CN111608641B

CN111608641B - Azimuth tracking platform

Info

Publication number: CN111608641B
Application number: CN202010411954.7A
Authority: CN
Inventors: 张一鹏
Original assignee: Aoken Cnc Equipment Suzhou Co ltd
Current assignee: Aoken Cnc Equipment Suzhou Co ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2021-08-06
Anticipated expiration: 2040-05-15
Also published as: CN111608641A

Abstract

The invention discloses an azimuth tracking platform, which comprises a main body disc, a connecting unit, a compensation disc and a motion disc, wherein the middle part of the main body disc is provided with a through hole, a fixed shaft is fixed inside the through hole, the upper end and the lower end of the circumferential surface of the fixed shaft are rotatably connected with two corresponding rotating rings, the upper end and the lower end of the main body disc are provided with two corresponding mounting grooves, the main body disc comprises a motor, an electric controller, a gyroscope and a gear, the motor is mounted inside the mounting grooves, the outer shell of the motor is provided with the electric controller, the gyroscope is mounted outside the electric controller, the output shaft of the motor is fixed on the end surface of the gear and is mounted on the circumferential surface of the rotating ring at the upper side, the compensation disc is matched with the connecting unit and is mounted on the circumferential surface of the rotating ring at the lower side, the motion disc is matched with the connecting unit, the fixed disc, a storage battery, a communication receiver and a PLC (programmable logic controller) are further included, can survey several hundred meters's shaft under the condition of only using a steel wire.

Description

Azimuth tracking platform

Technical Field

The invention relates to the technical field of resource exploration, in particular to an azimuth tracking platform.

Background

The development of geological resources is always the central importance of a country from old to present, the key underground resources can directly determine the industrial development base and the development upper limit of a country, and before mining, a series of work is required: firstly, prospecting, namely searching for possible ore deposits; secondly, exploration is carried out, and the content and the range of the ore deposit are determined; thirdly, quantitatively estimating the quality and the burying range of the minerals; fourthly, feasibility research is carried out to determine whether the mining value exists or not, and therefore equipment capable of directly recording first-hand data of local resource conditions after local geology and possible resources are analyzed is needed to verify and calibrate the analysis accuracy, and as for the domestic existing shaft exploration equipment, the diameter of more than 50 centimeters and the requirements of huge subsequent basic equipment are very large, the huge challenges of exploration work are undoubtedly caused, huge exploration ports are needed, and some exploration ports which are remote and have poor geographic environments cannot meet the installation requirements of the exploration ports, so that the effect of the small and exquisite precision exploration equipment is very large undoubtedly for the existing mineral mining industry, and the invention is also a direct reason.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the existing defects and provide an azimuth tracking platform which can be used for exploring shaft shafts and corridors of hundreds of meters under the condition of only using one steel wire, and can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an azimuth tracking platform comprises a main body disc, a connecting unit, a compensation disc and a moving disc;

main body dish: the middle part of the main body disc is provided with a through hole, a fixed shaft is fixed in the through hole, the upper end and the lower end of the circumferential surface of the fixed shaft are rotatably connected with two corresponding rotating rings, and the upper end and the lower end of the main body disc are provided with two corresponding mounting grooves;

a connection unit: the electric speed regulator comprises a motor, an electric speed regulator, a gyroscope and a gear, wherein the motor is installed inside an installation groove, the electric speed regulator is installed on a shell of the motor, the gyroscope is installed outside the electric speed regulator, and an output shaft of the motor is fixed on the end face of the gear;

a compensation disc: the compensation disc is arranged on the circumferential surface of the upper rotating ring and matched with the connecting unit;

a sport disc: the moving disc is arranged on the circumferential surface of the rotating ring at the lower side and matched with the connecting unit;

wherein: still include fixed disk, mounting disc, battery, communication receiver and PLC controller, the fixed disk is fixed on the up end of fixed axle, be fixed with the mounting disc on the up end of fixed disk, turn right from a left side and install battery, communication receiver and PLC controller in proper order on the up end of mounting disc, the output of battery is connected to the input electricity of PLC controller, the input of two electricity accent is connected to the output electricity of PLC controller, and the input of two motors is connected to the output electricity difference electricity that two electricity were transferred, the PLC controller is connected with communication receiver, gyroscope two-way electricity respectively.

Furthermore, the compensation disc comprises a first gear ring and a first connecting ring, the first gear ring is fixed on the circumferential surface of the rotating ring on the upper side, the first gear ring is meshed with the gear on the upper side, and the first connecting ring is fixed on the upper end surface of the first gear ring.

Further, the motion disc contains second gear ring, second go-between, draw-in groove and vision auxiliary module, the second gear ring is fixed on the periphery of the swivel of downside, the second gear ring meshes with the gear of downside mutually, be fixed with the second go-between on the lower terminal surface of second gear ring, the draw-in groove has been seted up on the periphery of second go-between, install two corresponding vision auxiliary modules on the lower terminal surface of second go-between, the vision auxiliary module comprises camera and infrared distance meter two parts, camera and infrared distance meter all are connected with the two-way electricity of PLC controller.

Further, still include upper protective housing, wire rope and lower protective housing, the upper end of upper protective housing joint at main part dish periphery, be fixed with wire rope on the up end of upper protective housing, the upper end joint of lower protective housing is at the lower extreme of main part dish periphery, the lower extreme joint of lower protective housing is in the inside of draw-in groove.

Compared with the prior art, the invention has the beneficial effects that: the orientation tracking platform has the following advantages:

1. compared with other equipment which needs a plurality of thick steel wires and data lines of hundreds of meters, the invention only needs one thin steel wire and adopts wireless transmission, so the scale of ground corollary equipment is more small, and the exploration difficulty is much lower;

2. because only one steel wire is used for hoisting the equipment, the condition that the steel wire and the data wire are twisted together does not exist even if the equipment dives for hundreds of meters, the occurrence of accidents is avoided greatly, and the operation difficulty of exploration equipment is reduced;

3. the other main characteristic of the invention is that the gesture system is corrected automatically and the motion control is carried out on the information collecting equipment such as the camera without depending on external force, the orientation key exploration of the measuring equipment can be controlled through the mechanical block design and the positive and negative feedback adjustment of the control system while the self stability is kept in the environment of complex external conditions, the self stability is greatly improved, the quality of the collected data is greatly improved, and the key exploration on key information points can be considered;

4. the whole body of the invention is wrapped by the protective shell, and the small protrusion in the corridor can not collide with the protective shell.

Drawings

FIG. 1 is a schematic front side view of the present invention;

FIG. 2 is a schematic view of a structure of a compensation plate according to the present invention;

FIG. 3 is a schematic view of the structure of the main body disk of the present invention;

FIG. 4 is a schematic view of a connecting unit according to the present invention;

FIG. 5 is a schematic view of the structure of the sport disc of the present invention;

fig. 6 is a block diagram of the working principle of the present invention.

In the figure: the device comprises a main body disc 1, a fixed shaft 2, a rotating ring 3, a mounting groove 4, a connecting unit 5, a motor 51, a 52 electric regulator, a gyroscope 53, a gear 54, a compensation disc 6, a first gear ring 61, a first connecting ring 62, a motion disc 7, a second gear ring 71, a second connecting ring 72, a clamping groove 73, a vision auxiliary module 74, a fixed disc 8, a mounting disc 9, a storage battery 10, a communication receiver 11, a PLC 12, an upper protective shell 13, a steel wire rope 14 and a lower protective shell 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an azimuth tracking platform comprises a main body disc 1, a connecting unit 5, a compensation disc 6 and a moving disc 7;

main body tray 1: a through hole is formed in the middle of the main body disc 1, a fixed shaft 2 is fixed in the through hole, the upper end and the lower end of the circumferential surface of the fixed shaft 2 are rotatably connected with two corresponding rotating rings 3, and two corresponding mounting grooves 4 are formed in the upper end and the lower end of the main body disc 1;

the connection unit 5: the electric installation structure comprises a motor 51, an electric controller 52, a gyroscope 53 and a gear 54, wherein the motor 51 is installed in the installation groove 4, the electric controller 52 is installed on a shell of the motor 51, the gyroscope 53 is installed outside the electric controller 52, and an output shaft of the motor 51 is fixed on the end face of the gear 54;

the compensation disc 6: the compensating disc 6 is matched with the connecting unit 5 and comprises a first gear ring 61 and a first connecting ring 62, the first gear ring 61 is fixed on the circumferential surface of the upper rotating ring 3, the first gear ring 61 is meshed with the upper gear 54, and the first connecting ring 62 is fixed on the upper end surface of the first gear ring 61;

the motion disc 7: the movable disc 7 is matched with the connecting unit 5 and comprises a second gear ring 71, a second connecting ring 72, a clamping groove 73 and a vision auxiliary module 74, the second gear ring 71 is fixed on the circumferential surface of the lower swivel 3, the second gear ring 71 is meshed with the lower gear 54, the second connecting ring 72 is fixed on the lower end face of the second gear ring 71, the clamping groove 73 is formed in the circumferential surface of the second connecting ring 72, two corresponding vision auxiliary modules 74 are mounted on the lower end face of the second connecting ring 72, the vision auxiliary module 74 is composed of a camera and an infrared distance meter, and the camera and the infrared distance meter are both in bidirectional electrical connection with the PLC 12;

wherein: still include fixed disk 8, mounting disc 9, battery 10, communication receiver 11 and PLC controller 12, fixed disk 8 is fixed on the up end of fixed axle 2, be fixed with mounting disc 9 on the up end of fixed disk 8, turn right from a left side and install battery 10 in proper order on the up end of mounting disc 9, communication receiver 11 and PLC controller 12, the output of battery 10 is connected to PLC controller 12's input electricity, two inputs of electricity 52 are connected to PLC controller 12's output electricity, two motors 51's input are connected respectively to two outputs of electricity 52, PLC controller 12 and communication receiver 11, gyroscope 53 is the both-way electricity connection respectively.

Wherein: the intelligent tracking device also comprises an upper protective shell 13, a steel wire rope 14 and a lower protective shell 15, wherein the upper protective shell 13 is clamped at the upper end of the circumferential surface of the main body disc 1, the steel wire rope 14 is fixed on the upper end surface of the upper protective shell 13, the upper end of the lower protective shell 15 is clamped at the lower end of the circumferential surface of the main body disc 1, the lower end of the lower protective shell 15 is clamped in the clamping groove 73, a vision auxiliary module 74 is added, the relative position of a machine and the outside can be detected in real time through an additional camera and an infrared distance meter, the object characteristics and the motion state are extracted, the motion strategy is adjusted uninterruptedly, the image collected by the camera is processed and recognized mainly by an opencv and machine learning method, the image characteristics are extracted, a corresponding classifier is trained, the target in the image is recognized, the relative position information is obtained by combining the camera, the data is returned in real time, the tracking of the specific target is, the method comprises the steps of using OpenCV to detect objects, measuring the distance of the objects according to infrared distance measurement, adopting different methods according to the distance, using a SLAM algorithm to measure a prediction map of the surrounding environment through a sensor on a robot body to carry out matching positioning, sending wireless data to an assembly circuit board used for receiving data at the lower end of the robot through an external computer, resolving the received data after the assembly circuit board receives the data, controlling the motor 51 to move according to the resolved data, feeding back the PID motion state of the motor, the mechanical state of a gyroscope 53 and the external environment of infrared vision to the external computer through the wireless data in real time by a camera and the assembly circuit board in the motion process of the motor 51, and storing all the data after the external computer receives the information.

When in use: the invention is put into the tunnel to be explored, the main body disc 1 is static under normal condition, the motion of the motion disc 7 is achieved by the symmetrical torque of the upper and lower motors 51, the transmission of the upper and lower discs is symmetrical, the gears 54 are symmetrical to the center, the transmission torque is the same, the first gear ring 61 and the second gear ring 71 have the same size, the ratio of the first gear ring 61 and the second gear ring 71 to the gears 54 is 28: 100, the motor adopts a large M2006 motor, and the calculation formula and the ratio of the rotational inertia are calculated according to the rotational inertia

Dead axle kinetic energy formula:

the mass of the moving disk 7 is about 0.579kg, the moment of inertia about the central axis is about 880.624, and the compensating diskThe mass 6 is about 0.973kg, the moment of inertia about the central axis is about 8508.553, so the moving disk 7 and the compensating disk 6 are approximately worked, and the ratio of the working speed change of the moving disk and the compensating disk is approximately 1:3.1 according to the calculation formula of the angular acceleration and the resultant external moment:

under the condition that the torque of the motor 51 is stably output, the acceleration of the motor 51 is constant, the rotating speed of the moving disk 7 can be approximately uniformly accelerated and changed, the torque of the motor 51 is set in a region of 0.5-1N x m with stable output rotating speed, the angular acceleration of the moving disk 7 is controlled to be about 2rad/s 2, the highest speed is not more than about 3rad/s, the balance between stability and efficiency is achieved, when the influence of invariance force, such as the spinning of a steel wire rope 14, the weak airflow of a channel and the weak spinning caused by self movement, occurs, the main disk 1 needs to move to enable the main disk 1 to stably face to one direction, the real-time posture of the main disk 1 is measured and analyzed through the data of two gyroscopes 53 and then fed back to the compensating disk 6 to achieve static balance, when the main disk 1 is unstable when the moving disk 7 moves, the strategy is to firstly keep the posture of the moving disk 7 unchanged, the lower motor 51 keeps the angular velocity from working, and the upper motor 51 performs the movement of the moving disk 7 after resolving that the main disk 1 is stable.

It should be noted that the PLC controller 12 disclosed in the present embodiment controls the operation of the motor 51 by a method commonly used in the art.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An orientation tracking platform, comprising: comprises a main body disc (1), a connecting unit (5), a compensation disc (6) and a moving disc (7);

main body tray (1): a through hole is formed in the middle of the main body disc (1), a fixed shaft (2) is fixed inside the through hole, the upper end and the lower end of the circumferential surface of the fixed shaft (2) are rotatably connected with two corresponding rotating rings (3), and two corresponding mounting grooves (4) are formed in the upper end and the lower end of the main body disc (1);

connection unit (5): the electric control device comprises a motor (51), an electric controller (52), a gyroscope (53) and a gear (54), wherein the motor (51) is installed in an installation groove (4), the electric controller (52) is installed on a shell of the motor (51), the gyroscope (53) is installed outside the electric controller (52), and an output shaft of the motor (51) is fixed on the end face of the gear (54);

compensation disc (6): the compensation disc (6) is arranged on the circumferential surface of the upper rotating ring (3) and matched with the connecting unit (5);

sport disc (7): the moving disc (7) is arranged on the circumferential surface of the lower rotating ring (3) and matched with the connecting unit (5);

wherein: still include fixed disk (8), mounting disc (9), battery (10), communication receiver (11) and PLC controller (12), fixed disk (8) are fixed on the up end of fixed axle (2), be fixed with mounting disc (9) on the up end of fixed disk (8), turn right from a left side and install battery (10), communication receiver (11) and PLC controller (12) in proper order on the up end of mounting disc (9), the output of battery (10) is connected to the input electricity of PLC controller (12), the input of two electricity accent (52) is connected to the output electricity of PLC controller (12), and the input of two motors (51) is connected to the output electricity respectively of two electricity accent (52), PLC controller (12) and communication receiver (11), gyroscope (53) are two-way electricity respectively and are connected.

2. An orientation tracking platform according to claim 1, wherein: the compensating disc (6) comprises a first gear ring (61) and a first connecting ring (62), the first gear ring (61) is fixed on the circumferential surface of the rotating ring (3) on the upper side, the first gear ring (61) is meshed with the gear (54) on the upper side, and the first connecting ring (62) is fixed on the upper end surface of the first gear ring (61).

3. An orientation tracking platform according to claim 1, wherein: motion dish (7) contain second gear ring (71), second go-between (72), draw-in groove (73) and vision auxiliary module (74), second gear ring (71) are fixed on the periphery of swivel (3) of downside, second gear ring (71) mesh with gear (54) of downside, be fixed with second go-between (72) on the lower terminal surface of second gear ring (71), draw-in groove (73) have been seted up on the periphery of second go-between (72), install two corresponding vision auxiliary module (74) on the lower terminal surface of second go-between (72), vision auxiliary module (74) comprise camera and infrared distance meter two parts, camera and infrared distance meter all are connected with PLC controller (12) two-way electricity.

4. An orientation tracking platform according to claim 3, wherein: still include upper protective housing (13), wire rope (14) and lower protective housing (15), upper protective housing (13) joint is in the upper end of main part dish (1) periphery, be fixed with wire rope (14) on the up end of upper protective housing (13), the upper end joint of lower protective housing (15) is at the lower extreme of main part dish (1) periphery, the lower extreme joint of lower protective housing (15) is in the inside of draw-in groove (73).