CN108415440B - Displacement track feedback system - Google Patents
Displacement track feedback system Download PDFInfo
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- CN108415440B CN108415440B CN201810469316.3A CN201810469316A CN108415440B CN 108415440 B CN108415440 B CN 108415440B CN 201810469316 A CN201810469316 A CN 201810469316A CN 108415440 B CN108415440 B CN 108415440B
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- flower wheel
- displacement
- speed
- rotating shaft
- shaped frame
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 67
- 239000002184 metal Substances 0.000 claims abstract description 28
- 238000010586 diagram Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a displacement track feedback system, which comprises a flower wheel, a reverse U-shaped frame, a rotating shaft arranged on the top surface of the reverse U-shaped frame, a metal flower wheel magnetic detection sensor and a main control board, wherein the flower wheel is fixed on the reverse U-shaped frame; the rotating shaft is sequentially sleeved with a rotating angle detection encoder, a spring and a mounting seat from bottom to top, the rotating angle detection encoder is positioned on the top surface of the inverted U-shaped frame, and a height detection encoder and a height detection sensor are arranged on the outer wall of the mounting seat. According to the displacement track feedback system provided by the invention, the speed error signal and the displacement error signal are output according to the automatically detected speed and displacement of the pattern wheel and according to the theoretical data stored in advance in the main control board, so that the speed and the movement track of the pattern wheel are fed back to the related driving part for correcting the deviation, and the feedback system is simple and practical in structure, low in cost and suitable for unmanned vehicles for detecting scenes in pipelines.
Description
Technical Field
The invention relates to the technical field of speed and track detection during 360-degree movement of a moving object, in particular to a displacement track feedback system.
Background
At present, speed and track detection of a moving object is usually performed by an encoder carried by a motor or a GPS sensor or a laser radar, the value indirectly obtained from the motor is easy to generate errors, for example, if a slipping phenomenon occurs, the measured value is small, if steering occurs, the measured displacement track is wrong, and the like, so that a large-range error can occur in the speed and track route measured by the motor encoder in an indirect way, and the value measured by the GPS is not accurate enough. The laser radar has special requirements on the installation position, and is relatively expensive and low in economic benefit.
Therefore, it is desirable to provide a displacement trajectory feedback system to solve the above-mentioned technical problems.
Disclosure of Invention
The invention mainly solves the technical problems by providing a displacement track feedback system which is used for automatically detecting the vertical displacement, the horizontal displacement and the steering angle of a flower wheel, automatically calculating the three-axis separation speed, the three-axis combination speed and the three-axis movement track of the flower wheel according to the detected data, calculating the speed error value and the track error value, outputting the error values to a controller, obtaining the required change value through function operation by the controller and outputting the change value to the movement controller, so that the movement of an object is changed, and ensuring that the speed and the track of the moving object are within an allowable range. The displacement feedback system has the advantages of simple structure, low practical cost and convenience in detecting the speed displacement data.
In order to solve the technical problems, the invention adopts a technical scheme that the invention provides a device which comprises a flower wheel 1, an inverted U-shaped frame 5, a rotating shaft, a metal flower wheel magnetic detection sensor 8 and a main control board 11, wherein the opposite inner walls of the inverted U-shaped frame 5 are connected with the two ends of a rotating shaft of the flower wheel 1, the rotating shaft is arranged on the top surface of the inverted U-shaped frame 5, and a detection head is embedded on the rotating shaft and faces the flower wheel 1;
the rotating shaft is sequentially sleeved with a rotating angle detection encoder 4, a spring 6 and a mounting seat 7 from bottom to top, the bottom end of the spring 6 is connected with the rotating angle detection encoder 4, the top end of the spring 6 is connected with the bottom surface of the mounting seat 7, the rotating angle detection encoder 4 is positioned on the top surface of the n-shaped frame 5, and the outer wall of the mounting seat 7 is provided with a height detection encoder 9 and a height detection sensor 10;
the main control board 11 is electrically connected with the rotation angle detection encoder 4, the metal flower wheel magnetic detection sensor 8 and the height detection encoder 9, and the height detection encoder 9 is electrically connected with the height detection sensor 10;
the spline 1 comprises a rubber part 3 arranged around the rotating shaft of the spline and a plurality of metal parts 2 embedded on the circumference of the rubber part 3 at equal intervals;
the metal pattern wheel magnetic detection sensor 8 generates a signal every time a metal part 2 is detected, and the main control board 11 outputs an X-axis speed, a Y-axis speed, a Z-axis speed, a combination speed, a real-time displacement track, a speed error and a displacement error signal according to the received detection data.
The beneficial effects of the invention are as follows: according to the displacement track feedback system provided by the invention, the metal flower wheel magnetic detection sensors arranged on the reverse U-shaped frame of the flower wheel are utilized to detect the time interval of signals generated when two similar metal parts appear on the flower wheel so as to calculate the horizontal displacement of the flower wheel, the height detection sensor is utilized to detect the vertical displacement of the flower wheel in the time interval, the rotation angle detection encoder is utilized to detect the rotating angle of the flower wheel, the detected three data are utilized to automatically calculate the closing speed of the flower wheel, and an independent detection part is not required to be used for sensing the speed and the steering angle of the flower wheel, so that the use cost of the flower wheel speed detection system is saved, the whole structure is simple, and the use cost is low.
Drawings
FIG. 1 is a schematic diagram of a first preferred embodiment of a displacement trajectory feedback system of the present invention;
FIG. 2 is a block diagram of the circuit configuration of the spark wheel shown in FIG. 1;
FIG. 3 is a schematic diagram of the motion of an unmanned vehicle to which the displacement trajectory feedback system of the present invention is applied;
fig. 4 is a schematic diagram of the circuit workflow of the drone.
The component names corresponding to the numerical identifiers in the drawings of the specification are respectively as follows:
1-a flower wheel; a 2-metal moiety; a 3-rubber portion; 4-a rotation angle detection encoder; 5- & gtU-shaped frame; 6-a spring; 7-a mounting seat; 8-a metal flower wheel magnetic detection sensor; 9-a height detection encoder; 10-a height detection sensor; 11-a main control board; 100-unmanned vehicle; 101-theoretical motion trail; 102-error-allowed trajectory; 103-actual motion trajectory.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the drawings.
Referring to fig. 1, the displacement track feedback system of the present embodiment includes a flower wheel 1, an inverted U-shaped frame 5 with opposite inner walls connected to two ends of a rotating shaft of the flower wheel 1, a rotating shaft mounted on the top surface of the inverted U-shaped frame 5, a metal flower wheel magnetic detection sensor 8 embedded on the rotating shaft and having a detection head facing the flower wheel 1, and a main control board 11;
the rotating shaft is sequentially sleeved with a rotating angle detection encoder 4, a spring 6 and a mounting seat 7 from bottom to top, the bottom end of the spring 6 is connected with the rotating angle detection encoder 4, the top end of the spring 6 is connected with the bottom surface of the mounting seat 7, the rotating angle detection encoder 4 is positioned on the top surface of the n-shaped frame 5, and the outer wall of the mounting seat 7 is provided with a height detection encoder 9 and a height detection sensor 10;
as shown in fig. 2, the main control board 11 is electrically connected with the rotation angle detection encoder 4, the metal flower wheel magnetic detection sensor 8 and the height detection encoder 9, and the height detection encoder 9 is electrically connected with the height detection sensor 10;
the spline 1 comprises a rubber part 3 arranged around the rotating shaft of the spline and a plurality of metal parts 2 embedded on the circumference of the rubber part 3 at equal intervals;
the metal pattern wheel magnetic detection sensor 8 generates a signal every time a metal part 2 is detected, and the main control board 11 outputs an X-axis speed, a Y-axis speed, a Z-axis speed, a combination speed, a real-time displacement track, a speed error and a displacement error signal according to the received detection data.
Assume that: the number of the metal parts 2 included in the spline 1 is N, the detection period of the detection part is T, and the outer diameter of the spline 1 is D; then in a detection period T, the signal sent by the metal flower wheel magnetic detection sensor 8 is n1, n1 is the number of times the metal part 2 appears, the vertical displacement of the flower wheel 1 detected by the height detection sensor 10 is h, and the angle rotated by the flower wheel 1 detected by the rotation angle detection encoder 4 is Φ; then, based on the transmitted data, the main control board 11 calculates the following data by a function:
total displacement: l=n1×360D 2 /4N；
The X axial displacement is as follows: lx=l×cos Φ;
the Y axial displacement is: ly=l×sin Φ;
the Z axial displacement is as follows: lz=h;
velocity vx=l×cos Φ/T;
velocity vy=l x sin Φ/T;
velocity vz=h/T;
closing speed
And then, visualizing the data, and establishing and outputting an L-T coordinate, an X-Y-Z coordinate, an X-T coordinate, a Y-T coordinate and a Z-T coordinate. And outputting the theoretical data to the coordinates, and visualizing the error, thereby calculating a speed error signal and a track error signal.
And finally, comparing the data, comparing the real-time data with the theoretical data, calculating real-time speed error data and displacement error data, and converting the real-time error data into analog quantity through a main control board so as to output a correction signal to a related driving component, thereby correcting the movement speed and movement track of the spline.
The motion of the unmanned vehicle 100 using the displacement track feedback system of the present invention is taken as a specific example, and the specific working condition of the displacement track feedback system of the present invention is described in detail:
referring to fig. 3, when the unmanned vehicle 100 using the displacement track feedback system of the present invention moves in the pipeline, if the track of the movement is within the range of the track 102 allowed by the error, the movement continues to advance, no adjustment of the driving signal is performed, and if the actual movement track 103 exceeds the track 102 allowed by the error, a negative feedback driving signal is generated to the driving system of the unmanned vehicle, so as to drive the movement of the unmanned vehicle 100 to correspondingly adjust so that the actual movement track 103 of the unmanned vehicle 100 is within the range of the track 102 allowed by the error.
Referring to fig. 4, the movement steps of the drone 100 are as follows:
s1: the driving system drives the metal flower wheel to rotate and move forward along the theoretical movement track 101;
s2: s21, monitoring a height signal by a height detection encoder; s22, monitoring the metal part 2 by a metal flower wheel magnetic detection sensor; s23, monitoring the rotation angle by the rotation angle detection encoder 4, wherein the steps S21, S22 and S23 are synchronously performed, and the step S2 comprises the steps S21, S22 and S23;
s3, the main control board 11 calculates the actual movement track 103 and the actual movement speed of the unmanned aerial vehicle 100 according to the angle signal, the metal magnetic signal and the height signal detected in the step S2;
s4, comparing the actual motion trail 103 and the actual motion speed with the theoretical motion trail 101 and the theoretical speed;
s5, generating error signals of the track and the speed;
s6, judging whether the error signal is within an allowable range, if not, executing the step S7, and if so, returning to the step S1;
and S7, adding the error signal into a driving signal of a driving system of the metal pattern wheel, and returning to the step S1.
The displacement track feedback system provided by the invention provides real-time deviation rectifying signals for the moving pattern wheel, so that the pattern wheel can move in a preset track without deviating from the original track too far, and the displacement track feedback system is particularly suitable for ensuring the running of a robot in a pipeline according to the preset track.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures made by the description of the invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the invention.
Claims (1)
1. A displacement trajectory feedback system, characterized by: the device comprises a flower wheel (1), a reverse U-shaped frame (5) with opposite inner walls connected with two ends of a rotating shaft of the flower wheel (1), a rotating shaft arranged on the top surface of the reverse U-shaped frame (5), a metal flower wheel magnetic detection sensor (8) embedded on the rotating shaft and with a detection head facing the flower wheel (1), and a main control board (11);
the rotating shaft is sequentially sleeved with a rotating angle detection encoder (4), a spring (6) and a mounting seat (7) from bottom to top, the bottom end of the spring (6) is connected with the rotating angle detection encoder (4), the top end of the spring is connected with the bottom surface of the mounting seat (7), the rotating angle detection encoder (4) is positioned on the top surface of the n-shaped frame (5), and a height detection encoder (9) and a height detection sensor (10) are arranged on the outer wall of the mounting seat (7);
the main control board (11) is electrically connected with the rotation angle detection encoder (4), the metal flower wheel magnetic detection sensor (8) and the height detection encoder (9), and the height detection encoder (9) is electrically connected with the height detection sensor (10);
the spline wheel (1) comprises a rubber part (3) arranged around the rotating shaft of the spline wheel, and a plurality of metal parts (2) which are embedded on the circumference of the rubber part (3) at equal intervals;
the metal pattern wheel magnetic detection sensor (8) generates a signal every time a metal part (2) is detected, and the main control board (11) outputs X-axis speed, Y-axis speed, Z-axis speed, combination speed, real-time displacement track, speed error and displacement error signals according to the received detection data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469316.3A CN108415440B (en) | 2018-05-16 | 2018-05-16 | Displacement track feedback system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469316.3A CN108415440B (en) | 2018-05-16 | 2018-05-16 | Displacement track feedback system |
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| Publication Number | Publication Date |
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| CN108415440A CN108415440A (en) | 2018-08-17 |
| CN108415440B true CN108415440B (en) | 2024-04-09 |
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| CN201810469316.3A Active CN108415440B (en) | 2018-05-16 | 2018-05-16 | Displacement track feedback system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426042A (en) * | 2019-08-02 | 2019-11-08 | 武汉华正空间软件技术有限公司 | Motion track recording device |
| CN110789606A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
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| JP2001075648A (en) * | 1999-09-07 | 2001-03-23 | Shinko Electric Co Ltd | Method and device for adjusting driving wheel diameter parameter of unmanned vehicle |
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| CN105302142A (en) * | 2015-11-16 | 2016-02-03 | 桂林电子科技大学 | Unicycle device capable of achieving all-directional movement decoupling |
| CN107065887A (en) * | 2017-05-26 | 2017-08-18 | 重庆大学 | Backward air navigation aid in omni-directional mobile robots passage |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090069595A (en) * | 2007-12-26 | 2009-07-01 | 삼성전자주식회사 | Apparatus and method for detecting movement error in moving robot |
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2018
- 2018-05-16 CN CN201810469316.3A patent/CN108415440B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208521A (en) * | 1991-09-07 | 1993-05-04 | Fuji Jukogyo Kabushiki Kaisha | Control system for a self-moving vehicle |
| JP2001075648A (en) * | 1999-09-07 | 2001-03-23 | Shinko Electric Co Ltd | Method and device for adjusting driving wheel diameter parameter of unmanned vehicle |
| CN102138768A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Positioning method and equipment for cleaning robot |
| CN102735235A (en) * | 2012-06-07 | 2012-10-17 | 无锡普智联科高新技术有限公司 | Indoor mobile robot positioning system and method based on two-dimensional code |
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| CN108415440A (en) | 2018-08-17 |
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