CN102662177A - Operation target positioning system and method - Google Patents
Operation target positioning system and method Download PDFInfo
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- CN102662177A CN102662177A CN2012101379139A CN201210137913A CN102662177A CN 102662177 A CN102662177 A CN 102662177A CN 2012101379139 A CN2012101379139 A CN 2012101379139A CN 201210137913 A CN201210137913 A CN 201210137913A CN 102662177 A CN102662177 A CN 102662177A
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Abstract
The invention provides an operation target positioning system and an operation target positioning method, wherein the operation target positioning system comprises a photoelectric sensing device which is arranged on a mechanical arm of an engineering machine, and a reflection device and a control device which are arranged on an operation target; the photoelectric sensing device is used for emitting light, receiving the light which is reflected by the reflection device and generating electric signals according to the received reflected light; the reflection device is used for reflecting the light which is emitted by the photoelectric sensing device; and the control device is used for determining the operation point of the operation target on the mechanical arm when the amplitude of the electric signal is more than a preset threshold. According to the invention, the operation target can be positioned automatically and precisely.
Description
Technical field
The present invention relates to engineering machinery field, be specifically related to a kind of operative goals positioning system and method.
Background technology
Along with the competition of domestic construction machinery industry is day by day fierce, add that engineering machinery costs an arm and a leg, the user improves the requirement of Automation of construction macninery degree and processing safety day by day.At present; For the location of operative goals in the engineering machinery, promptly whether operative goals is positioned at the setting of the mechanical arm of engineering machinery, mainly still depends on visual inspection and manually control; It exists bearing accuracy not high; And then possibly cause the blindly potential safety hazard of operation of engineering machinery, and, cause location efficiency low because of visual inspection causes operation long positioning time with manually controlling.
Die, demand providing a kind of positioning system of the operative goals that can locate fast and accurately urgently, with automaticity and the safe controllability that promotes engineer machinery operation.
Summary of the invention
In order to overcome the above-mentioned defective and the deficiency of prior art; First purpose of the present invention is to provide a kind of effective operative goals positioning system, comprising: be arranged at photoelectric sensing apparatus on the mechanical arm of engineering machinery, be arranged at reflection unit, control device on the operative goals; Said photoelectric sensing apparatus is used to launch light, and receives the light of said reflection unit reflection, and produces electric signal according to the reflection ray that receives; Said reflection unit is used to reflect the light of said photoelectric sensing apparatus emission; When being used for amplitude at said electric signal greater than predetermined threshold value, said control device confirms that said operative goals is positioned at the setting of said mechanical arm.
Further, said control device comprises:
First controller, the mechanical arm that is used to control said engineering machinery moves along X axle and Y direction;
Second controller is electrically connected with said first controller, is used for that mechanical arm in said engineering machinery moves in the X-axis direction and the amplitude of said electric signal during greater than first preset value, confirms that said operative goals is positioned at first setting of said mechanical arm; And move and the amplitude of said electric signal during greater than second preset value along Y direction at the mechanical arm of said engineering machinery, confirm that said operative goals is positioned at second setting of said mechanical arm; And, confirm the setting of said mechanical arm according to first setting and second setting of said mechanical arm;
Wherein, said predetermined threshold value comprises said first preset value and second preset value.
Further, the operative goals positioning system also comprises: the vibration modulating device, be electrically connected with said control device, and be used to generate the modulation signal that is used to control light emission, and said modulation signal is sent to said photoelectric sensing apparatus.
Further, the electric signal of said photoelectric sensing apparatus generation is a current signal;
Said operative goals positioning system also comprises: the current/voltage-converted device is used to receive the current signal that said photoelectric sensing apparatus sends, and converts said current signal into voltage signal, and said voltage signal is sent to said control device.
Further, said photoelectric sensing apparatus comprises: the infrared light transmitter unit that is used to launch infrared light.
Further, said photoelectric sensing apparatus also comprises: photosensitive receiving element is used to receive the infrared light that said reflection unit reflects, and produces said current signal according to the reflects infrared light that receives.
Further, said reflection unit is the reflection edge runner plate.
In order to overcome the above-mentioned defective and the deficiency of prior art, second purpose of the present invention is to provide a kind of operative goals localization method, comprising:
Be arranged at the photoelectric sensing apparatus emission light on the mechanical arm of engineering machinery;
The reflection unit that is arranged on the operative goals reflects the light of said photoelectric sensing apparatus emission;
Said photoelectric sensing apparatus receives the light of said reflection unit reflection, and produces electric signal according to the reflection ray that receives;
Control device confirms that said operative goals is positioned at the setting of said mechanical arm in the amplitude of said electric signal during greater than predetermined threshold value.
Further,, the said reflection unit that is arranged on the operative goals also comprises before reflecting the step of light of said photoelectric sensing apparatus emission:
The mechanical arm that said control device is controlled said engineering machinery moves along X axle and Y direction.
Further, said control device confirms that in the amplitude of said electric signal the step that said operative goals is positioned at the setting of said mechanical arm comprises during greater than predetermined threshold value:
Said control device moves in the X-axis direction and the amplitude of said electric signal during greater than first preset value at the mechanical arm of said engineering machinery, confirms that said operative goals is positioned at first setting of said mechanical arm; And move and the amplitude of said electric signal during greater than second preset value along Y direction at the mechanical arm of said engineering machinery, confirm that said operative goals is positioned at second setting of said mechanical arm; And, confirm the setting of said mechanical arm according to first setting and second setting of said mechanical arm;
Wherein, said predetermined threshold value comprises said first preset value and second preset value.
Operative goals positioning system of the present invention and method are through utilizing the luminous and reception light of photoelectric sensing apparatus; And then confirm that operative goals is positioned at the setting of mechanical arm at the corresponding electric signal of the light that receives during greater than predetermined threshold value through controller, a kind of robotization, pinpoint operative goals positioning system are provided.
Description of drawings
Fig. 1 is the example structure synoptic diagram of operative goals positioning system of the present invention;
Fig. 2 is the light path sketch of operative goals positioning system of the present invention;
Fig. 3 is the embodiment process flow diagram of operative goals localization method of the present invention.
Embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
As shown in Figure 1, operative goals positioning system embodiment of the present invention comprises: photoelectric sensing apparatus 1, reflection unit 3, control device 5; Wherein,
Photoelectric sensing apparatus 1 is arranged at (terminal like jib) on the mechanical arm of engineering machinery, is used to launch light, and receives the light of reflection unit 3 reflections, and produces electric signal according to the reflection ray that receives;
Reflection unit 3 is arranged on the operative goals, is used for the light of reflected light electrical sensor apparatus 1 emission;
When being used for amplitude at electric signal greater than predetermined threshold value, control device 5 confirms that operative goals is positioned at the setting of mechanical arm.Wherein, this predetermined threshold value can be with reference to generally speaking when operative goals be positioned at the setting of mechanical arm, and photoelectric sensing apparatus 1 is confirmed according to the corresponding amplitude size that produces electric signal of the reflection ray that receives.
It is understandable that; The size that present embodiment mainly receives the reflection ray institute corresponding current of reflection unit 3 through photoelectric sensing apparatus 1 is weighed the distance of mechanical arm and operative goals; In the distance of mechanical arm and operative goals when reasonable range (promptly satisfy mechanical arm can to the operative goals normal operation); Reflection unit 3 on the operative goals can receive the light that a certain amount of photoelectric sensing apparatus 1 from the mechanical arm emits; Correspondingly, photoelectric sensing apparatus 1 also can receive a certain amount of light from reflection unit 3 reflections, thereby produces the electric signal greater than above-mentioned predetermined threshold value.
During concrete operations; In order to realize the distance adjustment of mechanical arm and operative goals; Can mechanical arm be moved along all directions; The electric signal that produces until photoelectric sensing apparatus 1 is greater than above-mentioned predetermined threshold value, yet, the motion that mechanical arm is irregular to move the distance adjustment that may cause much being unprofitable to mechanical arm and operative goals; Preferably, in order to improve the efficient of operative goals location, can move along X axle and Y direction, so that operative goals is scanned along X axle and Y direction through the mechanical arm of control engineering machinery; Correspondingly, control device 5 can comprise:
First controller 51, the mechanical arm that is used for control engineering machinery moves along X axle and Y direction; During concrete operations, first controller 51 can be the controller of the various control function of existing realization in the engineering machinery;
Wherein, predetermined threshold value comprises first preset value and second preset value, and the size of first preset value and second preset value can be identical, also can be different, be determined on a case-by-case basis; During concrete operations, second controller 53 can be to be the single-chip microcomputer of realizing that the operative goals positioning function is set up, can pass through the CAN bus between first controller 51 and second controller 53 and connect, and realizes unidirectional or two-way communication.
Can know by foregoing description; Because the motion dimension of mechanical arm is divided into X axle and two dimensions of Y axle; On two motion dimensions, confirm first setting and second setting respectively, and then confirm final setting, can improve the efficient of location according to first setting and second setting.
During concrete operations, confirm that according to first setting and second setting operation of the setting of mechanical arm can confirm earlier that first setting confirms second setting again, as confirming that the corresponding coordinate of first setting is (1; 0) after, keep X=1 constant, the coordinate of adjustment Y axle; As at coordinate (1; 1) amplitude of confirming electric signal is greater than second preset value, and then coordinate (1,1) corresponds to the corresponding coordinate of mechanical arm setting; Certainly, can also confirm definite again first setting of second setting earlier, perhaps,
First setting is (1,0) like respective coordinates at first respectively, with second setting, is (0,1) like respective coordinates,
Then, confirm the setting of mechanical arm, respective coordinates is (1,1).
It is understandable that, can have a plurality of points to satisfy condition, in like manner be suitable for second setting greater than first setting that is of first preset value.
Preferably; In order to promote the intensity of photoelectric sensing apparatus 1 emission light; Above-mentioned operative goals positioning system can also comprise: vibration modulating device 7, and itself and control device 5 are electrically connected, and are used to generate the modulation signal that is used to control light emission; And modulation signal is sent to photoelectric sensing apparatus 1, so that photoelectric sensing apparatus 1 sends modulation light.
Preferably, in order to guarantee the anti-interference of light, the Optical Transmit Unit in the photoelectric sensing apparatus 1 can adopt the infrared light transmitter unit 11 that is used to launch infrared light; Further preferably; In order under the prerequisite that guarantees the light receiving quality, to reduce cost; Light receiving unit in the photoelectric sensing apparatus 1 can adopt photosensitive receiving element 13; Photosensitive receiving element 13 is used to receive the infrared light of reflection unit 3 reflections, and produces current signal according to the reflects infrared light that receives.
Need to prove; Infrared light transmitter unit 11 is made up of other circuit components commonly used in infrared transmitting tube that emits beam 111 (as shown in Figure 2) and the optical transmission circuit; The particular circuit configurations of infrared light transmitter unit 11 is not given unnecessary details at this, general optical transmission circuit commonly used all can be applicable to present embodiment; Equally; Photosensitive receiving element 13 comprises that photosensitive receiving tube 131 (sees Fig. 2 for details; Like phototriode) and optical receiving circuit in other circuit components commonly used; The particular circuit configurations of photosensitive receiving element 13 is not given unnecessary details at this, general optical receiving circuit (can comprise common amplification and filter function) commonly used all can be applicable to present embodiment; In addition, in order further to guarantee the illumination effect of photoelectric sensing apparatus 1, photoelectric sensing apparatus 1 can also comprise lens as shown in Figure 2 15.
Preferably; When the electric signal of photoelectric sensing apparatus 1 generation is current signal; In order to improve the operative goals bearing accuracy, the operative goals positioning system also comprises: current/voltage-converted device 9 is used to receive the current signal that photoelectric sensing apparatus 1 sends; And convert current signal into voltage signal, and voltage signal is sent to control device 5.
Need to prove; Under the situation that does not adopt current/voltage-converted device 9; Above-mentioned predetermined threshold value, first preset value and second preset value are all corresponding with the electric signal that photoelectric sensing apparatus 1 produces; When the electric signal that produces like photoelectric sensing apparatus 1 is current signal; Above-mentioned predetermined threshold value, first preset value and second preset value are a certain size current value, and controller 5 is directly compared the amplitude and the predetermined threshold value of electric signal or directly compared amplitude and first preset value and second preset value of electric signal, and then confirms according to comparison result whether operative goals is positioned at the setting of mechanical arm; Under the situation that adopts current/voltage-converted device 9; Controller 5 is not directly compared amplitude and predetermined threshold value, first preset value and second preset value of electric signal; But the amplitude of the voltage signal that comparison obtains through electrical signal conversion and the corresponding voltage threshold of presetting, and then confirm according to the comparison result of two magnitudes of voltage whether operative goals is positioned at the setting of mechanical arm; It is understandable that; Because the electric signal before voltage signal and the conversion has definite proportionate relationship, so the amplitude of comparison electric signal can realize all judging with predetermined threshold value and the amplitude of comparing the voltage signal that obtains through electrical signal conversion and corresponding preset voltage threshold whether operative goals is positioned at the purpose of the setting of mechanical arm.
During concrete operations, reflection unit 3 can be for reflection edge runner plate 31 as shown in Figure 2, like the hexagonal prism reflector.
In conjunction with Fig. 1 and Fig. 2; Above-mentioned operative goals positioning system principle of work is summarized as follows: the infrared light transmitter unit 11 emission infrared lights in the photoelectric sensing apparatus 1; Lens in the photoelectric sensing apparatus 1 can be to the angle of transmitting illuminant and focus controlling to optimal parameter; First controller 51 can be controlled mechanical arm and at first move along X-direction, and operative goals is carried out the location scanning on the X-direction, and the photosensitive receiving element 13 of photoelectric sensing apparatus 1 can amplify and filtering the current signal that produces based on the reflected light that receives; And through of the conversion of current/voltage-converted device 9 realization current signals to voltage signal; The amplitude and first preset value of second controller 53 comparison voltage signals during greater than first preset value, explain that the reflection unit 3 on the operative goals has received a certain amount of light in the amplitude of voltage signal; Be reflection unit 3 with photoelectric sensing apparatus 1 on X-direction positioned near; The installation site mechanical arm of installation site-operative goals and photoelectric sensing apparatus 1 that reflection unit 3 also is described on X-direction positioned near, in other words, operative goals has been positioned at the X setting (also can be called first setting) of mechanical arm; After this; First controller 51 can be controlled mechanical arm and move along Y direction; Operative goals is carried out the location scanning on the Y direction; The photosensitive receiving element 13 of photoelectric sensing apparatus 1 can amplify and filtering the current signal that produces based on the reflected light that receives, and realizes the conversion of current signal to voltage signal through current/voltage-converted device 9, the amplitude and second preset value of second controller, 53 comparison voltage signals; In the amplitude of voltage signal during greater than second preset value; Explain that the reflection unit 3 on the operative goals has received a certain amount of light, promptly reflection unit 3 and photoelectric sensing apparatus 1 on Y direction positioned near, also explain that operative goals has been positioned at the Y setting of mechanical arm (also can be called second setting); Be positioned at the X setting and Y setting of mechanical arm at operative goals after, finish the location, and second controller 53 can be sent to first controller, 51, the first controllers, 51 control mechanical arms with location completion signal and implement Job Operations.
Present embodiment is through utilizing the luminous and reception light of photoelectric sensing apparatus; And then confirm that operative goals is positioned at the setting of mechanical arm at the corresponding electric signal of the light that receives during greater than predetermined threshold value through controller, a kind of robotization, pinpoint operative goals positioning system are provided; Preferably, move and then realize scanning along X, Y direction, improved the efficient of location operative goals X, Y direction through the control mechanical arm; Preferably, utilize phototriode, reduce cost as Sensitive Apparatus.
Operative goals localization method embodiment of the present invention is as shown in Figure 3, and explaining of Fig. 1 and Fig. 2 all goes for this method embodiment, and this method can comprise:
Step 300 is arranged at the photoelectric sensing apparatus emission light on the mechanical arm of engineering machinery;
Step 302 is arranged at the light that the reflection unit reflected light electrical sensor apparatus on the operative goals is launched;
Step 304, photoelectric sensing apparatus receives the light of reflection unit reflection, and produces electric signal according to the reflection ray that receives;
Step 306, control device confirms that operative goals is positioned at the setting of mechanical arm in the amplitude of electric signal during greater than predetermined threshold value.
Before step 302, also comprise:
The mechanical arm of control device control engineering machinery moves along X axle and Y direction;
Further, above-mentioned steps 306 comprises:
Control device moves in the X-axis direction and the amplitude of electric signal during greater than first preset value at the mechanical arm of engineering machinery, confirms that operative goals is positioned at first setting of mechanical arm; And move and the amplitude of electric signal during greater than second preset value along Y direction at the mechanical arm of engineering machinery, confirm that operative goals is positioned at second setting of mechanical arm; And, confirm the setting of mechanical arm according to first setting and second setting of mechanical arm; Wherein, predetermined threshold value comprises first preset value and second preset value.
Operative goals localization method embodiment of the present invention is through utilizing the luminous and reception light of photoelectric sensing apparatus; And then confirm that operative goals is positioned at the setting of mechanical arm at the corresponding electric signal of the light that receives during greater than predetermined threshold value through controller, can realize the operative goals robotization, accurately locate; Preferably, move along X, Y direction through the control mechanical arm, and utilize the strong anti-interference characteristics of infrared light, and utilize the light of photosensitive receiving tube reception cheaply, improved efficient the operative goals location as light source.
More than be merely preferred embodiment of the present invention, or not all within spirit of the present invention and principle in order to restriction the present invention, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an operative goals positioning system is characterized in that, comprising: be arranged at photoelectric sensing apparatus (1) on the mechanical arm of engineering machinery, be arranged at reflection unit (3) and control device (5) on the operative goals;
Said photoelectric sensing apparatus (1) is used to launch light, and receives the light of said reflection unit (3) reflection, and produces electric signal according to the reflection ray that receives;
Said reflection unit (3) is used to reflect the light of said photoelectric sensing apparatus (1) emission;
When being used for amplitude at said electric signal greater than predetermined threshold value, said control device (5) confirms that said operative goals is positioned at the setting of said mechanical arm.
2. operative goals positioning system according to claim 1 is characterized in that, said control device (5) comprising:
First controller (51), the mechanical arm that is used to control said engineering machinery moves along X axle and Y direction;
Second controller (53); Be electrically connected with said first controller (51); Be used for that mechanical arm in said engineering machinery moves in the X-axis direction and the amplitude of said electric signal during, confirm that said operative goals is positioned at first setting of said mechanical arm greater than first preset value; And move and the amplitude of said electric signal during greater than second preset value along Y direction at the mechanical arm of said engineering machinery, confirm that said operative goals is positioned at second setting of said mechanical arm; And, confirm the setting of said mechanical arm according to first setting and second setting of said mechanical arm;
Wherein, said predetermined threshold value comprises said first preset value and second preset value.
3. operative goals positioning system according to claim 1 and 2; It is characterized in that; Also comprise: vibration modulating device (7); Be electrically connected with said control device (5), be used to generate the modulation signal that is used to control light emission, and said modulation signal is sent to said photoelectric sensing apparatus (1).
4. operative goals positioning system according to claim 1 and 2 is characterized in that, the electric signal that said photoelectric sensing apparatus (1) generates is a current signal;
Said operative goals positioning system also comprises: current/voltage-converted device (9); Be used to receive the current signal that said photoelectric sensing apparatus (1) sends; And convert said current signal into voltage signal, and said voltage signal is sent to said control device (5).
5. operative goals positioning system according to claim 4 is characterized in that, said photoelectric sensing apparatus (1) comprising: the infrared light transmitter unit (11) that is used to launch infrared light.
6. operative goals positioning system according to claim 5; It is characterized in that; Said photoelectric sensing apparatus (1) also comprises: photosensitive receiving element (13) is used to receive the infrared light that said reflection unit (3) reflects, and produces said current signal according to the reflects infrared light that receives.
7. operative goals positioning system according to claim 1 and 2 is characterized in that, said reflection unit (3) is the reflection edge runner plate.
8. an operative goals localization method is characterized in that, comprising:
Be arranged at the photoelectric sensing apparatus emission light on the mechanical arm of engineering machinery;
The reflection unit that is arranged on the operative goals reflects the light of said photoelectric sensing apparatus emission;
Said photoelectric sensing apparatus receives the light of said reflection unit reflection, and produces electric signal according to the reflection ray that receives;
Control device confirms that said operative goals is positioned at the setting of said mechanical arm in the amplitude of said electric signal during greater than predetermined threshold value.
9. operative goals localization method according to claim 8 is characterized in that, the step that reflects the light of said photoelectric sensing apparatus emission at the said reflection unit that is arranged on the operative goals also comprises before:
The mechanical arm that said control device is controlled said engineering machinery moves along X axle and Y direction.
10. operative goals localization method according to claim 9 is characterized in that, said control device confirms that in the amplitude of said electric signal the step that said operative goals is positioned at the setting of said mechanical arm comprises during greater than predetermined threshold value:
Said control device moves in the X-axis direction and the amplitude of said electric signal during greater than first preset value at the mechanical arm of said engineering machinery, confirms that said operative goals is positioned at first setting of said mechanical arm; And move and the amplitude of said electric signal during greater than second preset value along Y direction at the mechanical arm of said engineering machinery, confirm that said operative goals is positioned at second setting of said mechanical arm; And, confirm the setting of said mechanical arm according to first setting and second setting of said mechanical arm;
Wherein, said predetermined threshold value comprises said first preset value and second preset value.
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| CN201210137913.9A CN102662177B (en) | 2012-05-08 | 2012-05-08 | Operation target positioning system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111227838A (en) * | 2020-04-28 | 2020-06-05 | 山东奥新医疗科技有限公司 | Limb superconducting magnetic resonance imaging system and scanning object positioning device thereof |
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| DE3445830A1 (en) * | 1984-12-15 | 1986-06-19 | Dürr Anlagenbau GmbH, 7000 Stuttgart | Handling plant with positioning device |
| JPH09216735A (en) * | 1996-02-14 | 1997-08-19 | Shikoku Electric Power Co Inc | Loading machine |
| JPH10330074A (en) * | 1997-05-29 | 1998-12-15 | Sumitomo Metal Ind Ltd | Sensing device for trailer stopping position |
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Effective date of registration: 20180807 Address after: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan Patentee after: Hunan Sany Intelligent Control Equipment Co., Ltd. Address before: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan Patentee before: Sanyi Heavy Industry Co., Ltd. |