CN108363337A - A kind of multiple spot means of transportation movement locus control device and method - Google Patents
A kind of multiple spot means of transportation movement locus control device and method Download PDFInfo
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- CN108363337A CN108363337A CN201810435453.5A CN201810435453A CN108363337A CN 108363337 A CN108363337 A CN 108363337A CN 201810435453 A CN201810435453 A CN 201810435453A CN 108363337 A CN108363337 A CN 108363337A
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- electromagnetic
- inductance
- control circuit
- motor
- control unit
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to control technology field, it is related to a kind of multiple spot means of transportation movement locus control device and method.Including machine control unit and electromagnetic control apparatus, machine control unit includes motor, mechanical control circuit and mechanical guiding.The mechanical control circuit is connect by drive control circuit with motor, and motor is connect with wheel, and control wheel rotation is integrally placed on mechanical be oriented to, mechanical to be oriented to using special-shaped track.Electromagnetic control apparatus includes two motors, electromagnetic control circuit and electromagnetic signal source device；Electromagnetic control circuit is connected by motor-drive circuit with two motors respectively, and the output end of two motors connects wheel.Electromagnetic control circuit includes sensor, amplifier, data acquisition module, data processing module and Electromagnetic Control unit.The relative position for collecting signal that the present invention more stablizes, the movement for the control MOVING STRUCTURE more stablized can correct track automatically, and positioning accuracy is high.
Description
Technical field
The invention belongs to control technology field, it is related to a kind of multiple spot means of transportation movement locus control device and method.
Background technology
With current, automobile has become the main means of transport of Urban Residential Trip.City dweller generally lives in suburb
The personnel in area are more, it is often the case that being in municipal highway system, on Monday to working day Friday, the work hours in the morning
Vehicle on the track in direction of going down town is very crowded, and then vehicle is seldom on the track in direction of going out of the city, the side of going out of the city the quitting time in the afternoon
To track on vehicle it is very crowded, traffic jam often occurs.
Solving road congestion can be solved by new highway, however just to solve in the road that certain time period occurs
Road congestion phenomenon and the highway in newly-built connection city and suburb is unnecessary because building and safeguarding the cost of highway very
It is high.To solve the above-mentioned problems, there is a kind of track adjusting up-downlink direction using the position for changing the guardrail on track
The highway of quantity can solve the problems, such as this congestion in road only occurred in peak period on and off duty at lower cost.However it is existing
Tide track isolation guardrail positioned by the way of iron using presetting to bury on road, the prior art can not correct rail automatically
Mark, positioning accuracy are low.
Invention content
The present invention provides a kind of multiple spot means of transportation movement locus control device and methods, it is therefore an objective to solve the prior art
Track, the low defect of positioning accuracy can not be corrected automatically.
The technical scheme is that：
A kind of multiple spot means of transportation movement locus control device, including two motors, electromagnetic control circuit 6 and electromagnetic signal
Source device；Electromagnetic control circuit 6 is connected by motor-drive circuit with two motors respectively, the output end fifth wheel of two motors
Son.
The electromagnetic control circuit 6 includes sensor, amplifier, data acquisition module, data processing module and electromagnetism
Control unit.
The sensor is connect with amplifier, will sense that signal passes to amplifier；Amplifier is acquired by data
Module is connect with data processing module, and amplified signal is passed to data processing module；Data processing module passes through electromagnetism
Control unit is connect with driving circuit, and Electromagnetic Control unit controls the speed of motor A and motor B by driving circuit respectively, real
The movement and turning of existing MOVING STRUCTURE 1.
The data acquisition module uses STM32F103 Acquisition Circuits, carries adc data and acquires function.
The Electromagnetic Control unit uses STM32407ZE chips, and it is logical that STM32F103 and STM32407ZE carries out serial ports
Letter, data collecting module collected to data variation Electromagnetic Control unit, electromagnetism control are sent to by data processing module in real time
Unit processed sends corresponding command pulse to motor, realizes speed governing.
The sensor is set up directly on using seven inductance on one piece of circuit board, intermediate using central symmetry mode
One is placed, both sides respectively place 3 so that the arrangement of inductance is symmetrical and stablizes, and external inductance is the mode of oblique inductance；In magnet plunger
Centre and end be fixed using holder, can avoid vehicle during traveling due to magnet plunger shake caused by data
What is acquired is unstable.
The electromagnetic signal source device includes conducting wire 7, magnetic material and signal driving source 5；Conducting wire 7 and signal driving source
5 connect and are wrapped on magnetic material.
The signal driving source 5 includes RC oscillating circuits, power output circuit, Constant Electric Current magnet control unit and direct current
Source, signal driving source 5 apply conducting wire 7 the constant current alternating current of fixed frequency, and 7 surrounding of conducting wire generates the alternation magnetic of identical frequency
.
A kind of multiple spot means of transportation control method of motion trace, steps are as follows：
Step 1：Conducting wire 7 is wound on magnetic material, and magnetic material is embedded in the underground of desired trajectory, signal driving source 5
The constant current alternating current for applying fixed frequency to conducting wire 7 generates alternating magnetic field around conducting wire 7.
Step 2：Alternating magnetic field is generated with the inductance of sensor to 7 surrounding of conducting wire to incude, the alternation magnetic that will be sensed
Be converted to alternating voltage signal, by the alternating voltage signal of generation after amplifier amplifies, obtain with magnetic field intensity at than
The d. c. voltage signal of example, and pass data to data acquisition module.
Step 3：After data collection and analysis is handled, data processing module determines that stepper motor track route swashs with signal
The angular deviation for encouraging source 5 feeds back different pulse commands according to different angle deviation data acquisition module and gives Electromagnetic Control unit,
Electromagnetic Control unit is controlled using bi-motor, and positive and negative rotation and the speed of stepper motor are controlled according to different pulse commands,
Achieve the effect that rectify a deviation in time and synchronous operation, guarantee whole system press the track normal work of setting.
The magnetic material uses iron staff.
Usefulness of the present invention is：The relative position for collecting signal that the present invention more stablizes, more stable control
The movement of MOVING STRUCTURE processed, can correct track automatically, and positioning accuracy is high.
Description of the drawings
Fig. 1 is that the mechanical of the present invention adds movement schematic diagram.
Fig. 2 is the control schematic diagram reached with presupposed information to movement locus.
Fig. 3 is apparatus of the present invention schematic diagram.
Fig. 4 is electromagnetic control apparatus schematic diagram.
Fig. 5 is apparatus of the present invention bottom schematic view.
In figure, 1 MOVING STRUCTURE；2 mechanical guides；3 MOVING STRUCTURE inductors；4 magnetic stripes are oriented to；5 signal driving sources；6 electromagnetism
Control circuit；7 conducting wires.
Specific implementation mode
The specific implementation mode of the present invention is described further with reference to technical solution and attached drawing.
A kind of multiple spot means of transportation movement locus control device, including machine control unit and electromagnetic control apparatus.
Machine control unit includes motor, mechanical control circuit and mechanical guiding.
The mechanical control circuit is connect by drive control circuit with motor, and motor is connect with wheel, controls wheel
Rotation is integrally placed on mechanical be oriented to.
The mechanical guiding is using special-shaped track.
The special-shaped track uses concave shape track, and pedestal, which is placed on recess, coordinates sliding.
The special-shaped track uses triangular prism shaped track, and pedestal, which is placed on prism, coordinates sliding.
The special-shaped track uses convex shape track, and pedestal, which is placed in protrusion, coordinates sliding.
Electromagnetic control apparatus includes two motors, electromagnetic control circuit 6 and electromagnetic signal source device；Electromagnetic control circuit 6
It is connected respectively with two motors by motor-drive circuit, the output end of two motors connects wheel.
The electromagnetic control circuit 6 includes sensor, amplifier, data acquisition module, data processing module and electromagnetism
Control unit.
The sensor is connect with amplifier, will sense that signal passes to amplifier；Amplifier is acquired by data
Module is connect with data processing module, and amplified signal is passed to data processing module；Data processing module passes through electromagnetism
Control unit is connect with driving circuit, and Electromagnetic Control unit controls the speed of motor A and motor B by driving circuit respectively, real
The movement and turning of existing MOVING STRUCTURE 1.
The data acquisition module uses STM32F103 Acquisition Circuits, carries adc data and acquires function.
The Electromagnetic Control unit uses STM32407ZE chips, and it is logical that STM32F103 and STM32407ZE carries out serial ports
Letter, data collecting module collected to data variation Electromagnetic Control unit, electromagnetism control are sent to by data processing module in real time
Unit processed sends corresponding command pulse to motor, realizes speed governing.
The sensor is set up directly on using seven inductance on one piece of circuit board, intermediate using central symmetry mode
One is placed, both sides respectively place 3 so that the arrangement of inductance is symmetrical and stablizes, and external inductance is the mode of oblique inductance；In magnet plunger
Centre and end be fixed using holder, can avoid vehicle during traveling due to magnet plunger shake caused by data
What is acquired is unstable.
The electromagnetic signal source device includes conducting wire 7, magnetic material and signal driving source 5；Conducting wire 7 and signal driving source
5 connect and are wrapped on magnetic material.
The signal driving source 5 includes RC oscillating circuits, power output circuit, Constant Electric Current magnet control unit and direct current
Source, signal driving source 5 apply conducting wire 7 the constant current alternating current of fixed frequency, and 7 surrounding of conducting wire generates the alternation magnetic of identical frequency
.
A kind of multiple spot means of transportation control method of motion trace, steps are as follows：
Step 1：Conducting wire 7 is wound on magnetic material, and magnetic material is embedded in the underground of desired trajectory, signal driving source 5
The constant current alternating current for applying fixed frequency to conducting wire 7 generates alternating magnetic field around conducting wire 7.
Step 2：Alternating magnetic field is generated with the inductance of sensor to 7 surrounding of conducting wire to incude, the alternation magnetic that will be sensed
Be converted to alternating voltage signal, by the alternating voltage signal of generation after amplifier amplifies, obtain with magnetic field intensity at than
The d. c. voltage signal of example, and pass data to data acquisition module.
Step 3：After data collection and analysis is handled, data processing module determines that stepper motor track route swashs with signal
The angular deviation for encouraging source 5 feeds back different pulse commands according to different angle deviation data acquisition module and gives Electromagnetic Control unit,
Electromagnetic Control unit is controlled using bi-motor, and positive and negative rotation and the speed of stepper motor are controlled according to different pulse commands,
Achieve the effect that rectify a deviation in time and synchronous operation, guarantee whole system press the track normal work of setting.
The magnetic material uses iron staff.
Claims (7)
1. a kind of multiple spot means of transportation movement locus control device, which is characterized in that the control device include two motors,
Electromagnetic control circuit (6) and electromagnetic signal source device；Electromagnetic control circuit (6) passes through motor-drive circuit and two motors respectively
It is connected, the output end of two motors connects wheel；
The electromagnetic control circuit (6) includes sensor, amplifier, data acquisition module, data processing module and electromagnetism control
Unit processed；
The sensor is connect with amplifier, will sense that signal passes to amplifier；Amplifier passes through data acquisition module
It is connect with data processing module, amplified signal is passed into data processing module；Data processing module passes through Electromagnetic Control
Unit is connect with driving circuit, and Electromagnetic Control unit controls the speed of motor A and motor B by driving circuit respectively, is realized and is moved
The movement and turning of dynamic facility (1)；
The electromagnetic signal source device includes conducting wire (7), magnetic material and signal driving source (5)；Conducting wire (7) is encouraged with signal
Source (5) connects and is wrapped on magnetic material；
The signal driving source (5) includes RC oscillating circuits, power output circuit, Constant Electric Current magnet control unit and direct current
Source, signal driving source (5) apply conducting wire (7) the constant current alternating current of fixed frequency, identical frequency are generated around conducting wire (7)
Alternating magnetic field.
2. a kind of multiple spot means of transportation movement locus control device as described in claim 1, which is characterized in that the data
Acquisition module uses STM32F103 Acquisition Circuits, carries adc data and acquires function.
3. a kind of multiple spot means of transportation movement locus control device as claimed in claim 1 or 2, which is characterized in that described
Control circuit uses STM32407ZE chips, STM32F103 and STM32407ZE to carry out serial communication, data collecting module collected
To data variation control circuit is sent to by data processing module in real time, control circuit sends corresponding command pulse to electricity
Machine realizes speed governing.
4. a kind of multiple spot means of transportation movement locus control device as claimed in claim 1 or 2, which is characterized in that described
Sensor is set up directly on using seven inductance on one piece of circuit board, and using central symmetry mode, centre places one, and both sides are each
Place 3 so that the arrangement of inductance is symmetrical and stablizes, and external inductance is the mode of oblique inductance.
5. a kind of multiple spot means of transportation movement locus control device as claimed in claim 3, which is characterized in that the sensing
Device is set up directly on using seven inductance on one piece of circuit board, and using central symmetry mode, centre places one, and both sides are respectively placed
3 so that the arrangement of inductance is symmetrical and stablizes, and external inductance is the mode of oblique inductance.
6. a kind of multiple spot means of transportation control method of motion trace, which is characterized in that steps are as follows：
Step 1：Conducting wire (7) is wound on magnetic material, and magnetic material is embedded in the underground of desired trajectory, signal driving source (5)
The constant current alternating current for applying fixed frequency to conducting wire (7) generates alternating magnetic field around conducting wire (7)；
Step 2：Incuded to generating alternating magnetic field around conducting wire (7) with the inductance of sensor, the alternating magnetic field that will be sensed
Alternating voltage signal is converted to, by the alternating voltage signal of generation after amplifier amplifies, is obtained proportional to magnetic field intensity
D. c. voltage signal, and pass data to data acquisition module；
Step 3：After data collection and analysis is handled, data processing module determines stepper motor track route and signal driving source
(5) angular deviation feeds back different pulse commands according to different angle deviation data acquisition module and gives Electromagnetic Control unit, electricity
Magnet control unit is controlled using bi-motor, and positive and negative rotation and the speed of stepper motor are controlled according to different pulse commands, is reached
To the timely effect rectified a deviation and run simultaneously, ensure track normal work of the whole system by setting.
7. a kind of multiple spot means of transportation control method of motion trace as claimed in claim 6, which is characterized in that the magnetic material
Material uses iron staff.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810435453.5A CN108363337A (en) | 2018-05-09 | 2018-05-09 | A kind of multiple spot means of transportation movement locus control device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810435453.5A CN108363337A (en) | 2018-05-09 | 2018-05-09 | A kind of multiple spot means of transportation movement locus control device and method |
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| Publication Number | Publication Date |
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| CN108363337A true CN108363337A (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810435453.5A Pending CN108363337A (en) | 2018-05-09 | 2018-05-09 | A kind of multiple spot means of transportation movement locus control device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111208542A (en) * | 2020-01-21 | 2020-05-29 | 江苏爱可青交通科技有限公司 | Motion trail control system, device and method for automatic mobile traffic facility |
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| CN101531201A (en) * | 2008-03-13 | 2009-09-16 | 上海轨道交通设备发展有限公司 | Induction type guided way based on '8'-shaped measuring coil |
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| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
| CN205975431U (en) * | 2016-08-23 | 2017-02-22 | 江苏爱可青实业有限公司 | Morning and evening tides guardrail system of image recognition accurate positioning |
| CN107938557A (en) * | 2017-11-28 | 2018-04-20 | 湖南悍马金属构件有限公司 | Auto-changing lane guardrail |
| CN208224779U (en) * | 2018-05-09 | 2018-12-11 | 江苏爱可青实业有限公司 | A kind of multiple spot means of transportation motion profile control device |
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2018
- 2018-05-09 CN CN201810435453.5A patent/CN108363337A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101531201A (en) * | 2008-03-13 | 2009-09-16 | 上海轨道交通设备发展有限公司 | Induction type guided way based on '8'-shaped measuring coil |
| CN202703312U (en) * | 2012-05-18 | 2013-01-30 | 长安大学 | Magnetic navigation apparatus for unmanned intelligent public transport automobile |
| CN105735175A (en) * | 2016-03-29 | 2016-07-06 | 北京卓越信通电子股份有限公司 | Automatic tidal lane provided with electromagnetic isolation piers |
| CN205975431U (en) * | 2016-08-23 | 2017-02-22 | 江苏爱可青实业有限公司 | Morning and evening tides guardrail system of image recognition accurate positioning |
| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
| CN107938557A (en) * | 2017-11-28 | 2018-04-20 | 湖南悍马金属构件有限公司 | Auto-changing lane guardrail |
| CN208224779U (en) * | 2018-05-09 | 2018-12-11 | 江苏爱可青实业有限公司 | A kind of multiple spot means of transportation motion profile control device |
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| CN111208542A (en) * | 2020-01-21 | 2020-05-29 | 江苏爱可青交通科技有限公司 | Motion trail control system, device and method for automatic mobile traffic facility |
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| CB02 | Change of applicant information |
Address after: 211600 Guoqiang Road, Jinhu New Economic Development Zone, Huai'an, Jiangsu Province, 188 Applicant after: Jiangsu Aikeqing Transportation Technology Co., Ltd. Address before: 211600 Guoqiang Road, Jinhu New Economic Development Zone, Huaian City, Jiangsu Province, 188 Applicant before: Jiangsu Ai Keqing Industrial Co., Ltd. |
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