CN1101540C - Omnibearing position transducer - Google Patents
Omnibearing position transducer Download PDFInfo
- Publication number
- CN1101540C CN1101540C CN 98121125 CN98121125A CN1101540C CN 1101540 C CN1101540 C CN 1101540C CN 98121125 CN98121125 CN 98121125 CN 98121125 A CN98121125 A CN 98121125A CN 1101540 C CN1101540 C CN 1101540C
- Authority
- CN
- China
- Prior art keywords
- rotating head
- transmission speed
- laser transmitter
- speed reducer
- signal selector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The present invention discloses an omnidirectional position sensor for moving carriers, wherein a motor which is coaxially provided with a code disc is engaged with a transmission speed reduction mechanism through an installation plate. A rotating head which is provided with a lens is connected with a bearing of an upper installation frame on the transmission speed reduction mechanism; a modulation laser transmitter which is provided with an optoelectronic receiver at one side is fixed to the installation plate and is positioned under the transmission speed reduction mechanism. The input end of a signal selector is connected with the output ends of the modulation laser transmitter and the optoelectronic receiver; the input end of a data acquisition processor of a single-chip microcomputer (SCM) is the code disc and the signal selector; a space on the same plane with the rotating head is provided with a plurality of cooperative objects. The present invention has the advantages of strengthened self-control running capacity of the moving carriers, high operation efficiency and strong flexible performance.
Description
The present invention relates to the robot engineering field, specifically is a kind of comprehensive position sensing device that is used for mobile vehicle (robot).
The AGV (autonomous mobile robot) that uses is when advancing at present, the electromagnetic signal that main buried magnetic wire of dependence or face of land stickup magnetic adhesive tape are responded to is as the direction guiding signal, this mode has limited the operation capacity of will of robot or travel mechanism, can not be along with the convenient operating path of changing in time of the variation of job content, when many robots during along the operation of same task route, the fault of a robot can cause the pause of whole production line, has influenced the operating efficiency and the dirigibility of mobile robot or autonomous travel mechanism.
The objective of the invention is to overcome above-mentioned deficiency, a kind of reference position information that can obtain mobile vehicle (robot) flexibly is provided, strengthen the capacity of self-government of its operation, operating efficiency height, the strong comprehensive sensor of putting of performance flexibly.
To achieve these goals, technical scheme of the present invention is: it comprises cooperative target, code-disc, motor, the transmission speed reducer structure, the rotating head of eyeglass is housed, transfer generating laser, photelectric receiver, signal selector and single-chip data acquisition processor, wherein with of installing plate and the transmission speed reducer structure engagement of the coaxial mounted motor of code-disc by the band mesopore, the rotating head of eyeglass is housed to be connected with last erecting frame bearing on being fixed on installing plate, and be positioned on the transmission speed reducer structure, the modulated laser transmitter that is positioned at below the transmission speed reducer structure is fixed on the installing plate, described modulated laser transmitter one side has photelectric receiver, signal selector and single-chip data acquisition processor are installed on the circuit board rack, the signal selector input end is connected with the photelectric receiver output terminal with the modulated laser transmitter, single-chip data acquisition processor input signal is a code-disc and from the data of signal selector, last erecting frame is fixedly mounted on the base, and in the space of the same surface level of rotating head a plurality of cooperative targets that are made of retroeflector is set; But on rotating head, be provided with the emitter window of emission of lasering beam;
Described emitter window is positioned on the rotating head, and the filter lens that the outside is covered with the protection eyeglass places emitter window window place, and catoptron places among the cavity of rotating head the inside and becomes miter angle in the face of the emitter window window;
Described modulated laser transmitter is made up of five-way that eyeglass is housed and transmitting illuminant, wherein transmitting illuminant places the five-way bottom, be fixed in below the installing plate around the five-way end face, wherein put a semi-transparent catoptron perpendicular to catoptron in the cavities, in the face of photelectric receiver becomes miter angle;
Described transmission speed reducer structure is made up of gear set, and wherein pinion wheel is engaged in motor output end on the one hand, is engaged in gear wheel on the other hand, and rotating head 4 is fixedly connected on the gear wheel;
Described cooperative target is more than or equal to 4.
The present invention has following advantage:
Owing to adopted modulated laser scanning work mode, utilize the cooperation of cooperative target, solved the technical matters of the reference position information of obtaining mobile (robot) mechanism flexibly, the accuracy and the antijamming capability of cooperative target reflected signal have been improved, simultaneously also improved the precision that positional information detects, this position sensing system practicality is guaranteed; It has overcome the deficiency that relies on the operation of electromagnetic wire guided robot, realized that autonomous mobile vehicle can in time align running status according to self-position information, when many robots during along the operation of same task route, the fault of a robot can not cause the pause of whole production line, the operating efficiency height, performance is strong flexibly.
Below in conjunction with accompanying drawing design feature of the present invention and principle of work are described in further details.
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is a structural principle front view of the present invention.
Fig. 3 is the A-A cut-open view of Fig. 2.
As Fig. 1, shown in 2, the present invention includes cooperative target, code-disc, motor, the transmission speed reducer structure, the rotating head of eyeglass is housed, transfer generating laser, photelectric receiver, signal selector and single-chip data acquisition processor, wherein with the installing plate (10) and transmission speed reducer structure (3) engagement of the coaxial mounted motor of code-disc (1) (2) by the band mesopore, the rotating head (4) of eyeglass is housed to be connected with last erecting frame (11) bearing on being fixed on installing plate (10), and be positioned on the transmission speed reducer structure (3), being positioned at the following modulated laser transmitter (5) of gear train (3) is fixed on the installing plate (10), described modulated laser transmitter (5) one sides have photelectric receiver (6), signal selector (7) and single-chip data acquisition processor (8) are installed on the circuit board (13), signal selector (7) input end is connected with photelectric receiver (6) output terminal with modulated laser transmitter (5), single-chip data acquisition processor (8) input signal is a code-disc (1) and from the data of signal selector (7), last erecting frame (11) is fixedly mounted on the base (12), with be provided with in the space of the same surface level of rotating head (4) the described cooperative targets of 5 cooperative targets that constitute by retroeflector (9) (9) and rotating head (4) spatially operating distance be 2～10m, receive the photoelectric effective signal of handling through signal selector (7) when single-chip data acquisition processor (8), read code-disc (1) value and carry out record, and by communication port data are delivered to computing machine and carry out computing; At rotating head (4) but on be provided with the emitter window of emission of lasering beam;
Described emitter window is positioned on the rotating head (4), and the filter lens (42) that the outside is covered with protection eyeglass (41) places emitter window window place, and catoptron (43) places among the cavity of rotating head (4) the inside and becomes miter angle in the face of the emitter window window;
As shown in Figure 3, described modulated laser transmitter (5) is made up of five-way that eyeglass is housed (51) and transmitting illuminant (52), wherein transmitting illuminant (52) places five-way (51) bottom, be fixed in below the installing plate (10) around five-way (51) end face, wherein vertical reflector (43) is put a semi-transparent catoptron (53) in the cavities, in the face of photelectric receiver (6) becomes miter angle;
As shown in Figure 1, described transmission speed reducer structure (3) is made up of gear set, and wherein pinion wheel (31) is engaged in motor (2) output terminal on the one hand, is engaged in gear wheel (32) on the other hand, and rotating head (4) is fixedly connected on the gear wheel (32).
Its principle of work is: as shown in Figure 1, motor (2) drives code-disc (1) and transmission speed reducer structure (3) action, the catoptron (43) that is installed in transmission speed reducer structure (3) top rotates with rotating head (4), laser from modulated laser transmitter (8) is reflected away, form a photoscanning face, when this bundle laser scanning during to the cooperative target that constitutes by retroeflector (9), light beam is returned by former road, be radiated on the electrooptical device in the photelectric receiver (6) through semi-transparent reflection mirror (53), produce voltage signal, the laser pulse signal of this signal and modulation merges, after signal selector (7) is handled, excite the middle code-disc data acquisition program of single-chip data acquisition processor (8) to read code-disc (1) data, when arranging the enough cooperative target (9) of quantity at mobile robot's operation field (cooperative target (9) quantity of gathering in each week should more than or equal to four) in principle, can calculate position under the coordinate system of the relative cooperative target of mobile robot (9) place by each cooperative target (9) that this sensor-based system constantly provides current code-disc (1) value of living in.
The present invention has adopted the modulated laser transmitter of 30KHz, and power is 30mw, and eyeglass transmission rotating ratio is 40: 1, and code-disc is an increment type, every circle 500 lines, like this, the every run-down of camera lens, code wheel reading can reach 20000, and signal resolution is 0.018 degree, to satisfy mobile robot's bearing accuracy.
Photelectric receiver of the present invention (6), signal selector (7) and single-chip data acquisition processor (8) are prior art, and described five-way (51) can be replaced by threeway, four-way.
Claims (5)
1. omnibearing position transducer that has cooperative target, comprise code-disc, motor, the transmission speed reducer structure, the rotating head of eyeglass is housed, the modulated laser transmitter, photelectric receiver, signal selector and single-chip data acquisition processor, it is characterized in that: wherein with the installing plate (10) and transmission speed reducer structure (3) engagement of the coaxial mounted motor of code-disc (1) (2) by the band mesopore, the rotating head (4) of eyeglass is housed to be connected with last erecting frame (11) bearing on being fixed on installing plate (10), and be positioned on the transmission speed reducer structure (3), being positioned at the following modulated laser transmitter (5) of transmission speed reducer structure (3) is fixed on the installing plate (10), described modulated laser transmitter (5) one sides have photelectric receiver (6), signal selector (7) is installed on the circuit board rack (13) with single-chip data acquisition processor (8), signal selector (7) input end is connected with photelectric receiver (6) output terminal with modulated laser transmitter (5), single-chip data acquisition processor (8) input signal is a code-disc (1) and from the data of signal selector (7), last erecting frame (11) is fixedly mounted on the base (12), and in the space of the same surface level of rotating head (4) a plurality of cooperative targets that are made of retroeflector (9) is set; At rotating head (4) but on be provided with the emitter window of emission of lasering beam.
2. according to the described comprehensive sensor of putting of claim 1; it is characterized in that: described emitter window is positioned on the rotating head (4); the filter lens (42) that the outside is covered with protection eyeglass (41) places emitter window window place, and catoptron (43) places among the cavity of rotating head (4) the inside and becomes miter angle in the face of the emitter window window.
3. according to the described comprehensive sensor of putting of claim 1, it is characterized in that: described modulated laser transmitter (5) is made up of five-way that eyeglass is housed (51) and transmitting illuminant (52), wherein transmitting illuminant (52) places five-way (51) bottom, be fixed in below the installing plate (10) around five-way (51) end face, wherein put a semi-transparent catoptron (53) perpendicular to catoptron (43) in the cavities, in the face of photelectric receiver (6) becomes miter angle.
4. according to the described comprehensive sensor of putting of claim 1, it is characterized in that: described transmission speed reducer structure (3) is made up of gear set, wherein pinion wheel (31) is engaged in motor (2) output terminal on the one hand, be engaged in gear wheel (32) on the other hand, rotating head (4) is fixedly connected on the gear wheel (32).
5. according to the described comprehensive sensor of putting of claim 1, it is characterized in that: described cooperative target (9) is more than or equal to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98121125 CN1101540C (en) | 1998-12-25 | 1998-12-25 | Omnibearing position transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98121125 CN1101540C (en) | 1998-12-25 | 1998-12-25 | Omnibearing position transducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1258842A CN1258842A (en) | 2000-07-05 |
| CN1101540C true CN1101540C (en) | 2003-02-12 |
Family
ID=5227036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98121125 Expired - Fee Related CN1101540C (en) | 1998-12-25 | 1998-12-25 | Omnibearing position transducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1101540C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2864400B1 (en) * | 2003-12-23 | 2006-03-31 | Cit Alcatel | ELECTRONIC DEVICE COMPRISING AN ORIENTABLE CAMERA |
| CN101236069B (en) * | 2008-02-29 | 2010-06-09 | 沈阳建筑大学 | Construction mechanical arm photoelectric positioning apparatus |
| CN102829722B (en) * | 2012-08-29 | 2013-09-18 | 江苏建威电子科技有限公司 | Position sensor |
| CN103970131B (en) * | 2013-01-28 | 2017-02-08 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
| CN104385657A (en) * | 2014-11-18 | 2015-03-04 | 长沙中联重科环卫机械有限公司 | Pusher head position detection system, method and device and trash compactor |
| CN106291579A (en) * | 2016-08-31 | 2017-01-04 | 湖北久之洋红外系统股份有限公司 | A kind of laser detection system having cooperative target |
| CN108449576B (en) * | 2018-03-22 | 2020-05-08 | 平顶山学院 | Computer image collector |
| CN112617700A (en) * | 2020-12-21 | 2021-04-09 | 追创科技(苏州)有限公司 | Laser assembly and self-moving equipment |
-
1998
- 1998-12-25 CN CN 98121125 patent/CN1101540C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1258842A (en) | 2000-07-05 |
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