CN114234944A - Horizontal self-balancing object bearing support - Google Patents
Horizontal self-balancing object bearing support Download PDFInfo
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- CN114234944A CN114234944A CN202210056185.2A CN202210056185A CN114234944A CN 114234944 A CN114234944 A CN 114234944A CN 202210056185 A CN202210056185 A CN 202210056185A CN 114234944 A CN114234944 A CN 114234944A
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- 230000009471 action Effects 0.000 claims description 5
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- 238000012937 correction Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 3
- 230000010365 information processing Effects 0.000 description 12
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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Abstract
The invention discloses a horizontal self-balancing object bearing support, and belongs to the technical field of horizontal correction. The invention comprises a base structure, a main body structure and an object bearing platform; one end of the main body structure is detachably connected with the base structure, and the other end of the main body structure is connected with the object bearing platform through a coupling mechanism; the main structure comprises a D-shaped nested pin, a D-shaped pipe and a pin bottom-touching sensor, wherein a signal processing module, a motor, a direct-current power supply and an attitude sensor are arranged in the D-shaped pipe, and five layers of PCB control groups are manufactured by erecting a shed of the attitude sensor; and the D-shaped nested pipe pins control the base structure to operate cooperatively. The invention aims to solve the problem that the horizontal self-balance of an object is difficult to realize when the object is carried, and the invention has the advantages of simple structure, ingenious design, convenient assembly and disassembly, low cost and suitability for popularization and use.
Description
Technical Field
The invention relates to the technical field of horizontal correction, in particular to a horizontal self-balancing object bearing support.
Technical Field
When people bear objects, the problem that how to enable the objects to reach a horizontal self-balancing state is always troubled, for example, a camera foot rest is an important auxiliary device for realizing high-quality shooting and photography, and is widely applied. When photographers shoot scenes such as water surface, skyline, sunrise and the like, the horizontal adjustment of the view-finding frame of the camera is not easy, because many existing camera foot stands need to be adjusted manually, and the adjustment is mainly realized by the photographers according to the feeling, so that the operation technique and experience of operators are tested. The photographer often feels that the finder frame has been adjusted to the horizontal position, but is actually tilted, and the accuracy of the adjustment is difficult to be precise and repeated, with the result that the horizontal adjustment is inefficient and the photographing effect is not as expected. Therefore, how to realize the automatic horizontal adjustment of the horizontal self-balancing object-bearing support becomes a technical problem which needs to be solved urgently. In addition, the horizontal self-correcting instrument is also a technical device urgently needed by industries such as buildings, intelligent manufacturing and the like.
Researchers at home and abroad propose some solutions. The driving motor in the self-balancing support and the control method thereof are key, the adoption of the linear motor for driving is a good technical means, but the adoption of the linear motor also has the problems of high price, heavy weight and the like, and is not practical at present. A driving wheel adopting friction transmission is unfolded through open-loop control, and horizontal correction is realized through closed-loop control balance, so that the method is a compromise method, but the control precision is poor. In summary, the technical problem of automatic horizontal adjustment of the object-bearing support is pending.
Therefore, it is necessary to provide a new horizontal self-balancing calibration technique for the object-supporting stand to solve the above-mentioned technical problems.
Disclosure of Invention
In order to solve the problems, the invention provides the following technical scheme:
the utility model provides a horizontal self-balancing holds thing support which characterized in that: comprises a base structure, a main body structure and an object bearing platform; one end of the main body structure is connected with the base structure, and the other end of the main body structure is connected with the object bearing platform through a coupling mechanism; the main structure comprises D-shaped nested pins and D-shaped nested mechanical tubes, wherein a signal processing module, a motor, a direct-current power supply, an attitude sensor and a pin bottom-touching sensor are arranged in the D-shaped nested mechanical tubes, and five layers of PCB control groups are manufactured by erecting a shed of the attitude sensor; the D-shaped nested tube pin comprises a tube pin driving seat, a driving wheel pressure arm, a locking cam arm, an electric motor and a locking steering engine, wherein the electric motor is fixed in the driving wheel pressure arm, and the locking steering engine is fixed in the tube pin driving seat.
Furthermore, the five layers of PCB control groups are respectively a gesture plate, a control plate, an amplifying and shaping plate, an action plate and a power supply plate from top to bottom.
Further, the pin connection group comprises a circular flange and 3 foot frames.
Further, the object bearing platform comprises a buzzer and an LED indicator light.
Further, the pin bottom-touching sensor is also provided with a contact microswitch.
When the horizontal self-balancing object bearing support is positioned on the non-horizontal ground, a switch is started to enable the whole support to start to operate, a D-shaped nested pin drives a D-shaped pipe to start to ascend under the action of a motor and move up and down in the process of adjusting supporting feet until an object bearing platform is balanced, the attitude sensor also starts to work at the same time, a gyroscope module in the attitude sensor starts to detect surrounding environment information and transmits corresponding data information to the information processing module, the information processing module calculates data of the supporting feet needing to be adjusted according to the lengths of the three supporting feet and the data of the attitude sensor, stable output numerical values are obtained after accelerometer correction and Kalman filtering are adopted, and then the lengths and the angles of the supporting feet are automatically adjusted according to the data to achieve horizontal self-balancing; before the object bearing platform is not horizontal, the D-shaped rod moves up and down to drive the object bearing platform to move up and down, the attitude sensor continuously detects surrounding environment information, the information processing module also processes the information transmitted by the attitude sensor in real time, and the calculated data is used for controlling the three supporting legs to cooperatively operate until the object bearing platform is horizontal.
If the limit of the supporting leg is exceeded in the control process of the D-type nested pin, the pin bottoming sensor works and sends information to the information processing module, and the information processing module sends a stop signal to stop moving the D-type nested pin. When the support does not reach the horizontality, the LED pilot lamp shows the red light, and buzzer work sends out warning sound, and when the support reached horizontal position, the LED pilot lamp showed green light, and buzzer was out of work.
The information processing module can be compiled or modified according to the function requirement, and the algorithm is to calculate the Euler angle by solution, and distribute the pitch angle and the roll angle after being fused to three supporting legs. In order to improve the running speed, the invention simplifies PID control, abandons the use of the yaw angle returned by the attitude sensor and reduces the calculation load.
The invention has the beneficial effects that:
1. the horizontal self-balancing object bearing bracket disclosed by the invention can be accurately stopped at a target position through self-balancing regulation when in use, so that the design purpose of fully automatically regulating the level is achieved;
2. the horizontal self-balancing object bearing support has the advantages of simple structure, ingenious design, convenience in disassembly and assembly and low cost, and is suitable for popularization and use.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a D-tube of the present invention;
FIG. 3 is a cross-sectional view of a D-tube of the present invention;
FIG. 4 is a top view of a D-type nest pin of the present invention;
FIG. 5 is a left side view of a D-type nest pin of the present invention;
FIG. 6 is an internal structural view of the attitude sensor of the present invention;
FIG. 7 is a schematic view of the locking cam arm of the present invention;
FIG. 8 is a schematic view of the base structure of the present invention;
FIG. 9 is a schematic view of the structure of the object holding platform of the present invention;
shown in the figure: 1-a base structure; 11-circular flange; 12-supporting feet; 2-main body structure; 21-D type nested pins; 211-pin driving seat; 212-driving the pressing arm; 213-locking cam arm; 214-an electric motor; 215-locking the steering engine; 22-D type pipe; 221-a signal processing module; 222-a direct current power supply; 223-attitude sensor; 23-pin bottom-touching sensor; 3-carrying platform; 31-a buzzer; 32-LED indicator light.
Detailed Description
In order to make the technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1-9, a horizontal self-balancing object-bearing support is characterized in that: comprises a base structure 1, a main body structure 2 and an object bearing platform 3; one end of the main body structure 2 is connected with the base structure 1, and the other end of the main body structure is connected with the object bearing platform 3 through a coupling mechanism; the main structure 2 comprises a D-shaped nested pin 21, a D-shaped pipe 22 and a pin bottoming inductor 23, wherein the D-shaped nested pin 21 is arranged on the D-shaped pipe 22, and preferably, 3 pins are arranged in the D-shaped nested pin 21; correspondingly, the number of the D-shaped pipes 22 is three, the D-shaped pipes can be nested and arranged in a telescopic manner, and the D-shaped nests 21 are connected with each other through a conducting wire; the D-shaped pipe 22 is internally provided with a signal processing module 221, a direct-current power supply 222 and an attitude sensor 223, the attitude sensor 223 is built into five layers of PCB control groups, and the five layers of PCB control groups are respectively an attitude plate, a control plate, an amplification shaping plate, an action plate and a power supply plate from top to bottom; the pin bottom-touching sensor 23 is also provided with a touch switch; the D-shaped nested pin 21 comprises a pin driving seat 211, a driving pressure arm 212, a locking cam arm 213, a motor 214 and a locking steering engine 215, wherein the motor 214 is fixed in the driving pressure arm 212, and the locking steering engine 215 is fixed in the pin driving seat 211; the base structure 1 comprises a circular flange 11 and 3 supporting legs 12; the motor 214 can drive the D-shaped nested pin 21 and the supporting leg to operate; the signal processing module controls the D-type nested pin and the base structure to cooperatively operate according to calculated data; the object bearing platform 3 comprises a buzzer and an LED indicating lamp. When the horizontal self-balancing object bearing support is positioned on the non-horizontal ground, a switch is started to enable the whole support to start to operate, a D-shaped nested pin drives a D-shaped pipe to start to ascend under the action of a motor and move up and down in the process of adjusting supporting feet until an object bearing platform is balanced, the attitude sensor also starts to work at the same time, a gyroscope module in the attitude sensor starts to detect surrounding environment information and transmits corresponding data information to the information processing module, the information processing module calculates data of the supporting feet needing to be adjusted according to the lengths of the three supporting feet and the data of the attitude sensor, stable output numerical values are obtained after accelerometer correction and Kalman filtering are adopted, and then the lengths and the angles of the supporting feet are automatically adjusted according to the data to achieve horizontal self-balancing; before the object bearing platform is not horizontal, the D-shaped rod moves up and down to drive the object bearing platform to move up and down, the attitude sensor continuously detects surrounding environment information, the information processing module also processes the information transmitted by the attitude sensor in real time, and the calculated data is used for controlling the three supporting legs to cooperatively operate until the object bearing platform is horizontal.
If the limit of the supporting leg is exceeded in the control process of the D-type nested pin, the pin bottoming sensor works and sends information to the information processing module, and the information processing module sends a stop signal to stop moving the D-type nested pin. When the support does not reach the horizontality, the LED pilot lamp shows the red light, and buzzer work sends out warning sound, and when the support reached horizontal position, the LED pilot lamp showed green light, and buzzer was out of work.
The information processing module can be compiled or modified according to the function requirement, and the algorithm is to calculate the Euler angle by solution, and distribute the pitch angle and the roll angle after being fused to three supporting legs. In order to improve the running speed, the invention simplifies PID control, abandons the use of the yaw angle returned by the attitude sensor and reduces the calculation load.
The above-mentioned embodiments only express one embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (5)
1. The utility model provides a horizontal self-balancing holds thing support which characterized in that: comprises a base structure, a main body structure and an object bearing platform; one end of the main body structure is connected with the base structure, and the other end of the main body structure is connected with the object bearing platform through a coupling mechanism; the main structure comprises a D-shaped nested pin, a D-shaped pipe and a pin bottom-touching sensor, wherein a signal processing module, a motor, a direct-current power supply and an attitude sensor are arranged in the D-shaped pipe, and five layers of PCB control groups are manufactured by erecting a shed of the attitude sensor; the D-shaped nested tube pin comprises a tube pin driving seat, a driving wheel pressure arm, a locking cam arm, a motor and a locking steering engine, wherein the motor is fixed in the driving wheel pressure arm, and the locking steering engine is fixed in the tube pin driving seat; the signal processing module can control the D-type nested pins and the base structure to cooperatively operate.
2. The horizontal self-balancing object bearing bracket of claim 1, wherein the five layers of PCB control groups are respectively a posture plate, a control plate, an amplifying and shaping plate, an action plate and a power supply plate from top to bottom.
3. The horizontal self-balancing object support bracket of claim 1, wherein the pin connection set comprises a circular flange and a foot stand.
4. The horizontal self-balancing object bearing bracket of claim 1, wherein the object bearing platform comprises a buzzer and an LED indicator light.
5. The horizontal self-balancing object bearing bracket of claim 1, wherein the pin bottom-touching sensor is further provided with a contact microswitch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210056185.2A CN114234944A (en) | 2022-01-18 | 2022-01-18 | Horizontal self-balancing object bearing support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210056185.2A CN114234944A (en) | 2022-01-18 | 2022-01-18 | Horizontal self-balancing object bearing support |
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| Publication Number | Publication Date |
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| CN114234944A true CN114234944A (en) | 2022-03-25 |
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| CN202210056185.2A Pending CN114234944A (en) | 2022-01-18 | 2022-01-18 | Horizontal self-balancing object bearing support |
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Citations (9)
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|---|---|---|---|---|
| CN204535694U (en) * | 2015-03-04 | 2015-08-05 | 柳州铁道职业技术学院 | The surveying instrument foot rest of automatic lifting and leveling automatically |
| CN206669255U (en) * | 2017-04-24 | 2017-11-24 | 刘洪顺 | A kind of self-balancing surveys and draws support |
| CN206905697U (en) * | 2016-11-25 | 2018-01-19 | 广西我的科技有限公司 | A kind of three dimensions lifts horizontal adjustable sweep device |
| CN109931908A (en) * | 2018-05-31 | 2019-06-25 | 王文明 | A kind of building height self-operated measuring unit |
| CN209265071U (en) * | 2019-02-22 | 2019-08-16 | 赵振兴 | A kind of high-precision self-balancing tripod for astronomical telescope |
| CN110254735A (en) * | 2019-05-07 | 2019-09-20 | 国网吉林省电力有限公司长春供电公司 | The full landform self-balancing landing platform of multi-rotor unmanned aerial vehicle |
| CN210922516U (en) * | 2019-11-30 | 2020-07-03 | 武汉兮锐科技有限公司 | Intelligent infrared distance meter for engineering surveying and mapping |
| CN211118547U (en) * | 2019-11-18 | 2020-07-28 | 四川新绿洲环境检测有限公司 | Support arrangement for outdoor environment detecting instrument |
| CN219889213U (en) * | 2023-03-23 | 2023-10-24 | 济南轨道交通集团有限公司 | Movable tripod leveling bearing platform device |
-
2022
- 2022-01-18 CN CN202210056185.2A patent/CN114234944A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204535694U (en) * | 2015-03-04 | 2015-08-05 | 柳州铁道职业技术学院 | The surveying instrument foot rest of automatic lifting and leveling automatically |
| CN206905697U (en) * | 2016-11-25 | 2018-01-19 | 广西我的科技有限公司 | A kind of three dimensions lifts horizontal adjustable sweep device |
| CN206669255U (en) * | 2017-04-24 | 2017-11-24 | 刘洪顺 | A kind of self-balancing surveys and draws support |
| CN109931908A (en) * | 2018-05-31 | 2019-06-25 | 王文明 | A kind of building height self-operated measuring unit |
| CN209265071U (en) * | 2019-02-22 | 2019-08-16 | 赵振兴 | A kind of high-precision self-balancing tripod for astronomical telescope |
| CN110254735A (en) * | 2019-05-07 | 2019-09-20 | 国网吉林省电力有限公司长春供电公司 | The full landform self-balancing landing platform of multi-rotor unmanned aerial vehicle |
| CN211118547U (en) * | 2019-11-18 | 2020-07-28 | 四川新绿洲环境检测有限公司 | Support arrangement for outdoor environment detecting instrument |
| CN210922516U (en) * | 2019-11-30 | 2020-07-03 | 武汉兮锐科技有限公司 | Intelligent infrared distance meter for engineering surveying and mapping |
| CN219889213U (en) * | 2023-03-23 | 2023-10-24 | 济南轨道交通集团有限公司 | Movable tripod leveling bearing platform device |
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