CN206096931U - Intelligence carriage based on electromagnetism tracking principle - Google Patents
Intelligence carriage based on electromagnetism tracking principle Download PDFInfo
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- CN206096931U CN206096931U CN201621056811.4U CN201621056811U CN206096931U CN 206096931 U CN206096931 U CN 206096931U CN 201621056811 U CN201621056811 U CN 201621056811U CN 206096931 U CN206096931 U CN 206096931U
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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
This utility model is related to magnetic field tracking control technology field, specifically a kind of intelligence based on electromagnetic tracking principle
Can truck.
Background technology
As the research activitiess scope of the mankind gradually expands, high-tech automatic control system and device have been increasingly becoming the modern times
The automated intelligent equipment be unableing to do without in social activity, in productive labor in harsh environments, due to rings such as landform, temperature
The impact of border factor, all work that directly should not be undertaken by people, can be replaced by automatic control system.In the factory, can be with profit
With automatically control dolly can load, the strong adaptability on environment and not by the conditions such as temperature, humidity affected it is excellent
Point, in completing under dangerous work environment, the task such as transport micro parts, from while the safety of production is ensured, also mitigates
The workload of personnel.Become in how magnetic field tracking technology being applied to the movement locus control of truck and be badly in need of what is solved
Technical problem.
Utility model content
The purpose of this utility model is to solve magnetic field tracking technology is difficult by prior art to carry out truck
The defect of movement locus control, there is provided a kind of intelligent truck based on electromagnetic tracking principle is solving the above problems.
To achieve these goals, the technical solution of the utility model is as follows：
A kind of intelligent truck based on electromagnetic tracking principle, including carrier and power car, the left surface of carrier and
Right flank is equipped with universal wheel, and the trailing flank of carrier is arranged on the front end of power car by vertical supports, and rear transverse rod is vertically pacified
It is mounted in vertical supports and rear transverse rod is parallel with the axial direction of universal wheel,
Also include movement locus component and direction of motion matable assembly, movement locus component includes alternating current generator,
Enamel-covered wire is connected on alternating current generator, enamel-covered wire laying forms movement locus on the ground；Direction of motion matable assembly bag
The rear middle resonant inductance on rear transverse rod is included, middle resonant inductance is located at the extended line of carrier direct of travel centrage afterwards
On, the axle center of middle resonant inductance is perpendicular with carrier direct of travel afterwards, and middle resonant inductance is located above enamel-covered wire afterwards.
Rear left resonant inductance and rear right resonant inductance are also equipped with described rear transverse rod, rear left resonant inductance is humorous with rear right
The inductance that shakes is arranged symmetrically based on rear middle resonant inductance, and the axle center of both rear left resonant inductance and rear right resonant inductance is and loading
Car direct of travel is perpendicular；Microprocessor is installed on described power car, power car is provided with Servo-controller, Servo-controller
Data Control end is connected with the control signal output of microprocessor, the lead-out terminal of rear left resonant inductance, rear middle resonant inductance
Lead-out terminal and the lead-out terminal of rear right resonant inductance pass through the data input pin phase of analog-to-digital conversion module and microprocessor
Even.
Also include being vertically mounted on front rail in vertical supports, front rail be located at carrier trailing flank and rear transverse rod it
Between, front rail is parallel with rear transverse rod；Direction of motion matable assembly also include front left resonant inductance on front rail and
Front right resonant inductance, front left resonant inductance is with extended line of the front right resonant inductance based on carrier direct of travel centrage in symmetrical
Arrangement, front left resonant inductance are parallel with carrier direct of travel with the axle center of both front right resonant inductances, front left resonance electricity
Sense is corresponding with before and after rear left resonant inductance, and front right resonant inductance is corresponding with before and after rear right resonant inductance；Front left resonant inductance it is defeated
The lead-out terminal for going out terminal and front right resonant inductance is connected with the data input pin of microprocessor by analog-to-digital conversion module.
Beneficial effect
A kind of intelligent truck based on electromagnetic tracking principle of the present utility model, is followed using electromagnetism compared with prior art
Mark technology carries out correspondingly tracking transport according to actual needs to complex course, lays route, alternation electricity using enamel-covered wire in advance
Flow-generator produces magnetic field, realizes carrying out tracking to the enamel-covered wire of artificial laying.This utility model improves carrying speed and effect
Rate, the factory floor for complicated landform and hazardous location provide parts transportation safety, reliable carrying device.
Description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of alternating current generator in this utility model；
Structural representation when Fig. 3 is this utility model kinestate；
Fig. 4 is resonant inductance mounting structure enlarged drawing in this utility model；
Fig. 5 is resonant inductance circuit connection diagram in prior art；
Fig. 6 is the circuit catenation principle figure of microprocessor in this utility model；
Method precedence diagrams of the Fig. 7 for control method；
Wherein, 1- carriers, 2- power cars, 3- vertical supports, 4- Servo-controllers, 5- rear transverse rods, 6- front rails, 7- alternations
Current generator, 10- universal wheels, 11- enamel-covered wires, 12- analog-to-digital conversion modules, 13- microprocessors, 21- rear left resonant inductances,
Resonant inductance, 23- rear right resonant inductances, 24- front left resonant inductances, 25- front right resonant inductances in after 22-.
Specific embodiment
To make to have a better understanding and awareness architectural feature of the present utility model and the effect reached, to compared with
Good embodiment and accompanying drawing coordinate detailed description, are described as follows：
As shown in figure 1, a kind of intelligent truck based on electromagnetic tracking principle described in the utility model, including carrier
1 and power car 2, carrier 1 is used to carry relative article, and power car 2 is used to provide power.The left surface of carrier 1 and right side
Face is equipped with universal wheel 10, and design of the carrier 1 by universal wheel 10 can be with the adjustment of travel direction.The trailing flank of carrier 1
The front end of power car 2 is arranged on by vertical supports 3, by the advance of the powered carrier 1 of power car 2.Rear transverse rod 5 is used
Resonant inductance 22 in after installation, rear transverse rod 5 are vertically mounted in vertical supports 3, and the axial direction of rear transverse rod 5 and universal wheel 10
It is parallel.
Movement locus component is used for the movement line for providing carrier 1, as shown in Fig. 2 movement locus component includes alternation
Current generator 7, is connected to enamel-covered wire 11 on alternating current generator 7,11 two ends of enamel-covered wire are connected on alternating current generator 7
On, form a closed circuit.Enamel-covered wire 11 is laid, i.e., enamel-covered wire 11 is needed by live path
It is arranged, carrier 1 is moved by the arrangement track of enamel-covered wire 11.
Direction of motion matable assembly is used for direction of motion setting of the carrier 1 on enamel-covered wire 11, as shown in figure 4, motion
Direction matable assembly includes the rear middle resonant inductance 22 on rear transverse rod 5.As shown in figure 5, resonant inductance 22 is work in rear
Word inductance is constituted in the way of traditional serial capacitance, lead-out terminal, and which can produce resonance potential value.Middle resonant inductance 22 afterwards
On the extended line of 1 direct of travel centrage of carrier, from 1 itself of carrier there is the centrage in 3 directions, i.e. X in which
Axle, Y-axis and Z axis, and X-axis, Y-axis are divided into 1 direct of travel of carrier (radial direction of universal wheel 10), 1 non-direct of travel (ten thousand of carrier
To the axial direction of wheel 10), middle resonant inductance 22 is based on the centrage of 1 direct of travel of carrier (radial direction of universal wheel 10) thereafter
On extended line.The axle center of middle resonant inductance 22 is perpendicular with 1 direct of travel of carrier afterwards, for calculating deviation.
As shown in figure 3, resonant inductance 22 is located above enamel-covered wire 11, when in use in rear, power car 2 provides power, pushes away
Dynamic carrier 1 advances.Meanwhile, electricity on alternating current generator 7 is powered up on enamel-covered wire 11, and middle resonant inductance 22 is in enamel-covered wire afterwards
Lead under mark in 11 magnetic field so that carrier 1 is moved along the track that enamel-covered wire 11 is laid.And work as 2 excessive velocities of power car, paint
During the larger situation of track camber of the laying of envelope curve 11, the motion of carrier 1 may produce some deviations.Therefore here, profit
With the motion of rear left resonant inductance 21, rear right resonant inductance 23, front left resonant inductance 24 and front right resonant inductance 25 to power car 2
Direction is adjusted.
As shown in figure 4, rear left resonant inductance 21 and rear right resonant inductance 23 on rear transverse rod 5, are also equipped with, rear left resonance electricity
Sense 21 is arranged symmetrically based on rear middle resonant inductance 22 with rear right resonant inductance 23, rear left resonant inductance 21 and rear right resonant inductance
Both 23 axle center is perpendicular with 1 direct of travel of carrier, forms the effect of vertical inductance.Right angle setting in vertical supports 3
Front rail 6, front rail 6 are located between the trailing flank and rear transverse rod 5 of carrier 1, and front rail 6 is parallel with rear transverse rod 5.Front rail
Front left resonant inductance 24 and front right resonant inductance 25 on 6, front left resonant inductance 24 are based on carrier 1 with front right resonant inductance 25
The extended line of direct of travel centrage is arranged symmetrically, front left resonant inductance 24 and both axle center of front right resonant inductance 25 with
1 direct of travel of carrier is parallel, forms the effect of horizontal inductance.Front left resonant inductance 24 is right in front and back with rear left resonant inductance 21
Should, front right resonant inductance 25 is corresponding with before and after rear right resonant inductance 23.It is if electromagnetic wire is parallel with vehicle body axis of symmetry, vertical like that
The inductance value of placement can more greatly, if electromagnetic wire is vertical with vehicle body axis of symmetry, and the numerical value of inductance horizontal like that can be big by one
A bit.When deviation very little, we are approximately considered electromagnetic wire and vehicle body parallel, so by vertical inductance control algolithm, in the same manner,
If deviation is larger be so accomplished by with horizontal inductance.
Microprocessor 13 is installed on power car 2, power car is provided with Servo-controller 4, the Data Control end of Servo-controller 4
It is connected with the control signal output of microprocessor 13, Servo-controller 4 can be controlled by microprocessor 13, so as to power car
2 direction of motion is adjusted.As shown in fig. 6, the lead-out terminal of rear left resonant inductance 21, the outfan of rear middle resonant inductance 22
The lead-out terminal of son and rear right resonant inductance 23 is connected with the data input pin of microprocessor 13 by analog-to-digital conversion module 12,
Equally, the lead-out terminal of the lead-out terminal of front left resonant inductance 24 and front right resonant inductance 25 by analog-to-digital conversion module 12 with
The data input pin of microprocessor 13 is connected.The output valve of five resonant inductances is simulated signal through analog-to-digital conversion module 12
After the conversion of data signal, being sent to microprocessor 13 carries out the direction Adjustable calculation of Servo-controller 4.
As shown in fig. 7, here also provides a kind of control method for correcting of the intelligent truck based on electromagnetic tracking principle, bag
Include following steps：
The first step, the setting of data collection cycle.As needed the time cycle that resonance potential value is obtained is set,
Which can be considered according to the length of vertical supports 3 and arithmetic speed etc., and which can be a cycle for 2ms.
Second step, the collection of resonance potential value.
It is equal to front left resonant inductance, front right resonant inductance, rear left resonant inductance, rear middle resonant inductance and rear right resonant inductance
Carry out the collection of the resonance potential value of three time cycles.
The resonance potential value of collection current period, respectively { ad1,ad2,ad3,ad4,ad5,
The resonance potential value in a collection upper cycle, respectively { ad1',ad2',ad3',ad4',ad5',
Gather the resonance potential value in next cycle, respectively { ad1”,ad2”,ad3”,ad4”,ad5",
Wherein,
ad1、ad1' and ad1" for rear left resonant inductance 21 three time cycles resonance potential value,
ad2、ad2' and ad2" it is resonance potential value of the rear middle resonant inductance 22 three time cycles,
ad3、ad3' and ad3" for rear right resonant inductance 23 three time cycles resonance potential value,
ad4、ad4' and ad4" for front left resonant inductance 24 three time cycles resonance potential value,
ad5、ad5' and ad5" for front right resonant inductance 25 three time cycles resonance potential value.
3rd step, weighted filtering are calculated.To front left resonant inductance, front right resonant inductance, rear left resonant inductance, rear middle resonance
Inductance and rear right resonant inductance are weighted Filtering Processing, and its concrete grammar is as follows：
Weighted filtering computing formula is as follows：
ADx=K1gadx+K2gadx'+K3gadx”
Wherein, K1+K2+K3=1, wherein K1、K2、K3For scale parameter, can be modified according to sensitivity.
By taking rear left resonant inductance 21 as an example, then its computing formula is：
AD1=K1gad1+K2gad1'+K3gad1”。
4th step, normalized.To front left resonant inductance, front right resonant inductance, rear left resonant inductance, rear middle resonance electricity
Numerical value after sense and rear right resonant inductance weighted filtering is normalized, and its concrete grammar is as follows：
Normalized computing formula is as follows：
Wherein Sx≤1。
Equally, by taking rear left resonant inductance 21 as an example, then its computing formula is：
Wherein S1≤1。
5th step, the calculating of traveling error amount.Data after normalization are analyzed, using difference than being missed with algorithm
Difference, which comprises the following steps that：
(1) to front left resonant inductance, front right resonant inductance, rear left resonant inductance, rear middle resonant inductance and rear right resonance electricity
S values after sense normalized are compared analysis,
Wherein,
S1For the value after 21 normalized of rear left resonant inductance,
S2For the value after rear 22 normalized of middle resonant inductance,
S3For the value after 23 normalized of rear right resonant inductance,
S4For the value after 24 normalized of front left resonant inductance,
S5For the value after 25 normalized of front right resonant inductance.
(2) if S2≥S3And S2≥S1, then show that body center line deviation electromagnetic wire amplitude is less, then calculate global error
Error, its computing formula are as follows：
(3) it is being unsatisfactory for S2≥S3And S2≥S1In the case of, if meeting inequality S1≤S2≤S3Or S1≥S2≥S3, then
Show that body center line deviation electromagnetic wire amplitude is larger, then calculate global error error, its computing formula is as follows：
Wherein K4、K5For scale parameter, gained is determined by actual environment.
6th step, the adjustment of Servo-controller.The amount of deflection of Servo-controller corner is obtained by pid algorithm based on error amount,
Servo-controller travel direction is adjusted, its method of adjustment is as follows：
Amount of deflection steer (k) of steering wheel corner is calculated, its computing 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)],
Parameter K represents k-th data processing cycle, wherein Kp、Ki、KdProportionality coefficient is represented, institute is determined by environment equally
.
Ultimate principle of the present utility model, principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description
Simply principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has respectively
Changes and improvements are planted, these changes and improvements are both fallen within the range of claimed this utility model.This utility model is required
Protection domain defined by appending claims and its equivalent.
Claims (3)
1. a kind of intelligent truck based on electromagnetic tracking principle, including carrier（1）And power car（2）, carrier（1）A left side
Side and right flank are equipped with universal wheel（10）, carrier（1）Trailing flank pass through vertical supports（3）Installed in power car（2）
Front end, rear transverse rod（5）It is vertically mounted on vertical supports（3）Upper and rear transverse rod（5）With universal wheel（10）Axial direction it is parallel, its
It is characterised by：
Also include movement locus component and direction of motion matable assembly, movement locus component includes alternating current generator（7）, hand over
Power transformation flow generator（7）On be connected to enamel-covered wire（11）, enamel-covered wire（11）Laying forms movement locus on the ground；The direction of motion is matched somebody with somebody
Seaming element is included installed in rear transverse rod（5）On rear middle resonant inductance（22）, middle resonant inductance afterwards（22）Positioned at carrier（1）OK
Enter on the extended line of direction centrage, afterwards middle resonant inductance（22）Axle center and carrier（1）Direct of travel is perpendicular, afterwards in it is humorous
Shake inductance（22）Positioned at enamel-covered wire（11）Top.
2. a kind of intelligent truck based on electromagnetic tracking principle according to claim 1, it is characterised in that：After described
Cross bar（5）On be also equipped with rear left resonant inductance（21）With rear right resonant inductance（23）, rear left resonant inductance（21）It is humorous with rear right
Shake inductance（23）Based on rear middle resonant inductance（22）It is arranged symmetrically, rear left resonant inductance（21）With rear right resonant inductance（23）Two
The axle center of person is and carrier（1）Direct of travel is perpendicular；Described power car（2）On microprocessor is installed（13）, power
Car is provided with Servo-controller（4）, Servo-controller（4）Data Control end and microprocessor（13）Control signal output phase
Even, rear left resonant inductance（21）Lead-out terminal, it is rear in resonant inductance（22）Lead-out terminal and rear right resonant inductance（23）'s
Lead-out terminal passes through analog-to-digital conversion module（12）With microprocessor（13）Data input pin be connected.
3. a kind of intelligent truck based on electromagnetic tracking principle according to claim 2, it is characterised in that：Also include hanging down
Vertical supports are arranged on directly（3）On front rail（6）, front rail（6）Positioned at carrier（1）Trailing flank and rear transverse rod（5）It
Between, front rail（6）With rear transverse rod（5）It is parallel；Direction of motion matable assembly is also included installed in front rail（6）On front left it is humorous
Shake inductance（24）With front right resonant inductance（25）, front left resonant inductance（24）With front right resonant inductance（25）Based on carrier（1）
The extended line of direct of travel centrage is arranged symmetrically, front left resonant inductance（24）With front right resonant inductance（25）Both axle center
And carrier（1）Direct of travel is parallel, front left resonant inductance（24）With rear left resonant inductance（21）Correspond in front and back, front right is humorous
Shake inductance（25）With rear right resonant inductance（23）Correspond in front and back；Front left resonant inductance（24）Lead-out terminal and front right resonant inductance
（25）Lead-out terminal pass through analog-to-digital conversion module（12）With microprocessor（13）Data input pin be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621056811.4U CN206096931U (en) | 2016-09-14 | 2016-09-14 | Intelligence carriage based on electromagnetism tracking principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621056811.4U CN206096931U (en) | 2016-09-14 | 2016-09-14 | Intelligence carriage based on electromagnetism tracking principle |
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| CN206096931U true CN206096931U (en) | 2017-04-12 |
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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 |
-
2016
- 2016-09-14 CN CN201621056811.4U patent/CN206096931U/en active Active
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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