CN103750857B - Working angle determining method and system for working equipment - Google Patents
Working angle determining method and system for working equipment Download PDFInfo
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- CN103750857B CN103750857B CN201310742401.XA CN201310742401A CN103750857B CN 103750857 B CN103750857 B CN 103750857B CN 201310742401 A CN201310742401 A CN 201310742401A CN 103750857 B CN103750857 B CN 103750857B
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Abstract
The invention relates to a working angle determining system for working equipment. A second ultrasound generation module generates ultrasound, a second ultrasound receiving module receives the ultrasound, and a second angle determining module determines the indication direction angle according to the image indication angle formed by an imaging module. First working equipment is moved, a first angle determining module determines the angle of the first working equipment and determines that the angle is the working angle of the first working equipment when the angles determined by the second angle determining module and the second angle determining module are consistent. By means of the determining method and system, the working direction of the first working equipment can be determined accurately, simplicity and convenience are provide, implementation is facilitated, and the cost is low.
Description
Technical field
The present invention relates to a kind of operating angle of working equipment determines method and system, more particularly, to one kind is based on ultrasonic one-tenth
As the ultrasonic device operating angle that equipment determines direction determines system.
Background technology
With the development of technology, equipment refinement level requirement more and more higher, need during the work of ultrasonic probe equipment requirement
There is ultrasonic wave or vibration to specific direction and position.With the development of ultrasonic technique, the application of ultrasonic imaging technique is increasingly
Extensively.Existing ultrasonic probe can not be individually determined the direction of its work, it usually needs the equipment of auxiliary assist in direction and
Position, two such equipment separately works, and when switching equipment works, often direction can change, and so largely effects on this
The working effect of equipment.If installing imaging device on each ultrasonic probe equipment, substantially increase equipment cost, with
When, supersonic imaging apparatus volume is big, also affects the facility of ultrasonic probe hand-held.
Content of the invention
Present invention solves the technical problem that being：Build a kind of operating angle of working equipment and determine method and system, overcome
Prior art working equipment orientation determines inaccurate, the technical problem of impact working effect and high cost.
The technical scheme is that：There is provided a kind of operating angle of working equipment to determine method, set including the first work
Standby, the second ultrasonic device, first angle determining module, second angle determining module, described second ultrasonic device includes the second surpassing
There is module, the second ultrasonic reception module, image-forming module in sound, described first angle determining module includes the 7th magnetic field sensor group
With septuple force snesor group, described 7th magnetic field sensor group and described septuple force snesor group are arranged on described first work
Make on equipment, described second angle determining module includes the 8th magnetic field sensor group and eightfold force snesor group, the described 8th
Magnetic field sensor group and described eightfold force snesor group are arranged on described second ultrasonic device；Described 7th magnetic field sensor
Group and described 8th magnetic field sensor group each include the magnetic field sensor of the orthogonal setting of three axial directions, described septuple power respectively
Sensor group and described eightfold force snesor group each include the gravity sensor of the orthogonal setting of three axial directions, described work respectively
The operating angle making equipment determines that method comprises the steps：
Determine the angle of ultrasonoscopy direction indication：Described second ultrasonic occur module that ultrasonic wave occurs, described the second surpass
Sound reception module receives this ultrasonic wave, and described second angle determining module indicates angle-determining with the become image of described image-forming module
The angle of this direction indication；
Mobile described first working equipment determines its operative orientation：Mobile described first working equipment, described first angle
Determining module determines the angle of described first working equipment, described second angle determining module and described first angle determining module
When the angle of determination is consistent, determine the operating angle that this angle is described first working equipment.
The further technical scheme of the present invention is：Described 7th magnetic field sensor group and described septuple force snesor group peace
It is contained in described first working equipment axial direction, described 8th magnetic field sensor group and described eightfold force snesor group are arranged on institute
State in the second ultrasonic device axial direction.
The further technical scheme of the present invention is：Described first working equipment and described second ultrasonic device pass through channel radio
Letter connects.
The technical scheme is that：Build a kind of operating angle of working equipment and determine system, set including the first work
Standby, the second ultrasonic device, first angle determining module, second angle determining module, described second ultrasonic device includes the second surpassing
There is module, the second ultrasonic reception module, image-forming module in sound, described first angle determining module includes the 7th magnetic field sensor group
With septuple force snesor group, described 7th magnetic field sensor group and described septuple force snesor group are arranged on described first work
Make on equipment, described second angle determining module includes the 8th magnetic field sensor group and eightfold force snesor group, the described 8th
Magnetic field sensor group and described eightfold force snesor group are arranged on described second ultrasonic device；Described 7th magnetic field sensor
Group and described 8th magnetic field sensor group each include the magnetic field sensor of the orthogonal setting of three axial directions, described septuple power respectively
Sensor group and described eightfold force snesor group each include the gravity sensor of the orthogonal setting of three axial directions respectively, and described
There is ultrasonic wave in two ultrasonic generation modules, described second ultrasonic reception module receives this ultrasonic wave, and described second angle determines mould
Block indicates the angle of this direction indication of angle-determining with the become image of described image-forming module；Mobile described first working equipment, institute
State the angle that first angle determining module determines described first working equipment, described second angle determining module with described first jiao
When the angle of degree determining module determination is consistent, determine the operating angle that this angle is described first working equipment.
The further technical scheme of the present invention is：Described 7th magnetic field sensor group and described septuple force snesor group peace
It is contained in described first working equipment axial direction, described 8th magnetic field sensor group and described eightfold force snesor group are arranged on institute
State in the second ultrasonic device axial direction.
The further technical scheme of the present invention is：Described authentication module is arranged on described first working equipment.
The further technical scheme of the present invention is：There is module in described second ultrasonic device setting wireless telecommunications, and described the
One working equipment setting wireless telecommunications receiver module.
The further technical scheme of the present invention is：Described first working equipment includes the first ultrasonic generation module, the first surpasses
Sound reception module.
The further technical scheme of the present invention is：Also include producing the vibration module of low-frequency vibration.
The further technical scheme of the present invention is：Described first angle determining module also includes heptangle acceleration transducer
Group, described second angle determining module also includes the anistree acceleration transducer group, described heptangle acceleration transducer group and
Described anistree acceleration transducer group each includes three orthogonal angular acceleration transducers of axial direction respectively.
The solution have the advantages that：Build a kind of operating angle of working equipment and determine method and system, described second
There is ultrasonic wave in ultrasonic generation module, described second ultrasonic reception module receives this ultrasonic wave, described second angle determining module
Indicate the angle of this direction indication of angle-determining with the become image of described image-forming module；Mobile described first working equipment, described
First angle determining module determines the angle of described first working equipment, described second angle determining module and described first angle
When the angle of determining module determination is consistent, determine the operating angle that this angle is described first working equipment.The work of the present invention
The operating angle of equipment determines method system, forms image by the ultrasonic imaging technique of the second ultrasonic device, is determined according to image
The direction of described first working equipment.The angle determination method based on ultrasonoscopy of the present invention and system, can be accurately determined
The operative orientation of the first working equipment, simple and easy to do, low cost.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is a kind of present invention angle-determining module structural representation.
Fig. 3 is present invention another kind angle-determining module structural representation.
Specific embodiment
With reference to specific embodiment, technical solution of the present invention is further illustrated.
As shown in Figure 1 and Figure 2, the specific embodiment of the present invention is：A kind of operating angle determination side of working equipment is provided
Method, including the first working equipment 1, the second ultrasonic device 2, first angle determining module 3, second angle determining module 5, described
Two ultrasonic devices 2 include the second ultrasonic generation module 21, the second ultrasonic reception module 22, image-forming module 23, described first angle
Determining module 3 includes the 7th magnetic field sensor group 35 and septuple force snesor group 38, described 7th magnetic field sensor group 35 He
Described septuple force snesor group 38 is arranged on described first working equipment 1, and described second angle determining module 2 includes the 8th
Magnetic field sensor group 55 and eightfold force snesor group 58, described 8th magnetic field sensor group 55 and described eightfold force snesor
Group 58 is arranged on described second ultrasonic device 1.Described 7th magnetic field sensor group 35 and described 8th magnetic field sensor group 55
Include magnetic field sensor, described septuple force snesor group 38 and described 8th gravity sensitive of the orthogonal setting of three axial directions respectively
Device group 58 includes the gravity sensor of the orthogonal setting of three axial directions respectively.The operating angle of described working equipment determines that method includes
Following steps：
Determine the angle of ultrasonoscopy direction indication：Described second ultrasonic generation module 21 generation ultrasonic wave, described second
Ultrasonic reception module 22 receive this ultrasonic wave, described second angle determining module 5 with described image-forming module 23 one-tenths image indicate
Direction determines the angle of this direction indication；
Described first working equipment 1 of movement determines its operative orientation：Mobile described first working equipment 1, described first jiao
Degree determining module 3 determines the angle of described first working equipment 1, and described second angle determining module 5 is true with described first angle
When the angle of cover half block 3 determination is consistent, determine the operating angle that this angle is described first working equipment 1.
As shown in Figure 1 and Figure 2, the specific implementation process of the present invention is：Described second ultrasonic generation module 21 is to particular job
There is ultrasonic wave in object, described second ultrasonic reception module 22 receives this ultrasonic wave, the figure being generated by described image-forming module 23
Picture, then indicates the operative orientation of described first working equipment 1 on particular job object on image, and described second angle determines
Module 5 measures the second ultrasonic direction that module 21 instruction occurs, and described second angle determining module 5 determines the angle of this direction indication
Degree, records the described second ultrasonic angle that module 21 occurs that described second angle determining module 5 obtains, by described second angle
The direction that determining module 5 determines is as the operative orientation of described first working equipment 1.Mobile described first working equipment 1, described
First angle determining module 3 obtains the angle of described first working equipment 1 during mobile described first working equipment 1, works as institute
State first angle determining module 3 acquisition the angle of described first working equipment 1 and described second angle determining module 5 obtain
When the angle of described second ultrasonic device 2 determination is consistent, determine the operating angle that this angle is described first working equipment 1, i.e.
Described first working equipment 1 is worked with this angle.
Described second angle determining module 5 is by described 8th magnetic field sensor group 55 and described eightfold force snesor group
58 directions obtaining the second ultrasonic device 2 determination, described first angle determining module 3 is by described 7th magnetic field sensor group 35
Obtain the direction of the first working equipment 1 with described septuple force snesor group 38.Below with described second angle determining module 5
Described 8th magnetic field sensor group 55 and described eightfold force snesor group 58 as a example be described in detail：
As shown in figure 3, the specific implementation process of the present invention is：Taking second angle determining module 5 as a example explanation below：System
Set up space coordinates O-XYZ, the Z axis of this space coordinates perpendicular to horizontal plane, in the coordinate system, with this space one
8th magnetic field sensor group 55 data of individual determination position is its primary data C0(X0、Y0、Z0), eightfold force snesor group 58
Primary data G0（0、0、-1）.When equipment moving, described 8th magnetic field sensor group 55 is output as G1（r、s、t）, eightfold
The data of force snesor group 58 output is C1(X1、Y1、Z1), the described 8th magnetic field sensor group 55 and the described 8th to collection
Real time data C of gravity sensor group 581、G1With its primary data C0、G0It is normalized, i.e. according to described 8th magnetic
The data of field sensor group 55 and described eightfold force snesor group 58 and its primary data set up spin matrix, by converting square
Battle array obtains the vector angle in space for the described ultrasonic device.Ultrasonic set because described eightfold force snesor group 58 is arranged on second
On standby 2, angle as ultrasonic device that described eightfold force snesor group 58 rotate around three reference axis in space with three
The angle of axle, if described eightfold force snesor group 58 is α around the angle that X-axis rotates, is β around the angle that Y-axis rotates, about the z axis
The angle of rotation is γ, then described eightfold force snesor group 58 and the angle of three axles are（α、β、γ）.
What spin matrix represented is any vector around coordinate system O-XYZ axis rotate when coordinate transform, vector is around coordinate
It is that the transformation matrix that tri- axis of O-XYZ rotate is：
Thus, to C0、C1、G0、G1Set up simultaneous equations：
G0= G1×X（α）Y（β）Z（γ）（1）
C0= C1×X（α）Y（β）Z（γ）（2）
By matrixing and formula（1）（2）, obtain：
（3）
（4）
Due to vector angle（α、β、γ）Not correspond with the space angle of the 8th magnetic field sensor group 58, for example angle
Degree vector（300, 600, 1000）With（-1500, 1200, -800）Represent a space angle, in order to eliminate the expression of this repetition,
Limit the span of all angles：-1800≤α<1800, -900≤β<900, -1800≤γ<1800.
Pass through（3）、（4）Obtain α, β, γ, that is, described eightfold force snesor group 58 and the angle vector of three axles are（α、
β、γ）, that is to say that ultrasonic device with the angle vector of three axles is（α、β、γ）, thus, by ultrasonic device and three axles
Angle is it is determined that the ultrasonic direction of this second ultrasonic device 2.
As shown in figure 1, the preferred embodiment of the present invention is：Described authentication module 8 is arranged on described first working equipment 1
On.There is module 25 in described second ultrasonic device 2 setting wireless telecommunications, described first working equipment 1 setting wireless telecommunications receive
Module 11.Described first working equipment 1 and described second ultrasonic device 2 are attached by radio communication.Described first work
Equipment 1 and described second ultrasonic device 2 are respectively provided with wireless communication module, and described second communication apparatus 2 is sent out by wireless telecommunications
The directional information of determination is sent to described first working equipment 1 by raw module 25, and described first working equipment 1 is according to wireless telecommunications
The directional information that receiver module 11 receives moves, and described authentication module 8 authenticates to the direction letter of described first working equipment 1
When breath is consistent with the directional information that described second ultrasonic device 2 determines, determine that the direction is its operative orientation.By radio communication
The cooperation of mode, facilitates the use of equipment.
In the same manner, described first angle determining module 3 is passed by described 7th magnetic field sensor group 35 and described septuple power
Sensor group 38 obtains the direction of the first working equipment 1 determination.
In specific embodiment, described 7th magnetic field sensor group 35 and described septuple force snesor group 38 are arranged on described
In the axial direction of the first working equipment 1, described 8th magnetic field sensor group 55 and described eightfold force snesor group 58 are arranged on institute
State in the axial direction of the second ultrasonic device 2.
As shown in figure 3, the preferred embodiment of the present invention is：Described first working equipment 1 and described second ultrasonic device 2
It is attached by radio communication.There is module 25, described first working equipment in described second ultrasonic device 2 setting wireless telecommunications
1 setting wireless telecommunications receiver module 11.The directional information of determination is sent to described first work and sets by described second communication apparatus 2
Standby 1, described first working equipment moves according to the directional information receiving, move to directional information consistent when, determine the party
To for its operative orientation.By the cooperation of communication, facilitate the use of equipment.
As shown in figure 3, the preferred embodiment of the present invention is：Described first working equipment 1 includes the of ultrasonic wave
One ultrasonic generation module 12, the first ultrasonic reception module 13 of reception ultrasonic echo signal, meanwhile, also include generation low frequency and shake
Dynamic vibration module 14, the direction of vibration of described vibration module 14 is also vibrated along the operative orientation determining.
As shown in Figure 2,3, the specific embodiment of the present invention is：The operating angle building a kind of working equipment determines system
System, including the first working equipment 1, the second ultrasonic device 2, first angle determining module 3, second angle determining module 5, checking mould
Block 8, described second ultrasonic device 2 includes the second ultrasonic generation module 21, the second ultrasonic reception module 22, image-forming module 23, institute
State first angle determining module 3 and include the 7th magnetic field sensor group 35 and septuple force snesor group 38, described 7th magnetic field passes
Sensor group 35 and described septuple force snesor group 38 are arranged on described first working equipment 1, and described second angle determines mould
Block 2 includes the 8th magnetic field sensor group 55 and eightfold force snesor group 58, described 8th magnetic field sensor group 55 and described
Eightfold force snesor group 58 is arranged on described second ultrasonic device 1.Described 7th magnetic field sensor group 35 and described 8th magnetic
Field sensor group 55 includes the magnetic field sensor of the orthogonal setting of three axial directions respectively, described septuple force snesor group 38 and described
Eightfold force snesor group 58 includes the gravity sensor of the orthogonal setting of three axial directions respectively.Described second ultrasonic generation module 21
There is ultrasonic wave, described second ultrasonic reception module 22 receives this ultrasonic wave, and described second angle determining module 5 is with described imaging
The become image of module 23 indicates the angle of this direction indication of angle-determining；Mobile described first working equipment 1, described first angle
Determining module 3 determines the angle of described first working equipment 1, and described second angle determining module 5 and described first angle determine
When the angle of module 3 determination is consistent, determine the operating angle that this angle is described first working equipment 1.
The specific implementation process of the present invention is：Described second ultrasonic generation module 21 occurs ultrasonic to particular job object
Ripple, described second ultrasonic reception module 22 receives this ultrasonic wave, and the image being generated by described image-forming module 23, then in image
The operative orientation of described first working equipment 1 on upper instruction particular job object, described second angle determining module 5 measures second
The ultrasonic direction that module 21 instruction occurs, described second angle determining module 5 determines the angle of this direction indication, records described the
The described second ultrasonic angle that module 21 occurs that two angle-determining module 5 obtains, described second angle determining module 5 is determined
Direction as described first working equipment 1 operative orientation.Mobile described first working equipment 1, described first angle determines
Module 3 obtains the angle of described first working equipment 1 during mobile described first working equipment 1, when described first angle is true
It is described second ultrasonic that the angle of described first working equipment 1 that cover half block 3 obtains and described second angle determining module 5 obtain
When the angle of equipment 2 determination is consistent, determine the operating angle that this angle is described first working equipment 1, i.e. described first work
Equipment 1 is worked with this angle.
Described second angle determining module 5 is by described 8th magnetic field sensor group 55 and described eightfold force snesor group
58 directions obtaining the second ultrasonic device 2 determination, described first angle determining module 3 is by described 7th magnetic field sensor group 35
Obtain the direction of the first working equipment 1 with described septuple force snesor group 38.Below with described second angle determining module 5
Described 8th magnetic field sensor group 55 and described eightfold force snesor group 58 as a example be described in detail：
As shown in figure 3, the specific implementation process of the present invention is：Taking second angle determining module 5 as a example explanation below：System
Set up space coordinates O-XYZ, the Z axis of this space coordinates perpendicular to horizontal plane, in the coordinate system, with this space one
8th magnetic field sensor group 55 data of individual determination position is its primary data C0(X0、Y0、Z0), eightfold force snesor group 58
Primary data G0（0、0、-1）.When equipment moving, described 8th magnetic field sensor group 55 is output as C1(X1、Y1、Z1), the 8th
The data of gravity sensor group 58 output is G1（r、s、t）, to the described 8th magnetic field sensor group 55 and the described 8th gathering
Real time data C of gravity sensor group 581、G1With its primary data C0、G0It is normalized, i.e. according to described 8th magnetic
The data of field sensor group 55 and described eightfold force snesor group 58 and its primary data set up spin matrix, by converting square
Battle array obtains the vector angle in space for the described ultrasonic device.Ultrasonic set because described eightfold force snesor group 58 is arranged on second
On standby 2, angle as ultrasonic device that described eightfold force snesor group 58 rotate around three reference axis in space with three
The angle of axle, if described eightfold force snesor group 58 is α around the angle that X-axis rotates, is β around the angle that Y-axis rotates, about the z axis
The angle of rotation is γ, then described eightfold force snesor group 58 and the angle of three axles are（α、β、γ）.
What spin matrix represented is any vector around coordinate system O-XYZ axis rotate when coordinate transform, vector is around coordinate
It is that the transformation matrix that tri- axis of O-XYZ rotate is：
Thus, to C0、C1、G0、G1Set up simultaneous equations：
G0= G1×X（α）Y（β）Z（γ）（1）
C0= C1×X（α）Y（β）Z（γ）（2）
By matrixing and formula（1）（2）, obtain：
（3）
（4）
Due to vector angle（α、β、γ）Not correspond with the space angle of the 8th magnetic field sensor group 58, for example angle
Degree vector（300, 600, 1000）With（-1500, 1200, -800）Represent a space angle, in order to eliminate the expression of this repetition,
Limit the span of all angles：-1800≤α<1800, -900≤β<900, -1800≤γ<1800.
Pass through（3）、（4）Obtain α, β, γ, that is, described eightfold force snesor group 58 and the angle vector of three axles are（α、
β、γ）, that is to say that ultrasonic device with the angle vector of three axles is（α、β、γ）, thus, by ultrasonic device and three axles
Angle is it is determined that the ultrasonic direction of this second ultrasonic device 2.
As shown in figure 1, the preferred embodiment of the present invention is：Described authentication module 8 is arranged on described first working equipment 1
On.There is module 25 in described second ultrasonic device 2 setting wireless telecommunications, described first working equipment 1 setting wireless telecommunications receive
Module 11.Described first working equipment 1 and described second ultrasonic device 2 are attached by radio communication.Described first work
Equipment 1 and described second ultrasonic device 2 are respectively provided with wireless communication module, and described second communication apparatus 2 is sent out by wireless telecommunications
The directional information of determination is sent to described first working equipment 1 by raw module 25, and described first working equipment 1 is according to wireless telecommunications
The directional information that receiver module 11 receives moves, and described authentication module 8 authenticates to the direction letter of described first working equipment 1
When breath is consistent with the directional information that described second ultrasonic device 2 determines, determine that the direction is its operative orientation.By radio communication
The cooperation of mode, facilitates the use of equipment.
In the same manner, described first angle determining module 3 is passed by described 7th magnetic field sensor group 35 and described septuple power
Sensor group 38 obtains the direction of the first working equipment 1 determination.
In specific embodiment, described 7th magnetic field sensor group 35 and described septuple force snesor group 38 are arranged on described
In the axial direction of the first working equipment 1, described 8th magnetic field sensor group 55 and described eightfold force snesor group 58 are arranged on institute
State in the axial direction of the second ultrasonic device 2.Setting in the axial direction, is easy to the calculating of angle, simplifies calculating process.
In specific embodiment, described first angle determining module 3 at least includes a gravity sensor group and a magnetic field
Sensor group is it is also possible to include multiple magnetic field sensor groups and multiple gravity sensor group.In the same manner, second angle determining module 5
At least include a gravity sensor group and a magnetic field sensor group it is also possible to include multiple magnetic field sensor groups and multiple heavy
Force snesor group.
As shown in figure 3, the preferred embodiment of the present invention is：Described authentication module 8 is arranged on described first working equipment 1
On.Described first working equipment 1 and described second ultrasonic device 2 are attached by radio communication.Described second ultrasonic device 2
There is module 25 in setting wireless telecommunications, described first working equipment 1 arranges wireless telecommunications receiver module 11.Described second communication sets
The directional information of determination is sent to described first working equipment 1 by standby 2, and described first working equipment is according to the directional information receiving
Move, described authentication module 8 carries out Information Authentication, move to directional information consistent when, determine that the direction is its work side
To.By the cooperation of communication, facilitate the use of equipment.
The preferred embodiment of the present invention is：Described first angle determining module 3 also includes heptangle acceleration transducer
Group, described second angle determining module 5 also includes anistree acceleration transducer group.Described heptangle acceleration transducer group and
Described anistree acceleration transducer group each includes three orthogonal angular acceleration transducers of axial direction respectively.By angular acceleration
The use of sensor group, immediately determines its angular acceleration, quickly determines its angle by angular acceleration, make in moving process,
Can quick, smoothly obtain equipment angle.
As shown in figure 3, the preferred embodiment of the present invention is：Described first working equipment 1 includes the of ultrasonic wave
One ultrasonic generation module 12, the first ultrasonic reception module 13 of reception ultrasonic echo signal, meanwhile, also include generation low frequency and shake
Dynamic vibration module 14, the direction of vibration of described vibration module 14 is also vibrated along the operative orientation determining.
The solution have the advantages that：Build a kind of operating angle of working equipment and determine method and system, described second
There is ultrasonic wave in ultrasonic generation module 21, described second ultrasonic reception module 22 receives this ultrasonic wave, by described image-forming module
The image of 23 generations determines position, determines the direction of position according to described second angle determining module 5 with described image-forming module 23
Obtain the angle of described second ultrasonic device 2；Mobile described first working equipment 1, described first angle determining module 3 obtains institute
State the angle of the first working equipment 1, the axial angle of the angle of described first working equipment 1 and the determination of described second ultrasonic device 2
When spending consistent, determine the operating angle that this angle is described first working equipment 1.The angle based on ultrasonoscopy of the present invention is true
Determine method and system, the operative orientation of the first working equipment 1, simple and easy to do, low cost can be accurately determined.
Above content is to further describe it is impossible to assert with reference to specific preferred embodiment is made for the present invention
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, some simple deduction or replace can also be made, all should be considered as belonging to the present invention's
Protection domain.
Claims (9)
1. a kind of operating angle of working equipment determines method it is characterised in that including the first working equipment, second ultrasonic setting
Standby, first angle determining module, second angle determining module, described second ultrasonic device include second ultrasonic occur module, the
Two ultrasonic reception modules, image-forming module, described first angle determining module includes the 7th magnetic field sensor group and septuple power passes
Sensor group, described 7th magnetic field sensor group and described septuple force snesor group are arranged on described first working equipment, institute
State second angle determining module and include the 8th magnetic field sensor group and eightfold force snesor group, described 8th magnetic field sensor group
It is arranged on described second ultrasonic device with described eightfold force snesor group；Described 7th magnetic field sensor group and the described 8th
Magnetic field sensor group each includes magnetic field sensor, described septuple force snesor group and the institute of the orthogonal setting of three axial directions respectively
State the gravity sensor that eightfold force snesor group each includes the orthogonal setting of three axial directions respectively, described first working equipment
Operating angle determines that method comprises the steps：
Determine the angle of ultrasonoscopy direction indication：Described second ultrasonic occur module that ultrasonic wave occurs, described second ultrasonic connects
Receive module and receive this ultrasonic wave, with described image-forming module become image direction indication, described second angle determining module determines that this refers to
Show the angle in direction；
Mobile described first working equipment determines its operative orientation：Mobile described first working equipment, described first angle determines
Module determines the angle of described first working equipment, and described second angle determining module is determined with described first angle determining module
Angle consistent when, determine the operating angle that this angle is described first working equipment.
2. the operating angle of working equipment determines method it is characterised in that described 7th magnetic field sensing according to claim 1
Device group and described septuple force snesor group are arranged in described first working equipment axial direction, described 8th magnetic field sensor group and
Described eightfold force snesor group is arranged in described second ultrasonic device axial direction.
3. the operating angle of working equipment determines method it is characterised in that described first working equipment according to claim 1
Pass through wireless communication connection with described second ultrasonic device.
4. a kind of operating angle of working equipment determines system it is characterised in that including the first working equipment, second ultrasonic setting
Standby, first angle determining module, second angle determining module, authentication module, described second ultrasonic device includes second ultrasonic
Raw module, the second ultrasonic reception module, image-forming module, described first angle determining module includes the 7th magnetic field sensor group and the
Septuple force snesor group, described 7th magnetic field sensor group and described septuple force snesor group are arranged on described first work and set
Standby upper, described second angle determining module includes the 8th magnetic field sensor group and eightfold force snesor group, described 8th magnetic field
Sensor group and described eightfold force snesor group are arranged on described second ultrasonic device；Described 7th magnetic field sensor group and
Described 8th magnetic field sensor group each includes the magnetic field sensor of the orthogonal setting of three axial directions, described 7th gravity sensitive respectively
Device group and described eightfold force snesor group each include the gravity sensor of the orthogonal setting of three axial directions respectively, described the second surpass
Sound occurs module that ultrasonic wave occurs, and described second ultrasonic reception module receives this ultrasonic wave, described second angle determining module with
The become image of described image-forming module indicates the angle of this direction indication of angle-determining；Mobile described first working equipment, described the
One angle-determining module determines the angle of described first working equipment, and described second angle determining module is true with described first angle
When the angle of cover half block determination is consistent, determine the operating angle that this angle is described first working equipment.
5. the operating angle of working equipment determines system it is characterised in that described 7th magnetic field sensing according to claim 4
Device group and described septuple force snesor group are arranged in described first working equipment axial direction, described 8th magnetic field sensor group and
Described eightfold force snesor group is arranged in described second ultrasonic device axial direction.
6. the operating angle of working equipment determines system it is characterised in that described authentication module is arranged according to claim 4
On described first working equipment.
7. the operating angle of working equipment determines system it is characterised in that described second ultrasonic device according to claim 4
There is module, described first working equipment setting wireless telecommunications receiver module in setting wireless telecommunications.
8. according to claim 4 the operating angle of working equipment determine system it is characterised in that also include produce low frequency shake
Dynamic vibration module.
9. the operating angle of working equipment determines system it is characterised in that described first angle determines according to claim 4
Module also includes heptangle acceleration transducer group, and described second angle determining module also includes anistree acceleration transducer
It is orthogonal that group, described heptangle acceleration transducer group and described anistree acceleration transducer group each include three axial directions respectively
Angular acceleration transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310742401.XA CN103750857B (en) | 2013-12-30 | 2013-12-30 | Working angle determining method and system for working equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310742401.XA CN103750857B (en) | 2013-12-30 | 2013-12-30 | Working angle determining method and system for working equipment |
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| US8485038B2 (en) * | 2007-12-18 | 2013-07-16 | General Electric Company | System and method for augmented reality inspection and data visualization |
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