CN108844472A - A kind of compartment measurement and positioning device and control method - Google Patents
A kind of compartment measurement and positioning device and control method Download PDFInfo
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- CN108844472A CN108844472A CN201810583081.0A CN201810583081A CN108844472A CN 108844472 A CN108844472 A CN 108844472A CN 201810583081 A CN201810583081 A CN 201810583081A CN 108844472 A CN108844472 A CN 108844472A
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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
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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Abstract
The invention discloses a kind of compartment measurement and positioning device and control methods, belong to the control technology field of three-dimensional measurement and positioning device, including three-dimensional measurement mechanism, motion control sub-device and human-computer interaction sub-device, which includes X-axis platform moving mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism and X-axis assistance platform movement mechanism；Motion control sub-device is connect with X-axis platform moving mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism respectively, and human-computer interaction sub-device is connect with motion control sub-device.The present invention realizes compartment size automatic measurement and precise positioning, frees a large amount of labour from severe working environment；Using Ethernet interface wire communication, influence of the workshop dust atmosphere to communication is avoided, improves the stability of entire control system operation.
Description
Technical field
The present invention relates to three-dimensional measurement and the control technology field of positioning device, in particular to a kind of compartment measurement and positioning dress
It sets and control method.
Background technique
In cement plant, the workers with long time of work is in the opaque environment of flue dust, occupational disease very big to the harm of body
Burst rate it is also higher than general industry more.The high density dust generated in cement production process, into human lung, meeting
It makes one to suffer from silicosis.The high-decibel noise that the crushing plants such as grinder generate can also make direct labor generate dysacousis.High temperature
The environment of height radiation can also make the worker of resistance difference, suffer from skin disease, the worker of a line, especially by the worker of cement entrucking,
Illness rate is higher.
For the entrucking problem of bagged cement, product applied by the technical field is still Semi-automatic device at home,
Cement gets off from production line, when being packed into compartment, manpower is needed to be carried and put, and in the process, dust can be serious
Endanger the body of porter.At abroad, Germany has the cement truck-loading facilities of a set of full-automation, in whole operation process
In, operator only needs in operating room, by operation interface visual on industrial personal computer, sets and fills how many bags of cement, so
It clicks afterwards and executes operation, cement will be fitted into bag by production line automatically, then regular whole to come in compartment.Germany this
Set equipment realizes the full automation of cement entrucking, and cement entrucking personnel are freed from rugged environment.
But this set fully-automatic equipment is simultaneously not suitable with China's national situation, the reason is that the vehicle list that this set truck-loading facilities of Germany is directed to
One, and there are many vehicle for being bought and being transported cement in China, there is motor tricycle, jubilee wagen, medium truck, large-scale goods
Vehicle, heavy goods vehicle etc., current this truck-loading facilities can not be suitable for a variety of models.
When being detected to a variety of models, it is important to determine compartment size and compartment entrucking workshop stop position
It sets, the determination of compartment size belongs to the scope of three-dimensional measurement.Currently, it is generally adopted by infrared electro scanning technique, the technology
Using the method for three-D profile spotting scaming, swept to Contour extraction is carried out on three length of motor vehicle, width and height directions
Retouch, to obtain a series of three-dimensional parameters of institute's measuring car, then according to obtained information, to motor vehicle three-D profile into
Row reconstruct obtains every profile parameters to be measured such as length, width, height and wheelspan of institute's measuring car, detection side
Case is as shown in Figure 1.
But there is following defect in it in actual application：First is that since system is established with infrared scale bar
The direction on basis of the three-dimensional references coordinate system as detection, the length of tested vehicle must be flat with three axis of coordinate system
Row.But in the detection process, driver can not can control vehicle and not deviate completely, this measured value that will lead to has one
Fixed error.Second is that infrared remote receiver and infrared transmitter will theoretically keep vertical irradiation, but during the installation process by
It is influenced in by infrared scale bar material and nut tightness adjusting, causes the two that can not keep vertical irradiation completely.Third is that wheel nausea
It is low when high when pressure, it is affected to the height of vehicle, meanwhile, the draught head of two sides tire also will affect measurement result.Fourth is that by
It is optical equipment in infrared sensor, affected by environment larger, temperature, humidity of optical device etc. can all influence measurement result.
Therefore, during bagged cement full-automation entrucking, the standard of a variety of models compartment size and location how is realized
Really detection is a problem to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of compartment measurement and positioning device and control methods, for a variety of models compartment
Size and location are accurately detected.
In order to achieve the above object, on the one hand, the present invention uses a kind of compartment measurement and positioning device, including three-dimensional measuring machine
Structure, motion control sub-device and human-computer interaction sub-device, the three-dimensional measurement mechanism include X-axis platform moving mechanism, Y-axis platform
Movement mechanism, Z axis platform moving mechanism and X-axis assistance platform movement mechanism；
X-axis platform moving mechanism is generally aligned in the same plane and is disposed in parallel relation to one another with X-axis assistance platform movement mechanism, and Y-axis is flat
The both ends of platform movement mechanism respectively with X-axis platform moving mechanism, X-axis assistance platform movement mechanism is vertical connect, and Y-axis platform is transported
Motivation structure does straight line back and forth movement along X-axis platform moving mechanism direction, and Z axis platform moving mechanism and Y-axis platform moving mechanism hang down
It is direct-connected to connect, and Z axis platform moving mechanism does straight line back and forth movement along Y-axis platform moving mechanism direction；
Coordinate system is constructed using X-axis assistance platform movement mechanism and Y-axis platform moving mechanism intersection point as origin, coordinate system
X-axis, y-axis, z-axis are parallel with X-axis assistance platform movement mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism respectively, Z axis
Laser range sensor is fixed on platform moving mechanism；
Motion control sub-device connects with X-axis platform moving mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism respectively
It connects, human-computer interaction sub-device is connect with motion control sub-device.
Preferably, the X-axis platform moving mechanism includes X-axis mould group and X-axis motor, and the shaft of X-axis motor is through shaft coupling
It is connect with the screw rod of X-axis mould group, X-axis motor drives the movement of X-axis mould group upper slide unit by driving screw rod, and the X-axis auxiliary is flat
Platform movement mechanism includes X-axis auxiliary mould group；
The Y-axis platform moving mechanism includes Y-axis mould group and y-axis motor, and the shaft of y-axis motor is through shaft coupling and Y-axis mould
Group screw rod connection, y-axis motor by driving screw rod drive Y-axis mould group upper slide unit movement, the both ends of Y-axis mould group respectively with X
The slide unit of axis auxiliary mould group is fixedly connected, is fixedly connected with the slide unit of X-axis mould group；
The Z axis platform moving mechanism includes Z axis mould group and Z axis motor, and the shaft of Z axis motor is through shaft coupling and Z axis mould
The screw rod connection of group, Z axis motor drive the movement of Z axis mould group upper slide unit by driving screw rod, and Z axis mould group is fixed on Y-axis mould group
Slide unit on, the laser range sensor is fixed on the slide unit of the Z axis mould group.
Preferably, the motion control sub-device includes master controller, X-axis platform motion-control module, the movement of Y-axis platform
Control module and Z axis platform motion-control module；
The master controller output end respectively with X-axis platform motion-control module, Y-axis platform motion-control module and Z
The connection of shaft platform motion-control module, X-axis platform motion-control module, Y-axis platform motion-control module and the movement of Z axis platform
Control module respectively drives the X-axis motor, y-axis motor and the rotation of Z axis motor.
Preferably, the master controller includes principal communication module, the first digital output module, the second digital output mould
Block, third digital output module and the 4th digital output module；
The X-axis platform motion-control module includes X-axis driver, the first absolute type encoder, the input of the first digital quantity
Interface, third digital-quantity input interface and the first communication interface, the input terminal of the first digital-quantity input interface and the first digital quantity
The output end of output module connects, and the input terminal of third digital-quantity input interface and the output end of third digital output module connect
It connects, the first communication interface is connect with principal communication module carries out both-way communication, the signal output end and X-axis of the first absolute type encoder
The code device signal input terminal of driver connects, the control signal of the control signal output of X-axis driver and the X-axis motor
Input terminal connection.
Preferably, the Y-axis platform motion-control module includes Y-axis driver, the second absolute type encoder, the second number
Measure input interface, the 4th digital-quantity input interface and the second communication interface, the input terminal of the second digital-quantity input interface with it is described
The output end of second digital output module connects, the input terminal and the 4th digital output module of the 4th digital-quantity input interface
Output end connection, the second communication interface connect with the principal communication module progress both-way communication, the second absolute type encoder
Signal output end is connect with the code device signal input terminal of Y-axis driver, the control signal output of Y-axis driver and the Y
The control signal input of spindle motor connects.
Preferably, the Z axis platform motion-control module includes that Z axis driver, third absolute type encoder and third are logical
Believe interface, third communication interface is connect with the principal communication module carries out both-way communication, and the signal of third absolute type encoder is defeated
Outlet is connect with the code device signal input terminal of Z axis driver, the control signal output of Z axis driver and the Z axis motor
Control signal input connection.
Preferably, the master controller further includes Analog input mModule, the laser range sensor analog output
End is connect with the input terminal of Analog input mModule.
Preferably, the master controller further includes master ethernet communication module, and the human-computer interaction sub-device includes upper
Machine and the first ethernet communication module, the first ethernet communication module is connect with master ethernet communication module carries out both-way communication.
On the other hand, using a kind of control method for above-mentioned compartment measurement and positioning device, include the following steps：
Being measured vehicle, positive direction of the x-axis moves to area to be measured below the three-dimensional measurement mechanism and along the coordinate system
Domain；
The human-computer interaction sub-device sends control instruction to the motion control sub-device；
When institute's control instruction is enabled instruction, the motion control sub-device passes through control X-axis platform moving mechanism, Y
The movement of shaft platform movement mechanism and X-axis assistance platform movement mechanism moved to drive the laser range sensor；
The laser range sensor carries out ranging, and moves control through described by distance measurement value and along the coordinate value of x-axis or y-axis
System device is sent to human-computer interaction sub-device；
Human-computer interaction sub-device analyzes distance measurement value and coordinate value, obtain be measured vehicle car length with
And stop position.
Compared with prior art, there are following technical effects by the present invention：Three-dimensional measurement mechanism of the invention is transported by X-axis platform
Motivation structure, Y-axis platform moving mechanism, Z axis platform moving mechanism and X-axis assistance platform movement mechanism are constituted, flat with X-axis auxiliary
Platform movement mechanism and Y-axis platform moving mechanism intersection point as origin building coordinate system, the x-axis of coordinate system, y-axis, z-axis respectively with X
Axis assistance platform movement mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism are parallel.Pass through Y-axis platform moving mechanism, Z
The straight line back and forth movement of shaft platform movement mechanism, to drive laser range sensor on Z axis platform moving mechanism to be moved；Swash
Ligh-ranging sensor carries out ranging during the motion, and passes through motion control by distance measurement value and along the coordinate value of x-axis or y-axis
Device is sent to human-computer interaction sub-device, so according to distance measurement value and coordinate value calculate the length of vehicle car to be measured with
And stop position.
Detailed description of the invention
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail：
Fig. 1 is existing infrared vehicle detection technique schematic diagram；
Fig. 2 is the structural schematic diagram of three-dimensional measurement mechanism；
Fig. 3 is a kind of structural schematic diagram of compartment measurement and positioning device；
Fig. 4 is a kind of flow diagram of the control method of compartment measurement and positioning device；
Fig. 5 is a kind of testing process schematic diagram of compartment measurement and positioning device；
Fig. 6 is the schematic illustration of compartment measurement and positioning.
Specific embodiment
In order to further explain feature of the invention, reference should be made to the following detailed description and accompanying drawings of the present invention.Institute
Attached drawing is only for reference and purposes of discussion, is not used to limit protection scope of the present invention.
As shown in Figure 2 to Figure 3, present embodiment discloses a kind of compartment measurement and positioning devices, including：Three-dimensional measurement mechanism,
Motion control sub-device 100 and human-computer interaction sub-device 200, the three-dimensional measurement mechanism include X-axis platform moving mechanism 1, Y-axis
Platform moving mechanism 3, Z axis platform moving mechanism 4 and X-axis assistance platform movement mechanism 2；
X-axis platform moving mechanism 1 is generally aligned in the same plane and is disposed in parallel relation to one another, Y-axis with X-axis assistance platform movement mechanism 2
The both ends of platform moving mechanism 3 respectively with X-axis platform moving mechanism 1, X-axis assistance platform movement mechanism 2 is vertical connect, and Y-axis
Platform moving mechanism 3 does straight line back and forth movement along 1 direction of X-axis platform moving mechanism, and Z axis platform moving mechanism 4 and Y-axis platform are transported
Motivation structure 3 vertically connects, and Z axis platform moving mechanism 4 does straight line back and forth movement along 3 direction of Y-axis platform moving mechanism；
Coordinate system, coordinate system are constructed using X-axis assistance platform movement mechanism 2 and 3 intersection point of Y-axis platform moving mechanism as origin
X-axis, y-axis, z-axis it is flat with X-axis assistance platform movement mechanism 2, Y-axis platform moving mechanism 3, Z axis platform moving mechanism 4 respectively
It goes, is fixed with laser range sensor 5 on Z axis platform moving mechanism 4, wherein laser range sensor 5 is for measuring along z-axis
The distance of negative direction；
Motion control sub-device 100 is moved with X-axis platform moving mechanism 1, Y-axis platform moving mechanism 3, Z axis platform respectively
Mechanism 4 connects, and human-computer interaction sub-device 200 is connect with motion control sub-device 100.
It should be noted that X-axis platform moving mechanism 1, Y-axis platform moving mechanism 3, Z axis platform fortune in the present embodiment
Motivation structure 4 and X-axis assistance platform movement mechanism 2 can do straight line back and forth movement.Y in three-dimensional measurement mechanism in the present embodiment
Shaft platform movement mechanism 3 can be moved relative to X-axis platform moving mechanism 1, and Z axis platform moving mechanism 4 is relative to Y-axis platform
Movement mechanism 3 can be moved.Specifically：
X-axis platform moving mechanism 1 includes X-axis mould group 11 and X-axis motor 12, and the shaft of X-axis motor 12 is through shaft coupling and X-axis
The screw rod of mould group 11 connects, and X-axis motor 12 drives the movement of 11 upper slide unit of X-axis mould group by driving screw rod, and the X-axis auxiliary is flat
Platform movement mechanism 2 includes that X-axis assists mould group；
The Y-axis platform moving mechanism 3 includes Y-axis mould group 31 and y-axis motor 32, and the shaft of y-axis motor 32 is through shaft coupling
It is connect with the screw rod of Y-axis mould group 31, y-axis motor 32 drives the movement of 31 upper slide unit of Y-axis mould group, Y-axis mould group by driving screw rod
31 both ends are fixedly connected with the slide unit of X-axis auxiliary mould group respectively, are fixedly connected with the slide unit of X-axis mould group 11；
The Z axis platform moving mechanism 4 includes Z axis mould group 41 and Z axis motor 42, and the shaft of Z axis motor 42 is through shaft coupling
It is connect with the screw rod of Z axis mould group 41, Z axis motor 42 drives the movement of 41 upper slide unit of Z axis mould group, Z axis mould group by driving screw rod
41 are fixed on the slide unit of Y-axis mould group 31, and the laser range sensor 5 is fixed on the slide unit of the Z axis mould group 41.
Platform moving mechanism is used as in the present embodiment in such a way that mould group adds motor, mould group includes the portions such as slide unit and screw rod
Point, motor driven screw rod rotates to drive slide unit mobile.Wherein, the lead of institute's modeling group screw rod is 1cm, and the circle of every turn of motor 1 is slided
Platform advance 1cm.It is the three-dimensional system of coordinate established such as the upper right corner Fig. 2, wherein coordinate origin O is located at the movement of X-axis assistance platform
Mechanism 2 and 3 point of intersection of Y-axis platform moving mechanism, the x-axis of coordinate system, y-axis, z-axis respectively with X-axis assistance platform movement mechanism 2, Y
Shaft platform movement mechanism 3, Z axis platform moving mechanism 4 are parallel, and positive direction is as shown in coordinate system in Fig. 2.
As further preferred scheme, as shown in figure 3, motion control sub-device 100 is flat including master controller 110, X-axis
Platform motion-control module 120, Y-axis platform motion-control module 130 and Z axis platform motion-control module 140；The main control
110 output end of device is moved with X-axis platform motion-control module 120, Y-axis platform motion-control module 130 and Z axis platform respectively
Control module 140 connects, X-axis platform motion-control module 120, Y-axis platform motion-control module 130 and the movement of Z axis platform
Control module 140 respectively drives the X-axis motor 12, y-axis motor 32 and Z axis motor 42 and rotates.
Specifically, as shown in Figure 3：
The master controller 110 includes principal communication module 111, the first digital output module 112, the second digital output
Module 113, third digital output module 116 and the 4th digital output module 117；
The X-axis platform motion-control module 120 includes X-axis driver 121, the first absolute type encoder 122, first number
Word amount input interface 123, third digital-quantity input interface 125 and the first communication interface 124, the first digital-quantity input interface 123
Input terminal connect with the output end of the first digital output module 112, the input terminal of third digital-quantity input interface 125 and
The output end of three digital output modules 116 connects, and the first communication interface 124 is connect with principal communication module 111 carries out two-way
News, the signal output end of the first absolute type encoder 122 are connect with the code device signal input terminal of X-axis driver 121, and X-axis is driven
The control signal output of dynamic device 121 is connect with the control signal input of the X-axis motor 12.
It should be noted that the effect of the first communication interface 124 is to receive master controller 110 to send out through principal communication module 111
Control instruction out, and rotated what X-axis driver 121 recorded by the collected X-axis motor 12 of the first absolute type encoder 122
It encloses number and is sent to master controller 110 through principal communication module 111；The effect of first digital-quantity input interface 123 is to receive main control
The Edge check that device 110 is issued through the first digital output module 112 controls signal, and the control signal is for controlling detection compartment
Tail portion；The effect of third digital-quantity input interface 125 is to receive master controller 110 to issue through third digital output module 116
Edge check control signal, the control signal for control detection carriage head；The effect of first absolute type encoder 122 is
Acquire 12 rotating cycle of X-axis motor；The function of X-axis driver 121 is that driving X-axis motor 12 is moved accordingly；X-axis motor
12 function is to drive the movement of 11 upper slide unit of X-axis mould group.
The Y-axis platform motion-control module 130 includes Y-axis driver 131, the second absolute type encoder 132, second number
Word amount input interface 133, the 4th digital-quantity input interface 135 and the second communication interface 134, the second digital-quantity input interface 133
Input terminal connect with the output end of the second digital output module 113, the input terminal of the 4th digital-quantity input interface 135
Connect with the output end of the 4th digital output module 117, the second communication interface 134 connect with the principal communication module 111 into
Row both-way communication, the signal output end of the second absolute type encoder 132 and the code device signal input terminal of Y-axis driver 131 connect
It connects, the control signal output of Y-axis driver 131 is connect with the control signal input of the y-axis motor 32.
It should be noted that the effect of the second communication interface 134 is to receive master controller 110 to send out through principal communication module 111
Control instruction out, and rotated what Y-axis driver 131 recorded by the collected y-axis motor 32 of the second absolute type encoder 132
It encloses number and is sent to master controller 110 through principal communication module 111；The effect of second digital-quantity input interface 133 is to receive main control
The Edge check that device 110 is issued through the second digital output module 113 controls signal, and the control signal is for controlling detection compartment
Right shell body；The effect of 4th digital-quantity input interface 135 is to receive master controller 110 to send out through the 4th digital output module 117
Edge check out controls signal, and the control signal is for controlling detection compartment right baffle-plate；The work of second absolute type encoder 132
Be acquisition 32 rotating cycle of y-axis motor；The function of Y-axis driver 131 is that driving y-axis motor 32 is moved accordingly；Y-axis
The function of motor 32 is to drive the movement of 31 upper slide unit of Y-axis mould group.
The Z axis platform motion-control module 140 includes Z axis driver 141, third absolute type encoder 142 and third
Communication interface 143, third communication interface 143 is connect with the principal communication module 111 carries out both-way communication, third absolute encoding
The signal output end of device 142 is connect with the code device signal input terminal of Z axis driver 141, the control signal of Z axis driver 141
Output end is connect with the control signal input of the Z axis motor 42.
It should be noted that the effect of third communication interface 143 is to receive master controller 110 to send out through principal communication module 111
Control instruction out, and rotated what Z axis driver 141 recorded by the collected Z axis motor 42 of third absolute type encoder 142
It encloses number and is sent to master controller 110 through principal communication module 111；The effect of third absolute type encoder 142 is acquisition Z axis motor 42
Rotating cycle；The function of Z axis driver 141 is that driving Z axis motor 42 is moved accordingly；The function of Z axis motor 42 is to drive
The movement of dynamic 41 upper slide unit of Z axis mould group.
It should be noted that principal communication module 111 at this concretely 485 communication module, master controller 110 and X-axis
Between platform motion-control module 120, Y-axis platform motion-control module 130 and Z axis platform motion-control module 140 into
Row 485 communicates to connect.
As further preferred scheme, as shown in figure 3, the master controller 110 further includes Analog input mModule
114, the 5 analog output end of laser range sensor is connect with the input terminal of Analog input mModule 114.Laser ranging passes
The distance value that sensor 5 measures it in moving process is sent to master controller 110.
As further preferred scheme, as shown in figure 3, the master controller 110 further includes master ethernet communication module
115, the human-computer interaction sub-device 200 includes host computer 210 and the first ethernet communication module 220, the first ethernet communication
Module 220 is connect by cable with master ethernet communication module 115 and carries out both-way communication.Wherein, master controller 110 will obtain
Distance measurement value and be sent to host computer 210 along the coordinate value of x-axis or y-axis, host computer 210 according to distance measurement value and coordinate value analyze to
The length and stop position for surveying vehicle car, are then shown, while host computer 210 passes through the first ethernet communication mould
Control instruction is sent to master controller 110 by block 220, master ethernet communication module 115, realizes the control to each motion-control module
System.
It should also be noted that, using Ethernet interface wire communication in the present embodiment, workshop dust atmosphere is avoided
Influence to communication improves the stability of entire control system operation.
A kind of working principle of compartment measurement and positioning device provided in this embodiment is：Vehicle is measured in three-dimensional measuring machine
Region to be measured is moved to below structure and along positive direction of the x-axis, wherein three-dimensional measurement mechanism is mounted on by the branch of 4040 aluminium profile
In frame plane, by the movement of Y-axis platform moving mechanism 3, Z axis platform moving mechanism 4 in three-dimensional measurement mechanism, Laser Measuring is driven
Movement away from sensor 5 measures laser ranging value in z-axis negative direction and laser ranging value at transition along x-axis or y
The coordinate value of axis, to obtain the length of vehicle car to be measured, width, height and stop position.
It, can also be toward measured vehicle in compartment measurement and positioning device disclosed in the present embodiment as further preferred scheme
Compartment in probe into laser radar, by the way that laser radar and one-dimensional laser range sensor 5 to be used in combination, by laser radar
It directly probes into compartment, builds figure using two dimension, the length and width information in compartment can be obtained, if laser radar is along x, y-axis
Coordinate it is known and remain unchanged, the stop position and posture in compartment can be obtained.Survey laser range sensor 5 vertically down
Amount, moves along vehicle width direction, using numerical value of the laser ranging value at transition, can obtain the elevation information in compartment.
As shown in figure 4, the present embodiment correspondence discloses a kind of control for measurement and positioning device in compartment in above-described embodiment
Method processed includes the following steps S101 to S105：
S101, being measured vehicle, positive direction of the x-axis moves to below the three-dimensional measurement mechanism and along the coordinate system
Region to be measured；
S102, the human-computer interaction sub-device 200 send control instruction to the motion control sub-device 100；
S103, institute's control instruction be enabled instruction when, the motion control sub-device 100 by control X-axis platform fortune
Dynamic structure 1, the movement of Y-axis platform moving mechanism 3 and X-axis assistance platform movement mechanism 2 drive the laser ranging to sense
The movement of device 5；
S104, the laser range sensor 5 carry out ranging, and by distance measurement value and along described in the coordinate value of x-axis or y-axis warp
Motion control sub-device 100 is sent to human-computer interaction sub-device 200；
S105, human-computer interaction sub-device 200 analyze distance measurement value and coordinate value, obtain being measured vehicle car
Length and stop position.
Wherein, specific detection process is as shown in Figure 5 to Figure 6：
A) after system electrification, master controller 110 completes the initialization of self-test and parameter first；
B) master controller 110 waits host computer 210 to instruct, and receives the instruction of host computer 210, then analysis instruction；
If c) instruction is enabled instruction, master controller 110 controls laser range sensor 5 and moves to Y along positive direction of the y-axis
31 middle position of Axle mould group is prepared for detection car length；If instruction is reset instruction, system can be directly entered step
s)；
D) laser range sensor 5 reach the location of instruction after, master controller 110 control laser range sensor 5 along x-axis just
Direction setting in motion；
E) master controller 110 judges whether the laser ranging value read occurs transition (concretely judgement maximum repeatedly
Whether the difference of value and minimum value is greater than given threshold value), if transition occurs for laser ranging value, then it represents that detect compartment tail
Portion enters step f)；If there is no transition, continuation to move along positive direction of the x-axis for laser ranging value；
F) master controller 110 issues Edge check signal control laser ranging sensing through the first digital output module 112
The stop motion immediately of device 5 fast forwards through certain distance along negative direction of the x-axis, then advances at a slow speed certain distance along positive direction of the x-axis,
During advancing at a slow speed along positive direction of the x-axis, recording laser distance measurement value is at transition twice along the coordinate value x1, x2 of x-axis；
G) after the completion of the detection of compartment tail portion, master controller 110 controls laser range sensor 5 along positive direction of the x-axis after reforwarding
It is dynamic；
H) master controller 110 judges whether the laser ranging value read occurs transition repeatedly, if laser ranging value occurs
Transition, then it represents that detect carriage head, enter step i)；If there is no transition for laser ranging value, continue along x-axis just
Direction movement；
I) master controller 110 issues Edge check signal control laser ranging sensing through third digital output module 116
The stop motion immediately of device 5 fast forwards through certain distance along negative direction of the x-axis, then advances at a slow speed certain distance along positive direction of the x-axis,
During advancing at a slow speed along positive direction of the x-axis, recording laser distance measurement value at transition twice along coordinate value x3, the x4 of x-axis, at this time
The length in compartment is x3-x2；
J) after the completion of carriage head detection, master controller 110 controls laser range sensor 5 and moves to X along positive direction of the x-axis
11 terminal position of Axle mould group；
K) after laser range sensor 5 reaches the location of instruction, master controller 110 controls laser range sensor 5 and moves to X
11 middle position of Axle mould group, 31 initial position of Y-axis mould group are prepared for detection box width；
L) laser range sensor 5 reach the location of instruction after, master controller 110 control laser range sensor 5 along y-axis just
Direction setting in motion；
M) master controller 110 judges whether the laser ranging value read occurs transition repeatedly, if laser ranging value occurs
Transition, then it represents that detect compartment right shell body, enter step n)；If there is no transition for laser ranging value, continue along y-axis
Positive direction movement；
N) master controller 110 issues Edge check signal control laser ranging sensing through the second digital output module 113
The stop motion immediately of device 5 fast forwards through certain distance along negative direction of the y-axis, then advances at a slow speed certain distance along positive direction of the y-axis,
During advancing at a slow speed along positive direction of the y-axis, numerical value h1, h2 and corresponding edge of the recording laser distance measurement value at transition twice
The coordinate value y1, y2 of y-axis；
O) after the completion of the detection of compartment right shell body, master controller 110 controls laser range sensor 5 to be continued along positive direction of the y-axis
Movement；
P) master controller 110 judges whether the laser ranging value read occurs transition repeatedly, if laser ranging value occurs
Transition, then it represents that detect compartment right baffle-plate, enter step q)；If there is no transition for laser ranging value, continue along y-axis
Positive direction movement；
Q) master controller 110 issues Edge check signal control laser ranging sensing through the 4th digital output module 117
The stop motion immediately of device 5 fast forwards through certain distance along negative direction of the y-axis, then advances at a slow speed certain distance along positive direction of the y-axis,
During advancing at a slow speed along positive direction of the y-axis, numerical value h3, h4 and corresponding edge of the recording laser distance measurement value at transition twice
The coordinate value y3, y4 of y-axis；The width in compartment is y3-y2 at this time, and the height in compartment is (2 × h2-h1-h3)/2；The position in compartment
For (x3, y3)；
R) after the completion of the detection of compartment right baffle-plate, master controller 110 controls laser range sensor 5 and moves along positive direction of the y-axis
It is entered step s) after reaching the location of instruction to 31 terminal position of Y-axis mould group；
S) master controller 110 controls laser range sensor 5 and moves to 31 initial position of X-axis mould group 11 and Y-axis mould group；
T) after laser range sensor 5 reaches the location of instruction, this detection is finished, and waits detection next time.
Compared with prior art, which does not need three-dimensional modeling, directly according to laser ranging value at transition along x
Axis, the coordinate value of y-axis can calculate the length and width in compartment, and precision is higher；According to laser ranging value right baffle-plate (or
Right shell body) with the difference of car bottom, can directly calculate the height in compartment, and height of wagon is not influenced by tire pressure；
When detecting compartment edge, rapid backward is taken, the detection of whole system can be improved in the measure for acquisition data of advancing at a slow speed
Rate and detection accuracy；Compartment can be determined in the specific stop position in cement entrucking workshop, this is not available for the prior art
's.Therefore, the embodiment of the present application realizes compartment size automatic measurement and precise positioning, makes a large amount of labour from severe
It is freed in working environment；Using Ethernet interface wire communication, influence of the workshop dust atmosphere to communication is avoided, is mentioned
The high stability of entire control system operation.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of compartment measurement and positioning device, which is characterized in that including：Three-dimensional measurement mechanism, motion control sub-device and people
Machine interacts sub-device, which includes X-axis platform moving mechanism, Y-axis platform moving mechanism, Z axis platform fitness machine
Structure and X-axis assistance platform movement mechanism；
X-axis platform moving mechanism is generally aligned in the same plane and is disposed in parallel relation to one another with X-axis assistance platform movement mechanism, Y-axis platform fortune
The both ends of motivation structure respectively with X-axis platform moving mechanism, X-axis assistance platform movement mechanism is vertical connect, and Y-axis platform fitness machine
Structure does straight line back and forth movement along X-axis platform moving mechanism direction, and Z axis platform moving mechanism is vertical with Y-axis platform moving mechanism to be connected
It connects, and Z axis platform moving mechanism does straight line back and forth movement along Y-axis platform moving mechanism direction；
Using X-axis assistance platform movement mechanism and Y-axis platform moving mechanism intersection point as origin building coordinate system, the x-axis of coordinate system,
Y-axis, z-axis are parallel with X-axis assistance platform movement mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism respectively, Z axis platform
Laser range sensor is fixed on movement mechanism；
Motion control sub-device is connect with X-axis platform moving mechanism, Y-axis platform moving mechanism, Z axis platform moving mechanism respectively,
Human-computer interaction sub-device is connect with motion control sub-device.
2. measurement and positioning device in compartment as described in claim 1, which is characterized in that the X-axis platform moving mechanism includes X-axis
The shaft of mould group and X-axis motor, X-axis motor is connect through shaft coupling with the screw rod of X-axis mould group, and X-axis motor passes through driving screw rod band
The movement of dynamic X-axis mould group upper slide unit, the X-axis assistance platform movement mechanism include X-axis auxiliary mould group；
The Y-axis platform moving mechanism includes Y-axis mould group and y-axis motor, and the shaft of y-axis motor is through shaft coupling and Y-axis mould group
Screw rod connection, y-axis motor drive the movement of Y-axis mould group upper slide unit by driving screw rod, and the both ends of Y-axis mould group are auxiliary with X-axis respectively
It helps the slide unit of mould group to be fixedly connected, be fixedly connected with the slide unit of X-axis mould group；
The Z axis platform moving mechanism includes Z axis mould group and Z axis motor, and the shaft of Z axis motor is through shaft coupling and Z axis mould group
Screw rod connection, Z axis motor drive the movement of Z axis mould group upper slide unit by driving screw rod, and Z axis mould group is fixed on the cunning of Y-axis mould group
On platform, the laser range sensor is fixed on the slide unit of the Z axis mould group.
3. measurement and positioning device in compartment as claimed in claim 2, which is characterized in that the motion control sub-device includes master control
Device, X-axis platform motion-control module, Y-axis platform motion-control module and Z axis platform motion-control module processed；
The master controller output end is flat with X-axis platform motion-control module, Y-axis platform motion-control module and Z axis respectively
The connection of platform motion-control module, X-axis platform motion-control module, Y-axis platform motion-control module and Z axis platform motion control
Module respectively drives the X-axis motor, y-axis motor and the rotation of Z axis motor.
4. measurement and positioning device in compartment as claimed in claim 3, which is characterized in that the master controller includes principal communication mould
Block, the first digital output module, the second digital output module, third digital output module and the 4th digital output
Module；
The X-axis platform motion-control module include X-axis driver, the first absolute type encoder, the first digital-quantity input interface,
Third digital-quantity input interface and the first communication interface, the input terminal of the first digital-quantity input interface and the first digital output mould
The output end of block connects, and the input terminal of third digital-quantity input interface is connect with the output end of third digital output module, the
One communication interface is connect with principal communication module carries out both-way communication, and the signal output end and X-axis of the first absolute type encoder drive
The code device signal input terminal of device connects, and the control signal of the control signal output of X-axis driver and the X-axis motor inputs
End connection.
5. measurement and positioning device in compartment as claimed in claim 4, which is characterized in that the Y-axis platform motion-control module packet
Include Y-axis driver, the second absolute type encoder, the second digital-quantity input interface, the 4th digital-quantity input interface and the second communication
Interface, the input terminal of the second digital-quantity input interface are connect with the output end of the second digital output module, the 4th number
The input terminal of amount input interface is connect with the output end of the 4th digital output module, the second communication interface and the principal communication mould
Block connection carries out both-way communication, the signal output end of the second absolute type encoder and the code device signal input terminal of Y-axis driver
Connection, the control signal output of Y-axis driver are connect with the control signal input of the y-axis motor.
6. measurement and positioning device in compartment as claimed in claim 4, which is characterized in that the Z axis platform motion-control module packet
Include Z axis driver, third absolute type encoder and third communication interface, third communication interface connect with the principal communication module into
Row both-way communication, the signal output end of third absolute type encoder are connect with the code device signal input terminal of Z axis driver, Z axis
The control signal output of driver is connect with the control signal input of the Z axis motor.
7. measurement and positioning device in compartment as claimed in claim 4, which is characterized in that the master controller further includes that analog quantity is defeated
Enter module, the input terminal connection at laser range sensor analog output end and Analog input mModule.
8. measurement and positioning device in compartment as claimed in claim 4, which is characterized in that the master controller further includes master ethernet
Communication module, the human-computer interaction sub-device include host computer and the first ethernet communication module, the first ethernet communication module
It is connect with master ethernet communication module and carries out both-way communication.
9. a kind of control method of the compartment measurement and positioning device as described in claim any one of 1-8, which is characterized in that including：
Being measured vehicle, positive direction of the x-axis moves to region to be measured below the three-dimensional measurement mechanism and along the coordinate system；
The human-computer interaction sub-device sends control instruction to the motion control sub-device；
When institute's control instruction is enabled instruction, the motion control sub-device is flat by control X-axis platform moving mechanism, Y-axis
The movement of platform movement mechanism and X-axis assistance platform movement mechanism moved to drive the laser range sensor；
The laser range sensor carries out ranging, and by distance measurement value and along the coordinate value of x-axis or y-axis through motion control
Device is sent to human-computer interaction sub-device；
Human-computer interaction sub-device analyzes distance measurement value and coordinate value, obtains being measured the length of vehicle car and stop
By position.
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