CN107562079A - A kind of control method of liquid level, system and device - Google Patents
A kind of control method of liquid level, system and device Download PDFInfo
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- CN107562079A CN107562079A CN201710764377.8A CN201710764377A CN107562079A CN 107562079 A CN107562079 A CN 107562079A CN 201710764377 A CN201710764377 A CN 201710764377A CN 107562079 A CN107562079 A CN 107562079A
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- ranging system
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Abstract
The invention discloses a kind of control method of liquid level, including：Identify and whether be placed with container on the object disposing platform；If so, then calculating the base plane of the container to the vertical range of container top plane, reference altitude value is designated as；According to the reference altitude value, the anglec of rotation of the laser ranging system is calculated, controls the laser ranging system to be rotated by the anglec of rotation, and the distance measurement value of the laser ranging system is designated as the first distance measurement value；When detecting that liquid injects switch triggering, liquid is injected into the container, and monitors first distance measurement value, when first distance measurement value changes, stops injecting liquid into the container.Above-mentioned method, when the liquid level of container reaches warning liquid level, stop injecting liquid into the container.Avoid and artificially the operation for injecting liquid is controlled, may result in overfill or even overflow that the liquid in container connects, the problem of causing unnecessary waste.
Description
Technical field
The present invention relates to level identification technical field, more particularly to a kind of control method of liquid level, system and device.
Background technology
Nowadays, along with the rapid development of science and technology, the life for being more and more designed as people brings facility.Water dispenser
It is such a product, the appearance of water dispenser meets the drinking-water demand during everybody works and lived.At present, drink is being used
During water dispenser carries out water receiving to container, the mode of generally use water receiving person's manual control, determine when the operation of water receiving stops
Only.
Inventor carries out research discovery to the existing process that water receiving is carried out using water dispenser, by the way of manual control
When operation to water receiving is controlled, the person that depends highly on water receiving of container water receiving chooses when to stop the water receiving operation.Cause
This, the height of the water receiving of container is affected by human factors very greatly, is not only gone out during water receiving is carried out using water dispenser, but
Every process that liquid injecting container is controlled using manual control mode, can all have above mentioned problem.When operator is due to chat
Or other reasons such as absent minded, when being controlled without above-mentioned operation, the liquid that may result in container connects
Overfill even overflow, cause unnecessary waste.
The content of the invention
In view of this, the invention provides a kind of control method of page height, to solve to measure operation in the prior art
Person may lead because chat or other reasons, the process of no liquid injecting container such as absent minded are controlled
Cause the overfill that connects of liquid in container or even overflow, the problem of causing unnecessary waste.Concrete scheme is as follows：
A kind of control method of liquid level, applied to fluid infusion apparatus, the fluid infusion apparatus is put down including glove
Platform and the laser ranging system above object disposing platform, it is characterised in that methods described includes：
Identify and whether be placed with container on the object disposing platform；
If so, then calculating the base plane of the container to the vertical range of container top plane, reference altitude value is designated as；
According to the reference altitude value, the anglec of rotation of the laser ranging system is calculated, controls the laser ranging to fill
Put and rotated by the anglec of rotation, and the distance measurement value of the laser ranging system is designated as the first distance measurement value；
When detecting that liquid injects switch triggering, liquid is injected into the container, and monitors first distance measurement value,
When first distance measurement value changes, stop injecting liquid into the container.
Above-mentioned method, it is preferred that whether being placed with container on the identification object disposing platform includes：
The vertical range of the initial position of the laser ranging system and the placement surface of the object disposing platform is obtained, is designated as
One distance；
When the laser ranging system vertical distance measurement value by first distance change be less than first distance
During second distance, the laser ranging system is rotated in relative both direction successively, when described relative two
There is a distance measurement value in direction, and the distance measurement value and the second distance are by meeting cosine relation to being unsatisfactory for cosine relation
Critical point when, judge container exist.
Above-mentioned method, it is preferred that described if so, then calculating the base plane of the container to container top plane
Vertical range includes：
The laser ranging system is continued to rotate in the position of the critical point, when the distance measurement value with described first away from
During from meeting cosine relation, then the position for meeting for the first time during cosine relation where the laser ranging system is designated as first and faced
Boundary position；
By the anglec of rotation of the relatively described laser ranging system initial position of first critical localisation, the first rotation is designated as
Angle；
By the laser ranging system in distance measurement value corresponding to first critical localisation, the second distance measurement value is designated as；
Calculated according to the second distance, first anglec of rotation and second distance measurement value, obtain the container
Base plane to container top plane vertical range.
Above-mentioned method, it is preferred that described if so, then calculating the base plane of the container to container top plane
Vertical range includes：
The vertical range of the initial position of the laser ranging system and the placement surface of the object disposing platform is obtained, is designated as
One distance；
Measure the initial position of the laser ranging system and the vertical range of the container bottom plane, be designated as the 3rd away from
From；
Rotate the laser ranging system, when the laser ranging system distance measurement value with first distance by being unsatisfactory for
Position where the laser ranging system is then designated as the second critical potential by cosine relation to during the critical point for meeting cosine relation
Put；
By the anglec of rotation of the relatively described laser ranging system initial position of second critical localisation, the second rotation is designated as
Angle；
By the laser ranging system in distance measurement value corresponding to second critical localisation, the 3rd distance measurement value is designated as；
Calculated according to the described 3rd distance, second anglec of rotation and the 3rd distance measurement value, obtain the container
Base plane to container top plane vertical range.
Above-mentioned method, it is preferred that described according to the described 3rd distance, second anglec of rotation and the 3rd distance measurement value
Calculated, obtaining the vertical range of base plane to the container top plane of the container includes：
According to trigonometric function relation, default container height calculation formula is built；
According to the container height calculation formula, the 3rd distance, second anglec of rotation and the 3rd distance measurement value
The base plane of the container is calculated to the vertical range of container top plane.
A kind of control system of liquid level, applied to fluid infusion apparatus, the fluid infusion apparatus is put down including glove
Platform and the laser ranging system above object disposing platform, the control system include：
Identification module, whether container is placed with the object disposing platform for identifying；
First computing module, the base plane for calculating the container are designated as to the vertical range of container top plane
Reference altitude value；
Second computing module, for according to the reference altitude value, calculating the anglec of rotation of the laser ranging system, controlling
Make the laser ranging system to rotate by the anglec of rotation, and the distance measurement value of the laser ranging system is designated as the first ranging
Value；
Control module, for when detecting that liquid injects switch triggering, liquid being injected into the container, and monitor institute
The first distance measurement value is stated, when first distance measurement value changes, stops injecting liquid into the container.
Above-mentioned system, it is preferred that the identification module includes：
First measuring unit, put down for obtaining the glove of initial position and the object disposing platform of the laser ranging system
The vertical range in face, it is designated as the first distance；
First judging unit, for when the laser ranging system vertical distance measurement value by first distance change to be small
When the second distance of first distance, the laser ranging system is rotated in relative both direction successively,
When a distance measurement value in the relative both direction being present, and the distance measurement value with the second distance by meeting that cosine closes
It is that judgement container is present to during the critical point for being unsatisfactory for cosine relation.
Above-mentioned system, it is preferred that first computing module includes：
Second measuring unit, put down for obtaining the glove of initial position and the object disposing platform of the laser ranging system
The vertical range in face, it is designated as the first distance；
3rd measuring unit, for measuring the initial position of the laser ranging system and hanging down for the container bottom plane
Straight distance, it is designated as the 3rd distance；
Second judging unit, after being rotated for the laser ranging system, judge the distance measurement value of the laser ranging system
With first distance by being unsatisfactory for cosine relation to during the critical point for meeting cosine relation, then by the laser ranging system institute
Position be designated as critical localisation；
First indexing unit, for by the laser ranging system in the relatively described laser ranging system of the critical localisation
The anglec of rotation of initial position, it is designated as second anglec of rotation；
Second indexing unit, for by the laser ranging system the critical localisation distance measurement value, be designated as the 3rd survey
Away from value；
Computing unit, for being calculated according to the 3rd distance, second anglec of rotation and the 3rd distance measurement value,
The base plane of the container is obtained to the vertical range of container top plane.
Above-mentioned system, it is preferred that the computing unit includes：
Subelement is built, for according to trigonometric function relation, building default container height calculation formula；
Computation subunit, for according to the container height calculation formula, it is described 3rd distance, second anglec of rotation and
The base plane of the container is calculated to the vertical range of container top plane in 3rd distance measurement value.
A kind of liquid level control device, for the fluid infusion apparatus including object disposing platform, it is characterised in that including：
Laser ranging system, motor, magnetic valve and control chip, wherein：
The laser ranging system, above the object disposing platform, for measure the laser ranging system with it is to be measured
The distance of point；
The motor, for driving the laser ranging system to be rotated；
The magnetic valve, the open and close of liquid operation are injected into the container for controlling；
The control chip, for controlling the motor and the magnetic valve, specific control method includes：Put described in identification
Whether container is placed with thing platform, when being placed with container, calculates the base plane of the container to container top plane
Vertical range, reference altitude value is designated as, according to the reference altitude value, calculates the anglec of rotation of the laser ranging system, control
Making the motor drives the laser ranging system to be rotated, and records the laser ranging system and is rotated by the anglec of rotation
Distance measurement value afterwards, and monitor the distance measurement value, when the distance measurement value changes, controls the closed electromagnetic valve, stop to
Injection liquid in the container.
Compared with prior art, the present invention includes advantages below：
The invention discloses a kind of control method of liquid level, including：Identify whether placed on the object disposing platform
There is container, if so, then calculating the base plane of the container to the vertical range of container top plane, be designated as reference altitude value,
According to the reference altitude value, the anglec of rotation of the laser ranging system is calculated, controls the laser ranging system by described
The anglec of rotation is rotated, and the distance measurement value of the laser ranging system is designated as into the first distance measurement value, is switched when detecting that liquid injects
During triggering, liquid is injected into the container, and monitors first distance measurement value, when first distance measurement value changes,
Stop injecting liquid into the container, the liquid level of the container is controlled.Above-mentioned method, in the process of water receiving
In, when the liquid level of container reaches warning liquid level, stop injecting liquid into the container.It is pair to avoid artificial
The process of injection liquid is when being controlled, due to chat or other reasons such as absent minded, not to injection liquid
Operation is controlled, and may result in overfill or even overflow that the water in container connects, the problem of causing unnecessary waste.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of control method flow chart of liquid level disclosed in the embodiment of the present application；
Fig. 2 is a kind of structured flowchart of liquid level control device disclosed in the embodiment of the present application；
Fig. 3 is a kind of another method flow diagram of the control method of liquid level disclosed in the embodiment of the present application；
Fig. 4 is a kind of another method flow diagram of the control method of liquid level disclosed in the embodiment of the present application；
Fig. 5 is a kind of another method flow diagram of the control method of liquid level disclosed in the embodiment of the present application；
Fig. 6 is a kind of another method flow diagram of the control method of liquid level disclosed in the embodiment of the present application；
Fig. 7 is a kind of Control system architecture block diagram of liquid level disclosed in the embodiment of the present application；
Fig. 8 is a kind of another structured flowchart of the control system of liquid level disclosed in the embodiment of the present application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
The invention provides a kind of control method of liquid level, methods described can apply to fluid infusion apparatus, institute
It can be water dispenser or beverage filling plant etc. to state fluid infusion apparatus.It is mainly used in the mistake that water receiving is carried out using water dispenser
Journey, beverage or other liquid carry out it is filling during, the executive agent of methods described can be processor, control unit,
Control device or execution discharge water or the platform etc. of liquid operation.In the embodiment of the present invention, by using right exemplified by water dispenser water receiving
The control method of liquid level illustrates.The flow of methods described is as shown in figure 1, including step：
Whether container is placed with S101, identification object disposing platform；
S102, if so, then calculating the base plane of the container to the vertical range of container top plane, be designated as with reference to height
Angle value；
S103, according to the reference altitude value, calculate the anglec of rotation of the laser ranging system, control the Laser Measuring
Rotated away from device by the anglec of rotation, and the distance measurement value of the laser ranging system is designated as the first distance measurement value；
S104, when detect liquid inject switch triggering when, liquid is injected into the container, and monitor it is described first survey
Away from value, when first distance measurement value changes, stop injecting liquid into the container.
In the embodiment of the present invention, the triggering mode of liquid injection switch can be artificial triggering and automatic two kinds of triggering.Institute
It is exactly the control device for needing to trigger some button or switch etc by people to state artificial triggering, control liquid injection
Operation.The automatic triggering, which refers to work as, to be detected by the presence of container, completing the determination of warning liquid level value first, it is determined that
After the warning liquid level value, directly control magnetic valve to open and inject liquid into the container.
In the embodiment of the present invention, due to guarding against the height of liquid level it has been determined that the laser of the laser ranging system is revolved
The cup position of the container corresponding with the warning liquid level of the container is gone to, it is corresponding to obtain the warning liquid level
Distance measurement value, be designated as the first distance measurement value, when detect liquid inject switch triggering when, liquid is injected into the container, and supervise
First distance measurement value is surveyed, when first distance measurement value changes, stops injecting liquid into the container.
In the embodiment of the present invention, installation liquid level control device is controlled to the height of vessel level on water dispenser
System, the hardware composition of the liquid level control device include as shown in Figure 2：Including laser ranging system, motor, magnetic valve and
Control chip.
Wherein, the laser ranging system, for the ranging using laser ranging system and tested point described in laser measurement
Value；
The motor, for driving the laser ranging system to be rotated；
The magnetic valve, the open and close of liquid operation are injected into the container for controlling；
The control chip, for controlling the motor and the magnetic valve, specific control method includes：Put described in identification
Whether container is placed with thing platform, when being placed with container, calculates the base plane of the container to container top plane
Vertical range, reference altitude value is designated as, according to the reference altitude value, calculates the anglec of rotation of the laser ranging system, control
Making the motor drives the laser ranging system to be rotated, and records the laser ranging system and is rotated by the anglec of rotation
Distance measurement value afterwards, and monitor the distance measurement value, when the distance measurement value changes, controls the closed electromagnetic valve, stop to
Injection liquid in the container.The control chip realizes the control to the motor and the magnetic valve, is that whole liquid level is high
Spend the control core of control device.
In the embodiment of the present invention, using the laser ranging system, the base plane of the container is calculated to vessel top
The vertical range of facial planes, it is designated as reference altitude value.The laser ranging system is accurately surveyed using laser to target range
Fixed instrument, a branch of very thin laser is projected to target tested point at work, there is photoelectric original to receive target point reflection to be measured
Laser beam, laser determine laser beam from the time for being transmitted into reception, calculate the laser ranging system and tested point
Distance measurement value.
The container of the container mentioned in the embodiment of the present invention, preferably regular shape, for example can be cylinder, it is rectangular
Body etc., certainly, other irregular shapes are also possible, and the reference altitude for the container being simply calculated is present necessarily
Error.
The invention discloses a kind of control method of liquid level, including：Identify whether placed on the object disposing platform
There is container, if so, then calculating the base plane of the container to the vertical range of container top plane, be designated as reference altitude value,
According to the reference altitude value, the anglec of rotation of the laser ranging system is calculated, controls the laser ranging system by described
The anglec of rotation is rotated, and the distance measurement value of the laser ranging system is designated as into the first distance measurement value, is switched when detecting that liquid injects
During triggering, liquid is injected into the container, and monitors first distance measurement value, when first distance measurement value changes,
Stop injecting liquid into the container, the liquid level of the container is controlled.Above-mentioned method, in the process of water receiving
In, when the liquid level of container reaches warning liquid level, stop injecting liquid into the container.It is pair to avoid artificial
The process of injection liquid is when being controlled, due to chat or other reasons such as absent minded, not to injection liquid
Operation is controlled, and may result in overfill or even overflow that the water in container connects, the problem of causing unnecessary waste.
Water dispenser described in the embodiment of the present invention is before the operation that discharge water, it is necessary first to judges the water dispenser
Below delivery port whether with the presence of water receiving container, identify whether to be placed with the schematic diagram of container as shown in figure 3, wherein, plane F
For object disposing platform.
When the object disposing platform does not place any container, range finder module is measured in position 1 is with the vertical range of bottom
H, it is designated as the first distance.Described first distance is stored in a memory chip of control module, when needing to judge object disposing platform
In the presence of whether having container, first distance is obtained in the memory chip.After bottom is put into container, due to container bottom
Seat has certain thickness, and the distance of now ranging and bottom is h, is designated as second distance.Work as H=h, then it is assumed that without container, if H
>H, then carry out following judgement.
Intelligent distance-measuring module can the right and left carry out wheel measuring, first rotated by position 1 to position 2, if during go out
Existing distance measurement value is unsatisfactory for cosine relation with h, then sets back, rotated to position 3, if rotated by position 1 to the process of position 3
There is distance measurement value and be unsatisfactory for cosine relation with h, now judge that the object disposing platform has container on having.If surveyed in rotary course
Meet cosine relation always away from value and h, then judge container is not present on the object disposing platform.
In the embodiment of the present invention, when recognize be placed with container when, by the laser ranging system in the critical point
Position continues to rotate, and when the distance measurement value meets cosine relation with first distance, then will meet cosine relation for the first time
Position where Shi Suoshu laser ranging systems is designated as the first critical localisation；
By the anglec of rotation of the relatively described laser ranging system initial position of first critical localisation, the first rotation is designated as
Angle；
By the laser ranging system in distance measurement value corresponding to first critical localisation, the second distance measurement value is designated as；
Calculated according to the second distance, first anglec of rotation and second distance measurement value, obtain the container
Base plane to container top plane vertical range.
, can also be by the Laser Measuring in the presence of recognizing and having container on the object disposing platform in the embodiment of the present invention
Initial position is rotated to away from device, calculates the glove plane of the container to the method stream of the vertical range of container top plane
Journey is as shown in figure 4, including step：
S201, the initial position and the placement surface of the object disposing platform for obtaining the laser ranging system vertical range,
It is designated as the first distance；
S202, the initial position of the measurement laser ranging system and the vertical range of the container bottom plane, are designated as
3rd distance；
S203, the rotation laser ranging system, when the laser ranging system distance measurement value and first distance by
Cosine relation is unsatisfactory for during the critical point for meeting cosine relation, then the position where the laser ranging system is designated as second
Critical localisation；
S204, the anglec of rotation by the relatively described laser ranging system initial position of second critical localisation, it is designated as
Two anglecs of rotation；
S205, by the laser ranging system in distance measurement value corresponding to second critical localisation, be designated as the 3rd distance measurement value；
S206, calculated according to the described 3rd distance, second anglec of rotation and the 3rd distance measurement value, obtained described
Vertical range of the base plane of container to container top plane.
In the embodiment of the present invention, if exist in S201-S206 on the corresponding measurement object disposing platform method of container with
Method shown in Fig. 3 is identical, then first critical localisation and second critical localisation, first anglec of rotation with it is described
Second anglec of rotation, second distance measurement value and the 3rd distance measurement value all same.
In the embodiment of the present invention, the glove plane of the calculating container corresponding to S201-S206 to container top plane
The method of vertical range can avoid when determine container be present on the object disposing platform after, due to vibrations or artificial touching
Deng other reasonses, make the initial position of the container change, cause the glove plane of the container to container top plane
Vertical demension measurement inaccuracy the problem of.
Wherein, the 3rd distance, second anglec of rotation and the 3rd distance measurement value are calculated, obtains the appearance
The method of the glove plane of device to the vertical range of container top plane is：
According to trigonometric function relation, default container height calculation formula is built；
According to the container height calculation formula, the 3rd distance, second anglec of rotation and the 3rd distance measurement value
The glove plane of the container is calculated to the vertical range of container top plane.
By taking above-mentioned method as an example, measurement container height process as shown in figure 5,
In the presence of container has been detected, when the laser ranging system rotation is in the position between 1~2, now survey
Meet cosine relation away from value and vertical range, when the laser ranging system rotational angle setover 2, now therebetween
No longer meet cosine relation, be hereafter rotated further by an angle, when being still unsatisfactory for cosine relation, now identifier is recorded as 1.
When the laser ranging system rotational angle setover 3, now distance measurement value can meet again with vertical range
Cosine relation, the last angle rotated through of record is β, is hereafter rotated further by an angle, when still meeting cosine relation, now
Identifier is recorded as 2, and the anglec of rotation using β as position 1 to position 3.
When identifier record is 2, now stop operating.Using the trigonometric function relation in the trigonometric function of triangle,
Container height can be calculated.Now laser returns to origin.
Container height hxExpression formula it is as follows：hx=h-L2cosβ
In the embodiment of the present invention, before the cock of water drain of water dispenser is triggered, system can advance with above method meter
The glove plane of the container is calculated to the vertical range of container top plane, reference altitude value is designated as, according to described with reference to high
Angle value, warning liquid level value position is set, it is preferred that the warning liquid level value is the 90% of the reference altitude value,
Can artificially it be set as needed.
In the embodiment of the present invention, when the vertical demension measurement of the glove plane to the container top plane that obtain the container is complete
Cheng Shi, the position of the laser ranging system is returned into initial position.
In the embodiment of the present invention, above-mentioned ranging die set is applied to schematic diagram in water dispenser as shown in fig. 6,
Wherein, h2- warning line height, the distances of h- the 3rd.
When during water receiving, container height is precomputed according to container height computational methods of the present invention,
Then it is automatic that warning liquid level (being preferably the 90% of container height) is set, can also artificially it be set as needed, together
When range finder module can rotate to the position of corresponding angle, and measure and record current distance, start after discharging water, when water level exceedes
During warning line, now the distance measurement value of airborne laser range finder can mismatch with distance measurement value before, because the height of water in container surpasses
Crossed warning liquid level, therefore, distance measurement value can change, it is generally the case that current distance measurement value can be less than before survey
Away from value.Now think that water level reaches warning liquid level, stop discharging water.
Corresponding with the above method, the invention provides a kind of control system of liquid level, the structure of the system
As shown in fig. 7, comprises：
Identification module 301, the first computing module 302, the second computing module 303 and control module 304.
Wherein,
The identification module 301, whether container is placed with the object disposing platform for identifying；
First computing module 302, for when identify be placed with container when, calculate the glove plane of the container
To the vertical range of container top plane, reference altitude value is designated as；
Second computing module 303, for according to the reference altitude value, calculating the rotation of the laser ranging system
Angle, control the laser ranging system to be rotated by the anglec of rotation, and the distance measurement value of the laser ranging system is designated as
First distance measurement value；
The control module, for when detecting that liquid injects switch triggering, liquid being injected into the container, and supervise
First distance measurement value is surveyed, when first distance measurement value changes, stops injecting liquid into the container.
The invention discloses a kind of control system of liquid level, including：Identification module, for identifying the object disposing platform
On whether be placed with container；First computing module, for when identify be placed with container when, calculate the base plane of the container
To the vertical range of container top plane, reference altitude value is designated as；Second computing module, for according to the reference altitude value,
The anglec of rotation of the laser ranging system is calculated, controls the laser ranging system to be rotated by the anglec of rotation, and by institute
The distance measurement value for stating laser ranging system is designated as the first distance measurement value；Control module, for when detect liquid inject switch triggering when,
Liquid is injected into the container, and monitors first distance measurement value, when first distance measurement value changes, is stopped to institute
Injection liquid in container is stated, the liquid level of the container is controlled.Above-mentioned system, during water receiving, work as appearance
When the liquid level of device reaches warning liquid level, stop injecting liquid into the container.It is to injecting liquid to avoid artificial
When the process of body is controlled, due to chat or other reasons such as absent minded, the operation for injecting liquid is not entered
Row control, overfill or even overflow that the water in container connects are may result in, the problem of causing unnecessary waste.
In the embodiment of the present invention, the structure of the identification module 301 as shown in figure 8, including：
First measuring unit 305 and the first judging unit 306.
Wherein,
First measuring unit 305, for the initial position for obtaining the laser ranging system and the object disposing platform
Glove plane vertical range, be designated as the first distance；
First judging unit 306, for when the vertical distance measurement value of the laser ranging system is by first distance
It is when change turns to the second distance less than first distance, the laser ranging system is enterprising in relative both direction successively
Row rotation, when a distance measurement value in the relative both direction being present, and the distance measurement value with the second distance by expiring
To during the critical point for being unsatisfactory for cosine relation, judgement container exists sufficient cosine relation.
In the embodiment of the present invention, the structured flowchart of first computing module 302 as shown in figure 8, including：
Second measuring unit 307, the 3rd measuring unit 308, the second judging unit 309, the first indexing unit 310, second
Indexing unit 311 and computing unit 312.
Wherein,
Second measuring unit 307, for the initial position for obtaining the laser ranging system and the object disposing platform
Glove plane vertical range, be designated as the first distance；
3rd measuring unit 308, for the initial position for measuring the laser ranging system and the container bottom
The vertical range of plane, it is designated as the 3rd distance；
Second judging unit 309, after being rotated for the laser ranging system, judge the laser ranging system
Distance measurement value and first distance are by being unsatisfactory for cosine relation to during the critical point for meeting cosine relation, then by the laser ranging
Position where device is designated as critical localisation；
First indexing unit 310, for by the laser ranging system in the relatively described laser of the critical localisation
The anglec of rotation of range unit initial position, it is designated as second anglec of rotation；
Second indexing unit 311, for the laser ranging system in the distance measurement value of the critical localisation, to be designated as
3rd distance measurement value；
The computing unit 312, for being entered according to the 3rd distance, second anglec of rotation and the 3rd distance measurement value
Row calculates, and obtains the base plane of the container to the vertical range of container top plane.
In the embodiment of the present invention, the Control system architecture shown in Fig. 8, first measuring unit and the described second measurement are single
Member can be same measuring unit.
In the embodiment of the present invention, the structured flowchart of the computing unit 312 as shown in figure 8, including：
Build subelement 313 and computation subunit 314.
Wherein,
The structure subelement 313, for according to trigonometric function relation, building default container height calculation formula；
The computation subunit 314, for according to the container height calculation formula, the 3rd distance, described second
The base plane of the container is calculated to the vertical range of container top plane in the anglec of rotation and the 3rd distance measurement value.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
For device class embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is joined
See the part explanation of embodiment of the method.
Finally, it is to be noted that, in this application, such as first and second or the like relational terms are used merely to
One entity or operation are made a distinction with another entity or operation, and not necessarily require or imply these entities or behaviour
Any this actual relation or order between work be present.Moreover, term " comprising ", "comprising" or its any other variant
Including for nonexcludability is intended to, so that process, method, article or equipment including a series of elements not only include
Those key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of person's equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", not
Other identical element in the process including the key element, method, article or equipment also be present in exclusion.
The foregoing description of the disclosed embodiments, those skilled in the art are enable to realize or using the present invention.To this
A variety of modifications of a little embodiments will be apparent for a person skilled in the art, and generic principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
The embodiments shown herein is formed on, and is to fit to consistent with principles disclosed herein and features of novelty most wide
Scope.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of control method of liquid level, applied to fluid infusion apparatus, the fluid infusion apparatus includes object disposing platform
With the laser ranging system above object disposing platform, it is characterised in that methods described includes：
Identify and whether be placed with container on the object disposing platform；
If so, then calculating the base plane of the container to the vertical range of container top plane, reference altitude value is designated as；
According to the reference altitude value, the anglec of rotation of the laser ranging system is calculated, controls the laser ranging system to press
The anglec of rotation rotation, and the distance measurement value of the laser ranging system is designated as the first distance measurement value；
When detecting that liquid injects switch triggering, liquid is injected into the container, and monitors first distance measurement value, works as institute
When stating the first distance measurement value and changing, stop injecting liquid into the container.
2. according to the method for claim 1, it is characterised in that whether be placed with container bag on the identification object disposing platform
Include：
Obtain the vertical range of the initial position of the laser ranging system and the placement surface of the object disposing platform, be designated as first away from
From；
When the laser ranging system vertical distance measurement value by first distance change be less than the second of first distance
Apart from when, the laser ranging system is rotated in relative both direction successively, when the relative both direction
A distance measurement value be present, and the distance measurement value and the second distance are by meeting cosine relation to being unsatisfactory for facing for cosine relation
During boundary's point, judge that container is present.
3. according to the method for claim 2, it is characterised in that described if so, then calculating the base plane of the container
Vertical range to container top plane includes：
The laser ranging system is continued to rotate in the position of the critical point, when the distance measurement value and the described first distance are full
During sufficient cosine relation, then it will meet that position during cosine relation where the laser ranging system is designated as the first critical potential for the first time
Put；
By the anglec of rotation of the relatively described laser ranging system initial position of first critical localisation, first anglec of rotation is designated as；
By the laser ranging system in distance measurement value corresponding to first critical localisation, the second distance measurement value is designated as；
Calculated according to the second distance, first anglec of rotation and second distance measurement value, obtain the bottom of the container
Vertical range of the facial planes to container top plane.
4. method according to claim 1 or 2, it is characterised in that described if so, the bottom for then calculating the container is put down
Face includes to the vertical range of container top plane：
Obtain the vertical range of the initial position of the laser ranging system and the placement surface of the object disposing platform, be designated as first away from
From；
The initial position of the laser ranging system and the vertical range of the container bottom plane are measured, is designated as the 3rd distance；
The laser ranging system is rotated, when distance measurement value and first distance of the laser ranging system are by being unsatisfactory for cosine
When being related to the critical point for meeting cosine relation, then the position where the laser ranging system is designated as the second critical localisation；
By the anglec of rotation of the relatively described laser ranging system initial position of second critical localisation, second anglec of rotation is designated as；
By the laser ranging system in the distance measurement value of second critical localisation, the 3rd distance measurement value is designated as；
Calculated according to the described 3rd distance, second anglec of rotation and the 3rd distance measurement value, obtain the bottom of the container
Vertical range of the facial planes to container top plane.
5. according to the method for claim 4, it is characterised in that described according to the described 3rd distance, second anglec of rotation
Calculated with the 3rd distance measurement value, obtaining the vertical range of base plane to the container top plane of the container includes：
According to trigonometric function relation, default container height calculation formula is built；
Calculated according to the container height calculation formula, the 3rd distance, second anglec of rotation and the 3rd distance measurement value
The base plane of the container is obtained to the vertical range of container top plane.
6. a kind of control system of liquid level, applied to fluid infusion apparatus, the fluid infusion apparatus includes object disposing platform
With the laser ranging system above object disposing platform, it is characterised in that the control system includes：
Identification module, whether container is placed with the object disposing platform for identifying；
First computing module, for calculating the base plane of the container to the vertical range of container top plane, it is designated as referring to
Height value；
Second computing module, for according to the reference altitude value, calculating the anglec of rotation of the laser ranging system, controlling institute
State laser ranging system to rotate by the anglec of rotation, and the distance measurement value of the laser ranging system is designated as the first distance measurement value；
Control module, for when detecting that liquid injects switch triggering, liquid to be injected into the container, and monitor described the
One distance measurement value, when first distance measurement value changes, stop injecting liquid into the container.
7. system according to claim 6, it is characterised in that the identification module includes：
First measuring unit, for obtaining the initial position of the laser ranging system and the glove plane of the object disposing platform
Vertical range, it is designated as the first distance；
First judging unit, for when the laser ranging system vertical distance measurement value by first distance change for less than institute
When stating the second distance of the first distance, the laser ranging system is rotated in relative both direction successively, works as institute
State and a distance measurement value in relative both direction be present, and the distance measurement value and the second distance by meet cosine relation to
When being unsatisfactory for the critical point of cosine relation, judge that container is present.
8. the system according to claim 6 or 7, it is characterised in that first computing module includes：
Second measuring unit, for obtaining the initial position of the laser ranging system and the glove plane of the object disposing platform
Vertical range, it is designated as the first distance；
3rd measuring unit, initial position for measuring the laser ranging system it is vertical with the container bottom plane away from
From being designated as the 3rd distance；
Second judging unit, after being rotated for the laser ranging system, judge distance measurement value and the institute of the laser ranging system
The first distance is stated by being unsatisfactory for cosine relation to during the critical point for meeting cosine relation, then by where the laser ranging system
Position is designated as critical localisation；
First indexing unit, for the laser ranging system is initial in the relatively described laser ranging system of the critical localisation
The anglec of rotation of position, it is designated as second anglec of rotation；
Second indexing unit, in the distance measurement value of the critical localisation, the laser ranging system to be designated as into the 3rd distance measurement value；
Computing unit, for being calculated according to the 3rd distance, second anglec of rotation and the 3rd distance measurement value, obtain
Vertical range of the base plane of the container to container top plane.
9. system according to claim 8, it is characterised in that the computing unit includes：
Subelement is built, for according to trigonometric function relation, building default container height calculation formula；
Computation subunit, for according to the container height calculation formula, the 3rd distance, second anglec of rotation and described
The base plane of the container is calculated to the vertical range of container top plane in 3rd distance measurement value.
A kind of 10. liquid level control device, for the fluid infusion apparatus including object disposing platform, it is characterised in that including：Swash
Optical range finding apparatus, motor, magnetic valve and control chip, wherein：
The laser ranging system, above the object disposing platform, for measuring the laser ranging system and tested point
Distance；
The motor, for driving the laser ranging system to be rotated；
The magnetic valve, the open and close of liquid operation are injected into the container for controlling；
The control chip, for controlling the motor and the magnetic valve, specific control method includes：Identify that the glove is put down
Whether container is placed with platform, when being placed with container, calculates the base plane of the container to the vertical of container top plane
Distance, reference altitude value is designated as, according to the reference altitude value, calculates the anglec of rotation of the laser ranging system, control institute
Stating motor drives the laser ranging system to be rotated, and it is postrotational by the anglec of rotation to record the laser ranging system
Distance measurement value, and the distance measurement value is monitored, when the distance measurement value changes, the closed electromagnetic valve is controlled, is stopped to described
Injection liquid in container.
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| CN201710764377.8A CN107562079B (en) | 2017-08-30 | 2017-08-30 | Liquid level control method, system and device |
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| CN201710764377.8A CN107562079B (en) | 2017-08-30 | 2017-08-30 | Liquid level control method, system and device |
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| CN107562079B (en) | 2020-07-31 |
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