CN107589761B - Position indicator control apparatus and position indicating system - Google Patents
Position indicator control apparatus and position indicating system Download PDFInfo
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- CN107589761B CN107589761B CN201710810513.2A CN201710810513A CN107589761B CN 107589761 B CN107589761 B CN 107589761B CN 201710810513 A CN201710810513 A CN 201710810513A CN 107589761 B CN107589761 B CN 107589761B
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Abstract
The invention provides a position indicator control device and a position indicating system, and relates to the technical field of position indication. The position indicator control device provided by the embodiment of the application can determine the transverse angle and the longitudinal angle of the position indicator by controlling the inertia detection unit, determine the motion angle of the driving device by the angle signal acquisition unit, and realize that the difference value between the motion angle of the driving device and the transverse angle or the longitudinal angle is zero by controlling the motion of the driving device. Therefore, the matching of the position indicator and the real motion state of the equipment is realized, the indication of the motion state of the equipment where the position indicator is located is realized, the control logic is simple, and the control effect is better.
Description
Technical Field
The invention relates to the technical field of position indication control, in particular to position indicator control equipment and a position indication system.
Background
The motion state of some equipment can change all the time in the use process, and the position indicators arranged on the equipment can prompt the motion state of the equipment for other people. The position indicator can prompt the horizontal state or the vertical state, but the existing position indicator has complex control logic and poor control effect, so that the position indicator cannot accurately prompt the motion state.
Disclosure of Invention
In view of the above, the present invention provides a position indicator control device, which can accurately control a position indicator.
The technical scheme provided by the invention is as follows:
a position indicator control apparatus for controlling movement of a position indicator, the position indicator comprising indicating means for indicating a state of movement of the position indicator; and driving means for driving the movement of the indicating means; the control apparatus includes:
a housing having a receiving chamber;
the inertia detection unit is fixedly arranged in the accommodating cavity and is used for detecting the transverse angle and the longitudinal angle of the position indicator relative to the horizontal plane;
the angle signal acquisition unit is used for receiving the motion angle of the driving device;
and the control chip is used for generating a driving signal to drive the driving device to drive the difference between the movement angle of the driving device and the transverse angle or the longitudinal angle to be zero according to the transverse angle, the longitudinal angle and the movement angle.
Further, the position indicator control device further comprises a display control panel for receiving instruction input of a user and displaying the transverse angle, the longitudinal angle and the movement angle.
Further, the indicating device comprises a first indicating device for indicating the transverse horizontal state and a second indicating device for performing motion prompt;
the driving device comprises a transverse driving mechanism for driving the first indicating device to move transversely, and the position indicator further comprises an angle detecting device which comprises a transverse rotator for detecting the transverse rotation angle of the transverse driving mechanism;
and the control chip generates a transverse driving signal according to the difference value between the transverse rotation angle and the transverse angle so as to drive the transverse driving mechanism to rotate, so that the difference value between the transverse rotation angle and the transverse angle of the transverse driving mechanism is zero.
Further, the driving device further comprises a first driving mechanism for driving the second indicating device to move transversely and a second driving mechanism for driving the second indicating device to move longitudinally;
the angle detection device also comprises a first resolver used for detecting the transverse rotation angle of the first driving mechanism and a second resolver used for detecting the first rotation angle of the second driving mechanism;
the control chip generates a first driving signal according to the difference value between the transverse angle and the transverse rotation angle so as to drive the first driving mechanism to rotate, and the difference value between the rotation angle of the first driving mechanism and the transverse angle is zero;
and the control chip generates a second driving signal according to the difference value between the longitudinal angle and the first rotating angle so as to drive the second driving mechanism to rotate, so that the difference value between the rotating angle of the second driving mechanism and the longitudinal angle is zero.
Further, the position indicator further comprises an azimuth driving motor for controlling the second indicating device to rotate in the horizontal direction by a preset azimuth angle; and
a rotary encoder for detecting an actual azimuth angle at which the azimuth drive motor rotates;
and the control chip generates an azimuth angle driving signal according to the difference value between the actual azimuth angle and a preset azimuth angle, and drives the azimuth angle driving motor to rotate so as to enable the actual azimuth angle to be equal to the preset azimuth angle.
Further, the position indicator further comprises an elevation stepping motor for controlling the elevation of the second indicating device;
and the control chip determines the number of driving pulses for driving the elevation stepping motor to move according to a preset elevation angle, and generates the driving pulses so as to enable the elevation stepping motor to move to the preset elevation angle.
Further, the second indicating device comprises a plurality of L ED lamps, and the position indicator control device further comprises a current collecting module for detecting the actual current magnitude when the L ED lamps are operated;
the control chip determines a preset current according to preset brightness, and generates L ED lamp driving signals according to the actual current so as to drive the L ED lamp to have the same actual current as the preset current.
Further, the position indicator also comprises a locking device for controlling the locking of the second indicating device;
and the control chip controls the locking device to unlock or lock according to the unlocking instruction or the locking instruction.
Furthermore, the position indicator also comprises a flash device and a flash motor for controlling the flash device to rotate; and
a sensor for detecting whether the flash device is located at an origin;
and the control chip generates a driving signal when the flash equipment is not positioned at the original point, drives the flash motor to enable the flash equipment to return to the original point, and controls the flash motor to rotate forwards, reversely or stop according to a preset flash instruction.
The invention also provides a position indicating system which comprises the position indicator and the position indicator control equipment.
The position indicator control device provided by the embodiment of the application can determine the transverse angle and the longitudinal angle of the position indicator by controlling the inertia detection unit, determine the motion angle of the driving device by the angle signal acquisition unit, and realize that the difference value between the motion angle of the driving device and the transverse angle or the longitudinal angle is zero by controlling the motion of the driving device. Therefore, the matching of the position indicator and the real motion state of the equipment is realized, the indication of the motion state of the equipment where the position indicator is located is realized, the control logic is simple, and the control effect is better.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a position indicator control apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a position indicator control device and a position indicator according to an embodiment of the present invention.
Fig. 3 is another schematic diagram of the position indicator control device and the position indicator according to the embodiment of the present invention.
Fig. 4 is another schematic diagram of the position indicator control device and the position indicator according to the embodiment of the present invention.
Fig. 5 is another schematic diagram of the position indicator control device and the position indicator according to the embodiment of the present invention.
Fig. 6 is another schematic diagram of the position indicator control device and the position indicator according to the embodiment of the present invention.
Icon: 100-position indicator control device; 200-a position indicator; 101-an inertial detection unit; 102-an angle signal acquisition unit; 103-a control chip; 104-display control panel; 105-a first indicating device; 1051-a lateral drive mechanism; 1052-a transverse rotator; 106-a second indicating device; 1061-a first drive mechanism; 1062 — a second drive mechanism; 1063-a first resolver; 1064-a second resolver; 1065-azimuth drive motor; 1066-rotary encoder; 1067-elevation stepper motor; 1068-a locking device; 1069-a flash device; 1070-flash motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The present application provides a position indicator control apparatus 100, as shown in fig. 1, to which a position indicator 200 may be fixedly mounted to indicate a motion state of the apparatus. The position indicator 200 may include an indicating means and a driving means. The control apparatus includes: the device comprises a shell, an inertia detection unit 101, an angle signal acquisition unit 102 and a control chip 103.
An inertial detection unit 101 is fixedly disposed in the accommodating chamber for detecting a lateral angle and a longitudinal angle of the position indicator 200 with respect to a horizontal plane. The transverse angle and the longitudinal angle are the motion states of the position indicator 200 from the inertial detection unit 101 relative to the horizontal plane, a reference coordinate system based on the horizontal plane can be established in advance, and if the position indicator 200 swings transversely, the inertial detection unit 101 can detect the angle of the transverse swing to obtain the transverse angle. It is understood that if the position indicator 200 is vertically swung, the lateral direction is perpendicular to the longitudinal direction, and the inertial detection unit 101 can detect the angle of the vertical swing to obtain the longitudinal angle.
The indicating means is used to indicate the motion state of the position indicator 200. As shown in fig. 2, the indicating means may include a first indicating means 105 for indicating a lateral level state and a second indicating means 106 for performing a motion cue.
The first indicating device 105 may be a bar-shaped light, and the bar-shaped extending direction may be parallel to the horizontal plane, and the emitted light is parallel to the horizontal plane. The device on which the horizontal position indicating device is arranged is provided with the indicating device with a fixed position, the indicating device with the fixed position can move along with the horizontal movement of the equipment on which the indicating device is arranged, and the driving device drives the horizontal position indicating device to keep horizontal, so that an angle difference is formed between the horizontal position indicating device and the fixed indicating device, and the horizontal state of the equipment on which the indicating device is arranged is displayed. It is understood that the second indicating device 106 can indicate the movement track of other equipment to the equipment where the position indicator 200 is located by lighting.
The indicating device is driven by a drive mechanism. In detail, the driving device may include a lateral driving mechanism 1051 for driving the first indicating device 105 to move laterally, a first driving mechanism 1061 for driving the second indicating device 106, and a second driving mechanism 1062 for driving the second indicating device 106 to move. The transverse driving mechanism 1051, the first driving mechanism 1061, and the second driving mechanism 1062 may be motors or other driving mechanisms, in this embodiment of the present application, the transverse driving mechanism 1051, the first driving mechanism 1061, and the second driving mechanism 1062 may use motors as driving power sources, it is understood that the driving mechanisms further include other components such as a speed reducer connected to the motors, and this application is not limited in particular.
The first indicating means 105 may be used only as an indicating means for indicating the lateral position, and the second indicating means 106 needs to keep the emitted light stable in space to provide a stable indication to the user. However, since the second indicating device 106 is also mounted on the related equipment, the lateral rotation of the equipment will affect the indication of the first indicating device 105 and the second indicating device 106. The control for the first indicating device 105 may be performed only for adjustment of the lateral angle, and the control for the second indicating device 106 requires simultaneous control of the lateral angle and the longitudinal angle. Accordingly, the second drive mechanism 1062 may include a first drive mechanism 1061 and a second drive mechanism 1062. The first drive mechanism 1061 is used to control the movement of the second indicator 106 in the lateral direction, and the second drive mechanism 1062 is used to control the movement of the second indicator 106 in the longitudinal direction.
The position indicator 200 includes an angle detecting means for detecting a movement angle of the driving means. In detail, the angle detecting device includes a lateral rotator 1052 for detecting a lateral rotation angle of the lateral driving mechanism 1051, a first rotator 1063 for detecting a lateral rotation angle of the first driving mechanism 1061 in the second indicating device 106, and a second rotator 1064 for detecting a first rotation angle of the second driving mechanism 1062.
The angles of rotation of the first indicating device 105 and the second indicating device 106 relative to the initial position in the current state can be known by the rotation angles respectively detected by the rotators.
The control device in the embodiment of the present application includes an angle signal acquisition unit 102 for receiving the movement angle of the driving means. Specifically, the angle signal acquiring unit 102 may receive the rotation angle information detected by the lateral rotator 1052, the first rotator 1063, and the second rotator 1064. The angle signal obtaining unit 102 is connected to each resolver, and can receive the rotation angle information detected by each resolver in real time.
The control chip 103 is configured to generate a driving signal to drive the driving device to have a difference between the movement angle and the transverse angle or the longitudinal angle being zero according to the transverse angle, the longitudinal angle, and the movement angle. In detail, the control chip 103 may generate a driving signal according to a difference between the transverse angle and the transverse rotation angle, and drive the transverse driving mechanism 1051 to rotate, so that the difference between the rotated angle of the transverse driving mechanism 1051 and the transverse angle is zero. After the difference between the angle of the transverse driving mechanism 1051 after the rotation and the transverse angle is zero, the first indicating device 105 can be kept horizontal. And the angle of rotation of the apparatus in which the position indicator 200 is located in the lateral direction is a lateral angle, the movement state of the apparatus in the lateral direction can be indicated by the first indicating means 105. Similarly, the control chip 103 generates a first driving signal according to the difference between the transverse angle and the transverse rotation angle of the first driving mechanism, and drives the first driving mechanism 1061 to rotate, so that the difference between the rotated angle of the first driving mechanism 1061 and the transverse angle is zero. Thereby keeping the second indicator 106 horizontal in the transverse direction. The control chip 103 may further generate a second driving signal according to a difference between the longitudinal angle and the first rotation angle, and drive the second driving mechanism 1062 to rotate, so that the difference between the rotated angle of the second driving mechanism 1062 and the longitudinal angle is zero.
In the embodiment of the present application, the longitudinal direction may be a moving direction of the device where the position indicator 200 is located in a normal moving state, the transverse direction is a direction perpendicular to the longitudinal direction, and a plane where the longitudinal direction and the transverse direction are located is parallel to a horizontal plane, that is, the ground is used as a reference frame of the device where the position indicator is located.
In one embodiment, as shown in fig. 3, the position indicator 200 further includes an azimuth drive motor 1065 for controlling the second indicating device 106 to rotate in the horizontal direction by a preset azimuth angle, and a rotary encoder 1066 for detecting an actual azimuth angle by which the azimuth drive motor 1065 rotates.
The control chip 103 generates an azimuth driving signal according to the difference between the actual azimuth angle and a preset azimuth angle, and drives the azimuth driving motor 1065 to rotate, so that the actual azimuth angle is equal to the preset azimuth angle.
The second indicating device 106 can be kept still relative to the horizontal plane through the driving of the first driving mechanism 1061 and the second driving mechanism 1062, and the second indicating device 106 needs to rotate on the plane for a certain angle in actual use so as to form a light warning at a proper angle for other staff. The rotational power of the second indicating device 106 may be realized by the azimuth driving motor 1065, and the angle of rotation may be detected by the rotary encoder 1066. The rotary encoder 1066 may be an AB-phase encoder, and a reference position may be preset, and after the second indicator 106 has rotated to a certain degree, the specific angle of rotation may be detected by the rotary encoder 1066. It is determined whether the azimuth driving motor 1065 is rotated by a predetermined angle through comparison with a preset angle. If the second indication device 106 does not rotate by the predetermined angle to reach the predetermined position, the control chip 103 may generate a corresponding driving signal to drive the azimuth driving motor 1065 to rotate to the predetermined angle, so as to maintain the predetermined azimuth of the second indication device 106.
As shown in fig. 4, the position indicator 200 further includes an elevation stepping motor 1067 for controlling the second indicating device 106 to tilt, and the control chip 103 determines the number of driving pulses for driving the elevation stepping motor 1067 to move according to a preset elevation angle, and generates driving pulses to move the elevation stepping motor 1067 by the preset elevation angle.
The second indicating device 106 may include a plurality of L ED lights, and the position indicator 200 further includes a current collecting module for detecting the actual magnitude of current when the L ED light is operated.
The control chip 103 determines a preset current according to preset brightness, and generates L ED lamp driving signals according to the actual current so as to drive the actual current of the L ED lamp to be equal to the preset current, the position indicator 200 can form different forms of position reminding through a plurality of L ED lamps, the brightness of the L ED lamp may not be consistent with the preset brightness when the L ED lamp is turned on, and inconvenience is caused to position indication, the current collection module collects the actual current of the L ED lamp during working, and determines whether the actual current is consistent with the preset current, so that the driving control of the L ED lamp can be realized, the actual current of the L ED lamp is consistent with the preset current, and the brightness of the L ED lamp is consistent with the preset brightness.
In one embodiment, as shown in fig. 5, the position indicator 200 further comprises a locking device 1068 for controlling the locking of the light pole. The control chip 103 controls the locking device 1068 to unlock or lock according to the unlocking instruction or the locking instruction. The lamp pole needs to be locked in position in some occasions, and the locking device 1068 enables the lamp pole to move or be locked according to an unlocking instruction or a locking instruction so as to meet the position indication of different occasions.
In one embodiment, as shown in fig. 6, the position indicator 200 further includes a flash device 1069, a flash motor 1070 for controlling the rotation of the flash device 1069, and a sensor for detecting whether the flash device 1069 is located at the origin. When the flash device 1069 is not located at the origin, the control chip 103 generates a driving signal to drive the flash motor 1070, so that the flash device 1069 returns to the origin, and controls the flash motor 1070 to rotate forward, backward, or stop according to a preset flashing instruction. Different forms of position indication can be formed by the flash device 1069, the flash motor 1070 can control the rotation of the flash device 1069, and the flash device 1069 can be in different flash states by controlling the different forms of rotation, such as forward rotation, reverse rotation or stop, of the flash motor 1070, so as to complete different flash indications.
The embodiment of the present application also provides a position indicating system, which includes the position indicator 200 and the position indicator control device 100.
In summary, the position indicator 200 control device provided in the embodiment of the present application can determine the transverse angle and the longitudinal angle of the position indicator 200 by controlling the inertia detection unit 101, determine the movement angle of the driving device by the angle signal acquisition unit 102, and control the movement of the driving device to make the difference between the movement angle of the driving device and the transverse angle or the longitudinal angle zero. Therefore, the matching of the position indicator 200 and the real motion state of the equipment in which the position indicator 200 is positioned is realized, the indication of the motion state of the equipment in which the position indicator 200 is positioned is realized, the control logic is simple, and the control effect is better.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A position indicator control apparatus for controlling movement of a position indicator, the position indicator comprising indicating means for indicating a state of movement of the position indicator; and driving means for driving the movement of the indicating means; the control apparatus includes:
a housing having a receiving chamber;
the inertia detection unit is fixedly arranged in the accommodating cavity and is used for detecting the transverse angle and the longitudinal angle of the position indicator relative to the horizontal plane;
the angle signal acquisition unit is used for receiving the motion angle of the driving device;
the control chip is used for generating a driving signal according to the transverse angle, the longitudinal angle and the motion angle so as to drive the motion angle of the driving device to be zero different from the transverse angle or the longitudinal angle;
the indicating device comprises a first indicating device for indicating the transverse horizontal state and a second indicating device for performing motion prompt;
the driving device comprises a transverse driving mechanism for driving the first indicating device to move transversely, and the position indicator further comprises an angle detecting device which comprises a transverse rotator for detecting the transverse rotation angle of the transverse driving mechanism;
and the control chip generates a transverse driving signal according to the difference value between the transverse rotation angle and the transverse angle so as to drive the transverse driving mechanism to rotate, so that the difference value between the transverse rotation angle and the transverse angle of the transverse driving mechanism is zero.
2. The position indicator control apparatus according to claim 1, further comprising a display control panel for receiving a user's instruction input, displaying the lateral angle, the longitudinal angle, and the movement angle.
3. The position indicator control apparatus of claim 1, wherein the drive device further comprises a first drive mechanism for driving the second indicator device in lateral movement and a second drive mechanism for driving the second indicator device in longitudinal movement;
the angle detection device also comprises a first resolver used for detecting the transverse rotation angle of the first driving mechanism and a second resolver used for detecting the first rotation angle of the second driving mechanism;
the control chip generates a first driving signal according to the difference value between the transverse angle and the transverse rotation angle so as to drive the first driving mechanism to rotate, and the difference value between the rotation angle of the first driving mechanism and the transverse angle is zero;
and the control chip generates a second driving signal according to the difference value between the longitudinal angle and the first rotating angle so as to drive the second driving mechanism to rotate, so that the difference value between the rotating angle of the second driving mechanism and the longitudinal angle is zero.
4. The position indicator control apparatus according to claim 3, wherein the position indicator further comprises an azimuth drive motor for controlling the second indicating device to rotate in a horizontal direction by a preset azimuth angle; and
a rotary encoder for detecting an actual azimuth angle at which the azimuth drive motor rotates;
and the control chip generates an azimuth angle driving signal according to the difference value between the actual azimuth angle and a preset azimuth angle, and drives the azimuth angle driving motor to rotate so as to enable the actual azimuth angle to be equal to the preset azimuth angle.
5. Position indicator control device according to claim 3 or 4, characterized in that the position indicator further comprises an elevation stepping motor for controlling the pitch of the second pointing means;
and the control chip determines the number of driving pulses for driving the elevation stepping motor to move according to a preset elevation angle, and generates the driving pulses so as to enable the elevation stepping motor to move to the preset elevation angle.
6. The position indicator control apparatus of claim 3, wherein the second indicating device comprises a plurality of L ED lights, the position indicator control apparatus further comprising a current collection module for detecting an actual current magnitude when the L ED lights are operating;
the control chip determines a preset current according to preset brightness, and generates L ED lamp driving signals according to the actual current so as to drive the L ED lamp to have the same actual current as the preset current.
7. The position indicator control apparatus according to claim 3, wherein the position indicator further comprises a locking device for controlling locking of the second indicating device;
and the control chip controls the locking device to unlock or lock according to the unlocking instruction or the locking instruction.
8. The position indicator control apparatus according to claim 3, wherein the position indicator further comprises a flash device, and a flash motor for controlling rotation of the flash device; and
a sensor for detecting whether the flash device is located at an origin;
and the control chip generates a driving signal when the flash equipment is not positioned at the original point, drives the flash motor to enable the flash equipment to return to the original point, and controls the flash motor to rotate forwards, reversely or stop according to a preset flash instruction.
9. A position indicating system comprising the position indicator according to any one of claims 1 to 8 and a position indicator control device.
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| CN201710810513.2A CN107589761B (en) | 2017-09-11 | 2017-09-11 | Position indicator control apparatus and position indicating system |
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| CN201710810513.2A CN107589761B (en) | 2017-09-11 | 2017-09-11 | Position indicator control apparatus and position indicating system |
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| CN107589761A CN107589761A (en) | 2018-01-16 |
| CN107589761B true CN107589761B (en) | 2020-07-17 |
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