CN108267049A - A kind of adaptive laser locating apparatus - Google Patents
A kind of adaptive laser locating apparatus Download PDFInfo
- Publication number
- CN108267049A CN108267049A CN201810057907.XA CN201810057907A CN108267049A CN 108267049 A CN108267049 A CN 108267049A CN 201810057907 A CN201810057907 A CN 201810057907A CN 108267049 A CN108267049 A CN 108267049A
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- China
- Prior art keywords
- motor
- laser
- lead screw
- circular base
- tapped
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/02—Photo-electric hit-detector systems
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention provides a kind of adaptive laser locating apparatus, including adjustable triangle frame, the bottom of adjustable triangle frame is equipped with universal wheel, the frame body of adjustable triangle frame is connected with cup dolly, frame body is fixed on the center of cup dolly, mutually perpendicular two radial symmetrics set four tapped through holes on cup dolly, tapped through hole is located at the outside of frame body, be spirally connected the lower ends of four adjusting screws in four tapped through holes, circular base slab is equal in magnitude with cup dolly, circular base slab is equipped with and the corresponding through-hole of tapped through hole, the upper end for adjusting screw passes through the output shaft of through-hole connection wire rod motor, four lead screw motors are fixedly connected with circular base slab, turning motor is fixedly mounted in the center of circular base slab.For the present invention according to the feedback position signal of laser pick-off target, microcontroller controls turning motor and lead screw motor to adjust position and the angle of laser emitter respectively, realizes quick and accurately automatic track and localization.
Description
Technical field
The present invention relates to automatic positioning technology field, more particularly to a kind of adaptive laser locating apparatus.
Background technology
Placement technology is one of basic technology for realizing farm working machinery automatic Pilot and prescription agricultural, in agricultural
Machinery surveys target sprinkling, accurate fertilizing, harvesting production, automatic plant etc. in many operation process suffers from extensive purposes, is
One important content of modern Intelligent agricultural machinery research.Since laser has, small, light-weight, speed is fast and error is small
The advantages that, the application of horizontal and vertical calibration is extremely wide in building trade, but the research ability ground zero in terms of positioning.Swash
In photokinesis alignment system, there is not phenomenon of missing the target in laser transmitter projects laser signal and from motion tracking laser pick-off target,
It is the basis of dynamic Laser alignment system normal work.And after laser pick-off target is traced into, laser on the market at present
Emitter, to achieve the purpose that precise positioning, can only in the process be held by manually adjusting transmitting position or angle
Error is also easy to produce, influences positioning accuracy, causes to adjust repeatedly, inefficiency.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, the present invention provides a kind of adaptive laser locating apparatus, according to laser pick-off target
Feedback position signal, microcontroller controls turning motor and lead screw motor to adjust position and the angle of laser emitter respectively, real
Now quick and accurately automatic track and localization, it is unmanned and field data fixed point acquisition lays the foundation for farm working machinery.
(2) technical solution
A kind of adaptive laser locating apparatus, including adjustable triangle frame, the bottom of the adjustable triangle frame is equipped with universal wheel,
The frame body of the adjustable triangle frame is connected with cup dolly, and the frame body is fixed on the center of the cup dolly, the circle
Mutually perpendicular two radial symmetrics set four tapped through holes on shape pedestal, and the tapped through hole is located at the outer of the frame body
Side, the lower end for the four adjusting screws that are spirally connected in four tapped through holes, circular base slab and the cup dolly are equal in magnitude,
The circular base slab is equipped with to be connected with the corresponding through-hole of the tapped through hole, the upper end for adjusting screw across the through-hole
The output shaft of lead screw motor is connect, four lead screw motors are fixedly connected with the circular base slab, the circular base slab
Center turning motor is fixedly mounted, control cabinet is fixedly mounted in the side of the turning motor, and the control cabinet includes microcontroller
And accumulator, the top of the control cabinet are equipped with power switch, the output shaft of the turning motor is connected with the lower end of a shaft
It connects, the upper end of the shaft is fixedly connected with revolving platform, and laser emitter, the laser emitter hair are installed on the revolving platform
It penetrates laser signal and from motion tracking laser pick-off target, and feeds back the position signal of the laser pick-off target to the monolithic
Machine, the microcontroller export five road pwm pulse signals according to feedback signal and control four lead screw motors and described time respectively
Rotating motor works, the lead screw motor adjustment length for adjusting screw between the cup dolly and the circular base slab
Degree, the turning motor drive the laser emitter come back rotation, the microcontroller by the shaft and the revolving platform
It is electrically connected respectively with four lead screw motors, the turning motor, the laser emitter and the power switch, the storage
Battery is electrically connected with the power switch, and the accumulator is the microcontroller, four screws by the power switch
Motor, the turning motor and the laser emitter provide operating voltage.
Further, the microcontroller selects 16 microcontroller MC95S12DJ128.
Further, the lead screw motor and the turning motor are stepper motor, and the stepper motor selects RS-
380SH type stepper motors.
Further, the accumulator is rechargeable lithium battery.
Preferably, the revolving platform is circle.
(3) advantageous effect
The present invention provides a kind of adaptive laser locating apparatus, single according to the feedback position signal of laser pick-off target
Piece machine controls turning motor and lead screw motor to adjust position and the angle of laser emitter respectively, realizes quick and accurately automatic
Track and localization lays the foundation for unmanned acquired with field data fixed point of farm working machinery, simple in structure, at low cost
Honest and clean, easy to operate, accuracy of detection is high, fast response time, and stability and good reliability have good autgmentability, can answer extensively
For other mappings and positioning occasion.
Description of the drawings
Fig. 1 is a kind of structure diagram of adaptive laser locating apparatus according to the present invention.
Fig. 2 is a kind of system functional block diagram of adaptive laser locating apparatus according to the present invention.
Specific embodiment
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
With reference to Fig. 1 and Fig. 2, a kind of adaptive laser locating apparatus, including adjustable triangle frame 1, the bottom of adjustable triangle frame 1
Equipped with universal wheel 3, the frame body 2 of adjustable triangle frame 1 is connected with cup dolly 4, and frame body 2 is fixed on the center of cup dolly 4, circle
Mutually perpendicular two radial symmetrics set four tapped through holes 5 on shape pedestal 4, and tapped through hole 5 is located at the outside of frame body 2, and four
Be spirally connected the lower ends of four adjusting screws 6 in a tapped through hole 5, and circular base slab 7 and cup dolly 4 are equal in magnitude, circular support
Plate 7 is equipped with passes through the output shaft of through-hole connection wire rod motor 8 with 5 corresponding through-hole of tapped through hole, the upper end for adjusting screw 6,
Four lead screw motors 8 are fixedly connected with circular base slab 7, and turning motor 9, revolution is fixedly mounted in the center of circular base slab 7
Control cabinet 10 is fixedly mounted in the side of motor 9, and control cabinet 10 includes microcontroller and accumulator, and the top of control cabinet 10 is equipped with power supply
Switch 11, the output shaft of turning motor 9 is connected with the lower end of a shaft 12, and the upper end of shaft 12 is fixed with revolving platform 13 to be connected
It connecing, laser emitter 14 is installed on revolving platform 13, laser emitter 14 emits laser signal and from motion tracking laser pick-off target,
And feedback laser receives the position signal of target to microcontroller, microcontroller exports five road pwm pulse signals point according to feedback signal
Not Kong Zhi four lead screw motors 8 and turning motor 9 work, the adjustment of lead screw motor 8 adjusts screw 6 in cup dolly 4 and round props up
Length between fagging 7, turning motor 9 drive laser emitter 14 come back rotation, microcontroller by shaft 12 and revolving platform 13
It is electrically connected respectively with four lead screw motors 8, turning motor 9, laser emitter 14 and power switch 11, accumulator and power switch
11 electrical connections, accumulator are carried by power switch 11 for microcontroller, four lead screw motors 8, turning motor 9 and laser emitter 14
For operating voltage.
Device needs independently to control, therefore microcontroller at least has four lead screw motors 8 and a turning motor 9
Five programmable PWM channels could export five road pwm pulse control signals.In order to simplify circuit, cost is reduced, system
Microcontroller selects 16 microcontroller MC95S12DJ12.The EEPROM of the RAM and 2KB of Flash, 8KB of its built-in 128KB, have
5V is inputted and driving force, CPU working frequencies can reach 50MHz.The digital I/O interfaces of 29 tunnel independences, 20 road bands are interrupted and are called out
The digital I/O interfaces for function of waking up, 10 A/D converters of 28 channels, the input capture/output with 8 channels are compared, are also had
There are 8 programmable PWM channels.With 2 serial asynchronous communication interface SCI, 2 synchronous serial Peripheral Interface SPI, I2C buses
With CAN function modules etc., meet design requirement.
Lead screw motor 8 and turning motor 9 are stepper motor, and stepper motor selects RS-380SH type stepper motors.Monolithic
Machine adjusts the rotating speed of four lead screw motors 8 and turning motor 9 and turns by changing duty ratio and the phase of pwm pulse signal
To since cup dolly 4 is fixed on frame body 2, and adjusting screw 6 can rotate in the tapped through hole 5 of cup dolly 4, when four
When the rotating speed of a lead screw motor 8 and inconsistent steering, rotating speed and the steering for adjusting screw 6 are also inconsistent, so that relatively solid
Fixed circular base slab 7 can make the fine tuning of any direction and angle.Turning motor 9 drives laser by shaft 12 and revolving platform 13
Transmitter 14 carrys out back rotation, realizes the coarse adjustment in laser emitter direction.
The height of laser emitter 14 can be also adjusted by adjustable tripod 1.The universal wheel of 1 bottom of adjustable triangle frame installation
3 are moved easily device, time saving and energy saving.
Accumulator provides operating voltage for each functional unit of device, in order to embody energy-saving and environment-friendly design concept, electric power storage
Pond select rechargeable lithium battery, can Reusability, it is cost-effective.
Since cup dolly 4 and circular base slab 7 are circular design, it is contemplated that the good appearance and consistency of device,
Revolving platform 13 is preferably also circular design.
When device works, adjustment adjustable triangle frame 1, by rotating universal wheel 3, by laser emitter 14 it is rough against swashing
Light-receiving target presses power switch 11, and laser emitter 14 emits laser signal, while receives the feedback of laser pick-off target
Position signal, the microcontroller for giving control cabinet 11 are handled, and microcontroller exports five road pwm pulse signals according to feedback signal,
Rotating speed and the steering of turning motor 9 and four lead screw motors 8 are adjusted respectively, and turning motor 9 drives laser emitter 14 to turn round
Dynamic, into the coarse adjustment on line direction, while four lead screw motors 8 control four adjusting screws 6 in 4 tapped through hole of cup dolly respectively
Rotating speed and steering in 5, length of the four adjusting screws 6 of adjustment between cup dolly 4 and circular base slab 7, in arbitrary side
Position and angle are finely adjusted circular base slab 7, so as to do the fine tuning of any direction and angle to laser emitter 14, realize fast
Speed and accurately automatic track and localization.
The present invention provides a kind of adaptive laser locating apparatus, single according to the feedback position signal of laser pick-off target
Piece machine controls turning motor and lead screw motor to adjust position and the angle of laser emitter respectively, realizes quick and accurately automatic
Track and localization lays the foundation for unmanned acquired with field data fixed point of farm working machinery, simple in structure, at low cost
Honest and clean, easy to operate, accuracy of detection is high, fast response time, and stability and good reliability have good autgmentability, can answer extensively
For other mappings and positioning occasion.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of design concept of the present invention is not departed from, ordinary people in the field is to the technology of the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (5)
1. a kind of adaptive laser locating apparatus, it is characterised in that：Including adjustable triangle frame, the bottom dress of the adjustable triangle frame
There is universal wheel, the frame body of the adjustable triangle frame is connected with cup dolly, and the frame body is fixed in the cup dolly
The heart, mutually perpendicular two radial symmetrics set four tapped through holes on the cup dolly, and the tapped through hole is located at described
The outside of frame body, the lower end for the four adjusting screws that are spirally connected in four tapped through holes, circular base slab and the cup dolly
Equal in magnitude, the circular base slab is equipped with to be passed through with the corresponding through-hole of the tapped through hole, the upper end for adjusting screw
The output shaft of the through-hole connection wire rod motor, four lead screw motors are fixedly connected with the circular base slab, described
Turning motor is fixedly mounted in the center of circular base slab, and control cabinet, the control cabinet is fixedly mounted in the side of the turning motor
Including microcontroller and accumulator, the top of the control cabinet is equipped with power switch, the output shaft of the turning motor and a shaft
Lower end be connected, the upper end of the shaft is fixedly connected with revolving platform, installs laser emitter on the revolving platform, described to swash
Optical transmitting set emits laser signal and from motion tracking laser pick-off target, and feed back the position signal of the laser pick-off target to
The microcontroller, the microcontroller export five road pwm pulse signals according to feedback signal and control four lead screw motors respectively
It works with the turning motor, the lead screw motor adjustment adjusting screw is in the cup dolly and the circular base slab
Between length, the turning motor drives the laser emitter come back rotation, institute by the shaft and the revolving platform
Microcontroller is stated to be electrically connected with four lead screw motors, the turning motor, the laser emitter and the power switch respectively
Connect, the accumulator is electrically connected with the power switch, the accumulator by the power switch for the microcontroller, four
The lead screw motor, the turning motor and the laser emitter provide operating voltage.
2. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The microcontroller selects 16
Microcontroller MC95S12DJ128.
3. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The lead screw motor and described
Turning motor is stepper motor, and the stepper motor selects RS-380SH type stepper motors.
4. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The accumulator is chargeable
Lithium battery.
5. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The revolving platform is circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810057907.XA CN108267049A (en) | 2018-01-22 | 2018-01-22 | A kind of adaptive laser locating apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810057907.XA CN108267049A (en) | 2018-01-22 | 2018-01-22 | A kind of adaptive laser locating apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108267049A true CN108267049A (en) | 2018-07-10 |
Family
ID=62776249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810057907.XA Withdrawn CN108267049A (en) | 2018-01-22 | 2018-01-22 | A kind of adaptive laser locating apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108267049A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332810A (en) * | 2020-03-19 | 2020-06-26 | 扬州雷鸟机器人科技有限公司 | Intelligent loading and unloading laser target device |
| CN114166122A (en) * | 2021-12-02 | 2022-03-11 | 中国工程物理研究院流体物理研究所 | Automatic target adjusting device |
| CN114838662A (en) * | 2022-05-20 | 2022-08-02 | 宝武集团鄂城钢铁有限公司 | Heating furnace laser detection system |
-
2018
- 2018-01-22 CN CN201810057907.XA patent/CN108267049A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332810A (en) * | 2020-03-19 | 2020-06-26 | 扬州雷鸟机器人科技有限公司 | Intelligent loading and unloading laser target device |
| CN111332810B (en) * | 2020-03-19 | 2021-08-17 | 扬州雷鸟机器人科技有限公司 | Intelligent loading and unloading laser target device |
| CN114166122A (en) * | 2021-12-02 | 2022-03-11 | 中国工程物理研究院流体物理研究所 | Automatic target adjusting device |
| CN114838662A (en) * | 2022-05-20 | 2022-08-02 | 宝武集团鄂城钢铁有限公司 | Heating furnace laser detection system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180710 |