CN112068605B - Memory scanning method for two-dimensional turntable - Google Patents
Memory scanning method for two-dimensional turntable Download PDFInfo
- Publication number
- CN112068605B CN112068605B CN202010759440.0A CN202010759440A CN112068605B CN 112068605 B CN112068605 B CN 112068605B CN 202010759440 A CN202010759440 A CN 202010759440A CN 112068605 B CN112068605 B CN 112068605B
- Authority
- CN
- China
- Prior art keywords
- bflag
- axis
- stepping
- angle
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000003068 static effect Effects 0.000 claims abstract description 16
- 230000004044 response Effects 0.000 claims abstract description 4
- 238000010408 sweeping Methods 0.000 claims description 26
- 238000012545 processing Methods 0.000 claims description 22
- 238000012790 confirmation Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003053 toxin Substances 0.000 description 1
- 231100000765 toxin Toxicity 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a two-dimensional turntable memory scanning method, wherein a static variable array is set in a scanning subprogram to store azimuth axis scanning parameters and pitching axis scanning parameters; the azimuth axis scanning parameters comprise a fan scanning speed, a start angle and a stop angle of a fan scanning area; the pitching axis scanning parameters comprise a stepping step length, a starting angle and a stopping angle of a stepping area; setting two static variables including an azimuth axis state variable aflag and a pitching axis state variable bflag; the current state of the scanning turntable can be determined through mutual restriction and identification of the aflag and the bflag. When the two-dimensional turntable is switched to other subprograms and is switched back to the scanning subprogram due to the response instruction, according to the memorized aflag and bflag, the content is recorded by combining with the static variable array, and the scanning process of the non-scanning area can be completed by taking the broken position as a starting point and scanning or stepping according to the speed and the direction before the breaking. The invention can save the memory space of the control chip.
Description
Technical Field
The invention relates to the technical field of turntable control, in particular to a memory scanning method of a two-dimensional turntable.
Background
In a scanning turntable of a telemetering type military toxin agent alarm device, a traversing type full-scanning and sector-scanning mechanism is adopted by the scanning turntable, in the scanning process, after a target is found, the scanning process is interrupted, target confirmation is carried out, and after the target confirmation, the turntable is confirmed by taking the position of the interrupted position as a starting point, so that the original speed and the original direction are kept to scan in a set area.
Because the scanning turntable is a passive device, the upper computer instruction is received to enter scanning subprograms and positioning subprograms in different modes. In order to prevent the abrupt sense caused by the switching command, the turntable memorizes the command of the upper computer, the speed and the direction of the previous moment. The common method is to open up a memory space for storing instructions and data of an upper computer. Defining at least three global variable arrays, wherein the first array is used for receiving upper computer instructions and data, and comprises a scanning mode, a scanning speed, a scanning start angle and a scanning end angle; the second data group is used for storing the current moment (azimuth and pitching) state, speed, starting angle and ending angle; the third array is used to store the previous time (azimuth, pitch) status, speed, start angle, end angle. When the upper computer carries out instruction and data updating on the first array, firstly, the content of the second array is transferred to the third array, then, the content of the first array is read into the second array, and the target confirmation subroutine is entered. After the target is confirmed, the upper computer sends a continuous scanning command, and then the data in the third data is read out and stored in the second array, and the scanning process before being interrupted is continued.
The problems of the above scheme are: 1) The memory space is required to be opened, at least three groups of global variable arrays are defined and stored, and the memory space of a chip is occupied; 2) When different subroutines are repeatedly switched, uneven transition of speed and direction may be caused during the switching.
Disclosure of Invention
In view of this, the invention provides a memory scanning method of a two-dimensional turntable, which can record and correspond to all states of azimuth and elevation through the state identifications of azimuth and elevation and a static variable array, and save the memory space of a control chip.
In order to solve the technical problems, the invention is realized as follows:
a two-dimensional turntable memory scanning method sets a static variable array storage azimuth axis scanning parameter and a pitching axis scanning parameter in a scanning subprogram; the azimuth axis scanning parameters comprise a fan scanning speed, a start angle and a stop angle of a fan scanning area; the pitching axis scanning parameters comprise a stepping step length, a starting angle and a stopping angle of a stepping area; setting two static variables including an azimuth axis state variable aflag and a pitching axis state variable bflag; aflag and bflag are initialized to 0; the method comprises the following steps:
for the azimuth axis:
when aflag=0, positioning the azimuth axis to the initial angle of the sector-sweeping area, and enabling the aflag to=1 after the azimuth axis is in place;
when aflag=1, the azimuth axis is in a state of waiting azimuth and pitching movement to the home position: the azimuth axis is positioned to the initial angle of the sector sweeping area, waiting is performed, when the pitching axis state is judged to meet the requirement of bflag=1, the azimuth axis and the pitching axis are both in place, and scanning can be started, so that aflag=2;
when aflag=2, the azimuth axis is in the forward sector: the end angle of the azimuth axial sweeping area moves according to the sweeping speed, when the end angle of the sweeping area is reached, aflag=3 is achieved, and the azimuth axial movement is stopped;
when aflag=3, the azimuth axis is in a state of waiting for the pitch axis to move to a specified step position at the termination angle: positioning an azimuth axis to a termination angle of the sector sweeping area, waiting, and when judging that the state of a pitching axis meets the condition of bflag=3 or bflag=5, indicating that the pitching axis has moved to a specified stepping position, and enabling aflag=4;
when aflag=4, the azimuth axis is in the reverse sector: the initial angle of the azimuth axial fan-sweeping area moves according to the fan-sweeping speed, when the initial angle is reached, aflag=5 is achieved, and the azimuth axial movement is stopped;
when aflag=5, the azimuth axis is in a state of waiting for the pitch axis to move to a specified step position at the start angle: the azimuth axis is positioned to the initial angle of the sector sweeping area, waiting is performed, when the condition of the pitching axis is judged to meet the condition of bflag=3 or bflag=5, the pitching axis is indicated to be moved to a designated stepping position, and aflag=2 is indicated;
for the pitch axis:
when bflag=0, positioning the pitching axis to the initial angle of the stepping area, and enabling the bflag=1 after the pitching axis is in place;
when bflag=1, the pitch axis is in a state of waiting for the azimuth to move to the end angle of the sector at the start angle of the step area: positioning a pitching axis to an initial angle of a stepping area, waiting, and when judging that the pitching axis state meets aflag=3, indicating that the azimuth axis and the pitching axis are in place, and starting forward stepping to ensure that bflag=2;
when bflag=2, the pitch axis is in the forward stepping state: stepping the end angle of the pitching axial stepping area, and enabling bflag to=3 every time the stepping is completed before the end angle is reached; stepping to reach a termination angle, and enabling bflag to=5;
when bflag=3, the pitch axis is in a state of waiting for the azimuth axis to move to the start angle or the end angle of the specified sector at the current step angle: setting the pitching axis speed to 0, and when the azimuth axis state is judged to meet aflag=3 or aflag=5, enabling bflag=2, and continuing the stepping in the current direction;
at bflag=4, the pitch axis is in reverse stepping: starting angle stepping of the pitching axial stepping area, and before the starting angle is reached, b flag=5 after each step is completed; stepping to reach an initial angle, and enabling bflag to be=3;
when bflag=5, the pitch axis is in a state of waiting for the azimuth axis to move to the start angle or the end angle of the specified sector at the current step angle: setting the pitching axis speed to 0, and when the azimuth axis state is judged to meet aflag=3 or aflag=5, enabling bflag=4, and continuing the stepping in the current direction;
when the two-dimensional turntable is switched to other subprograms and is switched back to the scanning subprogram due to the response instruction, according to the memorized aflag and bflag, the content is recorded by combining with the static variable array, and the scanning process of the non-scanning area can be completed by taking the broken position as a starting point and scanning or stepping according to the speed and the direction before the breaking.
Preferably, the pitch axis sets the stepping speed according to the principle that one step is completed at a constant speed of 1 s.
Preferably, when bflag=2, the following operations are performed:
step b301: judging whether the time T is smaller than or equal to the timing quantity T corresponding to 1s, if so, executing the step b302; otherwise, let bflag=3, and clear time t and stepping speed, turn to the processing branch of bflag=3;
step b302: judging whether the end angle of the stepping area is reached, if so, executing step b303; otherwise, moving to the end angle of the stepping area according to the set stepping speed, and accumulating t; turning to step b301;
step b303: and (3) resetting the time t and the stepping speed, enabling the bflag to be=5, and turning to a judging branch of the bflag=5.
Preferably, when bflag=4, the following operations are performed:
step b311: judging whether the time t is smaller than or equal to the timing quantity 2000 corresponding to 1s, if so, executing the step b312; otherwise, let bflag=5, and clear time t and stepping speed, turn to the judging branch of bflag=5;
step b312: judging whether the initial angle of the stepping area is reached, if so, executing step b313; otherwise, moving to the initial angle of the stepping area according to the set stepping speed, and enabling t to be added with 1; turning to step b311;
step b313: and (3) resetting the time t and the stepping speed, enabling the bflag to be 3, and transferring to a processing branch with the bflag to be 3.
Preferably, in step b303, it is further determined whether the time taken for the present step is less than a% ×1s, and if so, bflag=4; otherwise, executing the operation of the bflag=5; the a% is a set proportion.
Preferably, in step b313, it is further determined whether the time taken for the present step is less than a% ×1s, and if so, bflag=2; otherwise, executing the operation of the bflag=3; the a% is a set proportion.
Preferably, a% = 90%.
Preferably, after receiving a scanning instruction of the upper computer, resolving azimuth axis scanning parameters and pitching axis scanning parameters, carrying out limit value processing on the resolved angle range and speed range, and then assigning values to the static variable array.
The beneficial effects are that:
(1) The invention can record and correspond to all the states of azimuth and elevation through the azimuth and elevation state identification and a static variable array, and can save the memory space of the control chip.
(2) By special treatment of the stepping speed, the stepping start angle and the stepping end angle, the unstable transition of the speed and the direction caused by repeated switching of different subroutines in the scanning process can be eliminated.
Drawings
FIG. 1 is a process flow of the azimuth axis of the present invention.
Fig. 2 is a process flow of the pitch axis according to the first embodiment of the present invention.
Fig. 3 is a process flow of the pitch axis of the present invention according to the second embodiment.
Fig. 4 is a processing scheme of bflag=2 in the pitch axis processing flow of the second embodiment.
Fig. 5 is a processing scheme of bflag=4 in the pitch axis processing flow of the second embodiment.
Fig. 6 is a processing scheme of bflag=2 in the three pitch axis processing flow of the embodiment.
Fig. 7 is a processing scheme of bflag=4 in the three pitch axis processing flow of the embodiment.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a memory scanning method of a two-dimensional turntable, which is suitable for devices with two-dimensional turntables, such as a two-dimensional scanning turntable, a two-dimensional monitoring and tracking turntable and the like.
The invention defines a static variable array in a scanning subprogram for storing azimuth axis scanning parameters and elevation axis scanning parameters during scanning, wherein the azimuth axis scanning parameters comprise a fan scanning speed, a starting angle and a terminating angle of a fan scanning area; the pitch axis scan parameters include a step size, a start angle and an end angle of the step area. Two static variables, namely an azimuth axis state variable aflag and a pitching axis state variable bflag, are defined and used as state identifiers of azimuth and pitching under a scanning mechanism.
In the two-dimensional turntable, the azimuth axis and the pitching axis identify the respective scanning states through two state identifiers (aflag, bflag) and correspond to each other, so that the problem that the scanning process is interrupted and then continues to scan according to the original states (speed and direction) is solved; by special processing of turning around the stepping speed, the stepping start angle and the stepping end angle, abrupt sense of subroutine switching is eliminated, and the turntable can keep the speed stably transited to a new sector area at the last moment.
The fan-scan path is that, from the initial angles of an azimuth axis and a pitching axis, the pitching axis is motionless, the azimuth axis scans positively in a fan-scan area, and when reaching the end angle of the azimuth axis, the pitching axis steps towards the end angle of a stepping area; after the step, the azimuth axis reversely scans in the sector-scanning area, when the initial angle of the azimuth axis is reached, the pitching axis further steps towards the end angle of the stepping area, then the azimuth axis scans forward, and the sector-scanning work is executed according to the alternate movement mode of the azimuth axis and the pitching axis. When the pitch axis reaches the end angle of the stepping region, the turning around is reversed. The whole sector area is covered by the cooperation of the azimuth axis and the pitching axis.
Example 1
For the azimuth axis, referring to fig. 1, the discrimination and corresponding processing of the scan subroutine for different aflag values is:
when aflag=0, the azimuth axis is positioned to the starting angle of the sector-scanned area, and after the azimuth axis is in place, aflag=1 is obtained. Positioning here refers to rotation to a specified position.
When aflag=1, the azimuth axis is in a state of waiting azimuth and pitching movement to the home position: and positioning the azimuth axis to the initial angle of the sector sweeping area, waiting and judging, and when judging that the pitching axis state meets bflag=1, indicating that the azimuth axis and the pitching axis are in place, and starting scanning to enable aflag=2.
When aflag=2, the azimuth axis is in the forward sector: and the end angle of the azimuth axial sweeping area moves at the sweeping speed, when the end angle of the sweeping area is reached, aflag=3, and the azimuth axial movement is stopped.
When aflag=3, the azimuth axis is in a state of waiting for the pitch axis to move to a specified step position at the termination angle: and positioning the azimuth axis to the termination angle of the sector sweeping area, waiting and judging, wherein when the condition of the pitching axis is judged to meet the condition of bflag=3 or bflag=5, the pitching axis is indicated to be moved to a specified stepping position, and aflag=4.
When aflag=4, the azimuth axis is in the reverse sector: the initial angle of the azimuth axial sweeping area moves according to the sweeping speed, when the initial angle is reached, aflag=5 is achieved, and the azimuth axial movement is stopped.
When aflag=5, the azimuth axis is in a state of waiting for the pitch axis to move to a specified step position at the start angle: and positioning the azimuth axis to the initial angle of the sector sweeping area, waiting and judging, and when judging that the pitching axis state meets the condition of bflag=3 or bflag=5, indicating that the pitching axis has moved to a specified stepping position, and enabling aflag=2.
For the pitch axis, referring to fig. 2, the discrimination and corresponding processing of the scan subroutine for different bflag values is:
when bflag=0, the pitch axis is positioned to the starting angle of the stepping area, and after the position is reached, bflag=1.
When bflag=1, the pitch axis is in a state of waiting for the azimuth to move to the end angle of the sector at the start angle of the step area: and positioning the pitching axis to the initial angle of the stepping area, waiting and judging, and when judging that the pitching axis state meets aflag=3, indicating that the azimuth axis and the pitching axis are in place, and starting forward stepping to ensure bflag=2.
When bflag=2, the pitch axis is in the forward stepping state: stepping the end angle of the pitching axial stepping area, and enabling bflag to=3 every time the stepping is completed before the end angle is reached; stepping to the end angle causes bflag=5.
When bflag=3, the pitch axis is in a state of waiting for the azimuth axis to move to the start angle or the end angle of the specified sector at the current step angle: when the pitch axis speed is set to 0 and the azimuth axis state is determined to satisfy aflag=3 or aflag=5, bflag=2 is set, and the stepping in the current direction is continued.
At bflag=4, the pitch axis is in reverse stepping: starting angle stepping of the pitching axial stepping area, and before the starting angle is reached, b flag=5 after each step is completed; stepping to the starting angle causes bflag=3.
When bflag=5, the pitch axis is in a state of waiting for the azimuth axis to move to the start angle or the end angle of the specified sector at the current step angle: when the pitch axis speed is set to 0 and the azimuth axis state is determined to satisfy aflag=3 or aflag=5, bflag=4 is set, and the stepping in the current direction is continued.
When the two-dimensional turntable is switched to other subprograms and is switched back to the scanning subprogram due to the response instruction, according to the memorized aflag and bflag, the content is recorded by combining with the static variable array, and the scanning process of the non-scanning area can be completed by taking the broken position as a starting point and scanning or stepping according to the speed and the direction before the breaking.
Example two
The pitch axis of the present embodiment adopts the processing flow shown in fig. 3. The first difference from the embodiment is the processing when bflag=2 and bflag=4. In addition, in this embodiment, the stepping speed is set, that is, the stepping speed is equal to the stepping step length divided by 1s, that is, it is necessary to complete one step at a constant speed within 1 s. For example, the step size is 2 °, and the step speed is 2 °/s.
Fig. 4 shows a process when bflag=2 in the second embodiment. As shown in fig. 4, steps b301-303 are included:
step b301: whether the time T is less than or equal to the corresponding timing amount T of 1s is determined, in this embodiment, t=2000, and the data is calculated by the program interrupt period of 0.5ms, and 1s includes 2000 interrupt periods. If t is less than or equal to 2000, then step b302 is performed; otherwise, let bflag=3, and clear time t and stepping speed, and go to the processing branch of bflag=3. At this time, since the bflag is changed to 3, the judgment condition in the azimuth axis aflag=3 or 5 is satisfied, at this time, the aflag is assigned to 4 or 2, the azimuth axis is scanned in the reverse/forward direction, and when the scanning is in place, the aflag=5 or 3; at this time, if the determination condition in the pitch axis bflag=3 is satisfied, bflag is assigned to 2, the flow is again entered, and the angle stepping is continued toward the end.
Step b302: judging whether the end angle of the stepping area is reached, if so, executing step b303; otherwise, the device moves to the end angle of the stepping area according to the set stepping speed, and t is added with 1. Go to step b301.
Step b303: and (3) resetting the time t and the stepping speed, enabling the bflag to be=5, and turning to a judging branch of the bflag=5. At this time, since the bflag is changed to 5, the judgment condition in the azimuth axis aflag=3 or 5 is satisfied, at this time, the aflag is assigned to 4 or 2, the azimuth axis is scanned in the reverse/forward direction, and when the scanning is in place, the aflag=5; at this time, when the judgment condition in the pitch axis bflag=3 is satisfied, bflag is assigned to 4, the flow of b311-b313 is entered, and the user turns around and steps in the other direction.
Fig. 5 shows a process when bflag=4 in the second embodiment. As shown in fig. 5, steps b311-313 are included:
step b311: judging whether the time T is smaller than or equal to the timing quantity T corresponding to 1s, if so, executing the step b312; otherwise, let bflag=5, and clear time t and step speed, turn to the judgment branch of bflag=5.
Step b312: judging whether the initial angle of the stepping area is reached, if so, executing step b313; otherwise, moving to the initial angle of the stepping area according to the set stepping speed, and accumulating t; go to step b311.
Step b313: and (3) resetting the time t and the stepping speed, enabling the bflag to be 3, and transferring to a processing branch with the bflag to be 3.
Example III
The pitch axis of this embodiment still employs the process flow shown in fig. 3. The second difference from the embodiment is the processing of steps b303 and b 313.
In this embodiment, considering the error in stepping, it is possible to accumulate the error in stepping multiple times, so that the process of 10 steps should be performed, and 11 steps are performed, and then when the pitch turns around, the stop angle is passed again, that is, the stop angle is passed 2 times. If not processed, the two fans are performed at the end angle, wasting time and resources.
Considering that the situation that repeated scanning is not needed is shown as the fact that the length of the last step is very small, the length of the last step is identified, and when the lengths are very small and are all accumulated errors, the state 4 is directly entered, namely the bflag=4, no fan scanning is needed, and the step is continued after turning around; when the last step length is normal, the bflag=5, i.e. the current position needs to be scanned by a fan, and then the user turns around to continue stepping.
Based on the above-mentioned idea, as shown in fig. 6, in step b303, it is further determined whether the time taken for the present step is less than a% ×1s, and if so, bflag=4; otherwise, executing the operation of the bflag=5; the a% is a set proportion. In this embodiment, a% = 90% is selected.
Similarly, as shown in fig. 7, in step b313, it is further determined whether the time taken for the current step is less than a% ×1s, and if so, bflag=2; otherwise, executing the operation of the bflag=3; the a% is a set proportion.
As described above, when the two-dimensional turntable performs cyclic scanning of azimuth sector scanning and elevation stepping, after receiving the fixed point instruction, the two-dimensional turntable is switched to the fixed point subprogram, the speed and the direction of the fixed point keep the data in the previous subprogram, and abrupt changes caused by command switching in the scanning process are eliminated.
And waiting for an upper computer instruction after reaching a fixed point, if the scanning is resumed, entering a scanning subprogram again, and continuously completing the scanning process of the non-scanning area at the original speed by taking the broken position as a starting point according to the speed, the direction and the stepping direction before being broken according to the memorized azimuth and pitching state marks.
For example, when the scanning subroutine is re-entered, aflag=2 and bflag=3. According to aflag=2, it can be known that before interruption, the azimuth axis is moving at a set speed, and then the azimuth axis is moved at a set fan speed after the previous operation, and the set fan speed is obtained from the azimuth axis scanning parameters. When the azimuth axis reaches the end angle of the sector sweep (also obtained from the azimuth axis scan parameters), the azimuth axis motion is stopped, letting aflag=3. As can be seen from bflag=3, at this time, the pitch rate is 0, there is no movement, and the azimuth axis is waiting for the state of aflag=3 or 5. The pitch axis may be determined by always determining the azimuth axis state aflag. In this example, the aflag will change from 2 to 3, and the pitch axis determines aflag=3, assigns bflag to 2, and continues the movement toward the end angle.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A two-dimensional turntable memory scanning method is characterized in that a static variable array storage azimuth axis scanning parameter and a pitching axis scanning parameter are set in a scanning subprogram; the azimuth axis scanning parameters comprise a fan scanning speed, a start angle and a stop angle of a fan scanning area; the pitching axis scanning parameters comprise a stepping step length, a starting angle and a stopping angle of a stepping area; setting two static variables including an azimuth axis state variable aflag and a pitching axis state variable bflag; aflag and bflag are initialized to 0; the method comprises the following steps:
for the azimuth axis:
when aflag=0, positioning the azimuth axis to the initial angle of the sector-sweeping area, and enabling the aflag to=1 after the azimuth axis is in place;
when aflag=1, the azimuth axis is in a state of waiting azimuth and pitching movement to the home position: the azimuth axis is positioned to the initial angle of the sector sweeping area, waiting is performed, when the pitching axis state is judged to meet the requirement of bflag=1, the azimuth axis and the pitching axis are both in place, and scanning is started, so that aflag=2;
when aflag=2, the azimuth axis is in the forward sector: the end angle of the azimuth axial sweeping area moves according to the sweeping speed, when the end angle of the sweeping area is reached, aflag=3 is achieved, and the azimuth axial movement is stopped;
when aflag=3, the azimuth axis is in a state of waiting for the pitch axis to move to a specified step position at the termination angle: positioning an azimuth axis to a termination angle of the sector sweeping area, waiting, and when judging that the state of a pitching axis meets the condition of bflag=3 or bflag=5, indicating that the pitching axis has moved to a specified stepping position, and enabling aflag=4;
when aflag=4, the azimuth axis is in the reverse sector: the initial angle of the azimuth axial fan-sweeping area moves according to the fan-sweeping speed, when the initial angle is reached, aflag=5 is achieved, and the azimuth axial movement is stopped;
when aflag=5, the azimuth axis is in a state of waiting for the pitch axis to move to a specified step position at the start angle: the azimuth axis is positioned to the initial angle of the sector sweeping area, waiting is performed, when the condition of the pitching axis is judged to meet the condition of bflag=3 or bflag=5, the pitching axis is indicated to be moved to a designated stepping position, and aflag=2 is indicated;
for the pitch axis:
when bflag=0, positioning the pitching axis to the initial angle of the stepping area, and enabling the bflag=1 after the pitching axis is in place;
when bflag=1, the pitch axis is in a state of waiting for the azimuth to move to the end angle of the sector at the start angle of the step area: positioning a pitching axis to an initial angle of a stepping area, waiting, and when judging that the pitching axis state meets aflag=3, indicating that the azimuth axis and the pitching axis are in place, starting forward stepping, and enabling bflag=2;
when bflag=2, the pitch axis is in the forward stepping state: stepping the end angle of the pitching axial stepping area, and enabling bflag to=3 every time the stepping is completed before the end angle is reached; stepping to reach a termination angle, and enabling bflag to=5;
when bflag=3, the pitch axis is in a state of waiting for the azimuth axis to move to the start angle or the end angle of the specified sector at the current step angle: setting the pitching axis speed to 0, and when the azimuth axis state is judged to meet aflag=3 or aflag=5, enabling bflag=2, and continuing the stepping in the current direction;
at bflag=4, the pitch axis is in reverse stepping: starting angle stepping of the pitching axial stepping area, and before the starting angle is reached, b flag=5 after each step is completed; stepping to reach an initial angle, and enabling bflag to be=3;
when bflag=5, the pitch axis is in a state of waiting for the azimuth axis to move to the start angle or the end angle of the specified sector at the current step angle: setting the pitching axis speed to 0, and when the azimuth axis state is judged to meet aflag=3 or aflag=5, enabling bflag=4, and continuing the stepping in the current direction;
when the two-dimensional turntable is switched to other subprograms and is switched back to the scanning subprogram due to the response instruction, the scanning process of the non-scanning area is completed according to the memorized aflag and bflag, the content is recorded by combining with the static variable array, the broken position is taken as a starting point, and the scanning or stepping is performed according to the speed and the direction before the breaking;
the pitch axis sets the stepping speed according to the principle that 1s uniform speed completes one step;
when bflag=2, the following operations are performed:
step b301: judging whether the time T is smaller than or equal to the timing quantity T corresponding to 1s, if so, executing the step b302; otherwise, let bflag=3, and clear time t and stepping speed, turn to the processing branch of bflag=3;
step b302: judging whether the end angle of the stepping area is reached, if so, executing step b303; otherwise, moving to the end angle of the stepping area according to the set stepping speed, and accumulating t; turning to step b301;
step b303: and (3) resetting the time t and the stepping speed, enabling the bflag to be=5, and turning to a judging branch of the bflag=5.
2. The method of claim 1, wherein when bflag = 4, the following operations are performed:
step b311: judging whether the time t is smaller than or equal to the timing quantity 2000 corresponding to 1s, if so, executing the step b312; otherwise, let bflag=5, and clear time t and stepping speed, turn to the judging branch of bflag=5;
step b312: judging whether the initial angle of the stepping area is reached, if so, executing step b313; otherwise, moving to the initial angle of the stepping area according to the set stepping speed, and enabling t to be added with 1; turning to step b311;
step b313: and (3) resetting the time t and the stepping speed, enabling the bflag to be 3, and transferring to a processing branch with the bflag to be 3.
3. The method according to claim 1, wherein in step b303, it is further determined whether the time taken for the present step is less than a% ×1s, and if so, bflag=4; otherwise, executing the operation of the bflag=5; the a% is a set proportion.
4. The method according to claim 2, wherein in step b313, it is further determined whether the time taken for the present step is less than a% ×1s, and if so, bflag = 2; otherwise, executing the operation of the bflag=3; the a% is a set proportion.
5. The method of claim 3 or 4, wherein a% = 90%.
6. The method of claim 1, wherein after receiving the scan command from the host computer, resolving the azimuth axis scan parameter and the elevation axis scan parameter, performing limit processing on the resolved angle range and speed range, and then assigning the values to the static variable array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010759440.0A CN112068605B (en) | 2020-07-31 | 2020-07-31 | Memory scanning method for two-dimensional turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010759440.0A CN112068605B (en) | 2020-07-31 | 2020-07-31 | Memory scanning method for two-dimensional turntable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112068605A CN112068605A (en) | 2020-12-11 |
| CN112068605B true CN112068605B (en) | 2023-12-05 |
Family
ID=73657277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010759440.0A Active CN112068605B (en) | 2020-07-31 | 2020-07-31 | Memory scanning method for two-dimensional turntable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112068605B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117647792B (en) * | 2024-01-30 | 2024-04-16 | 山东省科学院海洋仪器仪表研究所 | Laser radar two-dimensional scanning control method and system based on FPGA |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101308388A (en) * | 2008-06-30 | 2008-11-19 | 中国兵器工业第二〇五研究所 | Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone |
| CN103679134A (en) * | 2013-09-09 | 2014-03-26 | 华中科技大学 | A sea target infrared imaging identification apparatus |
| CN105975345A (en) * | 2016-05-20 | 2016-09-28 | 江苏得得空间信息科技有限公司 | Video frame data dynamic equilibrium memory management method based on distributed memory |
| WO2018099163A1 (en) * | 2016-11-30 | 2018-06-07 | 西安中兴新软件有限责任公司 | Terminal and application control method |
| CN111064865A (en) * | 2019-12-31 | 2020-04-24 | 中国人民解放军国防科技大学 | Background activity noise filter of dynamic vision sensor and processor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8718838B2 (en) * | 2007-12-14 | 2014-05-06 | The Boeing Company | System and methods for autonomous tracking and surveillance |
-
2020
- 2020-07-31 CN CN202010759440.0A patent/CN112068605B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101308388A (en) * | 2008-06-30 | 2008-11-19 | 中国兵器工业第二〇五研究所 | Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone |
| CN103679134A (en) * | 2013-09-09 | 2014-03-26 | 华中科技大学 | A sea target infrared imaging identification apparatus |
| CN105975345A (en) * | 2016-05-20 | 2016-09-28 | 江苏得得空间信息科技有限公司 | Video frame data dynamic equilibrium memory management method based on distributed memory |
| WO2018099163A1 (en) * | 2016-11-30 | 2018-06-07 | 西安中兴新软件有限责任公司 | Terminal and application control method |
| CN111064865A (en) * | 2019-12-31 | 2020-04-24 | 中国人民解放军国防科技大学 | Background activity noise filter of dynamic vision sensor and processor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112068605A (en) | 2020-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6574676B1 (en) | System and method for scheduling disk drive commands by expected total access time | |
| CN111376271B (en) | Method and device for controlling welding robot, welding robot and storage medium | |
| CN112068605B (en) | Memory scanning method for two-dimensional turntable | |
| US6381659B2 (en) | Method and circuit for controlling a first-in-first-out (FIFO) buffer using a bank of FIFO address registers capturing and saving beginning and ending write-pointer addresses | |
| KR100417431B1 (en) | Rotationally optimized seek initiation | |
| EP0353897B1 (en) | Control system for a disk drive head | |
| US10606521B2 (en) | Memory system and operating method thereof | |
| US20030018849A1 (en) | Disk memory device, data pre-reading method, and recorded medium | |
| CN108305655B (en) | Memory device including resistive material and driving method thereof | |
| CN104320574A (en) | Method and device for controlling camera for rotation through gesture as well as infrared gesture sensor | |
| US20080103625A1 (en) | Numerical controller with machining resume function | |
| CN104669264A (en) | Method and apparatus for failure handling of a robot | |
| CN111993411A (en) | Robot motion planning method and device, robot and storage medium | |
| CN112230644A (en) | Autonomous robot, edgewise control method and device thereof, and storage medium | |
| JPH0732639B2 (en) | Positioning device for step motor | |
| CN101962092A (en) | Control method of a labeling machine and a rotary disk in the labeling machine | |
| KR102646755B1 (en) | Memory device comprising resistance change material method for operating the memory device | |
| WO2021147034A1 (en) | System and method for controlling the robot, electronic device and computer readable medium | |
| CN1307785C (en) | Method for controlling stepping motor | |
| CN111267102A (en) | Method and device for acquiring initial position of robot, robot and storage medium | |
| US6792504B2 (en) | Read on arrival scheme for a disc drive | |
| KR20230095157A (en) | Storage controller including a parity management module, a storage device including the same, and an operating method of the storage device | |
| CN1218250A (en) | Disk recording or playback device and method of adjusting initial position of pickup thereof | |
| JP4494303B2 (en) | Numerical controller | |
| US20090113154A1 (en) | Non-Volatile Memory Apparatus and Method of Accessing the Same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |