CN108470510A - A kind of tellurion and control method of automatic positioning - Google Patents
A kind of tellurion and control method of automatic positioning Download PDFInfo
- Publication number
- CN108470510A CN108470510A CN201810481130.XA CN201810481130A CN108470510A CN 108470510 A CN108470510 A CN 108470510A CN 201810481130 A CN201810481130 A CN 201810481130A CN 108470510 A CN108470510 A CN 108470510A
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- China
- Prior art keywords
- stepper motor
- absolute encoder
- tellurion
- latitude
- longitude
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000008878 coupling Effects 0.000 claims abstract description 16
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 3
- 230000001429 stepping effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B27/00—Planetaria; Globes
- G09B27/08—Globes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Power Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A kind of tellurion and control method of automatic positioning, belong to study article field, including supporting leg, holder, the first absolute encoder, the first stepper motor, first shaft coupling, rotating device and outer toroid, there are four the supporting legs, the lower position in four supporting legs is arranged in the holder, it is provided with the first absolute encoder above the holder, first absolute encoder is connect with the first stepper motor, first stepper motor is connect by first shaft coupling with rotating device, and the outer toroid is arranged on the top of four supporting legs.Using two annulus and two stepper motors, the rotation of the horizontal plane and two planes of vertical plane of tellurion can be controlled respectively, it is identified by voice module, after result after identification is handled by microcontroller, it is output to two controllor for step-by-step motor, accurately positioning function may be implemented, to help student to learn, improve the interest and efficiency of study.
Description
Technical field
The present invention relates to a kind of tellurions, specifically use two stepper motors and are carried out to the position on tellurion
The tellurion of precise positioning belongs to study article field.
Background technology
Tellurion is widely used in geography learning, and tellurion is mainly the deployment scenarios for marking universal geography position, auxiliary
The Shi Jinhang that helps the elderly imparts knowledge to students to be learnt with student.
Tellurion all manually controls to position at present, when wanting to look up some country, if being unfamiliar with the country
Geographical location, be difficult search, just touched especially for some for the classmate of Geography be difficult find
Some position on tellurion is unfavorable for improving the learning interest of student and the efficiency of lookup.
Invention content
In view of the above-mentioned deficiencies, the present invention provides a kind of tellurion of automatic positioning and control methods.
The present invention is achieved by the following technical solutions：A kind of tellurion of automatic positioning includes supporting leg, holder, first
Absolute encoder, the first stepper motor, first shaft coupling, rotating device and outer toroid, there are four the supporting legs, and the branch is set up
Set the lower position in four supporting legs, be provided with the first absolute encoder above the holder, first absolute encoder with
First stepper motor connects, and first stepper motor is connect by first shaft coupling with rotating device, the outer toroid setting
On the top of four supporting legs.
Preferably, the rotating device includes first bearing, traveller, the second absolute encoder, the second stepper motor, second
Shaft coupling, sphere, the second rotary shaft, second bearing, interior annular and the first rotary shaft, the first bearing are mounted on traveller,
The traveller is mounted in interior annular, and the first bearing is with traveller in the same installation in symmetrical end of interior annular, and described second absolutely
Encoder is arranged in the inside of interior annular, second absolute encoder is connect with the second stepper motor, second stepping
Motor is connected by one end of second shaft coupling and sphere, the other end of the sphere and the second rotation axis connection, and described second
Rotary shaft is connect by second bearing with interior annular, and the second bearing is mounted on the inside of interior annular, the bottom of the interior annular
Portion is provided with the first rotary shaft.
Preferably, it is provided with sliding rail on the inside of the outer toroid.
Preferably, the control system includes the first absolute encoder, the second absolute encoder, sound identification module, list
Piece machine, the first stepper motor driver, the second stepper motor driver, the concrete model of the microcontroller are
STC12C5A60S2, the sound identification module use WEGASUN-M6, first absolute encoder, the second absolute encoder
The information of acquisition is transmitted to microcontroller with sound identification module, information is transmitted to the first stepping to the microcontroller by treated
Motor driver and the second stepper motor driver.
Preferably, a kind of control method of automatic positioning tellurion includes：
S1, one is distributed by the longitude and latitude in All Countries capital as the geographical location of the country and to each country
Digital number；
S2, All Countries are written in sound identification module, and establish the number of a number-longitude and latitude in microcontroller
According to library；
S3, in positioning, be identified first by voice module, it is defeated when finding to match with the country that pre-enters
Go out in corresponding number to microcontroller, microcontroller obtains this number and matched with longitude and latitude, obtains the longitude and latitude of the country, ground
The initial position of globe is 0 degree of longitude, 0 degree of latitude, and current warp is obtained by the first absolute encoder and the second absolute encoder
Latitude, two kinds compare, and find out difference information, and difference information is converted signal in order to control and is output to the first stepper motor by microcontroller
Controller and the second controllor for step-by-step motor, and then control the first stepper motor and the corresponding angle of the second stepper motor rotation.
The usefulness of the invention is：
(1) two annulus and two stepper motors are used, the horizontal plane and vertical plane two of tellurion can be controlled respectively
The rotation of plane, is identified by voice module, after the result after identification is handled by microcontroller, is output to two steppings
Accurately positioning function may be implemented in electric machine controller, to help student to learn, improves the interest and efficiency of study.
(2) each stepper motor is fitted with absolute encoder, current location information can be obtained in real time, every
After primary identification positioning, the identification that initial position can carry out next time need not be returned to and positioned, locating speed is faster.
Description of the drawings
Accompanying drawing 1 is the structural representation of the present invention；
Attached drawing 2 is the structural schematic diagram of Fig. 1 rotating devices of the present invention；
Attached drawing 3 is the structural schematic diagram of Fig. 1 outer toroids of the present invention；
Attached drawing 4 is the control system schematic diagram of the present invention.
In figure, 1, supporting leg, 2, holder, the 3, first absolute encoder, the 4, first stepper motor, 5, first shaft coupling, 6, rotation
Rotary device, 601, first bearing, 602, traveller, the 603, second absolute encoder, the 604, second stepper motor, the 605, second shaft coupling
Device, 606, sphere, the 607, second rotary shaft, 608, second bearing, 609, interior annular, the 610, first rotary shaft, 7, outer toroid,
701, sliding rail.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of tellurion of automatic positioning includes supporting leg 1, holder 2, the first absolute encoder 3, the first step
Stepper motor 4, first shaft coupling 5, rotating device 6 and outer toroid 7, there are four the supporting legs 1, and the holder 2 is arranged in four branch
The lower position of leg 1,2 top of the holder are provided with the first absolute encoder 3, first absolute encoder 3 and the first step
Stepper motor 4 connects, and first stepper motor 4 is connect by first shaft coupling 5 with rotating device 6, and the setting of the outer toroid 7 exists
The top of four supporting legs 1.
Referring to Fig. 2, preferably, the rotating device 6 includes first bearing 601, traveller 602, the second absolute encoder
603, the second stepper motor 604, second shaft coupling 605, sphere 606, the second rotary shaft 607, second bearing 608, interior annular 609
With the first rotary shaft 610, the first bearing 601 is mounted on traveller 602, and the traveller 602 is mounted in interior annular 609,
The first bearing 601 is with traveller 602 in the same installation in symmetrical end of interior annular 609, the setting of the second absolute encoder 603
In the inside of interior annular 609, second absolute encoder 603 is connect with the second stepper motor 604, second stepper motor
604 are connect by second shaft coupling 605 with one end of sphere 606, and the other end of the sphere 606 and the second rotary shaft 607 connect
It connects, second rotary shaft 607 is connect by second bearing 608 with interior annular 609, and the second bearing 608 is mounted on inner circle
The bottom of the inside of ring 609, the interior annular 609 is provided with the first rotary shaft 610.
Referring to Fig. 3, preferably, 7 inside of the outer toroid is provided with sliding rail 701.
Referring to Fig. 4, preferably, the control system includes the first absolute encoder, the second absolute encoder, voice knowledge
Other module, microcontroller, the first stepper motor driver, the second stepper motor driver, the concrete model of the microcontroller are
STC12C5A60S2, the sound identification module use WEGASUN-M6, first absolute encoder, the second absolute encoder
The information of acquisition is transmitted to microcontroller with sound identification module, information is transmitted to the first stepping to the microcontroller by treated
Motor driver and the second stepper motor driver.
Preferably, a kind of control method of automatic positioning tellurion includes：
S1, one is distributed by the longitude and latitude in All Countries capital as the geographical location of the country and to each country
Digital number；
S2, All Countries are written in sound identification module, and establish the number of a number-longitude and latitude in microcontroller
According to library；
S3, in positioning, be identified first by voice module, it is defeated when finding to match with the country that pre-enters
Go out in corresponding number to microcontroller, microcontroller obtains this number and matched with longitude and latitude, obtains the longitude and latitude of the country, ground
The initial position of globe is 0 degree of longitude, 0 degree of latitude, and current warp is obtained by the first absolute encoder and the second absolute encoder
Latitude, two kinds compare, and find out difference information, and difference information is converted signal in order to control and is output to the first stepper motor by microcontroller
Controller and the second controllor for step-by-step motor, and then control the first stepper motor and the corresponding angle of the second stepper motor rotation.
Operation principle：It, will each national capital for sharing 194 countries in the world for the form of the current world
Geographical location of the longitude and latitude as the country, this 194 countries are written in sound identification module in advance, and by this 194
Reference numeral is 1-194 respectively for a country, and number-longitude and latitude deposit memory is established a database in microcontroller, by
Latitude scope is that latitude is 90 degree of south latitude, 90 degree of -0 degree-north latitude, and longitude range is that west longitude 180 degree-originally goes out meridian (0 degree)-east
Through 180 degree, it is known that the first stepper motor 3, which often turns over, was once corresponding to longitude once, and the second stepper motor 604 often turns over two degrees
Once corresponding to latitude.
When user says the country for wanting to check, received and be identified by sound identification module, when in advance it is defeated
Enter when matching, then export corresponding number in microcontroller, microcontroller gets this number and is matched with longitude and latitude,
Obtain the longitude and latitude of the country.The initial position of the tellurion is 0 degree of longitude, 0 degree of latitude, by the longitude and latitude of the country and first
Beginning position is compared, and difference information is got, and difference information is converted signal in order to control and controls two steppings respectively by microcontroller
Motor rotates to destination locations, and current longitude and latitude positional information can be obtained by two absolute encoders, when detecting again
When being inputted to voice, the difference information of longitude and latitude can be obtained by being not required to turn again to initial position.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacing, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection domain of invention.
Claims (4)
1. a kind of tellurion of automatic positioning includes supporting leg (1), holder (2), the first absolute encoder (3), the first stepper motor
(4), first shaft coupling (5), rotating device (6) and outer toroid (7), it is characterised in that：There are four the supporting legs (1), the branch
The lower position in four supporting legs (1) is arranged in frame (2), and the first absolute encoder (3) is provided with above the holder (2), described
First absolute encoder (3) is connect with the first stepper motor (4), first stepper motor (4) by first shaft coupling (5) with
Rotating device (6) connects, and the outer toroid (7) is arranged on the top of four supporting legs (1).
2. a kind of tellurion of automatic positioning as described in claim 1, it is characterised in that：The rotating device (6) includes the
One bearing (601), traveller (602), the second absolute encoder (603), the second stepper motor (604), second shaft coupling (605),
Sphere (606), the second rotary shaft (607), second bearing (608), interior annular (609) and the first rotary shaft (610), described first
Bearing (601) is mounted on traveller (602), and the traveller (602) is mounted in interior annular (609), the first bearing (601)
With traveller (602) in the same installation in symmetrical end of interior annular (609), the second absolute encoder (603) setting is in interior annular
(609) inside, second absolute encoder (603) connect with the second stepper motor (604), second stepper motor
(604) it is connect with one end of sphere (606) by second shaft coupling (605), the other end of the sphere (606) and the second rotation
Axis (607) connects, and second rotary shaft (607) is connect by second bearing (608) with interior annular (609), second axis
The inside that (608) are mounted on interior annular (609) is held, the bottom of the interior annular (609) is provided with the first rotary shaft (610).
3. a kind of tellurion of automatic positioning as described in claim 1, it is characterised in that：It is provided with cunning on the inside of outer toroid (7)
Rail (701).
4. a kind of control method of tellurion using a kind of automatic positioning as described in claim 1-3 any one, special
Sign is that this method includes：
S1, a number is distributed by the longitude and latitude in All Countries capital as the geographical location of the country and to each country
Number；
S2, All Countries are written in sound identification module, and establish the data of a number-longitude and latitude in microcontroller
Library；
S3, in positioning, be identified first by voice module, when finding to match with the country that pre-enters, output pair
In the number to microcontroller answered, microcontroller obtains this number and is matched with longitude and latitude, obtains the longitude and latitude of the country, tellurion
Initial position be 0 degree of longitude, 0 degree of latitude, current longitude and latitude is obtained by the first absolute encoder and the second absolute encoder
Degree, two kinds compare, and find out difference information, and difference information is converted signal in order to control and is output to the first stepper motor control by microcontroller
Device processed and the second controllor for step-by-step motor, and then control the first stepper motor and the corresponding angle of the second stepper motor rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810481130.XA CN108470510A (en) | 2018-05-18 | 2018-05-18 | A kind of tellurion and control method of automatic positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810481130.XA CN108470510A (en) | 2018-05-18 | 2018-05-18 | A kind of tellurion and control method of automatic positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108470510A true CN108470510A (en) | 2018-08-31 |
Family
ID=63261157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810481130.XA Pending CN108470510A (en) | 2018-05-18 | 2018-05-18 | A kind of tellurion and control method of automatic positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108470510A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110428722A (en) * | 2019-08-07 | 2019-11-08 | 杭州任你说智能科技有限公司 | A kind of intelligently globe and its working method based on intelligent sound interaction technique |
| CN110930855A (en) * | 2019-11-11 | 2020-03-27 | 中国石油大学胜利学院 | Demonstration instrument for simulating celestial body movement |
| CN112792985A (en) * | 2020-12-17 | 2021-05-14 | 淮阴工学院 | Double-shaft rotary stirring machine |
-
2018
- 2018-05-18 CN CN201810481130.XA patent/CN108470510A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110428722A (en) * | 2019-08-07 | 2019-11-08 | 杭州任你说智能科技有限公司 | A kind of intelligently globe and its working method based on intelligent sound interaction technique |
| CN110930855A (en) * | 2019-11-11 | 2020-03-27 | 中国石油大学胜利学院 | Demonstration instrument for simulating celestial body movement |
| CN112792985A (en) * | 2020-12-17 | 2021-05-14 | 淮阴工学院 | Double-shaft rotary stirring machine |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180831 |
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| WD01 | Invention patent application deemed withdrawn after publication |