Method for controlling motion trail of mobile equipment on circular tube
A mobile device and motion trajectory technology, applied in the direction of feedback control, program control, computer control, etc., can solve the problems of large deviation and inaccurate control of the motion trajectory of mobile devices
Active Publication Date: 2022-05-31
CHINA RAILWAY JIUJIANG BRIDGE ENG +1
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[0003]
The purpose of the present invention is to propose a method for controlling the movement track of the mobile device on the circular pipe, so as to solve the technical problem that the movement track of the mobile device on the circular pipe cannot be accurately controlled and the deviation is large
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[0032] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0033] The terms "first" and "second" mentioned in the embodiments of the present invention are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features.
[0034] In this paper, a coordinate system XY is set, wherein the X axis is the direction shown by the short axis of the ellipse, that is, the diameter of the circular tube, and the Y axis is the direction shown by the long axis of the ellipse.
[0035] The length of the motion track 3 of the mobile device 1 on the circular pipe 2 can generally be calculat...
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The invention provides a method for controlling the motion trail of a mobile device on a circular tube, and relates to the technical field of motion trail control, the method for controlling the motion trail of the mobile device on the circular tube comprises the following steps: S1, the mobile device walks at a preset deflection angle relative to the axis of the circular tube, a theoretical elliptic equation of the motion trail of the mobile device on the circular tube is established, the long axis of an ellipse is on the X axis, and the short axis of the ellipse is on the Y axis; s2, any two points of the mobile device in the actual walking process are selected, the included angle of the movement direction of the mobile device at the selected two points relative to the X axis is measured, and the theoretical arc length between the selected two points is calculated in combination with a theoretical elliptic equation; and S3, comparing the calculated theoretical arc length with the actual arc length of the mobile equipment, and if the actual arc length is deviated from the theoretical arc length, adjusting the deflection angle of the mobile equipment relative to the axis of the circular tube. According to the control method for the motion trail of the mobile equipment on the circular tube, the walking trail of the mobile equipment can be effectively controlled.
Description
technical field [0001] The invention relates to the technical field of motion trajectory control, in particular to a method for controlling the motion trajectory of a mobile device on a circular pipe. Background technique [0002] The mobile device moves around the pipe on the pipe at a fixed angle to the pipe axis, and its theoretical motion track is an ellipse. However, due to the limitations of the on-site installation conditions and the wear and tear of the mechanical movement, it is impossible to guarantee that the moving direction of the mobile device is the same as that of the pipe axis. The axis of the circular tube has been kept at a preset angle, so that the actual trajectory of walking deviates greatly from the theoretical ellipse, and it is impossible to achieve precise control of the trajectory of the mobile device on the circular tube. Contents of the invention [0003] The present invention aims to propose a method for controlling the movement trajectory of ...
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IPC IPC(8): G05B19/404G05D3/12G01C21/06
CPCG05B19/404G05D3/12G01C21/06
Inventor 张泽清徐振峰李桐朱东明梁辉高波余蓓蓓占美杰赵刚梅建峰
Owner CHINA RAILWAY JIUJIANG BRIDGE ENG