CN106839990A - A kind of colliery laser facula coordinate detecting device and method - Google Patents
A kind of colliery laser facula coordinate detecting device and method Download PDFInfo
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- CN106839990A CN106839990A CN201710216506.XA CN201710216506A CN106839990A CN 106839990 A CN106839990 A CN 106839990A CN 201710216506 A CN201710216506 A CN 201710216506A CN 106839990 A CN106839990 A CN 106839990A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 16
- 238000004880 explosion Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000003245 coal Substances 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
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- 101000746134 Homo sapiens DNA endonuclease RBBP8 Proteins 0.000 description 1
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- 102100021133 Nuclear protein 1 Human genes 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Communication System (AREA)
Abstract
The present invention proposes one kind colliery laser facula coordinate detecting device and method, and the detection means includes master controller, laser receiver.The laser receiver receives the laser signal for being irradiated to surface, and calculate coordinate position of the laser facula in device plane, the last laser facula coordinate information received by the master controller on all laser receiving devices, and integral data supplies user's queried access.Technology according to the present invention scheme, real coordinate position of the laser facula on laser receiver can accurately be detected, the degree of accuracy is high, power consumption is small, processing speed is fast, simple structure, stability are high and is easy to extension, be satisfied with safety during coal mine underground construction, it is accurate, require in real time.
Description
Technical field
The present invention relates to a kind of colliery laser facula coordinate detecting device and method, it is particularly suited for the coal of bad environments
Used under mine, be that detection of development machine laser aiming driving or development machine spatial pose etc. uses laser facula number of coordinates
According to field provide a kind of highly efficient, safety, accurate device.
Background technology
Laser has many applications with its good directive property in mine automation.Such as in development machine laser aiming
The application of laser is critically important solution in positioning and boom-type roadheader spatial pose real-time detection, and wherein can be accurate
The position for detecting laser facula coordinate, be important premise in above-mentioned laser application.
Existing patent of invention such as Publication No. CN101819036A, CN102878976A, in CN106052645A, use
Machine vision gathers laser spot position so as to calculate heading machine pose, and the method can shake because of machine in actual applications
The collection degree of accuracy of hot spot acutely is influenceed, and calculates overlong time, poor expandability.Existing patent of invention
Using photosensitive tube matrix acquisition laser spot position so as to guide development machine tunneling direction in CN101975063A, but this device
Photosensitive tube number is few, and the degree of accuracy is low, and circuit is complicated.
The content of the invention
Technical problem：Patent of the present invention proposes a kind of colliery laser facula coordinate measurement for the deficiency of background technology
Device and method, can accurately detect the coordinate position of laser facula in real time, high with strong interference immunity, stability, extension
The features such as property is strong.
Technical scheme：Device of the invention is made up of laser receiver, master controller.Described laser receiver
By explosion-resistant enclosure, photosensitive tube receiving matrix module, control module, numeral method module, keyboard input module and communication mould
Block is constituted, and can accurately detect hot spot coordinate of the laser on laser receiver, and actual coordinate information is transmitted in real time
Master controller.Master controller is by explosion-resistant enclosure, communication module, keyboard input module, numeral method module, data processing module
Composition.Master controller by keyboard input module determine received laser receiver number and with telex network baud
Rate, and shown by numeral method module, data processing module receives the data of each laser receiver by communication module, and
Integral data supplies user's queried access.
The laser receiver photosensitive tube receiving matrix module is made up of the photosensitive tube that 13 rows 24 are arranged, when laser pick-off dress
When putting work, control module control photosensitive tube is acted on one by one in laser receiver, and single-chip microcomputer is gathered one by one, all when having gathered
Photosensitive tube data, are calculated, and obtain the coordinate of laser facula.The method power consumption is low, and operating rate is fast, is measured through experiment and met
Safety of coal mines requirement.
The laser receiver control module, including the single-chip microcomputer of model STC12C5A60S2, column selection module, OK
Selecting module, selection input module.Column selection module is made up of one piece of 74LS154 and 74LS138, and row selecting module is by one piece
74LS154 is constituted, and selection input module is made up of analog switch CD4067.
In order to strengthen the colliery laser facula coordinate detecting device autgmentability, laser receiver can be by key-press input
Module is input into the address of laser receiver, and is shown by numeral method module, and the master controller can be by key-press input mould
Block is input into the number of the laser receiver to be connected, and master controller communicates logical by slave pattern with each laser receiver
Letter, and baud rate is 9600, master controller is main frame, and laser receiver is slave.
Main controller leaves the port with telex network in the colliery laser facula coordinate detecting device, and user can be by
The accurate MODBUS agreements of sighting target go inquiry it is to be understood that laser receiver on laser facula coordinate information.
The detection method is comprised the following steps.
On master controller described in a, user can be input into the laser receiver number to be connected by keyboard input module
Mesh, and the baud rate with telex network port.
B user is input into the address of each laser receiver by keyboard input module.
C each laser receiver is connected by Explosion proof joint with controller.
, when laser is irradiated on laser receiver, the control module on laser receiver is by controlling circuit control for d
Photosensitive tube receiving matrix processed works one by one, and the single-chip microcomputer in control module gathers the state of each photosensitive tube, all when having gathered
After photosensitive tube state, Position of Laser-Spot Center is calculated, and restart scanning collection.
E issues the coordinate of the laser facula for collecting by responding the signal of master controller, each laser receiver
Master controller.
F master controllers are integrated together the laser facula coordinate on all laser receivers, and user can use
The MODBUS of standard and the telex network port communication of master controller, obtain the laser light of each laser receiver to be gathered
Spot coordinate.
Brief description of the drawings
Fig. 1 collieries operating diagram of laser facula coordinate detecting device.
The photosensitive tube matrix module arrangement schematic diagram of Fig. 2 laser receivers.
Fig. 3 laser receiver photosensitive tube matrix module circuit diagrams.
Fig. 4 laser receiver control module circuit diagrams.
Fig. 5 master controller workflow diagrams.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that above-mentioned purpose of the invention, feature, advantage
Mode is applied to be further elaborated on the present invention.
Laser receiver and master controller used in the present invention are installed in explosion-resistant enclosure, involved VCC
Voltage is 5V DC voltages.
With reference to shown in Fig. 2, photosensitive tube receiving matrix of the invention is made up of the row of 13 row 24, is shown in label 1 in figure and swashed
The origin of optical pickup apparatus, point is 0.1CM with point row coordinate and row coordinate distance, in real laser illumination, OK
It is Y-coordinate, is classified as X-coordinate.
Shown in refer to the attached drawing 3, laser receiver photosensitive tube receiving matrix of the invention is by photosensitive tube, resistance and triode
Composition, resistance used is 1K resistance including RY_1 ~ RY_13, RX_1 ~ RX_24 and RO_0 ~ RO_12, and RO_0 ~ RO_12 resistance rises
Pull-up is acted on, and triode used is PNP type triode including SY_1 ~ SY13 and SX_1 ~ SX_24, and model S8550, Y_0 ~
Y_12 is row selection control end in photosensitive tube receiving matrix, and X_0 ~ X_23 is column selection control end in photosensitive tube receiving matrix,
OUT_0 ~ OUT_12 is photosensitive tube receiving matrix level signal output end.
Shown in refer to the attached drawing 4, in laser receiver control module circuit U1 for single-chip microcomputer STC12C5A60S2, U2 be 4-
16 decoder model 74LS154, its input（A,B,C,D）Meet U1（P1.3,P1.4,P1.5,P1.6）, its output end 0~
Y_0 ~ Y_12 in 12 map interlinkings 3, U9 are 4-16 decoder model 74LS154, its input（A,B,C,D,G2）Meet U1（P3.3,
P3.4,P3.5,P3.6, P3.7）, X_0 ~ X_15 in its map interlinking 3 of output end 0~15, U10 are 4-16 decoder models
74LS138, its input（A0,A1,A2,S1）Meet U1（P3.3,P3.4,P3.5, P3.7）, its output end~In map interlinking 3
X_16 ~ X_23, U3 are simulation open pipe its model CD4067, its control end（A0,A1,A2,A3）Meet U1（P1.3,P1.4,
P1.5,P1.6）, output termination U1 (P1.7).U1 is controller, and its effect is to control photosensitive tube receiving matrix row to select by U2
Conduction terminal is selected, photosensitive tube receiving matrix column selection conduction terminal is controlled by the collective effect of U9 and U10.
The operation principle of Fig. 4 makes the photosensitive tube whole 1 of the i.e. the first row of SY_1 triode ONs in Fig. 3 for U1 first passes through U2
Pin meets GND, and at the same time because U2 is identical with U3 control ends, the output end of such analog switch U3 is the level of I/O0, U1
Whole 3 pins of photosensitive tube of the i.e. first row of SX_1 triode ONs in Fig. 3 is met VCC by U9 and U10 again, thus make
GM0 works, and its level state has been transmitted to U1 by analog switch U3, and U1 receives and record the information for collecting, with such
Push away after the completion of all photosensitive tube collections of the first row, the row of single-chip microcomputer reselection second work, until the information of all photosensitive tubes is adopted
After collection is completed, resurvey.When the level for collecting is high level, explanation laser is irradiated on this photosensitive tube, is low level
Shi Ze does not have.Single-chip microcomputer often gathers a photosensitive tube used time 1US, and the whole process used time is less than 0.4MS.
Single-chip microcomputer U1 is by denoising, filtering, it is determined that the number of photosensitive tube shared by whole hot spot after all data have been gathered
Mesh and coordinate, then ask for shared photosensitive tube matrix X and Y-axis average value, institute's spot center point coordinates are calculated, by 485 chips
U5 and COM1 U6 communicate with master controller, transmit data to master controller.
Shown in refer to the attached drawing 5, output port baud rate is obtained by keyboard input module first when master controller works
Value and the laser receiver number to be connected, and shown with numeral method module.Then it is pressed with laser receiver
Master-slave machine pattern, obtains the laser coordinate value of each laser receiver, i.e. master controller for main frame, and laser receiver is
Slave, main frame accesses slave one by one.Master controller data processing module is single-chip microcomputer STC12C5A60S2, and input port is monolithic
The serial ports 1 of machine STC12C5A60S2, its effect is communicated with each laser receiver, is serial ports 2 with telex network port, its work
With being and telex network.A 2 dimension groups can be integrated into after single-chip microcomputer has received all data to be accessed for user, work as user
When wanting to obtain the laser facula coordinate signal of that laser receiver, only need to be with master controller and telex network port communication
, communication protocol meets MODBUS agreements.
Laser facula of the invention sits object detection method：User sets each laser receiver by button first
Address, each address is not reproducible, and must Jia 1 every time since 0, and then the control module on laser receiver passes through
Scan line by line, each photosensitive tube is enabled one by one, the single-chip microcomputer in control module reads photosensitive tube state one by one, has read
The state of whole reception device, calculates laser spot center coordinate.Master controller is connected with all laser receivers, and
Baud rate by the number of the button acquisition laser receiver to be connected and with telex network port.Master controller with
Communication between each laser receiver is according to slave pattern.Master controller obtains the laser facula of each laser receiver
Centre coordinate, is integrated into 2 dimension groups, then according to swashing that MODBUS agreements can be inquired about on each laser receiver for user
Light hot spot coordinate.
The undeclared part being related in the present invention is same as the prior art or is realized using prior art.
Claims (9)
1. a kind of colliery laser facula coordinate detecting device and method, it is characterised in that：The device includes master controller, laser
Reception device, described laser receiver is by explosion-resistant enclosure, photosensitive tube receiving matrix module, control module, numeral method
Module, keyboard input module and communication module are constituted, and master controller is by explosion-resistant enclosure, communication module, keyboard input module, number
Code pipe display module, data processing module composition.
2. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
Laser receiver photosensitive tube receiving matrix module is made up of the photosensitive tube that 13 rows 24 are arranged, the photosensitive tube of each phase colleague（1）Pipe
Pin and（2）Pin connects together respectively, the photosensitive tube of each same column（3）Pin connects together, and corresponds to photosensitive tube reception
13 row control triodes of arranged in matrix, 24 row control triodes, triode model used is PNP triode S8550, often
One mutually goes together photosensitive tube（2）Pin connects together and is connected with an analog input end of CD4067.
3. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
Laser receiver control module, including the single-chip microcomputer of model STC12C5A60S2, column selection module, row selecting module, choosing
Input module is selected, column selection module is made up of one piece of 74LS154 and 74LS138, and row selecting module is made up of one piece of 74LS154,
Selection input module is made up of analog switch CD4067, column selection module control end, row selecting module control end, selection input mould
The control end and output end of block connect single-chip microcomputer respective pin respectively.
4. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
Laser receiver can be input into the address of laser receiver by keyboard input module, and be shown by numeral method module.
5. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
Laser receiver communication module, is made up of 485 chip MAX485, and input meets single-chip microcomputer P3.0 and P3.1, control end order
Piece machine P3.2, the baud rate of communication is fixed value 9600.
6. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
The communication module of master controller is made up of two group of 485 communication chip MAX485, and one of which communication chip is responsible for being connect with each laser
Receiving apparatus communicate, and communication baud rate is fixed value 9600, and another set communication chip is responsible for and telex network.
7. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
Master controller can by keyboard input module set the laser receiver number to be received, and with telex network port
Baud rate.
8. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
Master controller is connected with laser receiver with slave pattern, and master controller is main frame, and laser receiving device is slave.
9. a kind of colliery laser facula coordinate detecting device and method according to claim 1, it is characterised in that：It is described
The laser that laser receiving device is received is non-modulation light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216506.XA CN106839990A (en) | 2017-04-05 | 2017-04-05 | A kind of colliery laser facula coordinate detecting device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710216506.XA CN106839990A (en) | 2017-04-05 | 2017-04-05 | A kind of colliery laser facula coordinate detecting device and method |
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| CN106839990A true CN106839990A (en) | 2017-06-13 |
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| CN201710216506.XA Pending CN106839990A (en) | 2017-04-05 | 2017-04-05 | A kind of colliery laser facula coordinate detecting device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108211335A (en) * | 2018-01-19 | 2018-06-29 | 南京先进激光技术研究院 | A kind of laser analog fighting system and hit judgment method |
| CN115075828A (en) * | 2022-07-14 | 2022-09-20 | 三一重型装备有限公司 | Real-time positioning method and system for roadway operation machine and operation machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108211335A (en) * | 2018-01-19 | 2018-06-29 | 南京先进激光技术研究院 | A kind of laser analog fighting system and hit judgment method |
| CN108211335B (en) * | 2018-01-19 | 2023-12-05 | 南京先进激光技术研究院 | Laser simulated combat system and hit judgment method |
| CN115075828A (en) * | 2022-07-14 | 2022-09-20 | 三一重型装备有限公司 | Real-time positioning method and system for roadway operation machine and operation machine |
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