CN102662177B - Operation target positioning system and method - Google Patents
Operation target positioning system and method Download PDFInfo
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- CN102662177B CN102662177B CN201210137913.9A CN201210137913A CN102662177B CN 102662177 B CN102662177 B CN 102662177B CN 201210137913 A CN201210137913 A CN 201210137913A CN 102662177 B CN102662177 B CN 102662177B
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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 project machinery industry is day by day fierce, add that engineering machinery is expensive, user improves day by day to the automaticity of engineering machinery and the requirement of processing safety.At present, for the location of operative goals in engineering machinery, namely whether operative goals is positioned at the setting of the mechanical arm of engineering machinery, mainly still depend on visual inspection and Non-follow control, it is not high to there is positioning precision in it, and then the potential safety hazard of engineering machinery blindly operation may be caused, and cause operation long for positioning time because of visual inspection and Non-follow control, cause location efficiency low.
Therefore, urgently provide a kind of positioning system of the operative goals that can locate fast and accurately, with the controllability of the automaticity and safety that promote engineer machinery operation.
Summary of the invention
In order to overcome above-mentioned defect and the deficiency of prior art, the first object of the present invention is to provide a kind of effective operative goals positioning system, comprising: be arranged at the photoelectric sensing apparatus on the mechanical arm of engineering machinery, unique reflection unit, a control device be arranged on operative goals; Described photoelectric sensing apparatus is used for emission of light, and receives the light of described reflection unit reflection, and produces electric signal according to the reflection ray received; The light that described reflection unit is launched for reflecting described photoelectric sensing apparatus; Described control device is used for determining that when the amplitude of described electric signal is greater than predetermined threshold value described operative goals is positioned at the setting of described mechanical arm.
Further, described control device comprises:
First controller, moves along X-axis and Y direction for the mechanical arm controlling described engineering machinery;
Second controller, is electrically connected with described first controller, for when the mechanical arm of described engineering machinery moves in the X-axis direction and the amplitude of described electric signal is greater than the first preset value, determines that described operative goals is positioned at the first setting of described mechanical arm; And described engineering machinery mechanical arm along Y direction move and the amplitude of described electric signal is greater than the second preset value time, determine that described operative goals is positioned at the second setting of described mechanical arm; And according to the first setting of described mechanical arm and the second setting, determine the setting of described mechanical arm;
Wherein, described predetermined threshold value comprises described first preset value and the second preset value.
Further, operative goals positioning system also comprises: oscillating modulation device, is electrically connected with described control device, for generating the modulation signal for controlling light emission, and described modulation signal is sent to described photoelectric sensing apparatus.
Further, the electric signal that described photoelectric sensing apparatus generates is current signal;
Described operative goals positioning system also comprises: current/voltage-converted device, for receiving the current signal that described photoelectric sensing apparatus sends, and described current signal is converted to voltage signal, and described voltage signal is sent to described control device.
Further, described photoelectric sensing apparatus comprises: for launching the infrared light transmitter elements of infrared light.
Further, described photoelectric sensing apparatus also comprises: photosensitive receiving element, for receiving the infrared light of described reflection unit reflection, and produces described current signal according to the reflects infrared light received.
Further, described reflection unit is reflection edge runner plate.
In order to overcome above-mentioned defect and the deficiency of prior art, the second object of the present invention is to provide a kind of operative goals localization method, comprising:
Be arranged at the photoelectric sensing apparatus emission of light on the mechanical arm of engineering machinery;
A unique reflection unit be arranged on operative goals reflects the light that described photoelectric sensing apparatus is launched;
Described photoelectric sensing apparatus receives the light of described reflection unit reflection, and produces electric signal according to the reflection ray received;
Control device determines that when the amplitude of described electric signal is greater than predetermined threshold value described operative goals is positioned at the setting of described mechanical arm.
Further, also comprised reflect the step of the light that described photoelectric sensing apparatus is launched at the described reflection unit be arranged on operative goals before:
The mechanical arm that described control device controls described engineering machinery moves along X-axis and Y direction.
Further, described control device determines that when the amplitude of described electric signal is greater than predetermined threshold value the step that described operative goals is positioned at the setting of described mechanical arm comprises:
Described control device, when the mechanical arm of described engineering machinery moves in the X-axis direction and the amplitude of described electric signal is greater than the first preset value, determines that described operative goals is positioned at the first setting of described mechanical arm; And described engineering machinery mechanical arm along Y direction move and the amplitude of described electric signal is greater than the second preset value time, determine that described operative goals is positioned at the second setting of described mechanical arm; And according to the first setting of described mechanical arm and the second setting, determine the setting of described mechanical arm;
Wherein, described predetermined threshold value comprises described first preset value and the second preset value.
Operative goals positioning system of the present invention and method are by utilizing photoelectric sensing apparatus luminescence and receiving light, and then determine that operative goals is positioned at the setting of mechanical arm by controller when the electric signal that the light received is corresponding is greater than predetermined threshold value, provide a kind of robotization, pinpoint operative goals positioning system.
Accompanying drawing explanation
Fig. 1 is the example structure schematic 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
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
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 (as arm support tail end) on the mechanical arm of engineering machinery, for emission of light, and receives the light of reflection unit 3 reflection, and produces electric signal according to the reflection ray received;
Reflection unit 3 is arranged on operative goals, for the light that reflected light electrical sensor apparatus 1 is launched;
Control device 5 is for determining that when the amplitude of electric signal is greater than predetermined threshold value operative goals is positioned at the setting of mechanical arm.Wherein, this predetermined threshold value can with reference to generally when operative goals be positioned at the setting of mechanical arm, and the amplitude size that photoelectric sensing apparatus 1 produces electric signal according to the reflection ray correspondence received is determined.
Be understandable that, the present embodiment receives the size of electric current corresponding to the reflection ray of reflection unit 3 to weigh the distance of mechanical arm and operative goals mainly through photoelectric sensing apparatus 1, in the distance of mechanical arm and operative goals when rational scope (namely meet mechanical arm can to operative goals normal operation), reflection unit 3 on operative goals can receive a certain amount of light emitted from the photoelectric sensing apparatus 1 mechanical arm, correspondingly, photoelectric sensing apparatus 1 also can receive a certain amount of light reflected from reflection unit 3, thus produce the electric signal being greater than above-mentioned predetermined threshold value.
During concrete operations, in order to realize the distance adjustment of mechanical arm and operative goals, mechanical arm can be moved along all directions, until the electric signal that photoelectric sensing apparatus 1 produces is greater than above-mentioned predetermined threshold value, but the irregular movement of mechanical arm may cause the motion of the distance adjustment being much unprofitable to mechanical arm and operative goals; Preferably, in order to improve the efficiency of operative goals location, can be moved along X-axis and Y direction by the mechanical arm of control engineering machinery, to scan along X-axis and Y direction operative goals; Correspondingly, control device 5 can comprise:
First controller 51, the mechanical arm for control engineering machinery moves along X-axis and Y direction; During concrete operations, the first controller 51 can be the existing controller realizing various controlling functions in engineering machinery;
Second controller 53, is electrically connected with the first controller 51, for when the mechanical arm of engineering machinery moves in the X-axis direction and the amplitude of electric signal is greater than the first preset value, determines that operative goals is positioned at the first setting of mechanical arm; And engineering machinery mechanical arm along Y direction move and the amplitude of electric signal is greater than the second preset value time, determine that operative goals is positioned at the second setting of mechanical arm; And according to the first setting and the second setting, determine the setting of mechanical arm;
Wherein, predetermined threshold value comprises the first preset value and the second preset value, and the first preset value can be identical with the size of the second preset value, also can be different, is determined on a case-by-case basis; During concrete operations, second controller 53 can be the single-chip microcomputer set up for realizing operative goals positioning function, can connect, realize unidirectional or two-way communication between the first controller 51 and second controller 53 through CAN.
Seen from the above description, movement dimension due to mechanical arm is divided into X-axis and Y-axis two dimensions, on two movement dimension, determine the first setting and the second setting respectively, and then determine final setting according to the first setting and the second setting, the efficiency of location can be improved.
During concrete operations, operation according to the setting of the first setting and the second setting determination mechanical arm first can determine that the first setting determines the second setting again, the coordinate that first setting is corresponding as determined is (1,0) after, keep X=1 constant, the coordinate of adjustment Y-axis, as at coordinate (1,1) determine that the amplitude of electric signal is greater than the second preset value, then coordinate (1,1) corresponds to coordinate corresponding to mechanical arm setting; Certainly, first can also determine that the second setting determines the first setting again, or,
First the first setting respectively, if respective coordinates is (1,0), with the second setting, if respective coordinates is (0,1),
Then, determine the setting of mechanical arm, respective coordinates is (1,1).
Be understandable that, what be greater than the first preset value is the first setting, and multiple point can be had to satisfy condition, and is in like manner suitable for the second setting.
Preferably, in order to promote the intensity of photoelectric sensing apparatus 1 emission of light, above-mentioned operative goals positioning system can also comprise: oscillating modulation device 7, itself and control device 5 are electrically connected, for generating the modulation signal for controlling light emission, and modulation signal is sent to photoelectric sensing apparatus 1, send modulation light to make photoelectric sensing apparatus 1.
Preferably, in order to ensure the anti-interference of light, the Optical Transmit Unit in photoelectric sensing apparatus 1 can adopt the infrared light transmitter elements 11 for launching infrared light; Further preferably, in order to reduce costs under the prerequisite ensureing light receiver quality, light receiving unit in photoelectric sensing apparatus 1 can adopt photosensitive receiving element 13, the infrared light that photosensitive receiving element 13 reflects for receiving reflection unit 3, and according to the reflects infrared light generation current signal received.
It should be noted that, infrared light transmitter elements 11 is by the infrared transmitting tube 111(emitted beam as shown in Figure 2) and optical transmission circuit in other conventional circuit components form, do not repeat the particular circuit configurations of infrared light transmitter elements 11 at this, general conventional optical transmission circuit all can be applicable to the present embodiment; Equally, photosensitive receiving element 13 comprises photosensitive receiving tube 131(and refers to Fig. 2, as phototriode) and optical receiving circuit in other conventional circuit components, do not repeat the particular circuit configurations of photosensitive receiving element 13 at this, general conventional optical receiving circuit (can comprise common amplification and filter function) all can be applicable to the present embodiment; In addition, in order to ensure the illumination effect of photoelectric sensing apparatus 1 further, photoelectric sensing apparatus 1 can also comprise lens 15 as shown in Figure 2.
Preferably, when the electric signal that photoelectric sensing apparatus 1 produces is current signal, in order to improve operative goals positioning precision, operative goals positioning system also comprises: current/voltage-converted device 9, for receiving the current signal that photoelectric sensing apparatus 1 sends, and current signal is converted to voltage signal, and voltage signal is sent to control device 5.
It should be noted that, when not adopting current/voltage-converted device 9, above-mentioned predetermined threshold value, first preset value and the second preset value are all corresponding with the electric signal that photoelectric sensing apparatus 1 produces, when electric signal as photoelectric sensing apparatus 1 generation is current signal, above-mentioned predetermined threshold value, first preset value and the second preset value are a certain size current value, controller 5 is amplitude and the predetermined threshold value of comparison electric signal or the amplitude of direct comparison electric signal and the first preset value and the second preset value directly, and then the setting of mechanical arm whether is positioned at according to comparison result determination operative goals, when adopting current/voltage-converted device 9, the amplitude of the not direct comparison electric signal of controller 5 and predetermined threshold value, the first preset value and the second preset value, but the amplitude of voltage signal that is converted to through electric signal of comparison and the corresponding voltage threshold preset, and then whether be positioned at the setting of mechanical arm according to the comparison result determination operative goals of two magnitudes of voltage, be understandable that, because the electric signal before voltage signal and conversion has the proportionate relationship determined, therefore the amplitude of comparison electric signal all can realize judging whether operative goals is positioned at the object of the setting of mechanical arm with the corresponding voltage threshold preset with the amplitude of the voltage signal that predetermined threshold value and comparison are converted to through electric signal.
During concrete operations, reflection unit 3 can be reflection edge runner plate 31 as shown in Figure 2, as hexagonal prism reflector.
Composition graphs 1 and Fig. 2, above-mentioned operative goals positioning system principle of work is summarized as follows: the infrared light transmitter elements 11 in photoelectric sensing apparatus 1 launches infrared light, lens in photoelectric sensing apparatus 1 can to the angle of transmitting illuminant and focus controlling to optimal parameter, first first controller 51 can controller mechanical arm move along X-direction, location scanning in X-direction is carried out to operative goals, the photosensitive receiving element 13 of photoelectric sensing apparatus 1 can amplify and filtering the current signal produced based on the reflected light received, and realize the conversion of current signal to voltage signal by current/voltage-converted device 9, the amplitude of second controller 53 comparison voltage signal and the first preset value, when the amplitude of voltage signal is greater than the first preset value, illustrate that the reflection unit 3 on operative goals have received a certain amount of light, namely reflection unit 3 and photoelectric sensing apparatus 1 position are in the X-axis direction closed on, also illustrate that the installation site-operative goals of reflection unit 3 and installation site-mechanical arm position in the X-axis direction of photoelectric sensing apparatus 1 are closed on, in other words, operative goals has been positioned at the X setting (also can be called the first setting) of mechanical arm, after this, first controller 51 can controller mechanical arm move along Y direction, location scanning in Y direction is carried out to operative goals, the photosensitive receiving element 13 of photoelectric sensing apparatus 1 can amplify and filtering the current signal produced based on the reflected light received, and realize the conversion of current signal to voltage signal by current/voltage-converted device 9, the amplitude of second controller 53 comparison voltage signal and the second preset value, when the amplitude of voltage signal is greater than the second preset value, illustrate that the reflection unit 3 on operative goals have received a certain amount of light, namely reflection unit 3 and photoelectric sensing apparatus 1 position are in the Y-axis direction closed on, also illustrate that operative goals has been positioned at the Y setting (also can be called the second setting) of mechanical arm, after the X setting being positioned at mechanical arm at operative goals and Y setting, location is terminated, and Relocation complete signal can be sent to the first controller 51, first controller 51 controller mechanical arm and implement Job Operations by second controller 53.
The present embodiment is by utilizing photoelectric sensing apparatus luminescence and receiving light, and then determine that operative goals is positioned at the setting of mechanical arm by controller when the electric signal that the light received is corresponding is greater than predetermined threshold value, provide a kind of robotization, pinpoint operative goals positioning system; Preferably, move by controller mechanical arm along X, Y direction and then realize the scanning to operative goals X, Y direction, improve the efficiency of location; Preferably, utilize phototriode as Sensitive Apparatus, reduce costs.
As shown in Figure 3, the explanation of Fig. 1 and Fig. 2 illustrates and all goes for this method embodiment operative goals localization method embodiment of the present invention, and the method can comprise:
Step 300, is arranged at the photoelectric sensing apparatus emission of 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 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 received;
Step 306, control device determines that when the amplitude of electric signal is greater than predetermined threshold value operative goals is positioned at the setting of mechanical arm.
Also comprised before step 302:
The mechanical arm of control device control engineering machinery moves along X-axis and Y direction;
Further, above-mentioned steps 306 comprises:
Control device, when the mechanical arm of engineering machinery moves in the X-axis direction and the amplitude of electric signal is greater than the first preset value, determines that operative goals is positioned at the first setting of mechanical arm; And engineering machinery mechanical arm along Y direction move and the amplitude of electric signal is greater than the second preset value time, determine that operative goals is positioned at the second setting of mechanical arm; And according to the first setting of mechanical arm and the second setting, determine the setting of mechanical arm; Wherein, predetermined threshold value comprises the first preset value and the second preset value.
Operative goals localization method embodiment of the present invention is by utilizing photoelectric sensing apparatus luminescence and receiving light, and then determine that operative goals is positioned at the setting of mechanical arm by controller when the electric signal that the light received is corresponding is greater than predetermined threshold value, can realize operative goals robotization, accurately locate; Preferably, moved along X, Y direction by controller mechanical arm, and utilize infrared light as the strong anti-interference feature of light source, and utilize the photosensitive receiving tube of low cost to receive light, improve the efficiency to operative goals location.
These are only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. an operative goals positioning system, it is characterized in that, comprising: be arranged at the photoelectric sensing apparatus (1) on the mechanical arm of engineering machinery, unique one be arranged at reflection unit (3) on operative goals and control device (5);
Described photoelectric sensing apparatus (1) for emission of light, and receives the light that described reflection unit (3) reflects, and produces electric signal according to the reflection ray received;
The light that described reflection unit (3) is launched for reflecting described photoelectric sensing apparatus (1);
Described control device (5) is for determining that when the amplitude of described electric signal is greater than predetermined threshold value described operative goals is positioned at the setting of described mechanical arm;
Described control device (5) comprising:
First controller (51), moves along X-axis and Y direction for the mechanical arm controlling described engineering machinery;
Second controller (53), be electrically connected with described first controller (51), for when the mechanical arm of described engineering machinery moves in the X-axis direction and the amplitude of described electric signal is greater than the first preset value, determine that described operative goals is positioned at the first setting of described mechanical arm; And described engineering machinery mechanical arm along Y direction move and the amplitude of described electric signal is greater than the second preset value time, determine that described operative goals is positioned at the second setting of described mechanical arm; And according to the first setting of described mechanical arm and the second setting, determine the setting of described mechanical arm;
Wherein, described predetermined threshold value comprises described first preset value and the second preset value.
2. operative goals positioning system according to claim 1, it is characterized in that, also comprise: oscillating modulation device (7), be electrically connected with described control device (5), for generating the modulation signal for controlling light emission, and described modulation signal is sent to described photoelectric sensing apparatus (1).
3. operative goals positioning system according to claim 1 and 2, is characterized in that, the electric signal that described photoelectric sensing apparatus (1) generates is current signal;
Described operative goals positioning system also comprises: current/voltage-converted device (9), for receiving the current signal that described photoelectric sensing apparatus (1) sends, and described current signal is converted to voltage signal, and described voltage signal is sent to described control device (5).
4. operative goals positioning system according to claim 3, is characterized in that, described photoelectric sensing apparatus (1) comprising: for launching the infrared light transmitter elements (11) of infrared light.
5. operative goals positioning system according to claim 4, it is characterized in that, described photoelectric sensing apparatus (1) also comprises: photosensitive receiving element (13), for receiving the infrared light that described reflection unit (3) reflects, and produce described current signal according to the reflects infrared light received.
6. operative goals positioning system according to claim 1 and 2, is characterized in that, described reflection unit (3) is reflection edge runner plate.
7. an operative goals localization method, is characterized in that, comprising:
The mechanical arm of control device control engineering machinery moves along X-axis and Y direction;
Be arranged at the photoelectric sensing apparatus emission of light on the mechanical arm of described engineering machinery;
A unique reflection unit be arranged on operative goals reflects the light that described photoelectric sensing apparatus is launched;
Described photoelectric sensing apparatus receives the light of described reflection unit reflection, and produces electric signal according to the reflection ray received;
Described control device, when the mechanical arm of described engineering machinery moves in the X-axis direction and the amplitude of described electric signal is greater than the first preset value, determines that described operative goals is positioned at the first setting of described mechanical arm; And described engineering machinery mechanical arm along Y direction move and the amplitude of described electric signal is greater than the second preset value time, determine that described operative goals is positioned at the second setting of described mechanical arm; And according to the first setting of described mechanical arm and the second setting, determine the setting of described mechanical arm;
Wherein, described predetermined threshold value comprises described first preset value and the 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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| 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 |
| CN1684901A (en) * | 2002-09-30 | 2005-10-19 | 西门子公司 | Method and device for recognition of a load on a lifting gear |
| US7984557B1 (en) * | 2009-06-05 | 2011-07-26 | Carl Keith D | Laser-guided positioning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH09216735A (en) * | 1996-02-14 | 1997-08-19 | Shikoku Electric Power Co Inc | Loading machine |
| JP3301349B2 (en) * | 1997-05-29 | 2002-07-15 | 住友金属工業株式会社 | Trailer stop position detection device |
| US8363210B2 (en) * | 2007-10-26 | 2013-01-29 | Deere & Company | Three dimensional feature location from an excavator |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3445830A1 (en) * | 1984-12-15 | 1986-06-19 | Dürr Anlagenbau GmbH, 7000 Stuttgart | Handling plant with positioning device |
| CN1684901A (en) * | 2002-09-30 | 2005-10-19 | 西门子公司 | Method and device for recognition of a load on a lifting gear |
| US7984557B1 (en) * | 2009-06-05 | 2011-07-26 | Carl Keith D | Laser-guided positioning device |
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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. |