CN115265582A - Quick leveling system and method for mast type lodging platform - Google Patents
Quick leveling system and method for mast type lodging platform Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a quick leveling system and a quick leveling method for a mast type lodging platform, which realize platform leveling through the rotation of two orthogonal rotating planes, and the method comprises the following steps: firstly, the pitching arm of the platform is controlled to rotate to an upright position, an optimized path algorithm is introduced before the transverse inclination angle leveling to plan the shortest path so as to realize primary leveling, after the azimuth platform starts to rotate, the path is monitored in real time and can be corrected in time so as to improve the accuracy of the optimized path, and then the rapid leveling of the mast type reconnaissance platform is comprehensively realized by combining the pitching arm leveling. The invention is particularly suitable for a scout platform sensitive to the leveling time, such as the field of scout cars, the scout platform has the capability of quickly unfolding and leveling and has important significance for hidden scout, and when equipment executes a scout task, a potential target can be found as soon as possible. In addition, the time of exposing the platform in a dangerous area is shortened, and the risk of discovering the platform is reduced.
Description
Technical Field
The invention relates to the technical field, in particular to a quick leveling system and method for a mast type lodging platform.
Background
The reconnaissance mast (or mechanism) is based on the special application characteristics, for the reconnaissance of a battlefield target, the leveling precision of the platform directly influences the precision of resolving the target by reconnaissance equipment such as a photoelectric device, a radar device and the like, so that the leveling of the reconnaissance platform is the basis for the efficient work of loading equipment.
The ideal working mode of the reconnaissance mast is hidden reconnaissance, the equipment starts hidden reconnaissance on potential targets after being quickly unfolded and leveled, and is quickly withdrawn after the reconnaissance task is completed so as to reduce the self-exposure risk.
The mast type lodging reconnaissance platform rapid leveling can be mainly solved from two aspects, and firstly, the sensor precision, the equipment manufacturing and assembling precision and the response speed of a driving mechanism are improved; on the premise of hardware solidification, the leveling speed of the system is improved by designing an excellent path planning algorithm.
The traditional hydraulic multi-point supporting leveling in the patent (201110156344.8) is suitable for large-load and slow-leveling occasions, but relates to mast occasions, because the load at the upper end of the mast is relatively small and the space is limited, the reconnaissance equipment at the upper end of the vehicle-mounted mast needs to be laid on the roof in a withdrawing state, the traditional multi-point hydraulic pressure is difficult to freely cope with, and a leveling structure with small volume and large pitching rotation range is needed.
The orthogonal rotation leveling has the advantages of small volume, easy lodging and the like, and is an ideal lifting mast leveling structure, for example, in the patent (200910175331.8), the azimuth rotating shaft can rotate 360 degrees around the mast to perform azimuth leveling, but theoretically, in the range of not more than 90 degrees from the current position, only one position for rotating the azimuth transverse inclination angle to zero is provided, and on the basis, how to accurately judge the ideal leveling direction and make a response is an important factor for realizing quick leveling.
Disclosure of Invention
The technical purpose is as follows: aiming at the defects in the prior art, the invention discloses a quick leveling system and a quick leveling method for a mast type lodging platform, which are combined with a double-shaft output tilt angle sensor to select the shortest path of azimuth driving, so as to ensure that one-time quick leveling is realized under the condition that the walking angle is an acute angle.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme.
A quick leveling system of a mast type lodging platform comprises a photoelectric stabilized platform, a radar host, inertial navigation, a pitching arm, a double-shaft inclinometer, a pitching shaft encoder, a controller, an azimuth motor, a pitching motor, an azimuth turntable and a lifting mast;
a direction rotary table is arranged above the lifting mast, and the direction rotary table and the lifting mast form a lodging platform; the top end of the azimuth turntable is provided with a pitching arm, the bottom end of the pitching arm, namely the junction of the pitching arm and the azimuth turntable, is provided with a controller, an azimuth motor and a pitching motor, the pitching motor is provided with a pitching shaft encoder, a double-shaft inclinometer is arranged in the pitching arm, the top end of the pitching arm is provided with a photoelectric stabilizing platform, and two sides of the pitching arm are respectively provided with a radar host and inertial navigation;
the photoelectric stabilized platform, the radar host and the inertial navigation are detection loads to be leveled, the pitching motor is used for controlling the pitching arm to perform pitching rotation, and the azimuth motor is used for controlling the azimuth turntable to perform left-right rotation; the pitching arm is used for enabling a plane formed by rotation of the pitching arm to be perpendicular to a plane formed by rotation of the azimuth turntable in the rotation process, the lifting mast is used for bearing the lodging platform and lifting a load for detection, an X axis of the double-axis inclinometer is parallel to the pitching rotating shaft, a Y axis of the double-axis inclinometer is perpendicular to a plane formed by the pitching arm and the pitching rotating shaft, and the double-axis inclinometer is used for detecting the inclination direction information of the X axis and the Y axis; the pitch shaft encoder is used for detecting the pitch state information of the pitch arm; the controller is used for receiving the information of the inclination direction and the information of the pitching state, further controlling the azimuth motor and the pitching motor and realizing the leveling control of the lodging platform.
Preferably, the pitch axis encoder is a high-precision pitch axis encoder with model number AFS60A-THAK000S06, with precision of 0.01 °.
Preferably, the biaxial inclinometer is a high precision biaxial inclinometer with a precision of 0.005 °.
A quick leveling method of a mast type lodging platform is applied to any one of the quick leveling systems of the mast type lodging platform, and comprises the following steps:
s1, checking the vertical state of the pitching arm: the controller controls the pitching motor according to the pitching shaft encoder while the lifting mast is lifted, so that the pitching arm is driven to rotate to a position perpendicular to the azimuth turntable, and the pitching arm is adjusted to be in an upright state from an initial state;
s2, obtaining the initial angles of an X axis and a Y axis of the biaxial inclinometer: after the pitching arm is in an upright state, the controller acquires sampling data of the biaxial inclinometer and calculates the initial angles of the X axis and the Y axis according to the sampling data;
s3, controlling the lodging platform to be leveled by the controller: the controller controls the rotation direction of the azimuth turntable by adopting an acute angle path according to the initial angles of the X axis and the Y axis and combining a direction factor graph, and in the process, the pitching arm is controlled to rotate according to data acquired by the double-axis inclinometer in real time, so that the primary leveling of the lodging platform is realized.
Preferably, the step S2 of calculating the initial angles of the X axis and the Y axis according to the sampling data includes:
s21, continuously reading a plurality of inclination angle data of an X axis and a Y axis of the double-axis inclinometer within preset time, and respectively storing the inclination angle data into an array X [ n ] and an array Y [ n ]; wherein the data stored in the array X [ N ] is the X-axis data of the biaxial inclinometer 5, the data stored in the array Y [ N ] is the Y-axis data of the biaxial inclinometer 5, N is a sampling data label, and N is more than or equal to 0 and less than or equal to N-1,N is the total sampling times;
s22, logarithmic set X [ n ]]Array Y [ n ]]Performing histogram statistics to obtain an initial angle X of the X axisinitAnd an initial angle Y of the Y axisinit(ii) a Wherein the calculation formula of the X-axis initial angle is the same as that of the Y-axis initial angle, and the X-axis initial angle X is equal to that of the Y-axisinitThe calculation formula of (2) is as follows:
wherein u (m) is an inclination angle positive phase strategy function, v (m) is an inclination angle negative phase strategy function, m is an inclination angle sampling value of the double-shaft sensor, and PxIs the sum of positive phase statistics of the X axis, NxIs the X-axis negative phase statistical sum, XinitIs the X-axis initial angle.
Preferably, the step S3 includes:
s31, azimuth turntable rotation direction: controlling the rotation direction of the azimuth turntable by adopting an acute angle path according to the initial angles of the X axis and the Y axis calculated in the S2 and combining a direction factor graph;
s32, the controller samples X-axis data of the double-axis inclinometer, returns to S31 to control the rotation of the azimuth turntable in a closed loop mode after dynamic correction is carried out, stops until the X-axis transverse inclination angle is the preset accuracy, and enters S33;
and S33, the controller samples Y-axis data of the double-axis inclinometer, and returns to the step S31 to control the rotation of the azimuth turntable in a closed loop mode after dynamic correction is carried out until the Y-axis transverse inclination angle reaches the preset accuracy.
Preferably, the step S32 of sampling the X-axis data of the dual-axis inclinometer by the controller to perform dynamic correction includes:
synchronously collecting X-axis inclination angle of double-axis inclinometer, and storing the X-axis inclination angle into an array X2N]Wherein x is0...，xN-1And xN...x2N-1Median filtering is respectively carried out, the first half section and the second half section of the array have preset intervals, and calculation is carried out:
wherein x isfIs a first filtered value, xbIs the second filtered value;
monitoring whether the change of the inclination angle accords with the characteristics of the shortest path in real time, and comparing xfAnd xbIf the value is larger than the preset value, continuing to drive the azimuth turntable to rotate according to the current direction; otherwise, the driving in the current direction is stopped, and the step S31 is returned to enter the commutation mode.
Preferably, in the leveling approaching process, a fuzzy control algorithm is introduced to control driving, the leveling precision Δ x =0.1 ° is defined, and the driving value formula is as follows:
Pwm＝aix+PWM0
wherein, PWM0Is the minimum driving value of the azimuth platform, x is the transverse inclination angle of the current platform, aiIs a fuzzy empirical value.
Has the advantages that:
1. the invention selects the shortest path of azimuth drive by specific steps and combining a double-shaft output tilt sensor, thereby ensuring the possibility of one-time quick leveling when the walking angle is an acute angle.
2. The invention has strong universality and can realize quick leveling by optimizing the algorithm on the premise of not increasing hardware.
3. The invention is particularly suitable for leveling the vehicle-mounted mast type platform, has the advantages of small volume, large rotation range, easy lodging and the like, and has good practicability for concealed rapid reconnaissance.
4. The invention provides a leveling scheme of the azimuth turntable within 180 degrees by optimizing the leveling path, has low requirement on the mechanism design of the azimuth turntable, has small azimuth rotation stroke, is easy to trace the reconnaissance platform and reduces the complexity of electrical connection between the mast and the reconnaissance platform.
Drawings
Fig. 1 is a schematic view of a mast upright leveling structure according to an embodiment of the invention.
Fig. 2 is a schematic diagram of an initial state, an upright state and a leveling state before the rapid leveling starts according to the embodiment of the present invention.
Fig. 3 is a schematic view of an azimuth turntable surface, a pitch arm and a horizontal plane of a 360-degree rotation according to an embodiment of the present invention.
FIG. 4 is a plot of data for the X/Y axis of a two-axis inclinometer with an azimuth turntable rotating 360 according to an embodiment of the present invention.
Fig. 5 is a flow chart of a fast leveling method according to an embodiment of the present invention.
The system comprises a photoelectric stabilized platform 1, a radar host 2, an inertial navigation 3, a pitching arm 4, a double-shaft inclinometer 5, a pitching shaft encoder 6, a controller 7, an azimuth motor 8, a pitching motor 9, an azimuth turntable 10 and a lifting mast 11.
In fig. 2, (1) is a laid state before being unfolded, and (2) the pitch arm is erected.
In FIG. 3, a), b), c) and d) are schematic diagrams of X/Y extreme value combination positions within 360 degrees respectively.
Detailed Description
The invention will be further explained and explained with reference to the drawings.
As shown in the attached figure 1, the quick leveling system of the mast type lodging platform comprises a photoelectric stabilized platform 1, a radar host 2, an inertial navigation device 3, a pitching arm 4, a double-shaft inclinometer 5, a pitching shaft encoder 6, a controller 7, an azimuth motor 8, a pitching motor 9, an azimuth turntable 10 and a lifting mast 11; the top end of the lifting mast 11 is provided with a position rotary table 10, the top end of the position rotary table 10 is provided with a pitching arm 4, the bottom end of the pitching arm 4, namely an interface with the position rotary table 10, is provided with a controller 7, a position motor 8 and a pitching motor 9, the pitching motor 9 is provided with a pitching shaft encoder 6, a double-shaft inclinometer 5 is arranged inside one side of the pitching arm 4, the top end of the pitching arm 4 is provided with a photoelectric stable table 1, and two sides of the pitching arm 4 are respectively provided with a radar host 2 and an inertial navigation 3; the photoelectric stabilized platform 1, the radar host 2 and the inertial navigation 3 are detection loads with leveling requirements, the pitching arm 4 can be driven by the pitching motor 9 to perform pitching rotation, a plane formed by rotation of the pitching arm is perpendicular to a plane formed by rotation of the azimuth turntable 10, and the lifting mast 11 can bear the lodging platform and the loads to perform lifting/lowering within a certain range; in addition, the controller 7 is used for receiving the information of the inclination direction and the information of the pitching state, and further controlling the azimuth motor 8 and the pitching motor 9 to realize the leveling of the lodging platform; the control controller 7 is the brain of the system and is responsible for sampling each sensor, processing and processing various data, and intelligently controlling the action of the actuating mechanism so as to realize the comprehensive control of the system.
Wherein, the pitch shaft encoder 6 is a high-precision encoder with the precision of 0.01 degrees.
The lodging platform mainly comprises a position turntable, a pitching arm and other structures, and is provided with a high-precision position, pitching rotation angle encoder and a high-precision double-shaft inclinometer; high-precision encoders are arranged on the two orthogonal directions and the pitching shafts, and a high-precision double-shaft inclinometer is arranged at the bottom end of the pitching arm; the precision of the high-precision pitch shaft encoder is 0.01 degrees, and the precision of the high-precision double-shaft inclinometer is 0.005 degrees. When the biaxial inclinometer is installed, the X axis of the biaxial inclinometer is parallel to the rotation axis of the pitching arm (the rotation axis of the pitching arm around the azimuth platform), and the Y axis of the biaxial inclinometer is perpendicular to the plane formed by the pitching arm and the pitching rotation axis.
The invention is particularly suitable for a mast type reconnaissance platform, such as a vehicle-mounted mast type platform, has the advantages of small volume, large rotation range, easy lodging and the like, and has good practicability for hidden quick reconnaissance. Compared with the traditional multipoint support leveling design, the size of the mast platform can be remarkably reduced, the load of a lifting mast is effectively reduced, the transmission mechanisms of the azimuth motor, the pitching motor and the rotary table are in a worm and gear form, the motor drives the worm, the worm drives the worm gear, the platform is easy to lock, meanwhile, enough torque can be provided, a certain mast load can be conveniently realized, the mast inclination phase is analyzed before the azimuth rotary table is leveled based on the double-shaft positive inclinometer, the optimal path direction reaching the horizontal azimuth is calculated through a path selection algorithm, the time which is increased due to unreasonable direction selection during adjustment is shortened, a real-time monitoring and correcting algorithm is added in subsequent approaching movement to improve the accuracy of the optimal path, and the fast leveling of the mast platform is comprehensively realized.
The invention discloses a quick leveling method of a mast type lodging platform, which comprises the following steps:
s1, checking the vertical state of the pitching arm 4: as shown in fig. 2, the controller 7 controls the pitch arm 4 to rotate to a position perpendicular to the azimuth turntable 10 according to the pitch axis encoder 6 while the lifting mast 11 is lifted, and the pitch arm 4 is adjusted from the initial state to the upright state; the controller 7 periodically queries the pitch shaft encoder 6 (model: AFS60A-THAK000S 06) whether the output angle is the angle corresponding to the upright state (the upright state is defined as the angle at which the pitch arm is perpendicular to the rotation plane of the azimuth turntable), if not, the controller 7 continues to control the pitch arm 4 to rotate to the upright state; if yes, executing S2;
s2, the controller 7 acquires the inclination direction information of the X axis and the Y axis of the double-axis inclinometer 5; the method comprises the following steps:
s21, continuously reading a plurality of inclination angle data of an X axis and a Y axis of the double-axis inclinometer 5 in preset time, and respectively storing the inclination angle data into an array X [ n ] and an array Y [ n ]; wherein the data stored in the array X [ N ] is the X-axis data of the biaxial inclinometer 5, the data stored in the array Y [ N ] is the Y-axis data of the biaxial inclinometer 5, N is a sampling data label, and N is more than or equal to 0 and less than or equal to N-1,N is the total sampling times;
s22, logarithmic set X [ n ]]Array Y [ n ]]Carrying out histogram statistics to obtain xinitAnd yinit；
Wherein u (m) is an inclination angle positive phase strategy function, v (m) is an inclination angle negative phase strategy function, m is an inclination angle sampling value of the double-shaft sensor, and PxIs the X-axis positive phase statistical sum, NxIs the X-axis negative phase statistical sum, XinitIs the X-axis initial angle;
similarly, y is calculated according to the formulas (1) to (5)init；
S3, the controller 7 judges the rotating direction of the azimuth turntable and selects an acute angle path;
s4, the controller 7 samples X-axis data of the double-axis inclinometer, dynamically corrects the X-axis data, and then controls the azimuth turntable to rotate in a closed-loop mode, so that the X-axis transverse inclination angle is zero and then stops;
s5, the controller 7 controls the azimuth motor 8 to complete rotation, the pitching direction is judged, Y-axis data of the double-axis inclinometer 5 are collected, and upward pitching or downward pitching is selected;
s6, the controller 7 samples Y-axis data of the double-axis inclinometer 5, performs closed-loop control after dynamic correction, stops when the Y-axis data is zero, and finishes the leveling of the lifting mast loads (parts 1, 2 and 3).
The biaxial inclinometer 5 in the step 2 is arranged in the pitching arm 4, the X axis of the biaxial inclinometer is parallel to the pitching rotating shaft, and the Y axis of the biaxial inclinometer is vertical to a plane formed by the pitching rotating shaft and the center line of the pitching arm; the pitch shaft encoder 6 is arranged on the pitch rotating stator and the rotor, and can reflect the angle of the pitch arm relative to the plane of the azimuth turntable in real time.
The invention selects the shortest path of azimuth drive by specific steps and combining a double-shaft output tilt sensor, thereby ensuring the possibility of one-time quick leveling under the condition that the walking angle is an acute angle
According to the rapid leveling method and the lodging platform of the system, the moving range of the azimuth mechanism can be reduced to +/-90 degrees, the device is simple and compact in structure and easy to realize, and rapid leveling under the optimal rotation path is realized under the requirement of the same leveling precision.
The invention provides a leveling scheme of the azimuth turntable within 180 degrees by optimizing the leveling path, has low requirement on the mechanism design of the azimuth turntable, has small azimuth rotation stroke, is easy to trace the reconnaissance platform and reduces the complexity of electrical connection between the mast and the reconnaissance platform.
Example (b):
as shown in fig. 5, the method for quickly leveling the mast type lodging platform disclosed in the embodiment includes the following steps:
step 1: and controlling the pitching arm to rotate to a position vertical to the azimuth rotary table according to the pitching encoder while raising the mast, wherein the pitching arm is adjusted to be in an upright state from an initial state.
Step 2: inquiring whether the pitching encoder is in an upright angle or not, and waiting if the pitching encoder is in an upright angle; if true, go to step 3;
and step 3: continuously reading the X-axis data and the Y-axis data 3s of the biaxial inclinometer at the frequency of 20Hz, and storing the data into arrays X [ n ] and Y [ n ];
and 4, step 4: histogram statistics of the sampled data:
and 5: as above, array Y [ n ] was analyzed]Calculating to obtain yinit；
Step 6: as shown in fig. 3 and fig. 4, the corresponding state of the position a point is that the output angle of the X axis of the biaxial inclinometer is zero, and the output angle of the Y axis is the maximum positive inclination angle (the included angle between the azimuth rotation surface and the horizontal plane); the output angle of the X axis is the maximum positive inclination angle at the point b, and the output angle of the Y axis is zero; the output angle of the X axis is zero at the point c, and the output angle of the Y axis is the maximum negative dip angle; the output angle of the X axis is the maximum negative dip angle at the point d, and the output angle of the Y axis is zero; assume an initial state at [ a, b ]]At any position in the interval, if the azimuth turntable rotates anticlockwise, an obtuse angle needs to be rotated to reach the point c); conversely, the azimuth turntable 7 rotates clockwise by a complementary (acute) angle to reach the parallel position of the point a); obviously, for the assumed initial state, clockwise rotation to point a) is the shortest path. According to xinitAnd yinitThe values yield the following directional factor d, as shown in the table below:
TABLE 1 Direction factor truth table
| xinit | yinit | f(xinit，yinit) |
| 1 | 0 | 0 |
| 1 | 1 | 1 |
| 0 | 0 | 1 |
| 0 | 1 | 0 |
Wherein the decision factor is equal to 1, which represents that clockwise rotation is the shortest leveling path, otherwise, counterclockwise rotation is adopted;
and 7: after leveling and starting, synchronously collecting (10 Hz) X-axis inclination angle, storing into array X2N]Wherein x is0...xN-1And xN...x2N-1Median filtering is respectively carried out, and the interval between the first half section and the second half section of the array is 0.5s;
monitoring whether the change of the inclination angle accords with the characteristics of the shortest path in real time, and comparing xfAnd xbIf x is a value offGreater than xbIf so, continuing to drive; otherwise, stopping driving in the current direction, and performing reverse rotation, wherein N can take a value of 10-20;
and step 8: in the leveling approaching process, a fuzzy control algorithm is added into the system to control driving so as to prevent time waste caused by the need of reversing due to overshoot; defining leveling precision delta x =0.1 degrees, and setting a driving value according to the following formula;
Pwm＝aix+PWM0；
wherein, PWM0Is the minimum driving value of the platform, x is the current transverse inclination angle of the platform, aiIs a fuzzy empirical value with a system maximum levelability range of ±)15°；
TABLE 2 fuzzy empirical values
| x dip angle value (°) | aiFor fuzzy empirical values |
| (∞，-3] | 600 |
| (-3，-1] | 200 |
| (-1，-0.1] | 100 |
| (-0.1，0.1) | 30 |
| [0.1，1) | 100 |
| [1，3) | 200 |
| [3，∞) | 600 |
And step 9: step 8, synchronously judging the transverse inclination angle of the X axis in the execution process, and stopping driving the azimuth motor when delta X is less than or equal to 0.1 degrees;
step 10: reading Y-axis data delta Y in the other direction of the inclinometer 5, and if the pitch angle is larger than zero, executing a downward pitching motion to a zero position; otherwise, executing the upward pitching motion;
step 11: and (4) adding direction identification and fuzzy control between the advancing processes during the pitching leveling process so as to improve the accuracy and prevent overshoot, and ending the method when delta y is less than or equal to 0.1 deg.
The invention discloses a quick leveling method of a mast type lodging platform, which realizes the leveling of the platform through the rotation of two orthogonal rotating planes. The method comprises the following steps of firstly controlling a pitching arm of a platform to rotate to an upright position, introducing an optimized path algorithm (namely judging the direction according to a factor graph) before leveling the transverse inclination angle to plan a shortest path so as to realize primary leveling, monitoring the path in real time after an azimuth platform starts to rotate and correcting the path in time so as to improve the accuracy of the optimized path, and then comprehensively realizing the quick leveling of a mast type reconnaissance platform by combining the pitching axis leveling. The lodging platform adopting the algorithm and the mechanism has the advantages that the moving range of the azimuth mechanism can be reduced to +/-90 degrees, the device is simple and compact in structure and easy to realize, and the rapid leveling under the optimal rotation path is realized under the requirement of the same leveling precision. The invention is particularly suitable for the field of reconnaissance platforms sensitive to the leveling time, such as reconnaissance vehicles, the reconnaissance platform has the capability of being unfolded and leveled quickly, has important significance for concealed reconnaissance, and can find potential targets as soon as possible when equipment executes reconnaissance tasks. In addition, the time for exposing the platform in the dangerous area is shortened, and the risk of discovering the platform is reduced.
The platform adjusting mechanism with the characteristics of small size, self-locking, large moment and the like is designed for the mast type reconnaissance platform, and the platform is adjusted through rotation of two orthogonal rotating planes. The pitching axis is controlled to move to the vertical position before the platform starts to be leveled, an optimized path algorithm is introduced to plan the shortest path before the platform starts to be leveled, path monitoring is carried out in real time after the platform starts to move, and the path can be corrected in time so as to improve the accuracy of the optimized path, and the rapid leveling of the mast type reconnaissance platform is comprehensively realized.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (8)
1. A quick leveling system of a mast type lodging platform is characterized by comprising a photoelectric stabilizing platform (1), a radar host (2), an inertial navigation (3), a pitching arm (4), a double-shaft inclinometer (5), a pitching shaft encoder (6), a controller (7), an azimuth motor (8), a pitching motor (9), an azimuth turntable (10) and a lifting mast (11);
a azimuth turntable (10) is arranged above the lifting mast (11), and the azimuth turntable (10) and the lifting mast (11) form a lodging platform; a pitching arm (4) is arranged at the top end of the orientation rotary table (10), a controller (7), an orientation motor (8) and a pitching motor (9) are arranged at the bottom end of the pitching arm (4), namely, at the junction of the pitching arm (4) and the orientation rotary table (10), a pitching shaft encoder (6) is arranged on the pitching motor (9), a biaxial inclinometer (5) is arranged inside the pitching arm (4), a photoelectric stable table (1) is arranged at the top end of the pitching arm (4), and a radar host (2) and an inertial navigation (3) are respectively arranged on two sides of the pitching arm (4);
the photoelectric stabilized platform (1), the radar host (2) and the inertial navigation (3) are detection loads to be leveled, the pitching motor (9) is used for controlling the pitching arm (4) to perform pitching rotation, and the azimuth motor (8) is used for controlling the azimuth turntable (10) to perform left-right rotation; the pitching arm (4) is used for enabling a plane formed by rotation of the pitching arm (4) to be perpendicular to a plane formed by rotation of the azimuth turntable (10) in the rotation process, the lifting mast (11) is used for bearing the lodging platform and detecting load to lift, an X axis of the double-axis inclinometer (5) is parallel to the pitching rotation axis, a Y axis of the double-axis inclinometer is perpendicular to the plane formed by the pitching arm (4) and the pitching rotation axis, and the double-axis inclinometer (5) is used for detecting the inclination direction information of the X axis and the Y axis; the pitch shaft encoder (6) is used for detecting the pitch state information of the pitch arm (4); the controller (7) is used for receiving the information of the inclination direction and the information of the pitching state, further controlling the azimuth motor (8) and the pitching motor (9) and realizing the leveling control of the lodging platform.
2. The system of claim 1, wherein the system further comprises: the pitch shaft encoder (6) is a high-precision pitch shaft encoder with the model of AFS60A-THAK000S06 and the precision of 0.01 degrees.
3. The system of claim 1, wherein the system further comprises: the double-shaft inclinometer (5) is a high-precision double-shaft inclinometer with the precision of 0.005 degrees.
4. A method for quickly leveling a mast-type platform, which is applied to the system for quickly leveling a mast-type platform according to any one of claims 1 to 3, and which comprises the following steps:
s1, checking the vertical state of the pitching arm (4): the controller (7) controls the pitching motor (9) according to the pitching shaft encoder (6) while the lifting mast (11) is lifted, and further drives the pitching arm (4) to rotate to a position perpendicular to the azimuth turntable (10), so that the pitching arm (4) is adjusted to be in an upright state from an initial state;
s2, obtaining the initial angles of the X axis and the Y axis of the biaxial inclinometer (5): after the pitching arm (4) is in an upright state, the controller (7) acquires sampling data of the biaxial inclinometer (5), and calculates the initial angles of the X axis and the Y axis according to the sampling data;
s3, controlling the lodging platform to be leveled by the controller (7): the controller (7) controls the rotation direction of the azimuth turntable (10) by adopting an acute angle path according to the initial angles of the X axis and the Y axis and combining a direction factor graph, and in the process, the pitching arm (4) is controlled to rotate according to data acquired by the double-axis inclinometer (5) in real time, so that the primary leveling of the lodging platform is realized.
5. The method of claim 4, wherein the step of rapidly leveling the mast-type lodging platform comprises the steps of: in step S2, calculating an initial angle of the X axis and the Y axis according to the sampling data includes:
s21, continuously reading a plurality of inclination angle data of an X axis and a Y axis of the double-axis inclinometer (5) within preset time, and respectively storing the inclination angle data into an array X [ n ] and an array Y [ n ]; wherein the data stored in the array X [ N ] is the X-axis data of the biaxial inclinometer 5, the data stored in the array Y [ N ] is the Y-axis data of the biaxial inclinometer 5, N is a sampling data label, and N is more than or equal to 0 and less than or equal to N-1,N is the total sampling times;
S22logarithm group X [ n ]]Array Y [ n ]]Performing histogram statistics to obtain an initial angle X of the X axisinitAnd an initial angle Y of the Y axisinit(ii) a Wherein the calculation formula of the X-axis initial angle is the same as that of the Y-axis initial angle, and the X-axis initial angle X is equal to that of the Y-axisinitThe calculation formula of (2) is as follows:
wherein u (m) is an inclination angle positive phase strategy function, v (m) is an inclination angle negative phase strategy function, m is an inclination angle sampling value of the double-shaft sensor, and PxIs the sum of positive phase statistics of the X axis, NxIs the X-axis negative phase statistical sum, XinitIs the X-axis initial angle.
6. The method of claim 4, wherein the step of rapidly leveling the mast-type lodging platform comprises the steps of: the step S3 includes:
s31, the rotation direction of the azimuth turntable (10): according to the initial angles of the X axis and the Y axis calculated in the S2, combining a direction factor graph, adopting an acute angle path and controlling the rotating direction of the azimuth turntable (10);
s32, the controller (7) samples X-axis data of the double-axis inclinometer (5), dynamically corrects the data, returns to the step S31 to control the azimuth turntable (10) to rotate in a closed loop mode, stops until the X-axis transverse inclination angle is the preset accuracy, and enters S33;
and S33, the controller (7) samples Y-axis data of the biaxial inclinometer (5), dynamically corrects the data, and returns to the step S31 to control the azimuth turntable (10) to rotate in a closed loop mode until the Y-axis transverse inclination angle reaches the preset accuracy.
7. The method of claim 6, wherein the step of rapidly leveling the mast-type lodging platform comprises the steps of: in step S32, the controller (7) samples X-axis data of the biaxial inclinometer (5) to perform dynamic correction, and the dynamic correction includes:
synchronously collecting the X-axis inclination angle of the double-axis inclinometer (5) and storing the X-axis inclination angle into an array X2N]Wherein x is0...xN-1And xN...x2N-1Median filtering is respectively carried out, the first half section and the second half section of the array have preset intervals, and calculation is carried out:
wherein x isfIs a first filtered value, xbIs the second filtered value;
monitoring whether the change of the inclination angle accords with the characteristics of the shortest path in real time, and comparing xfAnd xbIf the value is larger than the preset value, the azimuth turntable (10) is continuously driven to rotate according to the current direction; otherwise, the driving in the current direction is stopped, and the step S31 is returned to enter the commutation mode.
8. The method of claim 6, wherein the step of rapidly leveling the mast-type lodging platform comprises the steps of: in the leveling approaching process, a fuzzy control algorithm is introduced to control driving, and the leveling precision delta is definedx=0.1 °, the drive value formula is:
Pwm＝aix+PWM0；
wherein, PWM0Is the minimum driving value of the azimuth turntable (10), x is the transverse inclination angle of the current platform, aiIs a fuzzy empirical value.
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