CN206096931U - Intelligence carriage based on electromagnetism tracking principle - Google Patents
Intelligence carriage based on electromagnetism tracking principle Download PDFInfo
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Abstract
The utility model relates to an intelligence carriage based on electromagnetism tracking principle compares with prior art to have solved and is difficult to utilize magnetic field tracking technique to carry out the defect of movement track control to carriage. The utility model discloses a movement track subassembly includes and has connect the enameled wire on the alternating current generator by the alternating current generator that the enameled wire is laid at subaerial formation movement track, direction of motion cooperation subassembly is the resonant inductance in installing back on the horizontal pole of back, and the resonant inductance is located the extension line that carries thing car advancing direction central line in the back, and the axle center of resonant inductance is with to carry thing car advancing direction mutually perpendicular in the back, and the resonant inductance is located above the enameled wire in the back. The utility model discloses utilize electromagnetism tracking technique according to actual need to carry out correspondingly tracking transportation to complicated route.
Description
Technical Field
The utility model relates to a magnetic field tracking control technical field is an intelligence carrier vehicle based on electromagnetism tracking principle particularly.
Background
With the gradual expansion of the research activity range of human beings, high-tech automatic control systems and devices become automatic intelligent equipment which cannot be separated in modern social activities, and the automatic control systems can replace the automatic control systems in production work under severe environmental conditions due to the influence of environmental factors such as terrain, temperature and the like, and work which is not suitable to be directly undertaken by people can be realized. In a factory, the automatic control trolley has the advantages of bearing capacity, strong adaptability to the environment and no influence of conditions such as temperature and humidity, and the like, so that tasks such as transporting tiny parts in a dangerous working environment are completed, the production safety is ensured, and the workload of personnel is reduced. How to apply the magnetic field tracking technology to the motion track control of the carrier vehicle becomes a technical problem which needs to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defect that the magnetic field tracking technology is difficult to utilize to carry out the motion trail control to the carrying vehicle among the prior art, providing an intelligence carrying vehicle based on electromagnetism tracking principle and solving above-mentioned problem.
In order to achieve the above purpose, the technical solution of the present invention is as follows:
an intelligent carrier based on an electromagnetic tracking principle comprises a carrier vehicle and a power vehicle, wherein universal wheels are arranged on the left side surface and the right side surface of the carrier vehicle, the rear side surface of the carrier vehicle is arranged at the front end of the power vehicle through a vertical support, a rear cross rod is vertically arranged on the vertical support and is parallel to the axial direction of the universal wheels,
the motion track component comprises an alternating current generator, an enameled wire is connected to the alternating current generator, and the enameled wire is laid on the ground to form a motion track; the motion direction matching assembly comprises a back-middle resonance inductor which is arranged on the back cross rod, the back-middle resonance inductor is positioned on an extension line of a central line of the traveling direction of the object carrying vehicle, the axis of the back-middle resonance inductor is perpendicular to the traveling direction of the object carrying vehicle, and the back-middle resonance inductor is positioned above the enameled wire.
The rear cross rod is also provided with a rear left resonant inductor and a rear right resonant inductor which are symmetrically arranged based on the rear middle resonant inductor, and the axes of the rear left resonant inductor and the rear right resonant inductor are perpendicular to the traveling direction of the carrier vehicle; the power car on install microprocessor, be equipped with servo steering wheel on the power car, servo steering wheel's data control end links to each other with microprocessor's control signal output end, the output terminal of back left resonance inductance, the output terminal of back middle resonance inductance and the output terminal of back right resonance inductance all link to each other with microprocessor's data input end through analog-to-digital conversion module.
The front cross rod is vertically arranged on the vertical support, is positioned between the rear side surface of the loading vehicle and the rear cross rod, and is parallel to the rear cross rod; the motion direction matching assembly further comprises a front left resonant inductor and a front right resonant inductor which are arranged on the front cross rod, the front left resonant inductor and the front right resonant inductor are symmetrically arranged based on an extension line of a central line of the moving direction of the carrier vehicle, the axle centers of the front left resonant inductor and the front right resonant inductor are both parallel to the moving direction of the carrier vehicle, the front left resonant inductor corresponds to the rear left resonant inductor in the front-back direction, and the front right resonant inductor corresponds to the rear right resonant inductor in the front-back direction; the output terminal of the front left resonant inductor and the output terminal of the front right resonant inductor are connected with the data input end of the microprocessor through the analog-to-digital conversion module.
Advantageous effects
The utility model discloses an intelligence carrier vehicle based on electromagnetism tracking principle compares with prior art and utilizes electromagnetism tracking technique to carry out corresponding tracking transportation to complicated route according to actual need, adopts the enameled wire to lay the route in advance, and alternating current generator produces magnetic field, realizes carrying out the tracking to the enameled wire for laying. The utility model provides high shiies speed and efficiency, provides safe, the reliable device of shiing of spare part transportation for the mill's workshop in complicated topography and dangerous area.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of an alternating current generator according to the present invention;
FIG. 3 is a schematic view of the structure of the present invention in motion;
FIG. 4 is an enlarged view of the mounting structure of the middle resonant inductor of the present invention;
FIG. 5 is a prior art resonant inductor circuit connection;
FIG. 6 is a schematic diagram of the circuit connection of the microprocessor of the present invention;
FIG. 7 is a method sequence chart of a control method;
the system comprises a load carrying vehicle 1, a power vehicle 2, a vertical support 3, a servo steering engine 4, a rear cross bar 5, a front cross bar 6, an alternating current generator 7, a universal wheel 10, an enameled wire 11, an analog-to-digital conversion module 12, a microprocessor 13, a rear left resonant inductor 21, a rear middle resonant inductor 22, a rear right resonant inductor 23, a front left resonant inductor 24 and a front right resonant inductor 25.
Detailed Description
In order to further understand and appreciate the structural features and advantages of the present invention, preferred embodiments and the accompanying drawings are described in detail as follows:
as shown in FIG. 1, the utility model provides an intelligence carrier vehicle based on electromagnetic tracking principle, including carrying thing car 1 and power car 2, carry thing car 1 and be used for bearing relevant article, power car 2 is used for providing power. The left side and the right side of the loading vehicle 1 are both provided with universal wheels 10, and the loading vehicle 1 can be adjusted in direction through the design of the universal wheels 10. The rear side surface of the carrier vehicle 1 is arranged at the front end of the power vehicle 2 through a vertical bracket 3, and the carrier vehicle 1 is pushed to advance through the power of the power vehicle 2. The rear cross rod 5 is used for installing the rear middle resonance inductor 22, the rear cross rod 5 is vertically installed on the vertical support 3, and the rear cross rod 5 is parallel to the axial direction of the universal wheel 10.
The motion trail component is used for providing a motion line of the loading vehicle 1, and as shown in fig. 2, the motion trail component comprises an alternating current generator 7, an enameled wire 11 is connected to the alternating current generator 7, and two ends of the enameled wire 11 are connected to the alternating current generator 7 to form a closed loop. The enameled wires 11 are laid on the ground to form a motion track, namely, the enameled wires 11 are arranged according to the requirement of a field path, and the loading vehicle 1 moves according to the arrangement track of the enameled wires 11.
The movement direction matching component is used for setting the movement direction of the carrier vehicle 1 on the enameled wire 11, and as shown in fig. 4, the movement direction matching component comprises a rear-middle resonant inductor 22 mounted on the rear cross bar 5. As shown in fig. 5, the rear middle resonant inductor 22 is an i-shaped inductor and is formed by connecting a capacitor and an output terminal in series in a conventional manner, which can generate a resonant voltage value. The rear middle resonance inductor 22 is located on an extension line of a center line in a traveling direction of the carrier vehicle 1, and has center lines in 3 directions, i.e., an X axis, a Y axis, and a Z axis, from the carrier vehicle 1 itself, and the X axis and the Y axis are divided into a traveling direction of the carrier vehicle 1 (a radial direction of the universal wheel 10) and a non-traveling direction of the carrier vehicle 1 (an axial direction of the universal wheel 10), and the resonance inductor 22 is located on an extension line of a center line based on the traveling direction of the carrier vehicle 1 (a radial direction of the universal wheel 10) in the rear middle. The axis of the rear middle resonance inductor 22 is perpendicular to the traveling direction of the carrier vehicle 1, and is used for calculating a deviation value.
As shown in fig. 3, the rear-middle resonant inductor 22 is located above the enameled wire 11, and when in use, the power vehicle 2 provides power to push the loading vehicle 1 to advance. Meanwhile, the alternating current generator 7 is powered on, the enameled wire 11 is powered on, and then the middle resonant inductor 22 is under the magnetic field guide track of the enameled wire 11, so that the loading vehicle 1 moves along the track laid by the enameled wire 11. When the speed of the power vehicle 2 is too fast and the curvature of the track laid by the enameled wire 11 is large, some deviation may be generated in the movement of the loading vehicle 1. Therefore, the movement direction of the vehicle 2 is adjusted by the rear left resonant inductor 21, the rear right resonant inductor 23, the front left resonant inductor 24, and the front right resonant inductor 25.
As shown in fig. 4, the rear cross bar 5 is further provided with a rear left resonant inductor 21 and a rear right resonant inductor 23, the rear left resonant inductor 21 and the rear right resonant inductor 23 are symmetrically arranged based on the rear middle resonant inductor 22, and the axes of the rear left resonant inductor 21 and the rear right resonant inductor 23 are both perpendicular to the traveling direction of the carrier vehicle 1, so as to form a vertical inductor effect. Vertical support 3 goes up perpendicular installation front crossbar 6, and front crossbar 6 is located and carries between the trailing flank and the back horizontal pole 5 of thing car 1, and front crossbar 6 parallels with back horizontal pole 5. The front left resonant inductor 24 and the front right resonant inductor 25 on the front cross rod 6 are symmetrically arranged based on the extension line of the center line of the moving direction of the object carrying vehicle 1, and the axle centers of the front left resonant inductor 24 and the front right resonant inductor 25 are both parallel to the moving direction of the object carrying vehicle 1, so that the horizontal inductor is formed. Front left resonant inductor 24 corresponds to rear left resonant inductor 21 in a front-to-back manner, and front right resonant inductor 25 corresponds to rear right resonant inductor 23 in a front-to-back manner. The value of such vertically disposed inductance is greater if the magnet wire is parallel to the axis of symmetry of the vehicle body, and the value of such horizontally disposed inductance is greater if the magnet wire is perpendicular to the axis of symmetry of the vehicle body. When the deviation is small, the electromagnetic wire is approximately parallel to the vehicle body, so that a vertical inductance control algorithm is adopted, and similarly, if the deviation is large, a horizontal inductance is required.
The power vehicle 2 is provided with a microprocessor 13, the power vehicle is provided with a servo steering engine 4, a data control end of the servo steering engine 4 is connected with a control signal output end of the microprocessor 13, and the servo steering engine 4 can be controlled through the microprocessor 13, so that the movement direction of the power vehicle 2 can be adjusted. As shown in fig. 6, the output terminal of the rear left resonant inductor 21, the output terminal of the rear middle resonant inductor 22, and the output terminal of the rear right resonant inductor 23 are all connected to the data input terminal of the microprocessor 13 through the analog-to-digital conversion module 12, and similarly, the output terminal of the front left resonant inductor 24 and the output terminal of the front right resonant inductor 25 are all connected to the data input terminal of the microprocessor 13 through the analog-to-digital conversion module 12. The output values of the five resonant inductors are converted from analog signals and data signals through the analog-to-digital conversion module 12, and then are sent to the microprocessor 13 to perform direction adjustment calculation of the servo steering engine 4.
As shown in fig. 7, there is also provided a correction control method for an intelligent carriage based on electromagnetic tracking principle, comprising the following steps:
firstly, setting a data acquisition period. The time period for obtaining the resonance voltage value is set as required, which can be comprehensively considered according to the length of the vertical support 3, the operation speed, and the like, and which can be 2ms as one period.
And secondly, collecting a resonance voltage value.
And collecting resonance voltage values of the front left resonance inductor, the front right resonance inductor, the rear left resonance inductor, the rear middle resonance inductor and the rear right resonance inductor in three time periods.
Collecting resonant electricity of the current periodPressure values of { ad, respectively1,ad2,ad3,ad4,ad5}，
Collecting the resonant voltage values of the last period, which are respectively { ad1',ad2',ad3',ad4',ad5'}，
Collecting resonance voltage values of the next period, which are respectively { ad1”,ad2”,ad3”,ad4”,ad5”}，
Wherein,
ad1、ad1' and ad1"is the resonant voltage value of the rear left resonant inductor 21 for three time periods,
ad2、ad2' and ad2"is the resonant voltage value of the middle rear resonant inductor 22 for three time periods,
ad3、ad3' and ad3"is the resonant voltage value of the rear right resonant inductor 23 for three time periods,
ad4、ad4' and ad4"is the resonant voltage value of the front left resonant inductor 24 for three time periods,
ad5、ad5' and ad5"is the resonant voltage value of the front right resonant inductor 25 in three time periods.
And thirdly, weighted filtering calculation. The method comprises the following steps of carrying out weighted filtering processing on a front left resonant inductor, a front right resonant inductor, a rear left resonant inductor, a rear middle resonant inductor and a rear right resonant inductor, wherein the specific method comprises the following steps:
the weighted filtering calculation formula is as follows:
ADx＝K1gadx+K2gadx'+K3gadx”
wherein, K1+K2+K31, wherein K1、K2、K3And the scale parameter can be modified according to the sensitivity.
Taking the left resonant inductor 21 as an example, the calculation formula is:
AD1＝K1gad1+K2gad1'+K3gad1”。
and fourthly, normalization processing. The method comprises the following steps of carrying out normalization processing on values after weighting and filtering of a front left resonant inductor, a front right resonant inductor, a rear left resonant inductor, a rear middle resonant inductor and a rear right resonant inductor, and comprises the following specific steps:
the normalization process calculation formula is as follows:
wherein Sx≤1。
Similarly, taking the left resonant inductor 21 as an example, the calculation formula is:
wherein S1≤1。
And fifthly, calculating a traveling error value. Analyzing the normalized data, and obtaining an error value by adopting a difference ratio sum algorithm, wherein the method comprises the following specific steps of:
(1) comparing and analyzing the S values after normalization processing of the front left resonance inductance, the front right resonance inductance, the back left resonance inductance, the back middle resonance inductance and the back right resonance inductance,
wherein,
S1the processed value is normalized for the rear left resonant inductor 21,
S2the processed values are normalized for the mid-rear resonant inductor 22,
S3the processed values are normalized for the rear right resonant inductor 23,
S4the processed value is normalized for the front left resonant inductor 24,
S5the processed values are normalized for the front right resonant inductor 25.
(2) If S2≥S3And S2≥S1If the deviation of the center line of the vehicle body from the electromagnetic wire is small, the total error is calculated, and the calculation formula is as follows:
(3) at a state not satisfying S2≥S3And S2≥S1If the inequality S is satisfied1≤S2≤S3Or S1≥S2≥S3If the deviation of the center line of the vehicle body from the electromagnetic wire is larger, the total error is calculated, and the calculation formula is as follows:
wherein K4、K5Is a proportional parameter and is measured by actual environment.
And sixthly, adjusting the servo steering engine. The deviation of the servo steering engine rotation angle is obtained based on the error value through a PID algorithm, direction adjustment is carried out on the servo steering engine, and the adjustment method comprises the following steps:
calculating the deflection steer (k) of the steering engine corner, wherein the calculation formula is as follows:
steer(k)＝△steer(k)+steer(k-1)，
wherein △ Steer (K) Kpg[error(k)-error(k-1)]+Kigerror(k)+Kdg[error(k-1)-error(k-2)]，
The parameter K represents the Kth data processing cycle, where Kp、Ki、KdRepresenting the scaling factor, also determined by the environment.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides an intelligence carrier vehicle based on electromagnetic tracking principle, is including carrying thing car (1) and power car (2), the left surface and the right flank that carry thing car (1) all are equipped with universal wheel (10), the trailing flank that carries thing car (1) installs the front end at power car (2) through vertical support (3), back horizontal pole (5) are installed perpendicularly on vertical support (3) and the axial parallel of back horizontal pole (5) and universal wheel (10), its characterized in that:
the device also comprises a motion trail component and a motion direction matching component, wherein the motion trail component comprises an alternating current generator (7), an enameled wire (11) is connected to the alternating current generator (7), and the enameled wire (11) is laid on the ground to form a motion trail; the movement direction matching assembly comprises a rear middle resonance inductor (22) arranged on the rear cross rod (5), the rear middle resonance inductor (22) is positioned on an extension line of a central line of the advancing direction of the object carrying vehicle (1), the axis of the rear middle resonance inductor (22) is perpendicular to the advancing direction of the object carrying vehicle (1), and the rear middle resonance inductor (22) is positioned above the enameled wire (11).
2. The intelligent carriage based on the electromagnetic tracking principle as claimed in claim 1, wherein: the rear cross rod (5) is further provided with a rear left resonant inductor (21) and a rear right resonant inductor (23), the rear left resonant inductor (21) and the rear right resonant inductor (23) are symmetrically arranged based on the rear middle resonant inductor (22), and the axes of the rear left resonant inductor (21) and the rear right resonant inductor (23) are perpendicular to the advancing direction of the carrier vehicle (1); the power car (2) on install microprocessor (13), be equipped with servo steering wheel (4) on the power car, the data control end of servo steering wheel (4) links to each other with microprocessor (13)'s control signal output part, the output terminal of back left resonance inductance (21), the output terminal of back well resonance inductance (22) and the output terminal of back right resonance inductance (23) all link to each other with microprocessor (13)'s data input part through analog-to-digital conversion module (12).
3. The intelligent carriage based on the electromagnetic tracking principle as claimed in claim 2, wherein: the front cross rod (6) is vertically arranged on the vertical support (3), the front cross rod (6) is positioned between the rear side surface of the loading vehicle (1) and the rear cross rod (5), and the front cross rod (6) is parallel to the rear cross rod (5); the movement direction matching assembly further comprises a front left resonance inductor (24) and a front right resonance inductor (25) which are installed on the front cross rod (6), the front left resonance inductor (24) and the front right resonance inductor (25) are symmetrically arranged on the basis of an extension line of a center line of the advancing direction of the loading vehicle (1), the axle centers of the front left resonance inductor (24) and the front right resonance inductor (25) are parallel to the advancing direction of the loading vehicle (1), the front left resonance inductor (24) corresponds to the rear left resonance inductor (21) in the front-back mode, and the front right resonance inductor (25) corresponds to the rear right resonance inductor (23) in the front-back mode; the output terminal of the front left resonant inductor (24) and the output terminal of the front right resonant inductor (25) are connected with the data input end of the microprocessor (13) through the analog-to-digital conversion module (12).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106227217A (en) * | 2016-09-14 | 2016-12-14 | 安徽大学 | A kind of intelligent truck based on electromagnetic tracking principle and control method for correcting thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106227217A (en) * | 2016-09-14 | 2016-12-14 | 安徽大学 | A kind of intelligent truck based on electromagnetic tracking principle and control method for correcting thereof |
| CN106227217B (en) * | 2016-09-14 | 2023-05-12 | 安徽大学 | Intelligent carrying vehicle based on electromagnetic tracking principle and correction control method thereof |
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