CN109101048A - A kind of localization method of kinematic system, system, device and readable storage medium storing program for executing - Google Patents
A kind of localization method of kinematic system, system, device and readable storage medium storing program for executing Download PDFInfo
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- CN109101048A CN109101048A CN201810891981.1A CN201810891981A CN109101048A CN 109101048 A CN109101048 A CN 109101048A CN 201810891981 A CN201810891981 A CN 201810891981A CN 109101048 A CN109101048 A CN 109101048A
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- kinematic system
- speed
- hall switch
- kinematic
- feedback signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of localization methods of kinematic system, comprising: control kinematic system is rotated by First Speed；When detecting the feedback signal of Hall switch, control kinematic system presses second speed counter-rotating, until kinematic system reaches the central area of Hall switch, wherein First Speed is greater than second speed；Kinematic system, which is controlled, by Hall switch executes predetermined registration operation.The present invention first controls kinematic system and quickly rotates by First Speed, to improve locating speed, after receiving the feedback signal of Hall switch, it controls kinematic system and presses second speed counter-rotating at a slow speed, until being parked in the central area of Hall switch, to improve stability, and then improve the economic benefit of recreational facilities.The invention also discloses a kind of positioning system of kinematic system, device and readable storage medium storing program for executing, have above-mentioned beneficial effect.
Description
Technical field
The present invention relates to positioning field, more particularly to a kind of localization method of kinematic system, system, device and readable deposit
Storage media.
Background technique
In some recreational facilities, need to complete the recreational facilities by the cooperation of Hall switch and servo motion system
Specific action, i.e., after servo motion system rotates to the central area of Hall switch, by Hall switch signal control servo
Kinematic system executes specific action, in the prior art, in order to guarantee that servo motion system can be positioned in Hall switch
Heart district domain, usually control servo motion system is at the uniform velocity rotated with very slow speed to the central area of Hall switch, this fixed
Position mode takes a long time, and reduces the economic benefit of recreational facilities.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
Summary of the invention
The object of the present invention is to provide a kind of localization method of kinematic system, system, device and readable storage medium storing program for executing, first control
Kinematic system processed is quickly rotated by First Speed, to improve locating speed, after receiving the feedback signal of Hall switch, and control
Kinematic system presses second speed counter-rotating at a slow speed, until being parked in the central area of Hall switch, to improve stability, in turn
Improve the economic benefit of recreational facilities.
In order to solve the above technical problems, the present invention provides a kind of localization methods of kinematic system, comprising:
Kinematic system is controlled to rotate by First Speed；
When detecting the feedback signal of Hall switch, the kinematic system is controlled by second speed counter-rotating, until
The kinematic system reaches the central area of the Hall switch, wherein the First Speed is greater than the second speed；
The kinematic system, which is controlled, by the Hall switch executes predetermined registration operation.
Preferably, the control kinematic system by First Speed rotation after, detect Hall switch feedback signal it
Before, the localization method further include:
The feedback signal of the Hall switch whether is detected every the inquiry of the first preset time；
It is rotated if it is not, controlling the kinematic system by the First Speed；
Correspondingly, the First Speed is less than D/T, wherein D is the length of the detection zone of the Hall switch, and T is institute
State the first preset time.
Preferably, the control kinematic system presses the process of second speed rotation specifically:
The kinematic system, which is controlled, every the second preset time rotates pre-determined distance by second speed.
Preferably, the pre-determined distance is less than D/2n, wherein n is the annular region that the detection zone is evenly dividing
Number.
Preferably, the control kinematic system presses second speed counter-rotating, until the kinematic system reaches institute
State the process of the central area of Hall switch specifically:
Step S1: the kinematic system is controlled by second speed counter-rotating；
Step S2: the position of the kinematic system is obtained according to the feedback signal of the Hall switch；
Step S3: judging whether the position is in central area, if it is not, 1 is entered step, until the position is in
In the central area.
In order to solve the above technical problems, the present invention also provides a kind of positioning systems of kinematic system, comprising:
First locating module is rotated for controlling kinematic system by First Speed；
Second locating module, for when detecting the feedback signal of Hall switch, controlling the kinematic system by second
Speed counter-rotating, until the kinematic system reaches the central area of the Hall switch, wherein the First Speed is greater than
The second speed；
Execution module executes predetermined registration operation for controlling the kinematic system by the Hall switch.
Preferably, the positioning system further include:
Detection module, for whether detecting the feedback signal of the Hall switch every the inquiry of the first preset time, if
It is no, trigger first locating module；
Correspondingly, the First Speed is less than D/T, wherein D is the length of the detection zone of the Hall switch, and T is institute
State the first preset time.
Preferably, the control kinematic system presses the process of second speed rotation specifically:
The kinematic system, which is controlled, every the second preset time rotates pre-determined distance by second speed.
In order to solve the above technical problems, the present invention also provides a kind of positioning devices of kinematic system, comprising:
Memory, for storing computer program；
Processor realizes the positioning side of the kinematic system as described in any one above when for executing the computer program
The step of method.
In order to solve the above technical problems, the present invention also provides a kind of readable storage medium storing program for executing, on the readable storage medium storing program for executing
It is stored with computer program, realizing the kinematic system as described in any one above when the computer program is executed by processor
The step of localization method.
The present invention provides a kind of localization methods of kinematic system, comprising: control kinematic system is rotated by First Speed；When
When detecting the feedback signal of Hall switch, control kinematic system presses second speed counter-rotating, until kinematic system reaches suddenly
The central area of your switch, wherein First Speed is greater than second speed；Kinematic system, which is controlled, by Hall switch executes default behaviour
Make.As it can be seen that in practical applications, using the solution of the present invention, first controlling kinematic system and quickly being rotated by First Speed, to improve
Locating speed, after receiving the feedback signal of Hall switch, control kinematic system presses second speed counter-rotating at a slow speed, until
It is parked in the central area of Hall switch, to improve stability, and then improves the economic benefit of recreational facilities.The present invention also mentions
Positioning system, device and the readable storage medium storing program for executing of a kind of kinematic system have been supplied, has been had identical with above-mentioned localization method beneficial to effect
Fruit.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of step flow chart of the localization method of kinematic system provided by the present invention；
Fig. 2 is a kind of schematic diagram of Hall switch detection zone provided by the present invention；
Fig. 3 is a kind of structural schematic diagram of the positioning system of kinematic system provided by the present invention.
Specific embodiment
Core of the invention is to provide localization method, system, device and the readable storage medium storing program for executing of a kind of kinematic system, first controls
Kinematic system processed is quickly rotated by First Speed, to improve locating speed, after receiving the feedback signal of Hall switch, and control
Kinematic system presses second speed counter-rotating at a slow speed, until being parked in the central area of Hall switch, to improve stability, in turn
Improve the economic benefit of recreational facilities.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of step flow chart of the localization method of kinematic system provided by the present invention, comprising:
Step 1: control kinematic system is rotated by First Speed；
Step 2: when detecting the feedback signal of Hall switch, control kinematic system presses second speed counter-rotating, directly
The central area of Hall switch is reached to kinematic system, wherein First Speed is greater than second speed；
Specifically, the kinematic system in the present invention is primarily referred to as unlimited rotary servo motion system, in order to improve kinetic system
System navigates to the speed of the central area of Hall switch, and the present invention passes through control software control kinematic system by First Speed first
Evenly quickly rotation, when kinematic system moves in the detection zone of Hall switch, Hall switch can send a feedback
Signal controls software after receiving this feedback signal, and control kinematic system presses second speed counter-rotating, until kinetic system
System reaches the central area of Hall switch, at this point, control kinematic system no longer moves, is parked in the central area of Hall switch, directly
To the control instruction for receiving Hall switch.Referring to shown in Fig. 2, the detection zone of Hall switch can be divided into n annular region
With central area (black portions).To sum up, the present invention controls kinematic system at the beginning and fast moves, when kinematic system passes by Hall
After switch, the reverse uniform motion of kinematic system is controlled, until the central area for being parked in Hall switch is being protected compared with prior art
On the basis of demonstrate,proving positioning accuracy, positioning time is shorter.
Step 3: kinematic system being controlled by Hall switch and executes predetermined registration operation.
Specifically, after by step 1 and step 2, it is ensured that kinematic system is fast and accurately parked in Hall switch
Central area improves stability, to improve joy to carry out subsequent specified operation under the control of the signal of Hall switch
The economic benefit of happy facility.
The present invention provides a kind of localization methods of kinematic system, comprising: control kinematic system is rotated by First Speed；When
When detecting the feedback signal of Hall switch, control kinematic system presses second speed counter-rotating, until kinematic system reaches suddenly
The central area of your switch, wherein First Speed is greater than second speed；Kinematic system, which is controlled, by Hall switch executes default behaviour
Make.As it can be seen that in practical applications, using the solution of the present invention, first controlling kinematic system and quickly being rotated by First Speed, to improve
Locating speed, after receiving the feedback signal of Hall switch, control kinematic system presses second speed counter-rotating at a slow speed, until
It is parked in the central area of Hall switch, to improve stability, and then improves the economic benefit of recreational facilities.
On the basis of the above embodiments:
Embodiment as one preferred detects Hall switch after control kinematic system is by First Speed rotation
Before feedback signal, the localization method further include:
The feedback signal of Hall switch whether is detected every the inquiry of the first preset time；
If it is not, control kinematic system is rotated by First Speed；
Correspondingly, First Speed is less than D/T, wherein D is the length of the detection zone of Hall switch, when T is first default
Between.
Specifically, in practical applications, control software can also inquire whether receive suddenly every the first preset time
The feedback signal of your switch, for example, it is primary every 10ms inquiry, feedback signal is not received also if inquired, and illustrates kinetic system
System reaches the detection zone of Hall switch not yet, at this point, kinematic system still presses First Speed rotation, until detecting that Hall is opened
Until the signal for closing feedback, in order to avoid because speed it is too fast caused by can not detect kinetic system in Hall switch detection zone
The problem of system, First Speed is no more than D/T, wherein D is the length of the detection zone of Hall switch, when T is first default
Between.Wherein, the size of T determines that the present invention is it is not limited here according to actual requirement of engineering.
Embodiment as one preferred, control kinematic system press the process of second speed rotation specifically:
Pre-determined distance is rotated by second speed every the second preset time control kinematic system.
Embodiment as one preferred, pre-determined distance are less than D/2n, wherein n is the ring that detection zone is evenly dividing
Shape areal.
Specifically, should be carried out at this time to the kinematic system after kinematic system has arrived at the detection zone of Hall switch
Accurate positioning, first reduces the rotation speed of kinematic system, makes its slow, evenly counter-rotating, to Hall switch
Central area is close, presses second speed counter-rotating pre-determined distance, here pre- every the second preset time control kinematic system
If distance can be it is identical, be also possible to it is different, every time slowly rotation during, judge kinematic system and center
The distance in domain determines that kinematic system reaches the central area of Hall switch when its distance meets preset condition, if discontented
Foot then continues slowly adjustment.It illustrates, it is assumed that the second preset time is 5s, and the second movement velocity is 1m/s, and pre-determined distance can
Think 0.5m, i.e., (be denoted as 0s) when receiving feedback signal, controls kinematic system with 1m/s at the uniform velocity counter-rotating 0.5m, sentence
Whether disconnected kinematic system reaches central area, if not reaching, in 5s, then controls kinematic system with 1m/s at the uniform velocity counter-rotating
0.5m, judges whether kinematic system reaches central area, if not reaching yet, in 10s, then to control kinematic system even with 1m/s
Speed in reversed direction rotates 0.5m, until kinematic system accurately reaches the central area of Hall switch.Specifically, in order to further avoid
Speed moves to kinematic system outside the detection range of Hall switch fastly very much, and the maximum value of pre-determined distance may not exceed D/2n,
Wherein, n is the annular region number that Hall switch detection zone is evenly dividing.
Embodiment as one preferred, control kinematic system presses second speed counter-rotating, until kinematic system reaches
The process of the central area of Hall switch specifically:
Step S1: control kinematic system presses second speed counter-rotating；
Step S2: the position of kinematic system is obtained according to the feedback signal of Hall switch；
Step S3: judging whether position is in central area, if it is not, 1 is entered step, until position is in central area
It is interior.
Specifically, being sent according to Hall switch anti-during controlling kinematic system by second speed counter-rotating
Feedback signal obtains the current position of kinematic system, since the detection zone of Hall switch is divided evenly as n annular region, because
This, can detect which annular region is kinematic system be in according to the feedback signal that Hall switch is fed back, thus can be with
The position of kinematic system is obtained at a distance from central area, at this point, the pre-determined distance that kinematic system inversely rotates at a slow speed can root
Be adjusted flexibly according to its position, such as when kinematic system is in the most outer ring of Hall switch detection zone, rotation it is default away from
Larger from what be can be set, when it is in the annular region of central area, pre-determined distance should be arranged relatively small
It is some, the flexibility of this localization method is improved, while further improving locating speed.
Referring to figure 3., Fig. 3 is a kind of structural schematic diagram of the positioning system of kinematic system provided by this hair, comprising:
First locating module 1, is rotated for controlling kinematic system by First Speed；
Second locating module 2, for when detecting the feedback signal of Hall switch, control kinematic system to press second speed
Counter-rotating, until kinematic system reaches the central area of Hall switch, wherein First Speed is greater than second speed；
Execution module 3 executes predetermined registration operation for controlling kinematic system by Hall switch.
Embodiment as one preferred, the positioning system further include:
Detection module, for whether detecting the feedback signal of Hall switch every the inquiry of the first preset time, if it is not, touching
Send out the first locating module 1；
Correspondingly, First Speed is less than D/T, wherein D is the length of the detection zone of Hall switch, when T is first default
Between.
Embodiment as one preferred, control kinematic system press the process of second speed rotation specifically:
Pre-determined distance is rotated by second speed every the second preset time control kinematic system.
A kind of positioning system of kinematic system provided by the present invention has identical with the localization method of above-mentioned kinematic system
Beneficial effect.
Above-described embodiment is please referred to for a kind of introduction of the positioning system of kinematic system provided by the present invention, the present invention
Details are not described herein.
Correspondingly, the present invention also provides a kind of positioning devices of kinematic system, comprising:
Memory, for storing computer program；
Processor realizes the step of the localization method such as any one kinematic system above when for executing computer program
Suddenly.
A kind of positioning device of kinematic system provided by the present invention has identical with the localization method of above-mentioned kinematic system
Beneficial effect.
Above-described embodiment is please referred to for a kind of introduction of the positioning device of kinematic system provided by the present invention, the present invention
Details are not described herein.
Correspondingly, it is stored with computer program on readable storage medium storing program for executing the present invention also provides a kind of readable storage medium storing program for executing,
The step of localization method such as any one kinematic system above is realized when computer program is executed by processor.
A kind of readable storage medium storing program for executing provided by the present invention has identical with the localization method of above-mentioned kinematic system beneficial
Effect.
Above-described embodiment please referred to for a kind of introduction of readable storage medium storing program for executing provided by the present invention, the present invention is herein not
It repeats again.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of localization method of kinematic system characterized by comprising
Kinematic system is controlled to rotate by First Speed；
When detecting the feedback signal of Hall switch, the kinematic system is controlled by second speed counter-rotating, until described
Kinematic system reaches the central area of the Hall switch, wherein the First Speed is greater than the second speed；
The kinematic system, which is controlled, by the Hall switch executes predetermined registration operation.
2. the localization method of kinematic system according to claim 1, which is characterized in that the control kinematic system presses first
After speed rotation, before the feedback signal for detecting Hall switch, the localization method further include:
The feedback signal of the Hall switch whether is detected every the inquiry of the first preset time；
It is rotated if it is not, controlling the kinematic system by the First Speed；
Correspondingly, the First Speed is less than D/T, wherein D is the length of the detection zone of the Hall switch, and T is described the
One preset time.
3. the localization method of kinematic system according to claim 2, which is characterized in that the control kinematic system is pressed
The process of second speed rotation specifically:
The kinematic system, which is controlled, every the second preset time rotates pre-determined distance by second speed.
4. the localization method of kinematic system according to claim 3, which is characterized in that the pre-determined distance is less than D/2n,
Wherein, n is the annular region number that the detection zone is evenly dividing.
5. the localization method of kinematic system according to any one of claims 1-4, which is characterized in that described in the control
Kinematic system presses second speed counter-rotating, until the kinematic system reaches the process tool of the central area of the Hall switch
Body are as follows:
Step S1: the kinematic system is controlled by second speed counter-rotating；
Step S2: the position of the kinematic system is obtained according to the feedback signal of the Hall switch；
Step S3: judging whether the position is in central area, if it is not, 1 is entered step, until the position is in described
In central area.
6. a kind of positioning system of kinematic system characterized by comprising
First locating module is rotated for controlling kinematic system by First Speed；
Second locating module, for when detecting the feedback signal of Hall switch, controlling the kinematic system by second speed
Counter-rotating, until the kinematic system reaches the central area of the Hall switch, wherein the First Speed is greater than described
Second speed；
Execution module executes predetermined registration operation for controlling the kinematic system by the Hall switch.
7. the positioning system of kinematic system according to claim 6, which is characterized in that the positioning system further include:
Detection module, for whether detecting the feedback signal of the Hall switch every the inquiry of the first preset time, if it is not, touching
Send out the first locating module described；
Correspondingly, the First Speed is less than D/T, wherein D is the length of the detection zone of the Hall switch, and T is described the
One preset time.
8. the positioning system of kinematic system according to claim 7, which is characterized in that the control kinematic system is pressed
The process of second speed rotation specifically:
The kinematic system, which is controlled, every the second preset time rotates pre-determined distance by second speed.
9. a kind of positioning device of kinematic system characterized by comprising
Memory, for storing computer program；
Processor realizes that the kinematic system as described in the claim 1-5 any one is determined when for executing the computer program
The step of position method.
10. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter on the readable storage medium storing program for executing
It is realized when calculation machine program is executed by processor as described in claim 1-5 any one the step of the localization method of kinematic system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891981.1A CN109101048A (en) | 2018-08-07 | 2018-08-07 | A kind of localization method of kinematic system, system, device and readable storage medium storing program for executing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891981.1A CN109101048A (en) | 2018-08-07 | 2018-08-07 | A kind of localization method of kinematic system, system, device and readable storage medium storing program for executing |
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| Publication Number | Publication Date |
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| CN109101048A true CN109101048A (en) | 2018-12-28 |
Family
ID=64848732
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Citations (5)
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| CN2817926Y (en) * | 2005-08-02 | 2006-09-20 | 上海中路实业有限公司 | Mini-controller of bowling retainer |
| CN204791847U (en) * | 2015-05-15 | 2015-11-18 | 深圳市九鼎智能技术有限公司 | Advertisement page piece rotation driving device of banister |
| CN205039726U (en) * | 2015-10-22 | 2016-02-17 | 江苏海明医疗器械有限公司 | DC (direct current) motor driving circuit |
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| CN106869670A (en) * | 2017-03-23 | 2017-06-20 | 东莞雅音电子科技有限公司 | Electric door detection means and detection control method |
-
2018
- 2018-08-07 CN CN201810891981.1A patent/CN109101048A/en not_active Withdrawn
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|---|---|---|---|---|
| CN2817926Y (en) * | 2005-08-02 | 2006-09-20 | 上海中路实业有限公司 | Mini-controller of bowling retainer |
| CN105788349A (en) * | 2014-12-22 | 2016-07-20 | 联想(北京)有限公司 | Information processing method and electronic equipment |
| CN204791847U (en) * | 2015-05-15 | 2015-11-18 | 深圳市九鼎智能技术有限公司 | Advertisement page piece rotation driving device of banister |
| CN205039726U (en) * | 2015-10-22 | 2016-02-17 | 江苏海明医疗器械有限公司 | DC (direct current) motor driving circuit |
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