CN106249243A - A kind of connecting bridge Range Measurement System - Google Patents
A kind of connecting bridge Range Measurement System Download PDFInfo
- Publication number
- CN106249243A CN106249243A CN201610545619.XA CN201610545619A CN106249243A CN 106249243 A CN106249243 A CN 106249243A CN 201610545619 A CN201610545619 A CN 201610545619A CN 106249243 A CN106249243 A CN 106249243A
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- China
- Prior art keywords
- sensor
- measurement
- ultrasonic sensor
- laser sensor
- connecting bridge
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
The invention discloses a kind of connecting bridge Range Measurement System and include being separately positioned on laser sensor and the ultrasonic sensor of connecting bridge port, the current signal of laser sensor and the voltage signal of ultrasonic sensor obtain laser sensor and ultrasonic sensor respective measurement distance after A/D modular converter is changed, and measure distances according to two and are analyzed comparing and obtain final measurement and show user.Laser sensor copes with in majority of case, but needs the reflection of laser as beasurement base when measuring, and therefore the surface for black cannot normally be measured；Ultrasonic sensor then can apply to measure black surface, but can be affected for the environmental measurement that external environmental sounds is noisy.Arranging laser sensor and ultrasonic sensor simultaneously, be utilized respectively two kinds of respective advantages of sensor, the measurement distance each obtained both compares analysis, determines final measurement result, is applicable to different use environment.
Description
Technical field
The present invention relates to the position measurement technique field of connecting bridge, furthermore relate to a kind of connecting bridge distance and survey
Amount system.
Background technology
Connecting bridge is that airport is in order to connect the passage of the mobile liftable between boarding lounge and aircraft.One end connects terminal
Certain boarding gate, one end is buckled on aircraft door, and passenger is entered aircraft by corresponding boarding gate.Need when connecting bridge docks with aircraft
Measuring the distance of its port and interplane, currently used measurement system is broadly divided into mechanical contact and measures (the most logical
Long antenna switch), light wave non-contact measurement (such as passing through laser sensor) and sound wave non-contact measurement (the most logical
Cross ultrasonic sensor) three classes.Light wave contactless measuring system is to utilize laser sensor by the table of Laser emission to aircraft
Face, then receive the time difference of reflecting light by calculating and measure distance value.Sound wave contactless measuring system is to utilize to surpass
Sonic sensor transmits sound waves into the surface of aircraft, then receives the time difference of reflection sound wave by calculating and measure distance
Value.
In place of no matter being sound wave non-contact measurement or the equal Shortcomings of light wave non-contact measurement.Light wave is contactless
The advantage measured is in response to soon, and measurement data is accurate, but requires that the surface color ratio of tested aircraft is shallower, if aircraft surfaces
The color that application is deeper, may cause light wave only to return a part and cannot return the most completely, to light wave non-contact measurement
Accuracy impacts with reliability.The color of aircraft surfaces is required relatively low by sound wave non-contact measurement, but shortcoming is to survey
Amount environmental requirement is higher, runs into heavy rain, strong wind and the weather that snows all can affect the accuracy of measurement data.
Therefore, for a person skilled in the art, a kind of boarding that can tackle different measuring condition how is designed
Bridge Range Measurement System, it is ensured that the stability of measurement and accuracy, is to be presently required to solve the technical problem that.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of connecting bridge Range Measurement System, including being respectively arranged at
The laser sensor of connecting bridge port and ultrasonic sensor；The current signal of described laser sensor and described supersonic sensing
The voltage signal of device carries out being converted to respective measurement distance through A/D modular converter, and comparative analysis laser sensor with
The measurement distance of ultrasonic sensor obtains final measurement and shows.
Alternatively, described comparative analysis two is measured distance and is obtained final measurement and include:
Judge that between the measurement distance measuring distance and described ultrasonic sensor of described laser sensor, difference is whether
Within preset range, if then measurement result being shown final measurement by display screen.
Alternatively, described comparative analysis two is measured distance and is obtained final measurement and also include:
Judge whether described laser sensor exists sudden change with the data of described ultrasonic sensor respectively, if all occurring prominent
Become then alarm sensor abnormal.
Alternatively, first judge between the measurement distance measuring distance and described ultrasonic sensor of described laser sensor
Whether difference, within preset range, carries out judging that described laser sensor with the data of described ultrasonic sensor is the most again
No existence suddenlys change.
Alternatively, if judging the most there is not sudden change with the data of described ultrasonic sensor in described laser sensor, reports to the police
Measure system exception.
Alternatively, described laser sensor uses scan round mechanism with the control system of described ultrasonic sensor, if
Data in two scan periods occur that breakpoint or step then think now sensor abnormality.
Alternatively, one of them normal, another exception of described laser sensor and described ultrasonic sensor, then show
Normal distance of measuring is as final measurement.
The connecting bridge Range Measurement System that the present invention provides include being separately positioned on the laser sensor of connecting bridge port with
Ultrasonic sensor, the current signal of laser sensor is carried out through A/D modular converter with the voltage signal of ultrasonic sensor
Obtain laser sensor and ultrasonic sensor respective measurement distance after conversion, measure distance according to two and be analyzed comparing
Obtain final measurement and show user.The measurement data of laser sensor is accurate, it is possible to tackle in majority of case,
But needing the reflection of laser as beasurement base when measuring, therefore the surface for black cannot normally be measured；And ultrasound wave passes
Sensor then can apply to measure black surface, but can be affected for the environmental measurement that external environmental sounds is noisy.
Therefore the present invention arranges laser sensor and ultrasonic sensor simultaneously, is utilized respectively two kinds of respective advantages of sensor, to two
The measurement distance that person each obtains compares analysis, determines final measurement result, therefore goes for different making
With in environment, it is ensured that the stability of measurement and accuracy.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structure chart of connecting bridge；
The measurement procedure figure of the connecting bridge Range Measurement System that Fig. 2 provides for the present invention；
Fig. 3 is the measurement range data coordinate diagram collected during one-shot measurement；
Fig. 4 is the decision flow chart of sensor abnormality；
The perfect measurement flow chart of the connecting bridge Range Measurement System that Fig. 5 provides for the present invention；
The perfect measurement flow chart of connecting bridge another process of Range Measurement System that Fig. 6 provides for the present invention.
Wherein:
Laser sensor 1, ultrasonic sensor 2.
Detailed description of the invention
The core of the present invention is to provide a kind of connecting bridge Range Measurement System, can apply to different measurement environment,
Guarantee stability and the accuracy finally measured.
In order to make those skilled in the art be more fully understood that technical scheme, below in conjunction with accompanying drawing with concrete
Embodiment, the connecting bridge Range Measurement System of the application is described in detail explanation.
As it is shown in figure 1, be the structure chart of connecting bridge, in Fig. 1, the port at connecting bridge is separately installed with laser sensor 1
With ultrasonic sensor 2, both positions can correspondingly be exchanged, as long as being in same vertical plane, identical with aircraft holding
Distance.Certainly, if differing with the distance of aircraft and needing to remove both self difference when analytical calculation.
The current signal of laser sensor 1 carries out digital-to-analogue with the voltage signal of ultrasonic sensor 2 through A/D modular converter
Obtain respective measurement distance after conversion, laser sensor 1 and ultrasonic sensor 2 respective measurement distance are compared with
After analysis process, obtain final measurement result and be shown.The measurement data of laser sensor 1 is accurate, it is possible to reply
In majority of case, but needing the reflection of laser as beasurement base when measuring, therefore the surface for black cannot normally be surveyed
Amount；Ultrasonic sensor 2 then can apply to measure black surface, but ties for the environmental measurement that external environmental sounds is noisy
Fruit can be affected.Therefore the present invention arranges laser sensor and ultrasonic sensor simultaneously, is utilized respectively laser sensor 1 He
2 two kinds of respective advantages of sensor of ultrasonic sensor, the measurement distance each obtained both compares analysis, determines
Final measurement result, expands applicable scope, it is ensured that the stability of measurement and accuracy.Fig. 2 is stepping on that the present invention provides
The measurement procedure figure of machine bridge Range Measurement System.Carrying out step S100, current signal measured by laser sensor 1, and ultrasound wave passes
Sensor 2 measurement voltage signal；Carry out step S200 after obtaining two signals of telecommunication, the current signal of laser sensor 1 is carried out
A/D is converted to laser distance measuring, the voltage signal of ultrasonic sensor 2 is carried out A/D and is converted to ultrasound span
From；Finally carry out step S30, comparative analysis laser distance measuring and ultrasonic measurement distance and finally give measurement result accurately
And show operator.
The most further, comparative analysis therein two measurement distance obtains this mistake of final measurement
Journey includes: judge the difference whether preset range of the measurement distance of laser sensor 1 and the measurement distance of ultrasonic sensor 2
Within, if then measurement being shown final measurement by display screen, i.e. HMI.During concrete operations, by laser sensor 1
Measure the measurement distance of distance and ultrasonic sensor 2 to subtract each other and do after the recovery and take absolute value again, it is judged that whether this absolute value is less than pre-
If value, if less than, think and meet requirement, result can be shown.The measurement distance of laser sensor 1 and ultrasound wave pass
Between the measurement distance of sensor 2, difference is the least, it is believed that is worth the most accurately, can take both meansigma methodss or only take it
In a value as final measurement, laser sensor 1 the highest, if difference can also take sharp within preset range
The measurement distance of optical sensor 1 is as final measurement result output display.
Further, comparative analysis two is measured distance and is obtained this process of final measurement and also include judging respectively to swash
Whether the data of optical sensor 1 and ultrasonic sensor 2 exist sudden change, if laser sensor 1 and ultrasonic sensor 2 both of which
Undergo mutation, then it is assumed that sensor abnormality, send warning to operator.
During concrete operations, first the measurement distance of laser sensor 1 and ultrasonic sensor 2 is done difference, it is judged that sensor is
No existence is abnormal.Namely first judge that between the measurement distance measuring distance and ultrasonic sensor 2 of laser sensor 1, difference is
No within preset range, if exporting measurement result the most in a manner mentioned above, extremely judge degree if otherwise starting, it is judged that
Whether laser sensor 1 exists sudden change with the data of ultrasonic sensor 2.Use this order can to reduce calculate with simple flow
The amount of calculation of machine.
On the basis of above-mentioned judgement flow process, if the measurement distance difference of laser sensor 1 and ultrasonic sensor 2 exceedes
Preset range, judges whether the data of laser sensor 1 and ultrasonic sensor 2 exist exception in the case, and result is
Neither there is abnormal sudden change to be then considered to measure system exception, send warning to operator.
In the case of such scheme and combination in any thereof, connect the control system of laser sensor 1 and ultrasonic sensor 2
System uses scan round mechanism, interval section access time to carry out data calculating according to signal, if breakpoint or step occur in data, then
Think now sensor abnormality.As it is shown on figure 3, for the measurement range data coordinate diagram collected during one-shot measurement.Wherein
Solid line represents normal data and curves, has two discontinuous points, respectively at time period T in the middle of solid line1～T2、T3～T4Between, T1
～T2The interruption of distance is occurred in that in time period；T3～T4Occur in that the step of distance in time period, i.e. occur in that irrational survey
Value, such as, be irradiated to black part when laser sensor, laser cannot regular reflection, cause measurement result not normally
On trend, occur in that irrational increase.
As shown in Figure 4, for the decision flow chart of sensor abnormality.Carry out step S1, first obtain sensor in current period
Data；Carry out step S2 again, calculate the data difference of current period and previous cycle；Carry out step S3 to judge, it is judged that
Whether the difference in two cycles is more than setting value, such as step S4, thinks sensor abnormality when difference is more than setting value, less than setting
Definite value continues to repeat judgement and compares.Usually, distance change is Same Function with the time, until next measures periodic distance value position
Think on normal function segment and again recovered normal.
In judging sensor whether exception procedure, if one of them is normal for laser sensor 1 and ultrasonic sensor 2,
Another is abnormal, then the normal distance of measuring of display is as final measurement.Laser sensor 1 is right with ultrasonic sensor 2
It is different that different interference adapts to situation, if only one receive interference and another is normally measured, then choose and can normally survey
The sensor measurement distance of amount is as final measurement result, and output is to operator.
In the present invention, laser sensor 1 and ultrasonic sensor 2 use an A/D modular converter to carry out data to turn jointly
Change, namely only there is an analog-to-digital conversion module.By the CPU of system, the signal returned calculated and judges, controlling output
Result.As shown in Figure 5 and Figure 6, two kinds of complete measurements of the connecting bridge Range Measurement System of present invention offer are provided respectively
Flow chart.
Such as flow process in Fig. 5, carry out the current signal of step S100 Laser Measurement sensor 1, measure supersonic sensing simultaneously
The voltage signal of device 2.Carry out step S200 again, the current signal of laser sensor 1 is carried out A/D be converted to laser measurement away from
From, the voltage signal of ultrasonic sensor 2 is carried out A/D and is converted to ultrasonic measurement distance.Carry out step S300, by laser
Measure distance and ask poor with ultrasonic measurement distance, then judge, perform step S400, it is judged that whether difference is in predetermined threshold value
Within, if it is perform step S401, HMI shows measurement result；If otherwise performing step S410, it is judged that laser
Sensor 1 is the most abnormal, if it is performs step S420 and judges that ultrasonic sensor is the most abnormal, if otherwise performing step
S430 judges that ultrasonic sensor is the most abnormal.When step S420 judges that ultrasonic sensor is the most abnormal, if just recognizing
It is that two sensors all there occurs exception, then performs step S421 alarm sensor abnormal；It is considered as supersonic sensing if not
Device 2 is normal and laser sensor 1 is abnormal, then perform step S422 display ultrasonic measurement distance, and it is different to send laser sensor 1
Normal warning.When step S430 judges that ultrasonic sensor is the most abnormal, normally surpass if being considered as laser sensor 1
Sonic sensor 2 is abnormal, then perform step S431 display laser distance measuring, and send the warning of ultrasonic sensor 2 exception；
It is considered as two sensors if not all normal, then performs the warning of step S432 and measure system exception.
Similar to the execution flow process in Fig. 5, the execution flow process in Fig. 6 is for seeking the judgement order after difference in step S400
Being adjusted, two schemes is all two kinds of detailed description of the invention under same idea.When step S400 judges, if then performing
Step S401 shows measurement result by HMI, if otherwise performing step S460, it is judged that ultrasonic sensor is the most abnormal, if
It is then to perform step S470 to judge that laser sensor 1 is the most abnormal, if otherwise performing step S480, it is judged that laser sensor 1
The most abnormal.When performing step S470, if results abnormity, think that two sensors are all abnormal, perform step S471 and report to the police
Sensor abnormality；If otherwise it is assumed that laser sensor 1 normally ultrasonic sensor 2 exception, performing step S472 and show sharp
Photo measure distance, and send the warning of ultrasonic sensor 2 exception.When performing step S480, if it is judged that for being then
Think that ultrasonic sensor 2 is normal and laser sensor 1 is abnormal, perform step S481 display ultrasonic measurement distance, and send
The warning of laser sensor 1 exception；If it is judged that be otherwise it is assumed that two sensors are normal, perform the warning of step S482 and survey
Amount system exception.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle, can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, this
The bright the embodiments shown herein that is not intended to be limited to, and be to fit to and principles disclosed herein and features of novelty phase
The widest consistent scope.
Claims (7)
1. a connecting bridge Range Measurement System, it is characterised in that include the laser sensor being respectively arranged at connecting bridge port
(1) with ultrasonic sensor (2)；The voltage letter of the current signal of described laser sensor (1) and described ultrasonic sensor (2)
Number carry out being converted to respective measurement distance through A/D modular converter, and laser sensor described in comparative analysis (1) is with described
The measurement distance of ultrasonic sensor (2) obtains final measurement and shows.
Connecting bridge Range Measurement System the most according to claim 1, it is characterised in that described comparative analysis two measure away from
Include from obtaining final measurement:
Judge that between the measurement distance of described laser sensor (1) and the measurement distance of described ultrasonic sensor (2), difference is
No within preset range, if then measurement result being shown final measurement by display screen.
Connecting bridge Range Measurement System the most according to claim 2, it is characterised in that described comparative analysis two measure away from
Also include from obtaining final measurement:
Judge whether described laser sensor (1) exists sudden change, if all occurring with the data of described ultrasonic sensor (2) respectively
The then alarm sensor that suddenlys change is abnormal.
Connecting bridge Range Measurement System the most according to claim 3, it is characterised in that first judge described laser sensor
(1) between measurement distance and the measurement distance of described ultrasonic sensor (2), whether difference is within preset range, the most again
Carry out judging whether described laser sensor (1) exists sudden change with the data of described ultrasonic sensor (2).
Connecting bridge Range Measurement System the most according to claim 4, it is characterised in that if judging described laser sensor
(1) the most there is not sudden change then warning measurement system exception in the data with described ultrasonic sensor (2).
6. according to the connecting bridge Range Measurement System described in any one of claim 1 to 5, it is characterised in that described laser sensing
Device (1) uses scan round mechanism, if the data in two scan periods go out with the control system of described ultrasonic sensor (2)
Existing breakpoint or step then think now sensor abnormality.
Connecting bridge Range Measurement System the most according to claim 6, it is characterised in that described laser sensor (1) and institute
One of them is normal, another abnormal to state ultrasonic sensor (2), then the normal distance of measuring of display is as finally measuring knot
Really.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610545619.XA CN106249243A (en) | 2016-07-12 | 2016-07-12 | A kind of connecting bridge Range Measurement System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610545619.XA CN106249243A (en) | 2016-07-12 | 2016-07-12 | A kind of connecting bridge Range Measurement System |
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| CN106249243A true CN106249243A (en) | 2016-12-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111189488A (en) * | 2019-12-13 | 2020-05-22 | 精英数智科技股份有限公司 | Sensor value abnormity identification method, device, equipment and storage medium |
| CN111847019A (en) * | 2019-04-25 | 2020-10-30 | 中国石油化工股份有限公司 | Carriage alignment method and system |
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Application publication date: 20161221 |