
The present invention relates to field of mechanical technique, particularly relate to a kind of based on omnidirectional's car around the controlling party of arbitrfary point fixed-axis rotation
Method and system.
Background technology
During current transportation goods when beyond existing vehicle payload ratings, or the transport bigger bicycle of goods area is difficult to fortune
Time defeated, it is necessary to put into more fund and manufacture and design the vehicle that load-carrying is the most longer.If many cars are stitched together, can
With the goods that transport area is big, additionally shipping platform is needed to realize based on certain some System of Rotating about Fixed Axis motion at some special occasions.
Mecanum wheel (Mecanum Wheel) is a kind of all-around mobile wheel, and 1973 by Switzerland inventor Bengt
Ilon invents in the company of entitled Mecanum, it is possible to achieve arbitrarily free direction is moved.Mecanum wheel is solid in wheel outer shroud
The fixed free roller at 45 ° with axle center, this design, when wheel rotates, the free roller of arrangement at 45 ° contacts with ground, ground
Can give wheel and rotating shaft and press from both sides the frictional force of 45 °, this frictional force can be divided into X-component and Y-component, i.e. by the rotating of wheel or stop
Only, change the direction of XY component force, platform can be allowed to do the movement of various mode.
1975, Mecanum wheel obtained United States Patent (USP), directly stablizes self-driving vehicle.USN in 1980 buy this is special
Profit go forward side by side march thing application and development.After within 1996, this patent lost efficacy, the numerous university of the U.S. and the world, research institution and company are carried out
Application and development and inventing again, application relates to the fork truck of all-around mobile, mover, wheelchair, ammunition truck, mobile machine
People etc..
Omni-directional moving mechanism based on Mecanum wheel can realize rotating around arbitrfary point, but mostly uses industry control
Machine, ARM, chip microcontroller controls rotary speed and the direction of wheel, and combination realizes the advance of motion platform, retrogressing, left and right horizontal stroke
To traveling, arbitrarily angled traveling etc..But using industrial computer A RM or single-chip microcomputer as control core, the construction cycle is longer, becomes
This height.
Summary of the invention
For overcoming above-mentioned the deficiencies in the prior art, the present invention provide the linkage of a kind of Duo Liang omnidirectional car travel rotate based on entirely
To car around the control method of arbitrfary point fixed-axis rotation and system.
The technical scheme realizing the object of the invention is: a kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation,
Planar arbitrarily setting a bit, PLC drives the Mecanum wheel of omnidirectional's car to rotate around this point, and the Mike of omnidirectional's car receives
The angular velocity that nurse wheel rotates is:
Wherein: w1The angular velocity rotated for the Mecanum wheel first round, w2The angle speed of rotation is taken turns for Mecanum wheel second
Degree, w3The angular velocity rotated for Mecanum wheel third round, w4The angular velocity rotated for Mecanum wheel fourth round；
Radius that the radius of the Mecanum wheel first round, Mecanum wheel second is taken turns, the radius of Mecanum wheel third round
It is r with the radius of Mecanum wheel fourth round；
V is the instantaneous velocity of omnidirectional's car；
θ is the angle of V and y-axis；
The wheelspan that the Mecanum wheel first round and Mecanum wheel second are taken turns is W1, Mecanum wheel fourth round is received with Mike
The wheelspan of nurse wheel third round is W1；The Mecanum wheel first round is L with the wheelspan of Mecanum wheel fourth round1, Mecanum wheel
Two to take turns the wheelspan with Mecanum wheel third round be L1；
wZThe angular velocity rotated around its center for omnidirectional's car.
As the prioritization scheme of the present invention, the instantaneous velocity V of omnidirectional's car is:
V=wR1Formula 2
Wherein: w is angular velocity when a little rotating that omnidirectional's car arbitrarily sets in plane；
R1Radius when a little rotating arbitrarily set in plane for omnidirectional's car.
Present invention also offers a kind of based on omnidirectional's car around the control system of arbitrfary point fixed-axis rotation, be used for using above-mentioned base
In omnidirectional's car around the control method of arbitrfary point fixed-axis rotation, including touch screen, hand-held remote control operating unit, PLC and
AC servo motor, touch screen controls bus by Ethernet and is connected with PLC, and hand-held remote control operating unit passes through
Modbus bus is connected with PLC, and PLC receives the operation of touch screen or the transmission of hand-held remote control operating unit and refers to
Rotated around arbitrfary point by the Mecanum wheel of AC servo machinery driving omnidirectional car after order.
As the prioritization scheme of the present invention, also include around the control system of arbitrfary point fixed-axis rotation based on omnidirectional's car: safety
Control unit, security control unit is connected with PLC, and security control unit is laser scanner, and laser scanner enters
The scanning that row is 270 degree, prevents omnidirectional's car collision object when the fixed-axis rotation of arbitrfary point.
As the prioritization scheme of the present invention, laser scanner is internally provided with the integrated heating for carrying out fog rectification
Device.
As the prioritization scheme of the present invention, PLC includes that information-based interface unit, information-based interface unit include
Profibus DP interface, Profinet interface and Ethernet interface.
The present invention has a positive effect: 1) the car linkage of multiple omnidirectionals can be travelled and rotate by the present invention, will many cars spellings
It is connected together, the goods that area is big can be transported, improve the load of omnidirectional's car；
2) present invention achieves multiple omnidirectionals car around arbitrfary point fixed-axis rotation, so that omnidirectional's car is according to various curvilinear rows
Sail, flexible manufacturing is realized automatization and provides technical support；
3) present invention uses PLC, and the construction cycle is short, and hardware cost is low.
Accompanying drawing explanation
It is clearly understood to make present disclosure be easier to, below according to specific embodiment and combine accompanying drawing, right
The present invention is described in further detail:
Fig. 1 is the schematic diagram of omnidirectional of the present invention car；
Omnidirectional's car of Fig. 2 present invention is around O2The schematic diagram that point rotates；
Fig. 3 is around the structured flowchart of the control system of arbitrfary point fixed-axis rotation based on omnidirectional's car.
Wherein: 1, PLC, 2, touch screen, 3, hand-held remote control operating unit, 4, AC servo motor, 51, Mike
Na Mu takes turns the first round, 52, Mecanum wheel second take turns, 53, Mecanum wheel third round, 54, Mecanum wheel fourth round, 6, peace
Full control unit.
Detailed description of the invention
As shown in Figure 1-2, the invention discloses a kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation, the party
Method the most arbitrarily sets a bit, and PLC 1 drives the Mecanum wheel of omnidirectional's car to rotate around this point, omnidirectional's car
Mecanum wheel rotate angular velocity be:
Wherein: w1The angular velocity rotated for the Mecanum wheel first round 51, w2The angle of 52 rotations is taken turns for Mecanum wheel second
Speed, w3The angular velocity rotated for Mecanum wheel third round 53, w4The angular velocity rotated for Mecanum wheel fourth round 54；
The radius of the Mecanum wheel first round 51, Mecanum wheel second takes turns radius, the Mecanum wheel third round 53 of 52
Radius and the radius of Mecanum wheel fourth round 54 be r；
V is the instantaneous velocity of omnidirectional's car；
θ is the angle of V and y-axis；
It is W that the Mecanum wheel first round 51 and Mecanum wheel second take turns the wheelspan of 521, Mecanum wheel fourth round 54 with
The wheelspan of Mecanum wheel third round 53 is W1；The Mecanum wheel first round 51 is L with the wheelspan of Mecanum wheel fourth round 541,
It is L that Mecanum wheel second takes turns 52 with the wheelspan of Mecanum wheel third round 531；
wZThe angular velocity rotated around its center for omnidirectional's car.
Additionally: the instantaneous velocity V of omnidirectional's car is:
V=wR1Formula 2
Wherein: w is angular velocity when a little rotating that omnidirectional's car arbitrarily sets in plane；
R1Radius when a little rotating arbitrarily set in plane for omnidirectional's car.O in i.e. Fig. 22With O1Distance, when entirely
To car around arbitrfary point fixed-axis rotation time, need to preset w and wZ.In like manner if it is known that w1、w2、w3And w4Utilize formula 1 and public affairs
Angular velocity when a little rotating that formula 2 also arbitrarily can set in plane with the instantaneous velocity V and omnidirectional's car deriving omnidirectional's car
w。
As it is shown on figure 3, a kind of based on omnidirectional's car around the control system of arbitrfary point fixed-axis rotation, for above-mentioned based on omnidirectional
Car is around the control method of arbitrfary point fixed-axis rotation, and this system includes touch screen 2, hand-held remote control operating unit 3, PLC 1
With AC servo motor 4, touch screen 2 controls bus by Ethernet and is connected with PLC 1, hand-held remote control operating unit 3
Being connected with PLC 1 by Modbus bus, PLC 1 receives touch screen 2 or hand-held remote control operating unit 3 sends
Operational order after drive the Mecanum wheel of omnidirectional's car to rotate around arbitrfary point by AC servo motor 4.Wherein, PLC controls
Device 1 realizes the movement of omnidirectional's car by sending Pulse Width Control AC servo motor 4.By the most arbitrarily setting at touch screen 2
Determine a bit, it is achieved omnidirectional's car mainly realizes the planning etc. of the setting of speed, route around the rotation of this point, touch screen 2.
Also include around the control system of arbitrfary point fixed-axis rotation based on omnidirectional's car: security control unit 6, security control unit
6 are connected with PLC 1, and security control unit 6 is laser scanner, and laser scanner carries out the scanning of 270 degree, prevents
Omnidirectional's car is collision object when the fixed-axis rotation of arbitrfary point.Laser scanner is internally provided with and adds for carrying out the integrated of fog rectification
Hot device.Wherein, laser scanner application multiecho detection technique, it is further provided with integrated heater and carries out fog rectification, i.e.
Making, under rugged environment, also can accurately measure, the result of measurement is transferred to PLC 1 by laser scanner,
PLC 1 controls the Mecanum wheel first round 51 according to the measurement result of laser scanner, Mecanum wheel second takes turns 52,
Mecanum wheel third round 53 and Mecanum wheel fourth round 54 move accordingly.
Additionally PLC 1 also include information-based interface unit, information-based interface unit include Profibus DP interface,
Profinet interface and Ethernet interface.By multiple interfaces can be convenient network with miscellaneous equipment, control with
It is more convenient to monitor, and greatly reducing the workload of operator.
Particular embodiments described above, has been carried out the purpose of the present invention, technical scheme and beneficial effect the most in detail
Describe in detail bright, be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (6)
1. one kind based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation, it is characterised in that: the most arbitrarily set one
Point, PLC (1) drives the Mecanum wheel of omnidirectional's car to rotate around this point, the angle speed that the Mecanum wheel of omnidirectional's car rotates
Degree is:
Wherein: w1The angular velocity rotated for the Mecanum wheel first round (51), w2The angle that (52) rotate is taken turns for Mecanum wheel second
Speed, w3The angular velocity rotated for Mecanum wheel third round (53), w4The angle speed rotated for Mecanum wheel fourth round (54)
Degree；
The radius of the Mecanum wheel first round (51), Mecanum wheel second take turns the radius of (52), Mecanum wheel third round
(53) radius and the radius of Mecanum wheel fourth round (54) are r；
V is the instantaneous velocity of omnidirectional's car；
θ is the angle of V and y-axis；
It is W that the Mecanum wheel first round (51) and Mecanum wheel second take turns the wheelspan of (52)1, Mecanum wheel fourth round (54)
It is W with the wheelspan of Mecanum wheel third round (53)1；The Mecanum wheel first round (51) and Mecanum wheel fourth round (54)
Wheelspan is L1, it is L that Mecanum wheel second takes turns the wheelspan of (52) and Mecanum wheel third round (53)1；
wZThe angular velocity rotated around its center for omnidirectional's car.
The most according to claim 1 a kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation, it is characterised in that:
The instantaneous velocity V of omnidirectional's car is:
V=wR1Formula 2
Wherein: w is angular velocity when a little rotating that omnidirectional's car arbitrarily sets in plane；
R1Radius when a little rotating arbitrarily set in plane for omnidirectional's car.
3., based on omnidirectional's car around a control system for arbitrfary point fixed-axis rotation, it is used for using one as claimed in claim 1
Based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation, it is characterised in that: include that touch screen (2), hand-held remote control operate
Unit (3), PLC (1) and AC servo motor (4), described touch screen (2) controls bus and PLC by Ethernet
Controller (1) is connected, and described hand-held remote control operating unit (3) is connected with PLC (1) by Modbus bus, institute
By exchange after the operational order that the PLC (1) reception touch screen (2) stated or hand-held remote control operating unit (3) send
Servomotor (4) drives the Mecanum wheel of omnidirectional's car to rotate around arbitrfary point.
The most according to claim 3 a kind of based on omnidirectional's car around the control system of arbitrfary point fixed-axis rotation, it is characterised in that:
Described also include around the control system of arbitrfary point fixed-axis rotation based on omnidirectional's car: security control unit (6), security control unit
(6) being connected with PLC (1), described security control unit (6) is laser scanner, and described laser scanner enters
The scanning that row is 270 degree, prevents omnidirectional's car collision object when the fixed-axis rotation of arbitrfary point.
The most according to claim 4 a kind of based on omnidirectional's car around the control system of arbitrfary point fixed-axis rotation, it is characterised in that:
Described laser scanner is internally provided with the integrated heater for carrying out fog rectification.
The most according to claim 3 a kind of based on omnidirectional's car around the control system of arbitrfary point fixed-axis rotation, it is characterised in that:
Described PLC (1) includes information-based interface unit, described information-based interface unit include Profibus DP interface,
Profinet interface and Ethernet interface.
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| CN201610754301.2A CN106200646A (en) | 2016-08-29 | 2016-08-29 | A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610754301.2A CN106200646A (en) | 2016-08-29 | 2016-08-29 | A kind of based on omnidirectional's car around the control method of arbitrfary point fixed-axis rotation and system |
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Cited By (5)
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| CN107291085A (en) * | 2017-08-10 | 2017-10-24 | 山东非凡智能科技有限公司 | A kind of combined intelligent movement AGV control methods and system |
| CN107757752A (en) * | 2017-10-30 | 2018-03-06 | 蔚来汽车有限公司 | Carrier |
| CN110525534A (en) * | 2019-09-27 | 2019-12-03 | 吉林大学 | A kind of small vehicle chassis structure and its control method using complicated landform |
| CN110606136A (en) * | 2019-10-22 | 2019-12-24 | 吉林大学 | Logistics robot with omnidirectional movement and obstacle crossing capability and control method thereof |
| CN113119059A (en) * | 2021-04-01 | 2021-07-16 | 武汉工程大学 | Mecanum wheel chassis control characteristic optimization method based on equal percentage characteristics |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113119059A (en) * | 2021-04-01 | 2021-07-16 | 武汉工程大学 | Mecanum wheel chassis control characteristic optimization method based on equal percentage characteristics |
| CN113119059B (en) * | 2021-04-01 | 2022-03-15 | 武汉工程大学 | Mecanum wheel chassis control characteristic optimization method based on equal percentage characteristics |
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Inventor after: Main Kui Inventor after: Li Xingbao Inventor after: Zhang Zhan Inventor after: Ruan Ning Inventor after: Yin Lisong Inventor after: Wang Zhuwei Inventor before: Li Xingbao Inventor before: Zhang Zhan Inventor before: Ruan Ning Inventor before: Yin Lisong Inventor before: Wang Zhuwei |
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Application publication date: 20161207 |
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