CN114563982B - Control method for movement track of mobile equipment on circular tube - Google Patents
Control method for movement track of mobile equipment on circular tube Download PDFInfo
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- CN114563982B CN114563982B CN202210119996.2A CN202210119996A CN114563982B CN 114563982 B CN114563982 B CN 114563982B CN 202210119996 A CN202210119996 A CN 202210119996A CN 114563982 B CN114563982 B CN 114563982B
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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- 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
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Abstract
The invention provides a control method of a movement track of a mobile device on a circular tube, which relates to the technical field of movement track control, and comprises the following steps: s1: the mobile equipment walks at a preset deflection angle relative to the axis of the circular tube, and a theoretical elliptic equation of the motion trail of the mobile equipment on the circular tube is established, wherein the elliptic long axis is on the X axis, and the elliptic short axis is on the Y axis; s2: selecting any two points of the mobile equipment in the actual running process, measuring the included angle of the motion direction of the mobile equipment relative to the X axis when the two points are selected, and calculating the theoretical arc length between the two points by combining a theoretical elliptic equation; s3: and comparing the calculated theoretical arc length with the actual arc length of the mobile device, and if the actual arc length deviates from the theoretical arc length, adjusting the deflection angle of the mobile device relative to the axis of the circular tube. The control method of the movement track of the mobile equipment on the circular pipe can realize effective control of the movement track of the mobile equipment.
Description
Technical Field
The invention relates to the technical field of motion trail control, in particular to a control method of a motion trail of mobile equipment on a circular tube.
Background
The mobile device moves around the circular tube at a fixed angle with the axis of the circular tube, and the theoretical movement track is elliptical, but due to the limitation of the field installation working condition and the mechanical movement abrasion, the running direction of the mobile device and the axis of the circular tube cannot be always kept at a preset angle, so that the deviation between the actual running track and the theoretical ellipse is larger, and the accurate control of the movement track of the mobile device on the circular tube cannot be realized.
Disclosure of Invention
The invention aims to provide a control method of a movement track of a mobile device on a circular tube, which aims to solve the technical problems that the movement track of the mobile device on the circular tube cannot be accurately controlled and the deviation is large.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a control method of a movement track of mobile equipment on a circular tube comprises the following steps:
s1: the method comprises the steps that a mobile device walks at a preset deflection angle relative to the axis of a circular tube, and a theoretical elliptic equation of the motion trail of the mobile device on the circular tube is established, wherein the major axis of an ellipse is on an X axis, and the minor axis of the ellipse is on a Y axis;
s2: selecting any two points of the mobile equipment in the actual running process, measuring an included angle of the motion direction of the mobile equipment relative to an X axis when the two points are selected, and calculating the theoretical arc length between the two points by combining the theoretical elliptic equation;
s3: and comparing the calculated theoretical arc length with the actual arc length of the mobile device, and if the actual arc length deviates from the theoretical arc length, adjusting the deflection angle of the mobile device relative to the axis of the circular tube.
According to the control method of the movement track of the mobile equipment on the circular tube, as the theoretical track of the mobile equipment running on the circular tube at a preset deflection angle relative to the axis of the circular tube is elliptical, the long and short axes of the ellipse are related to the preset deflection angle and the diameter of the circular tube, and the theoretical elliptical equation is established; by measuring the included angle of the instantaneous motion direction of any two points relative to the horizontal direction, namely the X axis, in the real-time walking process of the mobile equipment, whether the mobile equipment runs to the two points or not is on a theoretical track, the tangential direction of the two points on the theoretical track is always the same as the instantaneous motion direction of the mobile equipment, and the arc length of the two points on the theoretical track is calculated to be the theoretical arc length of any two points in the real-time walking process of the mobile equipment; measuring the actual arc length of the mobile device; and continuously correcting the deviation between the theoretical arc length and the actual arc length until the deviations tend to be consistent. By adopting the mode, the real-time correction of the movement track of the mobile equipment on the circular tube can be realized, and the track control precision is improved.
Optionally, the actual arc length of the mobile device is measured by a first encoder, and the first encoder is arranged on a running wheel of the mobile device; the deflection angle of the running direction of the mobile device relative to the axis of the circular tube is measured by a second encoder, and the second encoder is arranged on a direction motor of the running wheel (11).
Optionally, in S1, the theoretical elliptic equation is:
wherein the ellipse semi-minor axis b=the radius R of the round tube, the ellipse semi-major axis +.>
Alpha is the deflection angle value measured by the second encoder.
Optionally, in S2, an included angle between a motion direction of the mobile device at the selected two points and the X axis is measured by using an inclination sensor.
Optionally, in S2, the calculating the theoretical arc length between the selected two points includes the following steps:
s21: deriving the theoretical equation
Combining derivative definition y' =tan θ to obtain a formula
Wherein θ is an angle value measured by the tilt sensor;
s22: combining the formula obtained in the step S21 with the theoretical formula to obtain coordinates of the two selected points;
s23: and calculating the theoretical arc length between the two selected points according to the coordinates of the two selected points.
Optionally, in S23, the step of calculating the theoretical arc length between the selected two points according to the coordinates of the selected two points includes:
respectively forming included angles theta of the moving directions of the mobile equipment relative to the X axis at the selected two points 1 、θ 2 The interval between the two points is divided into a plurality of cells, the step S22 is repeated to sequentially calculate the coordinates of the two endpoints of each cell, then calculate the linear distance between the two coordinates, and accumulate the linear distance segment by segment to obtain the theoretical arc length between the two selected points.
Optionally, when α=90°, the theoretical motion trajectory of the mobile device on the circular tube is a perfect circle.
Optionally, in S2, the calculating calculates a theoretical arc length between the selected two points as follows:
wherein θ is 1 、θ 2 And the included angles of the movement directions of the mobile equipment at the two selected points relative to the X axis are respectively set.
Optionally, in the step S3, if the actual arc length deviates from the theoretical arc length, a deflection angle of the mobile device relative to the axis of the circular tube is adjusted, including the following steps:
if the actual arc length is larger than the theoretical arc length, the deflection angle of the mobile equipment relative to the axis of the circular tube is increased until the actual arc length and the theoretical arc length tend to be consistent;
and if the actual arc length is smaller than the theoretical arc length, decreasing the deflection angle of the mobile equipment relative to the axis of the circular tube until the actual arc length and the theoretical arc length tend to be consistent.
Optionally, a magnet is arranged in the travelling wheel, and the round tube is a steel tube or an iron tube.
Drawings
FIG. 1 is a flow chart of a method for controlling a movement track of a mobile device on a circular tube according to an embodiment of the present invention;
FIG. 2 is a front view of a mobile device moving over a circular tube according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;
FIG. 4 is a top view of a mobile device moving over a circular tube according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a motion trajectory of a mobile device according to an embodiment of the present invention.
Reference numerals illustrate:
1. a mobile device; 11. a running wheel; 12. a directional motor; 13. a control box; 14. a power supply; 2. a round tube; 3. a motion trail; 4. a first encoder; 5. a second encoder; 6. an inclination angle sensor.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The terms "first" and "second" mentioned in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Herein, a coordinate system XY is provided, wherein the X-axis is the direction indicated by the minor axis of the ellipse, i.e. the diameter of the circular tube, and the Y-axis is the direction indicated by the major axis of the ellipse.
The length of the motion trajectory 3 of the mobile device 1 on the circular tube 2 can generally be calculated by counting pulses by an encoder. The existing mobile equipment 1 has two kinds of direction control of the movement track 3 on the circular tube 2, the first kind can adopt to arrange racks on the circular tube, and the moving gear is arranged on the mobile equipment, so that the purpose of controlling the mobile equipment to move according to the preset track is achieved through the mutual meshing of the racks and the gears, but the manufacturing and the installation precision of the racks are higher, the use cost is increased, and the limitation of application scenes is increased because the racks are additionally arranged; the second method directly controls the running direction of the running wheel 11 of the mobile device 1 through the direction motor 12, in this way, the running direction of the mobile device can be ensured to be in the specified direction at the initial moment, but the running process is performed, the abrasion among the devices and the actual installation working condition cause are caused as the time goes on, so that the running direction of the mobile device gradually deviates from the specified direction, and the movement track has larger deviation.
As shown in fig. 1, the method for controlling the movement track of the mobile device on the circular tube according to the embodiment of the invention comprises the following steps:
s1: the mobile device 1 walks at a preset deflection angle relative to the axis of the circular tube 2, and establishes a theoretical elliptic equation of the motion track 3 of the mobile device 1 on the circular tube 2, wherein the elliptic long axis is on the X axis, and the elliptic short axis is on the Y axis.
As shown in fig. 2, the mobile device 1 includes a running wheel 11, a direction motor 12, a control box 13, and a power supply 14, wherein the direction motor 12 is in driving connection with the running wheel 11 for controlling the running direction of the running wheel 11, the control box 13 controls the start and stop of the direction motor 12, and the power supply 14 supplies power to the control box 13.
In this step, as shown in fig. 2, the moving apparatus 1 is placed on the circumferential side wall of the round tube 2, and the running wheel 11 of the moving apparatus 1 is movable along the circumferential side wall of the round tube 2. In order to enable the movement track 3 of the mobile device 1 on the circular tube 2 to be on the same plane, the running wheel 11 of the mobile device 1 is in vertical contact with the circumferential side wall of the circular tube 2 in the initial process, the movement direction of the running wheel 11 and the axis of the circular tube 2 form a preset deflection angle, the deflection angle is less than or equal to 90 degrees, the mobile device 1 always keeps running the track of the mobile device with the preset deflection angle of the axis of the circular tube 2 to be elliptical under the condition of ignoring external influence factors, the minor axis of the ellipse is the radius of the circular tube, and the major axis of the ellipse is related to the deflection angle and the radius of the circular tube.
The motion track of the mobile device 1 is shown in fig. 4-5, an X axis is established by a straight line where the major axis of an ellipse is located, a Y axis is established by a straight line where the minor axis of the ellipse is located, a point where the major axis of the ellipse and the minor axis intersect is the origin of coordinates, and the established coordinate system is shown in fig. 5, and the theoretical elliptic equation of the motion track is:
wherein, the elliptic semi-minor axis b=the radius R of the round tube, and the elliptic semi-major axis
Alpha is the deflection angle of the mobile device 1 relative to the axis of the circular tube 2, as shown in fig. 4.
It should be noted that, the larger the preset deflection angle between the mobile device 1 and the axis of the circular tube 2 is, the shorter the major axis of the theoretical ellipse is, the more the ellipse tends to be round, when the deflection angle is 90 degrees, the major axis and the minor axis of the ellipse are equal to the radius of the circular tube 2, and the theoretical motion track 3 is a special ellipse, namely a perfect circle; when the deflection angle is smaller than 0 degrees and smaller than 90 degrees, the theoretical movement track of the mobile device 1 is elliptical, and the smaller the preset deflection angle between the mobile device 1 and the axis of the circular tube 2 is, the longer the long axis of the theoretical ellipse is, and the flatter the ellipse is.
S2: and selecting any two points of the mobile equipment 1 in the actual running process, measuring the included angle of the motion direction of the mobile equipment 1 at the selected two points relative to the X axis, and calculating the theoretical arc length between the selected two points by combining the theoretical elliptic equation.
In this step, any two points F of the mobile device 1 during the running process are selected 1 、F 2 The mobile device 1 is at F 1 、F 2 The instantaneous movement direction at the point is the direction shown by the straight line tangent to the ellipse in fig. 5, and the included angle between the instantaneous movement direction of the mobile device 1 at the two points and the X axis (namely the horizontal direction) is theta 1 、θ 2 . Whether F 1 、F 2 Whether the two points are on the theoretical track or not, always find the tangential direction of the two points on the theoretical track to the theoretical track and F 1 、F 2 The instantaneous movement directions of the points are the same, and the arc length of the two points on the theoretical track is calculated to be F 1 、F 2 Theoretical arc length of two points.
The calculating of the theoretical arc length between the selected two points comprises the following steps:
s21: deriving the theoretical equation
Combining derivative definition y' =tan θ to obtain a formula
Where θ is the angle value measured by the tilt sensor 6.
S22: and combining the formula obtained in the step S21 with the theoretical formula to obtain the coordinates of the two selected points.
In this step, the formula is
And formula->
A simultaneous set of equations is formed, wherein a and b are calculated by correlating the deflection angle alpha and the radius R of the circular tube, and the mobile device 1 is calculated at F 1 、F 2 Included angle theta between instantaneous motion direction and X-axis at point 1 、θ 2 Substituting the above equation, the simultaneous equations can solve F 1 、F 2 Coordinates of points (X 1 、Y 1 )、(X 2 、Y 2 )。
S23: and calculating the theoretical arc length between the two selected points according to the coordinates of the two selected points.
In this step, the included angle θ between the moving directions of the two selected points and the X axis is calculated 1 、θ 2 The interval between the two is divided into a plurality of cells, the step S22 is repeated to calculate each cell in turnAnd calculating the coordinates of two endpoints of the interval, and calculating the linear distance between the two coordinates, and accumulating the linear distances section by section to obtain the theoretical arc length between the two selected points.
Illustratively, will be θ 1 、θ 2 The interval between the two is equally divided into 10000 cells, and the angle value corresponding to the two endpoints of the first cell is theta 1 、
Repeating the step S22, and obtaining theta 1 、/>
Substituting the two angle values into an equation set to solve theta 1 、/>
The coordinates corresponding to the two points are used for calculating the linear distance between the two points according to a linear distance formula between the two points; the angle value corresponding to the two end points of the angle between the second cells is +.>
And->
The coordinates corresponding to the two points are calculated in the same way, and then the second section of straight line distance is calculated; repeating the above operations, sequentially calculating the distances between two end points of different areas, and summing the 10000 sections of straight line distances to be approximately equal to F 1 、F 2 Theoretical arc length, theta, corresponding to these two points 1 、θ 2 The more the number of cells divided into the interval therebetween, the final calculated F 1 、F 2 The closer the theoretical arc length between the two points is to the actual arc length.
It should be noted that, when the deflection angle α=90°, the theoretical motion track of the mobile device 1 on the circular tube 2 is a perfect circle (special ellipse), and the theoretical arc length can be calculated by using the steps S21-S23, and the formula can be also used
Calculating a theoretical arc length, wherein θ 2 -θ 1 For mobile device 1 from F 1 Point to F 2 Arc angle of the travel during the point process. />
The actual arc length of the mobile device 1 is the measured distance between the selected two points.
S3: comparing the calculated theoretical arc length with the actual arc length of the mobile device 1, and if the actual arc length deviates from the theoretical arc length, adjusting the deflection angle of the mobile device 1 relative to the axis of the circular tube 2.
In this step, it is known that when the mobile device runs in a range of 0-90 ° with respect to the axis of the circular tube, the short axis length of the elliptical track formed is fixed, equal to the diameter of the circular tube, and the greater the angle α of deflection of the mobile device 1 with respect to the axis of the circular tube 2, the longer the major axis of the ellipse, and the flatter the ellipse. Two different ellipses, A being found from the first ellipse 1 、A 2 Two points, respectively making tangential lines by using the two points, and finding point A at the corresponding position on the second ellipse 1 '、A 2 ' over A 1 ' Point, A 2 The' point is tangent to A 1 ' Point, A 2 Tangential direction of the' point is respectively with A 1 Point, A 2 The tangential direction of the points is the same, if the major axis of the first ellipse is longer than the major axis of the second ellipse, A 1 、A 2 The arc length between the points is greater than A 1 '、A 2 The arc length between the' points, i.e. the smaller the α, the longer the theoretical arc length of the mobile device, i.e. in case the mobile trolley is turned over the same angle with respect to the horizontal direction.
Exemplary, mobile device 1 moves under conditions where included angle α is 30 °, measured at a 1 The included angle of the point relative to the horizontal direction is 5 DEG, at A 2 The included angle of the point relative to the horizontal direction is 50 degrees, and A is calculated 1 、A 2 Theoretical arc length between points is L 1 The method comprises the steps of carrying out a first treatment on the surface of the The mobile device 1 moves under the condition that the alpha included angle is 90 degrees, and the alpha included angle is measured to be A 1 The angle of the 'point' relative to the horizontal was 5 deg., measured at A 2 Relative horizontal at the' pointThe included angle of the direction is 50 degrees, and A is calculated 1 '、A 2 The theoretical arc length between the' points is L 2 Then there is L 1 >L 2 。
According to the theory, it can be obtained that when the actual arc length of the running of the mobile device 1 is greater than the theoretical arc length, the deflection angle of the actual running direction of the mobile device 1 relative to the axis of the circular tube is smaller than the preset deflection angle, and the deflection angle of the mobile device 1 needs to be increased at this time; conversely, when the actual arc length of the travel of the mobile device 1 is smaller than the theoretical arc length, the deflection angle of the actual travel direction of the mobile device 1 relative to the axis of the circular tube is larger than the preset deflection angle, and the deflection angle of the mobile device 1 needs to be reduced. In the process of adjusting the size and the deflection angle, a mode of adjusting and observing at the same time can be adopted until the actual arc length and the theoretical arc length tend to be consistent, so that the control of the movement track of the mobile equipment 1 on the circular tube 2 is realized.
Alternatively, as shown in fig. 2-3, the actual arc length of the mobile device 1 is measured with a first encoder 4, the first encoder 4 being provided on a running wheel 11 of the mobile device 1; the deflection angle of the running direction of the mobile device 1 relative to the axis of the round tube 2 is measured by a second encoder 5, and the second encoder 5 is arranged on a direction motor 12 of the running wheel 11.
In this embodiment, the first encoder 4 is a high-precision encoder, and is configured to measure an actual arc length of the mobile device running, so as to compare with the calculated theoretical arc length, and perform track correction; the second encoder 5 is an absolute value encoder, measures the deflection angle of the running direction of the running wheel 11 relative to the axis of the round tube 2, and starts the direction motor 12 to adjust the deflection angle of the running wheel 11 when the actual track deviates from the theoretical track.
Optionally, in S2, an angle between the motion direction of the mobile device 1 at the selected two points and the X axis is measured by using the tilt sensor 6.
In this embodiment, the tilt sensor 6 enables rapid measurement of the angle.
Optionally, a magnet is disposed in the running wheel 11, and the circular tube 2 is a steel tube or an iron tube.
In this embodiment, the running wheel 11 with the magnet is adopted to move in the steel tube or the iron tube, and the magnetic attraction effect between the magnet and the steel tube is utilized to enable the running wheel 11 to be adsorbed on the round tube 2, so as to avoid the problem that the actual arc length measured by the first encoder 4 has errors due to slipping and idling of the mobile device 1 in the running process.
The specific application is as follows: the control method of the movement track of the mobile equipment on the circular tube can control the movement track of the mobile equipment on the circular tube, and is applied to cutting and positioning of the circular tube, if an elliptical section is required to be cut on the circular tube; or the device is used for measuring the circular arc degree of the circular tube, and the mobile device moves on the circular arc surface of the circular tube to be measured in a direction of 90 degrees with the axis of the circular tube, compares the actual running length measured by the moving track encoder with the theoretical arc length calculated by adopting the angle change quantity (the method shown in the S21-S23), and is consistent with the theoretical arc length, so that the circular arc degree of the circular tube is better, the larger the deviation value is, the worse the circular arc degree of the circular tube is, and whether the roundness of the traction cable formed by a plurality of steel wire ropes reaches the theoretical value can be detected by utilizing the principle.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (9)
1. The control method of the movement track of the mobile equipment on the circular tube is characterized by comprising the following steps:
s1: the method comprises the steps that the mobile equipment (1) walks at a preset deflection angle relative to the axis of the round tube (2), and a theoretical elliptic equation of a motion track (3) of the mobile equipment (1) on the round tube (2) is established, wherein the elliptic long axis is on an X axis, and the elliptic short axis is on a Y axis;
s2: selecting any two points of the mobile equipment (1) in the actual running process, measuring an included angle of the motion direction of the mobile equipment (1) relative to an X axis when the two points are selected, and calculating the theoretical arc length between the two selected points by combining the theoretical elliptic equation;
s3: comparing the calculated theoretical arc length with the actual arc length of the mobile device (1), and if the actual arc length deviates from the theoretical arc length, adjusting the deflection angle of the mobile device (1) relative to the axis of the circular tube (2);
the actual arc length of the mobile device (1) is measured by a first encoder (4), the deflection angle of the running direction of the mobile device (1) relative to the axis of the circular tube (2) is measured by a second encoder (5), and in the S1, the theoretical elliptic equation is as follows:
wherein the ellipse semi-minor axis b=the radius R of the round tube, the ellipse semi-major axis +.>
Alpha is the deflection angle value measured by the second encoder (5).
2. The method for controlling the movement track of the mobile device on the circular tube according to claim 1, wherein the first encoder (4) is arranged on a running wheel (11) of the mobile device (1); the second encoder (5) is arranged on a direction motor (12) of the running wheel (11).
3. The method for controlling the movement track of the mobile device on the circular tube according to claim 1, wherein in the step S2, an included angle between the movement direction of the mobile device (1) at the selected two points and the X axis is measured by using an inclination sensor (6).
4. The method for controlling a movement track of a mobile device on a circular tube according to claim 3, wherein in S2, the calculating a theoretical arc length between the selected two points includes the following steps:
s21: deriving the theoretical equation
Combining derivative definition y' =tan θ, yielding the formula +.>
Wherein θ is an angle value measured by the tilt sensor (6);
s22: combining the formula obtained in the step S21 with the theoretical formula to obtain coordinates of the two selected points;
s23: and calculating the theoretical arc length between the two selected points according to the coordinates of the two selected points.
5. The method of claim 4, wherein calculating the theoretical arc length between the two selected points according to the coordinates of the two selected points comprises:
respectively forming an included angle theta between the motion directions of the mobile equipment (1) at the selected two points and the X axis 1 、θ 2 The interval between the two points is divided into a plurality of cells, the step S22 is repeated to sequentially calculate the coordinates of the two endpoints of each cell, then calculate the linear distance between the two coordinates, and accumulate the linear distance segment by segment to obtain the theoretical arc length between the two selected points.
6. The method for controlling the movement track of the mobile device on the circular tube according to claim 1, wherein when α=90°, the theoretical movement track of the mobile device (1) on the circular tube (2) is a perfect circle.
7. The method for controlling a movement track of a mobile device on a circular tube according to claim 6, wherein in S2, the theoretical arc length between the two selected points is calculated as follows:
wherein θ is 1 、θ 2 And forming included angles of the movement directions of the mobile equipment (1) relative to the X axis respectively at the selected two points.
8. The method for controlling a movement track of a mobile device on a circular tube according to any one of claims 5 to 7, wherein in S3, if the actual arc length deviates from the theoretical arc length, the deflection angle of the mobile device (1) relative to the axis of the circular tube (2) is adjusted, and the method comprises the following steps:
if the actual arc length is larger than the theoretical arc length, the deflection angle of the mobile device (1) relative to the axis of the circular tube (2) is increased until the actual arc length and the theoretical arc length tend to be consistent;
and if the actual arc length is smaller than the theoretical arc length, decreasing the deflection angle of the mobile equipment (1) relative to the axis of the circular tube (2) until the actual arc length and the theoretical arc length tend to be consistent.
9. The method for controlling the movement track of the mobile equipment on the circular tube according to claim 2, wherein the travelling wheel (11) is internally provided with a magnet, and the circular tube (2) is a steel tube or an iron tube.
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| PCT/CN2022/095282 WO2023137939A1 (en) | 2022-01-24 | 2022-05-26 | Method for controlling movement trajectory of mobile device on circular pipe |
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| WO2008001835A1 (en) * | 2006-06-28 | 2008-01-03 | Thk Co., Ltd. | Processing apparatus and method of controlling processing apparatus |
| FR2960302A1 (en) * | 2010-05-21 | 2011-11-25 | Jerome Evrard | Device for mapping equations of medium plane at exterior of building, has electronic bearing compass establishing angular position of laser rangefinder and controlling position and orientation of device in station installing phase |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114563982A (en) | 2022-05-31 |
| WO2023137939A1 (en) | 2023-07-27 |
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