CN107678423A - A kind of wushu ring dolly and its control method - Google Patents
A kind of wushu ring dolly and its control method Download PDFInfo
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- CN107678423A CN107678423A CN201710704906.5A CN201710704906A CN107678423A CN 107678423 A CN107678423 A CN 107678423A CN 201710704906 A CN201710704906 A CN 201710704906A CN 107678423 A CN107678423 A CN 107678423A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 179
- 230000001953 sensory effect Effects 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008447 perception Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000006698 induction Effects 0.000 description 6
- 230000001154 acute effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000008520 organization Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- 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
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of wushu ring dolly and its control method.Dolly includes：Small vehicle main body and control system, execution system and sensory perceptual system in small vehicle main body；Small vehicle main body includes chassis；Sensory perceptual system includes multiple edge detecting sensors, ring detection sensor and hostile dolly detection sensor.This method includes：Wushu ring dolly current state is judged according to induced signal；Dolly performs program of appearing on the stage when on ring；When dolly reach ring edge but surrounding without it is hostile when perform edge treated program；When wushu ring dolly is not or not ring edge, but surrounding has hostile wushu ring dolly, hostile wushu ring dolly processing routine is performed；Performed when wushu ring dolly reaches ring edge and surrounding has hostile wushu ring dolly and hide program.In the apparatus and method, the setting of edge detecting sensor so that wushu ring dolly can be more accurate and more rapidly detects ring edge, prevents wushu ring dolly from dropping under ring.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of wushu ring dolly and its control method.
Background technology
Wushu ring dolly is that one kind can detect vehicle body periphery object, and relative with the object that is detected according to it
Position determines the robot dodged or attacked.
When wushu ring dolly is competed, carried out on ring.And, it is necessary to which wushu ring is small when match
Car climbs up ring automatically, and ensures that it will not fall down during the games from ring, if fallen down, needs again
Climb up ring.This requires wushu ring dolly to possess good rim detection performance.
But in fact, current wushu ring dolly can not accurate judgement ring marginal position, often fall down
The situation of ring.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of wushu ring dolly and its control method, can
Preferably ring marginal position is detected, reduces the probability that wushu ring dolly falls down ring.
In a first aspect, the embodiments of the invention provide a kind of wushu ring dolly, including：Small vehicle main body, control system, hold
Row system and sensory perceptual system；The control system, the execution system and the sensory perceptual system are installed in the dolly
In main body；
Wherein, the small vehicle main body includes：Chassis；
The sensory perceptual system includes：Multiple edge detecting sensors, multiple ring detection sensors and multiple hostile small
Car detection sensor；Multiple edge detecting sensors, multiple ring detection sensors and multiple described hostile small
Car detection sensor is uniformly arranged around the center vertical line on the chassis；
Inspection center's axis of the edge detecting sensor is with the chassis into predetermined angle；The ring detection passes
Sensor, inspection center's axis of the hostile dolly detection sensor are parallel with the chassis；
The edge detecting sensor is used to send the first induced signal to the control system；The ring detection sensing
Device is used to send the second induced signal to the control system；The hostile dolly detection sensor is used for the control system
Send the 3rd induced signal；
The control system is used to realize rim detection according to first induced signal, according to second induced signal
Realize that ring detects, realize that hostile wushu ring dolly detects according to the second induced signal and the 3rd induced signal, and obtain
Wushu ring dolly current state；According to wushu ring dolly current state, to control signal corresponding to execution system transmission；
The execution system, for according to control signal, controlling small vehicle main body action.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein：Institute
The cross section for stating chassis is that the bearing of trend of first axle is respectively the front of small vehicle main body along first axle symmetrical polygon
And the rear of small vehicle main body；
The chassis is also symmetrical along second axis；
Wherein described second axis is mutually perpendicular to the first axle, and the both direction point of second axis extension
Not Wei the small vehicle main body the left and right.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein：State
Small vehicle main body also includes：Wheel and gripper；
Wherein, wheel is arranged on the lower section on the chassis, and is connected with the execution system, and it is used to perform system described
The advance, retrogressing and steering of small vehicle main body are realized under the control of system；
The gripper is arranged on the top on the chassis, and in the front of the small vehicle main body and the small vehicle main body
Rear is set respectively；
The gripper of gripper and the small vehicle main body rear in front of the small vehicle main body is along the second axis
The vertical plane at place is symmetrical.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein：Institute
Stating execution system includes：Digital rudder controller and motor；
The motor is arranged on the lower section on the chassis, and is connected with the wheel, for controlling the wheel is positive to turn
Move or rotate backward；
The digital rudder controller is arranged on the top on the chassis, and is connected with the gripper, for driving the machinery
Pawl moves.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 4th of first aspect kind, wherein：Institute
State and wheel steering controlling organization is additionally provided between motor and the wheel.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, wherein：Institute
Stating control system includes：Controller and driver；
The controller is arranged on the middle part above the chassis；
The controller and driver electrical connection；The controller connects with the electrical connection digital rudder controller；It is described
Driver and the motor connection；
The controller is also connected with the sensory perceptual system.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 6th of first aspect kind, wherein：Institute
Stating ring detection sensor includes：Multiple first ring detection sensors and multiple second ring detection sensors；
Wherein, the quantity of the first ring detection sensor is identical with the quantity of the second ring detection sensor；
The first ring detection sensor is arranged on the top on the chassis, is uniformly arranged around the center chassis vertical line；
Multiple second ring detection sensors are arranged on the lower section on chassis, and each second ring detection sensor
Installation site it is corresponding with the installation site of a first ring detection sensor.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 7th of first aspect kind, wherein：Institute
Stating hostile dolly detection sensor includes：Multiple first hostile dolly detection sensors and multiple second hostile dolly detections pass
Sensor；
The first hostile dolly detection sensor is arranged on the gripper；And multiple first hostile small car tests
It is symmetrical along the vertical plane where the first axle and symmetrical along the vertical plane where the second axis to survey sensor；
The second hostile dolly detection sensor is arranged on above the chassis, and each second hostile dolly detection
The installation site of sensor is corresponding with the installation site of an edge detecting sensor, the second hostile dolly detection sensing
Inspection center's diameter parallel of device is in the chassis.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 8th of first aspect kind, wherein：Institute
Stating small vehicle main body also includes：Mounting bracket；
The mounting bracket is arranged on above the chassis and/or below chassis；
The sensory perceptual system is arranged on the mounting bracket.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 9th of first aspect kind, wherein：Institute
The cross section for stating chassis is hexagon, and the cross section includes the equal obtuse angle of the equal acute angle of two angles and four angles；
The line of two acute angles is the second axis；The center line on the side between two adjacent obtuse angles is the first axle.
Second aspect, the embodiment of the present invention also provide a kind of wushu ring dolly control method, including：Obtain rim detection
First induced signal transmitted by sensor, the second induced signal transmitted by ring detection sensor；Hostile dolly detection sensor
Transmitted 3rd induced signal；
Judge wushu ring dolly whether on ring according to second induced signal；
When wushu ring dolly is not when on ring, execution is appeared on the stage program；
When wushu ring dolly is when on ring, judge whether wushu ring dolly reaches according to first induced signal
Ring edge, and judge whether surrounding has hostile wushu ring dolly according to the 3rd induced signal；
When wushu ring dolly reaches ring edge, but surrounding is without hostile wushu ring dolly, edge treated journey is performed
Sequence；
When wushu ring dolly is not or not ring edge, but surrounding has hostile wushu ring dolly, performs hostile wushu and beat
Platform dolly processing routine；
When wushu ring dolly reaches ring edge, and surrounding has hostile wushu ring dolly, program is hidden in execution.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, described
Judge that wushu ring dolly whether on ring, specifically includes according to second induced signal：
The second induced signal transmitted according to the first ring detection sensor and second ring detection pass
The second induced signal that sensor is transmitted judges, if object be present simultaneously in the both direction of the wushu ring dolly；
If it is, wushu ring dolly is under ring；
If only one side object occurs or do not detect object, wushu ring dolly is on ring；
It is described to judge whether wushu ring dolly reaches ring edge according to first induced signal, specifically include：
According to first induced signal, judge whether edge detecting sensor detects object；
If one of those does not detect object to the edge detecting sensor, wushu ring dolly reaches ring side
Edge position, and the direction that the edge detecting sensor for detecting object is installed on wushu ring dolly is ring edge
Place direction；
Judge whether surrounding has hostile wushu ring dolly according to second induced signal and the 3rd induced signal, specific bag
Include：
Every preset time, according to default polling sequence, the successively hostile dolly detection sensor of poll and ring detection
Sensor, and judge whether to detect object according to second induced signal or the 3rd induced signal in poll；
If the hostile dolly detection sensor of wherein at least one and/or at least one ring detection sensor detect thing
Body, then there is hostile wushu ring dolly around wushu ring dolly, and detect the hostile dolly detection sensor of object
And/or the position installed on the wushu ring dolly of ring detection sensor is the side where hostile wushu ring dolly
To.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of second of second aspect,
It is described to perform program of appearing on the stage, specifically include：
Wushu ring dolly small angle rotation is controlled, until the front or behind face ring of wushu ring dolly；
Control wushu ring dolly drives to ring edge so that the first gripper is in above ring；First machine
Machinery claw is the gripper above ring, and the gripper away from ring is the second gripper；
The one end of the gripper away from small vehicle main body is controlled to push so that first gripper is against on ring, dolly
Main body is lifted close to the side in ring direction；
Small vehicle main body is controlled towards the direction running close to ring, until close to the wheel row in ring direction in small vehicle main body
Sail on ring, control the first gripper return；
The one end of the second gripper away from small vehicle main body is controlled to push so that the second gripper is against the ground under ring
On, side of the small vehicle main body away from ring direction is lifted；
Wushu ring dolly is controlled towards the direction running close to ring, until the wheel away from ring direction reaches ring
Top, control the second gripper return.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the third of second aspect,
The execution edge treated program, is specifically included：
The first induced signal according to transmitted by edge detecting sensor, judges the direction where ring edge；
Wushu ring dolly is controlled away from the direction running where ring edge；
It is described to perform hostile wushu ring dolly processing routine, specifically include:
Transmitted by the second induced signal and hostile dolly detection sensor according to transmitted by ring detection sensor
3rd induced signal, judge the direction where hostile wushu ring dolly；
Give it the gun in direction where controlling small vehicle main body towards hostile wushu ring dolly；
Program is hidden in the execution, specifically includes：
The first induced signal according to transmitted by edge detecting sensor, judges the direction where ring edge；
Transmitted by the second induced signal and hostile dolly detection sensor according to transmitted by ring detection sensor
3rd induced signal, judge the direction where hostile wushu ring dolly；
Wushu ring dolly is controlled away from ring edge, while away from the direction row where hostile wushu ring dolly
Sail.
The wushu ring dolly and its control method that the embodiment of the present invention is provided, wherein, wushu ring dolly includes
Small vehicle main body, control system, execution system and sensory perceptual system；Control system, execution system and sensory perceptual system are installed in
In small vehicle main body, sensory perceptual system includes：Multiple edge detecting sensors, multiple ring detection sensors and multiple hostile dollies
Detection sensor；Inspection center's axis of edge detecting sensor is with the chassis into predetermined angle；Ring detection sensor,
Inspection center's axis of hostile dolly detection sensor is parallel with the chassis；State edge detecting sensor is to the control
System sends the first induced signal；Ring detection sensor sends the second induced signal to the control system；Hostile dolly detection
Sensor sends the 3rd induced signal to control system；Sensory perceptual system realizes rim detection, root according to first induced signal
Realize that ring detects according to the second induced signal, realize that hostile wushu ring is small according to the second induced signal and the 3rd induced signal
Car test is surveyed, and obtains wushu ring dolly current state；According to wushu ring dolly current state, sent to execution system corresponding
Control signal；The execution system, for according to control signal, controlling small vehicle main body action.In this process, edge is examined
Survey the setting of sensor so that wushu ring dolly can be more accurate and more rapidly detects ring edge, prevents wushu from beating
Platform dolly is dropped under ring.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of composition schematic diagram for wushu ring dolly that the embodiment of the present invention is provided；
Fig. 2 shows a kind of dimensional structure diagram for wushu ring dolly that the embodiment of the present invention is provided；
Fig. 3 shows a kind of overlooking the structure diagram for wushu ring dolly that the embodiment of the present invention is provided；
Fig. 4 shows a kind of present invention looks up structural representation for wushu ring dolly that the embodiment of the present invention is provided；
Fig. 5 shows a kind of side structure schematic view for wushu ring dolly that the embodiment of the present invention is provided；
Fig. 6 shows a kind of positive structure diagram for wushu ring dolly that the embodiment of the present invention is provided；
Fig. 7 shows chassis and the sensory perceptual system for a kind of wushu rib wushu ring dolly that the embodiment of the present invention is provided
Position relationship schematic diagram；
Fig. 8 shows the embodiment of the present invention so the judgement wushu ring dolly provided is in the schematic diagram at ring edge；
Fig. 9 shows the embodiment of the present invention so the judgement wushu ring dolly provided is in the schematic diagram at ring edge.
Illustrate：
Small vehicle main body 10, chassis 101, wheel 102, gripper 103, mounting bracket 104, controller fixed mount 105；
Control system 20, controller 201, driver 202；
Execution system 30, digital rudder controller 301, motor 302；
Sensory perceptual system 40, edge detecting sensor 401, ring detection sensor 402, hostile dolly detection sensor 403；
First ring detection sensor 4021, the second ring detection sensor 4022；
First hostile dolly detection sensor 4031, the second hostile dolly detection sensor 4032.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
Following problems be present in current wushu ring dolly (abbreviation wushu ring dolly)；1st, sensor with small vehicle main body
When structure is installed, outside distinct issues be present, often damaged during ring is raced；2nd, current wushu ring dolly
There is check frequency in detecting system, when hostile wushu ring dolly is in our wushu ring dolly check frequency position, to we
When wushu ring dolly is led off an attack, our wushu ring dolly can not detect that danger approaches；3rd, current wushu ring is small
Car can not often fall down the situation of ring accurately to the detection of ring marginal position and vehicle body towards detecting；4th, it is mechanical
Error is big, wushu ring dolly advance with turn to during, it is impossible to accurately according to instruction operation, exist larger inclined
Difference, based on this, a kind of wushu ring dolly and its control method that the application provides, it can solve the above problems.
For ease of understanding the present embodiment, a kind of wushu ring dolly disclosed in the embodiment of the present invention is entered first
Row is discussed in detail.
It should be noted that in the description of the invention, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In addition, in the description of the invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected；It can be machine
Tool connects or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
Referring to shown in Fig. 1-Fig. 5：
The wushu ring dolly that the embodiment of the present invention is provided includes：Small vehicle main body 10, control system 20, execution system 30
And sensory perceptual system 40.
Wherein, control system 20, execution system 30 and sensory perceptual system 40 are installed in small vehicle main body 10；
Sensory perceptual system 40, for sensing to the external world, and induced signal is generated, and induced signal is passed into control system
System 20；
Control system 20, for according to induced signal, obtaining the current state of wushu ring dolly, and according to wushu ring
The current state of dolly, corresponding control signal is sent to execution system 30；
Execution system 30, for according to control signal, controlling small vehicle main body 10 to take action.
When specific implementation：
First, as shown in Figure 2, small vehicle main body includes：Chassis 101, wheel 102 and gripper 103.
Wherein, the cross section on chassis 101 is to be respectively along the symmetrical polygon of first axle, the bearing of trend of first axle
The front of small vehicle main body and the rear of small vehicle main body.Preferably, in order to allowing the more steady of whole wushu ring dolly
Determine, it is necessary to which so that the structure of whole wushu ring dolly meets Central Symmetry principle and center of gravity is drawn close to the center on chassis, therefore
Chassis is also symmetrical along second axis, and two bearing of trends of second axis are respectively the left and right of small vehicle main body, and first
Axis and second axis are mutually perpendicular to.
It should be noted that the chassis 101 of small vehicle main body is not necessarily symmetrical along the vertical plane where second axis, Ke Yigen
The shape on chassis is set according to the overall position of centre of gravity of wushu ring dolly.
For example, as shown in Fig. 4 and Fig. 7, the cross section on chassis 101 is arranged to hexagon, and it includes two angle phases
Deng acute angle, the equal obtuse angle of four angles.The line of two acute angles is second axis；Positioned at the adjacent of second axis the same side
Two obtuse angles between the center line on side be first axle.
Wheel 102 is arranged on the lower section on chassis 101, and wheel is connected with execution system, can be in the control of execution system
Under, realize that advance, retrogressing, steering of wushu ring dolly etc. act.
For example, in embodiment corresponding to Fig. 4, wheel 102 has four, and each two wheel is one group, and two in every group
Individual wheel 102 is symmetrical arranged along the vertical plane where first axle.As four wheels are respectively：Wheel A, wheel B, wheel C and
Wheel D, wheel A and wheel B are one group, and positioned at the front of small vehicle main body, wheel C and wheel D are one group, are arranged on small car owner
The rear of body.
Preferably, two groups of wheels 102 are also symmetrical along the vertical plane where second axis, and the midpoint line of four wheels 102
It is rectangular.Preferably, the midpoint of four wheels is wired to square.So enable to the structure of wushu ring dolly more
It is compact, lift self-strength.
It should be noted that the one of which wheel in two groups of wheels can be driving when setting by wheel 102
Wheel, another group of wheel are driven wheel, and driving moment depends on the driving of execution system, such as wheel A and wheel B is set
For driving moment, wheel A and wheel B are connected with motor；Or wheel C and wheel D are arranged to driving moment, wheel C and car
Wheel D is connected with motor.In addition in driving moment, wheel steering controlling organization is typically also associated with.The wheel steering control machine
Structure is used for the specific direct of travel for controlling wheel, so as to control the direction of advance of wushu ring dolly.
Alternatively, it is also possible to which two groups of wheels are disposed as into driving moment, for example, wheel A, wheel B, wheel C and wheel D
It is driving moment, and wheel A, wheel B, wheel C and wheel D connect a motor respectively.In front of small vehicle main body
Wheel, i.e. wheel A and wheel B are connected with wheel steering controlling organization, for controlling wheel steering；Or positioned at dolly main body
The wheel at rear, i.e. wheel C connect wheel steering controlling organization with wheel D, for controlling the steering of wheel.
Furthermore it is also possible to greater number of wheel or lesser amount of wheel are set, such as three wheels, five wheels
Deng, and the specific distributing position of wheel can specifically be set according to the actual needs.Can also be according to the center of gravity of reality
It is required that the position of wheel is set, for example, two groups of wheels are symmetrical along the vertical plane where first axle, but it is small positioned at wushu ring
The distance between two wheels of front side, less than the distance between two wheels being located behind；Or two groups of equal edges of wheel
Vertical plane where first axle is symmetrical, but the setting height(from bottom) of the wheel in front of wushu ring dolly, with being beaten positioned at wushu
The setting height(from bottom) of the wheel at platform dolly rear simultaneously differs；Or two groups of wheels are symmetrically set along the vertical plane where first axle
Put, but the diameter of wheel of the diameter of the wheel in front of wushu ring dolly with being located at wushu ring dolly rear is not
It is identical.
Shown in Figure 5, gripper 103 is arranged on the top on chassis, and is set respectively before and after small vehicle main body.Positioned at small
The gripper of vehicle main body front and back is symmetrical arranged along the vertical plane where second axis.Such as in the embodiment shown in fig. 3,
Two grippers 103 are set respectively before and after small vehicle main body, i.e. 4 grippers 103, and the machinery in front of small vehicle main body altogether
Pawl 103 is：Gripper A, gripper B；Gripper positioned at wushu ring dolly rear is：Gripper C and gripper D.
Gripper 103 is mainly used in ring on wushu ring dolly wushu ring dolly, and is used as wushu ring dolly
Primary challenge position when performing attack on hitting ring.Gripper 103 is connected with execution system 30, and execution system 30 can
The activity of control machine machinery claw 103 so that gripper 103 can stretch to different directions.
Usually, the one end of gripper 103 away from small vehicle main body can go up lift and push, that is, stretch to above and below.
In addition, on the wushu ring dolly that the embodiment of the present invention is provided, in order to which sensory perceptual system is arranged on into bottom
On disk, mounting bracket 104 is additionally provided with chassis, the height and quantity of the mounting bracket 104, and sensor in sensory perceptual system 40
Specific setting height(from bottom) and quantity are corresponding.It should be noted that mounting bracket 104 is arranged on the above and or below on chassis, i.e. root
Specifically set according to the sensor mounting location in sensory perceptual system.Mounting bracket is the specific component for being used for fixing sensor.
2nd, execution system 30 includes：Digital rudder controller 301 and motor 302.Wherein, referring to shown in Fig. 1 and Fig. 4, motor
302 connect with control system 20 and wheel 102 respectively, and under the control of control system 20, driving moment 102 is positive or anti-
Rotate, realize the advance or retrogressing of wushu ring dolly；Digital rudder controller 301 (not marked in structure chart) respectively with control be
System 20 and gripper 103 connect, under the control of control system 20, driving the motion of gripper 103.Specifically, number
Word steering wheel 301 can select Multiple Type, such as CDS5516 digital rudder controllers.
It should be noted that in order to cause the overall structure of wushu ring dolly more compact, motor 302 is installed
Below chassis, the power output shaft of motor 302 is connected with wheel.And digital rudder controller 301 is then arranged close to the position of gripper
Put, the power output shaft of digital rudder controller 301 is connected with gripper 103.
3rd, control system 20 includes：Controller 201 and driver 202.
Controller 201 and driver 202 electrically connect.Digital rudder controller 301 in controller 201 and execution system connects；Drive
Motor 302 in dynamic device 202 and execution system connects.Wherein, digital rudder controller directly can obtain control letter from controller 201
Number, and according to the motion of control signal driving gripper 103.Driver 202 also directly can obtain control letter from controller 201
Number, and rotate forward or rotate backward according to control signal motor 302.
Shown in Figure 3, controller is typically mounted at the middle part of the top of chassis 101, and the peace of controller 201 for convenience
Dress, is provided with controller fixed mount 105 above chassis.
Specifically, controller 201 and driver 202 can also select Multiple Type, for example, MultiFLEXTM2-AVR is controlled
Device processed, BDMC1203 drivers.
Shown in Figure 4, driver 202 is generally located on the lower section on chassis 101, and respectively with motor 302 and controller
(Fig. 4 is not marked) electrically connects.
It should be noted that the quantity of driver 202 is typically identical with the quantity of motor 302, each driver 302 is used
To drive the operating of a motor.Or the quantity of driver is less than the quantity of motor, a driver drives at least one electricity
In machine, such as Fig. 4, motor 302 has 4, and driver 202 has 2, and each driver 202 drives two motors 302.
4th, sensory perceptual system 40, including：Multiple edge detecting sensors 401, multiple ring detection sensors 402 and more
Individual hostile dolly detection sensor 403, edge detecting sensor 401, ring detection sensor 402 and hostile dolly are detected
Sensor 403 is referred to as sensor.Wherein, the sensor can be that infrared proximity transducer or infrared distance measurement pass
Sensor；Wherein, if the sensor is infrared proximity transducer, it is connected with the digital quantity interface of controller；It is if red
External distance measuring sensor, then it is connected with the analog interface of controller.Generally, due to the digital quantity interface of controller and simulation
It is all limited to measure interface, and the quantity of sensor is more, therefore generally, sensor had both included infrared proximity transducer, again
Including infrared distance sensor, specific set can set according to actual conditions.
When specific implementation, multiple edge detecting sensors, multiple ring detection sensors and more
The individual hostile dolly detection sensor is uniformly arranged around the center vertical line on the chassis；The edge detecting sensor is used
In to the control system send the first induced signal；The ring detection sensor is used to send second to the control system
Induced signal；The hostile dolly detection sensor is used to send the 3rd induced signal to the control system；Controller is connecing
After receiving above-mentioned first induced signal, the second induced signal and the 3rd induced signal, control signal is sent to corresponding to generation
Driver and/or digital rudder controller, to control the action of wushu ring dolly.Wherein, the first induced signal, the second sensing are believed
Number, the 3rd induced signal be referred to as induced signal.
Specifically, the action of wushu ring dolly includes：Appear on the stage, edge treated, attack, advance, hide.Wherein, advance
Including advancing, retreating, conventional action, the wushu ring dolly such as turn can be advanced according to default traveling mode, for example wushu is beaten
Platform dolly straight ahead after upper ring, when detect reach ring edge when, going direction changing predetermined angle, again
Advanced with linear state；Such as wushu ring dolly changes a direction of advance after upper ring every preset time again,
On the premise of not running into hostile wushu ring dolly or not running into ring edge, the advance route finally presented is one
Individual regular polygon.In wushu ring dolly traveling process, the sensing that controller 201 can be according to transmitted by sensory perceptual system 40 is believed
Number the current state of wushu ring dolly, which includes, to be judged to the current state of wushu ring dolly：Under ring, in ring
Edge, surrounding have hostile wushu ring dolly (in the induction range of sensory perceptual system)；When the current state of wushu ring dolly is：
When under ring, the action that wushu ring dolly needs to perform is to appear on the stage；When the current state of wushu ring dolly is：In ring
Edge, the action that wushu ring dolly needs to perform is edge treated；When the current state of wushu ring dolly is：Surrounding has enemy
During to wushu ring dolly, the action that wushu ring dolly needs to perform is attack；Preferably, if wushu ring dolly is worked as
Preceding state is at ring edge, and perceiving surrounding has hostile wushu ring dolly, then the execution of wushu ring dolly is hidden dynamic
Make, it is to be advanced towards the opposite direction in ring edge that this, which hides action, the direction not necessarily with ring edge where straight line
Vertically, if ensure wushu ring dolly towards the opposite direction in ring edge not with hostile wushu ring dolly where direction
Unanimously, and ensure that wushu ring dolly will not fall down ring.
Sensor when being installed in small vehicle main body, it is necessary to uniformly installed around small vehicle main body, and will foot in quantity
It is more than enough, so as to be perceived in a plurality of directions to the external world, eliminate check frequency.
1st, edge detecting sensor 401 has multiple, and multiple edge detecting sensors 401 are arranged on the top on chassis 101,
And it is uniformly arranged around the center chassis vertical line.Each edge detecting sensor is with the chassis into predetermined angle.
Specifically, referring to shown in Fig. 5 and Fig. 6, edge detecting sensor 401 has 4, is respectively：Sensor N, sensor
P, sensor R and sensor T, for detecting edge.4 rim detection sensings, 401 are separately positioned on two where chassis 101
Bar diagonal, two diagonal and the angle of first axle and second axis are respectively 45 °.That is the first diagonal and second
On cornerwise four direction, i.e., it is the sensor N positioned at small vehicle main body left front respectively；Biography positioned at small vehicle main body right front
Sensor P；Sensor R positioned at small vehicle main body left back；Sensor T positioned at small vehicle main body right back.And each rim detection
Inspection center's axis of sensor and chassis are into predetermined angle α.
Preferably, edge detecting sensor 401 is infrared proximity transducer.
2nd, ring detection sensor 402 includes：Multiple first ring detection sensors 4021 and the detection of multiple second rings
Sensor 4022；And first ring detection sensor 4021 quantity and the second ring detection sensor 4022 quantity phase
Together；The first ring detection sensor 4021 is arranged on the top on the chassis, and uniform around the center chassis vertical line
Set.
Second ring detection sensor 4022 is arranged on the lower section on chassis 101, and each second ring detection sensor
4022 installation site is corresponding with the installation site of a first ring detection sensor 4021, i.e., first beats corresponding to position
Inspection center's axis of platform detection sensor and the second ring detection sensor is in approximately the same plane.And the direction phase of detection
Together.
Such as shown in Fig. 5, the first ring detection sensor has 4.4 the first ring detection sensors 4021 are arranged on bottom
Above disk, and installation site is respectively in the front of small vehicle main body, rear, left and right (inspection center's axis of sensor
On vertical plane typically on the vertical plane where first axle or where second axis), and adjacent two infrared of installation site
Inspection center's axis of distance measuring sensor is mutually perpendicular to.Shown in Figure 7,4 the first ring detection sensors are respectively：Sensing
Device A, sensor B, sensor C and sensor D, for detecting hostile wushu ring dolly and appearing on the stage (upper ring).In this reality
Apply in example, the first ring detection sensor is infrared distance sensor, and it is connected with the analog interface of controller, generated
Induced signal is analog signal.Detected for ring.
Second ring detection sensor 4022 has 4, and 4 the second ring detection sensors 4022 are arranged at chassis 101
Lower section, and the front, rear, the left and right of small vehicle main body 10 are separately positioned on, shown in Figure 7,4 the second ring detections
Sensor 4022 is respectively sensor E, sensor F, sensor G and sensor H, is detected for ring.
It should be noted that the first ring detection sensor 4021 and the second ring detection sensor 4022 are additionally operable to detect
Enemy.
3rd, hostile dolly detection sensor 403 includes：First hostile dolly detection sensor 4031 (such as Fig. 2)；Described
One hostile dolly detection sensor 4031 is arranged on the gripper 103；And the first hostile dolly detection sensor edge
Vertical plane where the first axle is symmetrical, and symmetrical along the vertical plane where the second axis.
For example, with reference to shown in Fig. 1, positioned at the gripper 103 in the small front of vehicle main body 10 and positioned at the small rear of vehicle main body 10
The installation respectively of the both sides of gripper 103 one, totally 4 first hostile dolly detection sensors 4031, wherein, the first enemy
It is infrared proximity transducer to dolly detection sensor 4031.It is shown in Figure 7, the gripper installed in the small front of vehicle main body 10
2 infrared proximity transducers of both sides are respectively：Sensor I, sensor J；Installed in the gripper both sides at small vehicle main body rear
2 infrared proximity transducers be respectively：Sensor K, sensor L.Sensor I, sensor J, sensor K, sensor L are used for
Detect enemy.Inspection center's axis of 4 first pair of dolly detection sensors 4031 on gripper is with gripper
Upper lift or push change.Usually, when gripper in a state of nature when, 4 infrared installed in gripper connects
Inspection center's axis of nearly sensor is parallel with chassis 101.
The hostile dolly detection sensor 403, in addition to：Second hostile dolly detection sensor 4032 (such as Fig. 5)；Institute
The second hostile dolly detection sensor 4032 is stated above chassis 101, and each second hostile dolly detection sensor
4032 installation site is corresponding with the installation site of an edge detecting sensor 401, the second hostile dolly of position correspondence
Detection sensor is beaten and inspection center's axis of edge detection sensor is in approximately the same plane, and the plane is perpendicular to chassis 101.
And second hostile dolly detection sensor inspection center's diameter parallel in chassis.
For example, two diagonal where chassis, i.e. in Fig. 7 on the first diagonal and second cornerwise four direction,
One the second hostile dolly detection sensor 4032 is installed respectively, the second hostile dolly detection sensor 4032 passes for infrared proximity
Sensor；Referring in Fig. 7,4 the second hostile dolly detection sensors are respectively：Sensor M positioned at small vehicle main body left front；Position
Sensor O in small vehicle main body right front；Sensor Q positioned at small vehicle main body left back；Biography positioned at small vehicle main body right back
Sensor S.Wherein, the second of position correspondence the hostile dolly detection sensor is located at the lower section of edge detecting sensor.
In embodiments of the present invention, for wushu ring dolly during traveling, circulation performs following step：
Step S10：The second induced signal according to transmitted by the ring detection sensor judges that wushu ring dolly is
It is no on platform, if it is, step S12 is performed, if it is not, then performing step S14；
Step S12：Execution is appeared on the stage program；After program of appearing on the stage performs, step S10 is performed；
Step S14：The first induced signal according to transmitted by the edge detecting sensor, judge that wushu ring dolly is
No arrival ring edge, and the second induced signal according to transmitted by the ring detection sensor and the hostile small car test
Whether the 3rd induced signal transmitted by surveying sensor has hostile wushu ring dolly around judging；If wushu ring dolly only arrives
Up to ring edge, then step S16 is performed；If surrounding only has hostile wushu ring dolly, step S18 is performed；If wushu
Ring dolly had both reached ring edge, and surrounding has hostile wushu ring dolly again, then performs step S20；
Step S16：Perform edge treated program；
Step S18：Perform hostile wushu ring dolly processing routine；
Step S20：Program is hidden in execution.
1：Wushu ring dolly is judged whether on platform, is that the second induced signal based on ring detection sensor 403 enters
What row judged, i.e., the second transmitted induced signal based on the first ring detection sensor and the second ring detection sensor enters
Row judges.
Such as：First ring detection sensor includes：Sensors A, sensor B, sensor C, sensor D；Second ring
Detection sensor includes：Sensor E, sensor F, sensor G and sensor H.
As shown in table 1, sensors A, sensor B, sensor C and sensor D are infrared distance sensor.Infrared survey
The induced signal generated away from sensor is analog quantity, for convenience of calculation, it is necessary to which analog quantity is converted into digital quantity, i.e. 0 He
1；Induced signal 0, be otherwise 1 when infrared distance sensor detects object, i.e., sensors A, sensor B, sensing
The induced signal that device C and sensor D are generated is respectively iod1, iod2, iod3, iod4 after changing into analog quantity.Sensor
E, sensor F, sensor G and sensor H are infrared proximity transducer；The sensing letter that 4 infrared proximity transducers are generated
Number it is digital quantity, is also 0 and 1；When infrared proximity transducer detects object, the induced signal returned to controller is 0,
Otherwise it is 1.
Table 1
The induced signal that sensor E, sensor F, sensor G and sensor H are generated is respectively：io[5]、io[6]、
io[7]、io[8]；Therefore, if positioned at correspondence position two sensors (such as sensors A and sensor E be correspondence position,
Sensor B and sensor F is that correspondence position, sensor C and sensor G are that correspondence position, sensor D and sensor H are corresponding
Position) in, as long as having two of which to be located at the sensor of correspondence position detects object, i.e., positioned at the same direction of dolly main body
On two sensors detect object, then the value that two sensors of the survey return to induced signal is respectively 0 and 1, therefore will
After the value for the induced signal that sensor E, sensor F, sensor G and sensor H are returned negates, then respectively with correspondence position
The value phase that is returned of sensors A, sensor B, sensor C and sensor D with that is,：
Io [5] negate after with iod1 phases with, if result be 0, wushu ring dolly front detect object, as a result for
1, then it is not detected by object in front of wushu ring dolly；
Io [6] negate after with iod2 phases with, if result be 0, wushu ring dolly rear detects object, as a result for
1, then wushu ring dolly rear be not detected by object；
Io [7] negate after with iod3 phases with, if result be 0, wushu ring dolly left detects object, as a result for
1, then wushu ring dolly left be not detected by object；
Io [8] negate after with iod4 phases with, if result be 0, wushu ring dolly right detects object, as a result for
1, then wushu ring dolly right be not detected by object.
Then the value on four direction mutually with after is added again, i.e.,：
Sum=！io[5]|iod1+！io[6]|iod2+！io[7]|iod3+！io[8]|iod4；
Because wushu ring dolly ring can be surrounded completely by plank, therefore, if wushu ring dolly on platform,
Side is only possible in front, rear, left and right and detects object, the object is local wushu ring dolly, and if wushu ring dolly
Under ring, a minimum of both sides can be detected simultaneously by object in front, rear, left and right, and the object that wherein side detects is ring,
The object that other side detects is the plank for surrounding wushu ring dolly ring completely.Therefore, if sum ＜ 2, i.e.,
When sum is 0 or is 1, an angle detecting in only small vehicle main body front, rear, left and right to object or four direction are all not
Object is detected, wushu ring dolly is on ring；If sum >=2, i.e. when sum is 2,3 or 4, small vehicle main body is forward and backward,
At least two directions all detect object in left and right, and wushu ring dolly is under ring.
It should be noted that when the species of the first ring detection sensor and the second ring detection sensor change when
Wait, deterministic process also similar to said process, will not be repeated here.
2nd, judge whether wushu ring dolly is in ring edge, be based on the first sense transmitted by edge detecting sensor
What induction signal was judged.
Such as：Edge detecting sensor includes：Sensor N, sensor P, sensor G and sensor T.Referring to Fig. 8 institutes
Show, by taking sensor N as an example, because sensor N inspection center's axis and chassis is into predetermined angle α, and wushu ring dolly quilt
When being placed on ring, its chassis is parallel to the surface of ring, therefore sensor N inspection center's axis and ring
Surface is also into predetermined angle α.
Sensor N is infrared proximity transducer, when it detects the object in the external world, is to the induced signal returned is controlled
1, when it is not detected by the object in the external world, the induced signal returned to controller is 0.It is shown in Figure 8, due to below ring
Ground level be less than ring above ground level, wushu ring dolly on ring safety zone traveling when, beat
Always within sensor N induction range, sensor N can be sensed where ring surface plane where platform surface always
Plane, therefore to controller return induced signal be 1.When wushu ring dolly travels out safety zone, sensing
Device N inspection center's axis exceeds ring edge, and sensor N can not sense the plane where ring surface again, can from Fig. 9
To see, its position sensed should be the plane where the ground being located under ring, and the plane where the ground under ring
Sensor N induction range should be above, the induced signal that inductor N is returned to controller is 0.
Based on above-mentioned principle, when the sensing letter for having one of them in sensor N, sensor P, sensor G and sensor T
Number value be 0 when, be considered as wushu ring dolly and had arrived at ring edge.And controller can also according to sensor N,
Sensor P, sensor G and sensor T installation site, and the induced signal value received, to judge that wushu ring is small
The specific direction of car, so as to change the travel direction of wushu ring dolly.
It should be noted that the sensor N, sensor P, sensor G and sensor T setting height(from bottom) and default
Angle [alpha] can specifically be set according to the actually detected distance of sensor so that wushu ring dolly passes when on ring
Sensor N, sensor P, sensor G and sensor T detection focus in the detection on heart axis direction with where ring surface
The distance of plane in detection range, and detect focus in the detection on heart axis direction with ring plane where ground away from
From outside detection range.
3rd, whether there is hostile wushu ring dolly around judging, be based on second transmitted by ring detection sensor 402
Induced signal, and the 3rd induced signal transmitted by hostile dolly detection sensor are judged.
As described in above-mentioned embodiment, the first ring detection sensor includes：Sensors A, sensor B, sensor C, biography
Sensor D；Second ring detection sensor includes：Sensor E, sensor F, sensor G and sensor H.
Hostile dolly detection sensor includes：First hostile dolly detection sensor and the second hostile dolly detection sensing
Device.First hostile dolly detection sensor includes：Sensor I, sensor J, sensor K, sensor L, sensor M, sensor
O, sensor Q, sensor S.
Wherein, sensors A, sensor B, sensor C, sensor D are infrared distance sensor；Sensor E, sensor F,
Sensor G, sensor H, sensor I, sensor J, sensor K, sensor L, sensor M, sensor O, sensor Q, sensing
Device S is infrared proximity transducer.
Infrared distance sensor, to the induced signal that controller return value is 0, is not detected by object when detecting object
When, to the second induced signal that controller return value is 1；And infrared proximity transducer is then when detecting object, to controller
Return value be 1 the second induced signal or the 3rd induced signal, when being not sensed by object, to control return value for 0 two senses
Induction signal or the 3rd induced signal.Therefore, controller is every preset time, according to default polling sequence, successively on poll
Hostile dolly detection sensor and ring detection sensor are stated, if it find that the induced signal that wherein which sensor is returned
Value, detects that the value for the induced signal that should be returned during object is consistent, then it is assumed that the direction has hostile wushu ring dolly with it.
4th, wushu ring dolly program of appearing on the stage performs according to following flows：
Step S30：Wushu ring dolly small angle rotation is controlled, until the front or behind face of wushu ring dolly
Ring；
Step S32：Control wushu ring dolly drives to ring edge so that the first gripper is in above ring；Its
In, the first gripper is close to the gripper in ring direction in small vehicle main body；Gripper away from ring direction is the second machinery
Pawl.
When specific implementation, when second induced signal of the controller according to transmitted by ring detection sensor detects
, can be according to sensors A, sensor B, sensor C, sensor D, sensor E, sensor when wushu ring dolly is under ring
F, sensor G and sensor H installation site, and the numerical value of its second induced signal sent respectively, judge wushu
The current direction of ring dolly.For example, wushu is judged according to sensors A, sensor B, sensor C, sensor D induced signal
The current direction of ring dolly：If the sensors A and the sensing positioned at small vehicle main body rear that are now placed in front of small vehicle main body
The value of induced signal transmitted by device B is 0, then illustrates the front or behind face ring of small vehicle main body, then control wushu
Ring dolly travels towards the side where ring so that gripper is located above ring.If located in small vehicle main body left
The value of induced signal transmitted by sensor C and sensor D positioned at small vehicle main body right is 0, then illustrates small vehicle main body
Left or right face ring, control wushu ring dolly to the left or to the right small angle rotation (the total angle typically rotated
Spend for 90 ° or so) so that the front or behind face ring of wushu ring dolly, while control wushu ring dolly to drive towards
Direction where ring, until the gripper positioned at small vehicle main body front or behind is located above ring.If sensors A, biography
The value of induced signal transmitted by sensor B, sensor C and sensor D is 0, then illustrates wushu ring dolly except front and rear left
Its side in right place direction is to ring, therefore, after control wushu ring dolly rotates predetermined angle, obtain again sensors A,
Induced signal transmitted by sensor B, sensor C and sensor D, until the sense that only sensors A, sensor B are returned
When the value of induction signal is 0, control wushu ring dolly is to the direction running where ring, until positioned at front or being located behind
Gripper be located at the top of ring.Furthermore it is also possible to believed according to sensor E, sensor F, sensor G, sensor H sensing
Number judge the direction of wushu ring dolly, deterministic process is similar to the above, will not be repeated here.
Step S34：The one end of the first gripper away from small vehicle main body is controlled to push so that first gripper is against ring
On, small vehicle main body is lifted close to the side in ring direction.
When specific implementation, when the gripper in front of wushu ring dolly is located above ring, then it will be located at small
Gripper in front of vehicle main body pushes, and is lifted in front of small vehicle main body；When the gripper at wushu ring dolly rear is positioned at arena
When above platform, then the gripper positioned at small vehicle main body rear is pushed, the rear of small vehicle main body is lifted.
Step S35：Wushu ring dolly is controlled towards the direction running close to ring, until close to ring in small vehicle main body
The wheels travel in direction controls the first gripper return on ring.
Step S36：The one end of the second gripper away from small vehicle main body is controlled to push so that the second gripper is against under ring
Ground on, side of the small vehicle main body away from ring direction is lifted.
Step S40：Wushu ring dolly is controlled towards the direction running close to ring, until the wheel away from ring direction
Reach above ring, control the second gripper return.
5th, edge treated program performs according to following flows：
Step S42：The first induced signal according to transmitted by edge detecting sensor, judges the side where ring edge
To.
Specifically, because therefore sensor N, sensor P, sensor G and sensor T installation direction are, it is known that, work as biography
When sensor N, sensor P, the induced signal value of sensor G and some sensor in sensor T are 0, then it is assumed that the sensing
The detection direction of device is the direction at the place at ring edge.
Step S44：Wushu ring dolly is controlled away from the direction running where ring edge.
6th, hostile wushu ring dolly processing routine performs according to following flows：
Step S50：The second induced signal and hostile dolly detection sensor according to transmitted by ring detection sensor
The 3rd transmitted induced signal, judge the direction where hostile wushu ring dolly.
Specifically, controller is every preset time, according to default polling sequence, the successively above-mentioned hostile dolly detection of poll
Sensor and tear tower detection sensor, if it find that the induced signal value that wherein which sensor is returned, and it detects thing
The value for the induced signal that should be returned during body is consistent, then it is assumed that the direction has hostile wushu ring dolly.
Step S52：Give it the gun in direction where controlling small vehicle main body towards hostile wushu ring dolly.
7th, program is hidden according to following flows to perform：
Step S60：The first induced signal according to transmitted by edge detecting sensor, judges the side where ring edge
To.
Deterministic process will not be repeated here referring to above-mentioned steps S42.
Step S62：The second induced signal and hostile dolly detection sensor according to transmitted by ring detection sensor
The 3rd transmitted induced signal, judge the direction where hostile wushu ring dolly.
Deterministic process will not be repeated here referring to above-mentioned steps S50.
Step S64：Wushu ring dolly is controlled away from ring edge, while away from where hostile wushu ring dolly
Direction running.
Beneficial effect of the present invention：
1st, the setting of edge detecting sensor so that wushu ring dolly can be more accurate and more rapidly detects ring
Edge, prevent wushu ring dolly from dropping under ring.
2nd, the set-up mode of small vehicle main body, such as wheel form a square as far as possible, and all parts installed
Drawn close to greatest extent to chassis center so that the structure of wushu ring dolly obtains maximizing compact, and self structure intensity is big.
3rd, the setting of ring detection sensor and hostile dolly detection sensor make it that the quantity of ambient sensors is enough,
And be uniformly arranged around wushu ring dolly chassis center line, detection zone maximizes, and detection blind spot is few.
4th, the first hostile dolly detection sensor is provided with gripper so that detecting distance is extended, can be with
Farther distance detects hostile wushu ring dolly so that our wushu ring dolly obtains more reaction time.
5th, used number of sensors is enough, takes full advantage of the interface of controller, accurate positioning.
The wushu ring dolly and its computer program product of control method that the embodiment of the present invention is provided, including storage
The computer-readable recording medium of program code, the instruction that described program code includes can be used for performing previous methods embodiments
Described in method, specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. wushu ring dolly, it is characterised in that including：Small vehicle main body, control system, execution system and perception system System；The control system, the execution system and the sensory perceptual system are installed in the small vehicle main body；Wherein, the small vehicle main body includes：Chassis；The sensory perceptual system includes：Multiple edge detecting sensors, multiple ring detection sensors and multiple hostile small car tests Survey sensor；Multiple edge detecting sensors, multiple ring detection sensors and multiple hostile small car tests Center vertical line of the sensor around the chassis is surveyed to be uniformly arranged；Inspection center's axis of the edge detecting sensor is with the chassis into predetermined angle；The ring detection sensing Device, inspection center's axis of the hostile dolly detection sensor are parallel with the chassis；The edge detecting sensor is used to send the first induced signal to the control system；The ring detection sensor is used In to the control system send the second induced signal；The hostile dolly detection sensor is used to send to the control system 3rd induced signal；The control system is used to realize rim detection according to first induced signal, is realized according to second induced signal Ring detects, and realizes that hostile wushu ring dolly detects according to the second induced signal and the 3rd induced signal, and obtain wushu Ring dolly current state；According to wushu ring dolly current state, to control signal corresponding to execution system transmission；The execution system, for according to control signal, controlling small vehicle main body action.
- 2. wushu ring dolly according to claim 1, it is characterised in that the cross section on the chassis is along first axle Symmetrical polygon, the bearing of trend of first axle is respectively the front and the rear of small vehicle main body of small vehicle main body；The chassis is also symmetrical along second axis；Wherein described second axis is mutually perpendicular to the first axle, and the both direction of second axis extension is respectively The left and right of the small vehicle main body.
- 3. wushu ring dolly according to claim 2, it is characterised in that the small vehicle main body also includes：Wheel and Gripper；Wherein, wheel is arranged on the lower section on the chassis, and is connected with the execution system, and it is used in the execution system The advance, retrogressing and steering of small vehicle main body are realized under control；The gripper is arranged on the top on the chassis, and in the front of the small vehicle main body and the rear of the small vehicle main body Set respectively；The gripper of gripper and the small vehicle main body rear in front of the small vehicle main body is along where the second axis Vertical plane it is symmetrical.
- 4. wushu ring dolly according to claim 3, it is characterised in that the execution system includes：Digital rudder controller with And motor；The motor is arranged on the lower section on the chassis, and is connected with the wheel, for controlling the wheel to rotate forward or Person rotates backward；The digital rudder controller is arranged on the top on the chassis, and is connected with the gripper, for driving the gripper to transport It is dynamic.
- 5. wushu ring dolly according to claim 4, it is characterised in that the control system includes：Controller and Driver；The controller is arranged on the middle part above the chassis；The controller and driver electrical connection；The controller connects with the electrical connection digital rudder controller；The driving Device and the motor connection；The controller is also connected with the sensory perceptual system.
- 6. wushu ring dolly according to claim 5, it is characterised in that the ring detection sensor includes：It is multiple First ring detection sensor and multiple second ring detection sensors；Wherein, the quantity of the first ring detection sensor is identical with the quantity of the second ring detection sensor；It is described First ring detection sensor is arranged on the top on the chassis, is uniformly arranged around the center chassis vertical line；Multiple second ring detection sensors are arranged on the lower section on chassis, and the peace of each the second ring detection sensor Holding position is corresponding with the installation site of a first ring detection sensor；The hostile dolly detection sensor includes：Multiple first hostile dolly detection sensors and multiple second hostile dollies Detection sensor；The first hostile dolly detection sensor is arranged on the gripper；And multiple first hostile dolly detections pass Sensor is symmetrical along the vertical plane where the first axle, and symmetrical along the vertical plane where the second axis；The second hostile dolly detection sensor is arranged on above the chassis, and each second hostile dolly detection sensing The installation site of device is corresponding with the installation site of an edge detecting sensor, the second hostile dolly detection sensor Inspection center's diameter parallel is in the chassis.
- 7. a kind of wushu ring dolly control method, it is used to realize to claim 1-9 any one wushu ring dollies Control, it is characterised in that including：The first induced signal, ring detection sensor transmitted by edge detecting sensor is obtained to be sent out Send the second induced signal, the 3rd induced signal transmitted by hostile dolly detection sensor；Judge wushu ring dolly whether on ring according to second induced signal；When wushu ring dolly is not when on ring, execution is appeared on the stage program；When wushu ring dolly is when on ring, judge whether wushu ring dolly reaches ring according to first induced signal Edge, and judge whether surrounding has hostile wushu ring dolly according to second induced signal and the 3rd induced signal；When wushu ring dolly reaches ring edge, but surrounding is without hostile wushu ring dolly, edge treated program is performed；When wushu ring dolly is not or not ring edge, but surrounding has hostile wushu ring dolly, it is small to perform hostile wushu ring Car processing routine；When wushu ring dolly reaches ring edge, and surrounding has hostile wushu ring dolly, program is hidden in execution.
- 8. wushu ring dolly control method according to claim 7, it is characterised in that described according to the described second sensing Signal judges that wushu ring dolly whether on ring, specifically includes：The second induced signal transmitted according to the first ring detection sensor and the second ring detection sensor The second induced signal transmitted judges, if object be present simultaneously in the both direction of the wushu ring dolly；If it is, wushu ring dolly is under ring；If only one side object occurs or do not detect object, wushu ring dolly is on ring；It is described to judge whether wushu ring dolly reaches ring edge according to first induced signal, specifically include：According to first induced signal, judge whether edge detecting sensor detects object；If one of those does not detect object to the edge detecting sensor, wushu ring dolly reaches ring margin location Put, and the direction that the edge detecting sensor for detecting object is installed on wushu ring dolly is where ring edge Direction；Judge whether surrounding has hostile wushu ring dolly according to second induced signal and the 3rd induced signal, specifically include：Every preset time, according to default polling sequence, the hostile dolly detection sensor of poll and ring detection successively senses Device, and judge whether to detect object according to second induced signal or the 3rd induced signal in poll；If the hostile dolly detection sensor of wherein at least one and/or at least one ring detection sensor detect object, Then have hostile wushu ring dolly around wushu ring dolly, and detect object the hostile dolly detection sensor and/ Or the position installed on the wushu ring dolly of ring detection sensor is the direction where hostile wushu ring dolly.
- 9. the wushu ring dolly control method according to claim 7 or 8, it is characterised in that it is described to perform program of appearing on the stage, Specifically include：Wushu ring dolly small angle rotation is controlled, until the front or behind face ring of wushu ring dolly；Control wushu ring dolly drives to ring edge so that the first gripper is in above ring；First gripper For the gripper above ring, the gripper away from ring is the second gripper；The one end of the gripper away from small vehicle main body is controlled to push so that first gripper is against on ring, small vehicle main body It is lifted close to the side in ring direction；Small vehicle main body is controlled towards the direction running close to ring, until the wheels travel in small vehicle main body close to ring direction arrives On ring, the first gripper return is controlled；The one end of the second gripper away from small vehicle main body is controlled to push so that the second gripper is against on the ground under ring, small Side of the vehicle main body away from ring direction is lifted；Wushu ring dolly is controlled towards the direction running close to ring, until the wheel away from ring direction is reached on ring Side, control the second gripper return.
- 10. the wushu ring dolly control method according to claim 7 or 8, it is characterised in that the execution edge treated Program, specifically include：The first induced signal according to transmitted by edge detecting sensor, judges the direction where ring edge；Wushu ring dolly is controlled away from the direction running where ring edge；It is described to perform hostile wushu ring dolly processing routine, specifically include:The 3rd transmitted by the second induced signal and hostile dolly detection sensor according to transmitted by ring detection sensor Induced signal, judge the direction where hostile wushu ring dolly；Give it the gun in direction where controlling small vehicle main body towards hostile wushu ring dolly；Program is hidden in the execution, specifically includes：The first induced signal according to transmitted by edge detecting sensor, judges the direction where ring edge；The 3rd transmitted by the second induced signal and hostile dolly detection sensor according to transmitted by ring detection sensor Induced signal, judge the direction where hostile wushu ring dolly；Wushu ring dolly is controlled away from ring edge, while away from the direction running where hostile wushu ring dolly.
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| CN201710704906.5A CN107678423A (en) | 2017-08-17 | 2017-08-17 | A kind of wushu ring dolly and its control method |
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| CN201710704906.5A CN107678423A (en) | 2017-08-17 | 2017-08-17 | A kind of wushu ring dolly and its control method |
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