CN115131394B - Space induction driving balance method and system based on stability principle of spiral instrument - Google Patents
Space induction driving balance method and system based on stability principle of spiral instrument Download PDFInfo
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- G06T7/20—Analysis of motion
- G06T7/207—Analysis of motion for motion estimation over a hierarchy of resolutions
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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Abstract
The invention discloses a space induction driving balance method and a system based on a screw instrument stabilization principle, which relate to the technical field of computer application, and the method comprises the following steps: the target motion carrier is monitored through a motion monitoring module, and real-time motion data are obtained; the real-time motion data is used as real-time external force interference data of the target platform; analyzing to obtain the real-time gesture of the target platform; constructing a compensation analysis module and analyzing the real-time external force interference data to generate a real-time compensation scheme; acquiring a triaxial gyroscope, and performing real-time driving control on the triaxial gyroscope based on a real-time compensation scheme; and carrying out balance control on the real-time gesture of the target platform. The problem of among the prior art when carrying out the interim rescue to the patient on the ship, exist because of the ship moves and rocks and lead to interim operating table to rock, further influence the rescue quality is solved. The dynamic driving target platform is kept stable and balanced, and the effect that the shaking of the target platform influences rescue operation is avoided.
Description
Technical Field
The invention relates to the technical field of computer application, in particular to a space induction driving balance method and system based on a screw meter stability principle.
Background
When emergency rescue treatment is carried out on sudden user diseases such as basic diseases and sub-health based on multiparty factors, pretreatment and pre-rescue are usually carried out by utilizing the time of carrying the user to the hospital by an ambulance before the complete treatment is carried out to the hospital, or the treatment is carried out on a ship which runs under special conditions in order to ensure the treatment effect and fully utilize gold rescue time. In the prior art, when emergency treatment is carried out on a user on sports equipment, the technical problems that the running sports state of carrying equipment such as a ship influences the pre-rescue quality and efficiency of medical personnel and the like, and further the gold rescue time cannot be fully utilized to carry out first-time first aid on the user, so that treatment is delayed and even the final treatment result is influenced exist. Therefore, the computer technology is used for researching that the operating table bearing equipment under the special condition of the movement running of the ship and the like does not irregularly shake along with the running of the ship, and the stability of the operating table and other treatment equipment is kept by intelligent sensing and driving balance, so that the intelligent sensing and driving device has important significance.
However, when a patient is temporarily rescued on a ship in the prior art, there is a technical problem that the temporary operating table is rocked due to the running and rocking of equipment, and the temporary rescue quality is further reduced.
Disclosure of Invention
The invention aims to provide a space induction driving balance method and system based on a stability principle of a screw instrument, which are used for solving the technical problems that in the prior art, when a patient is temporarily rescued on a ship, a temporary operating table is rocked due to running and rocking of equipment, and further the temporary rescue quality is reduced.
In view of the above problems, the invention provides a space induction driving balancing method and system based on a screw meter stabilization principle.
In a first aspect, the present invention provides a method for balancing a space induction drive based on a stabilization principle of a screw, the method being implemented by a space induction drive balancing system based on a stabilization principle of a screw, wherein the method comprises: the method comprises the steps of constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier; the real-time state monitoring is carried out on the target motion carrier through the motion monitoring module, so that real-time motion data of the target motion carrier are obtained; obtaining a target platform on the target motion carrier, and taking the real-time motion data as real-time external force interference data of the target platform; based on the real-time external force interference data, obtaining the real-time attitude of the target platform; a compensation analysis module is constructed, and the real-time external force interference data is analyzed through the compensation analysis module to generate a real-time compensation scheme; based on the target platform and the target motion carrier, a triaxial gyroscope is obtained, and real-time driving control is carried out on the triaxial gyroscope based on the real-time compensation scheme; and carrying out balance control on the real-time gesture of the target platform according to the real-time driving control.
In a second aspect, the present invention also provides a space induction driving balance system based on the stabilization principle of a screw, for performing a space induction driving balance method based on the stabilization principle of a screw according to the first aspect, wherein the system comprises: the construction module is used for constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier; the acquisition module is used for carrying out real-time state monitoring on the target motion carrier through the motion monitoring module to obtain real-time motion data of the target motion carrier; the setting module is used for obtaining a target platform on the target motion carrier and taking the real-time motion data as real-time external force interference data of the target platform; the determining module is used for obtaining the real-time gesture of the target platform based on the real-time external force interference data; the generation module is used for constructing a compensation analysis module, analyzing the real-time external force interference data through the compensation analysis module and generating a real-time compensation scheme; the driving module is used for obtaining a triaxial gyroscope based on the target platform and the target motion carrier and performing real-time driving control on the triaxial gyroscope based on the real-time compensation scheme; and the execution module is used for carrying out balance control on the real-time gesture of the target platform according to the real-time driving control.
One or more technical schemes provided by the invention have at least the following technical effects or advantages:
1. the method comprises the steps of constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier; the real-time state monitoring is carried out on the target motion carrier through the motion monitoring module, so that real-time motion data of the target motion carrier are obtained; obtaining a target platform on the target motion carrier, and taking the real-time motion data as real-time external force interference data of the target platform; based on the real-time external force interference data, obtaining the real-time attitude of the target platform; a compensation analysis module is constructed, and the real-time external force interference data is analyzed through the compensation analysis module to generate a real-time compensation scheme; based on the target platform and the target motion carrier, a triaxial gyroscope is obtained, and real-time driving control is carried out on the triaxial gyroscope based on the real-time compensation scheme; and carrying out balance control on the real-time gesture of the target platform according to the real-time driving control. The motion monitoring module is used for intelligently monitoring the motion conditions such as shaking of the target motion carrier in real time, so that the aim of providing a timely and reliable data base for the subsequent targeted generation of a corresponding real-time balance scheme based on the real-time motion of the target motion carrier is realized. Then, as the target platform is positioned on the target motion carrier, the target platform receives the motion external force of the target motion carrier in real time, so that the real-time motion data of the target motion carrier is used as the external force interference data of the target platform. And then utilize compensation analysis model intelligence contrast target platform receive external force after interfering with receive external force before interfering position gesture data to generate real-time compensation scheme, through carrying out real-time adjustment drive to the triaxial gyroscope based on real-time compensation scheme, thereby in time compensate external force interference, reached the stable balance of dynamic drive target platform, avoid the target platform to rock and influence rescue operation, further improve the technological effect of salvaging the quality.
2. Through the design and detection experimental scheme, the system driving balance target realization condition is verified on the isolation disturbance and intelligent driving balance stabilizing effect of the system, and the objective and accurate technical effect of evaluating the driving balance effect is achieved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings in the description below are only exemplary and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a spatial induction driving balancing method based on the stabilization principle of a screw;
FIG. 2 is a schematic flow chart of the method for obtaining the real-time gesture in a space induction driving balance method based on a stabilization principle of a screw;
FIG. 3 is a schematic flow chart of the real-time compensation scheme obtained in the spatial induction driving balance method based on the stabilization principle of the spiral instrument;
FIG. 4 is a schematic diagram of a process for comprehensively evaluating the balance of a space induction drive in a method for balancing a space induction drive based on the stabilization principle of a screw;
fig. 5 is a schematic structural diagram of a spatial induction driving balance system based on the stabilization principle of a screw.
Reference numerals illustrate:
the device comprises a building module M100, an acquisition module M200, a setting module M300, a determining module M400, a generating module M500, a driving module M600 and an executing module M700.
Detailed Description
The invention provides a space induction driving balance method and a space induction driving balance system based on a stabilization principle of a screw, which solve the technical problem that in the prior art, when a patient is temporarily rescued on a ship, a temporary operating table is rocked due to running and rocking of equipment, and further the temporary rescue quality is reduced. The dynamic driving target platform is kept stable and balanced, the influence of shaking of the target platform on rescue operation is avoided, and the technical effects of improving rescue quality and rescue efficiency are further achieved.
The technical scheme of the invention obtains, stores, uses, processes and the like the data, which all meet the relevant regulations of national laws and regulations.
In the following, the technical solutions of the present invention will be clearly and completely described with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention, and that the present invention is not limited by the exemplary embodiments described herein. 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. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
Example 1
Referring to fig. 1, the invention provides a space induction driving balance method based on a stabilization principle of a spiral instrument, wherein the method is applied to a space induction driving balance system based on the stabilization principle of the spiral instrument, and the method specifically comprises the following steps:
step S100: constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier;
specifically, the spatial induction driving balance method based on the stabilization principle of the spiral instrument is applied to the spatial induction driving balance system based on the stabilization principle of the spiral instrument, and external force interference of a target platform can be compensated in time, so that the stability and balance of the target platform are maintained. The motion monitoring module is arranged on the target motion carrier and used for collecting real-time motion data of the target motion carrier. The target motion carrier refers to any bearing device for bearing a target platform, such as an ambulance, a ship, a mobile sickbed and the like. The motion state of the target motion carrier is irregular motion, and the motion of the target motion carrier is exemplified by irregular shaking of a ship along with water waves, stop of an ambulance along with traffic conditions, ascending and descending along with road conditions and the like. The motion monitoring module is used for intelligently monitoring the motion conditions such as shaking of the target motion carrier in real time, so that the aim of providing a timely and reliable data base for the subsequent targeted generation of a corresponding real-time balance scheme based on the real-time motion of the target motion carrier is realized.
Step S200: the real-time state monitoring is carried out on the target motion carrier through the motion monitoring module, so that real-time motion data of the target motion carrier are obtained;
further, step S200 of the present invention further includes:
step S210: extracting a rate gyroscope of the motion monitoring module;
step S220: acquiring a motion signal of the target motion carrier by using the rate gyroscope to obtain a real-time motion signal;
step S230: and the motion monitoring module obtains the real-time motion data of the target motion carrier based on the real-time motion signal.
Further, step S230 of the present invention further includes:
step S231: performing wavelet transformation on the real-time motion signal to obtain a wavelet transformation result;
step S232: performing threshold processing on the wavelet transformation result to obtain a wavelet transformation processing result;
step S233: and carrying out wavelet reconstruction on the wavelet transformation processing result to obtain a wavelet reconstruction signal, wherein the wavelet reconstruction signal refers to a denoising signal of the real-time motion signal.
Specifically, the motion monitoring module is constructed before the motion monitoring module is used for monitoring the real-time state of the target motion carrier.
Firstly, embedding a rate gyroscope into the motion monitoring module, wherein the rate gyroscope is used for intelligently acquiring real-time motion data signals of a target motion carrier, so that the real-time motion signals are obtained. The rate gyroscope is an inertial sensor and can directly measure motion signals such as real-time angular rate of the target motion carrier. The rate gyroscope is a feedback measurement element for system driving balance, is a key first step for ensuring the subsequent balance stabilization effect, and is inevitably interfered by zero drift, external environment and the like when the rate gyroscope collects real-time motion signals of the target motion carrier, so that the signal collection quality is affected. Therefore, the real-time motion signal directly acquired by the rate gyroscope is subjected to noise reduction processing before the real-time motion data of the target motion carrier is obtained based on the real-time motion signal. The real-time motion signal is subjected to wavelet transformation, and the wavelet transformation result is subjected to threshold processing based on a threshold estimation principle, for example, a hard threshold estimation method and a soft threshold estimation method are combined. And finally, carrying out wavelet reconstruction to obtain a wavelet reconstruction signal. The wavelet reconstruction signal refers to a denoising signal of the real-time motion signal. The motion monitoring module obtains the real-time motion data of the target motion carrier based on a wavelet reconstruction signal.
Step S300: obtaining a target platform on the target motion carrier, and taking the real-time motion data as real-time external force interference data of the target platform;
in particular, since the target platform is located above the target motion carrier, the target platform will be affected in real time by the motion of the target motion carrier as the target motion carrier moves. Exemplary is that when the ship is subjected to treatment such as surgery, the running shake of the ship causes the shake of the surgery equipment and the surgery table, so that the running shake of the ship is used as the external force interference to the surgery table. Based on the principle, the real-time motion data of the target motion carrier is real-time external force interference data of the target platform. By obtaining the real-time external force interference data of the target platform, the technical effect of providing a data base for the subsequent targeted real-time compensation based on the real-time interference of the target platform is achieved.
Step S400: based on the real-time external force interference data, obtaining the real-time attitude of the target platform;
further, as shown in fig. 2, step S400 of the present invention further includes:
step S410: obtaining a preset static state, and constructing a space rectangular coordinate system of the target platform based on the preset static state;
further, step S410 of the present invention further includes:
step S411: obtaining a midpoint of the target platform, and taking the midpoint as an origin;
step S412: obtaining a target edge of the target platform, and obtaining parallel lines of the target edge through the origin;
step S413: taking the parallel lines of the target edge as X axes;
step S414: obtaining adjacent edges of the target edge, and obtaining parallel lines of the adjacent edges through the origin;
step S415: taking the parallel lines of the adjacent sides as Y axes;
step S416: obtaining a perpendicular bisector of the target platform through the origin, and taking the perpendicular bisector as a Z axis;
step S417: and based on the preset static state, combining the origin, the X axis, the Y axis and the Z axis to construct the space rectangular coordinate system.
Step S420: angular motion analysis is carried out on the real-time external force interference data based on the space rectangular coordinate system, and an angular motion analysis result is obtained;
step S430: according to the angular motion analysis result, obtaining real-time angular velocity components of the target platform on each direction axis;
step S440: and obtaining the real-time gesture based on the real-time angular velocity component.
Specifically, the preset static state refers to a state of the upper target platform when the target motion carrier does not move. That is, the target motion carrier and the target platform above it are stationary with respect to the ground.
And constructing a space rectangular coordinate system of the target platform based on the preset static state, sequentially determining a center point and each side of the target platform, taking the middle point of the target platform as an original point of the space rectangular coordinate system, taking a target side of the target platform and parallel lines of the target side passing through the original point as an X axis of the space rectangular coordinate system, wherein the target side refers to any side of the target platform. And further obtaining the other side of the target platform, namely the side adjacent to and vertical to the target side, based on the target side, and obtaining parallel lines of the adjacent sides through the origin, wherein the parallel lines of the adjacent sides are further used as the Y axis of a space rectangular coordinate system. And finally, taking the perpendicular bisector of the target platform obtained through the origin as a Z axis of a space rectangular coordinate system, and finally obtaining the space rectangular coordinate system. The space rectangular coordinate system is a coordinate system of the target platform in a preset static state.
By constructing a space rectangular coordinate system of the target platform in a static state, the technical effect of providing a basis for the subsequent quantization and visualization of the real-time motion state of the target motion carrier, namely the external force interference condition of the target platform is quantized and visualized.
Step S500: a compensation analysis module is constructed, and the real-time external force interference data is analyzed through the compensation analysis module to generate a real-time compensation scheme;
further, as shown in fig. 3, step S500 of the present invention further includes:
step S510: obtaining a preset state of the target platform, wherein the preset state refers to a state of the target platform in the preset static state;
step S520: based on the preset state, obtaining the angular velocity components of the target platform on each direction axis to form preset angular velocity components;
step S530: calculating to obtain a preset angular velocity sum based on the preset angular velocity component;
step S540: and analyzing the real-time angular velocity component of the real-time state by taking the preset angular velocity and the preset angular velocity as compensation targets to obtain the real-time compensation scheme.
Specifically, when the compensation analysis module is used for analyzing the real-time external force interference data and generating a real-time compensation scheme, firstly, based on the space rectangular coordinate system, position data of the target platform in a preset static state are obtained, and then angular velocity component data on each axis of the target platform in the preset state are obtained. Because the preset state is a state in a preset static state, the angular velocity components of the target platform on each axis of the space rectangular coordinate system are zero at the moment, namely, the preset angular velocity components are zero. And then, combining the real-time external force interference data with the space rectangular coordinate system to obtain a real-time angular velocity component of the target platform in a real-time motion state. And further, comparing the preset angular velocity component with the real-time angular velocity component to obtain a real-time compensation scheme meeting the preset angular velocity sum. The sum of the preset angular velocity and the preset angular velocity component is easy to know that the sum of the preset angular velocity is zero, that is, the compensation target is that the target platform is still balanced and stable through compensation after being interfered by external force, that is, the position of the target platform is still kept unchanged in a preset static state. The triaxial gyroscope is adjusted and driven in real time based on the real-time compensation scheme, so that external force interference is compensated in time, stable balance of a dynamic driving target platform is achieved, the influence of shaking of the target platform on rescue operation is avoided, and the technical effect of rescue quality is further improved.
Step S600: based on the target platform and the target motion carrier, a triaxial gyroscope is obtained, and real-time driving control is carried out on the triaxial gyroscope based on the real-time compensation scheme;
step S700: and carrying out balance control on the real-time gesture of the target platform according to the real-time driving control.
Specifically, the tri-axis gyroscope is a connecting device for connecting the target platform and the target motion carrier, and meanwhile, the tri-axis gyroscope has stability, that is, when the gyroscope rotor rotates at a high speed, the direction of the rotation axis of the tri-axis gyroscope in an inertial space is kept stable and unchanged when no external moment acts on the tri-axis gyroscope, namely, the rotation axis of the tri-axis gyroscope points to a fixed direction, and simultaneously, any force for changing the axial direction of the rotor is resisted in real time. And the three-axis gyroscope is driven and controlled in real time based on the real-time compensation scheme, so that the influence of the motion force of the target motion carrier on the target platform is counteracted. And finally, carrying out balance control on the real-time gesture of the target platform according to the real-time driving control.
Further, the invention also comprises the following steps:
step S810: designing a detection experimental scheme, and detecting balance control of the target platform according to the detection experimental scheme;
step S820: collecting detection experiment record data for carrying out balance control on the target platform according to the detection experiment scheme;
step S830: extracting the balance control response time of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain average response time;
step S840: extracting the balance control effect level of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain an average effect level;
step S850: and comprehensively evaluating the space induction driving balance based on the average response time and the average effect level.
Specifically, for the practical application effect of the detection system device, a detection experimental scheme is designed to intelligently detect the space induction driving balance system based on the stability principle of the spiral instrument. Wherein the detection protocol includes a plurality of detection experiments under different motion conditions. Exemplary, for example, the object platform is subjected to cosine type external disturbance, and the recording system intelligently drives the balanced data of the object platform. And detecting the balance control of the target platform according to the detection experiment scheme, recording in real time to obtain detection experiment record data, further extracting the balance control response time of each detection experiment in the detection experiment record data, carrying out average value calculation to obtain average response time, extracting the balance control effect level of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain average effect level. Exemplary response times for performing balance driving control on the target platform under three different motion states are respectively 20ms, 18ms and 22ms, and then the average response time is 18ms. And finally, based on the average response time and the average effect level, carrying out weighted calculation to obtain comprehensive evaluation on the space induction driving balance. Exemplary if the position variation of the target platform is very small under the action of disturbance quantity, the variation error is controlled within the range of +/-0.2 degrees, and when the monitoring image is observed by human eyes and no obvious variation is seen, the system driving balance has good effects of isolating disturbance and intelligently driving balance stability, so that the target design requirement is met. In addition, visual and accurate evaluation of the comprehensive effect of the system is realized through a detection experiment.
In summary, the space induction driving balancing method based on the stability principle of the spiral instrument provided by the invention has the following technical effects:
1. the method comprises the steps of constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier; the real-time state monitoring is carried out on the target motion carrier through the motion monitoring module, so that real-time motion data of the target motion carrier are obtained; obtaining a target platform on the target motion carrier, and taking the real-time motion data as real-time external force interference data of the target platform; based on the real-time external force interference data, obtaining the real-time attitude of the target platform; a compensation analysis module is constructed, and the real-time external force interference data is analyzed through the compensation analysis module to generate a real-time compensation scheme; based on the target platform and the target motion carrier, a triaxial gyroscope is obtained, and real-time driving control is carried out on the triaxial gyroscope based on the real-time compensation scheme; and carrying out balance control on the real-time gesture of the target platform according to the real-time driving control. The motion monitoring module is used for intelligently monitoring the motion conditions such as shaking of the target motion carrier in real time, so that the aim of providing a timely and reliable data base for the subsequent targeted generation of a corresponding real-time balance scheme based on the real-time motion of the target motion carrier is realized. Then, as the target platform is positioned on the target motion carrier, the target platform receives the motion external force of the target motion carrier in real time, so that the real-time motion data of the target motion carrier is used as the external force interference data of the target platform. And then utilize compensation analysis model intelligence contrast target platform receive external force after interfering with receive external force before interfering position gesture data to generate real-time compensation scheme, through carrying out real-time adjustment drive to the triaxial gyroscope based on real-time compensation scheme, thereby in time compensate external force interference, reached the stable balance of dynamic drive target platform, avoid the target platform to rock and influence rescue operation, further improve the technological effect of salvaging the quality.
2. Through the design and detection experimental scheme, the system driving balance target realization condition is verified on the isolation disturbance and intelligent driving balance stabilizing effect of the system, and the objective and accurate technical effect of evaluating the driving balance effect is achieved.
Example two
Based on the same inventive concept as the spatial induction driving balancing method based on the stabilization principle of the screw in the foregoing embodiment, the present invention further provides a spatial induction driving balancing system based on the stabilization principle of the screw, referring to fig. 5, the system includes:
the construction module M100 is used for constructing a motion monitoring module, and installing the motion monitoring module on a target motion carrier;
the acquisition module M200 is used for monitoring the real-time state of the target motion carrier through the motion monitoring module to obtain real-time motion data of the target motion carrier;
the setting module M300 is used for obtaining a target platform on the target motion carrier and taking the real-time motion data as real-time external force interference data of the target platform;
the determining module M400 is used for obtaining the real-time gesture of the target platform based on the real-time external force interference data;
the generation module M500 is used for constructing a compensation analysis module, analyzing the real-time external force interference data through the compensation analysis module and generating a real-time compensation scheme;
the driving module M600 is used for obtaining a triaxial gyroscope based on the target platform and the target motion carrier and performing real-time driving control on the triaxial gyroscope based on the real-time compensation scheme;
and the execution module M700 is used for carrying out balance control on the real-time gesture of the target platform according to the real-time driving control.
Further, the acquisition module M200 is further configured to:
extracting a rate gyroscope of the motion monitoring module;
acquiring a motion signal of the target motion carrier by using the rate gyroscope to obtain a real-time motion signal;
and the motion monitoring module obtains the real-time motion data of the target motion carrier based on the real-time motion signal.
Further, the acquisition module M200 is further configured to:
performing wavelet transformation on the real-time motion signal to obtain a wavelet transformation result;
performing threshold processing on the wavelet transformation result to obtain a wavelet transformation processing result;
and carrying out wavelet reconstruction on the wavelet transformation processing result to obtain a wavelet reconstruction signal, wherein the wavelet reconstruction signal refers to a denoising signal of the real-time motion signal.
Further, the determining module M400 is further configured to:
obtaining a preset static state, and constructing a space rectangular coordinate system of the target platform based on the preset static state;
angular motion analysis is carried out on the real-time external force interference data based on the space rectangular coordinate system, and an angular motion analysis result is obtained;
according to the angular motion analysis result, obtaining real-time angular velocity components of the target platform on each direction axis;
and obtaining the real-time gesture based on the real-time angular velocity component.
Further, the determining module M400 is further configured to:
obtaining a midpoint of the target platform, and taking the midpoint as an origin;
obtaining a target edge of the target platform, and obtaining parallel lines of the target edge through the origin;
taking the parallel lines of the target edge as X axes;
obtaining adjacent edges of the target edge, and obtaining parallel lines of the adjacent edges through the origin;
taking the parallel lines of the adjacent sides as Y axes;
obtaining a perpendicular bisector of the target platform through the origin, and taking the perpendicular bisector as a Z axis;
and based on the preset static state, combining the origin, the X axis, the Y axis and the Z axis to construct the space rectangular coordinate system.
Further, the generating module M500 is further configured to:
obtaining a preset state of the target platform, wherein the preset state refers to a state of the target platform in the preset static state;
based on the preset state, obtaining the angular velocity components of the target platform on each direction axis to form preset angular velocity components;
calculating to obtain a preset angular velocity sum based on the preset angular velocity component;
and analyzing the real-time angular velocity component of the real-time state by taking the preset angular velocity and the preset angular velocity as compensation targets to obtain the real-time compensation scheme.
Further, the system further comprises a detection module, wherein the detection module is used for:
designing a detection experimental scheme, and detecting balance control of the target platform according to the detection experimental scheme;
collecting detection experiment record data for carrying out balance control on the target platform according to the detection experiment scheme;
extracting the balance control response time of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain average response time;
extracting the balance control effect level of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain an average effect level;
and comprehensively evaluating the space induction driving balance based on the average response time and the average effect level.
Various embodiments in the present disclosure are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the above-described spatial induction driving balance method and specific example based on the principle of stability of a screw in the first embodiment of fig. 1 are equally applicable to a spatial induction driving balance system based on the principle of stability of a screw in the first embodiment, and by the above-described detailed description of the spatial induction driving balance method based on the principle of stability of a screw, those skilled in the art can clearly know that a spatial induction driving balance system based on the principle of stability of a screw in the first embodiment is not described in detail herein for brevity of description. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the present invention and the equivalent techniques thereof, the present invention is also intended to include such modifications and variations.
Claims (7)
1. The space induction driving balance method based on the stabilization principle of the screw instrument is characterized by comprising the following steps of:
constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier;
the real-time state monitoring is carried out on the target motion carrier through the motion monitoring module, so that real-time motion data of the target motion carrier are obtained;
obtaining a target platform on the target motion carrier, and taking the real-time motion data as real-time external force interference data of the target platform;
based on the real-time external force interference data, obtaining the real-time attitude of the target platform;
a compensation analysis module is constructed, and the real-time external force interference data is analyzed through the compensation analysis module to generate a real-time compensation scheme;
based on the target platform and the target motion carrier, a triaxial gyroscope is obtained, and real-time driving control is carried out on the triaxial gyroscope based on the real-time compensation scheme;
according to the real-time driving control, carrying out balance control on the real-time gesture of the target platform;
the obtaining the real-time gesture of the target platform based on the real-time external force interference data comprises the following steps:
obtaining a preset static state, and constructing a space rectangular coordinate system of the target platform based on the preset static state;
angular motion analysis is carried out on the real-time external force interference data based on the space rectangular coordinate system, and an angular motion analysis result is obtained;
according to the angular motion analysis result, obtaining real-time angular velocity components of the target platform on each direction axis;
and obtaining the real-time gesture based on the real-time angular velocity component.
2. The method according to claim 1, wherein the real-time state monitoring of the target motion carrier by the motion monitoring module obtains real-time motion data of the target motion carrier, including:
extracting a rate gyroscope of the motion monitoring module;
acquiring a motion signal of the target motion carrier by using the rate gyroscope to obtain a real-time motion signal;
and the motion monitoring module obtains the real-time motion data of the target motion carrier based on the real-time motion signal.
3. The method of claim 2, further comprising, prior to the motion monitoring module deriving the real-time motion data for the target motion carrier based on the real-time motion signal:
performing wavelet transformation on the real-time motion signal to obtain a wavelet transformation result;
performing threshold processing on the wavelet transformation result to obtain a wavelet transformation processing result;
and carrying out wavelet reconstruction on the wavelet transformation processing result to obtain a wavelet reconstruction signal, wherein the wavelet reconstruction signal refers to a denoising signal of the real-time motion signal.
4. The method of claim 1, wherein the obtaining a preset resting state and constructing a space rectangular coordinate system of the target platform based on the preset resting state comprises:
obtaining a midpoint of the target platform, and taking the midpoint as an origin;
obtaining a target edge of the target platform, and obtaining parallel lines of the target edge through the origin;
taking the parallel lines of the target edge as X axes;
obtaining adjacent edges of the target edge, and obtaining parallel lines of the adjacent edges through the origin;
taking the parallel lines of the adjacent sides as Y axes;
obtaining a perpendicular bisector of the target platform through the origin, and taking the perpendicular bisector as a Z axis;
and based on the preset static state, combining the origin, the X axis, the Y axis and the Z axis to construct the space rectangular coordinate system.
5. The method as recited in claim 4, further comprising:
obtaining a preset state of the target platform, wherein the preset state refers to a state of the target platform in the preset static state;
based on the preset state, obtaining the angular velocity components of the target platform on each direction axis to form preset angular velocity components;
calculating to obtain a preset angular velocity sum based on the preset angular velocity component;
and analyzing the real-time angular velocity component of the real-time state by taking the preset angular velocity and the preset angular velocity as compensation targets to obtain the real-time compensation scheme.
6. The method as recited in claim 1, further comprising:
designing a detection experimental scheme, and detecting balance control of the target platform according to the detection experimental scheme;
collecting detection experiment record data for carrying out balance control on the target platform according to the detection experiment scheme;
extracting the balance control response time of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain average response time;
extracting the balance control effect level of each detection experiment in the detection experiment record data, and carrying out average value calculation to obtain an average effect level;
and comprehensively evaluating the space induction driving balance based on the average response time and the average effect level.
7. A spatial induction driven balance system based on the principle of helix stabilization, comprising:
the construction module is used for constructing a motion monitoring module and installing the motion monitoring module on a target motion carrier;
the acquisition module is used for carrying out real-time state monitoring on the target motion carrier through the motion monitoring module to obtain real-time motion data of the target motion carrier;
the setting module is used for obtaining a target platform on the target motion carrier and taking the real-time motion data as real-time external force interference data of the target platform;
the determining module is used for obtaining the real-time gesture of the target platform based on the real-time external force interference data;
the generation module is used for constructing a compensation analysis module, analyzing the real-time external force interference data through the compensation analysis module and generating a real-time compensation scheme;
the driving module is used for obtaining a triaxial gyroscope based on the target platform and the target motion carrier and performing real-time driving control on the triaxial gyroscope based on the real-time compensation scheme;
the execution module is used for carrying out balance control on the real-time gesture of the target platform according to the real-time driving control;
wherein the determining module is further configured to:
obtaining a preset static state, and constructing a space rectangular coordinate system of the target platform based on the preset static state;
angular motion analysis is carried out on the real-time external force interference data based on the space rectangular coordinate system, and an angular motion analysis result is obtained;
according to the angular motion analysis result, obtaining real-time angular velocity components of the target platform on each direction axis;
and obtaining the real-time gesture based on the real-time angular velocity component.
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| US8005635B2 (en) * | 2007-08-14 | 2011-08-23 | Ching-Fang Lin | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
| US20140288896A1 (en) * | 2009-10-15 | 2014-09-25 | American Gnc Corporation | Gyrocompass modeling and simulation system (GMSS) and method thereof |
| CN106017509B (en) * | 2016-05-30 | 2017-07-18 | 北京航空航天大学 | Anti-interference attitude determination method and test platform under a kind of multi-source interference environment |
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