A method and system for measuring the rotation angle of a rotary platform

Abstract

The embodiment of the present application provides a kind of rotary platform rotation angle measurement method and system, rotary platform rotation angle measurement method includes: according to the first voltage signal and the second voltage signal, third voltage signal is obtained;The theoretical angle of the third voltage signal is obtained;The rotation angle of the rotary platform relative to initial position is obtained.The embodiment of the present application provides a kind of rotary platform rotation angle measurement method and system, to realize the accuracy of improving rotary platform rotation angle measurement, and reduce cost.

Description

TECHNICAL FIELD

[0001] The present application relates to equipment measurement technology, in particular to a method and system for measuring the rotation angle of a slewing platform. BACKGROUND

[0002] The slewing platform of an arm support pump truck can rotate 360 degrees in a clockwise direction or an anticlockwise direction. Due to the limitation of mechanical structure, the slewing platform cannot rotate unlimitedly. In order to realize accurate control of the rotation angle limitation of the slewing platform and other auxiliary control, the rotation angle of the slewing platform needs to be known, and thus an angle measurement system is needed to measure the angle of the slewing platform. A conventional method is to use proximity switches to simply position and control the position of the slewing platform. This method is simple to position, but it is difficult to realize accurate control. Another method is to use the slewing platform to drive an encoder to rotate and accurately measure the angle of the slewing platform. This method can accurately measure the angle, but the system cost is high. SUMMARY

[0003] The embodiments of the present application provide a method and system for measuring the rotation angle of a slewing platform, so as to improve the accuracy of measuring the rotation angle of the slewing platform and reduce the cost.

[0004] In a first aspect, the embodiments of the present application provide a method for measuring the rotation angle of a slewing platform, comprising:

[0005] obtaining a third voltage signal according to the first voltage signal and the second voltage signal;

[0006] obtaining a theoretical angle of the third voltage signal;

[0007] obtaining the rotation angle of the slewing platform relative to an initial position.

[0008] Optionally, obtaining the theoretical angle of the third voltage signal comprises:

[0009] when the first voltage signal is greater than or equal to a1 and less than (a1+Δ1), the theoretical angle of the third voltage signal is equal to the angle calculation value of the last sampling period;

[0010] when the actual sampling value of the voltage of the second voltage signal is not completed, the first voltage signal is greater than or equal to (a1+Δ1), and the first voltage signal is less than b1, the theoretical angle A3 of the third voltage signal satisfies: A3=A*(S1-a1) / (b-a);

[0011] When the voltage actual sampling value of the second voltage signal is not calibrated, the second voltage signal is greater than or equal to a1, and the second voltage signal is less than b1, the theoretical angle A3 of the third voltage signal satisfies: A3=A*(S2-a1) / (b-a)+A*(b1-a1) / (b-a);

[0012] Wherein, the first voltage signal is denoted as S1, the second voltage signal is denoted as S2, the minimum theoretical value of the first voltage signal and the second voltage signal is denoted as a, the maximum theoretical value of the first voltage signal and the second voltage signal is denoted as b, the theoretical measurement angle corresponding to the minimum theoretical value a to the maximum theoretical value b is denoted as A, the theoretical voltage value of the first voltage signal when the third voltage signal is at the theoretical 0° position is denoted as a1, the theoretical voltage value of the second voltage signal is denoted as b1, and Δ1 is a positive offset.

[0013] Optionally, the theoretical angle of the third voltage signal is obtained, comprising:

[0014] When the voltage actual sampling value of the second voltage signal is calibrated, the first voltage signal is greater than or equal to (a1+Δ1), and the first voltage signal is less than b1, the theoretical angle A3 of the third voltage signal satisfies: A3=360*(S1-a1) / (b1-a1+br-ar);

[0015] When the voltage actual sampling value of the second voltage signal is calibrated, the second voltage signal is greater than or equal to a1, and the second voltage signal is less than (br-Δ1), the theoretical angle A3 of the third voltage signal satisfies: A3=360*(S2-ar+b1-a1) / (b1-a1+br-ar);

[0016] When the voltage actual sampling value of the second voltage signal is calibrated, the second voltage signal is greater than or equal to (br-Δ1), and the second voltage signal is less than b1, the theoretical angle of the third voltage signal is equal to the angle calculation value of the last sampling period;

[0017] Wherein, the first voltage signal is recorded as S1, the second voltage signal is recorded as S2, the minimum theoretical value of the first voltage signal and the second voltage signal is recorded as a, the maximum theoretical value of the first voltage signal and the second voltage signal is recorded as b, the theoretical measurement angle corresponding from the minimum theoretical value a to the maximum theoretical value b is recorded as A, the theoretical voltage value of the first voltage signal when the third voltage signal is at the theoretical 0° position is recorded as a1, the theoretical voltage value of the second voltage signal when the third voltage signal is at the theoretical 0° position is recorded as b1, Δ1 is a positive offset, the voltage actual sampling value of the second voltage signal when the third voltage signal is at the theoretical 0° position is recorded as br, the voltage actual sampling value of the second voltage signal when the third voltage signal is at the theoretical 180° position is recorded as ar.

[0018] Optionally, the voltage actual sampling value of the second voltage signal is calibrated, comprising:

[0019] When S1 is less than b1 and S2 is greater than a, ar=S2; if nk is greater than n0, it is determined that the voltage actual sampling value ar of the second voltage signal is valid;

[0020] When S1 is less than b and S1 is greater than b1, ar=S2; if nk is less than n0, it is determined that the voltage actual sampling value ar of the second voltage signal is valid;

[0021] Wherein, the number of sensor revolutions is recorded as nk, and the initial number of sensor revolutions is recorded as n0.

[0022] Optionally, the voltage actual sampling value of the second voltage signal is calibrated, comprising:

[0023] When S1 is greater than a and S1 is less than a1, br=S2; when S1 is greater than a1 and the deviation is greater than Δ2, it is determined that the voltage actual sampling value br of the second voltage signal is valid;

[0024] When S1 is greater than a1 and S2 is less than b, br=S2; when S1 is less than a1 and the deviation is greater than Δ2, it is determined that the voltage actual sampling value br of the second voltage signal is valid;

[0025] Wherein, Δ2 is a positive offset.

[0026] Optionally, the rotation angle of the rotating platform relative to the initial position is obtained, comprising: according to the relationship S=((A3-A0)+(nk-n0)*360) / r, the rotation angle of the rotating platform relative to the initial position is obtained.

[0027] Wherein, the rotation angle of the rotary platform relative to the initial position is denoted as S, the theoretical angle of the third voltage signal is denoted as A3, the angle of the third voltage signal when the rotary platform is at the 0° position is denoted as A0, the number of sensor rotation is denoted as nk, the initial number of sensor rotation is denoted as n0, and the transmission ratio of the gear ring on the circumference of the rotary platform to the gear on the gear shaft is denoted as r.

[0028] Optionally, the rotation angle of the rotary platform relative to the initial position is obtained by:

[0029] The rotation angle of the rotary platform relative to the initial position is obtained according to the relationship S=360*(((A3-A0)+(nk-n0)*360) / r) / Smax.

[0030] Wherein, the rotation angle of the rotary platform relative to the initial position is denoted as S, the theoretical angle of the third voltage signal is denoted as A3, the angle of the third voltage signal when the rotary platform is at the 0° position is denoted as A0, the number of sensor rotation is denoted as nk, the initial number of sensor rotation is denoted as n0, and the transmission ratio of the gear ring on the circumference of the rotary platform to the gear on the gear shaft is denoted as r, the angle calculation value of the rotary platform when the input signal of the proximity switch is received is denoted as Smax.

[0031] Optionally, after the theoretical angle of the third voltage signal is obtained, the method further comprises:

[0032] When the instruction of clockwise rotation is received, the angle calculation value of the third voltage signal in the current sampling period is less than the angle calculation value of the third voltage signal in the last sampling period, the difference between the angle calculation value of the third voltage signal in the current sampling period and the angle calculation value of the third voltage signal in the last sampling period is greater than Δ2, and the second voltage signal is greater than the set value c1, the number of sensor rotation nk is increased by 1;

[0033] When the instruction of counterclockwise rotation is received, the angle calculation value of the third voltage signal in the current sampling period is greater than the angle calculation value of the third voltage signal in the last sampling period, the difference between the angle calculation value of the third voltage signal in the current sampling period and the angle calculation value of the third voltage signal in the last sampling period is greater than Δ2, and the first voltage signal is less than the set value c2, the number of sensor rotation nk is decreased by 1;

[0034] Wherein, Δ2 is a positive offset, c1>a1+(a1+b1) / 2, c1

[0035] Optionally, after obtaining the sensor revolution number nk, the method further comprises:

[0036] After the single cumulative sensor revolution number is completed, and after waiting for a set time, the sensor revolution number accumulation is performed again.

[0037] Optionally, after obtaining the sensor revolution number nk, the method further comprises:

[0038] When the sensor revolution number appears cumulative decrease, the rotation angle of the rotation platform calculated in the current sampling period is less than the rotation angle of the rotation platform calculated in the last sampling period, the difference between the rotation angle of the rotation platform calculated in the current sampling period and the rotation angle of the rotation platform calculated in the last sampling period is greater than Δ3, and the sensor revolution number is automatically added back to the number of revolutions in the last sampling period;

[0039] When the sensor revolution number appears cumulative increase, the rotation angle of the rotation platform calculated in the current sampling period is greater than the rotation angle of the rotation platform calculated in the last sampling period, the difference between the rotation angle of the rotation platform calculated in the current sampling period and the rotation angle of the rotation platform calculated in the last sampling period is greater than Δ3, and the sensor revolution number is automatically decreased back to the number of revolutions in the last sampling period;

[0040] Wherein, Δ3 is a positive offset.

[0041] In a second aspect, the embodiment of the present application provides a measurement system for the rotation angle of a rotation platform, comprising a rotation platform, an angle sensor and a controller, the angle sensor is configured to output a periodically changing voltage signal according to the rotation angle of the rotation platform, the controller is electrically connected with the angle sensor, and the controller comprises:

[0042] One or more processors;

[0043] A memory for storing one or more programs;

[0044] When the one or more programs are executed by the one or more processors, the one or more processors implement the measurement method as described in the first aspect.

[0045] The embodiment of the present application provides a measurement method for the rotation angle of a rotation platform, obtains a third voltage signal according to a first voltage signal and a second voltage signal, obtains a theoretical angle of the third voltage signal, and obtains the rotation angle of the rotation platform relative to an initial position. The embodiment of the present application realizes the improvement of the accuracy of the rotation angle measurement of the rotation platform and the reduction of the cost. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 A schematic diagram of a measurement system for the rotation angle of a rotation platform provided by the embodiment of the present application;

[0047] Figure 2 A flow chart of a method for measuring a rotation angle of a rotary platform according to an embodiment of the present application is provided.

[0048] Figure 3 A schematic diagram of an output signal waveform of an angle sensor according to an embodiment of the present application is provided.

[0049] Figure 4 A schematic diagram of a superimposed signal waveform of an angle sensor according to an embodiment of the present application is provided.

[0050] Figure 5 A schematic diagram of a structure of a controller according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0051] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0052] Optionally, before introducing the embodiments of the present application, the deployment of a rotation angle measuring system of a rotary platform according to an embodiment of the present application is introduced.

[0053] Figure 1 A schematic diagram of a rotation angle measuring system of a rotary platform according to an embodiment of the present application is provided, referring to Figure 1 The rotation angle measuring system of the rotary platform includes an angle sensor 1, a gear shaft 2, a rotary platform 3, a proximity switch 4, a remote controller 5, a remote control receiver 6, a display 7, and a controller 8. It can be understood that one or more devices in the rotation angle measuring system of the rotary platform can be removed in some embodiments, i.e., the rotation angle measuring system of the rotary platform is not limited thereto.

[0054] The rotary platform 3 is installed on a frame and is driven by a hydraulic motor, and can rotate 360° in the clockwise direction and the counterclockwise direction. A gear ring is arranged around the rotary platform 3.

[0055] The gear shaft 2 is installed on the frame, and the gear shaft 2 is engaged with the gear ring on the rotary platform 3. The transmission ratio of the gear ring on the circumference of the rotary platform 3 to the gear on the gear shaft 2 is r. Correspondingly, the gear on the gear shaft 2 rotates r times when the rotary platform 3 rotates one revolution.

[0056] Angle sensor 1 is a Hall effect angle sensor. Angle sensor 1 includes a magnetic sensing block and a Hall effect measurement unit. The magnetic sensing block is mounted on the gear shaft 2, and the Hall effect measurement unit is mounted on the frame. As the magnetic sensing block rotates with the gear shaft 2, the Hall effect measurement unit outputs multiple voltage signals that change periodically according to a certain waveform. There are intervals in which the voltage magnitude is linearly related to the rotation angle of the magnetic sensing block, and there are overlapping intervals in the angles measured by the multiple voltage signals.

[0057] Proximity switch 4 is electrically connected to controller 8. Proximity switch 4 is used to detect the zero-angle position of rotary platform 3. When rotary platform 3 is at the zero-angle position, proximity switch 4 outputs an electrical signal to controller 8. That is, controller 8 receives the input signal from proximity switch 4.

[0058] The remote control receiver 6 is electrically connected to the controller 8. The remote control receiver 6 is used to receive clockwise rotation commands and counterclockwise rotation commands sent by the remote control 5.

[0059] Remote controller 5 can send clockwise rotation commands and counterclockwise rotation commands to controller 8 to control the rotation platform to rotate clockwise or counterclockwise.

[0060] The display 7 is electrically connected to the controller 8, and the display 7 can send a zero-position setting signal to the controller 8.

[0061] The controller 8 is electrically connected to the angle sensor 1, proximity switch 4, remote control receiver 6 and display 7, and receives signals from the angle sensor 1, proximity switch 4, remote control receiver 6 and display 7 to measure the rotation angle of the rotary platform.

[0062] Figure 2 This is a flowchart illustrating a method for measuring the rotation angle of a rotary platform according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the output signal waveform of the angle sensor provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the superimposed signal waveform of the angle sensor provided in an embodiment of the present invention. This embodiment is applicable to the case of measuring the rotation angle of a slewing platform using a measurement system based on the rotation angle of the slewing platform. This method can be executed by the controller in the slewing platform rotation angle measurement system of this embodiment of the present invention, and the controller can be implemented in software and / or hardware. Figure 2 As shown, the method specifically includes the following steps:

[0063] S110. Obtain the third voltage signal based on the first voltage signal and the second voltage signal.

[0064] refer to Figure 3The voltage signal output by the angle sensor 1 includes a first voltage signal S1 and a second voltage signal S2, the minimum theoretical value of the first voltage signal S1 and the second voltage signal S2 is a, and the maximum theoretical value of the first voltage signal S1 and the second voltage signal S2 is b. That is, the minimum theoretical value of the first voltage signal S1 is a, and the maximum theoretical value of the first voltage signal S1 is b. The minimum theoretical value of the second voltage signal S2 is a, and the maximum theoretical value of the second voltage signal S2 is b. The theoretical measurement angle corresponding to the first voltage signal S1 and the second voltage signal S2 from the minimum theoretical value a to the maximum theoretical value b is A, and A>180°.

[0065] With reference to Figure 3 and Figure 4 The controller 8 superimposes the first voltage signal S1 and the second voltage signal S2 output by the angle sensor 1 to obtain a third voltage signal S3. The minimum voltage value of the third voltage signal S3 corresponds to a theoretical angle of 0°, and the maximum voltage value of the third voltage signal S3 corresponds to a theoretical angle of 360°. When the slewing platform 3 rotates clockwise, the third voltage signal S3 monotonically increases in a single period; when the slewing platform 3 rotates counterclockwise, the third voltage signal S3 monotonically decreases in a single period.

[0066] Each period corresponds to an angle of 360° of rotation of the slewing platform 3.

[0067] S120, obtain the theoretical angle of the third voltage signal.

[0068] After obtaining the third voltage signal S3, the theoretical angle A3 of the third voltage signal S3 is obtained.

[0069] Exemplarily, the angle calculation value of the last sampling period can be used as the theoretical angle A3 of the third voltage signal S3 in the current sampling period.

[0070] Exemplarily, the theoretical angle A3 of the third voltage signal S3 can be obtained by calculation according to the first voltage signal S1 and / or the second voltage signal S2, and the third voltage signal S3.

[0071] S130, obtain the rotation angle of the slewing platform relative to the initial position.

[0072] Exemplarily, when the slewing platform 3 is at a 0° position, the angle of the third voltage signal S3 is recorded as A0.

[0073] Exemplarily, A0 is set through the display 7, the display 7 sends a zero position setting instruction to the controller 8, and the controller 8 makes A0 equal to the angle calculation value of the third voltage signal S3 after receiving the zero position setting instruction sent by the display 8, and stores A0 in the storage of the controller 8 which is not easy to lose power. That is, the initial position of the slewing platform 3 is obtained.

[0074] The embodiment of the present application provides a rotary platform rotation angle measurement method, a third voltage signal is obtained according to a first voltage signal and a second voltage signal, a theoretical angle of the third voltage signal is obtained, and a rotation angle of the rotary platform relative to an initial position is obtained. The embodiment of the present application realizes the improvement of the accuracy of the rotary platform rotation angle measurement and the reduction of the cost.

[0075] Optionally, the step S120 can be refined as obtaining the theoretical angle A3 of the third voltage signal S3 according to different conditions.

[0076] Optionally, the step S120 includes:

[0077] When the first voltage signal S1 is greater than or equal to a1 and the first voltage signal S1 is less than (a1+Δ1), the theoretical angle of the third voltage signal S3 is equal to the angle calculation value of the last sampling period.

[0078] When the voltage actual sampling value of the second voltage signal S2 is not completed calibration, the first voltage signal S1 is greater than or equal to (a1+Δ1), and the first voltage signal S1 is less than b1, the theoretical angle A3 of the third voltage signal S3 satisfies: A3=A*(S1-a1) / (b-a).

[0079] When the voltage actual sampling value of the second voltage signal S2 is not completed calibration, the second voltage signal S2 is greater than or equal to a1, and the second voltage signal S2 is less than b1, the theoretical angle A3 of the third voltage signal S3 satisfies: A3=A*(S2-a1) / (b-a)+A*(b1-a1) / (b-a).

[0080] Wherein, when the third voltage signal S3 is at a theoretical 0° position, the theoretical voltage value of the first voltage signal S1 is a1, and the theoretical voltage value of the second voltage signal S2 is b1. When the third voltage signal S3 is at a theoretical 180° position, the theoretical voltage value of the first voltage signal S1 is b1, and the theoretical voltage value of the second voltage signal S2 is a1. When the third voltage signal S3 is at a theoretical 360° position, the theoretical voltage value of the first voltage signal S1 is a1, and the theoretical voltage value of the second voltage signal S2 is b1. Δ1 is a positive offset.

[0081] In the embodiment of the present application, the theoretical angle A3 of the third voltage signal S3 is obtained according to various conditions when the voltage actual sampling value of the second voltage signal S2 is not completed calibration.

[0082] Optionally, the step S120 includes:

[0083] When the actual sampling value of the second voltage signal S2 is calibrated, the first voltage signal S1 is greater than or equal to (a1+Δ1), and the first voltage signal S1 is less than b1, the theoretical angle A3 of the third voltage signal S3 satisfies: A3=360*(S1-a1) / (b1-a1+br-ar).

[0084] When the actual sampling value of the second voltage signal S2 is calibrated, the second voltage signal S2 is greater than or equal to a1, and the second voltage signal S2 is less than (br-Δ1), the theoretical angle A3 of the third voltage signal S3 satisfies: A3=360*(S2-ar+b1-a1) / (b1-a1+br-ar).

[0085] When the actual sampling value of the second voltage signal S2 is calibrated, the second voltage signal S2 is greater than or equal to (br-Δ1), and the second voltage signal S2 is less than b1, the theoretical angle of the third voltage signal S3 is equal to the angle calculated value in the last sampling period.

[0086] When the third voltage signal is at the theoretical 0° position, the actual sampling value of the second voltage signal is recorded as br; when the third voltage signal is at the theoretical 180° position, the actual sampling value of the second voltage signal is recorded as ar. The calibration of the actual sampling value of the second voltage signal S2 includes the calibration of the actual sampling values ar and br of the second voltage signal S2. The calibrated actual sampling values ar and br are determined to be valid, and the uncalibrated actual sampling values ar and br are determined to be invalid.

[0087] In the embodiment of the application, the theoretical angle A3 of the third voltage signal S3 is obtained according to various conditions when the actual sampling value of the second voltage signal S2 is calibrated.

[0088] Optionally, the actual sampling value of the second voltage signal S2 is automatically calibrated during the rotation of the rotary platform 3. The calibration process of the actual sampling value of the second voltage signal S2 can also be refined according to different conditions.

[0089] Optionally, the calibration of the actual sampling value of the second voltage signal includes:

[0090] During the rotation of the rotary platform 3, if the ar valid flag is 0 (indicating that ar is not calibrated), when the rotary platform 3 rotates clockwise, the first voltage signal S1 monotonically increases. When S1 is less than b1 and S2 is greater than a, ar=S2. If nk is greater than n0, it is determined that the actual sampling value ar of the second voltage signal is valid, and the calibration of the actual sampling value ar is performed. The ar valid flag can be set to be not 0 (indicating that ar is calibrated), and stored in the memory of the controller which is not easy to lose power.

[0091] If the ar valid flag is 0 (indicating that ar has not been calibrated) during the rotation of the rotary platform 3, the first voltage signal S1 monotonously decreases when the rotary platform 3 rotates counterclockwise. When S1 is less than b and S1 is greater than b1, ar=S2. If nk is less than n0, it is determined that the voltage actual sampling value ar of the second voltage signal is valid, and calibration of the voltage actual sampling value ar is performed. The ar valid flag can be set to not 0 (indicating that ar has been calibrated), and stored in a memory in the controller which is not easy to lose power.

[0092] Wherein, the number of sensor rotation is denoted as nk, and the initial number of sensor rotation is denoted as n0.

[0093] In the embodiment of the present application, calibration of the voltage actual sampling value ar is performed according to the clockwise rotation or counterclockwise rotation of the rotary platform 3.

[0094] Optionally, the calibration of the voltage actual sampling value of the second voltage signal S2 includes:

[0095] If the br valid flag is 0 (indicating that br has not been calibrated) during the rotation of the rotary platform 3, the first voltage signal S1 monotonously increases when the rotary platform 3 rotates clockwise. When S1 is greater than a and S1 is less than a1, br=S2. When S1 is greater than a1 and the deviation is greater than Δ2, it is determined that the voltage actual sampling value br of the second voltage signal is valid, and calibration of the voltage actual sampling value br is performed. The br valid flag can be set to not 0 (indicating that br has been calibrated), and stored in a memory in the controller which is not easy to lose power.

[0096] If the br valid flag is 0 (indicating that br has not been calibrated) during the rotation of the rotary platform 3, the first voltage signal S1 monotonously decreases when the rotary platform 3 rotates counterclockwise. When S1 is greater than a1 and S2 is less than b, br=S2. When S1 is less than a1 and the deviation is greater than Δ2, it is determined that the voltage actual sampling value br of the second voltage signal is valid, and calibration of the voltage actual sampling value br is performed. The br valid flag can be set to not 0 (indicating that br has been calibrated), and stored in a memory in the controller which is not easy to lose power.

[0097] Wherein, Δ2 is a positive offset.

[0098] In the embodiment of the present application, calibration of the voltage actual sampling value br is performed according to the clockwise rotation or counterclockwise rotation of the rotary platform 3.

[0099] Optionally, the voltage actual sampling value ar of the second voltage signal S2, the voltage actual sampling value br of the second voltage signal S2, the ar valid flag, and the br valid flag are automatically cleared when the zero position is set through the display 7.

[0100] Optionally, the step S130 comprises:

[0101] According to the relationship S = ((A3-A0) + (nk-n0) * 360) / r, the rotation angle of the rotating platform 3 relative to the initial position is obtained. Wherein, the rotation angle of the rotating platform 3 relative to the initial position is denoted as S.

[0102] Optionally, the step S130 comprises:

[0103] According to the relationship S = 360 * (((A3-A0) + (nk-n0) * 360) / r) / Smax, the rotation angle of the rotating platform 3 relative to the initial position is obtained. Wherein, the angle calculation value of the rotating platform 3 is denoted as Smax.

[0104] Specifically, during the clockwise rotation or counterclockwise rotation of the rotating platform 3, if the angle calibration completion flag is 0 (i.e., the angle calibration is not completed), when the controller 8 detects the input signal of the proximity switch 4, the controller 8 records and stores the angle calculation value Smax of the rotation angle S of the rotating platform, at the same time, sets the angle calibration completion flag (i.e., makes the angle calibration completion flag not 0) and stores it in the controller. The memory that is not easy to lose power. When the angle calibration completion flag is not 0 (i.e., the angle calibration is completed), the controller 8 corrects the rotation angle of the rotating platform calculated above. The corrected rotation angle S of the rotating platform satisfies: S = 360 * (((A3-A0) + (nk-n0) * 360) / r) / Smax.

[0105] Optionally, the voltage actual sampling value br of the first voltage signal S2, the effective flag of br, the angle calibration completion flag and the value of Smax are automatically cleared when the zero position is set through the display 7.

[0106] On the basis of the above embodiments, the measurement method of the rotation angle of the rotating platform can further comprise a sensor rotation cycle accumulation method.

[0107] Optionally, after the step S120, the measurement method of the rotation angle of the rotating platform further comprises:

[0108] When the instruction of clockwise rotation is received, the rotating platform 3 is in the clockwise rotation state, the angle calculation value of the third voltage signal S3 in the current sampling period is less than the angle calculation value of the third voltage signal S3 in the last sampling period, the difference between the angle calculation value of the third voltage signal S3 in the current sampling period and the angle calculation value of the third voltage signal S3 in the last sampling period is greater than Δ2, and the second voltage signal S2 is greater than the set value c1, the sensor rotation cycle nk is added by 1. If the program iteration expression is adopted, it satisfies: nk = nk + 1. Wherein, c1 > a1 + (a1 + b1) / 2, c1 < b1

[0109] When the rotating platform 3 is in the counterclockwise rotation state, the angle calculation value of the third voltage signal S3 in the current sampling period is greater than the angle calculation value of the third voltage signal S3 in the last sampling period, the difference between the angle calculation value of the third voltage signal S3 in the current sampling period and the angle calculation value of the third voltage signal in the last sampling period is greater than Δ2, and the first voltage signal is less than the set value c2, the sensor rotation number nk is reduced by 1. If the program iteration expression is used, it is satisfied that nk=nk-1. Wherein, c2

[0110] Optionally, after obtaining the sensor rotation number nk, the method for measuring the rotating angle of the rotating platform further comprises:

[0111] After the single cumulative sensor rotation number is completed, and after waiting for a set time, the sensor rotation number is accumulated again. Thus, the error in the rotation number accumulation caused by the sensor signal fluctuation is avoided. Wherein, the single cumulative sensor rotation number refers to that the angle sensor completes one rotation, that is, one sensor rotation number.

[0112] Optionally, after obtaining the sensor rotation number nk, the method for measuring the rotating angle of the rotating platform further comprises:

[0113] When the sensor rotation number appears cumulative reduction, the rotating angle of the rotating platform calculated in the current sampling period is less than the rotating angle of the rotating platform calculated in the last sampling period, the difference between the rotating angle of the rotating platform calculated in the current sampling period and the rotating angle of the rotating platform calculated in the last sampling period is greater than Δ3, and the sensor rotation number is automatically added back to the rotation number in the last sampling period.

[0114] When the sensor rotation number appears cumulative addition, the rotating angle of the rotating platform calculated in the current sampling period is greater than the rotating angle of the rotating platform calculated in the last sampling period, the difference between the rotating angle of the rotating platform calculated in the current sampling period and the rotating angle of the rotating platform calculated in the last sampling period is greater than Δ3, and the sensor rotation number is automatically reduced back to the rotation number in the last sampling period. Wherein, Δ3 is a positive offset.

[0115] In the embodiment of the application, the sensor rotation number is judged according to the cumulative reduction or cumulative addition process of the sensor rotation number.

[0116] In summary, the measurement method of the rotation angle of the rotary platform and the measurement system of the rotation angle of the rotary platform can automatically calibrate the sensor, correct the theoretical deviation of the sensor signal, improve the linearity and accuracy of the synthesized signal, effectively avoid the angle calculation error and the sensor rotation number accumulation error caused by the sensor signal fluctuation at the boundary position of 0° to 360° switching of the sensor rotation angle, and effectively avoid the accumulation error of the rotation number in the rotation process by setting different determination conditions, and can automatically correct the rotation number, thereby ensuring the accuracy of the angle measurement of the rotary platform. The measurement method of the rotation angle of the rotary platform and the measurement system of the rotation angle of the rotary platform can be applied to the angle measurement of a large rotary platform, are simple and convenient to realize, and are beneficial to cost reduction.

[0117] Figure 5 A structural schematic diagram of a controller provided for an embodiment of the application is shown in the figure, Figure 5 The controller 8 shown is only an example and should not impose any limitation on the functions and use range of the embodiment of the application. For reference Figure 1 and Figure 5 The measurement system of the rotation angle of the rotary platform comprises a rotary platform 3, an angle sensor 1 and a controller 8. The angle sensor 1 is configured to output a periodically changing voltage signal according to the rotation angle of the rotary platform 3. The controller 8 is electrically connected with the angle sensor 1. The controller 8 is in the form of a general-purpose computing device. The components of the controller 8 can include but are not limited to one or more processors 601, a system memory 602 and a bus 603 connecting different system components including the system memory 602 and the processor 601.

[0118] The bus 603 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to an industry standard architecture (ISA) bus, a micro channel architecture (MAC) bus, an enhanced ISA bus, a video electronics standards association (VESA) local bus and a peripheral component interconnect (PCI) bus.

[0119] The controller 8 typically comprises a variety of computer system readable media. These media can be any available media that can be accessed by the controller 8, including volatile and non-volatile media, removable and non-removable media.

[0120] System memory 602 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 604 and / or cache memory 605. Controller 8 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 606 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (typically called a "hard drive"). Although Figure 5 Although not shown, a magnetic disk drive can also be utilized for reading from and writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive can be utilized for reading from or writing to a removable, non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical media). In such instances, each can be connected to bus 603 by one or more data media interfaces. As will be further depicted and described below, memory 602 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

[0121] Program / utility 608, having a set (at least one) of program modules 607, can be stored in, for example, system memory 602 by way of example, and can include an operating system, one or more application programs, other program modules, program data, and a user interface program, etc., which are configured to carry out the functions of embodiments of the application, as described herein.

[0122] Controller 8 can also communicate with one or more external devices 609 such as a keyboard, a pointing device, a display 7, etc.; one or more devices that enable a user to interact with controller 8; and / or one or more devices that enable controller 8 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 611. Further, controller 8 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or the Internet) through network adapter 612. As will be appreciated, the network adapter 612 can include elements that are conventional in nature, such as a network card, a modem, etc. Figure 5 As shown, network adapter 612 communicates with the other components of controller 8 via bus 603. It should be appreciated that the network adapter 612 and / or the various components of controller 8 can be implemented using a variety of hardware and / or software components, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0123] Processor 601 performs a variety of functions as will be described in more detail below. For example, processor 601 can execute instructions and manipulate data stored in system memory 602 in order to implement the measurement methods provided by embodiments of the application.

[0124] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications, combinations and substitutions can be made by those skilled in the art without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for measuring the rotation angle of a rotary platform, characterized in that, include: The third voltage signal is obtained based on the first and second voltage signals; Obtain the theoretical angle of the third voltage signal; Obtain the rotation angle of the rotary platform relative to its initial position; The theoretical angle for obtaining the third voltage signal includes: When the first voltage signal is greater than or equal to a1 and less than (a1+Δ1), the theoretical angle of the third voltage signal is equal to the angle calculation value of the previous sampling period. The actual sampled value of the second voltage signal has not been calibrated. When the first voltage signal is greater than or equal to (a1+Δ1) and less than b1, the theoretical angle A3 of the third voltage signal satisfies: ; When the actual sampled value of the second voltage signal has not been calibrated, and the second voltage signal is greater than or equal to a1 and less than b1, the theoretical angle A3 of the third voltage signal satisfies: ; Wherein, the first voltage signal is denoted as S1, the second voltage signal is denoted as S2, the minimum theoretical value of the first voltage signal and the second voltage signal is denoted as a, the maximum theoretical value of the first voltage signal and the second voltage signal is denoted as b, the theoretical measurement angle corresponding to the minimum theoretical value a to the maximum theoretical value b is denoted as A, when the third voltage signal is at the theoretical 0° position, the theoretical voltage value of the first voltage signal is denoted as a1, the theoretical voltage value of the second voltage signal is denoted as b1, and Δ1 is a positive offset. The actual sampled value of the second voltage signal has been calibrated. When the first voltage signal is greater than or equal to (a1+Δ1) and less than b1, the theoretical angle A3 of the third voltage signal satisfies: ; The actual sampled value of the second voltage signal has been calibrated. When the second voltage signal is greater than or equal to a1 and less than (br-Δ1), the theoretical angle A3 of the third voltage signal satisfies: ; The actual sampled value of the second voltage signal is calibrated. When the second voltage signal is greater than or equal to (br-Δ1) and less than b1, the theoretical angle of the third voltage signal is equal to the angle calculation value of the previous sampling period. Wherein, when the third voltage signal is at the theoretical 0° position, the actual voltage sample value of the second voltage signal is denoted as br, and when the third voltage signal is at the theoretical 180° position, the actual voltage sample value of the second voltage signal is denoted as ar.

2. The measurement method according to claim 1, characterized in that, The actual sampled value of the second voltage signal has been calibrated, including: When S1 is less than b1 and S2 is greater than a, make ar = S2; if nk is greater than n0, then determine that the actual sampled value ar of the second voltage signal is valid. When S1 is less than b and S1 is greater than b1, make ar = S2; if nk is less than n0, then determine that the actual voltage sample value ar of the second voltage signal is valid. The number of sensor rotations is denoted as nk, and the initial number of sensor rotations is denoted as n0.

3. The measurement method according to claim 1, characterized in that, The actual sampled value of the second voltage signal has been calibrated, including: When S1 is greater than a and S1 is less than a1, make br=S2; when S1 is greater than a1 and the deviation is greater than Δ2, then determine that the actual voltage sample value br of the second voltage signal is valid. When S1 is greater than a1 and S2 is less than b, br = S2; when S1 is less than a1 and the deviation is greater than Δ2, the actual sampled value br of the second voltage signal is determined to be valid. Here, Δ2 is a positive offset.

4. The measurement method according to claim 1, characterized in that, Obtaining the rotation angle of the rotary platform relative to the initial position includes: obtaining the rotation angle of the rotary platform relative to the initial position according to the relationship S=((A3-A0)+(nk-n0)*360) / r; Wherein, the rotation angle of the rotary platform relative to the initial position is denoted as S, the theoretical angle of the third voltage signal is denoted as A3, the angle of the third voltage signal when the rotary platform is at the 0° position is denoted as A0, the number of sensor rotations is denoted as nk, the initial number of sensor rotations is denoted as n0, and the transmission ratio between the gear ring on the circumference of the rotary platform and the gear on the gear shaft is denoted as r.

5. The measurement method according to claim 1, characterized in that, Obtaining the rotation angle of the rotary platform relative to its initial position includes: The rotation angle of the rotary platform relative to its initial position is obtained according to the relationship S=360*(((A3-A0)+(nk-n0)*360) / r) / Smax; Wherein, the rotation angle of the rotary platform relative to the initial position is denoted as S, the theoretical angle of the third voltage signal is denoted as A3, the angle of the third voltage signal when the rotary platform is at 0° position is denoted as A0, the number of sensor rotations is denoted as nk, the initial number of sensor rotations is denoted as n0, the transmission ratio between the gear ring on the circumference of the rotary platform and the gear on the gear shaft is denoted as r, and the calculated angle value of the rotary platform when the input signal of the proximity switch is received is denoted as Smax.

6. The measurement method according to claim 1, characterized in that, After obtaining the theoretical angle of the third voltage signal, the process also includes: When a clockwise rotation command is received, if the angle calculation value of the third voltage signal in the current sampling period is less than the angle calculation value of the third voltage signal in the previous sampling period, the difference between the angle calculation value of the third voltage signal in the current sampling period and the angle calculation value of the third voltage signal in the previous sampling period is greater than Δ2, and the second voltage signal is greater than the set value c1, the number of rotations nk of the sensor is incremented by 1. When a counter-clockwise rotation command is received, if the angle calculation value of the third voltage signal in the current sampling period is greater than the angle calculation value of the third voltage signal in the previous sampling period, the difference between the angle calculation value of the third voltage signal in the current sampling period and the angle calculation value of the third voltage signal in the previous sampling period is greater than Δ2, and the first voltage signal is less than the set value c2, the number of rotations nk of the sensor is reduced by 1. Where Δ2 is a positive offset. , , , When the third voltage signal is at the theoretical 0° position, the theoretical voltage value of the first voltage signal is denoted as a1, and the theoretical voltage value of the second voltage signal is denoted as b1.

7. The measurement method according to claim 6, characterized in that, After obtaining the number of sensor rotations nk, the following is also included: After a single cumulative sensor rotation count is completed, and after waiting for a set time, the sensor rotation count is accumulated again.

8. The measurement method according to claim 6, characterized in that, After obtaining the number of sensor rotations nk, the following is also included: When the number of sensor rotations decreases, the rotation angle of the rotating platform calculated in the current sampling period is less than the rotation angle of the rotating platform calculated in the previous sampling period. If the difference between the rotation angle of the rotating platform calculated in the current sampling period and the rotation angle of the rotating platform calculated in the previous sampling period is greater than Δ3, the number of sensor rotations will be automatically added back to the number of rotations in the previous sampling period. When the number of sensor rotations accumulates, if the rotation angle of the rotating platform calculated in the current sampling period is greater than the rotation angle of the rotating platform calculated in the previous sampling period, and the difference between the rotation angle of the rotating platform calculated in the current sampling period and the rotation angle of the rotating platform calculated in the previous sampling period is greater than Δ3, the number of sensor rotations will be automatically reduced back to the number of rotations in the previous sampling period. Here, Δ3 is a positive offset.

9. A system for measuring the rotation angle of a rotary platform, characterized in that, The system includes a slewing platform, an angle sensor, and a controller. The angle sensor is configured to output a periodically varying voltage signal based on the rotation angle of the slewing platform. The controller is electrically connected to the angle sensor and includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the measurement method as described in any one of claims 1-8.

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