CN106695740A - Capturing device with position compensation and method - Google Patents
Capturing device with position compensation and method Download PDFInfo
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- CN106695740A CN106695740A CN201710067298.1A CN201710067298A CN106695740A CN 106695740 A CN106695740 A CN 106695740A CN 201710067298 A CN201710067298 A CN 201710067298A CN 106695740 A CN106695740 A CN 106695740A
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- 238000000034 method Methods 0.000 title claims description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 230000008713 feedback mechanism Effects 0.000 claims abstract description 21
- 230000009184 walking Effects 0.000 claims abstract description 3
- 238000012545 processing Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000004044 response Effects 0.000 description 20
- 230000000875 corresponding effect Effects 0.000 description 14
- 238000006073 displacement reaction Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 6
- 239000000725 suspension Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0002—Training appliances or apparatus for special sports for baseball
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0017—Training appliances or apparatus for special sports for badminton
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/38—Training appliances or apparatus for special sports for tennis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a capturing device with position compensation. The capturing device comprises a drive system, a control system and a bottom plate provided with at least one walking wheel. The capturing device further comprises a target mechanism used for intercepting a target, a moving mechanism arranged on the bottom plate and connected with the target mechanism, and a feedback mechanism. The moving mechanism is used for driving the target mechanism to move on the bottom plate. The feedback mechanism is arranged on the bottom plate and comprises a movement detection part and an orthogonal omnidirectional wheel part which is connected with the movement detection part, and the feedback mechanism is used for obtaining the deviation value between the bottom plate and the target and feeding back the deviation value to the control system. By adoption of the device, although the device slides in an inertial manner at the target drop point position, the feedback mechanism records and feeds back the sliding path to the control system, meanwhile, the control system makes the target mechanism move on the bottom plate, the target mechanism is static relative to the drop point, and the target is captured. The capturing device is simple and compact in structure and fast in feedback real-time responding, and the target mechanism can be accurately controlled at the target drop point.
Description
Technical field
The present invention relates to electro-mechanical arts, more particularly to a kind of acquisition equipment and method with position compensation.
Background technology
Capture to aerial falling motion target, due to receiving many factors combined influence in target dropping process, it is necessary to reality
When track and localization, judge the drop point region of target, it is rapid close to drop point region in acquisition equipment very short time, and according to tracking
Target trajectory and the motion path of acquisition equipment itself is corrected in the drop point region of amendment in real time in real time, finally in drop point region
Capture target.
Acquisition equipment continues to slide, it is difficult to accurately brake optimal after drop point region is braked in the presence of inertia
Drop point, the target that defies capture is even more in the case where the big slide displacement of inertia is big.
The content of the invention
It is an object of the invention to overcome the acquisition equipment in the presence of prior art after drop point region is braked, in inertia
In the presence of continue slide, it is difficult to accurately brake in optimal drop point, in the case where the big slide displacement of inertia is big even more be difficult to
Capture the above-mentioned deficiency of target, there is provided a kind of acquisition equipment and method with position compensation.
In order to realize foregoing invention purpose, the invention provides following technical scheme：
A kind of acquisition equipment with position compensation, including drive system, control system and it is provided with least one road wheel
Chassis, also include：
Target mechanism, for intercepting and capturing target；
Travel mechanism, on the chassis, connects the target mechanism, and the travel mechanism is used to drive the target
Mechanism moves on the chassis；
Feedback mechanism, on the chassis, including motion detecting component and orthogonal omnidirectional's wheel component, the orthogonal omnidirectional
Wheel component connects the motion detecting component, and the feedback mechanism is used to obtain the chassis and the deviation of the target, and
And the deviation is fed back into the control system；
Wherein, the control system includes processing module and connected communication module, and the communication module is used for outer
Portion communicates, and connects the feedback mechanism, and the drive system drives the travel mechanism and each described road wheel each respectively
From work or motion, the control system receives the deviation and controls the keying of the drive system；The mesh
The scope for marking mechanism kinematic is not limited to the size on the chassis, but big depending on the size that the travel mechanism launches
It is small.
Using the acquisition equipment with position compensation of the present invention, control system control drive system drive chassis to
The drop point movement of target, after road wheel braking, chassis is slided in the presence of inertia, and now motion detecting component is orthogonal complete
Inertia mobile route is fed back to record under the drive of wheel component and to control system, control system control drive system drives movement
Mechanism works, and target mechanism is moved along the opposite direction of motion detecting component record path, target is captured at drop point, although that is,
Device inertia at target drop point is slided, but feedback mechanism is recorded and feeds back sliding path to control system, while controlling system
Tong Shi targets mechanism moves on chassis, and target mechanism is static with respect to drop point, and to capture target, the apparatus structure is simply tight
Gather, feedback real-time response is fast, can precise control target mechanism in target drop point.
Preferably, the travel mechanism includes traversing component and vertical shift component, and the traversing component is located on the chassis,
On the traversing component, the target mechanism is on the vertical shift component for the vertical shift component.
Preferably, the traversing component and the orthogonal setting of vertical shift component.
Using this structure setting, outgoing route is XY coordinates during control system control targe mechanism kinematic, can be simplified
Control system operand, the time required to reducing output, improves travel mechanism's response speed.
Preferably, the traversing component includes pulley system one, and the pulley system one includes line slideway one, sliding block
First, belt one and belt pulley one, on the chassis, the guide rail one is adapted to the sliding block one, the cunning to the guide rail one
Block one connects the belt one, and the belt one is adapted to the belt pulley one, and the drive system drives the belt pulley one.
Using this structure setting, pulley system simple structure, fast response time, kinematic accuracy is high, is easy to buying, cost
It is cheap.
Preferably, the vertical shift component includes pulley system two, and the pulley system two includes line slideway two, sliding block
2nd, belt two and belt pulley two, the guide rail two is on the sliding block one, and the guide rail two is adapted to the sliding block two, described
Sliding block two connects the belt two, and the belt two is adapted to the belt pulley two, and the drive system drives the belt pulley two,
The target mechanism is on the sliding block two.
Using this structure setting, pulley system simple structure, fast response time, kinematic accuracy is high, is easy to buying, cost
It is cheap.
Preferably, the pulley system one also includes line slideway three and the sliding block three being adapted to it, and the guide rail three sets
In on the chassis and parallel to the guide rail one, the sliding block three connects the guide rail two.
Using this structure setting, by increasing capacitance it is possible to increase vertical shift component slippage is connected to the structural stability of traversing component, it is ensured that
The smooth steady of whole device operation, is unlikely to unstability when travel mechanism moves.
Preferably, the motion detecting component includes encoder and gyroscope, and the encoder is used to measure the chassis
Straight-line displacement, the gyroscope is used to measure the chassis rotational angle.
Preferably, the encoder is absolute value encoder, the absolute value for measuring the chassis straight-line displacement.
Using absolute value encoder, each position of its record is absolutely unique, good in anti-interference performance, without power down note
Recall, be widely used in the aspects such as displacement measurement, location control and Real-time Feedback.
Preferably, orthogonal omnidirectional's wheel component includes two 90 degree of omni-directional wheels, two wheel hubs of 90 degree of omni-directional wheels
Orthogonal thereto setting, two 90 degree of omni-directional wheels are all connected to the chassis, each 90 degree of omni-directional wheels correspondence connection one
The motion detecting component, wherein the wheel hub of detection axle connection correspondence 90 degree of omni-directional wheels of the motion detecting component, and
Make detection axle and the wheel hub synchronous axial system.
Using this structure setting, it is two reference axis in plane that two orthogonal motion detecting components are corresponding,
I.e. X-axis and Y-axis, are so easy to the control system to simplify data processing mode, reduce data processing amount, improve delivery efficiency,
The response time is reduced, is easy to determine the positional information that chassis is in plane.
Preferably, each described road wheel is Mecanum wheel or 90 degree of omni-directional wheels.
Using this structure setting, can realize chassis do not turn under Omni-mobile, make chassis Omni-mobile accurate rapidly
Really, startup and the braking response time of single unit system are saved.
Preferably, the drive system includes and the belt pulley one, the belt pulley two and each described road wheel
The corresponding driver part of difference, each described driver part is fixedly connected on corresponding support, and all supports connections are described
Chassis, the output shaft of each driver part connects corresponding wheel shaft.
Preferably, each described driver part is brushless servo motor.
Using brushless servo motor, its efficiency high, energy consumption are low, noise is low, long service life, reliability good, Neng Gouwu
Level frequency control, relatively low cost and easy to use, after adding servo-drive system, can form closed-loop control system, and system has feedback,
So that overall control is more accurate.
Preferably, the processing module includes single-chip microcomputer.
Preferably, the communication module includes bluetooth.
Preferably, the chassis and all supports are aluminum alloy material structural member, are easy to meet the apparatus structure
Mitigate the overall weight of the device on the premise of intensity.
Preferably, orthogonal omnidirectional's wheel component and each described road wheel are provided with suspension dress between the chassis
Put.
Using this structure setting, orthogonal omnidirectional's wheel component and road wheel is set can voluntarily to adjust upper-lower position highly, i.e.,
Make on the residing ground of broken terrain also adapted in real time contact, it is ensured that the frictional force between road wheel and ground, which is unlikely to
Side skidding unstability causes chassis sidesway or rotation biased, while suspension arrangement ensure that chassis in broken terrain
Shake during operation or when starting braking replys rapidly steady.
Preferably, the device also includes casing, and the casing coats the chassis, the travel mechanism and the target machine
Structure.
Present invention also offers a kind of compensation method of the acquisition equipment with position compensation as described in any of the above, bag
Include following steps：
A, control system obtain the drop point region of target in real time, and control drive system to drive chassis to the drop point region
Movement is simultaneously corrected in real time；
B, when the chassis is moved at the drop point region, brake all road wheels, work of the chassis in inertia
Continue to slide with lower；
C, orthogonal omnidirectional's wheel component start all road wheels of braking on the chassis and inertia movement period continues work
Make, motion detecting component is continued real-time working, the motion detecting component is by the chassis of real-time detection and the target
Deviation feed back to the control system；
D, the control system treatment deviation, and control the drive system to drive travel mechanism to work, it is described
Travel mechanism drives the movement of target mechanism to intercept and capture the target.
Using the compensation method of the acquisition equipment with position compensation of the present invention, although the device is in target drop point
Place's inertia is slided, but feedback mechanism is recorded and feeds back sliding path to control system, while control system makes target mechanism the bottom of at
Moved on disk, target mechanism is static with respect to drop point, to capture target；Motion detecting component real-time automatic recording and feedback coefficient
According to, control system is automatically processed and output data, and control system control drive system and travel mechanism make corresponding actions in real time,
Intercepting and capturing target whole-course automation is realized, the method clear principle, step is simple, and response is rapid, effect is significant.
Preferably, in the step B, the control system brakes all walkings in advance before near the drop point region
Wheel, reduces sliding stroke of the chassis under effect of inertia in the drop point region, reduces the compensation of the target mechanism
Move distance and time.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, with the acquisition equipment with position compensation of the present invention, control system control drive system drives chassis
Moved to the drop point of target, after road wheel braking, chassis is slided in the presence of inertia, and now motion detecting component is orthogonal
Recorded under the drive of omnidirectional's wheel component and feed back inertia mobile route to control system, control system control drive system drives moves
Motivation structure is worked, and target mechanism is moved along the opposite direction of motion detecting component record path, and target is captured at drop point, though that is,
Right device inertia at target drop point is slided, but feedback mechanism is recorded and feeds back sliding path to control system, while control
System makes target mechanism be moved on chassis, and target mechanism is static with respect to drop point, and to capture target, the apparatus structure is simply tight
Gather, feedback real-time response is fast, can precise control target mechanism in target drop point；
2nd, with the acquisition equipment with position compensation of the present invention, the traversing component and the vertical shift component are just
Hand over and set, using this structure setting, outgoing route is XY coordinates during control system control targe mechanism kinematic, can simplify control
System operations amount processed, the time required to reducing output, improves travel mechanism's response speed；
3rd, with the acquisition equipment with position compensation of the present invention, the traversing component includes pulley system one,
The vertical shift component includes pulley system two, using this structure setting, pulley system simple structure, fast response time, motion
High precision, is easy to buying, with low cost；
4th, with the acquisition equipment with position compensation of the present invention, the pulley system one also includes line slideway
Three and the sliding block three that is adapted to it, on the chassis and parallel to the guide rail one, the sliding block three connects the guide rail three
The guide rail two is connect, using this structure setting, by increasing capacitance it is possible to increase vertical shift component slippage is connected to the structural stability of traversing component,
The smooth steady of whole device operation, is unlikely to unstability when ensureing that travel mechanism moves；
5th, with the acquisition equipment with position compensation of the present invention, the encoder is absolute value encoder, is used
In the absolute value for measuring the chassis straight-line displacement, using absolute value encoder, each position of its record is absolutely unique, anti-
Jamming performance is good, without power-failure memory, be widely used in the aspects such as displacement measurement, location control and Real-time Feedback；
6th, with the acquisition equipment with position compensation of the present invention, orthogonal omnidirectional's wheel component includes two 90
Degree omni-directional wheel, two orthogonal thereto settings of wheel hub of 90 degree of omni-directional wheels, two 90 degree of omni-directional wheels are all connected to the bottom
Disk, each described 90 degree of omni-directional wheels correspondence, one described motion detecting component of connection, using this structure setting, orthogonal two
It is two reference axis, i.e. X-axis and Y-axis in plane that the motion detecting component is corresponding, is so easy to the control system to simplify
Data processing mode, reduces data processing amount, improves delivery efficiency, reduces the response time, is easy to determine that chassis is in plane
Positional information；
7th, with the acquisition equipment with position compensation of the present invention, each described road wheel be Mecanum wheel or
90 degree of omni-directional wheels of person, using this structure setting, can realize chassis do not turn under Omni-mobile, make chassis Omni-mobile fast
It is fast accurate, save startup and the braking response time of single unit system；
8th, with the acquisition equipment with position compensation of the present invention, each described driver part is brushless servo
Motor, using brushless servo motor, its efficiency high, energy consumption are low, noise is low, long service life, reliability are good, stepless can become
Frequency modulation speed, relatively low cost and easy to use, after adding servo-drive system, can form closed-loop control system, and system has feedback so that
Overall control is more accurate；
9th, transport orthogonal omnidirectional's wheel component and each described road wheel is provided with suspension arrangement between chassis, using this
Structure setting is planted, orthogonal omnidirectional's wheel component and road wheel can be voluntarily adjusted upper-lower position highly, even if rough
Also adapted in real time contacts residing ground on ground, it is ensured that the frictional force between road wheel and ground, is unlikely to which side skidding unstability and makes
Into chassis sidesway or rotate it is biased, while suspension arrangement ensure that chassis when broken terrain runs or startup
Shake during braking replys rapidly steady；
10th, with the compensation method of the acquisition equipment with position compensation of the present invention, although the device is in target
Inertia is slided at drop point, but feedback mechanism is recorded and feeds back sliding path to control system, while control system makes target mechanism
Moved on chassis, target mechanism is static with respect to drop point, to capture target；Motion detecting component real-time automatic recording simultaneously feeds back
Data, control system is automatically processed and output data, and control system control drive system and travel mechanism make corresponding dynamic in real time
Make, realize intercepting and capturing target whole-course automation, the method clear principle, step is simple, and response is rapid, effect is significant.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of the acquisition equipment described in embodiment with position compensation；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the top view of Fig. 1；
Fig. 5 is the three dimensional structure diagram on chassis described in embodiment；
Fig. 6 is the three dimensional structure diagram of travel mechanism described in embodiment；
Fig. 7 is the three dimensional structure diagram of target mechanism described in embodiment；
Fig. 8 is the three dimensional structure diagram of feedback mechanism described in embodiment；
Fig. 9 is the schematic flow sheet of the compensation method of the acquisition equipment described in embodiment with position compensation.
Marked in figure：1- chassis, 2- road wheels, 3- targets mechanism, 31- support members, 32- rotary parts, 33- shuttlecocks
Clap, 4- travel mechanisms, the traversing components of 41-, 411- guide rails one, 412- belt pulleys one, 42- vertical shift components, 421- guide rails two, 422-
Belt pulley two, 431- guide rails three, 5- feedback mechanisms, 51- motion detecting components, the orthogonal omnidirectional's wheel components of 52-, 6- driver parts.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
For the scope of above-mentioned theme of the invention is only limitted to following embodiment, all technologies realized based on present invention belong to this
The scope of invention.
Embodiment 1
As shown in figures 1-8, a kind of acquisition equipment with position compensation of the present invention, including drive system, control
System and the chassis 1 for being provided with least one road wheel 2, also include：
Target mechanism 3, including support member 31, the support member 31 are provided with least one rotary part 32, each
The rotary part 32 connects a racket 33, and the racket 33 rotates relative to the support member 31, for hitting
Play badminton, or each described rotary part 32 connects a tennis racket, relatively described 31 turns of the support member of the tennis racket
It is dynamic, for impacting tennis, or each described rotary part 32 connects a baseball bat, the relatively described supporting part of the baseball bat
Part 31 rotates, for impacting baseball；
Travel mechanism 4, on the chassis 1, connects the target mechanism 3, and the travel mechanism 4 is described for driving
Target mechanism 3 moves on the chassis 1；
Feedback mechanism 5, on the chassis 1, including motion detecting component 51 and orthogonal omnidirectional's wheel component 52, it is described just
Omnidirectional's wheel component 52 is handed over to connect the motion detecting component 51, the feedback mechanism 5 is used to obtain the chassis 1 with the target
Deviation, and the deviation is fed back into the control system；
Wherein, the control system includes processing module and connected communication module, and the processing module includes
STM32 series monolithics, the communication module includes bluetooth, and the communication module is used for PERCOM peripheral communication, and connects the feedback
Mechanism 5, the drive system drives the travel mechanism 4, each described rotary part 32 and each described road wheel 2 each respectively
From work or motion, the control system receives the deviation and controls the keying of the drive system；The mesh
The scope of mark mechanism 3 motion is not limited to the size on the chassis 1, but depending on the chi of the expansion of the travel mechanism 4
Very little size；Each described road wheel 2 is Mecanum wheel, using this structure setting, can realize chassis 1 do not turn under it is complete
To movement, make the Omni-mobile of chassis 1 accurate rapidly, save startup and the braking response time of single unit system, the device also includes
Casing, the casing coats the chassis 1, the travel mechanism 4 and the target mechanism 3.
Used as a preferred scheme of the present embodiment, the travel mechanism 4 includes traversing component 41 and vertical shift component 42, institute
Traversing component 41 is stated on the chassis 1, the vertical shift component 42 is located on the traversing component 41, the target mechanism 3
On the vertical shift component 42, the traversing component 41 and the orthogonal setting of the vertical shift component 42, using this structure setting,
Outgoing route is XY coordinates when control system control targe mechanism 3 moves, being capable of simplified control system operand, reduction output institute
Take time, improve the response speed of travel mechanism 4.
As shown in fig. 6, the traversing component 41 includes pulley system one, the pulley system one includes line slideway one
411st, sliding block one, belt one and belt pulley 1, on the chassis 1, the guide rail 1 is adapted to the guide rail 1
The sliding block one, the sliding block one connects the belt one, and the belt one is adapted to the belt pulley 1, the drivetrain
The dynamic belt pulley 1 of regiment commander, using this structure setting, the simple structure of pulley system one, fast response time, kinematic accuracy
Height, is easy to buying, with low cost；The vertical shift component 42 includes pulley system two, and the pulley system two includes line slideway
2 421, sliding block two, belt two and belt pulley 2 422, the guide rail 2 421 are located on the sliding block one, the guide rail 2 421
The sliding block two is adapted to, the sliding block two connects the belt two, and the belt two is adapted to the belt pulley 2 422, the drive
Dynamic system drives the belt pulley 2 422, and the target mechanism 3 is located on the sliding block two, using this structure setting, belt wheel
The simple structure of system two, fast response time, kinematic accuracy is high, is easy to buying, with low cost；The pulley system one also includes straight
Line guide rail 3 431 and the sliding block three being adapted to it, the guide rail 3 431 is on the chassis 1 and parallel to the guide rail one
411, the sliding block three connects the guide rail 2 421, using this structure setting, by increasing capacitance it is possible to increase vertical shift component 42 is slidably connected to
The structural stability of traversing component 41, it is ensured that the smooth steady of whole device operation when travel mechanism 4 moves, is unlikely to unstability.
As shown in figs. 1 and 8, the motion detecting component 51 includes encoder and gyroscope, and the encoder is used to measure
The straight-line displacement of the chassis 1, the gyroscope is used to measure the rotational angle of the chassis 1；The encoder is absolute encoder
Device, the absolute value for measuring the straight-line displacement of the chassis 1, using absolute value encoder, each position of its record is absolute
Uniquely, good in anti-interference performance, without power-failure memory, be widely used in the aspects such as displacement measurement, location control and Real-time Feedback.Institute
Stating orthogonal omnidirectional's wheel component 52 includes two 90 degree of omni-directional wheels, two orthogonal thereto settings of wheel hub of 90 degree of omni-directional wheels, two
90 degree of omni-directional wheels are all connected to the chassis 1, each described 90 degree of omni-directional wheels correspondence, one described motion detecting section of connection
Part 51, wherein the wheel hub of detection axle connection correspondence 90 degree of omni-directional wheels of the motion detecting component 51, and make the detection
Axle and the wheel hub synchronous axial system, using this structure setting, it is flat that two orthogonal motion detecting components 51 are corresponding
Two reference axis, i.e. X-axis and Y-axis in face, are so easy to the control system to simplify data processing mode, reduce data processing
Amount, improves delivery efficiency, reduces the response time, is easy to determine the positional information that chassis 1 is in plane.
As illustrated in figs. 2-7, the drive system includes and the belt pulley 1, the belt pulley 2 422, each institute
State rotary part 32 and each described road wheel 2 distinguishes corresponding driver part 6, each described driver part 6 is fixedly connected
In corresponding support, the belt pulley 1, the belt pulley 2 422 and the corresponding support of each described road wheel 2 connect
The chassis 1 is connect, the corresponding support of each described rotary part 32 connects the support member 31, each described drive division
The output shaft of part 6 connects corresponding wheel shaft or rotating shaft；Each described driver part 6 is brushless servo motor, using brushless
Servomotor, its efficiency high, energy consumption are low, noise is low, long service life, reliability are good, being capable of stepless frequency control, relatively low
Cost and easy to use, after adding servo-drive system, can form closed-loop control system, and system has feedback so that overall control is more
Accurately.The chassis 1 and all supports are aluminum alloy material structural member, are easy to meet the premise of the apparatus structure intensity
The lower overall weight for mitigating the device.
Orthogonal omnidirectional's wheel component 52 and each described road wheel 2 are provided with suspension arrangement between the chassis 1, adopt
This structure setting is used, orthogonal omnidirectional's wheel component 52 and road wheel 2 can be voluntarily adjusted upper-lower position highly, even if concavo-convex
Also adapted in real time contacts residing ground on uneven ground, it is ensured that the frictional force between road wheel 2 and ground, is unlikely to which side skidding
Unstability causes the sidesway of chassis 1 or rotation biased, while suspension arrangement ensure that chassis 1 when broken terrain runs
Or shake when starting braking replys rapidly steady.
With the acquisition equipment with position compensation of the present invention, control system control drive system drives chassis 1
Moved to the drop point of target, after the braking of road wheel 2, chassis 1 is slided in the presence of inertia, and now motion detecting component 51 exists
Recorded under the drive of orthogonal omnidirectional's wheel component 52 and feed back inertia mobile route, control system control drive system to control system
Drive travel mechanism 4 to work, target mechanism 3 is moved along the opposite direction of the record path of motion detecting component 51, caught at drop point
Target is obtained, although i.e. device inertia at target drop point is slided, feedback mechanism 5 is recorded and feeds back sliding path and is to control
System, while control system makes target mechanism 3 be moved on chassis 1, target mechanism 3 is static with respect to drop point, to capture target, should
Apparatus structure is simply compact, and feedback real-time response is fast, can precise control target mechanism 3 in target drop point.
Embodiment 2
As shown in figs 1-9, compensation method of the present invention, using catching with position compensation as described in Example 1
Device is obtained, is comprised the following steps：
A, control system obtain the drop point region of target in real time, and control drive system to drive chassis 1 to the drop point area
Move and correct in real time in domain；
B, when the chassis 1 is moved at the drop point region, brake all road wheels 2, the chassis 1 is in inertia
Effect is lower to be continued to slide；
C, orthogonal omnidirectional's wheel component 52 the chassis 1 start all road wheels 2 of braking and inertia movement period after
Continuous work, makes motion detecting component 51 continue real-time working, the motion detecting component 51 by the chassis 1 of real-time detection with
The deviation of the target feeds back to the control system；
D, the control system treatment deviation, and control the drive system to drive travel mechanism 4 to work, it is described
Travel mechanism 4 drives target mechanism 3 to move and intercepts and captures the target.
Used as a preferred scheme of the present embodiment, in the step B, the control system is near the drop point region
It is preceding to brake all road wheels in advance, sliding stroke of the chassis under effect of inertia in the drop point region is reduced, reduce
The compensation campaign of the target mechanism is away from discrete time.
With the compensation method of the acquisition equipment with position compensation of the present invention, although the device is in target drop point
Place's inertia is slided, but feedback mechanism 5 is recorded and feeds back sliding path to control system, while control system makes target mechanism 3 exist
Moved on chassis 1, target mechanism 3 is static with respect to drop point, to capture target；The real-time automatic recording of motion detecting component 51 is simultaneously anti-
Feedback data, control system is automatically processed and output data, and control system control drive system and travel mechanism 4 make corresponding in real time
Action, realizes intercepting and capturing target whole-course automation, and the method clear principle, step is simple, and response is rapid, effect is significant.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of acquisition equipment with position compensation, including drive system, control system and it is provided with least one road wheel (2)
Chassis (1), it is characterised in that also include：
Target mechanism (3), for intercepting and capturing target；
Travel mechanism (4), on the chassis (1), connects the target mechanism (3), and the travel mechanism (4) is for driving
The target mechanism (3) is moved on the chassis (1)；
Feedback mechanism (5), on the chassis (1), including motion detecting component (51) and orthogonal omnidirectional's wheel component (52), institute
State orthogonal omnidirectional's wheel component (52) and connect the motion detecting component (51), the feedback mechanism (5) is for obtaining the chassis
(1) with the deviation of the target, and the deviation is fed back into the control system；
Wherein, the control system includes processing module and connected communication module, and the communication module is used for outside logical
Letter, and the feedback mechanism (5) is connected, the drive system drives the travel mechanism (4) and each described road wheel respectively
(2) respective work or motion, the control system receive the deviation and control the keying of the drive system.
2. the acquisition equipment with position compensation according to claim 1, it is characterised in that travel mechanism (4) bag
Include traversing component (41) and vertical shift component (42), the traversing component (41) on the chassis (1), the vertical shift component
(42) on the traversing component (41), the target mechanism (3) is on the vertical shift component (42).
3. the acquisition equipment with position compensation according to claim 2, it is characterised in that the traversing component (41) and
The orthogonal setting of the vertical shift component (42).
4. the acquisition equipment with position compensation according to claim 2, it is characterised in that traversing component (41) bag
Pulley system one is included, the pulley system one includes line slideway one (411), sliding block one, belt one and belt pulley one (412),
On the chassis (1), the guide rail one (411) is adapted to the sliding block one to the guide rail one (411), and the sliding block one is connected
The belt one, the belt one is adapted to the belt pulley one (412), and the drive system drives the belt pulley one (412).
5. the acquisition equipment with position compensation according to claim 4, it is characterised in that vertical shift component (42) bag
Pulley system two is included, the pulley system two includes line slideway two (421), sliding block two, belt two and belt pulley two (422),
On the sliding block one, the guide rail two (421) is adapted to the sliding block two to the guide rail two (421), and the sliding block two is connected
The belt two, the belt two is adapted to the belt pulley two (422), and the drive system drives the belt pulley two (422),
The target mechanism (3) is on the sliding block two.
6. the acquisition equipment with position compensation according to claim 5, it is characterised in that the pulley system one is also wrapped
Include line slideway three (431) and the sliding block three being adapted to it, the guide rail three (431) on the chassis (1) and parallel to
The guide rail one (411), the sliding block three connects the guide rail two (421).
7. the acquisition equipment with position compensation according to claim 1, it is characterised in that the motion detecting component
(51) including encoder and gyroscope.
8. the acquisition equipment with position compensation according to claim 1, it is characterised in that orthogonal omnidirectional's wheel component
(52) including two 90 degree of omni-directional wheels, two orthogonal thereto settings of wheel hub of 90 degree of omni-directional wheels, two 90 degree of omni-directional wheels
The chassis (1) is all connected to, each described 90 degree of omni-directional wheels correspondence, one described motion detecting component (51) of connection.
9. according to any described acquisition equipments with position compensation of claim 1-8, it is characterised in that each described walking
Wheel (2) is Mecanum wheel or 90 degree of omni-directional wheels.
10. a kind of compensation method of acquisition equipment with position compensation as described in claim 1-9 is any, its feature exists
In comprising the following steps：
A, control system obtain the drop point region of target in real time, and control drive system to drive chassis (1) to the drop point region
Movement is simultaneously corrected in real time；
B, it is moved at the drop point region when the chassis (1), brakes all road wheels (2), the chassis (1) is in inertia
In the presence of continue slide；
C, orthogonal omnidirectional's wheel component (52) start all road wheels (2) of braking and inertia movement period in the chassis (1)
Work on, motion detecting component (51) is continued real-time working, the motion detecting component (51) is by described in real-time detection
Chassis (1) feeds back to the control system with the deviation of the target；
D, the control system treatment deviation, and control the drive system to drive travel mechanism (4) to work, the shifting
Motivation structure (4) drives the mobile intercepting and capturing target of target mechanism (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710067298.1A CN106695740A (en) | 2017-02-07 | 2017-02-07 | Capturing device with position compensation and method |
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| CN201710067298.1A CN106695740A (en) | 2017-02-07 | 2017-02-07 | Capturing device with position compensation and method |
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ID=58910354
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| CN201710067298.1A Pending CN106695740A (en) | 2017-02-07 | 2017-02-07 | Capturing device with position compensation and method |
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| CN108818563A (en) * | 2018-07-12 | 2018-11-16 | 贺婷 | A kind of batting robot |
| CN111251312A (en) * | 2020-01-17 | 2020-06-09 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
| CN111496763A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Multi-degree-of-freedom rotary mechanical claw clamping device based on cross sliding table |
| CN111604902A (en) * | 2020-05-18 | 2020-09-01 | 哈尔滨工业大学 | Target sliding detection method suitable for manual operation of manipulator |
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Application publication date: 20170524 |