CN107562079B - Liquid level control method, system and device - Google Patents
Liquid level control method, system and device Download PDFInfo
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- CN107562079B CN107562079B CN201710764377.8A CN201710764377A CN107562079B CN 107562079 B CN107562079 B CN 107562079B CN 201710764377 A CN201710764377 A CN 201710764377A CN 107562079 B CN107562079 B CN 107562079B
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- 239000007924 injection Substances 0.000 claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
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Abstract
The invention discloses a liquid level height control method, which comprises the following steps: identifying whether a container is placed on the placement platform; if so, calculating the vertical distance from the bottom plane of the container to the top plane of the container, and recording as a reference height value; calculating a rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle, and recording a ranging value of the laser ranging device as a first ranging value; when the triggering of the liquid injection switch is detected, injecting liquid into the container, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value changes. In the method, when the liquid level of the container reaches the warning liquid level, the liquid is stopped from being injected into the container. The problem that the liquid in the container is overfilled or even overflows possibly to cause unnecessary waste due to the fact that the operation of injecting the liquid is manually controlled is avoided.
Description
Technical Field
The invention relates to the technical field of height recognition, in particular to a method, a system and a device for controlling liquid level height.
Background
Nowadays, with the rapid development of science and technology, more and more designs bring convenience to the lives of people. The water dispenser is a product, and the appearance of the water dispenser meets the drinking water requirements of people in work and life. At present, in the process of using a water dispenser to collect water from a container, a manual control mode of a water collector is generally adopted to determine when the water collecting operation is stopped.
The inventor researches the existing process of using the water dispenser to collect water, and finds that when the manual control mode is adopted to control the water collecting operation, the height of the container for collecting water depends on when a user selects to stop the water collecting operation. Therefore, the water receiving height of the container is greatly influenced by human factors, and the problems can be caused when the process of using the water dispenser to receive water is controlled by adopting a manual control mode to control the process of injecting liquid into the container. When the operator is not in control of the above operation for other reasons, such as chatting or lack of concentration, the liquid in the container may be overfilled or even overflowed, resulting in unnecessary waste.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling a page height, which is used to solve the problem in the prior art that, due to chat or other reasons such as inattention, a large number of operators do not have a process of filling liquid into a container for control, which may cause overfilling or even overflow of the liquid in the container, thereby causing unnecessary waste. The specific scheme is as follows:
a liquid level control method is applied to a liquid injection device, the liquid injection device comprises a storage platform and a laser ranging device positioned above the storage platform, and the method is characterized by comprising the following steps:
identifying whether a container is placed on the placement platform;
if so, calculating the vertical distance from the bottom plane of the container to the top plane of the container, and recording as a reference height value;
calculating a rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle, and recording a ranging value of the laser ranging device as a first ranging value;
when the triggering of the liquid injection switch is detected, injecting liquid into the container, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value changes.
In the above method, preferably, the identifying whether the container is placed on the platform includes:
acquiring the vertical distance between the initial position of the laser ranging device and the object placing surface of the object placing platform, and recording as a first distance;
when the vertical distance measuring value of the laser distance measuring device is changed from the first distance to a second distance smaller than the first distance, the laser distance measuring device is sequentially rotated in two opposite directions, and when one distance measuring value exists in the two opposite directions and the distance measuring value and the second distance are in a critical point from the cosine relation to the cosine relation, the container is judged to exist.
In the above method, preferably, if yes, the calculating a vertical distance from a bottom plane of the container to a top plane of the container includes:
continuing to rotate the laser ranging device at the position of the critical point, and recording the position of the laser ranging device when the ranging value and the first distance meet the cosine relation as a first critical position when the ranging value and the first distance meet the cosine relation for the first time;
recording the rotation angle of the first critical position relative to the initial position of the laser ranging device as a first rotation angle;
recording a distance measurement value corresponding to the first critical position of the laser distance measurement device as a second distance measurement value;
and calculating according to the second distance, the first rotation angle and the second distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
In the above method, preferably, if yes, the calculating a vertical distance from a bottom plane of the container to a top plane of the container includes:
acquiring the vertical distance between the initial position of the laser ranging device and the object placing surface of the object placing platform, and recording as a first distance;
measuring the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, and recording as a third distance;
rotating the laser ranging device, and recording the position of the laser ranging device as a second critical position when the ranging value of the laser ranging device and the first distance are from the critical point which does not satisfy the cosine relation to the critical point which satisfies the cosine relation;
recording the rotation angle of the second critical position relative to the initial position of the laser ranging device as a second rotation angle;
recording a distance measurement value corresponding to the second critical position of the laser distance measurement device as a third distance measurement value;
and calculating according to the third distance, the second rotation angle and the third distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
In the above method, preferably, the calculating according to the third distance, the second rotation angle and the third distance measurement value, and obtaining the vertical distance from the bottom plane of the container to the top plane of the container includes:
constructing a preset container height calculation formula according to the trigonometric function relationship;
and calculating the vertical distance from the bottom plane of the container to the top plane of the container according to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value.
The utility model provides a liquid level's control system is applied to liquid injection device, liquid injection device includes platform and the laser rangefinder who is located the platform top, control system includes:
the identification module is used for identifying whether a container is placed on the storage platform;
the first calculation module is used for calculating the vertical distance from the bottom plane of the container to the top plane of the container and recording the vertical distance as a reference height value;
the second calculation module is used for calculating the rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle and recording the ranging value of the laser ranging device as a first ranging value;
and the control module is used for injecting liquid into the container when detecting that the liquid injection switch is triggered, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value changes.
In the above system, preferably, the identification module includes:
the first measuring unit is used for acquiring the vertical distance between the initial position of the laser ranging device and the object placing plane of the object placing platform and recording the vertical distance as a first distance;
the first judging unit is used for sequentially rotating the laser ranging device in two opposite directions when the vertical ranging value of the laser ranging device is changed from the first distance to a second distance smaller than the first distance, and judging that the container exists when the ranging value exists in the two opposite directions and the ranging value and the second distance are from the condition that the cosine relation is satisfied to the condition that the cosine relation is not satisfied.
In the above system, preferably, the first calculation module includes:
the second measuring unit is used for acquiring the vertical distance between the initial position of the laser ranging device and the object placing plane of the object placing platform and recording the vertical distance as a first distance;
the third measuring unit is used for measuring the vertical distance between the initial position of the laser ranging device and the bottom plane of the container and recording the vertical distance as a third distance;
the second judging unit is used for recording the position of the laser ranging device as a critical position when judging that the ranging value of the laser ranging device and the first distance satisfy the cosine relation from the critical point which does not satisfy the cosine relation after the laser ranging device rotates;
the first marking unit is used for recording the rotation angle of the laser ranging device at the critical position relative to the initial position of the laser ranging device as a second rotation angle;
the second marking unit is used for recording the distance measurement value of the laser distance measurement device at the critical position as a third distance measurement value;
and the calculating unit is used for calculating according to the third distance, the second rotating angle and the third distance measuring value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
In the above system, preferably, the calculation unit includes:
the construction subunit is used for constructing a preset container height calculation formula according to the trigonometric function relationship;
and the calculating subunit is used for calculating the vertical distance from the bottom plane of the container to the top plane of the container according to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value.
A liquid level control device for a liquid injection device including a platform, comprising: laser rangefinder, motor, solenoid valve and control chip, wherein:
the laser ranging device is positioned above the object placing platform and used for measuring the distance between the laser ranging device and a point to be measured;
the motor is used for driving the laser ranging device to rotate;
the electromagnetic valve is used for controlling the opening and closing of the operation of injecting liquid into the container;
the control chip is used for controlling the motor and the electromagnetic valve, and the specific control method comprises the following steps: the discernment whether placed the container on the platform, when placing the container, calculate the bottom plane of container to the planar vertical distance in container top, record for reference height value, according to reference height value calculates laser rangefinder's rotation angle, control motor drive laser rangefinder rotates, records laser rangefinder presses the range finding value after the rotation angle is rotatory, and monitors the range finding value, works as when the range finding value changes, control the solenoid valve is closed, stops to pour into liquid in the container.
Compared with the prior art, the invention has the following advantages:
the invention discloses a liquid level height control method, which comprises the following steps: the identification discerns whether place the container on the platform, if, then calculate the bottom plane of container to the planar vertical distance in container top, record as reference height value, according to reference height value calculates laser rangefinder's rotation angle, control laser rangefinder presses the rotation angle is rotatory, and will laser rangefinder's range finding value is recorded as first range finding value, when detecting that liquid injection switch triggers, to inject liquid in the container, and monitor first range finding value, when first range finding value changes, stop to inject liquid in the container, it is right to control the liquid level height of container. In the method, in the process of receiving water, when the liquid level of the container reaches the warning liquid level, the liquid is stopped from being injected into the container. The problem that when the process of injecting liquid is artificially controlled, the operation of injecting the liquid is not controlled due to chatting or other reasons such as inattention and the like, so that the water in the container is overfilled or even overflows, and unnecessary waste is caused is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling liquid level according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of a liquid level control apparatus according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method for controlling liquid level according to the embodiment of the present application;
FIG. 4 is a flow chart of another method for controlling liquid level according to the embodiment of the present disclosure;
FIG. 5 is a flow chart of another method for controlling liquid level according to the embodiment of the present disclosure;
FIG. 6 is a flow chart of another method for controlling liquid level according to an embodiment of the present disclosure;
FIG. 7 is a block diagram of a fluid level control system according to an embodiment of the present disclosure;
fig. 8 is a block diagram of another structure of a liquid level control system according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The invention provides a liquid level control method, which can be applied to a liquid injection device, wherein the liquid injection device can be a water dispenser or beverage filling equipment and the like. The method is mainly applied to the process of receiving water by using a water dispenser and the process of filling beverages or other liquids, and the execution main body of the method can be a processor, a control unit, a control device or a platform for executing water discharging or liquid operation and the like. In the embodiment of the present invention, a method for controlling a liquid level is described by taking a water dispenser as an example. The flow of the method is shown in fig. 1, and comprises the following steps:
s101, identifying whether a container is placed on the object placing platform;
s102, if yes, calculating the vertical distance from the bottom plane of the container to the top plane of the container, and recording as a reference height value;
s103, calculating a rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle, and recording a ranging value of the laser ranging device as a first ranging value;
and S104, when the triggering of the liquid injection switch is detected, injecting liquid into the container, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value is changed.
In the embodiment of the invention, the triggering mode of the liquid injection switch can be artificial triggering and automatic triggering. The manual triggering is to trigger a certain control device such as a button or a switch by a person to control the liquid injection operation. The automatic triggering means that when the existence of the container is detected, the determination of the warning liquid level height value is firstly completed, and after the warning liquid level height value is determined, the electromagnetic valve is directly controlled to be opened to inject liquid into the container.
In the embodiment of the invention, as the height of the warning liquid level is determined, the laser of the laser ranging device is rotated to the position of the cup body of the container corresponding to the height of the warning liquid level of the container, the ranging value corresponding to the height of the warning liquid level is obtained and recorded as a first ranging value, when the triggering of a liquid injection switch is detected, liquid is injected into the container, the first ranging value is monitored, and when the first ranging value is changed, the liquid is stopped being injected into the container.
In the embodiment of the invention, a liquid level height control device is arranged on a water dispenser to control the height of the liquid level of a container, and the hardware of the liquid level height control device comprises the following components as shown in figure 2: the device comprises a laser ranging device, a motor, an electromagnetic valve and a control chip.
The laser ranging device is used for measuring a ranging value between the laser ranging device and a point to be measured by using laser;
the motor is used for driving the laser ranging device to rotate;
the electromagnetic valve is used for controlling the opening and closing of the operation of injecting liquid into the container;
the control chip is used for controlling the motor and the electromagnetic valve, and the specific control method comprises the following steps: the discernment whether placed the container on the platform, when placing the container, calculate the bottom plane of container to the planar vertical distance in container top, record for reference height value, according to reference height value calculates laser rangefinder's rotation angle, control motor drive laser rangefinder rotates, records laser rangefinder presses the range finding value after the rotation angle is rotatory, and monitors the range finding value, works as when the range finding value changes, control the solenoid valve is closed, stops to pour into liquid in the container. The control chip realizes control of the motor and the electromagnetic valve and is the control core of the whole liquid level height control device.
In the embodiment of the invention, the vertical distance from the bottom plane of the container to the top plane of the container is calculated by using the laser ranging device and is recorded as a reference height value. The laser ranging device utilizes an instrument which utilizes laser to accurately measure the target distance to emit a thin laser beam to a target point to be measured when in work, a photoelectric element receives the laser beam reflected by the target point to be measured, a laser measures the time from the emission to the reception of the laser beam, and the ranging value between the laser ranging device and the point to be measured is calculated.
The container mentioned in the embodiments of the present invention is preferably a container with a regular shape, such as a cylinder, a rectangular parallelepiped, etc., but other irregular shapes are also possible, only a certain error exists in the calculated reference height of the container.
The invention discloses a liquid level height control method, which comprises the following steps: the identification discerns whether place the container on the platform, if, then calculate the bottom plane of container to the planar vertical distance in container top, record as reference height value, according to reference height value calculates laser rangefinder's rotation angle, control laser rangefinder presses the rotation angle is rotatory, and will laser rangefinder's range finding value is recorded as first range finding value, when detecting that liquid injection switch triggers, to inject liquid in the container, and monitor first range finding value, when first range finding value changes, stop to inject liquid in the container, it is right to control the liquid level height of container. In the method, in the process of receiving water, when the liquid level of the container reaches the warning liquid level, the liquid is stopped from being injected into the container. The problem that when the process of injecting liquid is artificially controlled, the operation of injecting the liquid is not controlled due to chatting or other reasons such as inattention and the like, so that the water in the container is overfilled or even overflows, and unnecessary waste is caused is solved.
Before the water dispenser in the embodiment of the present invention performs a water discharging operation, it is first required to determine whether a container for receiving water exists below a water outlet of the water dispenser, and a schematic diagram of whether the container is placed is identified as shown in fig. 3, where a plane F is a platform.
When no container is placed on the object placing platform, the vertical distance between the distance measuring module and the bottom measured at the position 1 is H and recorded as a first distance. And storing the first distance into a memory chip of the control module, and acquiring the first distance from the memory chip when judging whether the container exists on the object placing platform. After the container is placed at the bottom end, the distance between the distance measurement and the bottom is h and is recorded as a second distance due to the fact that the container base has a certain thickness. When H is H, it is considered that there is no container, and when H > H, the following judgment is made.
The intelligent distance measuring module can carry out rotation measurement on the left side and the right side, firstly rotates to a position 2 from a position 1, restores to the original position if the distance measuring value and h do not satisfy the cosine relationship in the process, rotates to a position 3, and judges that a container exists on the object placing platform if the distance measuring value and h do not satisfy the cosine relationship in the process of rotating to the position 3 from the position 1. And if the distance measurement value and the h always satisfy the cosine relation in the rotating process, judging that no container exists on the object placing platform.
In the embodiment of the invention, when the container is identified to be placed, the laser ranging device is continuously rotated at the position of the critical point, and when the ranging value and the first distance meet the cosine relationship, the position of the laser ranging device when the cosine relationship is met for the first time is recorded as a first critical position;
recording the rotation angle of the first critical position relative to the initial position of the laser ranging device as a first rotation angle;
recording a distance measurement value corresponding to the first critical position of the laser distance measurement device as a second distance measurement value;
and calculating according to the second distance, the first rotation angle and the second distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
In the embodiment of the present invention, when it is recognized that a container exists on the placement platform, the method may further rotate the laser distance measuring device to an initial position, and calculate a vertical distance from a placement plane of the container to a top plane of the container, as shown in fig. 4, includes:
s201, acquiring a vertical distance between an initial position of the laser ranging device and an object placing surface of the object placing platform, and recording the vertical distance as a first distance;
s202, measuring the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, and recording as a third distance;
s203, rotating the laser ranging device, and recording the position of the laser ranging device as a second critical position when the ranging value of the laser ranging device and the first distance are from the critical point which does not satisfy the cosine relation to the critical point which satisfies the cosine relation;
s204, recording the rotation angle of the second critical position relative to the initial position of the laser ranging device as a second rotation angle;
s205, recording a distance measurement value corresponding to the second critical position of the laser distance measurement device as a third distance measurement value;
s206, calculating according to the third distance, the second rotation angle and the third distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
In an embodiment of the present invention, if the method for measuring the presence of the container on the placement platform in S201-S206 is the same as the method shown in fig. 3, the first critical position and the second critical position, the first rotation angle and the second rotation angle, and the second distance measurement value and the third distance measurement value are the same.
In the embodiment of the present invention, the method for calculating the vertical distance from the object placing plane of the container to the top plane of the container corresponding to S201-S206 may avoid that, after it is determined that the container exists on the object placing platform, the initial position of the container is changed due to vibration or human touch or other reasons, which may cause inaccurate measurement of the vertical distance from the object placing plane of the container to the top plane of the container.
Wherein, the third distance, the second rotation angle and the third distance measurement value are calculated, and the method for obtaining the vertical distance from the object placing plane of the container to the top plane of the container comprises the following steps:
constructing a preset container height calculation formula according to the trigonometric function relationship;
and calculating the vertical distance from the object placing plane of the container to the top plane of the container according to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value.
Taking the above method as an example, the process of measuring the height of the container is shown in figure 5,
when a container is detected to exist, the laser ranging device rotates to be located at a position between 1 and 2, the ranging value and the vertical distance meet the cosine relationship, when the rotating angle of the laser ranging device exceeds the position 2, the laser ranging device does not meet the cosine relationship any more, then the laser ranging device rotates by an angle, and when the laser ranging device does not meet the cosine relationship, the identifier is recorded as 1.
When the rotation angle of the laser distance measuring device exceeds the position 3, the distance measuring value and the vertical distance satisfy the cosine relationship again, the last rotation angle is recorded as β, and then the last rotation angle is rotated by another angle, and when the cosine relationship is still satisfied, the identifier is recorded as 2, and β is used as the rotation angle from the position 1 to the position 3.
When the identifier is recorded as 2, the rotation is stopped at this time. The container height can be calculated by using trigonometric function relations in trigonometric functions of the triangle. At which time the laser returns to the origin.
Height h of the containerxThe expression of (a) is as follows: h isx＝h-L2cosβ
In the embodiment of the invention, before a water discharging switch of the water dispenser is triggered, the system calculates the vertical distance from the object placing plane of the container to the top plane of the container in advance by using the method and records the vertical distance as a reference height value, and sets the warning liquid level height value according to the reference height value, preferably, the warning liquid level height value is 90% of the reference height value, and can also be manually set according to needs.
In the embodiment of the invention, when the measurement of the vertical distance from the object placing plane of the container to the top plane of the container is completed, the position of the laser ranging device is restored to the initial position.
In the embodiment of the invention, the schematic diagram of the distance measuring module device applied to the water dispenser is shown in figure 6,
wherein h is2-a warning water level height, h-a third distance.
When the water is received, the height of the container is calculated in advance according to the method for calculating the height of the container, then the height of the warning liquid level (preferably 90% of the height of the container) is automatically set, or manual setting can be carried out according to needs, meanwhile, the distance measuring module can rotate to the position corresponding to the angle, the current distance is measured and recorded, after water is started to be discharged, when the water level exceeds the warning water level, the distance measuring value of the laser distance measuring device can not be matched with the previous distance measuring value, and the distance measuring value can change because the height of the water in the container exceeds the height of the warning liquid level, and the current distance measuring value can be smaller than the previous distance measuring value under the common condition. At this time, the water level is considered to reach the height of the warning liquid level, and the water discharge is stopped.
In accordance with the above method, the present invention provides a liquid level control system, the system having a structure as shown in fig. 7, including:
an identification module 301, a first calculation module 302, a second calculation module 303 and a control module 304.
Wherein,
the identification module 301 is configured to identify whether a container is placed on the placement platform;
the first calculating module 302 is configured to calculate a vertical distance from a placement plane of the container to a top plane of the container, and record the vertical distance as a reference height value when the container is recognized to be placed;
the second calculating module 303 is configured to calculate a rotation angle of the laser ranging device according to the reference height value, control the laser ranging device to rotate according to the rotation angle, and record a ranging value of the laser ranging device as a first ranging value;
the control module is used for injecting liquid into the container when detecting that the liquid injection switch is triggered, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value changes.
The invention discloses a liquid level control system, comprising: the identification module is used for identifying whether a container is placed on the storage platform; the first calculation module is used for calculating the vertical distance from the bottom plane of the container to the top plane of the container when the container is identified to be placed, and recording the vertical distance as a reference height value; the second calculation module is used for calculating the rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle and recording the ranging value of the laser ranging device as a first ranging value; and the control module is used for injecting liquid into the container when detecting that the liquid injection switch is triggered, monitoring the first distance measurement value, stopping injecting the liquid into the container when the first distance measurement value is changed, and controlling the liquid level of the container. In the system, in the process of receiving water, when the liquid level of the container reaches the warning liquid level, the liquid is stopped from being injected into the container. The problem that when the process of injecting liquid is artificially controlled, the operation of injecting the liquid is not controlled due to chatting or other reasons such as inattention and the like, so that the water in the container is overfilled or even overflows, and unnecessary waste is caused is solved.
In the embodiment of the present invention, the structure of the identification module 301 is shown in fig. 8, and includes:
a first measurement unit 305 and a first judgment unit 306.
Wherein,
the first measuring unit 305 is configured to obtain a vertical distance between an initial position of the laser ranging device and a storage plane of the storage platform, and record the vertical distance as a first distance;
the first determining unit 306 is configured to rotate the laser ranging device in two opposite directions in sequence when the vertical ranging value of the laser ranging device changes from the first distance to a second distance smaller than the first distance, and determine that the container exists when the two opposite directions both have a ranging value and the second distance satisfy a cosine relationship to a critical point that does not satisfy the cosine relationship.
In this embodiment of the present invention, a block diagram of the first computing module 302 is shown in fig. 8, and includes:
a second measurement unit 307, a third measurement unit 308, a second determination unit 309, a first marking unit 310, a second marking unit 311 and a calculation unit 312.
Wherein,
the second measuring unit 307 is configured to obtain a vertical distance between an initial position of the laser ranging device and a storage plane of the storage platform, and record the vertical distance as a first distance;
the third measuring unit 308 is configured to measure a vertical distance between an initial position of the laser ranging device and the bottom plane of the container, and record the vertical distance as a third distance;
the second judging unit 309 is configured to, after the laser ranging device rotates, mark a position where the laser ranging device is located as a critical position when judging that the ranging value of the laser ranging device and the first distance satisfy a cosine relationship from a critical point that does not satisfy the cosine relationship to a critical point that satisfies the cosine relationship;
the first marking unit 310 is configured to record a rotation angle of the laser distance measuring device at the critical position relative to the initial position of the laser distance measuring device as a second rotation angle;
the second marking unit 311 is configured to mark a distance measurement value of the laser distance measuring device at the critical position as a third distance measurement value;
the calculating unit 312 is configured to calculate according to the third distance, the second rotation angle, and the third distance measurement value, so as to obtain a vertical distance from a bottom plane of the container to a top plane of the container.
In the embodiment of the present invention, in the control system structure shown in fig. 8, the first measurement unit and the second measurement unit may be the same measurement unit.
In this embodiment of the present invention, a block diagram of the computing unit 312 is shown in fig. 8, and includes:
a construction subunit 313 and a calculation subunit 314.
Wherein,
the construction subunit 313 is configured to construct a preset container height calculation formula according to a trigonometric function relationship;
the calculating subunit 314 is configured to calculate a vertical distance from the bottom plane of the container to the top plane of the container according to the container height calculation formula, the third distance, the second rotation angle, and the third distance measurement value.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should be further noted that, in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A liquid level control method is applied to a liquid injection device, the liquid injection device comprises a storage platform and a laser ranging device positioned above the storage platform, and the method is characterized by comprising the following steps:
identifying whether a container is placed on the placement platform;
if so, calculating the vertical distance from the bottom plane of the container to the top plane of the container, and recording as a reference height value;
calculating a rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle, and recording a ranging value of the laser ranging device as a first ranging value;
when the triggering of a liquid injection switch is detected, injecting liquid into the container, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value is changed;
wherein, if yes, calculating a vertical distance from a bottom plane of the container to a top plane of the container comprises:
acquiring the vertical distance between the initial position of the laser ranging device and the object placing surface of the object placing platform, and recording as a first distance;
measuring the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, and recording as a third distance;
rotating the laser ranging device, and recording the position of the laser ranging device as a second critical position when the ranging value of the laser ranging device and the first distance are from the critical point which does not satisfy the cosine relation to the critical point which satisfies the cosine relation;
recording the rotation angle of the second critical position relative to the initial position of the laser ranging device as a second rotation angle;
recording the distance measurement value of the laser distance measurement device at the second critical position as a third distance measurement value;
and calculating according to the third distance, the second rotation angle and the third distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
2. The method of claim 1, wherein identifying whether a receptacle is placed on the placement platform comprises:
acquiring the vertical distance between the initial position of the laser ranging device and the object placing surface of the object placing platform, and recording as a first distance;
when the vertical distance measuring value of the laser distance measuring device is changed from the first distance to a second distance smaller than the first distance, the laser distance measuring device is sequentially rotated in two opposite directions, and when one distance measuring value exists in the two opposite directions and the distance measuring value and the second distance are in a critical point from the cosine relation to the cosine relation, the container is judged to exist.
3. The method of claim 2, wherein if so, the method of calculating the vertical distance from the bottom plane of the container to the top plane of the container is replaced by:
continuing to rotate the laser ranging device at the position of the critical point, and recording the position of the laser ranging device when the ranging value and the first distance meet the cosine relation as a first critical position when the ranging value and the first distance meet the cosine relation for the first time;
recording the rotation angle of the first critical position relative to the initial position of the laser ranging device as a first rotation angle;
recording a distance measurement value corresponding to the first critical position of the laser distance measurement device as a second distance measurement value;
and calculating according to the second distance, the first rotation angle and the second distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
4. The method of claim 1, wherein the calculating from the third distance, the second angle of rotation, and the third range value, and wherein obtaining the vertical distance from the bottom plane of the container to the top plane of the container comprises:
constructing a preset container height calculation formula according to the trigonometric function relationship;
and calculating the vertical distance from the bottom plane of the container to the top plane of the container according to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value.
5. The utility model provides a liquid level's control system is applied to liquid injection device, liquid injection device includes platform and the laser rangefinder who is located the platform top, its characterized in that, control system includes:
the identification module is used for identifying whether a container is placed on the storage platform;
the first calculation module is used for calculating the vertical distance from the bottom plane of the container to the top plane of the container and recording the vertical distance as a reference height value;
the second calculation module is used for calculating the rotation angle of the laser ranging device according to the reference height value, controlling the laser ranging device to rotate according to the rotation angle and recording the ranging value of the laser ranging device as a first ranging value;
the control module is used for injecting liquid into the container when detecting that the liquid injection switch is triggered, monitoring the first distance measurement value, and stopping injecting the liquid into the container when the first distance measurement value changes;
wherein the first computing module comprises:
the second measuring unit is used for acquiring the vertical distance between the initial position of the laser ranging device and the object placing plane of the object placing platform and recording the vertical distance as a first distance;
the third measuring unit is used for measuring the vertical distance between the initial position of the laser ranging device and the bottom plane of the container and recording the vertical distance as a third distance;
the second judging unit is used for recording the position of the laser ranging device as a critical position when judging that the ranging value of the laser ranging device and the first distance satisfy the cosine relation from the critical point which does not satisfy the cosine relation after the laser ranging device rotates;
the first marking unit is used for recording the rotation angle of the laser ranging device at the critical position relative to the initial position of the laser ranging device as a second rotation angle;
the second marking unit is used for recording the distance measurement value of the laser distance measurement device at the critical position as a third distance measurement value;
and the calculating unit is used for calculating according to the third distance, the second rotating angle and the third distance measuring value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
6. The system of claim 5, wherein the identification module comprises:
the first measuring unit is used for acquiring the vertical distance between the initial position of the laser ranging device and the object placing plane of the object placing platform and recording the vertical distance as a first distance;
the first judging unit is used for sequentially rotating the laser ranging device in two opposite directions when the vertical ranging value of the laser ranging device is changed from the first distance to a second distance smaller than the first distance, and judging that the container exists when the ranging value exists in the two opposite directions and the ranging value and the second distance are from the condition that the cosine relation is satisfied to the condition that the cosine relation is not satisfied.
7. The system of claim 5, wherein the computing unit comprises:
the construction subunit is used for constructing a preset container height calculation formula according to the trigonometric function relationship;
and the calculating subunit is used for calculating the vertical distance from the bottom plane of the container to the top plane of the container according to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value.
8. A liquid level control device for a liquid injection device including a platform, comprising: laser rangefinder, motor, solenoid valve and control chip, wherein:
the laser ranging device is positioned above the object placing platform and used for measuring the distance between the laser ranging device and a point to be measured;
the motor is used for driving the laser ranging device to rotate;
the electromagnetic valve is used for controlling the opening and closing of the operation of injecting liquid into the container;
the control chip is used for controlling the motor and the electromagnetic valve, and the specific control method comprises the following steps: the discernment whether placed the container on the platform, when placing the container, calculate the bottom plane of container to the planar vertical distance in container top, record for reference height value, according to reference height value calculates laser rangefinder's rotation angle, control motor drive laser rangefinder rotates, records laser rangefinder presses the rotatory range finding value of rotation angle, and monitors the range finding value, when the range finding value changes, controls the solenoid valve is closed, stops to pour into liquid in the container, wherein, the calculation the planar vertical distance in bottom plane to the container top of container specifically includes: acquiring the vertical distance between the initial position of the laser ranging device and the object placing surface of the object placing platform, and recording as a first distance; measuring the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, and recording as a third distance; rotating the laser ranging device, and recording the position of the laser ranging device as a second critical position when the ranging value of the laser ranging device and the first distance are from the critical point which does not satisfy the cosine relation to the critical point which satisfies the cosine relation; recording the rotation angle of the second critical position relative to the initial position of the laser ranging device as a second rotation angle; recording the distance measurement value of the laser distance measurement device at the second critical position as a third distance measurement value; and calculating according to the third distance, the second rotation angle and the third distance measurement value to obtain the vertical distance from the bottom plane of the container to the top plane of the container.
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| CN109512280A (en) * | 2018-10-19 | 2019-03-26 | 珠海格力电器股份有限公司 | Water dispenser and control method thereof |
| CN110487191A (en) * | 2019-08-15 | 2019-11-22 | 中水淮河规划设计研究有限公司 | A kind of dam sack of rubber dam elevation carrection structure and method |
| CN112915011A (en) * | 2021-01-22 | 2021-06-08 | 北京中关村水木医疗科技有限公司 | Liquid discharging method and device for liquid separating instrument |
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