CN109660775A - Fuselage control system and control method and optical projection system - Google Patents
Fuselage control system and control method and optical projection system Download PDFInfo
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- CN109660775A CN109660775A CN201710941354.XA CN201710941354A CN109660775A CN 109660775 A CN109660775 A CN 109660775A CN 201710941354 A CN201710941354 A CN 201710941354A CN 109660775 A CN109660775 A CN 109660775A
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- fuselage
- state
- stabilizer blade
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- processor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3191—Testing thereof
- H04N9/3194—Testing thereof including sensor feedback
Abstract
The present invention provides a kind of fuselage control system and control method and optical projection system, which includes: vibration device, sensor, processor and adjusts motor；The motion control signal that the vibration device is used to be sent according to processor generates vibration；The sensor is for detecting fuselage state；The processor is connected with the vibration device, the sensor respectively, for generating the motion control signal of the vibration device, and the fuselage state that the sensor detects is obtained, it is generated according to the fuselage state to the adjusting motor control signal for adjusting motor；The adjusting motor is fixedly arranged on fuselage and is connected with the processor, is moved according to the adjusting motor control signal that the processor generates, so that the stabilizer blade on the fuselage be driven to carry out stretching motion.Fuselage control system and control method and optical projection system adjustment speed of the present invention are fast and good reliability, precision are high.
Description
Technical field
The invention belongs to automatic control technology fields, and in particular to a kind of fuselage control system and control method and projection system
System.
Background technique
Currently, most of electronic products carries out using and the water of fuselage after needing to make fuselage placement horizontal or stable state
The flat or stable adjusting stabilizer blade adjusting generally by being set to the fuselage bottom.
However, in the related technology, the fuselage of electronic product is to manually adjust balance or stabilization, and adjustment process is cumbersome, adjust
It is long to save the time, it is difficult to achieve the desired results.And it is difficult stabilization or level by manually adjusting fuselage.
Therefore, it is really necessary to provide one kind new fuselage control system and control method and optical projection system to solve above-mentioned ask
Topic.
Summary of the invention
For the above the deficiencies in the prior art, the present invention proposes that a kind of adjustment speed is fast and the fuselage control system of good reliability
System and control method and optical projection system.
In order to solve the above-mentioned technical problems, the present invention provides a kind of fuselage control systems, comprising: vibration device, sensing
Device, processor and adjusting motor；
The vibration device, the motion control signal for being sent according to the processor generate vibration；
The sensor, for detecting fuselage state；
The processor is connected with the vibration device, the sensor respectively, for generating the vibration device
Motion control signal, and the fuselage state that the sensor detects is obtained, it is generated according to the fuselage state to described
Adjust the adjusting motor control signal of motor；
The adjusting motor is fixedly arranged on fuselage and is connected with the processor, the institute generated according to the processor
It states and adjusts motor control signal movement, so that the stabilizer blade on the fuselage be driven to carry out stretching motion.
The present invention also provides a kind of fuselage control method, including fuselage, the fuselage includes at least three stabilizer blades, described
Stabilizer blade adjustably adjusts；This method comprises the following steps:
Fuselage state obtains: providing sensor, the fuselage state of the fuselage is obtained by sensor detection；
The generation of adjustment signal: providing processor, is carried out to the fuselage state by preset rules by the processor
Analysis generates simultaneously output regulation signal；
Fuselage status adjustment: at least three are provided and adjusts motor, the adjusting motor drives after receiving the adjustment signal
The corresponding stabilizer blade stretches, and the fuselage is made to be adjusted to horizontality or stable state.
The present invention also provides a kind of optical projection system, including fuselage, it is provided with stabilizer blade on the fuselage, further includes as described above
Fuselage control system, the fuselage control system is placed on the fuselage, for controlling the movement of the stabilizer blade.
Compared with the relevant technologies, in fuselage control system of the invention and control method and optical projection system, pass through sensor
Detect the fuselage state of the fuselage: the first state two dimension angular and the fuselage of fuselage plane and horizontal plane when static
Pressure of the second state two dimension angular or stabilizer blade of plane and horizontal plane where the fuselage to placed side after vibration；The processing
Whether device is zero judges whether the fuselage is horizontal according to the first state two dimension angular, according to the second state two-dimensional angular
Whether degree is zero or whether the pressure be zero stable to judge the fuselage, to control the corresponding adjusting motor
Corresponding stabilizer blade is driven to carry out telescopic adjustment down to standard of fuselage or stabilization.The fuselage Control system architecture is simple, adjusts
Method is convenient and efficient, accuracy is high and highly reliable.
Detailed description of the invention
The invention will now be described in detail with reference to the accompanying drawings.By made detailed description in conjunction with the following drawings, of the invention is upper
It states or otherwise content will be apparent and be easier to understand.In attached drawing:
Fig. 1 is the structural schematic diagram of fuselage control system of the present invention；
Fig. 2 is the circuit structure diagram of fuselage control system of the present invention；
Fig. 3 is schematic perspective view when fuselage control system of the present invention applies to fuselage；
Fig. 4 is one flow diagram of embodiment of fuselage control method of the present invention；
Fig. 5 is the flow diagram that the fuselage stable state in the embodiment two of fuselage control method of the present invention is adjusted；
Fig. 6 is the flow diagram of the standard of fuselage status adjustment in the embodiment two of fuselage control method of the present invention.
Specific embodiment
The embodiment of the invention will now be described in detail with reference to the accompanying drawings.
Specific embodiment/the embodiment recorded herein is specific specific embodiment of the invention, for illustrating this
The design of invention, be it is explanatory and illustrative, should not be construed as the limitation to embodiment of the present invention and the scope of the invention.
In addition to the embodiment recorded herein, those skilled in the art can also be based on disclosed in the claim of this application book and specification
For content using obvious other technical solutions, these technical solutions include using taking the post as to the embodiment recorded herein
The technical solution of what obvious substitutions and modifications, all within protection scope of the present invention.
Fuselage control system of the invention and control method and optical projection system, suitable for including three and with the machine of upper support leg
The adjusting of the horizontality or stable state of body.
Please refer to Fig. 1-2, the present invention provides a kind of fuselage control systems 100, comprising: vibration device 1, sensor
2, processor 3 and adjusting motor 4.Fuselage is applied to fuselage control system 100 below, to automatically adjust the horizontality of fuselage
Or illustrate for stable state.
Incorporated by reference to shown in Fig. 3, fuselage 10 includes four stabilizer blades 101, and stabilizer blade 101 adjustably adjusts.Four stabilizer blades 101 surround
Quadrangle, for example surround rectangle.
In present embodiment, so-called horizontality refers to the state when plane at 10 place of fuselage is parallel to the horizontal plane.Institute
Meaning stable state refers to that the stabilizer blade 101 of fuselage 10 and placement face contact are good, will not generate the state of shaking under external force.
Wherein, 10 place plane of fuselage it is parallel with placed side be stable state a kind of situation.
Vibration device 1 can be vibrating motor, electric and magnetic oscillation equipment etc., as long as can basis for vibrating fuselage 10
The device that motion control signal makes fuselage generate vibration can be used.In the following embodiments, vibration device 1 is with vibrating motor
For be illustrated.It is understood that in some other embodiments, it can also be using electric and magnetic oscillation equipment etc..When adopting
When with vibrating motor, vibrating motor can be eccentric type vibrator or electromagnetic vibrator, this is all feasible.
Vibration device 1 includes at least two and is fixedly arranged on two diagonal lines of 10 plane of fuselage respectively, for according to vibration
The motion control signal of device generates vibration, so that the fuselage 10 be driven to generate vibration.When the vibration device 1 vibration,
Vibration is generated under the drive of vibration device 1 when fuselage plays pendulum or non-standard state understands.That is, each
Vibration device 1 generates vibration respectively, each fuselage state that fuselage 10 generates in vibration processes can correspond to a current shape
State parameter.The current state parameter includes that fuselage is in the parameter of non-standard state, parameter that fuselage plays pendulum etc..
Sensor 2, for detecting fuselage state.Fuselage state includes the current state parameter of fuselage.That is may be used
The state of fuselage is described with adoption status parameter.It can be appreciated that sensor 2 is used to detect the current shape for obtaining fuselage 10
State parameter.
Specifically, current state parameter includes the first state two that plane where it and horizontal plane are formed when fuselage 10 is static
Dimension angle, shape corresponding to 10 place plane of fuselage and horizontal plane when making fuselage generate peak swing in 1 vibration processes of vibration device
At the second state two dimension angular and static fuselage 10 when each of which stabilizer blade 101 pressure that placed side is generated.
I.e. first state two dimension angular and the second state two dimension angular be fuselage 10 in different conditions, where plane with
The included angle that horizontal plane is crossed to form.
In present embodiment, when so-called 10 place plane of fuselage refers to that fuselage 10 is routinely just placed in placed side, put down
Row is in the upper surface of fuselage 10 or the plane of lower surface, for example, then putting down where fuselage when fuselage 10 is placed horizontally at placed side
Face is parallel to horizontal plane；When fuselage 10 is perpendicular to the placed side, then plane where fuselage is i.e. perpendicular to horizontal plane.
Corresponding, sensor 2 includes gyroscope 21 and/or pressure sensor 22.
Gyroscope 21 is fixed on fuselage 10, obtains first state two dimension angular and/or the second state two-dimensional angular for detecting
Degree.
It should be noted that the sensor for detecting acquisition first state two dimension angular and the second state two dimension angular is simultaneously
It is not limited to gyroscope 21, as long as the sensor that can detect acquisition first state two dimension angular and the second state two dimension angular all may be used
With.
Pressure sensor 22 is individually fixed in the bottom surface of each stabilizer blade 101 of fuselage 10, obtains pressure for detecting.
Processor 3 is connected with vibration device 1, sensor 2 respectively, processor 3 and sensor 2, vibration device 1 and between
Both it can be connected by line, and connection can also be realized by modes such as infrared or bluetooths, to carry out the transmission of signal.Processor 3
The fuselage state that sensor 2 detects is obtained, and generates adjusting motor control signal, and the movement for generating vibration device 1
Control signal.In other words, the current state parameter that 3 receiving sensor 2 of processor obtains, according to preset rules to current state
Parameter carries out state analysis and issues corresponding adjustment signal, and control vibration device 1 generates vibration.
It adjusts motor 4 to be connected with processor 3, receives the control signal for the adjusting motor that processor 3 generates, that is, logical
The adjustment signal often said, and corresponding driving force is generated according to adjustment signal, drive the stabilizer blade 101 being conditioned to carry out expanding-contracting action
To realize that fuselage 10 reaches horizontality or stable state.
Regulative mode may be selected in user, as needed select fuselage regulative mode can be standard of fuselage status adjustment or
Person's fuselage stable state is adjusted.I.e., it can be achieved that adjusting fuselage automatically and quickly after fuselage 10 is with the fuselage control system 100
10 level or stable state, not only adjustment speed is fast, but also adjusts precision high.
Standard of fuselage status adjustment:
By gyroscope 21 detect fuselage 10 it is static when the first state two dimension angular that is formed of plane and horizontal plane where it,
Wherein, horizontal plane is the horizontal reference plane that gyroscope 21 carries.Processor 3 is according to first state two dimension angular (first state two
It ties up angle and is equal to 0, be then horizontality, be otherwise non-standard state).The inclined direction of fuselage 10 is obtained by algorithm, and is divided
The adjusting motor 4 that analysis judgement needs to control, adjustment signal is issued to it, and stabilizer blade adjusts motor 4 and drives corresponding stabilizer blade 101 is flexible to adjust
Section realizes the horizontality of fuselage 10.The structure makes the horizontality adjustment speed of fuselage 10 fast, because passing through gyroscope 21 certainly
Dynamic detection judges angle substitution artificial vision's judgement, realizes the high purpose of degree of regulation.
In the standard of fuselage status adjustment of present embodiment, stabilizer blade 101 can be three or more, and principle is all.
Fuselage stable state is adjusted:
Plane and water where fuselage when so that fuselage is generated peak swing in 10 vibration processes of fuselage are detected by gyroscope 21
The second state two dimension angular that plane is corresponding to be formed (when vibrating motor vibration, it is stable state that fuselage, which does not generate shaking then,
It otherwise is unsteady state).Processor 3 obtains the inclined direction of fuselage 10 according to the second state two dimension angular by algorithm, and
It analyzes and determines the adjusting motor 4 for needing to control, adjustment signal is issued to it, stabilizer blade adjusts electromechanics 4 and drives corresponding stabilizer blade 101 flexible
It adjusts, realizes the stable state of fuselage 10.The structure realizes good reliability when fuselage stable state is adjusted, the vibration of vibrating motor
It can avoid pseudo-steady state, for example, one of stabilizer blade 101 of fuselage is located in a loose impediment on placed side, or
One of stabilizer blade of person's fuselage is hanging, can exclude pseudo-steady state by vibration, improve its reliability.
Alternatively, passing through the detection fuselage 10 of pressure sensor 22 pressure that each stabilizer blade 101 generates placed side when static.If
The pressure of the corresponding pressure sensor 22 of stabilizer blade 101 is all not zero, then is stable state, as long as otherwise there is a pressure sensor
22 pressure is zero, then is unsteady state.Processor 3 obtains the inclined direction of fuselage 10 according to pressure condition by algorithm,
And analyze and determine the adjusting motor 4 that needs control, adjustment signal is issued to it, stabilizer blade adjusts motor 4 and corresponding stabilizer blade 101 is driven to stretch
Contracting is adjusted, and realizes the stable state of fuselage 10.
The fuselage control system 100 by pressure sensor 22 can when detect in fact fuselage stabilizer blade 101 state, thus
Realize real-time fuselage stable regulation, good reliability, degree of regulation height.
It can choose ground, when the length that any one stabilizer blade 101 stretches out 10 bottom surface of fuselage reaches preset maximum value, adjust
Motor 4 automatically adjusts the stabilizer blade 101 and resets to original state.In present embodiment, preset maximum value is that each stabilizer blade 101 can be stretched
The 50% of length out.
It, can also be by multiple manually when the length that any one stabilizer blade 101 stretches out 10 face of fuselage bottom reaches preset maximum value
Position mode makes the adjusted adjusting of motor 4 stabilizer blade 101 reset to original state.
Certainly, the shaping modes of fuselage control system can be booting automatic adjustment；Or setting regulation button, manually start tune
Section.
Compared with the existing technology, 100 structure of this fuselage control system is simple, applies to real automatic fuselage state tune after fuselage
Section, stablizes it and/or the adjustment speed of horizontality is fast, and degree of regulation is high, good reliability.
On the basis of above-mentioned each embodiment, the present invention also provides a kind of optical projection system, which includes machine
The fuselage control system of body and any of the above-described kind of embodiment.Stabilizer blade is provided on fuselage, fuselage control system is placed on fuselage,
Stabilizer blade on fuselage control system control fuselage does stretching motion, stablizes shape to adjust standard of fuselage state or the fuselage of fuselage
State.
The present invention also provides a kind of fuselage control methods, are illustrated below in conjunction with above-mentioned fuselage control system 100:
Embodiment one
Fig. 4 is please referred to, fuselage control method includes fuselage 10, and fuselage 10 includes at least four stabilizer blades 101 and four
Stabilizer blade 101 surrounds quadrangle, and stabilizer blade 101 adjustably adjusts.This method comprises the following steps:
Step S41, current state parameter obtains:
Sensor 2 is provided, the current state parameter for obtaining fuselage 10 is detected by sensor 2.
Step S42, the generation of adjustment signal:
Processor 3 is provided, current state parameter is analyzed by preset rules by processor 3, generates and exports tune
Save signal.
Step S43, fuselage status adjustment:
It provides at least four and adjusts motor 4, adjust after motor 4 receives adjustment signal and corresponding stabilizer blade 101 is driven to be stretched
Contracting, makes fuselage 10 be adjusted to horizontality or stable state.
In present embodiment, stabilizer blade 101 may be three or more, and principle is all.When fuselage is by 3 stabilizer blades
When 101 support, the length that can be set to one of stabilizer blade 101 is fixed, and only adjusts the length of other two stabilizer blade, so not
It only can be shortened the time of adjusting, adjusting motor can also be laid as few as possible, reduce the production cost of product.
In fuselage control method, when selection adjusts standard of fuselage state:
In step S41, sensor 2 includes gyroscope 21, and current state parameter includes plane where it when fuselage 10 is static
With the first state two dimension angular of horizontal plane, first state two dimension angular is obtained by the detection of gyroscope 21.Wherein, horizontal plane is
The included horizontal reference plane of gyroscope 21.
At this point, step S42, preset rules are as follows: first state two dimension angular is equal to 0, then fuselage 10 is horizontality, otherwise
For non-standard state.The size and positive and negative values of first state two dimension angular represent the tilt angle and inclined direction of fuselage 10.When
So, preset rules are not limited to this, but its principle is the same.
It should be noted that after adjusting the adjusting of motor 4, if fuselage 10 is in horizontality, terminating in step S43；
Otherwise the adjustment process of step S41- step S43 is repeated.
When selection adjusts fuselage stable state:
It should be noted that fuselage control method is suitable when adjusting fuselage stable state using vibration device (vibrating motor)
Include four and with upper support leg situation for fuselage, be illustrated so that fuselage includes four stabilizer blades as an example in present embodiment:
Before step S41 further include: the step S40, setting of vibration device:
At least two vibration devices 1 are provided, two vibration devices 1 are individually fixed in four 101 shapes of stabilizer blade of fuselage 10
At two diagonal lines on, and be respectively perpendicular to corresponding diagonal line.Two vibration devices 1 are controlled successively first by processor 3
Vibration is generated afterwards, vibrates fuselage 10.
Specifically, two vibration devices 1 distinguish timesharing vibration a period of time, meanwhile, gyroscope 21 detects 10 state of fuselage
Variation, that is to say, that after a vibration completion fuselage of vibration device 1 is static, gyroscope 21 detects the state of fuselage, and then separately
One vibration device 1 vibrates, and after vibration completion fuselage is static, gyroscope 21 detects the state of fuselage.Vibrating motor vibration processes
In a pressure has been added to fuselage 10, can be swung if any unstable rule fuselage 10, by gyroscope 21 detect swing angle, can sentence
The stabilizer blade 101 for breaking hanging.
In step S41, current state parameter includes that the vibration of fuselage 10 is made to generate maximum vibration in 1 vibration processes of vibration device
10 place plane of fuselage and corresponding the second state two dimension angular formed of horizontal plane, the second state two dimension angular pass through top when width
The detection of spiral shell instrument 21 obtains.
At this point, in step S42, preset rules are as follows: the second state two dimension angular is constant, (or is allowing to miss for a definite value
In poor range), then otherwise it is non-standard state that fuselage 10, which is stable state,.The size and positive and negative values of second state two dimension angular
Represent the producible tilt angle of fuselage 10 and inclined direction.
In present embodiment, more preferably, in step S43, processor 3 receives detected second state of gyroscope 21
After two dimension angular, the second state two dimension angular is filtered, the vibration signal of vibration device 1 is filtered out, adjusted with improving
Precision.
In step S43, after adjusting the adjusting of motor 4, if fuselage 10 is in stable state, terminate；Otherwise step is repeated
The adjustment process of S41- step S43.
It should be noted that the sensor for detecting acquisition first state two dimension angular and the second state two dimension angular is simultaneously
It is not limited to gyroscope 21, as long as the sensor that can detect acquisition first state two dimension angular and the second state two dimension angular all may be used
With.
Embodiment two
Present embodiment and above-described embodiment one are essentially identical, the difference is that adjusting the sensor of fuselage stable state not
It together, is pressure sensor.Fuselage control method in present embodiment, the stabilizer blade 101 of fuselage 10 can be three or more, together
Sample illustrates by taking four stabilizer blades 101 as an example.
Fig. 5 is please referred to, (the adjusting standard of fuselage status method phase with embodiment one when adjusting standard of fuselage state
Together):
Fuselage control method includes the following steps:
Step S51, current state parameter obtains:
Sensor 2 is provided, the current state parameter for obtaining fuselage 10 is detected by sensor 2.
Sensor 2 includes gyroscope 21, and current state parameter includes plane and horizontal plane where it when fuselage 10 is static
First state two dimension angular, first state two dimension angular are obtained by the detection of gyroscope 21.Wherein, horizontal plane be gyroscope 21 from
The horizontal reference plane of band.
Step S52, the generation of adjustment signal:
Processor 3 is provided, current state parameter is analyzed by preset rules by processor 3, and generates adjusting letter
Number output.
Preset rules are as follows: first state two dimension angular is equal to 0, then otherwise it is non-standard state that fuselage 10, which is horizontality,.
The size and positive and negative values of first state two dimension angular represent the tilt angle and inclined direction of fuselage 10.
Step S53, fuselage status adjustment:
It provides at least four and adjusts motor 4, adjust after motor 4 receives adjustment signal and corresponding stabilizer blade 101 is driven to be stretched
Contracting, makes fuselage 10 be adjusted to horizontality.
It should be noted that after adjusting the adjusting of motor 4, if fuselage 10 is in horizontality, terminating in step S53；
Otherwise the adjustment process of step S51- step S53 is repeated.
Fig. 6 is please referred to, when adjusting fuselage stable state:
Fuselage control method includes the following steps:
Step S61, current state parameter obtains:
Sensor 2 is provided, the current state parameter for obtaining fuselage 10 is detected by sensor 2.
Specifically, sensor 2 includes pressure sensor 22 in this step, multiple pressure sensors 22 are provided, pressure is passed
Sensor 22 is individually fixed in the bottom surface of each stabilizer blade 101.
Current state parameter includes the pressure that each stabilizer blade 101 generates the placed side of fuselage 10, and pressure is by pressure sensing
The detection of device 22 obtains.
Step S62, the generation of adjustment signal:
Processor 3 is provided, current state parameter is analyzed by preset rules by processor 3, and generates adjusting letter
Number output.
Preset rules are as follows: the pressure of the corresponding pressure sensor 22 of each stabilizer blade 101 is all not zero, then fuselage 10 is to stablize
Otherwise state as long as the pressure of any one pressure sensor 22 is zero, that is, represents its corresponding stabilizer blade 101 vacantly, then fuselage
10 be unsteady state.The corresponding stabilizer blade 101 of pressure sensor 22 that pressure is zero then needs to be conditioned elongation or other stabilizer blades
101 are conditioned shortening.
Step S63, fuselage status adjustment:
It provides at least four and adjusts motor 4, adjust after motor 4 receives adjustment signal and corresponding stabilizer blade 101 is driven to be stretched
Contracting, makes fuselage 10 be adjusted to stable state.
In step S63, after adjusting the adjusting of motor 4, if fuselage 10 is in stable state, terminate；Otherwise step is repeated
The adjustment process of S61- step S63.
It should be noted that in above-mentioned all embodiments provided by the invention, it is preferred that adjustment signal makes to adjust motor
The 4 each 101 extension elongation ranges of stabilizer blade of driving are no more than the preset maximum value of its exsertile length, which can be with
For leg length 50%, the 60% of leg length, leg length 70% etc..When any one stabilizer blade 101 stretches out fuselage 10
When the length of bottom surface reaches preset maximum value, adjusting motor 4 automatically adjusts the stabilizer blade 101 and resets to original state.For example, passing through
As long as processor 3 judges to have the length of a stretching to be more than the preset maximum value of its extended length in stabilizer blade 101, at excitation
It is that original state realizes reset that reason device 3 drives the stabilizer blade 101 to retract automatically.Processor 3 can be by detecting each adjusting motor
The circle number of rotation judges length that corresponding stabilizer blade stretches out.
In addition, can also pass through hand when the length that any one stabilizer blade 101 stretches out 10 face of fuselage bottom reaches preset maximum value
Dynamic reset mode makes the adjusted adjusting of motor 4 stabilizer blade 101 reset to original state.
Certainly, the shaping modes of fuselage control system can be booting automatic adjustment；Or setting regulation button, manually start tune
Section.
It should be noted that first making all branch when fuselage 10 is switched on to reach the accuracy of adjusting and rapidity
Foot 101 resets, such as hand-reset, or setting reset button realizes that a key resets, wherein key reset can be by fuselage 10
Processor 3 is triggered after electricity directly to drive reset button to realize that a key resets.Then motor 4 is controlled to adjust by processor 3 to drive
The flexible to reach adjusting purpose of corresponding stabilizer blade 101 is moved, realizes that the stabilization of fuselage or horizontality are adjusted.Processor 3 controls
Each adjusting motor 4 rotates identical circle number to realize that each stabilizer blade 101 stretches out identical length, thus realize standard of fuselage or
Stable state.Alternatively, processor 3 controls each adjusting motor 4 according to pre-set parameter respectively rotates preset circle number, with
Each stabilizer blade is set to stretch out preset length.For example, working as the case where fuselage is 3 stabilizer blades, make the stretching of two stabilizer blades before fuselage
Length it is consistent, i.e., the length close to two stabilizer blades of lens direction is consistent, and the length of a subsequent stabilizer blade is compared with front two
The length of stabilizer blade is short, keeps fuselage inclined but the slightly upwardly inclined state of stable state, i.e. camera lens.For another example, when fuselage is 4
The case where a stabilizer blade, keeps the length of two stabilizer blades before fuselage consistent, and the length of subsequent two stabilizer blades of fuselage is also consistent, but
The length of two stabilizer blades next is short compared with the length of two stabilizer blades in front, equally, fuselage is made to be in inclination but stable state.
Compared with the relevant technologies, fuselage control system of the invention and control method and optical projection system are examined by sensor
Fuselage is generated most during the first state two dimension angular and fuselage shaking of fuselage plane and horizontal plane when survey fuselage is static
The pressure of second state two dimension angular corresponding to plane where fuselage and horizontal plane or stabilizer blade to placed side when large amplitude；Processing
Whether device is zero judges whether fuselage horizontal according to first state two dimension angular, according to the second state two dimension angular whether be zero or
Whether whether pressure be zero stable to judge fuselage, so that controlling the corresponding stabilizer blade of corresponding adjusting motor driven carries out flexible tune
It saves down to standard of fuselage or stabilization.Fuselage Control system architecture is simple, and adjusting method is convenient and efficient, accuracy is high and reliability
By force.
It should be noted that each embodiment above by reference to described in attached drawing is only to illustrate the present invention rather than limits this
The range of invention, those skilled in the art should understand that, it is right under the premise without departing from the spirit and scope of the present invention
The modification or equivalent replacement that the present invention carries out, should all cover within the scope of the present invention.In addition, signified unless the context
Outside, the word occurred in the singular includes plural form, and vice versa.In addition, unless stated otherwise, then any embodiment
All or part of in combination with any other embodiment all or part of come using.
Claims (12)
1. a kind of fuselage control system characterized by comprising vibration device, sensor, processor and adjusting motor；
The vibration device, the motion control signal for being sent according to the processor generate vibration；
The sensor, for detecting fuselage state；
The processor is connected with the vibration device, the sensor respectively, for generating the movement of the vibration device
Signal is controlled, and obtains the fuselage state that the sensor detects, is generated according to the fuselage state to the adjusting
The adjusting motor control signal of motor；
The adjusting motor is fixedly arranged on fuselage and is connected with the processor, the tune generated according to the processor
The machine control signal that economizes on electricity moves, so that the stabilizer blade on the fuselage be driven to carry out stretching motion.
2. fuselage control system according to claim 1, which is characterized in that the fuselage state includes that the fuselage is static
The first state two dimension angular that plane where Shi Suoshu fuselage and horizontal plane are formed.
3. fuselage control system according to claim 1, which is characterized in that the vibration device includes vibrating motor, institute
Vibrating motor at least two is stated, is fixedly arranged on two diagonal lines of fuselage plane respectively.
4. fuselage control system according to claim 2, which is characterized in that the fuselage state further includes the vibration dress
Setting makes the fuselage along plane and level where fuselage described when generating peak swing perpendicular to placed side direction in vibration processes
Corresponding the second state two dimension angular formed in face.
5. fuselage control system according to claim 4, which is characterized in that the sensor includes gyroscope, the top
Spiral shell instrument is fixed on the fuselage, obtains the first state two dimension angular and/or the second state two dimension angular for detecting.
6. fuselage control system according to claim 1, which is characterized in that the fuselage state includes that the fuselage is static
When each stabilizer blade pressure that placed side is generated.
7. fuselage control system according to claim 6, which is characterized in that the sensor includes pressure sensor, institute
The bottom surface that pressure sensor is individually fixed in each of described fuselage stabilizer blade is stated, obtains the pressure for detecting.
8. a kind of fuselage control method, including fuselage, the fuselage includes at least three stabilizer blades, and the stabilizer blade adjustably adjusts,
It is characterized in that, this method comprises the following steps:
Fuselage state obtains: providing sensor, the fuselage state of the fuselage is obtained by sensor detection；
The generation of adjustment signal: providing processor, analyzed by preset rules by the processor the fuselage state,
Generate simultaneously output regulation signal；
Fuselage status adjustment: at least three are provided and adjusts motor, the adjusting motor drives correspondence after receiving the adjustment signal
The stabilizer blade stretch, so that the fuselage is adjusted to horizontality or stable state.
9. fuselage control method according to claim 8, which is characterized in that in the step of fuselage state obtains,
The sensor includes gyroscope, and the fuselage state includes plane and horizontal plane where the fuselage when fuselage is static
First state two dimension angular, the first state two dimension angular are obtained by gyroscope detection.
10. fuselage control method according to claim 9, which is characterized in that the fuselage state obtain the step of it
Before, further include following steps:
The setting of vibration device: the stabilizer blade includes four and surrounds quadrangle, at least two vibration devices is provided, by two institutes
Vibration device is stated to be individually fixed on two diagonal lines that four of the fuselage stabilizer blades are formed, and be respectively perpendicular to it is corresponding right
Linea angulata controls two vibration devices by the processor and successively successively generates vibration, makes the fuselage shaking；
In the step of fuselage state obtains, the fuselage state further includes the fuselage production during the fuselage shaking
The second state two dimension angular of plane and horizontal plane where the fuselage, the second state two dimension angular are logical when raw peak swing
The gyroscope detection is crossed to obtain.
11. fuselage control method according to claim 8 or claim 9, which is characterized in that in the step of fuselage state obtains
In, the fuselage state further includes the pressure that each stabilizer blade generates placed side；
Multiple pressure sensors are provided, the pressure sensor is individually fixed in the bottom surface of each stabilizer blade, the pressure
It is detected and is obtained by the pressure sensor.
12. a kind of optical projection system, including fuselage, stabilizer blade is provided on the fuselage, which is characterized in that further include such as claim
1 to 7 any fuselage control system, the fuselage control system is placed on the fuselage, for controlling the stabilizer blade
Movement.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941354.XA CN109660775A (en) | 2017-10-11 | 2017-10-11 | Fuselage control system and control method and optical projection system |
| PCT/CN2017/114757 WO2019071769A1 (en) | 2017-10-11 | 2017-12-06 | Body control system and control method, and projection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941354.XA CN109660775A (en) | 2017-10-11 | 2017-10-11 | Fuselage control system and control method and optical projection system |
Publications (1)
| Publication Number | Publication Date |
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| CN109660775A true CN109660775A (en) | 2019-04-19 |
Family
ID=66101258
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710941354.XA Pending CN109660775A (en) | 2017-10-11 | 2017-10-11 | Fuselage control system and control method and optical projection system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109660775A (en) |
| WO (1) | WO2019071769A1 (en) |
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