CN102980473B - A kind of High-precision position detection device and localization method thereof - Google Patents
A kind of High-precision position detection device and localization method thereof Download PDFInfo
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- CN102980473B CN102980473B CN201210517361.4A CN201210517361A CN102980473B CN 102980473 B CN102980473 B CN 102980473B CN 201210517361 A CN201210517361 A CN 201210517361A CN 102980473 B CN102980473 B CN 102980473B
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Abstract
The present invention relates to a kind of High-precision position detection device and localization method thereof, belong to technical field of high-precision measurement.Originally give out a contract for a project and draw together detecting unit and destination disk; Described detecting unit comprises two sensors, housing one and housing two; Destination disk is arranged on fixed equipment, and described destination disk is provided with two rows equally distributed hole at equal intervals, detecting unit and destination disk do relative rectilinear motion; Housing one is connected with crossbeam one by fastener for installing one, and housing two is connected with crossbeam one by fastener for installing two, and crossbeam one arranges installation column, and crossbeam two is fixed on erection support, and described erection support is fixing on the mobile apparatus.
Description
Technical field
The present invention relates to a kind of High-precision position detection device and localization method thereof, belong to technical field of high-precision measurement.
Background technology
Heat (batch) number identification on market and position detecting device are generally by destination disk, and electronics decoding deck, control center these three parts are formed, and are characterized in having the feature of dust-proof, waterproof, high temperature resistant, shock-resistant, fast response time.Device common in aligning accuracy can reach ± 10mm, better device can reach ± 5mm, but these devices simply can only judge position whether at ± 10mm(or ± 5mm when position is detected) in scope, cannot determine simultaneously also cannot the distance of judging distance target location in advance with the accurate error of physical location.Along with the development of factory's automatic control technology, raising equipment accuracy operationally and security, ensure that the efficient, stable of production work has become current new development trend, therefore just need to improve accuracy of detection further, for control system provides advanced feedback, allow system know in advance and target range, the task of control system is simplified, improve and control ground accuracy.
Existing take destination disk as heat (batch) number identification and the position detecting device of registration target, it can only detect an on-off model whether aimed at when contraposition, then cannot detect as the concrete error after aligning, it also cannot provide the continuous range data of distance objective position in contraposition process simultaneously.
Summary of the invention
The present invention is directed to the proposition of above problem, and develop a kind of High-precision position detection device and localization method thereof.
The present invention includes detecting unit and destination disk; Described detecting unit comprises two sensors, housing one and housing two; Destination disk is arranged on fixed equipment, and described destination disk is provided with two rows equally distributed hole at equal intervals, detecting unit and destination disk do relative rectilinear motion; Housing one is connected with crossbeam one by fastener for installing one, and housing two is connected with crossbeam one by fastener for installing two, and crossbeam one arranges installation column, and crossbeam two is fixed on erection support, and described erection support is fixing on the mobile apparatus.
At housing one, sensor device two and sensor device one are set; Sensor device three and sensor device four are set in housing two; Arrange sensor respectively in sensor device two and sensor device three, the sensor in sensor device two and sensor device three is first group of sensor; Arrange sensor in sensor device one and sensor device four, in sensor device one and sensor device four, the sensor arranged in sensor is second group of sensor.
On described destination disk 1, first row arranges 10 holes, and the size shape in each hole of first row is equal, and the position of passing hole and quantity realize digital numbering; On destination disk, second row arranges 10 holes, and each hole is called clock hole; On destination disk, the size shape in each hole of second row is equal; On destination disk, the center line in 10 holes of first row is to be spacedly distributed, and on destination disk, the center line in 10 holes of second row is to be spacedly distributed; On destination disk, the distance of the center line in adjacent two holes of first row is equal with the distance of the center line in upper adjacent two holes of second row of destination disk (1); The center line in each hole of first row aligns with the center line in each hole of second row; On destination disk, the distance of the center line in adjacent two holes of second row is 30 millimeters; On destination disk, 10 holes of first row can retain a part wherein as required, remaining hole; Upper 3rd row of destination disk (1) arranges 2 holes, and described 2 holes are used for fixing Target Board.
Arrange two sensors in sensor device two, described two sensors are respectively R
11and R
12; Arrange two sensors in sensor device three, described two sensors are respectively T
11and T
12; R
11and T
11correspond to the tenth pair of sensors, R
12and T
12correspond to the 12 pair of sensor.
Arrange ten sensors in sensor device one, described ten sensors are respectively R
1, R
2, R
3, R
4, R
5, R
6, R
7, R
8, R
9and R
10; In sensor device one, often the distance of adjacent two sensors is equal; Arrange ten sensors in sensor device four, described ten sensors are respectively T
1, T
2, T
3, T
4, T
5, T
6, T
7, T
8, T
9and T
10; In sensor device four, often the distance of adjacent two sensors is equal; In sensor device one, the distance of every adjacent sensors is equal with the distance of adjacent sensors every in sensor device four, and distance is that the scope of C, C is at 27 millimeters to 30 millimeters; R
1and T
1be pair of sensors, R
1with T
1centerline on same straight line; R
2and T
2be second pair of sensor, R
2with T
2centerline on same straight line; R
3and T
3be the 3rd pair of sensor, R
3with T
3centerline on same straight line; Arrange with this principle, R
10and T
10be the tenth pair of sensor, R
10with T
10centerline on same straight line.
The distance of now distance objective position can be judged by the information combination of 10 groups of sensors, when moving movement turned left by mobile device and erection support, set the pair of sensors R of second group of sensor
1and T
1the error of center line pair of sensors and target range when aliging with the center line in destination disk first left hole be positive and negative (30-C) mm; Pair of sensors R
1and T
1center line with when on the right of destination disk, first clock centerline hole aligns, pair of sensors T
1and R
1once, now the distance of distance objective position is 270 ± (30-C) mm in change; As pair of sensors T
1and R
1when aliging with destination disk second right clock centerline hole, pair of sensors T
1, R
1change 2 times, now second couple of sensor T
2and R
2through first clock centerline hole on the right of destination disk, second couple of sensor T
2and R
2change 1 time, now the distance of distance objective position is 240 ± (30-C) mm; As pair of sensors R
1and T
1t when aliging with destination disk first left clock centerline hole
1and R
1change 10 times, now the distance error of distance objective position is positive and negative (30-C) mm; Its T below
2and R
2this group sensor has changed 9 times, T
3and R
3this group sensor has changed 8 times, just can sum up the signal condition Changing Pattern of all sensors by that analogy; As the pair of sensors T of second group of sensor
1and R
1t when aliging with the destination disk left side n-th clock centerline hole
1and R
1change 10-n time, n is the integer from 0 to 9, and now distance objective positional distance is 30n ± (30-C) mm; Just the distance of now distance objective position can be analyzed in the middle of these Changing Patterns;
The moving movement if mobile device is turned right, according to rule above, then T
10with R
10this group sensor changes 10 times at first thus draws and target range according to above-mentioned rule.
The ultimate principle that position of the present invention is detected is, the center line in 10 of second row on destination disk holes is regarded as the scale mark of vernier caliper main scale, the center line of pair sensor of 10 in sensor device one is regarded as the scale mark of the vernier of vernier caliper (compared with traditional vernier caliper, the vernier caliper of this measurement mechanism is the vernier without zero graduation line, namely vernier is initial from 1 scale mark, original vernier is clipped reservation from 1 to 10 scale marks from 0 to 1, original main scale is clipped to 10 scales from 9 scales, retains from 0 to 9 scales; In the present invention, the minimum scale of main scale is 30 millimeters, and the minimum scale scope of vernier is 27 millimeters to 30 millimeters, when vernier first scale mark i.e. 1 scale mark time error that to align with main scale 0 scale mark is exactly positive and negative 3 to 0 millimeter).When detecting unit is parked near destination disk with equipment, the distance of equipment distance objective disk center is determined by the number of times analyzing 10 pairs of sensor changes, the precision of this distance is the distance of the center line of second row two adjacent vacant on destination disk, then now just in time aimed at by judgement n-th pair of sensor, determine now detailed distance, the precision of this distance is 1/10 transducer spacing, as shown in Figure 3, if C=27 millimeter, now the distance of distance objective position is 9mm, and namely equipment is moved to the left 9mm again and just can arrives target location.
Beneficial effect of the present invention: the present invention mainly realizes two large functions, the first, more high-precision position detecting function, highest detection precision is ± 3mm.The second, realize the exact position measuring ability after position anticipation function and centering.
Owing to have employed technique scheme, because its structure is simple, be not only convenient to produce, and cost is very cheap is suitable for extensive popularization.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present invention.
Fig. 2 is destination disk structure diagram of the present invention.
Fig. 3 is theory structure sketch of the present invention.
Fig. 4 is the arrangement sketch of sensor R.
Fig. 5 is the arrangement sketch of sensor T.
In figure: 1. destination disk, 2. sensor device one, 3. housing one, 4. housing two, 5. install column, 6. fastener for installing one, 7. fastener for installing two, 8. erection support, 9. sensor device two, 10. sensor device three, 11. sensor device four, 12. crossbeam one, 13. crossbeams two.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
One embodiment of the present of invention are:
As shown in Figure 1: a kind of High-precision position detection device, is characterized in that: comprise detecting unit and destination disk; Described detecting unit comprises two sensors, housing 1 and housing 24; Destination disk 1 is arranged on fixed equipment, and described destination disk is provided with two rows equally distributed hole at equal intervals, detecting unit does relative rectilinear motion with destination disk 1; Housing 1 is connected with crossbeam 1 by fastener for installing 1, and housing 24 is connected with crossbeam 1 by fastener for installing 27, and crossbeam 1 is arranged installs column 5, and crossbeam 2 13 is fixed on erection support 8, and described erection support 8 is fixing on the mobile apparatus.
At housing 1, sensor device 29 and sensor device 1 are set; Sensor device 3 10 and sensor device 4 11 are set in housing 24; Arrange sensor respectively in sensor device 29 and sensor device 3 10, the sensor in sensor device 29 and sensor device 3 10 is first group of sensor; Arrange sensor in sensor device 1 and sensor device 4 11, in sensor device 1 and sensor device 4 11, the sensor arranged in sensor is second group of sensor.
Arrange two sensors in sensor device 29, described two sensors are respectively R
11and R
12; Arrange two sensors in sensor device 3 10, described two sensors are respectively T
11and T
12; R
11and T
11correspond to the tenth pair of sensors, R
12and T
12correspond to the 12 pair of sensor.
As shown in Figure 2: on described destination disk 1, first row arranges 10 holes, the size shape in each hole of first row is equal, and the position of passing hole and quantity realize digital numbering; On destination disk 1, second row arranges 10 holes, and each hole is called clock hole, and on destination disk 1, the size shape in each hole of second row is equal; On destination disk 1, the center line in 10 holes of first row is to be spacedly distributed, and on destination disk 1, the center line in 10 holes of second row is to be spacedly distributed; On destination disk 1, the distance of the center line in the distance of the center line in adjacent two holes of first row two holes adjacent with second row on destination disk 1 is equal; The center line in each hole of first row aligns with the center line in each hole of second row; On destination disk 1, the distance of the center line in adjacent two holes of second row is 30 millimeters; On destination disk 1,10 holes of first row can retain a part wherein as required, remaining hole; Upper 3rd row of destination disk (1) arranges 2 holes, and described 2 holes are used for fixing Target Board.
As shown in Figures 4 and 5: in sensor device 1, arrange ten sensors, described ten sensors are respectively R
1, R
2, R
3, R
4, R
5, R
6, R
7, R
8, R
9and R
10; In sensor device 1, often the distance of adjacent two sensors is equal; Arrange ten sensors in sensor device 4 11, described ten sensors are respectively T
1, T
2, T
3, T
4, T
5, T
6, T
7, T
8, T
9and T
10; In sensor device 4 11, often the distance of adjacent two sensors is equal; In sensor device 1, the distance of every adjacent sensors is equal with the distance of adjacent sensors every in sensor device 4 11, and distance is that the scope of C, C is at 27 millimeters to 30 millimeters; R
1and T
1be pair of sensors, R
1with T
1centerline on same straight line; R
2and T
2be second pair of sensor, R
2with T
2centerline on same straight line; R
3and T
3be the 3rd pair of sensor, R
3with T
3centerline on same straight line; Arrange with this principle, R
10and T
10be the tenth pair of sensor, R
10with T
10centerline on same straight line.
As shown in Figure 3: on destination disk 1, the spacing in adjacent two holes of second row is that 30mm(is equivalent to main scale), the spacing (R of sensor
1with R
2spacing) C is that 27mm(is equivalent to vernier), now the width of each little lattice of main scale is 30mm, and 9 lattice of main scale are divided into 10 equal portions by vernier sensor, therefore the spacing of vernier is 27mm, each little each little difference 3mm than main scale of such vernier, so its degree of accuracy is 3mm.One group can be obtained with the mobility detect unit of equipment by the sensor in the other clock hole that it is responsible for during destination disk and be similar to binary-coded make-and-break signal, just can the position of true now equipment according to this make-and-break signal and its Changing Pattern.
The distance of now distance objective position can be judged by the information combination of 10 pairs of sensors, when moving movement turned left by mobile device and erection support 8, set the pair of sensors R of second group of sensor
1and T
1the error of center line pair of sensors and target range when aliging with the center line in destination disk 1 first left hole be positive and negative (30-C) mm; Pair of sensors R
1and T
1center line with when on the right of destination disk 1, first clock centerline hole aligns, pair of sensors T
1and R
1once, now the distance of distance objective position is 270 ± (30-C) mm in change; As pair of sensors T
1and R
1when aliging with destination disk 1 second right clock centerline hole, pair of sensors T
1, R
1change 2 times, now second couple of sensor T
2and R
2through first clock centerline hole on the right of destination disk 1, second couple of sensor T
2and R
2change 1 time, now the distance of distance objective position is 240 ± (30-C) mm; As pair of sensors R
1and T
1t when aliging with destination disk 1 first left clock centerline hole
1and R
1change 10 times, now the distance error of distance objective position is positive and negative (30-C) mm; Its T below
2and R
2this group sensor has changed 9 times, T
3and R
3this group sensor has changed 8 times, just can sum up the signal condition Changing Pattern of all sensors by that analogy; As the pair of sensors T of second group of sensor
1and R
1t when aliging with destination disk 1 left side n-th clock centerline hole
1and R
1change 10-n time, n is the integer from 0 to 9, and now distance objective positional distance is 30n ± (30-C) mm; In the middle of these Changing Patterns, just can analyze the distance of now distance objective position, anticipation section can be carried out to target range like this.
The moving movement if mobile device is turned right, according to rule above, then T
10with R
10this group sensor changes 10 times at first thus draws and target range according to above-mentioned rule.
Second embodiment of the present invention is:
On destination disk 1, the spacing in adjacent two holes of second row is the minimum scale of the suitable main scale of 30mm(), sensor R
1with R
2spacing C be the suitable vernier minimum scale of 27mm(), now the width of each little lattice of main scale is 30mm, 9 lattice of main scale are divided into 10 equal portions by vernier sensor, therefore the spacing of vernier is 27mm, each little each little difference 3mm than main scale of such vernier, so its degree of accuracy is positive and negative 3mm.Just align with the center line in the third left hole of second row on destination disk 1 with the 3rd sensor in mobile Fig. 3 of equipment, the center line of other sensors does not all align, and represents that now equipment distance objective position has the distance of 9mm just.
3rd embodiment of the present invention is:
If by sensor R
1with R
2the minimum scale of the suitable vernier of spacing C() be adjusted to 29.5mm then degree of accuracy will become 0.5mm, just align with the center line in the third left hole of second row on destination disk 1 with the 3rd sensor in mobile Fig. 3 of equipment, the center line of other sensors does not all align, and represents that now there is 1.5mm equipment distance objective position just.
Claims (1)
1. a High-precision position detection device, is characterized in that: comprise detecting unit and destination disk; Described detecting unit comprises two sensors, housing one (3) and housing two (4); Destination disk (1) is arranged on fixed equipment, and described destination disk is provided with two rows equally distributed hole at equal intervals, detecting unit does relative rectilinear motion with destination disk (1); Housing one (3) is connected with crossbeam one (12) by fastener for installing one (6), housing two (4) is connected with crossbeam one (12) by fastener for installing two (7), crossbeam one (12) is arranged installs column (5), crossbeam two (13) is fixed on erection support (8), and described erection support (8) is fixing on the mobile apparatus;
At housing one (3), sensor device two (9) and sensor device one (2) are set; Sensor device three (10) and sensor device four (11) are set in housing two (4); Arrange sensor respectively in sensor device two (9) and sensor device three (10), the sensor in sensor device two (9) and sensor device three (10) is first group of sensor; Arrange sensor in sensor device one (2) and sensor device four (11), in sensor device one (2) and sensor device four (11), the sensor arranged in sensor is second group of sensor;
The upper first row of described destination disk (1) arranges 10 holes, and the size shape in each hole of first row is equal, and the position of passing hole and quantity realize digital numbering; The upper second row of destination disk (1) arranges 10 holes, and each hole is called clock hole, and the size shape in each hole of the upper second row of destination disk (1) is equal; The center line in 10 holes of the upper first row of destination disk (1) is to be spacedly distributed, and the center line in 10 holes of the upper second row of destination disk (1) is to be spacedly distributed; The distance of the center line in upper adjacent two holes of first row of destination disk (1) is equal with the distance of the center line in upper adjacent two holes of second row of destination disk (1); The center line in each hole of first row aligns with the center line in each hole of second row; The distance of the center line in upper adjacent two holes of second row of destination disk (1) is 30 millimeters; 10 holes of the upper first row of destination disk (1) can retain a part wherein, remaining hole as required; Upper 3rd row of destination disk (1) arranges 2 holes, and described 2 holes are used for fixing Target Board;
Arrange two sensors in sensor device two (9), described two sensors are respectively R
11and R
12; Arrange two sensors in sensor device three (10), described two sensors are respectively T
11and T
12; R
11and T
11correspond to the tenth pair of sensors, R
12and T
12correspond to the 12 pair of sensor;
Arrange ten sensors in sensor device one (2), described ten sensors are respectively R
1, R
2, R
3, R
4, R
5, R
6, R
7, R
8, R
9and R
10; In sensor device one (2), often the distance of adjacent two sensors is equal; Arrange ten sensors in sensor device four (11), described ten sensors are respectively T
1, T
2, T
3, T
4, T
5, T
6, T
7, T
8, T
9and T
10; In sensor device four (11), often the distance of adjacent two sensors is equal; In sensor device one (2), the distance of every adjacent sensors is equal with the distance of adjacent sensors every in sensor device four (11), and distance is that the scope of C, C is at 27 millimeters to 30 millimeters; R
1and T
1be pair of sensors, R
1with T
1centerline on same straight line; R
2and T
2be second pair of sensor, R
2with T
2centerline on same straight line; R
3and T
3be the 3rd pair of sensor, R
3with T
3centerline on same straight line; Arrange with this principle, R
10and T
10be the tenth pair of sensor, R
10with T
10centerline on same straight line;
The distance of now distance objective position can be judged by the information combination of 10 pairs of sensors, when moving movement turned left by mobile device and erection support (8), set the pair of sensors R of second group of sensor
1and T
1center line when aliging with the center line in destination disk (1) first left clock hole pair of sensors and target range be error positive and negative (30-C); Pair of sensors R
1and T
1center line and destination disk (1) the right first centerline hole when aliging, pair of sensors T
1and R
1once, now the distance of distance objective position is 270 ± (30-C) mm in change; As pair of sensors T
1and R
1when aliging with destination disk (1) second right clock centerline hole, pair of sensors T
1, R
1change 2 times, now second couple of sensor T
2and R
2through first clock centerline hole on the right of destination disk (1), second couple of sensor T
2and R
2change 1 time, now the distance of distance objective position is 240 ± (30-C) mm; As pair of sensors R
1and T
1t when aliging with destination disk (1) first left clock centerline hole
1and R
1change 10 times, now distance objective positional distance error is positive and negative (30-C) mm; Its T below
2and R
2this group sensor has changed 9 times, T
3and R
3this group sensor has changed 8 times, just can sum up the signal condition Changing Pattern of all sensors by that analogy; As the pair of sensors T of second group of sensor
1and R
1t when aliging with destination disk (1) left side n-th clock centerline hole
1and R
1change 10-n time, n is the integer from 0 to 9, and now distance objective positional distance is 30n ± (30-C) mm, just can analyze the distance of now distance objective position in the middle of these Changing Patterns;
The moving movement if mobile device is turned right, according to rule above, then T
10with R
10this group sensor changes 10 times at first thus draws and target range according to above-mentioned rule.
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|---|---|---|---|
| CN201210517361.4A CN102980473B (en) | 2012-12-05 | 2012-12-05 | A kind of High-precision position detection device and localization method thereof |
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|---|---|---|---|
| CN201210517361.4A CN102980473B (en) | 2012-12-05 | 2012-12-05 | A kind of High-precision position detection device and localization method thereof |
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| CN102980473B true CN102980473B (en) | 2015-11-04 |
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| CN201770654U (en) * | 2010-06-01 | 2011-03-23 | 大连华锐股份有限公司 | Furnace number identification and detection device of coke furnace and mechanical furnace |
| CN202081059U (en) * | 2011-03-23 | 2011-12-21 | 上海梅山钢铁股份有限公司 | Intelligent heat number recognition device for coke oven carbonation chamber |
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| EP0150289A3 (en) * | 1984-01-26 | 1985-09-04 | Siemens Aktiengesellschaft | System for the positioning of coke oven machines |
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| CN102980473A (en) | 2013-03-20 |
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