WO2021213409A1

WO2021213409A1 - Multi-axis mobile platform and control method therefor

Info

Publication number: WO2021213409A1
Application number: PCT/CN2021/088509
Authority: WO
Inventors: 李达生; 陈彦棠; 施冠廷; 康拉迪艾力克斯·卡尔
Original assignee: 台北科技大学
Priority date: 2020-04-20
Filing date: 2021-04-20
Publication date: 2021-10-28
Also published as: TW202140192A; WO2021213409A4; TWI742633B

Abstract

Provided is a multi-axis mobile platform (100), comprising a first winch device (121), a second winch device (122), a third winch device (123), a fourth winch device (124), a movable seat (130) and a control device (110), wherein the first, second, third, and fourth winch devices (121, 122, 123, 124) are arranged in a co-planar manner, and define a rectangular movement range (R); each of the first, second, third, and fourth winch devices (121, 122, 123, 124) has a pull rope, and the first, second, third, and fourth winch devices (121, 122, 123, 124) can wind or unwind the respective pull ropes; the movable seat is connected to each pull rope; and the control device is used for controlling the first, second, third, and fourth winch devices (121, 122, 123, 124) to wind or unwind the respective pull ropes, so that the movable seat (130) moves in the movement range (R).

Description

Multi-axis mobile platform and control method thereof

Technical field

The invention relates to a two-axis mobile platform, in particular to a suspended two-axis mobile platform.

Background technique

The existing two-axis mobile platform needs to be provided with two sets of rails, the first set of rails are fixedly arranged, and the second set of rails are slidably arranged on the first set of rails, and are arranged alternately with the first set of rails. The main base is slidably arranged on the second set of rails. Driven by the two sets of servo components, the second set of rails slides on the first set of rails to reciprocate, and the main base slides back and forth on the second set of rails to achieve two-axis movement of the main base. Hanging winches, mechanical fixtures, image capture devices, or devices that require two-axis movement on a plane can be set on the main frame.

The track setting occupies space, which is not conducive to the setting of the two-axis mobile platform when the space is insufficient.

Summary of the invention

The embodiment of the present invention provides a multi-axis mobile platform, which can solve the problem that the two-axis mobile platform is not conducive to the occasion of insufficient space, so that the axis can be moved conveniently in a limited space.

A multi-axis mobile platform according to an embodiment of the present invention includes a first winch device, a second winch device, a third winch device, and a fourth winch device. The first, second, third, and fourth winch devices The winch devices are arranged coplanar and define a rectangular movement range; the first, second, third, and fourth winch devices each have a drawstring, and the first, second, third, and fourth winch devices can Respectively retract and place each of the draw ropes; a movable seat connected to each of the draw ropes; and a control device for controlling the first, second, third, and fourth winch devices to retract or release each of the draw ropes, thereby Make the mobile seat move in the moving range.

A control method of a multi-axis mobile platform according to another embodiment of the present invention includes fixing a first winch device, a second winch device, a third winch device, and a fourth winch device so that the first and second winch devices , The third and fourth winch devices are coplanar and define a rectangular movement range; the first, second, third and fourth winch devices each have a drawstring, and the first, second, and third winch devices And the fourth winch device can separately retract each of the draw ropes; and set a movable seat connected to each draw rope; define a standard system in the moving range, and obtain the current length of the movable seat according to the current length of each draw rope Coordinates; and according to a target coordinate, calculate the length of the first, second, third and fourth winch devices to retract each of the drawstrings in order to move the mobile base to the target coordinate.

The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments, but it is not intended to limit the present invention.

Description of the drawings

Fig. 1 is a schematic structural diagram of a multi-axis mobile platform according to an embodiment of the present invention.

2A is a schematic top view of a first state of a multi-axis mobile platform according to an embodiment of the present invention.

2B is a schematic top view of another state of the multi-axis mobile platform according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a three-dimensional structure of a multi-axis mobile platform according to an embodiment of the present invention.

4 is a schematic top view of another state of the multi-axis mobile platform according to an embodiment of the present invention.

Fig. 5 is a schematic flowchart of a method for controlling a multi-axis mobile platform according to an embodiment of the present invention.

Detailed ways

The structural principle and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings:

Please refer to Figure 1, Figure 2A and Figure 2B and Figure 3, which is a multi-axis mobile platform 100 proposed by an embodiment of the present invention, including a first winch device 121, a second winch device 122, a third The winch device 123 and a fourth winch device 124 further include a movable base 130 and a control device 110.

The first, second, third, and

fourth winch devices

121, 122, 123, 124 are arranged in a coplanar plane, and the plane can be an upwardly facing platform surface, or a downwardly facing top wall surface, such as a ceiling. The installation positions of the first, second, third, and

fourth winch devices

121, 122, 123, 124 define a rectangular movement range R, that is, the first, second, third, and

fourth winch devices

121, 122, 123 and 124 are located at the four corners of the moving range R.

The first, second, third, and

fourth winch devices

121, 122, 123, 124 each have a drawstring, and the first, second, third, and

fourth winch devices

121, 122, 123, 124 can be retracted respectively Put the draw ropes so that the draw ropes extend the required rope length.

The movable base 130 is connected to each draw rope, and presents a suspended state. As mentioned above, the plane can be the platform surface facing upwards, or the top wall surface facing downwards, such as the ceiling. Therefore, the movable base 130 may appear to be suspended above the surface of the platform, or may be suspended below the top wall surface such as a ceiling. Of course, the plane does not exclude that it is located in a hollow part of a frame, and the first, second, third and

fourth winch devices

121, 122, 123, 124 are arranged at the four corners of the frame.

The control device 110 is used to control the first, second, third, and

fourth winch devices

121, 122, 123, 124 to receive or release the draw ropes, so that the movable base 130 moves in the moving range R.

As shown in FIG. 3, the first, second, third, and

fourth winch devices

121, 122, 123, 124 respectively include a fixing seat 121a, a winch 121b, and a wire device 121c, and the winch 121b and the wire device 121c Set on the fixed seat 121a. Wherein, the winch 121b is arranged in the fixing base 121a to provide waterproof protection by the fixing base 121a. Each draw rope 121d is respectively wound on the winch 121b, so that the winch 121b can receive the draw rope 121d. The draw cord 121d extends from a slit of the fixed base 121a and is connected to the movable base 130 via the wire device 121c. Furthermore, the winch 121b includes a motor M and a rope reel W driven by the motor M.

As shown in FIGS. 2A and 2B, the first, second, third, and fourth winch devices 121 are arranged around the moving range R in sequence. The control device 110 defines a standard system in the moving range R, for example, taking the position of the first winch device 121 as the origin, the first winch device 121 to the second winch device 122 define the X axis, and the first winch device 121 to the fourth winch device 124 defines the Y axis. In some embodiments, the coordinate system defined by the moving range R is a non-vertical coordinate system, and the present invention is not limited.

At this time, the control device 110 can obtain the current coordinates of the movable base 130 according to the current lengths L1, L2, L3, and L4 of the respective drawstrings.

As shown in FIG. 2A, the control device 110 can calculate the length of each draw rope to be retracted and retracted for the first, second, third, and

fourth winch devices

121, 122, 123, 124 according to a target coordinate to move and move Seat 130 to target coordinates.

The aforementioned target coordinates can be input by an external operator, or sent from other systems (such as monitoring systems).

As shown in FIG. 2A, the control device 110 can calculate the extension of each drawstring according to the coordinates of the first, second, third, and

fourth winch devices

121, 122, 123, 124 and the current coordinates of the movable base 130 The current lengths L1, L2, L3, L4 of the first, second, third and

fourth winch devices

121, 122, 123, 124.

As shown in FIG. 2B, after receiving the target coordinates of the movable base 130, the control device 110 can calculate the target lengths of the first, second, third, and

fourth winch devices

121, 122, 123, 124 that each drawstring extends L1', L2', L3', L4'. As shown in Figs. 1 and 4, according to Pythagorean theorem, the target coordinates of the movable base 130 can be used to determine the current lengths L1, L2, L3, L4 and the target lengths L1', L2', L3', L4'. The relative position of the connection point between the movable base 130 and each drawstring to the center of the movable base 130 is used to correct the current lengths L1, L2, L3, L4 or target lengths L1', L2', L3', L4'.

Then, the control device 110 only needs to calculate the current lengths L1, L2, L3, and L4 to determine the rope lengths that need to be retracted for the first, second, third, and

fourth winch devices

121, 122, 123, 124, and drive the first The second, third and

fourth winch devices

121, 122, 123, 124 move the movable base 130 to the target position.

In order to maintain the movable base 130 to move on a plane without being skewed during movement, the control device 110 depends on the rope length of the first, second, third and

fourth winch devices

121, 122, 123, 124 to be retracted, Control the retraction speed of each rope length, especially the ratio of the retraction speed of each rope length to the ratio of the rope length that needs to be retracted, so that the first, second, third and

fourth winch devices

121, 122, 123, 124 can be At the same time, the retracting and unfolding are completed to ensure that the movable base 130 is maintained to move on a plane.

4, in this embodiment, the mobile base 130 is located at the current coordinate P1 within the moving range R. When the control device 110 wants to move the mobile base 130 to the target coordinate P2, the control device 110 calculates the current The distance between the coordinate P1 and the target coordinate P2, and divide this distance into the segment points P11, P12, P13, P14 as shown in FIG. 2, and the control device estimates the movement of the movable base 130 to the segment point P11 The distance and time of each drawstring can be controlled to reach the target length L1", L2", L3", L4". When the movable base 130 moves to the segment point P11, then calculate the distance and time for the movable base 130 to move from the segment point P11 to the segment point P12, and further control the retracting and unwinding of each drawstring to reach the target length L1", L2" , L3", L4", so as to move in stages until the moving base 130 reaches the target coordinate P2. In other words, in this embodiment, the control device 110 first calculates the distance to be moved by the movable base 130, divides it into several segments, and moves in a phased manner until the target coordinates are reached. The present invention does not limit the number of segment points. When the number of segment points is larger, the calculation of the control device 110 is more rigorous. The movement time of the 130 of the movable seat is relative to the case where the number of segment points is small. The length depends on the user’s design. The segments mentioned above can be average segments or segments of unequal length, depending on the inventor's design.

In addition, a multi-axis sensor can be provided on the movable base 130 to sense the posture of the movable base 130, so that the control device 110 can fine-tune the first, second, third, and

fourth winch devices

121, 122, 123, 124 to retract. The tension of the drawstring is balanced to maintain the movable base 130 in a plane.

The moving base 130 may be provided with devices that need to be moved in two axes, such as a projector, a camera, a fan, an operation panel of the base, a sprinkler device, or an emergency button device, etc.

As shown in FIG. 5, based on the aforementioned multi-axis mobile platform 100, the present invention proposes a control method, including:

Fix a first winch device 121, a second winch device 122, a third winch device 123, and a fourth winch device 124 so that the first, second, third and

fourth winch devices

121, 122, 123, 124 The first, second, third, and

fourth winch devices

121, 122, 123, 124 each have a pull rope, and the first, second, third, and first winch devices The four

winch devices

121, 122, 123, and 124 can respectively retract and place each draw rope; and a movable seat 130 is provided to connect to each draw rope; as shown in Step 110 and Step 120.

Define a symbol system in the moving range R, and obtain the current coordinates of the movable base 130 according to the current lengths L1, L2, L3, and L4 of each drawstring; as shown in step 130.

As shown in Figure 2A and Figure 5, according to the coordinates of the first, second, third, and

fourth winch devices

121, 122, 123, 124, and the current coordinates of the movable base 130, calculate the extension of each drawstring 1. The current lengths L1, L2, L3, L4 of the second, third and

fourth winch devices

121, 122, 123, 124; as shown in step 140.

As shown in Figure 2B and Figure 5, according to the coordinates of the first, second, third, and

fourth winch devices

121, 122, 123, 124, and the target coordinates of the movable base 130, calculate the extension of each drawstring 1. The target lengths L1', L2', L3', L4' of the second, third and

fourth winch devices

121, 122, 123, 124; as in Step 150.

As shown in Figure 5, the first, second, third and

fourth winch devices

121, 122 are determined according to the current lengths L1, L2, L3, L4 and the target lengths L1', L2', L3', L4' , 123, 124 need to retract the rope length of each draw rope to move the movable base 130 to the target coordinate, as shown in step 160. In step 160, it is necessary to further control the retracting and retracting speed of each rope length according to the rope lengths of the first, second, third and

fourth winch devices

121, 122, 123, 124, so as to maintain the movable base 130 Move on a plane.

In another embodiment, steps different from those shown in FIG. 2B and FIG. 5 are taken. As described above, in FIG. 4, the moving base 130 moves from the current coordinate P1 to the target coordinate P2 in a stepwise manner. Way to move. That is, first calculate the distance from the current coordinate of the mobile base 130 to the target coordinate, divide the distance into several segments, move from the current coordinate to the segment point, move between adjacent segment points, and move from the segment point to the segment point. Target coordinates, respectively control the retracting and unfolding of each drawstring to achieve the target lengths L1", L2", L3", L4". In this way, the purpose of moving the movable base 130 to the target coordinates is also achieved.

Of course, the present invention can also have various other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding All changes and deformations shall belong to the protection scope of the appended claims of the present invention.

Industrial applicability

Adopting the multi-axis mobile platform and its control method of the present invention has the following beneficial effects:

It can better solve the problem that the space is not conducive to the two-axis mobile platform in the case of insufficient space, so that the axis can be moved conveniently in a limited space.

Claims

A multi-axis mobile platform, characterized in that it comprises:

A first winch device, a second winch device, a third winch device, and a fourth winch device, the first, second, third and fourth winch devices are coplanar and define a rectangular movement range; The first, second, third, and fourth winch devices each have a draw rope, and the first, second, third, and fourth winch devices can respectively retract the draw rope;

A mobile seat connected to each of the drawstrings; and

A control device is used to control the first, second, third and fourth winch devices to receive or release each of the draw ropes, so that the movable base can move in the moving range.
The multi-axis mobile platform of claim 1, wherein the first, second, third, and fourth winch devices respectively comprise a fixing seat, a winch, and a wire device, and the winch and the wire device are provided On the fixed seat, the winch is used for receiving and placing the draw rope, and the draw rope is connected to the movable seat via the wire device.
The multi-axis mobile platform of claim 2, wherein the winch comprises a motor and a rope reel driven by the motor.
4. The multi-axis mobile platform of claim 1, wherein the control device defines a standard system in the moving range, and obtains the current coordinates of the mobile base according to the current length of each draw rope; and the control device According to a target coordinate, the length of each of the draw ropes to be retracted and retracted by the first, second, third, and fourth winch devices can be calculated to move the movable base to the target coordinate.
The multi-axis mobile platform of claim 4, wherein the control device calculates each of the The draw rope extends the current length of the first, second, third, and fourth winch devices, and is based on the coordinates of the first, second, third, and fourth winch devices, and the target coordinates of the mobile base Calculate the target length of each draw rope extending from the first, second, third, and fourth winch devices, and determine the rope length that the first, second, third, and fourth winch devices need to retract.
The multi-axis mobile platform of claim 5, wherein the control device controls the retracting and unwinding speed of each of the rope lengths according to the rope lengths that the first, second, third and fourth winch devices need to retract, In order to maintain the moving base to move on a plane.
A control method of a multi-axis mobile platform is characterized in that it comprises:

Fix a first winch device, a second winch device, a third winch device, and a fourth winch device so that the first, second, third, and fourth winch devices are coplanar and move one of the defined rectangles Range; the first, second, third, and fourth winch devices each have a draw rope, and the first, second, third, and fourth winch devices can respectively retract the draw rope; and set a mobile The seat is connected to each of the draw ropes;

Define a mark system in the moving range, and obtain the current coordinates of the moving base according to the current length of each pull rope; and

According to a target coordinate, calculate the length of each of the draw ropes that the first, second, third, and fourth winch devices need to retract to move the movable base to the target coordinate.
7. The control method of a multi-axis mobile platform according to claim 7, wherein the step of calculating the length of each of the draw ropes to be retracted by the first, second, third and fourth winch devices comprises:

According to the coordinates of the first, second, third, and fourth winch devices, and the current coordinates of the movable base, calculate the length of each draw rope extending from the first, second, third, and fourth winch devices Current length

According to the coordinates of the first, second, third, and fourth winch devices, and the target coordinates of the movable base, calculate the length of each draw rope extending from the first, second, third, and fourth winch devices Target length; and

According to each of the current lengths and each of the target lengths, the rope lengths that the first, second, third, and fourth winch devices need to be retracted are determined.
8. The control method of a multi-axis mobile platform according to claim 8, wherein the step of moving the mobile base to the target coordinates comprises:

According to the rope lengths of the first, second, third, and fourth winch devices to be retracted, the retracting speed of each rope length is controlled to maintain the movable base to move on a plane.