Positioning device and positioning method based on encoder

Abstract

The invention relates to the technical field of information engineering, and discloses an encoder-based positioning device and method, and the device comprises a first plane angle encoder; the second plane angle encoder is connected with the output end of the first plane angle encoder, and the second plane angle encoder is perpendicular to the first plane angle encoder; the stay wire rotary encoder is connected with the output end of the second plane angle encoder, and the stay wire rotary encoder and the second plane angle encoder are coaxially arranged; the steel wire stay wire is connected with the output end of the stay wire rotary encoder, and the plane of the steel wire stay wire and the circle center of the first plane angle encoder are horizontally arranged on the same plane; the control unit is connected with the first plane angle encoder, the second plane angle encoder and the stay wire rotary encoder. According to the invention, environmental interference can be avoided, the measurement precision is effectively improved, and the size and the cost are reduced.

Description

Technical Field

[0001] The present invention relates to the field of information engineering technology, and particularly to a positioning device and a positioning method based on an encoder. Background Art

[0002] At present, the main methods for measuring the coordinate position of a certain point in space include laser positioning, binocular vision positioning, satellite positioning, Bluetooth positioning, UWB (Ultra-Wideband) positioning, inertial navigation system positioning, RFID (Radio Frequency) positioning, etc.

[0003] Among them, satellite positioning requires a wide outdoor area; Bluetooth positioning and UWB (Ultra-Wideband) positioning have poor accuracy, usually at the meter level or sub-meter level; laser positioning and binocular vision measurement have high costs and are easily affected by ambient light interference; inertial navigation system positioning cannot combine low cost and high accuracy; RFID (Radio Frequency) has low accuracy and requires a large amount of construction. In summary, there is an urgent need for a positioning device with low cost and high accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide a positioning device and a positioning method based on an encoder, aiming to solve or improve at least one of the above technical problems.

[0005] To achieve the above purpose, the present invention provides the following solution: The present invention provides a positioning device based on an encoder, including:

[0006] A first planar angle encoder;

[0007] A second planar angle encoder, connected to the output end of the first planar angle encoder, and the second planar angle encoder is perpendicular to the first planar angle encoder;

[0008] A wire-pulling rotary encoder, connected to the output end of the second planar angle encoder, and the wire-pulling rotary encoder is coaxially arranged with the second planar angle encoder;

[0009] A steel wire, connected to the output end of the wire-pulling rotary encoder, and the plane of the steel wire is horizontally arranged in the same plane as the center of the first planar angle encoder;

[0010] A control unit, connected to the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder, and the control unit is used to obtain the reading values of the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder and the wire outlet point of the steel wire, and calculate the coordinate value of the point to be measured in the coordinate system according to the reading values and the outlet point.

[0011] Optionally, the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder all have a resolution of 18 bits.

[0012] Optionally, the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder all adopt magnetic absolute encoders.

[0013] Optionally, the control unit further includes:

[0014] An acquisition module, configured to acquire the read values of the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder, and the wire outlet point of the wire-pulling wire;

[0015] A calculation module, configured to calculate the coordinate value of the point to be measured in the coordinate system according to the wire outlet point and the read value.

[0016] The present invention further provides a positioning method based on an encoder, including the following steps:

[0017] When the point to be measured drives the wire-pulling wire to move, the control unit can acquire the read values of the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder, and the wire outlet point of the wire-pulling wire;

[0018] The control unit calculates the coordinate value of the point to be measured in the coordinate system according to the read value and the wire outlet point.

[0019] Optionally, the coordinate system includes a spherical coordinate system, a spatial rectangular coordinate system, and a spatial rectangular coordinate system under a base coordinate system.

[0020] Optionally, when the wire outlet length of the wire-pulling wire is 5 meters, the accuracy of the point to be measured in the spatial rectangular coordinate system and the spatial rectangular coordinate system under the base coordinate system is 0.2 mm.

[0021] Optionally, the calculation method for the coordinate value of the point to be measured in the spherical coordinate system is as follows:

[0022] The reading of the wire-pulling rotary encoder is θ (rad);

[0023] The reading of the first planar angle encoder is α (rad);

[0024] The reading of the second planar angle encoder is β (rad)

[0025] The distance from the wire outlet point of the wire-pulling wire to the rotation axis of the wire-pulling rotary encoder is the radius r1;

[0026] The wire-pulling length d = (θ / 2π) · r1;

[0027] According to the fact that the sum of the squares of the two right-angled sides of a right-angled triangle is equal to the square of the hypotenuse,

[0028] the distance from the point to be measured to the center of the wire-pulling rotary encoder

[0029] The coordinate point of the point to be measured in the spherical coordinate system is:

[0030] Optionally, the calculation method of the coordinate value of the point to be measured in the space rectangular coordinate system is:

[0031] The origin is the wire outlet point of the steel wire;

[0032] According to trigonometric functions, the reading of the second plane angle encoder is β,

[0033] It is obtained that the projection length of d″ on the plane of the first plane angle encoder is d ″ = d′·cosβ and the projection length of d′ on the z-axis of the second plane angle encoder is z′ = d′·sinβ + r1;

[0034] According to trigonometric functions, the rotation angle of the wire-pulling rotary encoder on the plane of the first plane angle encoder is α,

[0035] It is obtained that the projection length of d″ on the x-axis of the first plane angle encoder is x′ = d″·cosα and the projection length of d″ on the y-axis of the first plane angle encoder is y′ = d″·sinα.

[0036] Optionally, the calculation method of the coordinate value of the point to be measured in the space rectangular coordinate system under the base coordinate system is:

[0037] The coordinates of the wire outlet point of the steel wire relative to the space rectangular coordinate system under the base coordinate system are (x0, y0, z0);

[0038] It can be obtained that the coordinates of the point to be measured in the space rectangular coordinate system under the base coordinate system are:

[0039] (x0 + d″·cosα, y0 + d″·sinα, z0 + d′·sinα + r1)

[0040] where

[0041] where d = (θ / 2π)·r1.

[0042] The present invention discloses the following technical effects: When the point to be measured moves, the steel wire cable is pulled, which in turn drives the cable rotary encoder, the second planar angle encoder, and the first planar angle encoder. At the same time, the control unit obtains the reading values of the first planar angle encoder, the second planar angle encoder, and the cable rotary encoder, as well as the cable outlet point of the steel wire cable. By performing calculations, the coordinate value of the point to be measured in the coordinate system can be obtained. A reliable mechanical structure is adopted, which can avoid environmental interference, effectively improve the measurement accuracy, and reduce the volume and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0044] Figure 1 is a perspective view of the present invention;

[0045] Figure 2 is a front view of the present invention.

[0046] In the figure: 1, the first planar angle encoder; 2, the second planar angle encoder; 3, the cable rotary encoder; 4, the steel wire cable. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] Referring to Figure 1 - Figure 2 , the present invention provides a positioning device based on an encoder, including:

[0050] The first planar angle encoder 1;

[0051] The second planar angle encoder 2, connected to the output end of the first planar angle encoder 1, and the second planar angle encoder 2 is perpendicular to the first planar angle encoder 1;

[0052] The cable rotary encoder 3, connected to the output end of the second planar angle encoder 2, and the cable rotary encoder 3 is coaxially arranged with the second planar angle encoder 2;

[0053] The steel wire guy wire 4 is connected to the output end of the guy wire rotary encoder 3, and the plane of the steel wire guy wire 4 and the center of the first plane angle encoder 1 are horizontally arranged in the same plane;

[0054] The control unit is connected to the first plane angle encoder 1, the second plane angle encoder 2 and the guy wire rotary encoder 3. The control unit is used to obtain the reading values of the first plane angle encoder 1, the second plane angle encoder 2 and the guy wire rotary encoder 3 and the wire outlet point of the steel wire guy wire 4, and calculate the coordinate values of the point to be measured in the coordinate system according to the reading values and the wire outlet point.

[0055] When the point to be measured moves, the steel wire guy wire 4 is pulled, which drives the guy wire rotary encoder 3, the second plane angle encoder 2 and the first plane angle encoder 1 in sequence. At the same time, the control unit obtains the reading values of the first plane angle encoder 1, the second plane angle encoder 2 and the guy wire rotary encoder 3 and the wire outlet point of the steel wire guy wire 4. By performing calculations, the coordinate values of the point to be measured in the coordinate system can be obtained. It adopts a reliable mechanical structure, can avoid environmental interference, effectively improve the measurement accuracy, and reduce the volume and cost.

[0056] In an embodiment of the present invention, the first plane angle encoder 1, the second plane angle encoder 2 and the guy wire rotary encoder 3 all have a resolution of 18 bits (262,144 subdivisions per revolution, that is, the accuracy is 0.0013733°).

[0057] In an embodiment of the present invention, the first plane angle encoder 1, the second plane angle encoder 2 and the guy wire rotary encoder 3 all adopt magnetic absolute encoders.

[0058] In an embodiment of the present invention, the control unit further includes:

[0059] An acquisition module for obtaining the reading values of the first plane angle encoder 1, the second plane angle encoder 2 and the guy wire rotary encoder 3 and the wire outlet point of the steel wire guy wire 4;

[0060] A calculation module for calculating the coordinate values of the point to be measured in the coordinate system according to the wire outlet point and the reading values.

[0061] The acquisition module adopts the SPI bus, and the calculation module adopts the main control chip. The data obtained is transmitted to the main control chip through the SPI bus, and the main control chip calculates the coordinate values of the point to be measured in the spherical coordinate system, the coordinate values in the space rectangular coordinate system, and the space rectangular coordinate values in the base coordinate system according to the positioning method and uploads them to the upper computer.

[0062] The present invention also provides a positioning method based on an encoder, including the following steps:

[0063] When the point to be measured drives the wire cable 4 to move, the control unit can obtain the reading values of the first planar angle encoder 1, the second planar angle encoder 2, and the wire rotation encoder 3, as well as the outlet point of the wire cable 4.

[0064] The control unit calculates the coordinate values of the point to be measured in the coordinate system based on the reading values and the outlet point.

[0065] In an embodiment of the present invention, the coordinate system includes a spherical coordinate system, a space rectangular coordinate system, and a space rectangular coordinate system under the base coordinate system.

[0066] In an embodiment of the present invention, when the outlet length of the wire cable 4 is 5 meters, the accuracy of the point to be measured in the space rectangular coordinate system and the space rectangular coordinate system under the base coordinate system is 0.2 mm.

[0067] In an embodiment of the present invention, the calculation method for the coordinate values of the point to be measured in the spherical coordinate system is as follows:

[0068] The reading of the wire rotation encoder 3 is θ (rad);

[0069] The reading of the first planar angle encoder 1 is α (rad);

[0070] The reading of the second planar angle encoder 2 is β (rad)

[0071] The distance from the outlet point of the wire cable 4 to the rotation axis of the wire rotation encoder 3 is the radius r1;

[0072] The wire length d = (θ / 2π) · r1.

[0073] According to the Pythagorean theorem that the sum of the squares of the two right sides of a right triangle is equal to the square of the hypotenuse,

[0074] The distance from the point to be measured to the center of the wire rotation encoder 3

[0075] The coordinate point of the point to be measured in the spherical coordinate system is:

[0076] In an embodiment of the present invention, the calculation method for the coordinate values of the point to be measured in the space rectangular coordinate system is as follows:

[0077] The outlet point of the wire cable 4 is the origin.

[0078] According to trigonometric functions, the reading of the second planar angle encoder 2 is β,

[0079] It is obtained that the projection length of d″ on the plane of the first planar angle encoder 1 is d ″ = d′ · cosβ and the projection length of d′ on the z-axis of the second planar angle encoder 2 is z′ = d′ · sinβ + r1;

[0080] According to the trigonometric functions, the wire-pulling rotary encoder 3 rotates by an angle α on the plane of the first-plane angle encoder 1.

[0081] It is obtained that the projection length x' of d″ on the x-axis of the first-plane angle encoder 1 is x' = d″·cosα, and the projection length y' of d″ on the y-axis of the first-plane angle encoder 1 is y' = d″·sinα.

[0082] In an embodiment of the present invention, the calculation method of the coordinate values of the space rectangular coordinate system of the point to be measured under the base coordinate system is as follows:

[0083] The coordinate of the wire outlet point of the wire-pulling wire 4 relative to the space rectangular coordinate system under the base coordinate system is (x0, y0, z0).

[0084] It can be obtained that the coordinate of the point to be measured in the space rectangular coordinate system under the base coordinate system is:

[0085] (x0 + d″·cosα, y0 + d″·sinα, z0 + d′·sinβ + r1)

[0086] Where

[0087] Where d = (θ / 2π)·r1.

[0088] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0089] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An encoder-based positioning device, characterized in that, Comprising: A first planar angle encoder (1); A second planar angle encoder (2), connected to the output end of the first planar angle encoder (1), and the second planar angle encoder (2) is perpendicular to the first planar angle encoder (1); A wire-pulling rotary encoder (3), connected to the output end of the second planar angle encoder (2), and the wire-pulling rotary encoder (3) is coaxially arranged with the second planar angle encoder (2); A wire rope (4), connected to the output end of the wire-pulling rotary encoder (3), and the plane of the wire rope (4) is horizontally arranged in the same plane as the center of the first planar angle encoder (1); A control unit, connected to the first planar angle encoder (1), the second planar angle encoder (2), and the wire-pulling rotary encoder (3), and the control unit is used to obtain the reading values of the first planar angle encoder (1), the second planar angle encoder (2), and the wire-pulling rotary encoder (3) and the wire outlet point of the wire rope (4), and calculate the coordinate value of the point to be measured in the coordinate system according to the reading values and the wire outlet point.

2. The positioning device based on an encoder according to claim 1, wherein The first planar angle encoder (1), the second planar angle encoder (2), and the wire-pulling rotary encoder (3) all have a resolution of 18 bits.

3. The positioning device based on an encoder according to claim 1, characterized in that, The first planar angle encoder (1), the second planar angle encoder (2), and the wire-pulling rotary encoder (3) all adopt magnetic absolute encoders.

4. The positioning device based on an encoder according to claim 1, characterized in that, The control unit further comprises: An acquisition module, used to acquire the reading values of the first planar angle encoder (1), the second planar angle encoder (2), and the wire-pulling rotary encoder (3) and the wire outlet point of the wire rope (4); A calculation module, used to calculate the coordinate value of the point to be measured in the coordinate system according to the wire outlet point and the reading values.

5. An encoder-based positioning method, based on an encoder-based positioning device according to any one of claims 1-4, characterized in that, Including the following steps: When the point to be measured drives the wire rope (4) to move, the control unit can acquire the reading values of the first planar angle encoder (1), the second planar angle encoder (2), and the wire-pulling rotary encoder (3) and the wire outlet point of the wire rope (4); The control unit calculates the coordinate value of the point to be measured in the coordinate system according to the reading values and the wire outlet point.

6. The positioning method based on an encoder according to claim 5, wherein The coordinate systems include spherical coordinate system, space rectangular coordinate system, and space rectangular coordinate system under the base coordinate system.

7. A positioning method based on an encoder according to claim 6, characterized in that, When the wire outlet length of the wire rope (4) is 5 meters, the accuracy of the point to be measured in the space rectangular coordinate system and the space rectangular coordinate system under the base coordinate system is 0.2 mm.

8. The positioning method based on an encoder according to claim 6, wherein, The calculation method of the coordinate value of the point to be measured in the spherical coordinate system is: The reading of the wire-pulling rotary encoder (3) is θ (rad); The reading of the first planar angle encoder (1) is α (rad); The reading of the second planar angle encoder (2) is β (rad) The distance from the wire outlet point of the wire rope (4) to the rotation axis of the wire-pulling rotary encoder (3) is the radius r1; The wire length d = (θ / 2π) · r1; According to the Pythagorean theorem that the sum of the squares of the two right-angled sides of a right triangle is equal to the square of the hypotenuse, The distance from the point to be measured to the center of the wire-pulling rotary encoder (3) The coordinate point of the point to be measured in the spherical coordinate system is as follows:

9. A positioning method based on an encoder according to claim 6, characterized in that the calculation method for the coordinate values of the point to be measured in the space rectangular coordinate system is as follows: the wire drawing point of the wire draw wire (4) is the origin; according to trigonometric functions, the reading of the second plane angle encoder (2) is β, it is obtained that the projection length of d″ on the plane of the first plane angle encoder (1) is d″ = d′·cosβ, and the projection length of d′ on the z-axis of the second plane angle encoder (2) is z′ = d′·sinβ + r1; according to trigonometric functions, the rotation angle of the wire draw encoder (3) on the plane of the first plane angle encoder (1) is α, it is obtained that the projection length x′ of d″ on the x-axis of the first plane angle encoder (1) is x′ = d″·cosα, and the projection length y′ of d″ on the y-axis of the first plane angle encoder (1) is y′ = d″·sinα.

10. A positioning method based on an encoder according to claim 9, characterized in that, the calculation method for the coordinate values of the point to be measured in the space rectangular coordinate system under the base coordinate system is as follows: the coordinates of the wire drawing point of the wire draw wire (4) relative to the space rectangular coordinate system under the base coordinate system are (x0, y0, z0); it can be obtained that the coordinates of the point to be measured in the space rectangular coordinate system under the base coordinate system are: (x0 + d″·cosα, y0 + d″·sinα, z0 + d′·sinβ + r1) Among them where d = (θ / 2π)·r1.

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