CN110412658B - Travel position correction device, travel position correction method, computer equipment and storage medium - Google Patents
Travel position correction device, travel position correction method, computer equipment and storage medium Download PDFInfo
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- CN110412658B CN110412658B CN201910622650.2A CN201910622650A CN110412658B CN 110412658 B CN110412658 B CN 110412658B CN 201910622650 A CN201910622650 A CN 201910622650A CN 110412658 B CN110412658 B CN 110412658B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/005—Prospecting or detecting by optical means operating with millimetre waves, e.g. measuring the black losey radiation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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Abstract
The application relates to a travel position correcting device, a travel position correcting method, computer equipment and a storage medium. The device comprises: the controller is used for controlling the millimeter wave sensor to move according to a preset movement curve, acquiring the preset position of a certain position correcting switch when the millimeter wave sensor triggers the certain position correcting switch, acquiring subsequent movement according to the preset movement curve and the preset position of the certain position correcting switch, and controlling the millimeter wave sensor to move according to the subsequent movement. By adopting the device, the position correction switch is triggered for multiple times, and the preset position of the position correction switch is utilized to adjust the subsequent movement of the millimeter wave sensor every time the position correction switch is triggered, so that the accumulated error is eliminated, and the movement precision of the millimeter wave sensor is improved.
Description
Technical Field
The application relates to the technical field of millimeter wave security check, in particular to a travel position correcting device, a travel position correcting method, computer equipment and a storage medium.
Background
With the development of millimeter wave human body imaging technology, millimeter wave security check instruments are widely applied to security check in public places; accumulated errors can be gradually generated in the movement process when millimeter waves are mechanically scanned, and the errors of the mechanical movement need to be monitored in order to accurately obtain the position of the millimeter wave sensor and ensure the movement accuracy of the millimeter wave sensor.
In the traditional motion error monitoring, accumulated errors are obtained when the accumulated errors pass through a mechanical zero point, a comparison value is set so that the accumulated errors do not exceed a preset value, namely, the device is allowed to run with the accumulated errors, and when the accumulated errors exceed the preset value, resetting correction is carried out; the motion device is driven to move with accumulated errors for a long time in the process by adopting the mode, so that the motion precision is reduced.
Disclosure of Invention
In view of the above, it is necessary to provide a stroke position correcting device, a method, a computer device and a storage medium capable of correcting a motion error in time.
A stroke position correcting device is characterized by comprising:
the plurality of position correcting switches are arranged at a plurality of preset positions of the guide rail at intervals;
the controller is used for acquiring the preset position of a certain position correcting switch when the millimeter wave sensor triggers the certain position correcting switch, and adjusting the subsequent movement of the millimeter wave sensor according to the preset movement curve and the preset position of the certain position correcting switch;
the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
In one embodiment, the travel position calibrating device further includes:
the encoder is used for acquiring the current detection position of the millimeter wave sensor;
the comparison circuit is used for comparing the current detection position with a preset position of a certain position correction switch to obtain a current travel error;
and the controller is also used for controlling the millimeter wave sensor to move according to the current stroke error.
In one embodiment, the controller is specifically configured to control the millimeter wave sensor to stop moving when the current stroke error is greater than or equal to a preset threshold.
In one embodiment, the plurality of position correction switches are all photoelectric switches.
In one embodiment, the plurality of photoelectric switches are arranged on the guide rail at equal intervals.
A travel position correction method comprises the following steps:
receiving a trigger signal of a position correction switch;
acquiring a preset position of a triggered position correction switch;
adjusting subsequent movement of the millimeter wave sensor according to a preset movement curve and a preset position of the triggered position correction switch;
the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
In one embodiment, the method further comprises:
acquiring the current detection position of the millimeter wave sensor;
comparing the current detection position with a preset position of a certain position correcting switch to obtain a current travel error;
and controlling the movement of the millimeter wave sensor according to the current stroke error.
In one embodiment, the controlling the movement of the millimeter wave sensor according to the current stroke error includes:
and if the current travel error is larger than or equal to the preset threshold, controlling the millimeter wave sensor to stop moving.
In one embodiment, the millimeter wave sensor is controlled to perform deceleration movement according to a preset forced deceleration curve, wherein the starting point of the preset forced deceleration curve corresponds to the last position correction switch of the current travel, and the end point of the preset forced deceleration curve corresponds to a logic zero position or a logic upper position of the guide rail.
In one embodiment, the controlling the millimeter wave sensor to perform deceleration motion according to a preset forced deceleration curve includes:
comparing the curve of the preset motion curve after the preset position of the last position correcting switch with the forced deceleration curve;
and if the curve of the preset motion curve after the last position correcting switch is in the switch preset position is not matched with the forced deceleration curve, controlling the millimeter wave sensor to decelerate according to the preset forced deceleration curve.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
receiving a trigger signal of a position correction switch;
acquiring a preset position of a triggered position correction switch;
adjusting subsequent movement of the millimeter wave sensor according to a preset movement curve and a preset position of the triggered position correction switch; the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving a trigger signal of a position correction switch;
acquiring a preset position of a triggered position correction switch;
adjusting subsequent movement of the millimeter wave sensor according to a preset movement curve and a preset position of the triggered position correction switch; the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
According to the travel position correcting device, the travel position correcting method, the computer equipment and the storage medium, the position correcting switch is triggered for multiple times, and the preset position of the position correcting switch is used for adjusting the subsequent movement of the millimeter wave sensor when the position correcting switch is triggered each time, so that the accumulated error is eliminated, and the movement precision of the millimeter wave sensor is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a travel position calibration apparatus;
FIG. 2 is a flow diagram of a trip-location method in one embodiment;
FIG. 3 is a schematic diagram of preset positions of a plurality of position calibration switches according to one embodiment;
FIG. 4 is a diagram illustrating a predetermined motion profile of the millimeter wave sensor in one embodiment;
FIG. 5 is a partial flow diagram of a trip-position-correction method in one embodiment;
FIG. 6 is a schematic diagram of deceleration adjustment of the travel position calibration method in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, in an embodiment, a travel calibration device is provided, and is used for travel calibration of a millimeter wave sensor in an active millimeter wave human body imaging security inspection apparatus.
The millimeter wave sensor 3 reciprocates on the guide rail 1 of the active millimeter wave human body imaging security inspection instrument under the control of the controller 4 and the servo motor. Optionally, the shape and the arrangement direction of the guide rail 1 can be set to be linear or curved according to the requirement of mechanical scanning of the security check instrument; for example, the millimeter wave sensor can be arranged on the longitudinal linear guide rail, and the person to be detected needs to longitudinally scan from the top of the head to the bottom of the foot.
This stroke position correcting device includes: a plurality of position correction switches 2 and a controller 4; the position correction switches are arranged at intervals on a plurality of preset positions of the guide rail 1. Specifically, when the millimeter wave sensor 3 passes through a certain preset position on the guide rail, the position correction switch at the certain preset position is triggered. Optionally, the position correction switches are all photoelectric switches. The better motion that can the quick sensing millimeter wave sensor of photoelectric switch's sensitivity, and installation convenient to use.
And the controller 4 is used for acquiring the preset position of the certain position correcting switch and adjusting the subsequent movement of the millimeter wave sensor 3 according to the preset movement curve and the preset position of the certain position correcting switch. The preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
Specifically, when the millimeter wave sensor 3 passes through a preset position of a certain position correction switch on the guide rail, the controller 4 first determines a stroke position where a preset motion curve corresponds to the preset position of the certain position correction switch, and then the controller 4 determines a subsequent stroke of the millimeter wave sensor 3 according to the stroke position and a target position of the stroke, and adjusts the motion of the millimeter wave sensor according to the subsequent stroke and the preset motion curve.
In this embodiment, by providing a plurality of position calibration switches, the subsequent movement of the millimeter wave sensor is adjusted by using the preset position and the preset movement curve of the position calibration switch each time the millimeter wave sensor passes through the position calibration switch, so that the accumulated error is eliminated, and the movement accuracy of the millimeter wave sensor is improved.
In one embodiment, the controller 4 may control the motion process of the millimeter wave sensor according to the current stroke error. Specifically, the stroke position correcting device may further include: the encoder is used for acquiring the current detection position of the millimeter wave sensor; and the comparison circuit is used for comparing the current detection position with the preset position of one position correction switch to obtain the current travel error. If the current travel error is smaller than the preset threshold value, the equipment is normal at this moment, and the controller 4 controls the millimeter wave sensor to move on the guide rail 1. If the current travel error is larger than or equal to the preset threshold, the encoder is in fault, and the controller 4 controls the millimeter wave sensor to stop moving, and the millimeter wave sensor is overhauled or reset after stopping moving.
In the embodiment, the number of the position correcting switches is multiple, and the travel error is obtained for multiple times, so that the travel error is monitored; whether the encoder fails or not is detected in time by limiting the size of the stroke error, and the controller can take measures in time when the encoder fails, so that the motion precision of the millimeter wave sensor is ensured.
In one embodiment, the plurality of photoelectric switches are arranged on the guide rail at equal intervals. Because the actual scanning process of the millimeter wave sensor usually moves at a constant speed, the two adjacent photoelectric switches are arranged at equal intervals, so that the travel errors generated when the millimeter wave sensor moves at the same movement step length can be compared conveniently.
All or part of the modules in the travel position correcting device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In an embodiment, please refer to fig. 2, fig. 2 is a flowchart of a trip position calibration method according to an embodiment, where the method specifically includes the following steps:
s210, receiving a trigger signal of a position correction switch;
specifically, the number of the position calibration switches is greater than that of two position calibration switches, which are installed at preset positions at intervals, for example, a plurality of photoelectric switches KF1-KFN shown in fig. 3 are sequentially arranged between a logic zero position and a logic upper position at intervals, the logic zero position and the logic upper position are both preset positions, the coordinate of the logic zero position is Y0, the coordinate of the logic upper position is YS, and the logic upper position and the logic zero position are used for limiting the movement range of the millimeter wave sensor on the guide rail; the trigger signal is an optical signal or an electric signal and the like generated by the fact that the millimeter wave sensor is in contact with or shielded when passing through the position correction switch.
S220, acquiring a preset position of the triggered position correction switch;
specifically, the controller can obtain a preset position for installing a certain triggered position correction switch when receiving a trigger signal sent by the position correction switch; for example, when the millimeter wave sensor runs through the point Y1 and triggers the photoelectric switch KF1, and the controller receives a triggering signal of the photoelectric switch KF1, the controller acquires that the preset position of the KF1 is Y1.
S230, adjusting subsequent movement of the millimeter wave sensor according to a preset movement curve and the preset position of the triggered position correction switch; the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
Specifically, referring to fig. 4, the stroke may be a stroke from a logic zero position to a logic high position or a stroke return from a logic high position to a logic zero position, for example, a curve a-B-C is a preset curve for going stroke, a curve a-B-C is a preset motion curve for returning stroke, and the shapes of the two preset motion curves may be the same or different, which is only used for illustration here; the preset motion curve is information which is input or stored in advance; if the millimeter wave sensor moves from a logic zero position to a logic upper position, and the controller acquires the preset position of KF1 after the position correction switch KF1 is triggered, the controller adjusts the subsequent movement of the millimeter wave sensor according to Y1 and the part from Y1 to YS on the upper curve A-B-C; when the subsequent movement passes through the position correction switch KF2 again, the step of S210 is executed again;
in the embodiment, the position correction switch is triggered for multiple times, and the preset position of the position correction switch is used for adjusting the subsequent movement of the millimeter wave sensor each time the position correction switch is triggered, so that the accumulated error is eliminated, and the movement precision of the millimeter wave sensor is improved.
In an embodiment, referring to fig. 5, fig. 5 is a partial flowchart illustrating a specific implementation of the provided trip position checking method, and between the step S210 and the step S220, the position checking method further includes the following steps:
and S310, acquiring the current detection position of the millimeter wave sensor.
Specifically, the current detection position is acquired by a controller; the controller records the movement distance of the millimeter wave sensor in the movement process of the millimeter wave sensor, and the current detection position is obtained by combining the starting position of the millimeter wave sensor; of course, the current detection data of the millimeter wave sensor can also be obtained by an encoder, for example, the encoder is matched with a servo motor driving the millimeter wave sensor to move.
320. Comparing the current detection position with a preset position of a certain position correcting switch to obtain a current travel error; specifically, the difference between the detection position and the preset position of the triggered position correction switch is the current error.
330. And controlling the movement of the millimeter wave sensor according to the current stroke error.
Specifically, the current stroke error is generated by one-stage movement of the millimeter wave sensor, for example, when the current stroke error moves from a logic zero position to a position correction switch KF1, the current stroke error is obtained from the logic zero position to a Y1 position; when the position correction switch KF1 moves to the position correction switch KF2, the stroke error from the Y position 1 to the Y2 position is obtained.
In the embodiment, in the millimeter wave movement process, the position correction switch is triggered for multiple times and the travel error is obtained for multiple times, so that the travel error is monitored, and the movement precision of the millimeter wave sensor is ensured.
In an embodiment, the present embodiment provides a specific embodiment that the controlling the movement of the millimeter wave sensor according to the current stroke error in step S320, including: and if the current travel error is larger than or equal to the preset threshold, controlling the millimeter wave sensor to stop moving.
For example, the controller obtains a stroke error from a logic zero position to a Y1 position and compares the stroke error with a preset threshold, if the stroke error exceeds the preset threshold, the controller judges that the encoder has a fault, and the controller forces the millimeter wave sensor to stop running; if the position of the millimeter wave sensor is not beyond the preset threshold, no matter whether the detection position of the front position of the millimeter wave sensor received by the controller from the encoder is correct or not, the controller can forcibly correct the position of the millimeter wave sensor, namely, the millimeter wave sensor is adjusted to move subsequently according to the position Y1 of a position correction switch KF1 and a preset movement curve.
In the embodiment, the maximum current travel error is limited by setting the threshold value, frequent position correction is avoided, an emergency measure is adopted when the current travel error is monitored to be excessive, the situation that accidental collision of the millimeter wave sensor is caused due to midway damage in movement is reduced, and the safety is improved.
In one embodiment, the millimeter wave sensor is controlled to perform deceleration motion according to a preset forced deceleration curve, wherein a starting point of the preset forced deceleration curve corresponds to a last position correction switch of a current stroke, and an end point of the preset forced deceleration curve corresponds to a logic zero position or a logic upper position of the guideway.
Specifically, the forced deceleration curve is a relationship curve between a stroke from the preset position of the last position calibration switch to the target and the movement speed, the deceleration of the forced deceleration curve is constant, and the stroke may be an outbound return stroke.
Further, the controlling the millimeter wave sensor to perform deceleration motion according to a preset forced deceleration curve includes: comparing the curve of the preset motion curve after the preset position of the last position correcting switch with the forced deceleration curve; and if the curve of the preset motion curve after the last position correcting switch is in the switch preset position is not matched with the forced deceleration curve, controlling the millimeter wave sensor to decelerate according to the preset forced deceleration curve.
Referring to fig. 6, for example, a curve C is a preset deceleration curve of the forward stroke in the embodiment, and a position calibration switch KFN is the last position calibration switch of the forward stroke; curve A is a preset deceleration curve of the return stroke, and a position correction switch KF1 is the last position correction switch of the return stroke; if the millimeter waves trigger a position correction switch KFN in the process of going, acquiring a curve behind a position YN on a preset motion curve; matching the curve after the position YN on the preset motion curve with the curve C, and if part of the curve is positioned on the right side of the curve C, controlling the millimeter wave sensor to decelerate by the controller according to the adjustment of the curve C; when the curve after the position YN on the preset motion curve is X2, X3 or X4, the controller controls the millimeter wave sensor to decelerate according to the curve C; it can be understood that in the process of the return trip, if the curve after the position Y1 on the preset motion curve after the position calibration switch KF1 is triggered is W2, W3 or W4, the controller controls the millimeter wave sensor to decelerate according to the curve a.
In the embodiment, the deceleration movement of the last position correcting switch is limited, so that the deceleration effect of the millimeter wave sensor is ensured, and the collision caused by excessive movement of the millimeter wave sensor at the boundary is avoided.
It should be understood that although the steps in the flowcharts of fig. 2 and 5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring the current detection position of the millimeter wave sensor; comparing the current detection position with a preset position of a certain position correcting switch to obtain a current travel error; and controlling the movement of the millimeter wave sensor according to the current stroke error.
In one embodiment, the processor when executing the computer program embodies the following steps: and if the current travel error is larger than or equal to the preset threshold, controlling the millimeter wave sensor to stop moving.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and controlling the millimeter wave sensor to perform deceleration movement according to a preset forced deceleration curve, wherein the starting point of the preset forced deceleration curve corresponds to the last position correction switch of the current stroke, and the end point of the preset forced deceleration curve corresponds to the logic zero position or the logic upper position of the guide rail.
In one embodiment, the processor when executing the computer program embodies the following steps: comparing the curve of the preset motion curve after the preset position of the last position correcting switch with the forced deceleration curve; and if the curve of the preset motion curve after the last position correcting switch is in the switch preset position is not matched with the forced deceleration curve, controlling the millimeter wave sensor to decelerate according to the preset forced deceleration curve.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring the current detection position of the millimeter wave sensor; comparing the current detection position with a preset position of a certain position correcting switch to obtain a current travel error; and controlling the movement of the millimeter wave sensor according to the current stroke error.
In one embodiment, the computer program when executed by the processor embodies the steps of: and if the current travel error is larger than or equal to the preset threshold, controlling the millimeter wave sensor to stop moving.
In one embodiment, the computer program when executed by the processor further performs the steps of: and controlling the millimeter wave sensor to perform deceleration movement according to a preset forced deceleration curve, wherein the starting point of the preset forced deceleration curve corresponds to the last position correction switch of the current stroke, and the end point of the preset forced deceleration curve corresponds to the logic zero position or the logic upper position of the guide rail.
In one embodiment, the computer program when executed by the processor embodies the steps of: comparing the curve of the preset motion curve after the preset position of the last position correcting switch with the forced deceleration curve; and if the curve of the preset motion curve after the last position correcting switch is in the switch preset position is not matched with the forced deceleration curve, controlling the millimeter wave sensor to decelerate according to the preset forced deceleration curve.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A stroke position correcting device is characterized by comprising:
the plurality of position correcting switches are arranged at a plurality of preset positions of the guide rail at intervals;
the controller is used for acquiring the preset position of a certain position correcting switch when the millimeter wave sensor triggers the certain position correcting switch, and adjusting the subsequent movement of the millimeter wave sensor according to the preset movement curve and the preset position of the certain position correcting switch; the controller is further used for controlling the millimeter wave sensor to perform deceleration movement according to a preset forced deceleration curve, wherein the starting point of the preset forced deceleration curve corresponds to the last position correction switch of the current stroke, and the end point of the preset forced deceleration curve corresponds to the logic zero position or the logic upper position of the guide rail;
the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor.
2. The apparatus of claim 1, wherein the trip calibration apparatus further comprises:
the encoder is used for acquiring the current detection position of the millimeter wave sensor;
the comparison circuit is used for comparing the current detection position with a preset position of a certain position correction switch to obtain a current travel error;
and the controller is also used for controlling the millimeter wave sensor to move according to the current stroke error.
3. The apparatus of claim 2,
the controller is specifically configured to control the millimeter wave sensor to stop moving when the current stroke error is greater than or equal to a preset threshold value.
4. The apparatus of claim 1, wherein the plurality of position calibration switches are all photoelectric switches.
5. The apparatus of claim 4, wherein a plurality of said photoelectric switches are disposed at equal intervals on said guide rail.
6. A travel position correction method is characterized by comprising the following steps:
receiving a trigger signal of a certain position correcting switch;
acquiring a preset position of the certain position correcting switch;
adjusting subsequent movement of the millimeter wave sensor according to a preset movement curve and a preset position of the position correcting switch;
the preset motion curve is a relation curve of the stroke position and the motion speed of the millimeter wave sensor;
and controlling the millimeter wave sensor to perform deceleration movement according to a preset forced deceleration curve, wherein the starting point of the preset forced deceleration curve corresponds to the last position correction switch of the current stroke, and the end point of the preset forced deceleration curve corresponds to the logic zero position or the logic upper position of the guide rail.
7. The method of claim 6, further comprising:
acquiring the current detection position of the millimeter wave sensor;
comparing the current detection position with a preset position of a certain position correcting switch to obtain a current travel error;
and controlling the movement of the millimeter wave sensor according to the current stroke error.
8. The method of claim 7, wherein said controlling the motion of the millimeter wave sensor based on the current travel error comprises:
and if the current travel error is larger than or equal to the preset threshold, controlling the millimeter wave sensor to stop moving.
9. The method of claim 6, wherein controlling the millimeter wave sensor to perform deceleration motions according to a preset forced deceleration profile comprises:
comparing the curve of the preset motion curve after the preset position of the last position correcting switch with the forced deceleration curve;
and if the curve of the preset motion curve after the last position correcting switch is in the switch preset position is not matched with the forced deceleration curve, controlling the millimeter wave sensor to decelerate according to the preset forced deceleration curve.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 6-9 are implemented when the program is executed by the processor.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being processed and executed, realizes the steps of the method of any one of claims 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910622650.2A CN110412658B (en) | 2019-07-11 | 2019-07-11 | Travel position correction device, travel position correction method, computer equipment and storage medium |
Applications Claiming Priority (1)
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| WO2016156717A1 (en) * | 2015-04-02 | 2016-10-06 | Microwave Characterization Center | Imaging device and corresponding imaging method |
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