CN107976158A - A kind of high-altitude operation vehicle rotary position detection device and method - Google Patents
A kind of high-altitude operation vehicle rotary position detection device and method Download PDFInfo
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- CN107976158A CN107976158A CN201711483887.4A CN201711483887A CN107976158A CN 107976158 A CN107976158 A CN 107976158A CN 201711483887 A CN201711483887 A CN 201711483887A CN 107976158 A CN107976158 A CN 107976158A
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- 238000003754 machining Methods 0.000 abstract description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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Abstract
The present invention relates to a kind of high-altitude operation vehicle rotary position detection device and method.The detection method and device include：Controller, sensor, detector bar, center steering body, swing mechanism, turntable.Ccd sensor detection mode is introduced the detection of rotation of rotary table angle by the present invention, the image of the detector bar diverse location of center steering body is installed on by detection, to judge angle that turntable specifically turns round, the mode of conventionally used gear engaged transmission detection angle of revolution is influenced by machining accuracy and assembly precision before having broken, so that the detection of high-altitude operation vehicle rotary position is more accurate, control accuracy higher, it is more intelligent.
Description
Technical field
The present invention relates to a kind of high-altitude operation vehicle field, particularly a kind of high-altitude operation vehicle rotary position detection device and
Method.
Background technology
It is mainly encoder and angular transducer to be applied to the detection of high-altitude operation vehicle rotation of rotary table angle at present, for realizing
Detection rotation of rotary table angle in real time, district operation is realized with reference to the elongation of horizontal support legs and the angle of working arm and length,
One-side operation, intelligent anticollision, the intelligent function for some row such as return the vehicle to the garage and knock off automatically.
Current predominantly detects mode as indicated at 3：After connecting shaft 10 is installed on turntable 6 by standard component and gear 7 is logical
Cross standard component connection；Encoder 8 is installed on mounting bracket 9 and is fixed in connecting shaft 10, shaft coupling 11 is by encoder 8 with being connected
Axis 10 connects；Gear 7 is engaged with swing mechanism 5, when swing mechanism 5 rotates will the rotation with moving gear 7, so as to drive volume
The rotation of code device 8, to realize the detection to 6 angle of revolution of turntable.The detection mode is returned due to being subject to rotation of rotary table machining accuracy
The limitation of the structure machining accuracy such as rotating disk transmission mechanism, accuracy of detection are difficult to improve always, even meeting after continuous rotary multi-turn
Cause testing result and the actual error for differing the several years, the control accuracy influence for vehicle is very big.
Problem above is solved at present to examine to improve, such as by decoder internal from raising encoder itself accuracy of detection mostly
Survey means and computational methods optimize：（If patent document CN 101341378 B and ZL 200820037179.8 are to use
The mode for improving encoder accuracy is merely improved encoder.）But anyway improve encoder accuracy of detection and
Computational methods are not fundamentally to solve problem above, and accuracy of detection is still influenced by structure machining accuracy, detection error according to
So exist.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of high-altitude operation vehicle rotary position detection device and method, should
The mode that direct object detects is introduced the detection of rotation of rotary table angle by device, conventionally used gear engaged transmission before having broken
The mode of angle of revolution is detected, directly cancels encoder and transmission mechanism, detection error is solved the problems, such as from connecing at all；The present apparatus is
It is contactless, sensor and detector bar are applied to swing mechanism, the signal of diverse location is collected according to sensor, to judge
The angle that turntable specifically turns round, the signal which only produces with detector bar have relation, thus directly solve conventional detection
The mismachining tolerance that device is brought by being machined；So that high-altitude operation vehicle rotary position detects more accurate, control accuracy higher,
It is more intelligent.
To achieve the above object, the present invention provides a kind of rotary position detection method, by revolution position to be detected
Detector bar is installed, in non-rotating location settings sensor, and meets that the turning course of detector bar is in sensor data acquisition
In the range of, by the revolution information of sensor acquisition testing bar and carry out processing and realize that rotary position detects.
This method is applied in the detection of high-altitude operation vehicle rotary position, and sensor is arranged at high-altitude operation vehicle swing mechanism
The non-rotating part in inner side；Detector bar is arranged on the revolution arc surface of high-altitude operation vehicle center steering body, and detector bar turned round
Journey is in sensor detection range, is rotated by center steering body and is driven detector bar synchronous rotary, received by controller
And handle the revolution signal that sensor is sent and then obtain angle of revolution, realize that rotary position detects.Above sensor can be adopted
With ccd sensor or cmos sensor.
On the basis of more than, it is used to detect the rotating sensor device of target invention further provides one kind, it includes passing
Sensor and detector bar, wherein, the detector bar is for sensor specific identification and the element for collecting detection signal；
Sensor includes：
Detector bar detection unit, for continuously reading detection bars and being converted into analog signal；
A/D converter；For converting analog signals into digital signal；
Communication unit, for transformed digital signal to be carried out remote transmission.
Further, described to be used to detect the rotating sensor device of target, the detector bar can be that surface is set
There is the element of color signal, detector bar detection unit is for reading detector bar color signal and color signal being converted to simulation
The photosensitive circuit of signal.It can also include CCD or CMOS photo-sensitive cells in above photosensitive circuit.
Meanwhile the detector bar can also be that surface be provided with the element of picture signal, detector bar detection unit be for
Read detector bar picture signal and picture signal is converted into the image detecting element of analog signal.
Invention further provides a kind of high-altitude operation vehicle rotary position detection device, it includes being arranged at high-altitude operation vehicle turn
Controller, the above at the nonrotational position in inner side for being arranged at high-altitude operation vehicle swing mechanism on platform is rotating for detecting target
Sensor described in sensor device and the above-described detector bar being arranged on the center steering body of swing mechanism, wherein
The detector bar is in center steering body turning course all the time in the sensor detection range；The controller and institute
Sensor is stated to connect by circuit.
Further, the high-altitude operation vehicle rotary position detection device, the controller are sent out including receiving sensor
Simultaneously the central processing unit of corresponding angle of revolution is calculated in the return path signal that goes out.
Further, the high-altitude operation vehicle rotary position detection device, the power supply and sensing of working at height chassis
Device is connected with controller.
Rotary position detection method provided by the invention, by the way that detector bar is set directly in target to be detected, passes through
Sensor directly detects the revolution mode of detector bar and then draws the revolution mode of target to be measured, avoids existing conventional detection
In, connected by drive connection mode by encoder and target to be detected and converted the revolution mode of target to be detected is corresponding
Revolution mode into the synchronization of encoder therein is detected again, which can produce target revolution to be detected and coding
Error inside device between revolution, and then detection result is impacted.
Provided by the present invention for detecting the rotating sensor device of target, by setting sensor specific identification with collecting
The detector bar of signal, and by respective sensor and signal adapter and communication unit, realize the outside of revolution signal with
The purpose of meaning detection, it is not necessary to exterior translating rotation is detected again into decoder internal rotation as current encoder device,
Synchronism, the accuracy of significant increase detection, while expand application range.
High-altitude operation vehicle rotary position detection method provided by the invention, is installed on height by sensor by standard component first
The inner side non-rotating part of idle job car swing mechanism, detector bar is installed on center steering body arc surface, due to center steering
Body is connected with turntable by axis pin, and turntable is connected by standard component with swing mechanism so swing mechanism can drive when rotating
Heart revolving body rotates, and the detector bar being installed on center steering body arc surface can also rotate therewith；And sensor is installed on revolution
The inner side non-rotating part of mechanism, so sensor will detect detector bar difference when detector bar is rotated with center steering body
The unlike signal of position, and digital signal is converted the signal into by the way that in bus transfer to controller, controller is by dividing
The different pieces of information that analysis sensor transmits judges the specific angle of rotation of rotary table at this time, and the data application is controlled in whole Operation Van
System processed.When Operation Van works, the rotation of rotary table method for detecting position and device can be detected in real time by above-mentioned working method
Rotation of rotary table angle, and reliable angle foundation is provided to whole control system, it is various and rotation of rotary table angle to realize
Intelligent behaviour, makes high-altitude operation vehicle rotary position detect more accurate, the control accuracy higher of Operation Van, more intelligent.
Brief description of the drawings
Fig. 1 is the high-altitude operation vehicle rotary position detection method control logic figure that the embodiment of the present invention 1 provides；
Fig. 2 is the high-altitude operation vehicle rotary position detection device schematic diagram that the embodiment of the present invention 3 provides；
Fig. 3 is present invention conventional detection mode figure described in the prior art；
Fig. 4 is to be provided in the embodiment of the present invention 2 for detecting the rotating sensor device schematic diagram of target；
In figure 2 above -4,1 device in order to control, 2 be ccd sensor, and 3 be detector bar, revolving body centered on 4, and 5 be swing mechanism, 6
It is gear for turntable, 7,8 be encoder, and 9 be mounting bracket, and 10 be connecting shaft, and 11 be shaft coupling, and 12 be detector bar, and 13 be detection
Bar detection unit, 14 be A/D converter, and 15 be communication unit.
Embodiment：
Embodiment 1
The present embodiment provides a kind of high-altitude operation vehicle rotary position detection method, and sensor is arranged at high-altitude operation vehicle turn-around machine
The non-rotating part in inner side of structure；Detector bar is arranged on the revolution arc surface of high-altitude operation vehicle center steering body, detector bar revolution
Process is in sensor detection range, is rotated by center steering body and is driven detector bar synchronous rotary, connect by controller
Receive and handle the revolution signal that sensor is sent and then obtain angle of revolution, realize that rotary position detects.It is used in detection method
Sensor can use ccd sensor, cmos sensor can also be used, detector bar used is corresponding with sensor.Pass through
Revolution signal of the sensor acquisition testing bar during being turned round with center steering body, is handled, and finally obtains passback angle
Degree.
Above detection method can be extended on the rotary position that other needs detect, and pass through sensor and detector bar phase
The mode of cooperation realizes the accurate detection of angle of revolution, while control system can be utilized to realize that intelligence is examined with automation
Survey.
Fig. 1 show the realization figure of high-altitude operation vehicle rotary position detection method provided in this embodiment, wherein electricity of getting off
Source provides the whole required electric energy of detection process, and controller control sensor is detected the Scanning Detction of bar, and by figure
Change information has sensor to pass the calculating that controller is detected result back.Whole process is harmonious, has reached more accurate
Measurement rotary position purpose.
Embodiment 2
Present embodiments provide one kind to be used to detect the rotating sensor device of target, as shown in figure 4, including sensor and detection
Bar 12, wherein, the detector bar 12 is for sensor specific identification and the element for collecting detection signal；
Sensor includes：
Detector bar detection unit 13, for continuously reading detection bars and being converted into analog signal；
A/D converter 14；For converting analog signals into digital signal；
Communication unit 15, for transformed digital signal to be carried out remote transmission.
Above sensor device is by specific identification and the detection signal on collection detector bar, by being obtained after signal processing
Detector bar, can directly be fixedly installed in detection target, directly detect the rotational case of target by spin data.
In above sensor device, color signal can be set, such as by color progressive mode in detector bar on detector bar
On according to length direction set color signal, detector bar detection unit be for read detector bar color signal and by color signal turn
The photosensitive circuit of analog signal is changed to, CCD or CMOS photo-sensitive cells can be included, forms ccd sensor or cmos sensor, is led to
Cross detection and conversion that identification color carries out signal.
In addition, other can also be set to detect signal, such as picture signal on detector bar, corresponding detector bar detection unit is use
In reading detector bar picture signal and picture signal being converted into the image detecting element of analog signal, by identifying picture signal
It is detected and changes.
Embodiment 3
Based on above example 2, a kind of high-altitude operation vehicle rotary position detection device is present embodiments provided, as shown in Fig. 2, bag
Controller 1, ccd sensor 2, detector bar 3 are included, wherein controller 1 is installed on 6 side of high-altitude operation vehicle turntable by standard component；
Ccd sensor 2 is installed on the inner side non-rotating part of high-altitude operation vehicle swing mechanism 5 by standard component；Detector bar 3 is installed on back
On 4 arc surface of center steering body of rotation mechanism 5；Center steering body 4 is connected with turntable 6 by axis pin；Turntable 6 by standard component with
Swing mechanism 5 is connected, and controller 1 leads to 2 buses excessively with ccd sensor and is connected progress data exchange.The power supply of whole system
Directly from chassis.The invention detects the different rotary positions of the detector bar 3 being installed on center steering body 4 by ccd sensor 2
Image, to judge angle that turntable specifically turns round.
Ccd sensor 2 is installed on to the inner side non-rotating part of swing mechanism 5 by standard component first in the present embodiment,
Detector bar 3 is installed on 4 arc surface of center steering body；Swing mechanism 5 can drive center steering body 4 to rotate when rotating, and install
It can also be rotated therewith in the detector bar 3 on 4 arc surface of center steering body；And ccd sensor 2 is installed on the inner side of swing mechanism 5
Non-rotating part, so ccd sensor 2 will detect the different positions of detector bar 3 when detector bar 3 is rotated with center steering body 4
Different images put, and be digital signal by bus transfer to controller 1 by the video conversion, controller 1 by point
The different pieces of information that analysis ccd sensor 2 transmits judges the specific angle that turntable 6 turns round at this time, and the data application is made in whole
Industry vehicle control.
Claims (10)
1. a kind of rotary position detection method, it is characterised in that by setting detector bar in rotary position to be detected, at non-time
Turn location settings sensor, and meet that the turning course of detector bar is in the range of sensor data acquisition, adopted by sensor
Collect the revolution information of detector bar and carry out processing and realize that rotary position detects.
2. a kind of high-altitude operation vehicle rotary position detection method, it is characterised in that sensor is arranged at high-altitude operation vehicle revolution
The non-rotating part in inner side of mechanism；Detector bar is arranged on the revolution arc surface of high-altitude operation vehicle center steering body, and detector bar returns
Turn over journey to be in sensor detection range, rotated by center steering body and drive detector bar synchronous rotary, pass through controller
Receive and process the revolution signal that sensor is sent and then obtain angle of revolution, realize that rotary position detects.
3. high-altitude operation vehicle rotary position detection method according to claim 2, it is characterised in that the sensor is
Ccd sensor or cmos sensor.
4. one kind is used to detect the rotating sensor device of target, it is characterised in that including sensor and detector bar, wherein, institute
It is for sensor specific identification and the element for collecting detection signal to state detector bar；
Sensor includes：
Detector bar detection unit, for continuously reading detection bars and being converted into analog signal；
A/D converter；For converting analog signals into digital signal；
Communication unit, for transformed digital signal to be carried out remote transmission.
5. according to claim 4 be used to detect the rotating sensor device of target, it is characterised in that the detector bar is
Surface is provided with the element of color signal, and detector bar detection unit is for reading detector bar color signal and turning color signal
It is changed to the photosensitive circuit of analog signal.
6. according to claim 4 be used to detect the rotating sensor device of target, it is characterised in that the detector bar is
Surface is provided with the element of picture signal, and detector bar detection unit is for reading detector bar picture signal and turning picture signal
Change the image detecting element of analog signal into.
7. according to claim 5 be used to detect the rotating sensor device of target, it is characterised in that the detector bar inspection
Surveying unit includes CCD or CMOS photo-sensitive cells.
8. a kind of high-altitude operation vehicle rotary position detection device, it is characterised in that including being arranged on high-altitude operation vehicle turntable
Controller, the nonrotational position in inner side for being arranged at high-altitude operation vehicle swing mechanism claim 4 described in sensor and setting
In the detector bar described in the claim 4 on the center steering body of swing mechanism, wherein the detector bar is with center steering body
In turning course all the time in the sensor detection range；The controller is connected with the sensor by circuit.
9. high-altitude operation vehicle rotary position detection device according to claim 8, it is characterised in that the controller includes
Simultaneously the central processing unit of corresponding angle of revolution is calculated in return path signal that receiving sensor is sent.
10. high-altitude operation vehicle rotary position detection device according to claim 8, it is characterised in that working at height underbody
The power supply of disk is connected with sensor and controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711483887.4A CN107976158A (en) | 2017-12-29 | 2017-12-29 | A kind of high-altitude operation vehicle rotary position detection device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711483887.4A CN107976158A (en) | 2017-12-29 | 2017-12-29 | A kind of high-altitude operation vehicle rotary position detection device and method |
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| CN107976158A true CN107976158A (en) | 2018-05-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115493538A (en) * | 2022-09-21 | 2022-12-20 | 江苏卫华海洋重工有限公司 | Harbour machinery gyration position detection device |
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| CN202671062U (en) * | 2012-06-18 | 2013-01-16 | 徐州重型机械有限公司 | Crane and wheel steering switching device thereof |
| CN104567745A (en) * | 2015-01-08 | 2015-04-29 | 佛山轻子精密测控技术有限公司 | Rotary encoder based on light sensation principle and measuring method thereof |
| CN104555738A (en) * | 2015-01-19 | 2015-04-29 | 浙江三一装备有限公司 | Crane and rotation angle measuring device thereof |
| CN208140043U (en) * | 2017-12-29 | 2018-11-23 | 徐州海伦哲专用车辆股份有限公司 | Detect the sensor and high-altitude operation vehicle rotary position detection device of target rotation |
-
2017
- 2017-12-29 CN CN201711483887.4A patent/CN107976158A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202671062U (en) * | 2012-06-18 | 2013-01-16 | 徐州重型机械有限公司 | Crane and wheel steering switching device thereof |
| CN104567745A (en) * | 2015-01-08 | 2015-04-29 | 佛山轻子精密测控技术有限公司 | Rotary encoder based on light sensation principle and measuring method thereof |
| CN104555738A (en) * | 2015-01-19 | 2015-04-29 | 浙江三一装备有限公司 | Crane and rotation angle measuring device thereof |
| CN208140043U (en) * | 2017-12-29 | 2018-11-23 | 徐州海伦哲专用车辆股份有限公司 | Detect the sensor and high-altitude operation vehicle rotary position detection device of target rotation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115493538A (en) * | 2022-09-21 | 2022-12-20 | 江苏卫华海洋重工有限公司 | Harbour machinery gyration position detection device |
| CN115493538B (en) * | 2022-09-21 | 2023-09-29 | 江苏卫华海洋重工有限公司 | Harbor machinery gyration position detection device |
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