CN109669307A - It is a kind of for testing the device of motion profile prediction algorithm - Google Patents
It is a kind of for testing the device of motion profile prediction algorithm Download PDFInfo
- Publication number
- CN109669307A CN109669307A CN201910099918.9A CN201910099918A CN109669307A CN 109669307 A CN109669307 A CN 109669307A CN 201910099918 A CN201910099918 A CN 201910099918A CN 109669307 A CN109669307 A CN 109669307A
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- Prior art keywords
- laser
- motor
- reflecting piece
- motion profile
- prediction
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/16—Special procedures for taking photographs; Apparatus therefor for photographing the track of moving objects
-
- 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
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Abstract
It is a kind of for testing the device of motion profile prediction algorithm, include ultraviolet reflecting piece, predict target control set, filming apparatus, laser, the mobile control cage of laser and control assembly, prediction target of the ultraviolet reflecting piece as motion profile prediction algorithm, prediction target control device is moved for controlling ultraviolet reflecting piece, filming apparatus is for shooting the ultraviolet reflecting piece, filming apparatus has camera, ultraviolet filter is housed on camera lens, the mobile control cage of laser is for being fixedly mounted laser, and mobile laser, so as to adjust the irradiation position of laser；Filming apparatus and laser is electrically connected in control assembly, for the mobile ultraviolet reflecting piece of laser illumination of the mobile control cage of laser being controlled, to determine the accuracy of prediction according to the accuracy of irradiation according to preset motion profile prediction algorithm.The present invention can be used for testing motion profile prediction algorithm, and structure is simple, low in cost, be easy to observe detection effect.
Description
Technical field
The present invention relates to experimental provision fields, more specifically to a kind of for testing motion profile prediction algorithm
Device.
Background technique
When carrying out algorithm and accordingly studying, it is desirable to verify the performance of an algorithm often because without suitable platform and only
It can be carried out analog simulation experiment, for motion profile prediction algorithm, generally require to build complicated platform to be tested,
Consume larger manpower and material resources.
Summary of the invention
The technical problem to be solved in the present invention is that for the prior art when progress algorithm is accordingly studied, for movement
For trajectory predictions algorithm, generally requires to build complicated platform to be tested, consume larger manpower and material resources defect, provide one
Plant the device for testing motion profile prediction algorithm.
The technical solution adopted by the present invention to solve the technical problems is: constructing one kind and calculates in advance for testing motion profile
The device of method includes:
Ultraviolet reflecting piece can reflect ultraviolet light, the prediction target as motion profile prediction algorithm；
It predicts target control set, is moved for controlling ultraviolet reflecting piece；
Filming apparatus, for shooting the ultraviolet reflecting piece, filming apparatus has camera, ultraviolet filtering is housed on camera lens
Piece identify only ultraviolet light could by camera；
Laser, for issuing the ultraviolet reflecting piece of UV light；
Laser moves control cage, for the laser, and the mobile laser to be fixedly mounted, so as to adjust described
The irradiation position of laser；
Filming apparatus and laser is electrically connected in control assembly, is used for according to preset motion profile prediction algorithm,
The mobile ultraviolet reflecting piece of laser illumination of the mobile control cage of laser is controlled, to determine the standard of prediction according to the accuracy of irradiation
True property.
Further, of the invention for testing in the device of motion profile prediction algorithm, the ultraviolet reflecting piece is
It is white round.
Further, target control set is predicted for testing in the device of motion profile prediction algorithm of the invention
Including fixed bracket, ultraviolet reflecting piece carrier and prediction destination carrier screw rod, prediction destination carrier screw rod passes through ultraviolet reflective
Piece carrier ultraviolet reflecting piece carrier to be fixed on prediction destination carrier screw rod, wear respectively by the both ends of prediction destination carrier screw rod
The fixation hole crossed on the fixation bracket of two sides and be rotatably fixed in fixation hole, one end of prediction target sliding screw passes through
The rotation axis of third motor is connected after fixation hole, third motor is used to drive prediction destination carrier screw rod in fixation hole in rotation
Interior precession or back-out, so that ultraviolet reflecting piece carrier and ultraviolet reflecting piece be driven to move linearly in the horizontal direction together.
Further, of the invention for testing in the device of motion profile prediction algorithm, the camera is located at purple
The top of outer reflecting piece, fixed angle are shot.
Further, of the invention for testing in the device of motion profile prediction algorithm, the mobile control of the laser
There are frame processed horizontal lead screw, vertical screw rod and a laser holder, the both ends of horizontal lead screw to be each passed through two sides and fix
Fixation hole on wall and be horizontally disposed with, horizontal lead screw passes through laser holder so that fixed frame to be fixed on horizontal lead screw, water
One end of flat screw rod connects the rotation axis of the second motor after fixation hole, and the second motor is used to drive horizontal lead screw in rotation
Precession or back-out in fixation hole, so that laser holder be driven to move linearly in the horizontal direction, horizontal lead screw is parallel to
Predict destination carrier screw rod；
The middle section of laser holder in vertical direction be it is hollow, upper and lower all has fixation wall, vertical screw rod
Positioned at hollow part, upper and lower end is each passed through the fixation hole with fixation wall of upper and lower, and vertical screw rod is described hollow
A slide unit is fixed on the corresponding position of part, fixes the laser on slide unit, and one end of horizontal lead screw, which passes through, connects the after fixation hole
The rotation axis of one motor, first motor is used to drive vertical screw rod precession or back-out in fixation hole in rotation, to drive
Laser holder moves linearly in the vertical direction.
Further, of the invention for testing in the device of motion profile prediction algorithm, first motor, the second motor
And third motor is separately connected motor driver, motor driver connects the control assembly, in the control of control assembly
Under, control the working condition of the first motor, the second motor and third motor.
Further, of the invention for testing in the device of motion profile prediction algorithm, first motor, the second motor
And third motor is stepper motor.
Further, of the invention for testing in the device of motion profile prediction algorithm, the direction of illumination of laser
Are as follows: it is irradiated towards prediction target control set, and in an acute angle with vertically downward direction.
Further, of the invention for testing in the device of motion profile prediction algorithm, the control laser is moved
The dynamic mobile ultraviolet reflecting piece of laser illumination of control cage, so that the accuracy for determining prediction according to the accuracy of irradiation is specifically
Refer to:
The central point for predicting the ultraviolet reflecting piece on target control set that control assembly is shot according to filming apparatus, to this
The motion profile of central point is predicted, and is controlled point of irradiation of the laser in ultraviolet reflecting piece and be irradiated on future position, is shone
Burn out and burn a little in ultraviolet reflecting piece when penetrating, thus according to burn a little and the deviation of the central point predicted it is accurate
Property.
Further, of the invention for testing in the device of motion profile prediction algorithm, ultraviolet reflecting piece is a certain
After moment reaches certain point, control assembly, which controls the mobile control cage of laser according to the information of prediction, makes laser head alignment prediction
Then point starts laser head and is then turned off.
Implement the device for being used to test motion profile prediction algorithm of the invention, has the advantages that the present invention can
It is low in cost with for testing motion profile prediction algorithm, structure is simple, it is easy to observe detection effect.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the front view of one embodiment of device for testing motion profile prediction algorithm of the invention；
Fig. 2 is the top view of the one embodiment part-structure of device for testing motion profile prediction algorithm of the invention；
Fig. 3 is the left view in Fig. 1 about laser and the mobile control cage of laser.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
It is respectively of the invention for testing one embodiment of device of motion profile prediction algorithm with reference to Fig. 1 and Fig. 2
Front view and part-structure top view.In the present embodiment, which includes: ultraviolet
Reflecting piece O, prediction target control set 1, filming apparatus 2, laser 3, the mobile control cage 4 of laser and control assembly.It is purple
Outer reflecting piece O can reflect ultraviolet light, as the prediction target of motion profile prediction algorithm, ultraviolet reflecting piece O in the present embodiment
It is white round；Prediction target control set 1 is moved for controlling ultraviolet reflecting piece O.Filming apparatus 2 is described for shooting
Ultraviolet reflecting piece O, filming apparatus 2 have camera, ultraviolet filter are housed on camera lens, only ultraviolet light could be known by camera
Not, filming apparatus 2 has camera and camera fixed link, and ultraviolet filter is housed on camera lens, and only ultraviolet light could quilt
Camera identification, camera are fixed on the top of ultraviolet reflecting piece O (namely prediction target control set 1) by fixed link, Gu
Determine angle to be shot.Laser 3, for issuing the ultraviolet reflecting piece O of UV light；Laser moves control cage 4, is used for
The laser 3, and the mobile laser 3 is fixedly mounted, so as to adjust the irradiation position of the laser 3.Control assembly,
Filming apparatus 2 and laser 3 is electrically connected, for it is mobile to control laser according to preset motion profile prediction algorithm
The mobile laser 3 of control cage 4 irradiates ultraviolet reflecting piece O, to determine the accuracy of prediction according to the accuracy of irradiation.This is default
Motion profile prediction algorithm be the method to be tested, the reserved carry out interface burning in control assembly can be passed through
Record, can also carry out burning by way of wireless transmission in another embodiment of the invention.
Predict that target control set 1 includes fixed bracket 11, ultraviolet reflecting piece carrier 13 and prediction destination carrier screw rod
14, prediction destination carrier screw rod 14 passes through ultraviolet reflecting piece O carrier so that ultraviolet reflecting piece O carrier is fixed on prediction destination carrier
On screw rod 14, the both ends of prediction destination carrier screw rod 14 are each passed through the fixation hole on the fixation bracket 11 of two sides and rotatable
It is fixed in fixation hole, one end of prediction target sliding screw 14 passes through the rotation axis of connection third motor 12 after fixation hole, the
Three motors 12 are used to drive prediction destination carrier screw rod 14 precession or back-out in fixation hole in rotation, to drive ultraviolet anti-
Mating plate carrier 13 and ultraviolet reflecting piece O move linearly in the horizontal direction together.
With reference to Fig. 3, the mobile control cage 4 of laser has horizontal lead screw 41, vertical screw rod 42 and a laser
Fixed frame 43, fixation hole that the both ends of horizontal lead screw 41 are each passed through in two sides fixation wall 44 and be horizontally disposed with, horizontal lead screw 41
Across laser holder 43 fixed frame to be fixed on horizontal lead screw 41, one end of horizontal lead screw 41 connects after passing through fixation hole
The rotation axis of the second motor 45 is connect, the second motor 45 is used to drive horizontal lead screw 41 precession or rotation in fixation hole in rotation
Out, so that laser holder 43 be driven to move linearly in the horizontal direction, horizontal lead screw 41 is parallel to prediction destination carrier silk
Bar 14；Wherein, horizontal lead screw 41 is parallel to prediction destination carrier screw rod 14.
The middle section of laser holder 43 in vertical direction be it is hollow, upper and lower all has fixation wall 46, vertically
Screw rod 42 is located at hollow part, and upper and lower end is each passed through the fixation hole with fixation wall 46 of upper and lower, vertical screw rod 42
A slide unit 47 is fixed on the hollow space corresponding position, the laser 3 is fixed on slide unit 47, and one end of horizontal lead screw 41 is worn
It crosses after fixation hole and connects the rotation axis of first motor 48, first motor 48 is used to driving vertical screw rod 42 in fixation hole in rotation
Interior precession or back-out, so that laser holder 43 be driven to move linearly in the vertical direction.
First motor 48, the second motor 45 and third motor are separately connected motor driver, and motor driver connects institute
Control assembly is stated, to control the work of first motor 48, the second motor 45 and third motor 12 under the control of control assembly
State.First motor 48, the second motor 45 and third motor 12 are stepper motor.
Preferably, the direction of illumination of laser 3 are as follows: towards prediction target control set 1 be irradiated, and with straight down
Direction is in an acute angle.
The mobile laser 3 of the mobile control cage 4 of control laser irradiates ultraviolet reflecting piece O, thus according to the accuracy of irradiation
Determine that the accuracy of prediction specifically refers to:
The central point for predicting the ultraviolet reflecting piece O on target control set 1 that control assembly is shot according to filming apparatus 2,
The motion profile of the central point is predicted, and controls point of irradiation of the laser 3 on ultraviolet reflecting piece O and is irradiated to future position
On, when irradiation burns out on ultraviolet reflecting piece O burns a little, to a little be predicted with the deviation of the central point according to burning
Accuracy.
Wherein, after ultraviolet reflecting piece O at a time reaches certain point, control assembly controls laser according to the information of prediction
The mobile control cage 4 of device makes laser head alignment prediction point, then starts laser head and is then turned off.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. it is a kind of for testing the device of motion profile prediction algorithm, characterized by comprising:
Ultraviolet reflecting piece can reflect ultraviolet light, the prediction target as motion profile prediction algorithm；
It predicts target control set, is moved for controlling ultraviolet reflecting piece；
Filming apparatus, for shooting the ultraviolet reflecting piece, filming apparatus has camera, ultraviolet filter is housed on camera lens,
Only ultraviolet light could be identified by camera；
Laser, for issuing the ultraviolet reflecting piece of UV light；
Laser moves control cage, for the laser, and the mobile laser to be fixedly mounted, so as to adjust the laser
The irradiation position of device；
Filming apparatus and laser is electrically connected in control assembly, for according to preset motion profile prediction algorithm, control
The mobile ultraviolet reflecting piece of laser illumination of the mobile control cage of laser, to determine the accurate of prediction according to the accuracy of irradiation
Property.
2. according to claim 1 for testing the device of motion profile prediction algorithm, which is characterized in that described ultraviolet anti-
Mating plate is that white is round.
3. according to claim 1 for testing the device of motion profile prediction algorithm, which is characterized in that prediction target control
Device processed includes fixed bracket, ultraviolet reflecting piece carrier and prediction destination carrier screw rod, and prediction destination carrier screw rod passes through purple
Outer reflecting piece carrier predicts the both ends of destination carrier screw rod so that ultraviolet reflecting piece carrier to be fixed on prediction destination carrier screw rod
The fixation hole that is each passed through on the fixation bracket of two sides and be rotatably fixed in fixation hole, the one of prediction target sliding screw
The rotation axis that third motor is connected after fixation hole is held, third motor is used to drive prediction destination carrier screw rod to exist in rotation
Precession or back-out in fixation hole, to drive ultraviolet reflecting piece carrier and ultraviolet reflecting piece, straight line is moved in the horizontal direction together
It is dynamic.
4. according to claim 1 for testing the device of motion profile prediction algorithm, which is characterized in that the camera
Positioned at the top of ultraviolet reflecting piece, fixed angle is shot.
5. according to claim 4 for testing the device of motion profile prediction algorithm, which is characterized in that the laser
There are mobile control cage horizontal lead screw, vertical screw rod and a laser holder, the both ends of horizontal lead screw to be each passed through two
Fixation hole in the fixation wall of side and be horizontally disposed with, horizontal lead screw passes through laser holder so that fixed frame is fixed on horizontal lead screw
On, one end of horizontal lead screw connects the rotation axis of the second motor after fixation hole, and the second motor is used to drive water in rotation
Flat screw rod precession or back-out in fixation hole, so that laser holder is driven to move linearly in the horizontal direction, horizontal lead screw
It is parallel to prediction destination carrier screw rod；
The middle section of laser holder in vertical direction be it is hollow, upper and lower all has fixation wall, and vertical screw rod is located at
Hollow part, upper and lower end are each passed through the fixation hole with fixation wall of upper and lower, and vertical screw rod is in the hollow space
A slide unit is fixed on corresponding position, the laser is fixed on slide unit, and one end of horizontal lead screw passes through the first electricity of connection after fixation hole
The rotation axis of machine, first motor is used to drive vertical screw rod precession or back-out in fixation hole in rotation, to drive laser
Device fixed frame moves linearly in the vertical direction.
6. according to claim 5 for testing the device of motion profile prediction algorithm, which is characterized in that first motor,
Second motor and third motor are separately connected motor driver, and motor driver connects the control assembly, in control group
Under the control of part, the working condition of the first motor, the second motor and third motor is controlled.
7. according to claim 5 for testing the device of motion profile prediction algorithm, which is characterized in that first motor,
Second motor and third motor are stepper motor.
8. according to claim 1 for testing the device of motion profile prediction algorithm, which is characterized in that the photograph of laser
Penetrate direction are as follows: be irradiated towards prediction target control set, and in an acute angle with vertically downward direction.
9. according to claim 1 for testing the device of motion profile prediction algorithm, which is characterized in that the control swashs
The mobile ultraviolet reflecting piece of laser illumination of the mobile control cage of light device, to determine that the accuracy of prediction has according to the accuracy of irradiation
Body refers to:
The central point for predicting the ultraviolet reflecting piece on target control set that control assembly is shot according to filming apparatus, to the center
The motion profile of point is predicted, and is controlled point of irradiation of the laser in ultraviolet reflecting piece and is irradiated on future position, when irradiation
It burns out and is burnt a little in ultraviolet reflecting piece, thus according to burning a little and the accuracy predicted of the deviation of the central point.
10. according to claim 9 for testing the device of motion profile prediction algorithm, which is characterized in that ultraviolet reflective
After piece at a time reaches certain point, control assembly, which controls the mobile control cage of laser according to the information of prediction, makes laser head pair
Then quasi- future position starts laser head and is then turned off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099918.9A CN109669307B (en) | 2019-01-31 | 2019-01-31 | Device for testing motion trail prediction algorithm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099918.9A CN109669307B (en) | 2019-01-31 | 2019-01-31 | Device for testing motion trail prediction algorithm |
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| CN109669307B CN109669307B (en) | 2023-09-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480680A (en) * | 2019-08-02 | 2019-11-22 | 杭州魔象智能科技有限公司 | A kind of software machinery arm strength control precision testing platform and its test method |
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| CN101782370A (en) * | 2010-03-09 | 2010-07-21 | 哈尔滨工业大学 | Measurement positioning method based on universal serial bus (USB) camera and method for measuring movement locus of moving object |
| CN103743345A (en) * | 2014-01-20 | 2014-04-23 | 长春理工大学 | Object motion track measuring method |
| WO2016019817A1 (en) * | 2014-08-06 | 2016-02-11 | 努比亚技术有限公司 | Object motion trajectory photographing method and system, and computer storage medium |
-
2019
- 2019-01-31 CN CN201910099918.9A patent/CN109669307B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101782370A (en) * | 2010-03-09 | 2010-07-21 | 哈尔滨工业大学 | Measurement positioning method based on universal serial bus (USB) camera and method for measuring movement locus of moving object |
| CN103743345A (en) * | 2014-01-20 | 2014-04-23 | 长春理工大学 | Object motion track measuring method |
| WO2016019817A1 (en) * | 2014-08-06 | 2016-02-11 | 努比亚技术有限公司 | Object motion trajectory photographing method and system, and computer storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480680A (en) * | 2019-08-02 | 2019-11-22 | 杭州魔象智能科技有限公司 | A kind of software machinery arm strength control precision testing platform and its test method |
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