CN106950435A - A kind of mechanical arm safe distance monitoring device and method - Google Patents
A kind of mechanical arm safe distance monitoring device and method Download PDFInfo
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- CN106950435A CN106950435A CN201710385045.9A CN201710385045A CN106950435A CN 106950435 A CN106950435 A CN 106950435A CN 201710385045 A CN201710385045 A CN 201710385045A CN 106950435 A CN106950435 A CN 106950435A
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000005684 electric field Effects 0.000 claims abstract description 147
- 239000000523 sample Substances 0.000 claims abstract description 42
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/12—Measuring electrostatic fields or voltage-potential
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- 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
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a kind of mechanical arm safe distance monitoring device and method, wherein, the device includes single-chip microcomputer, electric field probe, motion aspect sensor, head, laser range finder and status indicator lamp, and laser range finder is fixedly installed on head, wherein：Electric field probe, motion aspect sensor, laser range finder and head are mounted on mechanical arm tail end, and the signal input part of the output end of the output end of electric field probe, the output end for moving aspect sensor and laser range finder with single-chip microcomputer is communicated to connect；The signal output part of single-chip microcomputer is communicatively connected to the input of head and status indicator lamp, and the output end of head and the drive component control of head are connected.The device and method is prevented effectively from using only the preset electric-field intensity set according to single field intensity as criterion, it is to avoid blindly alarmed, it is ensured that mechanical arm safety work, improves operating efficiency.
Description
Technical field
The present invention relates to safe distance monitoring technical field, more particularly to a kind of mechanical arm safe distance monitoring device and side
Method.
Background technology
In power production process, in order to not influence the normal operation of power equipment, in electric power apparatus examination, it is necessary to band
Electric operation.In recent years in Overhaul site, generally field operation is carried out using the robot with multi-joint mechanical arm.In reality
Border Overhaul site, because mechanical arm and the distance between power equipment are too small, and when the spacing between mechanical arm and power equipment
During less than safe spacing, the accident of device damage and personal injury is caused to occur often.How to ensure that staff and electric power are set
The standby safety in operation is to ensure the key that power network is normally run.
In the prior art, when mechanical arm carries out field operation, monitoring device is installed on mechanical arm, passes through monitoring device
Monitor the function situation of mechanical arm.Wherein, monitoring device is by measuring the electric-field intensity in residing field intensity in real time, and by the electric field
Intensity is compared with preset electric-field intensity, if electric-field intensity is less than preset electric-field intensity, illustrates that mechanical arm is in home, can
Continue operation；If electric-field intensity is more than or equal to preset electric-field intensity, illustrate that mechanical arm is in danger position or borderline risk position
Put, monitoring device sends alarm signal, now staff stops mechanical arm operation in time, reset the running rail of mechanical arm
Mark, to ensure the safety work of mechanical arm.
But, above-mentioned monitoring device is often the single field intensity produced according to single power equipment, sets preset electric-field strength
Degree.During the actual job of mechanical arm, upkeep operation often is carried out between the higher multiple power equipments of voltage class, this
When multiple field intensity for bringing of multiple power equipments be overlapped mutually, cause field intensity to increase, the preset electric field set according to single field intensity
Intensity can not turn into accurate criterion, it is likely that mechanical arm present position is home, but monitoring device is determined as
Danger position, makes staff have to stop mechanical arm continuation operation, sometimes has to power-off and power equipment is overhauled
Processing, the operation to power network brings very big influence.
The content of the invention
The invention provides a kind of mechanical arm safe distance monitoring device and method, to solve during mechanical arm operation and electric power
The safe distance monitoring problem of equipment.
In a first aspect, the mechanical arm safe distance monitoring device that the present invention is provided, enters for the course of work to mechanical arm
Row monitoring, including single-chip microcomputer, electric field probe, motion aspect sensor, head, laser range finder and status indicator lamp, Laser Measuring
Distance meter is fixedly installed on head, wherein：Electric field probe, motion aspect sensor, laser range finder and head are mounted on
Mechanical arm tail end, the output end of the output end of electric field probe, the output end for moving aspect sensor and laser range finder with
The signal input part communication connection of single-chip microcomputer；The signal output part of single-chip microcomputer is communicatively connected to the defeated of head and status indicator lamp
Enter end, and the output end of head and the drive component control of head are connected.
Alternatively, the device also includes A/D converter, wherein, the output end of electric field probe is electrically connected to A/D converter
Input, the output end of A/D converter is communicatively connected to the signal input part of single-chip microcomputer.
Alternatively, the device also includes housing, and housing is installed on mechanical arm tail end by fixing band, and head is fixedly installed on
The top of housing, status indicator lamp is arranged on the outer wall of housing, single-chip microcomputer, electric field probe and the motion equal quilt cover of aspect sensor
In housing.
Alternatively, the device also includes buzzer, the signal output part communication connection of buzzer and single-chip microcomputer.
Alternatively, head is two axle The Cloud Terraces, and two axle The Cloud Terraces can 360 degree of rotations and 160 degree of pitching.
Alternatively, status indicator lamp includes green power supply indicator lamp, yellow early warning indicator lamp and warning red indicator lamp.
Alternatively, electric field probe is high-voltage charged body power frequency electric field probe.
Second aspect, present invention also offers mechanical arm safe distance monitoring method, for the course of work to mechanical arm
It is monitored, this method comprises the following steps：Obtain the electric-field intensity for the mechanical arm present position that electric field probe is gathered；If
Electric-field intensity is more than or equal to preset electric-field intensity, sends pre-warning signal；Judge in preset acquisition time, electric field probe is gathered
Electric-field intensity variation tendency；If the variation tendency of electric-field intensity obtains motion aspect sensor and adopted gradually to increase
The motion azimuth information of the mechanical arm of collection；According to motion azimuth information, the anglec of rotation of head is controlled so that on head
The test azimuth information of laser range finder is consistent with motion azimuth information；Obtain the mechanical arm distance electricity that laser range finder is gathered
The spacing of power equipment；If being smaller than or equal to preset safe spacing, sending alarm signal.
Alternatively, this method is further comprising the steps of：Obtain including between preset electric-field intensity, preset safety for user's transmission
Away from the input instruction with preset acquisition time, wherein, preset electric-field intensity is critical electric field strength early warning value, preset safe spacing
For criticality safety distance values, preset acquisition time is 1-5 seconds；According to input instruction, the preset electric field preserved in more new memory
Intensity, preset safe spacing and preset acquisition time.
Alternatively, the electric-field intensity for the mechanical arm present position that electric field probe is gathered is obtained, including：Collection machinery arm institute
Locate the power frequency electric field signal in field intensity；Power frequency electric field signal is converted into voltage or current signal；Voltage or electric current are believed
Number it is converted into data signal；Data signal is converted into electric-field intensity.
Mechanical arm safe distance monitoring device provided in an embodiment of the present invention includes single-chip microcomputer, electric field probe, motion orientation
Sensor, head, laser range finder and status indicator lamp, laser range finder are fixedly installed on head, wherein：Electric field probe,
Motion aspect sensor, laser range finder and head are mounted on mechanical arm tail end, the output end of electric field probe, motion orientation
The output end of sensor and the output end of laser range finder are communicated to connect with the signal input part of single-chip microcomputer；The letter of single-chip microcomputer
Number output end is communicatively connected to the input of head and status indicator lamp, and output end and the drive component control of head of head
System connection.Mechanical arm safe distance monitoring method provided in an embodiment of the present invention comprises the following steps：Electric field probe is obtained to be adopted
The electric-field intensity of the mechanical arm present position of collection；If electric-field intensity is more than or equal to preset electric-field intensity, pre-warning signal is sent；
Judge in preset acquisition time, the variation tendency for the electric-field intensity that electric field probe is gathered；If the variation tendency of electric-field intensity
Gradually to increase, the motion azimuth information for the mechanical arm that motion aspect sensor is gathered is obtained；According to motion azimuth information, control
The anglec of rotation of head processed so that the test azimuth information of the laser range finder on head is consistent with motion azimuth information；
Spacing of the mechanical arm that acquisition laser range finder is gathered apart from power equipment；When being smaller than or equal to preset safe spacing
When, send alarm signal.
Mechanical arm safe distance monitoring device and method that the present invention is provided, position residing for mechanical arm is measured using electric field probe
The electric-field intensity put, judges whether the electric-field intensity is more than preset electric-field intensity.When the electric-field intensity is more than preset electric-field intensity
When, the variation tendency of electric-field intensity, and the motion orientation of the mechanical arm gathered according to motion sensor are analyzed by single-chip microcomputer
Information, control head adjusts the test orientation of laser range finder, and the mechanical arm that acquisition laser range finder is gathered is set apart from electric power
Standby spacing, only when being smaller than or equal to safe spacing, it is danger position, device hair to illustrate mechanical arm present position
Go out alarm signal and remind staff.It is prevented effectively from and is marked using only the preset electric-field intensity set according to single field intensity as judgement
It is accurate, it is to avoid blindly to alarm, improve alarm accuracy rate, it is ensured that mechanical arm safety work, improve operating efficiency.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
Can the limitation present invention.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, letter will be made to the accompanying drawing to be used needed for embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of mechanical arm safe distance monitoring device provided in an embodiment of the present invention；
Fig. 2 is a kind of application scenarios schematic diagram of mechanical arm safe distance monitoring device provided in an embodiment of the present invention；
Fig. 3 is the structural representation of another mechanical arm safe distance monitoring device provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic flow sheet of mechanical arm safe distance monitoring method provided in an embodiment of the present invention.
Fig. 1 is into Fig. 3, and symbol is represented：0- mechanical arm tail ends, 1- single-chip microcomputers, 2- electric field probes, 3- motion sensing directionals
Device, 4- heads, 5- laser range finders, 6- status indicator lamps, 7-A/D converters, 8- housings, 9- fixing bands.
Embodiment
To keep the normal operation of power equipment, generally power equipment is overhauled by the way of livewire work.Closely
Year generally carries out site examining and repairing operation using the robot with multi-joint mechanical arm.A plurality of height is connected around power equipment
Piezoelectric wire, forms multiple powered intervals, although current voltage rank, will not disruptive discharge, therefore, be for power equipment
Safety.But, mechanical arm especially mechanical arm tail end is easy to be strayed into these powered intervals during upkeep operation, produces
Electric discharge, triggers power equipment accident.In addition, the spacing of mechanical arm especially mechanical arm tail end and charging equipment is too small,
Easily cause electrical equipment fault.So, how to ensure the safety of staff and power equipment in operation is to ensure power network
The key normally run.
When mechanical arm carries out field operation, monitoring device is installed in mechanical arm tail end, machinery is monitored by monitoring device
The function situation of arm.Because existing monitoring device is often the single field intensity according to the generation of single power equipment, set preset
Electric-field intensity.During the actual job of mechanical arm, often overhauled between the higher multiple power equipments of voltage class
Operation, multiple field intensity that now multiple power equipments are brought are overlapped mutually, and cause field intensity to increase, according to the pre- of single field intensity setting
Accurate criterion can not be turned into by putting electric-field intensity, it is likely that mechanical arm present position is home, but monitoring device
It is determined as danger position, makes staff have to stop mechanical arm continuation operation, sometimes have to power-off and power equipment is entered
Row overhaul plan, the operation to power network brings very big influence.
For above-mentioned situation, the invention provides a kind of mechanical arm safe distance monitoring device, for the work to mechanical arm
It is monitored as process, is a kind of mechanical arm safe distance monitoring device provided in an embodiment of the present invention referring to Fig. 1 and Fig. 2
Structural representation, and a kind of application scenarios schematic diagram of mechanical arm safe distance monitoring device.The device include single-chip microcomputer 1,
Electric field probe 2, motion aspect sensor 3, head 4, laser range finder 5 and status indicator lamp 6, laser range finder 5 are fixedly mounted
In on head 4, head 4 is installation, the support equipment of fixed laser rangefinder 5, can adjust level and the pitching of laser range finder 5
Angle.In the application scenarios of device that the present invention is provided, head 4 may be selected can 360 degree rotations and 160 degree of pitching two axles
Head.
Electric field probe 2, motion aspect sensor 3, laser range finder 5 and head 4 are mounted on mechanical arm tail end 0, electricity
Letter of the output end of the output end of Field probe 2, the output end for moving aspect sensor 3 and laser range finder 5 with single-chip microcomputer 1
The communication connection of number input；The signal output part of single-chip microcomputer 1 is communicatively connected to the input of head 4 and status indicator lamp 6, and
The output end of head 4 and the drive component control of head are connected.
During the device operation, single-chip microcomputer 1 is used for the electric-field strength for obtaining the mechanical arm present position that electric field probe 2 is collected
Degree, and the size of electric-field intensity and preset electric-field intensity is compared, judge whether electric-field intensity is more than or equal to preset electricity
Field intensity.If whether electric-field intensity is more than or equal to preset electric-field intensity, preliminary to judge mechanical arm present position for dangerous position
Put, but be due to that electric-field intensity is according to set by single field intensity, so not can determine that mechanical arm present position is danger now
Dangerous position.
In order to determine whether mechanical arm present position is safe, single-chip microcomputer 1 is additionally operable to move the machine that aspect sensor 3 is collected
The motion azimuth information of tool arm, while controlling the anglec of rotation of head 4 so that the test of the laser range finder 5 on head 4
Azimuth information is consistent with motion azimuth information, and now single-chip microcomputer 1 obtains the mechanical arm of the measurement of laser range finder 5 apart from power equipment
Spacing.The spacing and the size of preset safe spacing are compared by single-chip microcomputer 1, judge whether the spacing is more than or equal to pre-
Put safe spacing.Preset safe spacing is critical peace of the mechanical arm apart from power equipment according to set by the experience of long-term operation
Full distance values, therefore, when being smaller than or equal to preset safe spacing, it is determined that mechanical arm present position is danger position.Should
In the operation process of device, the state of a control indicator lamp 6 of single-chip microcomputer 1 can make respective change, to remind staff.State instruction
Lamp 6 may include green power supply indicator lamp, yellow early warning indicator lamp and warning red indicator lamp, when the device is started working, point
Bright green power supply indicator；When the device tentatively judges mechanical arm present position for danger position by electric-field intensity, light
Yellow early warning indicator lamp；When the device is by electric-field intensity and the dual judgement of spacing, it is dangerous position to determine mechanical arm present position
When putting, red alarm indicator lamp is lighted.
For convenience of installation of the device on mechanical arm tail end 0, while protecting the various structure members of the device.Further
Ground, as shown in Fig. 2 device also includes housing 8, housing 8 is installed on mechanical arm tail end by fixing band 9, and head 4 is fixedly installed on
The top of housing 8, status indicator lamp 6 is arranged on the outer wall of housing 8, single-chip microcomputer 1, electric field probe 2 and motion aspect sensor 3
Covered in housing 8.
In use, electric field probe 2 can select high-voltage charged body power frequency electric field probe, residing for the mechanical arm for detecting working condition
The electric-field intensity of position, the signal is generally power frequency electric field signal, and it is numeral that the signal input part of single-chip microcomputer 1, which is typically received,
Signal, therefore, power frequency electric field signal need progress processing to be converted into data signal to facilitate the receiving processing of single-chip microcomputer 1.Such as Fig. 3
Shown, for convenience of the transmission of signal, device also includes A/D converter 7, wherein, the output end of electric field probe 2 is electrically connected to A/D
The input of converter 7, the output end of A/D converter 7 is communicatively connected to the signal input part of single-chip microcomputer 1.Electric field probe 2 is first
The power frequency electric field signal gathered is changed into electric current or voltage signal, electric current or voltage signal pass through amplifying circuit and A/
After D converters 7, received in the form of data signal by single-chip microcomputer 1, data signal in single-chip microcomputer 1 after processing and calibration,
It can be obtained by the electric-field intensity in the range of current spatial.
Except staff is reminded using above-mentioned status indicator lamp 6, the device also includes buzzer 9, buzzer 9 and single-chip microcomputer
1 signal output part communication connection.When the device is by electric-field intensity and the dual judgement of spacing, determine that mechanical arm present position is
During danger position, red alarm indicator lamp is lighted, reminds staff to carry out corresponding measure while buzzer 9 sends beep
Operation.
Present invention also offers a kind of mechanical arm safe distance monitoring method, supervised for the course of work to mechanical arm
Survey, referring to Fig. 4, the mechanical arm safe distance monitoring method that the present invention is provided comprises the following steps：
Step S10, obtains the electric-field intensity for the mechanical arm present position that electric field probe is gathered.
Wherein, electric-field intensity is through the following steps that obtained：Power frequency electric field residing for collection machinery arm in field intensity
Signal；Power frequency electric field signal is converted into voltage or current signal；Voltage or current signal are converted into data signal；Will
Data signal is converted into electric-field intensity.
Step S200, judges whether the electric-field intensity acquired in step S100 is more than or equal to preset electric-field intensity.
Wherein, preset electric-field intensity presets for user, therefore, and before step S200, this method also includes：Obtain
The input instruction for including preset electric-field intensity that user sends, wherein, preset electric-field intensity is critical electric field strength early warning value；Root
According to input instruction, the preset electric-field intensity preserved in more new memory.The difference of situation according to residing for this method application scenarios, in advance
The setting for putting electric-field intensity also has respective change, therefore, and preset electric-field intensity is adjustable variable in memory.
Step S300, if electric-field intensity is more than or equal to preset electric-field intensity, sends pre-warning signal.
If electric-field intensity is more than or equal to preset electric-field intensity, mechanical arm present position tentatively is judged for danger position,
But it is due to that preset electric-field intensity is according to set by single field intensity, so not can determine that mechanical arm present position is danger now
Dangerous position.Therefore, pre-warning signal is now only sent to cause staff to note.In the present embodiment, selecting lighting is yellow
Color early warning indicator lamp.
If electric-field intensity is less than preset electric-field intensity, even if illustrating that preset electric-field intensity is according to set by single field intensity
Put, the electric-field intensity of mechanical arm present position is still less than preset electric-field intensity, and now, can conclude that mechanical arm present position is peace
All positon, mechanical arm may continue.
Step S400, judges in preset acquisition time, the variation tendency for the electric-field intensity that electric field probe is gathered.
Wherein, preset acquisition time presets for user, therefore, and before step S400, this method also includes：Obtain
The input instruction for including preset acquisition time that user sends, wherein, preset acquisition time is 1-5 seconds；According to input instruction, more
The preset acquisition time preserved in new memory.Setting with above-mentioned preset electric-field intensity is identical, according to this method application scenarios
The difference of residing situation, the setting of preset acquisition time also has respective change, therefore, in memory preset acquisition time be can
Adjust variable.
Step S500, if the variation tendency of electric-field intensity obtains what motion aspect sensor was gathered gradually to increase
The motion azimuth information of mechanical arm.
Only when electric-field intensity is increasing, just illustrate that the spacing of mechanical arm and power equipment is less and less, now, machine
Tool arm in danger position or will be in danger position, at this time, it may be necessary to take corresponding measure.Therefore, if electric-field intensity
Variation tendency gradually to increase, obtain the motion azimuth information for the mechanical arm that motion aspect sensor is gathered.Due to preset
Acquisition time is shorter, so motion of other variation tendencies of electric-field intensity on mechanical arm influences little, can not illustrate machinery
The spacing of arm and power equipment is less and less.
Step S600, according to motion azimuth information, controls the anglec of rotation of head so that the laser ranging on head
The test azimuth information of instrument is consistent with motion azimuth information.
According to the motion azimuth information collected, the anglec of rotation of adjustment control head so that swashing on head
The test azimuth information of optar is consistent with motion azimuth information, is test orientation and the motion of mechanical arm of laser range finder
Orientation is consistent, it is ensured that spacing of the post laser rangefinder to mechanical arm apart from power equipment is measured.
Step S700, spacing of the mechanical arm that acquisition laser range finder is gathered apart from power equipment.
Step S800, judges whether spacing is less than or equal to preset safe spacing.
Wherein, preset safe spacing presets for user, therefore, and before step S700, this method also includes：Obtain
The input instruction for including preset safe spacing that user sends, wherein, preset safe spacing is criticality safety distance values；According to defeated
Enter the preset safe spacing preserved in instruction, more new memory.With the setting of above-mentioned preset electric-field intensity and preset acquisition time
Identical, the difference of situation according to residing for this method application scenarios, the setting of preset safe spacing also has respective change, therefore,
Preset safe spacing is adjustable variable in memory.
Step S900, when being smaller than or equal to preset safe spacing, sends alarm signal.
When being smaller than or equal to preset safe spacing, it is danger position to determine mechanical arm present position.Therefore, now
Need to send alarm signal prompting staff's progress corresponding measure.In the present embodiment, selecting lighting red alarm refers to
Show lamp, and trigger buzzer.
If spacing is more than preset safe spacing, although illustrating that the electric-field intensity of mechanical arm present position is more than preset electric field
Intensity, but be due to preset electric-field intensity be according to set by single field intensity, therefore, can not be as unique criterion, this
When, it is home that can assert mechanical arm present position, and mechanical arm may continue.
Mechanical arm safe distance monitoring device and method that the present invention is provided, position residing for mechanical arm is measured using electric field probe
The electric-field intensity put, judges whether the electric-field intensity is more than preset electric-field intensity.When the electric-field intensity is more than preset electric-field intensity
When, the variation tendency of electric-field intensity, and the motion orientation of the mechanical arm gathered according to motion sensor are analyzed by single-chip microcomputer
Information, control head adjusts the test orientation of laser range finder, and the mechanical arm that acquisition laser range finder is gathered is set apart from electric power
Standby spacing, only when being smaller than or equal to safe spacing, it is danger position, device hair to illustrate mechanical arm present position
Go out alarm signal and remind staff.It is prevented effectively from and is marked using only the preset electric-field intensity set according to single field intensity as judgement
It is accurate, it is to avoid blindly to alarm, it is ensured that mechanical arm safety work, improve operating efficiency.
Those skilled in the art will readily occur to its of the present invention after the disclosure that specification and practice are invented here is considered
Its embodiment.It is contemplated that cover the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including undocumented common knowledge in the art of the invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (10)
1. a kind of mechanical arm safe distance monitoring device, is monitored for the course of work to mechanical arm, it is characterised in that bag
Include single-chip microcomputer (1), electric field probe (2), motion aspect sensor (3), head (4), laser range finder (5) and status indicator lamp
(6), the laser range finder (5) is fixedly installed on the head (4), wherein：
The electric field probe (2), motion aspect sensor (3), laser range finder (5) and head (4) are mounted on mechanical arm
End, the output of the output end of the electric field probe (2), the output end of motion aspect sensor (3) and laser range finder (5)
End is communicated to connect with the signal input part of the single-chip microcomputer (1)；
The signal output part of the single-chip microcomputer (1) is communicatively connected to the input of the head (4) and status indicator lamp (6),
And the output end of the head (4) is connected with the drive component control of the head.
2. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that described device also turns including A/D
Parallel operation (7), wherein, the output end of the electric field probe (2) is electrically connected to the input of the A/D converter (7), the A/D
The output end of converter (7) is communicatively connected to the signal input part of the single-chip microcomputer (1).
3. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that described device also includes housing
(8), the housing (8) is installed on the mechanical arm tail end by fixing band (9), and the head (4) is fixedly installed on the shell
The top of body (8), the status indicator lamp (6) is arranged on the outer wall of the housing (8), the single-chip microcomputer (1), electric field probe
(2) covered in the housing (8) with motion aspect sensor (3).
4. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that described device also includes buzzer
(9), the buzzer (9) and the signal output part of the single-chip microcomputer (1) are communicated to connect.
5. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that the head (4) is two axle clouds
Platform, the two axle The Cloud Terraces can 360 degree of rotations and 160 degree of pitching.
6. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that status indicator lamp (6) bag
Include green power supply indicator lamp, yellow early warning indicator lamp and warning red indicator lamp.
7. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that the electric field probe (2) is height
Press electrical body power frequency electric field probe.
8. a kind of mechanical arm safe distance monitoring method, is monitored, it is characterised in that institute for the course of work to mechanical arm
The method of stating includes：
Obtain the electric-field intensity for the mechanical arm present position that electric field probe is gathered；
If the electric-field intensity is more than or equal to preset electric-field intensity, pre-warning signal is sent；
Judge in preset acquisition time, the variation tendency for the electric-field intensity that the electric field probe is gathered；
If the variation tendency of electric-field intensity obtains the fortune for the mechanical arm that motion aspect sensor is gathered gradually to increase
Dynamic azimuth information；
According to the motion azimuth information, the anglec of rotation of head is controlled so that laser range finder on the head
Test azimuth information consistent with the motion azimuth information；
Spacing of the mechanical arm that acquisition laser range finder is gathered apart from power equipment；
If described be smaller than or equal to preset safe spacing, send alarm signal.
9. mechanical arm safe distance monitoring method as claimed in claim 8, it is characterised in that methods described also includes：
The input instruction for including the preset electric-field intensity, preset safe spacing and preset acquisition time that user sends is obtained,
Wherein, the preset electric-field intensity is critical electric field strength early warning value, and the preset safe spacing is criticality safety distance values, institute
Preset acquisition time is stated for 1-5 seconds；
According to the input instruction, when the preset electric-field intensity, preset safe spacing and the preset collection that are preserved in more new memory
Between.
10. mechanical arm safe distance monitoring method as claimed in claim 8, it is characterised in that the acquisition electric field probe institute
The electric-field intensity of the mechanical arm present position of collection, including：
Gather the power frequency electric field signal in field intensity residing for the mechanical arm；
The power frequency electric field signal is converted into voltage or current signal；
The voltage or current signal are converted into data signal；
The data signal is converted into electric-field intensity.
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