CN205619940U - Gesture simulation and real -time measuring device suitable for motion carrier - Google Patents
Gesture simulation and real -time measuring device suitable for motion carrier Download PDFInfo
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- CN205619940U CN205619940U CN201620422651.4U CN201620422651U CN205619940U CN 205619940 U CN205619940 U CN 205619940U CN 201620422651 U CN201620422651 U CN 201620422651U CN 205619940 U CN205619940 U CN 205619940U
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Abstract
The utility model discloses a gesture simulation and real -time measuring device suitable for motion carrier. Including network terminal unique tuple, survey appearance lift -launch platform, linear motion unique tuple, adapter, programmable controller and storage treatment facility, wherein: the network terminal unique tuple is used for gathering and handling network information to convey to adapter and storage treatment facility, it carries on gesture and the position simulation that the platform is used for carrying on the object to survey the appearance, the linear motion unique tuple is used for providing the drive for surveying appearance lift -launch platform, the adapter is used for signal modulation and the circuit between motion unique tuple able to programme and the motion control ware able to programme to switch, motion control ware able to programme is used for providing the command information for the linear motion unique tuple, the storage treatment facility is used for the data of real -time store instruction information and receiving and dispatching to the real -time gesture of object is carried on in output.
Description
Technical field
This utility model is under the jurisdiction of navigator fix and networked system field, especially relates to one and is applicable to motion carrier
Attitude-simulating and real-time measurement apparatus.
Background technology
The attitude information of motion carrier is that carrier carries out the basic exercise parameter of the tasks such as navigation, guidance, trajectory planning, especially
It is in the three-dimensional motion of carrier, and the attitude information of carrier is mutually coupled with the position of carrier and velocity information, therefore its essence
Exactness, reliability and seriality directly affect the task of carrier and complete.In recent years, both at home and abroad at the attitude measurement of motion carrier
Achieving plentiful and substantial achievement in research with estimation direction, emerging efficient attitude measurement/algorithm for estimating emerges in an endless stream；But, emerging
Attitude measurement scheme or algorithm for estimating mostly rest on theoretical research stage, But most of algorithms cannot fully be examined in research process
Considering the Engineering constraint under actual application background and all kinds of interference, this has seriously blocked the theoretical result popularization to engineer applied.Cause
This, the generic validation device of motion carrier attitude measurement/estimation scheme becomes connection theoretical result and engineer applied the most naturally
Important tie.
The attitude-simulating of motion carrier and real-time measurement apparatus include the measurement of the simulation of athletic posture and attitude information/estimate
Meter two parts.The simulation of athletic posture is the premise carrying out and surveying appearance scheme performance verification, and the core of simulation is excitation and drives mould
Intending the accurate reference athletic posture needed for platform realizes, the design of main flow includes electrichydraulic control formula six-freedom motion appearance
State analog systems, water-bed attitude-simulating device servo-control system, aircraft attitude-simulating device (turntable), vibration environment attitude mould
Plan system etc., be widely used in vehicle balance detection, the simulation of individual soldier's virtual training, flight attitude, motion attitude control and emulation,
The fields such as satellite gravity anomaly.Based on the reference information of this athletic posture analog systems, it is possible to achieve under half prototype system
Measurement/the estimation of attitude information, the relevant attitude measurement/estimation scheme of checking and algorithm close under the conditions of engineering background
Actual performance, provides the result of more credibility for the engineer applied of this type of algorithm.
At present conventional attitude-simulating system is many with universal rotating shaft with lift platform as main member, and investment is big, cost height,
Mobile inconvenience, and the volume of measurand and all having is limited largely, it is difficult to meet the attitude under multiple applied environment
Simulation demand；Especially wireless network information source and long attitude measurement scene under transmission environment, for attitude-simulating system
Outdoor utility and carrying platform volume have diversified requirement.Therefore more general, easy to loading and unloading, adjustment spirit is designed
Alive, cost appropriateness, it is adaptable to the attitude-simulating of motion carrier just seems the most urgent with real-time measurement apparatus.
Utility model content
For solving above-mentioned one or more problems, this utility model provides a kind of attitude mould being applicable to motion carrier
Intend and real-time measurement apparatus, it is therefore an objective to attitude-simulating and measurement for motion carrier provide the general demonstration and verification of integration to put down
Platform.
According to an aspect of the present utility model, it is provided that a kind of attitude-simulating being applicable to motion carrier and measurement in real time
Device, it is characterised in that include network temination unit group (1), survey appearance carrying platform (2), linear motion unit group (3), adaptation
Device (4), Programmable Multi-Axis Controller (5) and storage (6) six parts of processing equipment, wherein:
Linear motion unit group (3) at least four, by moving slide block (31), rigid straight slideway (32) and relevant cables
Forming, pedestal is fixed in rigid straight slideway (32) one end, and the other end is connected with moving slide block (31).
Survey appearance carrying platform (2) by the loop bar molectron (21) of suitable geomery, rigid platfor (22) and riveting assembly
(23) composition, rigidity loop bar (21) is connected with moving slide block (31) by riveting assembly (23)；Moving slide block (31) is straight along rigidity
Driving rigidity loop bar (21) to move by riveting assembly (23) during line slideway (32) vertical movement, rigidity loop bar (21) drives rigidity
Platform (22) moves；Loop bar molectron (21) includes rigidity loop bar (211) and loop bar bar core (212), rigidity loop bar (211) and set
Bar bar core (212) is connected from the moving slide block (31) of different linear motion units (3) respectively by riveting assembly (23), loop bar
Bar core (212) is connected to the inwall of rigidity loop bar (211) by nested mode.
Network temination unit group (1) at least seven, by serial communication interface (11), radio transmitting device (12) and state
Indicating module (13) forms, and is fixed on rigid platfor (22), four network temination unit group (1) cloth of at least a part of which by connector
Put the surrounding in linear motion unit group (3), as network positions beacon, send beacon message according to Networking protocol, the most extremely
Few three network temination unit groups (1) are fixed on rigid platfor (22) according to the principle of coplanar not conllinear, as rigid platfor
(22) characteristic point of attitude, at least three network temination unit group (1) is respectively by receiving the information from network positions beacon
Calculate respective location information, and location information is sent to storing processing equipment (6) by wireless channel, process in storage
In equipment (6), real-time resolving goes out the 3 d pose of rigid platfor (22).
Adapter (4) is turned by cable interface (41), signal modulation board (42), circuit switching section (43), digital-to-analogue/modulus
Changing unit (44) composition, front end is connected with linear motion unit group (3) by cable, and rear end is by cable and programmable movements control
Device processed (5) connects.
Programmable Multi-Axis Controller (5) is by processor plate (51), field-bus interface plate (52), feedback transducer group
(53), Motion trajectory module (54), built-in power module (55) composition, the front end cable by cable and adapter (4)
Interface (41) connects, and rear end is connected with storage processing equipment (6) by cable；Simulation, I/O for measurand kinestate
Change, export and feed back.The control instruction signal of Programmable Multi-Axis Controller (5) is after the process of adapter (4), by phase
Pass cable transmission, to moving slide block (31), drives moving slide block (31) to be in vertical motion along rigid straight slideway (32), multiple
Motion module (31), according to the vertical movement of control instruction signal, forms connection by riveting assembly (23) with rigid platfor (22)
It is dynamic, until rigid platfor (22) arrives the attitude angle specified.
Processor plate (51), for measurand kinestate excitation information and the resolving of feedback information and process.
Motion trajectory module (54), the kinestate of built-in measurand and the mathematical model of interference factor, be used for
The trajectory planning of measurand, the skimulated motion attitude excitation of the controlled device under output planned trajectory and excitation of drifting along.
Feedback transducer group (53), for described linear motion unit group (1) vertical movement feedback signal reception with repair
Just.
Built-in power module (55), the excitation for skimulated motion attitude and the signal that drifts along generates, and feedback signal/repair
The excitation of positive signal generates, and is processor plate (51), field-bus interface plate (52), feedback transducer group (53), motion rail
Mark planning module (54) provides reference power supply.
Storage processing equipment (6) is by storage device (61), processing equipment (62), keyboard/mouse assembly (63), display device
(64) form with wireless transmitting-receiving equipments (65), the command information of processing equipment (62) built-in programmable motion controller (5), network
The transmitting-receiving activation bit of terminal unit group (1), carry the motion model of object and Disturbance Model and procotol and survey appearance phase
Closing algorithm, the real-time attitude information of object is carried in output.For described Programmable Multi-Axis Controller (5), network temination unit group
Etc. (1) storage of excitation, collection and feedback signal, process, show and feed back.
This utility model is applicable to the attitude-simulating of motion carrier and real-time measurement apparatus and has a following beneficial effect:
(1) this utility model realizes modeling and the instruction generation of attitude of carrier by Programmable Multi-Axis Controller, by many
Individual linear motion unit realizes the Command Resolution to Programmable Multi-Axis Controller, eventually through linear motion unit and carrying platform
Be synchronized with the movement and realize the dynamic analog of attitude of carrier；
(2) information is assisted by independent acquisition and the process networked beacons of multiple network temination units on carrying platform, real
The distributed synchronization perception of the multiple crucial anchor point of existing carrying platform, this synchronization perception information can through parallel processing and information fusion
Online resolution goes out the attitude information of carrying platform；
(3) carrying platform size and geometric configuration can be adjusted by practical measurement requirement, to meet different motion platform
Diversified demand；The position of network temination unit freely can be adjusted by the diverse requirements of tested carrier, it is easy to deletes, expands
Malleability is good.
Accompanying drawing explanation
Fig. 1 is that this utility model embodiment is applicable to the attitude-simulating of motion carrier and the schematic diagram of real-time measurement apparatus,
In figure:
1-network temination unit group 11-serial communication interface
12-radio transmitting device 13-state indicator module
2-surveys appearance carrying platform 21-loop bar molectron
22-rigid platfor 23-rivets assembly
3-linear motion unit group 31-moving slide block
32-rigid straight slideway 4-adapter
41-cable interface 42-signal modulation board
43-circuit switching section 44-digital-to-analogue/AD conversion unit
5-Programmable Multi-Axis Controller 51-processor plate
52-field-bus interface plate 53-feedback transducer group
54-Motion trajectory module 55-power module
6-stores processing equipment 61-storage device
62-processing equipment 63-keyboard/mouse assembly
64-display device 65-wireless transmitting-receiving equipments
Fig. 2 is that this utility model embodiment is applicable to the attitude-simulating of motion carrier and the athletic posture of real-time measurement apparatus
Principle of simulation flow chart；
Fig. 3 is that this utility model embodiment is applicable to the attitude-simulating of motion carrier and the networking appearance of real-time measurement apparatus
State measuring principle flow chart.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with specific embodiment, and
With reference to illustration, this utility model is further described.Although the demonstration of the parameter comprising particular value can be provided herein, but should
Understanding, parameter is worth equal to corresponding without definite, but can be similar to described in acceptable error margin or design constraint
Value.
Fig. 1 is that this utility model embodiment is applicable to the attitude-simulating of motion carrier and the schematic diagram of real-time measurement apparatus.
As it is shown in figure 1, the attitude-simulating of motion carrier and real-time measurement apparatus include network temination unit group (1), survey appearance carrying platform
(2), linear motion unit group (3), adapter (4), Programmable Multi-Axis Controller (5) and storage (6) six parts of processing equipment.
Wherein: described network temination unit group (1), it is used for gathering and processing network-assist information, and by the process of network-assist information
Result sends to adapter (4) and storage processing equipment (5)；Described survey appearance carrying platform (2), for combining connected network eventually
End unit group (1) and the attitude carrying object of Programmable Multi-Axis Controller (5) and position are simulated, for network temination unit group
(1) command information and environmental information are provided；Described linear motion unit group (3), is used for combining Programmable Multi-Axis Controller (5)
Command information, the simulation of attitude and position for surveying appearance carrying platform (2) provides and drives and perform device；Described adapter (4),
Modulate for the signal between linear motion unit group (3) or network temination unit group (1) and Programmable Multi-Axis Controller (5) and set
Standby and circuit switching section；Described Programmable Multi-Axis Controller (5), for the motion mathematical model according to lift-launch object, for directly
Line moving cell group (3) provides command information；Described storage processing equipment (6), for real-time storage Programmable Multi-Axis Controller
(5) receiving and sending messages of command information and network temination unit group (1), and combine motion model and the disturbance mould carrying object
Type and procotol and survey appearance related algorithm, the real-time attitude information of object is carried in output.
Owing to this utility model embodiment uses at least seven network temination unit group (1), wherein three are fixed on rigidity
On the position of the upper coplanar not conllinear of platform (22), independently gather and process other at least four network temination unit group (1)
Offer localizer beacon information, and then calculate the location measurement information at three network temination unit group (1) places, thus by storage
Processing equipment (6) real-time resolving goes out to survey the 3 d pose of appearance carrying platform (2).
Survey appearance carrying platform (2) to be connected with linear motion unit group (3) by loop bar molectron (22), four linear motions
Unit group (3) is connected with adapter (4) by connection cable respectively, and adapter (4) is by connecting cable and programmable movements control
Device processed (5) connects, and Programmable Multi-Axis Controller (5) is connected with storage processing equipment (6) by connecting cable.Each network terminal
Unit (1) is Ad-hoc node apparatus, i.e. use Ad-hoc node apparatus as the means being wirelessly transferred, but, if energy
Enough realize being interconnected of network temination unit (1), Programmable Multi-Axis Controller (5) and storage processing equipment (6), it is also possible to adopt
By other wireless transmission means such as Zigbee, WiFi, bluetooths.
As it is shown in figure 1, network temination unit (1) is referred to by serial communication interface (11), radio transmitting device (12) and state
Show that module (13) forms.Serial communication interface (11) includes SO-DIMM 200 interface, power-switching circuit and UART interface；Shape
State indicating module (13) includes arm processor, SDRAM memory and NAND FLASH memory.
As in figure 2 it is shown, during attitude-simulating, the command information of Programmable Multi-Axis Controller (5) is by tested right
The priori characteristics of motion and the interference factor abstract modeling of elephant obtain, and are loaded in the memory element of motion controller；It instructs letter
Cease with digital signal form by connection cable transmission to adapter (4)；In adapter (4), digital to analog conversion cell translation is again
Analogue signal；After built-up circuit distributes, it is loaded into multiple linear motion unit group (3) through connection cable simultaneously, drives respective
Moving slide block (31) carries out vertical sliding motion in respective linear motion slideway (32) respectively.Four connected with sliding block (31)
Individual riveting assembly (23), by the riveting with rigidity loop bar (211), drives and is connected in the carrying platform on rigidity loop bar (211)
(2) motion on each limit, finally realizes the carrying platform (2) the carrier appearance according to the command information of Programmable Multi-Axis Controller (5)
Morphotype is intended.
As it is shown on figure 3, during attitude measurement, first by three network terminal lists being fixed on rigid platfor (22)
Unit (1) receives the beacon location information of other at least four network temination units (1) according to TDMA timing synchronization, is fixed on just
Property platform (22) on three network temination units (1) calculate respective radio transmitting device (12) distance beaconing nodes parallel
Relative distance, resolves the positional information drawing present networks terminal unit (1), respectively through serial communication through state indicator module (13)
Module (11) by connect cable transmission to adapter (4), after analog to digital conversion through connect cable transmission to storing processing equipment
(5) positional information of three network temination units (1), being fixed on rigid platfor (22) is fused in data processing unit
Algorithm resolves the Attitude estimation result drawing carrying platform (2).So far, above-mentioned attitude-simulating process and attitude measurement process are constituted
The attitude-simulating of moving object verifies device two major functions with networking attitude measurement.
According to the system structure illustrated by this utility model and attachment structure, construct an appearance being applicable to motion carrier
Morphotype is intended and real-time measurement apparatus.Radio transmitting device (12) uses remote UWB wireless transport module, its maximum line-of-sight transmission
Distance is 2.5 kms, working frequency range 2.380GHz～2.500GHz；State indicator module (13) uses processor ATmega128；
Survey appearance carrying platform (2) and use the combination of PVC+ aluminum alloy frame；Linear motion slideway (32) uses THK line slideway, and slide rail is high
2.5 rice；Moving slide block (32) uses THK LS1027 guide rail straight-line rolling unit；Programmable Multi-Axis Controller (5) uses the U.S.
UMAC eight axle control system；Storage processing equipment uses industrial computer or other high performance operation station equipments.According to utility model institute
State, after the corresponding layout of various piece, obtain this device.
Particular embodiments described above, has carried out entering one to the purpose of this utility model, technical scheme and beneficial effect
Step describes in detail, be it should be understood that and the foregoing is only specific embodiment of the utility model, is not limited to this
Utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. done, all should wrap
Within being contained in protection domain of the present utility model.
Claims (4)
1. it is applicable to attitude-simulating and the real-time measurement apparatus of motion carrier, it is characterised in that include network temination unit group
(1), survey appearance carrying platform (2), linear motion unit group (3), adapter (4), Programmable Multi-Axis Controller (5) and storage to process
Equipment (6), wherein:
Linear motion unit group (3) is made up of moving slide block (31), rigid straight slideway (32) and relevant cables, and rigid straight is sliding
Pedestal is fixed in road (32) one end, and the other end is connected with moving slide block (31)；
Survey appearance carrying platform (2) by the loop bar molectron (21) of suitable geomery, rigid platfor (22) and riveting assembly (23)
Composition, rigidity loop bar (21) is connected with moving slide block (31) by riveting assembly (23)；Moving slide block (31) is sliding along rigid straight
Driving rigidity loop bar (21) to move by riveting assembly (23) during road (32) vertical movement, rigidity loop bar (21) drives rigid platfor
(22) motion；
Network temination unit group (1) is by serial communication interface (11), radio transmitting device (12) and state indicator module (13) group
Become, by radio transmitting device (12), location information is sent to storing processing equipment (6)；
Adapter (4) is by cable interface (41), signal modulation board (42), circuit switching section (43), digital-to-analogue/analog digital conversion list
Unit (44) composition, front end is connected with linear motion unit group (3) by cable, and cable and Programmable Multi-Axis Controller are passed through in rear end
(5) connect；
Programmable Multi-Axis Controller (5) is by processor plate (51), field-bus interface plate (52), feedback transducer group (53), fortune
Dynamic trajectory planning module (54), power module (55) composition, front end is connected by the cable interface (41) of cable with adapter (4)
Connecing, rear end is connected with storage processing equipment (6) by cable；
Storage processing equipment (6) is by storage device (61), processing equipment (62), keyboard/mouse assembly (63), display device (64)
Forming with wireless transmitting-receiving equipments (65), processing equipment loads the command information of Programmable Multi-Axis Controller (5), network in (62)
The transmitting-receiving activation bit of terminal unit group (1), carry the motion model of object and Disturbance Model and procotol and survey appearance phase
Close algorithm.
The attitude-simulating being applicable to motion carrier the most according to claim 1 and real-time measurement apparatus, it is characterised in that: institute
State linear motion unit group (3) and be at least four.
The attitude-simulating being applicable to motion carrier the most according to claim 1 and real-time measurement apparatus, it is characterised in that institute
The loop bar molectron (21) stating survey appearance carrying platform (2) includes rigidity loop bar (211) and loop bar bar core (212), rigidity loop bar
(211) and loop bar bar core (212) by riveting assembly (23) respectively from the moving slide block (31) of different linear motion units (3)
Connecting, loop bar bar core (212) is connected to the inwall of rigidity loop bar (211) by nested mode.
The attitude-simulating being applicable to motion carrier the most according to claim 1 and real-time measurement apparatus, it is characterised in that net
Network terminal unit group (1) at least seven, at least three of which network temination unit group (1) is fixed on rigid platfor (22),
Additionally at least four network temination unit group (1) is arranged in the surrounding of linear motion unit group (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620422651.4U CN205619940U (en) | 2016-05-10 | 2016-05-10 | Gesture simulation and real -time measuring device suitable for motion carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620422651.4U CN205619940U (en) | 2016-05-10 | 2016-05-10 | Gesture simulation and real -time measuring device suitable for motion carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205619940U true CN205619940U (en) | 2016-10-05 |
Family
ID=57026823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620422651.4U Withdrawn - After Issue CN205619940U (en) | 2016-05-10 | 2016-05-10 | Gesture simulation and real -time measuring device suitable for motion carrier |
Country Status (1)
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| CN (1) | CN205619940U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105910625A (en) * | 2016-05-10 | 2016-08-31 | 中国人民解放军海军航空工程学院 | Attitude simulation and networked attitude measurement and verification device of moving object |
-
2016
- 2016-05-10 CN CN201620422651.4U patent/CN205619940U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105910625A (en) * | 2016-05-10 | 2016-08-31 | 中国人民解放军海军航空工程学院 | Attitude simulation and networked attitude measurement and verification device of moving object |
| CN105910625B (en) * | 2016-05-10 | 2019-10-15 | 中国人民解放军海军航空大学 | The attitude-simulating and networking attitude measurement of moving object verify device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161005 Effective date of abandoning: 20191015 |