CN113671864B - Automatic following device based on PD control and method thereof - Google Patents
Automatic following device based on PD control and method thereof Download PDFInfo
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- CN113671864B CN113671864B CN202110847445.3A CN202110847445A CN113671864B CN 113671864 B CN113671864 B CN 113671864B CN 202110847445 A CN202110847445 A CN 202110847445A CN 113671864 B CN113671864 B CN 113671864B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 11
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention belongs to the technical field of outdoor protection equipment, and particularly relates to an automatic following device based on PD control, which comprises a guide rail, wherein a following assembly is arranged on the guide rail, the bottom end of the following assembly is connected with a fixed plate, a traction rod is arranged in the middle of the top end of the fixed plate in a penetrating way, the traction rod is rotationally connected with the following assembly through a connecting plate, the bottom end of the traction rod is provided with a rope, one end of the rope, far away from the traction rod, is connected with a safety belt, and the excircle of the bottom end of the traction rod is provided with a displacement sensor; the walking speed of the experienter can be kept all the time, the effect of actively following is achieved, the burden of the experienter is further reduced, the experienter obtains better experience, the triggering mechanism triggers the alarm module, the alarm module controls the audible and visual alarm to flash and buzzing and alarm, the safety of the device is improved, and the stress value of the adjusting mechanism can trigger the experienter operation of different weights or ages.
Description
Technical Field
The invention belongs to the technical field of outdoor protection equipment, and particularly relates to an automatic following device and method based on PD control.
Background
Outdoor sports can be understood in a broad sense simply as: all human activities are performed "outdoors". The definition of outdoor exercises by the national sports management center is: outdoor sports are a group of sports events with a quest or experience quest property that take a natural environment as a venue (a non-dedicated venue). With the development of the tourism industry, tourist items with exploration property are more and more favored by young people, wherein the Burmese bridge is a steel wire bridge consisting of one walking rope and two supporting ropes. At most 3 to 5 teams can walk at the same time at a time, and the teams need to be big and thin. The method is a popular world activity project, just like the name of the method, the method originates from Burmese, the opportunity is that hands and feet of the user can be fully developed, the necessary protection operation is needed when the user performs the exercise, and generally, safety steel ropes, upper pulleys and safety belts are matched to ensure the safety of the user, but in the actual use process, certain friction force exists between the pulleys and the steel ropes, so that the pulleys cannot actively follow along with the movement of the user, and therefore, extra burden is brought to the user experiencing the project.
In order to solve the above problems, the present application provides an automatic following device based on PD control and a method thereof.
Disclosure of Invention
To solve the problems set forth in the background art. The invention provides an automatic following device based on PD control and a method thereof, which have the characteristic of high safety.
In order to achieve the above purpose, the present invention provides the following technical solutions: the automatic following device based on PD control comprises a guide rail, wherein a following component is arranged on the guide rail, the bottom end of the following component is connected with a fixed plate, a traction rod is arranged in the middle of the top end of the fixed plate in a penetrating manner, the traction rod is rotatably connected with the following component through a connecting plate, a rope is arranged at the bottom end of the traction rod, and one end, far away from the traction rod, of the rope is connected with a safety belt; the following assembly comprises a traveling vehicle arranged on the guide rail, a connecting seat is arranged at the bottom end of the traveling vehicle, an angle monitoring mechanism is arranged in the connecting seat, and the angle monitoring mechanism is rotationally connected with the top end of the traction rod through the connecting plate; the traction rod comprises a first ball shaft movably connected with the fixed plate, a second ball shaft is arranged at the top end of the first ball shaft, a sleeve rod is arranged at the bottom end of the first ball shaft, an audible-visual annunciator is arranged on the outer side of the circumference of the sleeve rod, a trigger mechanism is arranged at the bottom of the audible-visual annunciator, a slide rod is slidably connected with the inside of the sleeve rod, and an adjusting mechanism is arranged at the bottom of the sleeve rod and located on the outer circle of the slide rod.
As the PD-control-based automatic following device, preferably, a stepped through hole is formed in the middle of the top end of the fixing plate, concave spherical blocks are symmetrically arranged in the stepped through hole, and the two concave spherical blocks are matched with the first ball shaft.
As the PD-control-based automatic following device, the angle monitoring mechanism comprises a first angle sensor and a second angle sensor which are arranged at the top end of a fixed plate, wherein the top ends of the first angle sensor and the second angle sensor are respectively connected with a swing arm in a rotating way, and the other end of each swing arm is connected with the connecting plate through a rotating shaft.
As the PD-control-based automatic following device, preferably, a right angle is formed between a connecting line between the center of the angle sensor I and the center of the traction rod and a connecting line between the center of the angle sensor II and the center of the traction rod, and an included angle in an initial state between the swing arm and the connecting plate is also a right angle.
As the PD-control-based automatic following device, the triggering mechanism comprises a sleeve arranged at the bottom end of the audible and visual alarm, an induction coil I is arranged at the top of the inner side wall of the sleeve, an induction coil II is arranged at the bottom of the inner side wall of the sleeve, and the induction coil I is electrically connected with the induction coil II and the audible and visual alarm.
As the PD-control-based automatic following device, the triggering mechanism also comprises a first sliding block arranged at the top end of the sliding rod, an iron core is arranged in the middle of the top end of the first sliding block, an induction coil III is arranged on the outer circle of the top of the iron core, and an induction coil IV is arranged below the induction coil III and on the outer circle of the iron core.
As the PD-control-based automatic following device, the adjusting mechanism comprises an end cover which is in threaded connection with the bottom of the loop bar, a bearing is arranged on the inner side of the end cover, a knob is arranged on the inner side of the bearing, a nut sleeve is connected to the outer circle of the knob and positioned in the internal thread of the loop bar, a second sliding block is arranged at the top end of the nut sleeve, a spring is arranged at the top end of the second sliding block, the top end of the spring is connected with the bottom end of the first sliding block, and the knob and the second sliding block are both positioned on the outer side of the circumference of the sliding bar.
As the PD-control-based automatic following device, preferably, limiting blocks are symmetrically arranged on the outer side of the circumference of the nut sleeve, limiting grooves are symmetrically formed in the inner side wall of the bottom of the sleeve rod, and the limiting grooves are in sliding connection with the limiting blocks.
As an automatic following device based on PD control, the following assembly also comprises a control unit, wherein the control unit comprises a power supply module, a driving module, an alarm module, an angle calculation module, a CPU module, a wireless signal transmitting module and a motor; the power module is connected with the CPU module, the CPU module is connected with the wireless signal transmitting module through the alarm module, the CPU module is connected with the motor through the driving module, and the angle calculating module is connected with the CPU module.
According to another aspect of the present invention, there is provided a control method of an automatic follower device based on PD control, which implements real-time following of a person by a traveling vehicle using the automatic follower device based on PD control, the method comprising the steps of:
s1: firstly, detecting the swinging angle of the traction rod in a plane through the first angle sensor and the second angle sensor, and transmitting data to the CPU module;
S2: then detecting the acceleration of the angle change;
S3: obtaining the moving speed of the travelling crane according to a PD algorithm formula through an angle calculation module and a CPU module;
s4: the motor is driven by the driving module, so that the walking vehicle always keeps following the walking speed of the experienter;
s5: when the triggering mechanism triggers the alarm module, the alarm module controls the audible and visual alarm to emit light, flash and buzze to alarm;
s6: meanwhile, the CPU module controls the wireless signal transmitting module to send out wireless signals to help.
Compared with the prior art, the invention has the beneficial effects that: through following subassembly and walking car and drawbar and safety belt cooperation, can make the walking car remain throughout and follow experience personnel's walking speed on the one hand, play the effect of initiative following, and then alleviateed experience personnel's burden, make experience personnel obtain better experience, trigger mechanism touches alarm module simultaneously, alarm module control audible and visual annunciator light scintillation and buzzing report to the police, the security of the device has been improved, can trigger mechanism's atress value through adjustment mechanism and realize the experience personnel operation to different weight or age, the further security that has increased the device.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a partial enlarged view at B in FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 1 at C;
FIG. 5 is a schematic view of an angle monitoring mechanism according to the present invention;
FIG. 6 is a schematic diagram of a control unit according to the present invention;
In the figure: 1. a guide rail; 2. a follower assembly; 201. a control unit; 202. a power module; 203. a driving module; 205. an alarm module; 206. an angle calculation module; 207. a CPU module; 208. a wireless signal transmitting module; 209. a motor; 3. a fixing plate; 301. a stepped through hole; 302. a concave spherical block; 4. a traction rod; 5. a connecting plate; 6. a rope; 7. a safety belt; 9. A walking vehicle; 10. a connecting seat; 11. an angle monitoring mechanism; 12. a ball shaft I; 13. a ball shaft II; 14. a loop bar; 15. an audible and visual alarm; 16. a trigger mechanism; 17. a slide rod; 18. an adjusting mechanism; 19. an angle sensor I; 20. an angle sensor II; 21. swing arms; 22. a sleeve; 23. an induction coil I; 24. an induction coil II; 25. a first sliding block; 26. an iron core; 27. an induction coil III; 28. an induction coil IV; 29. an end cap; 30. a bearing; 31. a knob; 32. a nut sleeve; 33. A second slide block; 34. a spring; 35. a limiting block; 36. and a limit groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1-6, an automatic following device based on PD control comprises a guide rail 1, wherein a following component 2 is arranged on the guide rail 1, the bottom end of the following component 2 is connected with a fixed plate 3, a traction rod 4 is arranged in a penetrating manner in the middle of the top end of the fixed plate 3, the traction rod 4 is rotatably connected with the following component 2 through a connecting plate 5, a rope 6 is arranged at the bottom end of the traction rod 4, one end, far away from the traction rod 4, of the rope 6 is connected with a safety belt 7, the following component 2 comprises a walking vehicle 9 arranged on the guide rail 1, a connecting seat 10 is arranged at the bottom end of the walking vehicle 9, an angle monitoring mechanism 11 is arranged in the connecting seat 10, and the angle monitoring mechanism 11 is rotatably connected with the top end of the traction rod 4 through the connecting plate 5; the traction rod 4 comprises a first ball shaft 12 movably connected with the fixed plate 3, a second ball shaft 13 is arranged at the top end of the first ball shaft 12, a sleeve rod 14 is arranged at the bottom end of the first ball shaft 12, an audible-visual annunciator 15 is arranged on the outer side of the circumference of the sleeve rod 14, a trigger mechanism 16 is arranged at the bottom of the audible-visual annunciator 15, a slide rod 17 is slidably connected inside the sleeve rod 14, and an adjusting mechanism 18 is arranged at the bottom of the sleeve rod 14 and positioned on the outer circle of the slide rod 17.
In this embodiment: through following subassembly 2 and walking car 9 and drawbar 4 and safety belt cooperation, on the one hand can make walking car 9 remain throughout and follow experience personnel's walking speed, play the effect of initiative following, and then alleviateed experience personnel's burden, make experience personnel obtain better experience, alarm module 205 is touched to trigger mechanism 16 simultaneously, alarm module 205 control audible and visual alarm 15 shines and buzzes and report to the police, the security of the device has been improved, can trigger mechanism 16's atress value through adjustment mechanism 18 and realize the experience personnel operation to different weight or age, the security of the device has further been increased.
In an alternative embodiment, a stepped through hole 301 is formed in the middle of the top end of the fixing plate 3, concave spherical blocks 302 are symmetrically arranged in the stepped through hole 301, and two concave spherical blocks 302 are matched with the first ball shaft 12.
In this embodiment: the first ball shaft 12 is matched with the two concave spherical blocks 302, so that the traction rod 4 can incline in any direction on the fixed plate 3, and the traction rod 4 is ensured to change adaptively along with the movement and rotation of experimenters in real time.
In an alternative embodiment, the angle monitoring mechanism 11 includes a first angle sensor 19 and a second angle sensor 20 disposed at the top end of the fixing plate 3, the first angle sensor 19 and the top end of the second angle sensor 20 are both rotatably connected with a swing arm 21, the other end of the swing arm 21 is connected with the connecting plate 5 through a rotating shaft, a right angle is formed between a connection line between the center of the first angle sensor 19 and the center of the traction rod 4 and a connection line between the center of the second angle sensor 20 and the center of the traction rod 4, and an initial state included angle between the swing arm 21 and the connecting plate 5 is also a right angle.
In this embodiment: the swing angle of the traction rod 4 in the plane is detected through the first angle sensor 19 and the second angle sensor 20, data are transmitted to the CPU module 207, meanwhile, the acceleration of angle change is detected, then the moving speed of the traveling vehicle 9 is obtained through the angle calculation module 206 and the CPU module 207 according to a PD algorithm formula, the CPU module 207 controls the driving module 203 to drive the motor 209 to enable the traveling vehicle 9 to always keep following the traveling speed of an experienter, meanwhile, a concave spherical groove matched with the second ball shaft 13 is formed in one end of the connecting plate 5, the second ball shaft 13 can drive the connecting plate 5 to move, and the connecting plate is driven through the swing arm 21, so that the first angle sensor 19 and the second angle sensor 20 can detect the inclination angle of the traction rod 4.
In an alternative embodiment, the triggering mechanism 16 includes a sleeve 22 disposed at the bottom end of the audible-visual alarm 15, an induction coil one 23 is disposed at the top of the inner side wall of the sleeve 22, an induction coil two 24 is disposed at the bottom of the inner side wall of the sleeve 22, the induction coil one 23 is electrically connected with the induction coil two 24 and the audible-visual alarm 15, the triggering mechanism 16 further includes a slide block one 25 disposed at the top end of the slide rod 17, an iron core 26 is disposed at the middle position of the top end of the slide block one 25, an induction coil three 27 is disposed at the top outer circle of the iron core 26, and an induction coil four 28 is disposed below the induction coil three 27 and at the outer circle of the iron core 26.
In this embodiment: when the first induction coil 23 and the third induction coil 27 or the second induction coil 24 and the fourth induction coil 28 are at the same height, the third induction coil 27 or the fourth induction coil 28 generates induction current, which is similar to the principle of changing voltage by a transformer, so that the alarm module 205 controls the audible and visual alarm 15 to emit light and flash to alarm, and when the first induction coil 23, the third induction coil 27 and the second induction coil 24 are at the same height for a long time and the fourth induction coil 28 are at the same height, the CPU module 207 controls the wireless signal emitting module 208 to emit wireless signals to help, and the wireless signals are received by staff through a receiving end to help experimenters.
In an alternative embodiment, the adjusting mechanism 18 includes an end cover 29 in threaded connection with the bottom of the loop bar 14, a bearing 30 is disposed on the inner side of the end cover 29, a knob 31 is disposed on the inner side of the bearing 30, a nut sleeve 32 is connected to the outer circle of the knob 31 and is located in the inner thread of the loop bar 14, a second slider 33 is disposed on the top end of the nut sleeve 32, a spring 34 is disposed on the top end of the second slider 33, the top end of the spring 34 is connected with the bottom end of the first slider 25, the knob 31 and the second slider 33 are both located on the outer side of the circumference of the loop bar 17, a limiting block 35 is symmetrically disposed on the outer side of the circumference of the nut sleeve 32, a limiting groove 36 is symmetrically disposed on the inner side wall of the bottom of the loop bar 14, and the limiting groove 36 is slidably connected with the limiting block 35.
In this embodiment: the force value of the mechanism 16 can be triggered through the adjusting mechanism 18, the nut sleeve 32 is driven to move upwards or downwards under the guiding action of the limiting block 35 and the limiting groove 36 through rotating the knob 31, so that the second sliding block 33 is driven to adjust the compression degree of the spring 34, and the principle that the spring needs larger force for further compression after the spring is compressed to a certain degree in a certain range is utilized, so that the operation of experimenters with different weights or ages is realized.
In an alternative embodiment, the following assembly 2 further includes a control unit 201, and the control unit 201 includes a power module 202, a driving module 203, an alarm module 205, an angle calculation module 206, a CPU module 207, a wireless signal transmission module 208, and a motor 209; the power module 202 is connected with the CPU module 207, the CPU module 207 is connected with the wireless signal transmitting module 208 through the alarm module 205, the CPU module 207 is connected with the motor 209 through the driving module 203, and the angle calculating module 206 is connected with the CPU module 207.
In this embodiment: the driving module 203 is controlled by the CPU module 207 to drive the motor 209 so that the walking vehicle 9 always keeps following the walking speed of the experimenter, when the triggering mechanism 16 triggers the alarm module 205, the alarm module 205 controls the audible and visual alarm 15 to emit light, flash and buzze to alarm, and meanwhile, the CPU module 207 controls the wireless signal emitting module 208 to emit wireless signals to ask for help.
According to an embodiment of the present invention, there is provided a control method of an automatic follower device based on PD control, which implements real-time following of a person by a traveling vehicle using the automatic follower device based on PD control, the method including the steps of:
Step S1: firstly, detecting the swinging angle of the traction rod 4 in the plane through the first angle sensor 19 and the second angle sensor 20, and transmitting data to the CPU module 207;
step S2: then detecting the acceleration of the angle change;
step S3: the movement speed of the traveling carriage 9 is obtained according to a PD algorithm formula through an angle calculation module 206 and a CPU module 207;
step S4: the motor 209 is driven by the driving module 203 to enable the walking vehicle 9 to always keep following the walking speed of the experimenter;
Step S5: when the triggering mechanism 16 triggers the alarm module 205, the alarm module 205 controls the audible and visual alarm 15 to emit light, flash and buzze to alarm;
Step S6: and meanwhile, the CPU module 207 controls the wireless signal transmitting module 208 to send out wireless signals for help.
The formula of the PD algorithm is a well-known technology, which is not described herein, and the speed of the motor 209 is directly proportional to two variables of the deflection angle and the acceleration of the deflection angle of the guide rod 4.
The working principle and the using flow of the invention are as follows: firstly, the safety belt 7 is worn on the waist of an experimenter, then the swinging angle of the traction rod 4 in the plane is detected through the first angle sensor 19 and the second angle sensor 20, data are transmitted to the CPU module 207, meanwhile, the acceleration of angle change is detected, then the moving speed of the walking vehicle 9 is obtained by the angle calculation module 206 and the CPU module 207 according to a PD algorithm formula, the CPU module 207 controls the driving module 203 to drive the motor 209 so that the walking vehicle 9 always keeps following the walking speed of the experimenter, when the triggering mechanism 16 touches the alarm module 205, the alarm module 205 controls the audible and visual alarm 15 to emit light and flash and to alarm in a buzzing way, meanwhile, the CPU module 207 controls the wireless signal transmitting module 208 to send out a wireless signal to help, when the experimenter falls off or needs to help in the walking process, the weight of the experimenter or pulls the slide rod 17 to drive the slide rod 25 to move downwards, meanwhile, the spring 34 is extruded, along with the downward movement of the slide rod 25, the iron core 26 is driven to move downwards in the sleeve rod 14, when the first induction coil 23 and the third induction coil 27 or the second induction coil 24 and the fourth induction coil 28 are positioned at the same height, the third induction coil 27 or the fourth induction coil 28 generates induction current, the principle similar to the voltage change principle of a transformer is further adopted, the alarm module 205 controls the audible and visual alarm 15 to emit light and flash to alarm, when the first induction coil 23, the third induction coil 27 and the second induction coil 24 are positioned at the same height for a long time at the same time, the CPU module 207 controls the wireless signal transmitting module 208 to emit wireless signals to help, and the receiving end receives the wireless signals to help the experimenter through the receiving end, in addition, the stress value of the mechanism 16 can be triggered through the adjusting mechanism 18, the nut sleeve 32 is driven to move upwards or downwards under the guiding action of the limiting block 35 and the limiting groove 36 by rotating the knob 31, so that the second sliding block 33 is driven to adjust the compression degree of the spring 34, and the principle that the spring needs larger force for further compression after being compressed to a certain degree in a certain range is utilized, so that the operation of experienters with different weights or ages is realized, and the safety of the device is further improved.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. 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 (10)
1. An automatic follower device based on PD control, characterized in that: the novel safety belt comprises a guide rail (1), wherein a following component (2) is arranged on the guide rail (1), the bottom end of the following component (2) is connected with a fixed plate (3), a traction rod (4) is arranged in a penetrating manner at the middle position of the top end of the fixed plate (3), the traction rod (4) is rotatably connected with the following component (2) through a connecting plate (5), a rope (6) is arranged at the bottom end of the traction rod (4), and one end, far away from the traction rod (4), of the rope (6) is connected with a safety belt (7);
The following assembly (2) comprises a traveling vehicle (9) arranged on the guide rail (1), a connecting seat (10) is arranged at the bottom end of the traveling vehicle (9), an angle monitoring mechanism (11) is arranged in the connecting seat (10), and the angle monitoring mechanism (11) is rotationally connected with the top end of the traction rod (4) through the connecting plate (5);
the traction rod (4) comprises a first ball shaft (12) movably connected with the fixed plate (3), a second ball shaft (13) is arranged at the top end of the first ball shaft (12), a loop bar (14) is arranged at the bottom end of the first ball shaft (12), an audible-visual annunciator (15) is arranged on the outer side of the circumference of the loop bar (14), a triggering mechanism (16) is arranged at the bottom of the audible-visual annunciator (15), a sliding rod (17) is slidably connected inside the loop bar (14), and an adjusting mechanism (18) is arranged at the bottom of the loop bar (14) and located on the outer circle of the sliding rod (17).
2. The PD-control-based automatic follower apparatus of claim 1, wherein: the middle position of the top end of the fixing plate (3) is provided with a stepped through hole (301), concave spherical blocks (302) are symmetrically arranged in the stepped through hole (301), and the two concave spherical blocks (302) are matched with the first ball shaft (12).
3. The PD-control-based automatic follower apparatus of claim 1, wherein: the angle monitoring mechanism (11) comprises a first angle sensor (19) and a second angle sensor (20) which are arranged at the top end of the fixed plate (3), the top ends of the first angle sensor (19) and the second angle sensor (20) are respectively and rotatably connected with a swing arm (21), and the other end of the swing arm (21) is connected with the connecting plate (5) through a rotating shaft.
4. The PD-controlled automatic follower apparatus of claim 3 wherein: the connecting line between the center of the first angle sensor (19) and the center of the traction rod (4) and the connecting line between the center of the second angle sensor (20) and the center of the traction rod (4) are right angles, and the included angle between the swing arm (21) and the connecting plate (5) in the initial state is also right angles.
5. The PD-control-based automatic follower apparatus of claim 1, wherein: the triggering mechanism (16) comprises a sleeve (22) arranged at the bottom end of the audible-visual annunciator (15), an induction coil I (23) is arranged at the top of the inner side wall of the sleeve (22), an induction coil II (24) is arranged at the bottom of the inner side wall of the sleeve (22), and the induction coil I (23) is electrically connected with the induction coil II (24) and the audible-visual annunciator (15).
6. The PD-controlled automatic follower apparatus of claim 5, wherein: the trigger mechanism (16) further comprises a first sliding block (25) arranged at the top end of the sliding rod (17), an iron core (26) is arranged at the middle position of the top end of the first sliding block (25), an induction coil III (27) is arranged on the outer circle of the top of the iron core (26), and an induction coil IV (28) is arranged below the induction coil III (27) and on the outer circle of the iron core (26).
7. The PD-control-based automatic follower apparatus of claim 1, wherein: the adjusting mechanism (18) comprises an end cover (29) which is in threaded connection with the bottom of the loop bar (14), a bearing (30) is arranged on the inner side of the end cover (29), a knob (31) is arranged on the inner side of the bearing (30), a nut sleeve (32) is arranged on the outer circle of the knob (31) and is in threaded connection with the inside of the loop bar (14), a second sliding block (33) is arranged on the top end of the nut sleeve (32), a spring (34) is arranged on the top end of the second sliding block (33), the top end of the spring (34) is connected with the bottom end of the first sliding block (25), and the knob (31) and the second sliding block (33) are both located on the outer side of the circumference of the sliding bar (17).
8. The PD-controlled automatic follower apparatus of claim 7, wherein: limiting blocks (35) are symmetrically arranged on the outer side of the circumference of the nut sleeve (32), limiting grooves (36) are symmetrically formed in the inner side wall of the bottom of the sleeve rod (14), and the limiting grooves (36) are in sliding connection with the limiting blocks (35).
9. The PD-control-based automatic follower apparatus of claim 1, wherein: the following assembly (2) further comprises a control unit (201), wherein the control unit (201) comprises a power supply module (202), a driving module (203), an alarm module (205), an angle calculation module (206), a CPU module (207), a wireless signal transmitting module (208) and a motor (209);
The power module (202) is connected with the CPU module (207), the CPU module (207) is connected with the wireless signal transmitting module (208) through the alarm module (205), the CPU module (207) is connected with the motor (209) through the driving module (203), and the angle calculating module (206) is connected with the CPU module (207).
10.A control method of an automatic following device based on PD control, characterized by being used for the automatic following device based on PD control according to any one of claims 1 to 9, comprising the steps of:
S1: firstly, detecting the swing angle of the traction rod (4) in a plane through the first angle sensor (19) and the second angle sensor (20), and transmitting data to the CPU module (207);
s2: then detecting an acceleration of the angular change by (204);
S3: obtaining the moving speed of the travelling vehicle (9) according to a PD algorithm formula through an angle calculation module (206) and a CPU module (207);
s4: the motor (209) is driven by the driving module (203) to enable the traveling vehicle (9) to always keep following the traveling speed of the experimenter;
s5: when the triggering mechanism (16) triggers the alarm module (205), the alarm module (205) controls the audible and visual alarm (15) to emit light, flash and buzze to alarm;
s6: meanwhile, the CPU module (207) controls the wireless signal transmitting module (208) to send out wireless signals for help.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106802657A (en) * | 2017-03-05 | 2017-06-06 | 长沙修恒信息科技有限公司 | A kind of automatic following system based on light-intensity test |
| CA3078554A1 (en) * | 2017-10-13 | 2019-04-18 | Northern Strands Co. Ltd. | Fall arrest system |
| CN109765826A (en) * | 2019-01-31 | 2019-05-17 | 交通运输部天津水运工程科学研究所 | Pilot, which steps on disembarkation and climbs automatically, follows guard system and method |
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| CN106802657A (en) * | 2017-03-05 | 2017-06-06 | 长沙修恒信息科技有限公司 | A kind of automatic following system based on light-intensity test |
| CA3078554A1 (en) * | 2017-10-13 | 2019-04-18 | Northern Strands Co. Ltd. | Fall arrest system |
| CN109765826A (en) * | 2019-01-31 | 2019-05-17 | 交通运输部天津水运工程科学研究所 | Pilot, which steps on disembarkation and climbs automatically, follows guard system and method |
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