CN107562079B - A liquid level control method, system and device - Google Patents

A liquid level control method, system and device Download PDF

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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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仇广东
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Guangdong Hongqin Communication Technology Co Ltd
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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

一种液面高度的控制方法、系统及装置A liquid level control method, system and device

技术领域technical field

本发明涉及高度识别技术领域，尤其涉及一种液面高度的控制方法、系统及装置。The invention relates to the technical field of height identification, and in particular, to a liquid level height control method, system and device.

背景技术Background technique

如今，伴随着科技的飞速发展，越来越多的设计为人们的生活带来了便利。饮水机便是这样的一个产物，饮水机的出现满足了大家工作和生活中的饮水需求。目前，在使用饮水机对容器进行接水的过程中，通常采用接水者人工控制的方式，决定接水的操作何时停止。Nowadays, with the rapid development of science and technology, more and more designs have brought convenience to people's lives. The water dispenser is such a product. The emergence of the water dispenser meets the drinking water needs of everyone in work and life. At present, in the process of using a water dispenser to collect water from a container, a method of manual control by the water collector is usually used to decide when to stop the operation of receiving water.

发明人对现有的使用饮水机进行接水的过程进行研究发现，采用人工控制的方式对接水的操作进行控制时，容器接水的高度取决于接水者选择何时停止所述接水操作。因此，容器的接水的高度受人为因素影响很大，不仅仅出在使用饮水机进行接水的过程中，但凡是采用人工控制方式控制液体注入容器的过程，都会存在上述问题。当操作者由于聊天或者注意力不集中等其它原因，没有上述的操作进行控制时，可能会导致容器中的液体接的过满甚至溢出，造成不必要的浪费。The inventor has studied the existing process of using water dispensers to collect water and found that when the operation of receiving water is controlled by a manual control method, the height of the container receiving water depends on when the water collector chooses to stop the water receiving operation. . Therefore, the height of the container receiving water is greatly affected by human factors, not only in the process of using the water dispenser to receive water, but also in the process of manually controlling the liquid injection into the container, the above problems will exist. When the operator does not have the above-mentioned operations to control due to other reasons such as chatting or inattentiveness, it may cause the liquid in the container to be overfilled or even overflow, resulting in unnecessary waste.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明提供了一种页面高度的控制方法，用以解决现有技术中量操作者由于聊天或者注意力不集中等其它原因，没有液体注入容器的过程进行控制，可能会导致容器中的液体接的过满甚至溢出，造成不必要的浪费的问题。具体方案如下：In view of this, the present invention provides a method for controlling the height of a page, so as to solve the problem that in the prior art, due to other reasons such as chatting or inattentiveness, the process of injecting liquid into the container is not controlled by a large number of operators, which may cause the container to fail. The liquid in the tank is overfilled or even overflows, causing unnecessary waste. The specific plans are as follows:

一种液面高度的控制方法，应用于液体注入装置，所述液体注入装置包括置物平台和位于置物平台上方的激光测距装置，其特征在于，所述方法包括：A method for controlling liquid level height, applied to a liquid injection device, the liquid injection device comprising an object storage platform and a laser ranging device located above the object storage platform, wherein the method comprises:

识别所述置物平台上是否放置有容器；Identifying whether a container is placed on the storage platform;

若是，则计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值；If so, calculate the vertical distance from the bottom plane of the container to the top plane of the container, and record it as the reference height value;

依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值；Calculate the 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 the ranging value of the laser ranging device as the first ranging value;

当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体。When it is detected that the liquid injection switch is triggered, liquid is injected into the container, and the first distance measurement value is monitored, and when the first distance measurement value changes, the injection of liquid into the container is stopped.

上述的方法，优选的，所述识别置物平台上是否放置有容器包括：In the above-mentioned method, preferably, the identifying whether a container is placed on the storage platform comprises:

获取所述激光测距装置的初始位置与所述置物平台的置物面的垂直距离，记为第一距离；Obtain the vertical distance between the initial position of the laser ranging device and the object placement surface of the object placement platform, and record it as the first distance;

当所述激光测距装置的垂直测距值由所述第一距离变化为小于所述第一距离的第二距离时，将所述激光测距装置依次在相对的两个方向上进行旋转，当所述相对的两个方向均存在一个测距值，且所述测距值与所述第二距离由满足余弦关系到不满足余弦关系的临界点时，判定容器存在。When the vertical ranging value of the laser ranging device changes from the first distance to a second distance smaller than the first distance, the laser ranging device is rotated in two opposite directions in turn, When there is a distance measurement value in the two opposite directions, and the distance measurement value and the second distance are from a critical point that satisfies the cosine relationship to the critical point that does not satisfy the cosine relationship, it is determined that the container exists.

上述的方法，优选的，所述若是，则计算出所述容器的底部平面到容器顶部平面的垂直距离包括：In the above-mentioned method, preferably, if said yes, then calculating the vertical distance from the bottom plane of the container to the top plane of the container includes:

将所述激光测距装置于所述临界点的位置继续旋转，当所述测距值与所述第一距离满足余弦关系时，则将第一次满足余弦关系时所述激光测距装置所在的位置记为第一临界位置；Continue to rotate the laser ranging device at the position of the critical point. When the ranging value and the first distance satisfy the cosine relationship, the laser ranging device is located when the cosine relationship is satisfied for the first time. The position of is recorded as the first critical position;

将所述第一临界位置相对所述激光测距装置初始位置的旋转角度，记为第一旋转角；Denote the rotation angle of the first critical position relative to the initial position of the laser ranging device as the first rotation angle;

将所述激光测距装置在所述第一临界位置对应的测距值，记为第二测距值；Denote the ranging value corresponding to the laser ranging device at the first critical position as the second ranging value;

根据所述第二距离、所述第一旋转角和所述第二测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离。The calculation is performed 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.

上述的方法，优选的，所述若是，则计算出所述容器的底部平面到容器顶部平面的垂直距离包括：In the above-mentioned method, preferably, if said yes, then calculating the vertical distance from the bottom plane of the container to the top plane of the container includes:

获取所述激光测距装置的初始位置与所述置物平台的置物面的垂直距离，记为第一距离；Obtain the vertical distance between the initial position of the laser ranging device and the object placement surface of the object placement platform, and record it as the first distance;

测量所述激光测距装置的初始位置与所述容器底部平面的垂直距离，记为第三距离；Measure the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, and record it as the third distance;

旋转所述激光测距装置，当所述激光测距装置的测距值与所述第一距离由不满足余弦关系到满足余弦关系的临界点时，则将所述激光测距装置所在的位置记为第二临界位置；Rotate the laser ranging device, and when the ranging value of the laser ranging device and the first distance from not satisfying the cosine relationship to the critical point that satisfies the cosine relationship, the position where the laser ranging device is located Recorded as the second critical position;

将所述第二临界位置相对所述激光测距装置初始位置的旋转角度，记为第二旋转角；Denote the rotation angle of the second critical position relative to the initial position of the laser ranging device as the second rotation angle;

将所述激光测距装置在所述第二临界位置对应的测距值，记为第三测距值；Denote the ranging value corresponding to the laser ranging device at the second critical position as the third ranging value;

根据所述第三距离、所述第二旋转角和所述第三测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离。The calculation is performed 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.

上述的方法，优选的，所述根据所述第三距离、所述第二旋转角和所述第三测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离包括：In the above method, preferably, the calculation 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 includes:

依据三角函数关系，构建预设的容器高度计算公式；Build a preset container height calculation formula based on the trigonometric function relationship;

依据所述容器高度计算公式、所述第三距离、所述第二旋转角和所述第三测距值计算得到所述容器的底部平面到容器顶部平面的垂直距离。The vertical distance from the bottom plane of the container to the top plane of the container is calculated according to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value.

一种液面高度的控制系统，应用于液体注入装置，所述液体注入装置包括置物平台和位于置物平台上方的激光测距装置，所述控制系统包括：A control system for liquid level height, applied to a liquid injection device, the liquid injection device comprises an object placement platform and a laser ranging device located above the object placement platform, and the control system includes:

识别模块，用于识别所述置物平台上是否放置有容器；an identification module for identifying whether a container is placed on the storage platform;

第一计算模块，用于计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值；The first calculation module is used to calculate the vertical distance from the bottom plane of the container to the top plane of the container, denoted as a reference height value;

第二计算模块，用于依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值；The second calculation module is configured to calculate the 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 measure the distance of the laser ranging device The value is recorded as the first ranging value;

控制模块，用于当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体。a control module for injecting liquid into the container when detecting that the liquid injection switch is triggered, and monitoring the first distance measurement value, and stopping the injection into the container when the first distance measurement value changes Inject liquid.

上述的系统，优选的，所述识别模块包括：In the above-mentioned system, preferably, the identification module includes:

第一测量单元，用于获取所述激光测距装置的初始位置与所述置物平台的置物平面的垂直距离，记为第一距离；a first measurement unit, used to obtain the vertical distance between the initial position of the laser ranging device and the object placement plane of the object storage platform, denoted as the first distance;

第一判断单元，用于当所述激光测距装置的垂直测距值由所述第一距离变化为小于所述第一距离的第二距离时，将所述激光测距装置依次在相对的两个方向上进行旋转，当所述相对的两个方向上均存在一个测距值，且所述测距值与所述第二距离由满足余弦关系到不满足余弦关系的临界点时，判定容器存在。The first determination unit is configured to place the laser ranging device in the opposite direction in turn when the vertical ranging value of the laser ranging device changes from the first distance to a second distance smaller than the first distance. Rotate in two directions, when there is a ranging value in the two opposite directions, and the ranging value and the second distance are from a critical point that satisfies the cosine relationship to the critical point that does not satisfy the cosine relationship, it is determined The container exists.

上述的系统，优选的，所述第一计算模块包括：In the above-mentioned system, preferably, the first computing module includes:

第二测量单元，用于获取所述激光测距装置的初始位置与所述置物平台的置物平面的垂直距离，记为第一距离；The second measuring unit is used to obtain the vertical distance between the initial position of the laser ranging device and the object placement plane of the object storage platform, which is denoted as the first distance;

第三测量单元，用于测量所述激光测距装置的初始位置与所述容器底部平面的垂直距离，记为第三距离；a third measuring unit, used to measure the vertical distance between the initial position of the laser distance measuring device and the bottom plane of the container, denoted as the third distance;

第二判断单元，用于所述激光测距装置旋转后，判断所述激光测距装置的测距值与所述第一距离由不满足余弦关系到满足余弦关系的临界点时，则将所述激光测距装置所在的位置记为临界位置；The second judging unit is used for judging that the distance value of the laser ranging device and the first distance from not satisfying the cosine relationship to the critical point satisfying the cosine relationship after the laser ranging device is rotated, then The position where the laser ranging device is located is recorded as the critical position;

第一标记单元，用于将所述激光测距装置在所述临界位置相对所述激光测距装置初始位置的旋转角度，记为第二旋转角；a first marking unit, used to mark 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;

第二标记单元，用于将所述激光测距装置在所述临界位置的测距值，记为第三测距值；The second marking unit is used to mark the distance measurement value of the laser distance measuring device at the critical position as the third distance measurement value;

计算单元，用于根据所述第三距离，所述第二旋转角和所述第三测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离。A calculation unit, configured to perform calculation 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.

上述的系统，优选的，所述计算单元包括：In the above system, preferably, the computing unit includes:

构建子单元，用于依据三角函数关系，构建预设的容器高度计算公式；Build subunits, which are used to build a preset container height calculation formula according to the trigonometric function relationship;

计算子单元，用于依据所述容器高度计算公式、所述第三距离、所述第二旋转角和所述第三测距值计算得到所述容器的底部平面到容器顶部平面的垂直距离。A calculation subunit, configured to calculate 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.

一种液面高度控制装置，用于包括置物平台的液体注入装置，其特征在于，包括：激光测距装置、电机、电磁阀和控制芯片，其中：A liquid level control device for a liquid injection device including a storage platform, characterized in that it includes: a laser ranging device, a motor, a solenoid valve and a control chip, wherein:

所述激光测距装置，位于所述置物平台上方，用于测量所述激光测距装置与待测点的距离；The laser ranging device is located above the object storage platform, and is used to measure the distance between the laser ranging device and the point to be measured;

所述电机，用于驱动所述激光测距装置进行旋转；The motor is used to drive the laser ranging device to rotate;

所述电磁阀，用于控制向所述容器内注入液体操作的开启与关闭；The solenoid valve is used to control the opening and closing of the operation of injecting liquid into the container;

所述控制芯片，用于控制所述电机及所述电磁阀，具体控制方法包括：识别所述置物平台上是否放置有容器，当放置有容器时，计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值，依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述电机驱动所述激光测距装置进行旋转，记录所述激光测距装置按所述旋转角度旋转后的测距值，并监测所述测距值，当所述测距值发生变化时，控制所述电磁阀关闭，停止向所述容器内注入液体。The control chip is used to control the motor and the solenoid valve, and the specific control method includes: identifying whether a container is placed on the storage platform, and when a container is placed, calculating the bottom plane of the container to the top plane of the container The vertical distance is denoted as the reference height value, according to the reference height value, calculate the rotation angle of the laser distance measuring device, control the motor to drive the laser distance measuring device to rotate, record the laser distance measuring device according to the The distance measurement value after the rotation angle is rotated, and the distance measurement value is monitored, and when the distance measurement value changes, the solenoid valve is controlled to close, and the liquid injection into the container is stopped.

与现有技术相比，本发明包括以下优点：Compared with the prior art, the present invention includes the following advantages:

本发明公开了一种液面高度的控制方法，包括：识识别所述置物平台上是否放置有容器，若是，则计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值，依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值，当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体，对所述容器的液面高度进行控制。上述的方法，在接水的过程中，当容器的液面高度达到警戒液面高度时，停止向所述容器内注入液体。避免了人为为对注入液体的过程进行控制时，由于聊天或者注意力不集中等其它原因，没有对注入液体的操作进行控制，可能会导致容器中的水接的过满甚至溢出，造成不必要的浪费的问题。The invention discloses a method for controlling liquid level, comprising: identifying whether a container is placed on the storage platform; if so, calculating the vertical distance from the bottom plane of the container to the top plane of the container, and recording it as a reference height value , according to the reference height value, calculate the rotation angle of the laser ranging device, control the laser ranging device to rotate according to the rotation angle, and record the ranging value of the laser ranging device as the first measurement distance value, when it is detected that the liquid injection switch is triggered, inject liquid into the container, and monitor the first distance measurement value, when the first distance measurement value changes, stop injecting liquid into the container , to control the liquid level of the container. In the above method, in the process of receiving water, when the liquid level of the container reaches the warning liquid level, the injection of liquid into the container is stopped. Avoiding the artificial control of the process of injecting liquid, due to other reasons such as chatting or lack of concentration, the operation of injecting liquid is not controlled, which may cause the water in the container to be overfilled or even overflow, causing unnecessary the problem of waste.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

图1为本申请实施例公开的一种液面高度的控制方法流程图；1 is a flowchart of a method for controlling liquid level disclosed in an embodiment of the present application;

图2为本申请实施例公开的一种液面高度控制装置的结构框图；2 is a structural block diagram of a liquid level control device disclosed in an embodiment of the application;

图3为本申请实施例公开的一种液面高度的控制方法又一方法流程图；3 is a flowchart of another method for controlling a liquid level disclosed in an embodiment of the present application;

图4为本申请实施例公开的一种液面高度的控制方法又一方法流程图；FIG. 4 is a flowchart of another method of a method for controlling liquid level disclosed in an embodiment of the present application;

图5为本申请实施例公开的一种液面高度的控制方法又一方法流程图；5 is a flowchart of another method of a method for controlling liquid level disclosed in an embodiment of the present application;

图6为本申请实施例公开的一种液面高度的控制方法又一方法流程图；FIG. 6 is a flowchart of another method for controlling a liquid level disclosed in an embodiment of the present application;

图7为本申请实施例公开的一种液面高度的控制系统结构框图；7 is a structural block diagram of a liquid level control system disclosed in an embodiment of the application;

图8为本申请实施例公开的一种液面高度的控制系统又一结构框图。FIG. 8 is another structural block diagram of a liquid level control system disclosed in an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables 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 implemented in 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.

本发明提供了一种液面高度的控制方法，所述方法可以应用于液体注入装置，所述液体注入装置可以为饮水机或者饮料灌装设备等。主要应用于利用饮水机进行接水的过程、饮料或者其它液体进行灌装的过程中，所述方法的执行主体可以为处理器、控制单元，控制装置或者执行放水或液体操作的平台等。本发明实施例中，以使用饮水机接水为例对液面高度的控制方法进行说明。所述方法的流程如图1所示，包括步骤：The present invention provides a liquid level control method, which can be applied to a liquid injection device, and the liquid injection device can be a water dispenser or a beverage filling device. It is mainly used in the process of using a water dispenser to receive water, and the process of filling beverages or other liquids. The execution body of the method can be a processor, a control unit, a control device, or a platform for performing water or liquid operations. In the embodiment of the present invention, the method for controlling the liquid level height is described by taking the use of a water dispenser as an example to receive water. The process flow of the method is shown in Figure 1, including the steps:

S101、识别置物平台上是否放置有容器；S101. Identify whether a container is placed on the storage platform;

S102、若是，则计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值；S102, if yes, then calculate the vertical distance from the bottom plane of the container to the top plane of the container, and denote it as a reference height value;

S103、依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值；S103. Calculate the 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 the ranging value of the laser ranging device as the first ranging value;

S104、当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体。S104. When it is detected that the liquid injection switch is triggered, inject liquid into the container, monitor the first distance measurement value, and stop injecting liquid into the container when the first distance measurement value changes.

本发明实施例中，液体注入开关的触发方式可以为人为触发和自动触发两种。所述人为触发就是需要通过人来触发某一个按钮或者开关之类的控制装置，控制液体注入的操作。所述自动触发是指当检测到由容器存在时，首先完成警戒液面高度值的确定，确定了所述警戒液面高度值之后，直接控制电磁阀开启向所述容器内注入液体。In the embodiment of the present invention, the triggering mode of the liquid injection switch can be manual triggering and automatic triggering. The artificial triggering is that a control device such as a button or a switch needs to be triggered by a human to control the operation of liquid injection. The automatic triggering means that when the presence of the container is detected, the determination of the warning liquid level value is completed first, and after the warning liquid level value is determined, the solenoid valve is directly controlled to open to inject liquid into the container.

本发明实施例中，由于警戒液面的高度已经确定，将所述激光测距装置的激光旋转至与所述容器的警戒液面高度对应的所述容器的杯体位置，得到所述警戒液面高度对应的测距值，记为第一测距值，当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体。In the embodiment of the present invention, since the height of the warning liquid level has been 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 to obtain the warning liquid The distance measurement value corresponding to the surface height is recorded as the first distance measurement value. When it is detected that the liquid injection switch is triggered, liquid is injected into the container, and the first distance measurement value is monitored. When the value changes, stop filling the container with liquid.

本发明实施例中，在饮水机上安装液面高度控制装置对容器液面的高度进行控制，所述液面高度控制装置的硬件组成如图2所示包括：包括激光测距装置、电机、电磁阀和控制芯片。In the embodiment of the present invention, a liquid level control device is installed on the water dispenser to control the height of the liquid level of the container. The hardware composition of the liquid level control device is shown in FIG. 2 and includes: a laser ranging device, a motor, an electromagnetic valve and control chip.

其中，所述激光测距装置，用于利用激光测量所述激光测距装置与待测点的测距值；Wherein, the laser ranging device is used to measure the ranging value between the laser ranging device and the point to be measured by using a laser;

所述电机，用于驱动所述激光测距装置进行旋转；The motor is used to drive the laser ranging device to rotate;

所述电磁阀，用于控制向所述容器内注入液体操作的开启与关闭；The solenoid valve is used to control the opening and closing of the operation of injecting liquid into the container;

所述控制芯片，用于控制所述电机及所述电磁阀，具体控制方法包括：识别所述置物平台上是否放置有容器，当放置有容器时，计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值，依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述电机驱动所述激光测距装置进行旋转，记录所述激光测距装置按所述旋转角度旋转后的测距值，并监测所述测距值，当所述测距值发生变化时，控制所述电磁阀关闭，停止向所述容器内注入液体。所述控制芯片实现对所述电机及所述电磁阀的控制，是整个液面高度控制装置的控制核心。The control chip is used to control the motor and the solenoid valve, and the specific control method includes: identifying whether a container is placed on the storage platform, and when a container is placed, calculating the bottom plane of the container to the top plane of the container The vertical distance is denoted as the reference height value, according to the reference height value, calculate the rotation angle of the laser distance measuring device, control the motor to drive the laser distance measuring device to rotate, record the laser distance measuring device according to the The distance measurement value after the rotation angle is rotated, and the distance measurement value is monitored, and when the distance measurement value changes, the solenoid valve is controlled to close, and the liquid injection into the container is stopped. The control chip realizes the control of the motor and the solenoid valve, and is the control core of the entire liquid level control device.

本发明实施例中，利用所述激光测距装置，计算出所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值。所述激光测距装置利用激光对目标距离进行准确测定的仪器，在工作时向目标待测点射出一束很细的激光，有光电原件接收目标待测点反射的激光束，激光器测定激光束从发射到接收的时间，计算出所述激光测距装置与待测点的测距值。In the embodiment of the present invention, the laser distance measuring device is used to calculate the vertical distance from the bottom plane of the container to the top plane of the container, which is recorded as a reference height value. The laser ranging device uses a laser to accurately measure the distance of the target. When working, it emits a very thin laser beam to the target point to be measured. There are photoelectric components to receive the laser beam reflected by the target point to be measured, and the laser measures the laser beam. From the time of transmission to reception, the distance measurement value between the laser distance measuring device and the point to be measured is calculated.

本发明实施例中提到的容器，优选的为形状规则的容器，比如可以为圆柱形，长方体等等，当然，其它的不规则形状也是可以的，只是计算得到的容器的参考高度存在一定的误差。The container mentioned in the embodiment of the present invention is preferably a container with a regular shape, such as a cylinder, a cuboid, etc. Of course, other irregular shapes are also possible, but the calculated reference height of the container has a certain error.

本发明公开了一种液面高度的控制方法，包括：识识别所述置物平台上是否放置有容器，若是，则计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值，依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值，当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体，对所述容器的液面高度进行控制。上述的方法，在接水的过程中，当容器的液面高度达到警戒液面高度时，停止向所述容器内注入液体。避免了人为为对注入液体的过程进行控制时，由于聊天或者注意力不集中等其它原因，没有对注入液体的操作进行控制，可能会导致容器中的水接的过满甚至溢出，造成不必要的浪费的问题。The invention discloses a method for controlling liquid level, comprising: identifying whether a container is placed on the storage platform; if so, calculating the vertical distance from the bottom plane of the container to the top plane of the container, and recording it as a reference height value , according to the reference height value, calculate the rotation angle of the laser ranging device, control the laser ranging device to rotate according to the rotation angle, and record the ranging value of the laser ranging device as the first measurement distance value, when it is detected that the liquid injection switch is triggered, inject liquid into the container, and monitor the first distance measurement value, when the first distance measurement value changes, stop injecting liquid into the container , to control the liquid level of the container. In the above method, in the process of receiving water, when the liquid level of the container reaches the warning liquid level, the injection of liquid into the container is stopped. Avoiding the artificial control of the process of injecting liquid, due to other reasons such as chatting or lack of concentration, the operation of injecting liquid is not controlled, which may cause the water in the container to be overfilled or even overflow, causing unnecessary the problem of waste.

本发明实施例中所述的饮水机在进行放水操作之前，首先需要判断所述饮水机的出水口下方是否有接水的容器存在，识别是否放置有容器的示意图如图3所示，其中，平面F为置物平台。Before the water dispenser in the embodiment of the present invention performs the water discharge operation, it is first necessary to determine whether there is a container for receiving water under the water outlet of the water dispenser, and the schematic diagram of identifying whether there is a container is shown in FIG. 3 , wherein, The plane F is the storage platform.

当所述置物平台未放置任何容器时，测距模块在位置1测出与底部的垂直距离为H，记为第一距离。将所述第一距离存入控制模块的一个记忆芯片中，当需要判断置物平台是否有容器存在时，在所述记忆芯片中获取所述第一距离。当底端放入容器后，由于容器底座会有一定厚度，此时测距与底部的距离为h，记为第二距离。当H＝h，则认为没有容器，若H>h,则进行如下的判断。When no container is placed on the storage platform, the vertical distance from the bottom measured by the distance measuring module at position 1 is H, which is recorded as the first distance. The first distance is stored in a memory chip of the control module, and the first distance is acquired in the memory chip when it is necessary to determine whether there is a container on the storage platform. When the bottom end is put into the container, since the base of the container will have a certain thickness, the distance between the distance measurement and the bottom at this time is h, which is recorded as the second distance. When H=h, it is considered that there is no container, and if H>h, the following judgment is made.

智能测距模块会左右两边进行旋转测量，先由位置1旋转至位置2，如果过程中出现测距值与h不满足余弦关系，则恢复原位，向位置3旋转，如果由位置1旋转至位置3的过程出现测距值与h不满足余弦关系，此时判定所述置物平台有上存在容器。如果旋转过程中测距值与h一直满足余弦关系，那么判定所述置物平台上不存在容器。The intelligent ranging module will perform rotation measurement on the left and right sides. First rotate from position 1 to position 2. If the ranging value and h do not satisfy the cosine relationship during the process, it will return to the original position and rotate to position 3. If it rotates from position 1 to In the process of position 3, it occurs that the distance measurement value and h do not satisfy the cosine relationship. At this time, it is determined that there is a container on the storage platform. If the distance measurement value and h always satisfy the cosine relationship during the rotation, then it is determined that there is no container on the storage platform.

本发明实施例中，当识别到放置有容器时，将所述激光测距装置于所述临界点的位置继续旋转，当所述测距值与所述第一距离满足余弦关系时，则将第一次满足余弦关系时所述激光测距装置所在的位置记为第一临界位置；In the embodiment of the present invention, when it is recognized that a container is placed, the laser ranging device is continuously rotated at the position of the critical point, and when the ranging value and the first distance satisfy the cosine relationship, the When the cosine relationship is satisfied for the first time, the position of the laser ranging device is recorded as the first critical position;

将所述第一临界位置相对所述激光测距装置初始位置的旋转角度，记为第一旋转角；Denote the rotation angle of the first critical position relative to the initial position of the laser ranging device as the first rotation angle;

将所述激光测距装置在所述第一临界位置对应的测距值，记为第二测距值；Denote the ranging value corresponding to the laser ranging device at the first critical position as the second ranging value;

根据所述第二距离、所述第一旋转角和所述第二测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离。The calculation is performed 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.

本发明实施例中，当识别到所述置物平台上有容器存在时，还可以将所述激光测距装置旋转到初始位置，计算出所述容器的置物平面到容器顶部平面的垂直距离的方法流程如图4所示，包括步骤：In the embodiment of the present invention, when it is recognized that there is a container on the storage platform, the laser distance measuring device can also be rotated to the initial position to calculate the vertical distance from the storage plane of the container to the top plane of the container. The process is shown in Figure 4, including steps:

S201、获取所述激光测距装置的初始位置与所述置物平台的置物面的垂直距离，记为第一距离；S201, obtain the vertical distance between the initial position of the laser ranging device and the object placement surface of the object placement platform, and record it as the first distance;

S202、测量所述激光测距装置的初始位置与所述容器底部平面的垂直距离，记为第三距离；S202, measure the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, and denote it as the third distance;

S203、旋转所述激光测距装置，当所述激光测距装置的测距值与所述第一距离由不满足余弦关系到满足余弦关系的临界点时，则将所述激光测距装置所在的位置记为第二临界位置；S203. Rotate the laser ranging device. When the ranging value of the laser ranging device and the first distance change from not satisfying the cosine relationship to a critical point that satisfies the cosine relationship, set the location where the laser ranging device is located. The position of is recorded as the second critical position;

S204、将所述第二临界位置相对所述激光测距装置初始位置的旋转角度，记为第二旋转角；S204, denote the rotation angle of the second critical position relative to the initial position of the laser ranging device as the second rotation angle;

S205、将所述激光测距装置在所述第二临界位置对应的测距值，记为第三测距值；S205, denote the ranging value corresponding to the laser ranging device at the second critical position as the third ranging value;

S206、根据所述第三距离、所述第二旋转角和所述第三测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离。S206. Calculate 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.

本发明实施例中，若S201-S206中对应的测量所述置物平台上存在容器的方法与图3所示的方法相同，那么所述第一临界位置与所述第二临界位置，所述第一旋转角与所述第二旋转角，所述第二测距值与所述第三测距值均相同。In this embodiment of the present invention, if the corresponding method of measuring the presence of a container on the storage platform in S201-S206 is the same as the method shown in FIG. 3 , then the first critical position and the second critical position, the first critical position A rotation angle and the second rotation angle, the second ranging value and the third ranging value are the same.

本发明实施例中，S201-S206对应的计算所述容器的置物平面到容器顶部平面的垂直距离的方法可以避免当确定了所述置物平台上存在容器之后，由于震动或者人为触碰等其他原因，令所述容器的初始位置发生改变，造成所述容器的置物平面到容器顶部平面的垂直距离测量不准确的问题。In the embodiment of the present invention, the method for calculating the vertical distance from the storage plane of the container to the top plane of the container corresponding to S201-S206 can avoid that after it is determined that there is a container on the storage platform, due to vibration or human touch and other reasons , so that the initial position of the container is changed, resulting in inaccurate measurement of the vertical distance from the storage plane of the container to the top plane of the container.

其中，对所述第三距离，所述第二旋转角和所述第三测距值进行计算，得到所述容器的置物平面到容器顶部平面的垂直距离的方法为：Wherein, the method for calculating the third distance, the second rotation angle and the third distance measurement value to obtain the vertical distance from the object storage plane of the container to the top plane of the container is:

依据三角函数关系，构建预设的容器高度计算公式；Build a preset container height calculation formula based on the trigonometric function relationship;

依据所述容器高度计算公式、所述第三距离、所述第二旋转角和所述第三测距值计算得到所述容器的置物平面到容器顶部平面的垂直距离。According to the container height calculation formula, the third distance, the second rotation angle and the third distance measurement value, the vertical distance from the storage plane of the container to the top plane of the container is calculated.

以上述的方法为例，测量容器高度过程如图5所示，Taking the above method as an example, the process of measuring the height of the container is shown in Figure 5.

当检测到有容器存在时，所述激光测距装置旋转处于1～2之间的位置时，此时测距值与垂直距离满足余弦关系，当所述激光测距装置转动角度超过位置2时，此时二者之间不再满足余弦关系，此后再转动一个角度，当还是不满足余弦关系，此时标志符记录为1。When the existence of the container is detected, when the laser distance measuring device rotates at a position between 1 and 2, the distance measurement value and the vertical distance satisfy the cosine relationship, and when the rotation angle of the laser distance measuring device exceeds the position 2 , at this time, the cosine relationship between the two is no longer satisfied, and then another angle is rotated. When the cosine relationship is still not satisfied, the identifier is recorded as 1.

当所述激光测距装置转动角度超过位置3时，此时测距值与垂直距离会再次满足余弦关系，记录上一次旋转过的角度为β，此后再转动一个角度，当还是满足余弦关系，此时标志符记录为2，并把β作为位置1至位置3的旋转角度。When the rotation angle of the laser ranging device exceeds position 3, the distance measurement value and the vertical distance will meet the cosine relationship again, and the last rotated angle is recorded as β, and then rotated by another angle, when the cosine relationship is still satisfied, At this time, the identifier is recorded as 2, and β is used as the rotation angle from position 1 to position 3.

当标识符记录为2时，此时停止转动。利用三角形的三角函数中的三角函数关系，可以计算出容器高度。此时激光器回到原点。When the identifier is recorded as 2, the rotation is stopped at this time. The height of the container can be calculated by using the trigonometric function relationship in the trigonometric function of the triangle. At this point the laser returns to the origin.

容器高度hx的表达式如下：hx＝h-L2cosβThe expression of the container height h x is as follows: h x =hL 2 cosβ

本发明实施例中，当饮水机的放水开关被触发之前，系统会预先利用上述方法计算出所述容器的置物平面到容器顶部平面的垂直距离，记为参考高度值，依据所述参考高度值，设置警戒液面高度值位，优选的，所述警戒液面高度值为所述参考高度值的90％，也可以根据需要进行人为设置。In the embodiment of the present invention, before the water discharge switch of the water dispenser is triggered, the system will use the above method to calculate the vertical distance from the storage plane of the container to the top plane of the container in advance, which is recorded as a reference height value. According to the reference height value , to set the warning liquid level height value. Preferably, the warning liquid level height value is 90% of the reference height value, and it can also be set manually as required.

本发明实施例中，当得到所述容器的置物平面到容器顶部平面的垂直距离测量完成时，将所述激光测距装置的位置恢复到初始位置。In the embodiment of the present invention, when the measurement of the vertical distance from the storage plane of the container to the top plane of the container is completed, the position of the laser distance measuring device is restored to the initial position.

本发明实施例中，将上述测距模组装置应用到饮水机中的示意图如图6所示，In the embodiment of the present invention, a schematic diagram of applying the above distance measuring module device to a water dispenser is shown in FIG. 6 ,

其中，h2-警戒水位高度，h-第三距离。Among them, h2 - warning water level height, h-third distance.

当在接水的过程中，依据本发明所述的容器高度计算方法预先计算出容器高度，然后自动设置警戒液面高度(优选为容器高度的90％)，也可以根据需要进行人为设置，同时测距模块会旋转至对应角度的位置，并测量与记录当前的距离，开始放水后，当水位超过警戒水位时，此时激光测距器的测距值会与之前的测距值不匹配，由于容器内水的高度超过了警戒液面高度，因此，测距值会发生变化，通常情况下，当前的测距值会小于之前的测距值。此时认为水位达到警戒液面高度，停止放水。In the process of receiving water, the container height is pre-calculated according to the container height calculation method of the present invention, and then the warning liquid level height (preferably 90% of the container height) is automatically set, or it can be set manually according to needs. The ranging module will rotate to the position of the corresponding angle, and measure and record the current distance. After the water starts to be released, when the water level exceeds the warning water level, the ranging value of the laser rangefinder will not match the previous ranging value. Since the height of the water in the container exceeds the warning liquid level, the distance measurement value will change. Usually, the current distance measurement value will be smaller than the previous distance measurement value. At this time, it is considered that the water level reaches the warning liquid level, and the water is stopped.

与上述方法相对应的，本发明提供了一种液面高度的控制系统，所述系统的结构如图7所示，包括：Corresponding to the above method, the present invention provides a liquid level control system. The structure of the system is shown in FIG. 7 , including:

识别模块301，第一计算模块302，第二计算模块303和控制模块304。Identification module 301 , first calculation module 302 , second calculation module 303 and control module 304 .

其中，in,

所述识别模块301，用于识别所述置物平台上是否放置有容器；The identification module 301 is used to identify whether a container is placed on the storage platform;

所述第一计算模块302，用于当识别出放置有容器时，计算出所述容器的置物平面到容器顶部平面的垂直距离，记为参考高度值；The first calculation module 302 is used to calculate the vertical distance from the storage plane of the container to the top plane of the container when it is identified that the container is placed, and denote it as a reference height value;

所述第二计算模块303，用于依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值；The second calculation module 303 is used to calculate the rotation angle of the laser distance measuring device according to the reference height value, control the laser distance measuring device to rotate according to the rotation angle, and rotate the laser distance measuring device. The ranging value of is recorded as the first ranging value;

所述控制模块，用于当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体。The control module is configured to inject liquid into the container when it is detected that the liquid injection switch is triggered, and monitor the first ranging value, and stop injecting the liquid to the container when the first ranging value changes. Fill the container with liquid.

本发明公开了一种液面高度的控制系统，包括：识别模块，用于识别所述置物平台上是否放置有容器；第一计算模块，用于当识别出放置有容器时，计算所述容器的底部平面到容器顶部平面的垂直距离，记为参考高度值；第二计算模块，用于依据所述参考高度值，计算所述激光测距装置的旋转角度，控制所述激光测距装置按所述旋转角度旋转，并将所述激光测距装置的测距值记为第一测距值；控制模块，用于当检测到液体注入开关触发时，向所述容器内注入液体，并监测所述第一测距值，当所述第一测距值发生变化时，停止向所述容器内注入液体，对所述容器的液面高度进行控制。上述的系统，在接水的过程中，当容器的液面高度达到警戒液面高度时，停止向所述容器内注入液体。避免了人为为对注入液体的过程进行控制时，由于聊天或者注意力不集中等其它原因，没有对注入液体的操作进行控制，可能会导致容器中的水接的过满甚至溢出，造成不必要的浪费的问题。The invention discloses a liquid level control system, comprising: an identification module for identifying whether a container is placed on the storage platform; a first calculation module for calculating the container when it is identified that the container is placed The vertical distance from the bottom plane of the container to the top plane of the container is denoted as the reference height value; the second calculation module is used to calculate the rotation angle of the laser distance measuring device according to the reference height value, and control the laser distance measuring device to press The rotation angle is rotated, and the distance measurement value of the laser distance measuring device is recorded as the first distance measurement value; the control module is used to inject liquid into the container when it is detected that the liquid injection switch is triggered, and monitor For the first distance measurement value, when the first distance measurement value changes, the injection of liquid into the container is stopped, and the liquid level height of the container is controlled. In the above-mentioned system, in the process of receiving water, when the liquid level of the container reaches the warning liquid level, the injection of liquid into the container is stopped. Avoiding the artificial control of the process of injecting liquid, due to other reasons such as chatting or lack of concentration, the operation of injecting liquid is not controlled, which may cause the water in the container to be overfilled or even overflow, causing unnecessary the problem of waste.

本发明实施例中，所述识别模块301的结构如图8所示，包括：In this embodiment of the present invention, the structure of the identification module 301 is shown in FIG. 8 , including:

第一测量单元305和第一判断单元306。The first measuring unit 305 and the first judging unit 306 .

其中，in,

所述第一测量单元305，用于获取所述激光测距装置的初始位置与所述置物平台的置物平面的垂直距离，记为第一距离；The first measurement unit 305 is used to obtain the vertical distance between the initial position of the laser ranging device and the object placement plane of the object storage platform, which is recorded as the first distance;

所述第一判断单元306，用于当所述激光测距装置的垂直测距值由所述第一距离变化为小于所述第一距离的第二距离时，将所述激光测距装置依次在相对的两个方向上进行旋转，当所述相对的两个方向上均存在一个测距值，且所述测距值与所述第二距离由满足余弦关系到不满足余弦关系的临界点时，判定容器存在。The first judging unit 306 is configured to, when the vertical ranging value of the laser ranging device changes from the first distance to a second distance that is smaller than the first distance, place the laser ranging devices in sequence. Rotate in two opposite directions, when there is a distance measurement value in the two opposite directions, and the distance measurement value and the second distance change from satisfying the cosine relationship to the critical point that does not satisfy the cosine relationship , it is determined that the container exists.

本发明实施例中，所述第一计算模块302的结构框图如图8所示，包括：In this embodiment of the present invention, a structural block diagram of the first computing module 302 is shown in FIG. 8 , including:

第二测量单元307，第三测量单元308，第二判断单元309，第一标记单元310，第二标记单元311和计算单元312。The second measuring unit 307 , the third measuring unit 308 , the second judging unit 309 , the first marking unit 310 , the second marking unit 311 and the calculating unit 312 .

其中，in,

所述第二测量单元307，用于获取所述激光测距装置的初始位置与所述置物平台的置物平面的垂直距离，记为第一距离；The second measurement unit 307 is used to obtain the vertical distance between the initial position of the laser ranging device and the object placement plane of the object storage platform, which is denoted as the first distance;

所述第三测量单元308，用于测量所述激光测距装置的初始位置与所述容器底部平面的垂直距离，记为第三距离；The third measurement unit 308 is used to measure the vertical distance between the initial position of the laser ranging device and the bottom plane of the container, which is denoted as the third distance;

所述第二判断单元309，用于所述激光测距装置旋转后，判断所述激光测距装置的测距值与所述第一距离由不满足余弦关系到满足余弦关系的临界点时，则将所述激光测距装置所在的位置记为临界位置；The second judging unit 309 is used for judging the critical point where the distance value of the laser ranging device and the first distance from not satisfying the cosine relationship to satisfying the cosine relationship after the laser ranging device rotates, Then mark the position where the laser ranging device is located as the critical position;

所述第一标记单元310，用于将所述激光测距装置在所述临界位置相对所述激光测距装置初始位置的旋转角度，记为第二旋转角；The first marking unit 310 is used to record the rotation angle of the laser ranging device at the critical position relative to the initial position of the laser ranging device as the second rotation angle;

所述第二标记单元311，用于将所述激光测距装置在所述临界位置的测距值，记为第三测距值；The second marking unit 311 is used to record the distance measurement value of the laser distance measuring device at the critical position as the third distance measurement value;

所述计算单元312，用于根据所述第三距离，所述第二旋转角和所述第三测距值进行计算，得到所述容器的底部平面到容器顶部平面的垂直距离。The calculation unit 312 is configured to perform calculation 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.

本发明实施例中，图8所示的控制系统结构，所述第一测量单元与所述第二测量单元可为同一测量单元。In the embodiment of the present invention, in the structure of the control system shown in FIG. 8 , the first measurement unit and the second measurement unit may be the same measurement unit.

本发明实施例中，所述计算单元312的结构框图如图8所示，包括：In this embodiment of the present invention, a structural block diagram of the computing unit 312 is shown in FIG. 8 , including:

构建子单元313和计算子单元314。A construction subunit 313 and a calculation subunit 314 are constructed.

其中，in,

所述构建子单元313，用于依据三角函数关系，构建预设的容器高度计算公式；The construction subunit 313 is used to construct a preset container height calculation formula according to the trigonometric relationship;

所述计算子单元314，用于依据所述容器高度计算公式、所述第三距离、所述第二旋转角和所述第三测距值计算得到所述容器的底部平面到容器顶部平面的垂直距离。The calculation subunit 314 is configured to calculate the 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. vertical distance.

需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。对于装置类实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, refer to each other Can. As for the apparatus type embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant part, please refer to the partial description of the method embodiment.

最后，还需要说明的是，在本申请中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。Finally, it should also be noted that in this application, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply these Any such actual relationship or sequence exists between entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

对所公开的实施例的上述说明，使本领域技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables 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 implemented in 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.

以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should 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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