CN112127630A - Material distributor system and control method thereof - Google Patents
Material distributor system and control method thereof Download PDFInfo
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- CN112127630A CN112127630A CN202010960804.1A CN202010960804A CN112127630A CN 112127630 A CN112127630 A CN 112127630A CN 202010960804 A CN202010960804 A CN 202010960804A CN 112127630 A CN112127630 A CN 112127630A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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Abstract
The embodiment of the invention discloses a material distributing machine system and a control method thereof. The system comprises: the distributing machine comprises a distributing machine body, a driving device, a positioning sensor, a distance measuring device and a controller; the driving device is arranged on the distributing machine body and used for driving the support arm on the distributing machine body to rotate; the positioning sensor is placed on the positioning object and used for collecting coordinate data corresponding to the positioning object; the distance measuring equipment is arranged on the support arm and used for collecting distance data corresponding to the positioning object; the controller is arranged on the distributing machine body and used for determining the rotating angle of the support arm according to the received distance data and the coordinate data, so that the controller controls the driving device to drive the support arm to rotate based on the rotating angle. According to the embodiment of the invention, the positioning sensor and the distance measuring equipment are added in the material distributing machine system, so that the problem of positioning of the material distributing opening on the material distributing machine is solved, the positioning accuracy of the material distributing opening is improved, and the material distributing construction quality is ensured.
Description
Technical Field
The embodiment of the invention relates to the technical field of constructional engineering, in particular to a material distributor system and a control method thereof.
Background
The distributor is a common tool in the pouring process of building engineering and is used for uniformly spreading pouring materials pumped from a low layer to a high layer. In a general pouring process, at least three persons are needed for pouring by a distributor, and the main working content is to pull a distribution pipeline on the distributor to guide the distributor to pour. As the trend of artificial aging is more obvious, the labor-consuming mode is more and more untimely.
Therefore, the improvement and the upgrade of the material distributing machine are also more, and the material distribution of the material distributing machine can be basically controlled through a remote controller in the market at present. However, in the using process, due to the reasons of operation delay, poor communication between the operators and the cloth workers and the like, the problems of material waste, unsmooth construction and the like are easy to occur.
Disclosure of Invention
The embodiment of the invention provides a material distributor system and a control method thereof, which aim to realize an intelligent following type material distribution mode of a material distributor, improve the material distribution efficiency of the material distributor and ensure the material distribution construction quality.
In a first aspect, an embodiment of the present invention provides a material distributor system, where the system includes: the distributing machine comprises a distributing machine body, a driving device, a positioning sensor, a distance measuring device and a controller;
the driving device, the positioning sensor, the distance measuring device and the controller are in communication connection;
the driving device is arranged on the distributing machine body and used for driving the support arm on the distributing machine body to rotate;
the positioning sensor is placed on a positioning object and used for collecting coordinate data corresponding to the positioning object;
the distance measuring equipment is arranged on the support arm and used for collecting distance data corresponding to the positioning object;
the controller is arranged on the distributing machine body and used for determining the rotating angle of the support arm according to the received distance data and the received coordinate data, so that the controller controls the driving device to drive the support arm to rotate based on the rotating angle.
Further, the support arm comprises a large arm and a small arm, the distance measuring equipment comprises first distance measuring equipment and second distance measuring equipment, wherein the first distance measuring equipment and the second distance measuring equipment are respectively arranged on the large arm.
Further, the driving device comprises a first driving device and a second driving device, wherein the first driving device is arranged at a connecting position between the large arm and the small arm and used for driving the small arm to rotate, and the second driving device is arranged at a connecting position between the large arm and the base on the distributing machine body and used for driving the large arm to rotate.
In a second aspect, an embodiment of the present invention further provides a control method of a material distributor system, which is applied to any one of the material distributor systems mentioned above, and the method includes:
receiving coordinate data and distance data corresponding to a positioning object;
and determining the rotation angle of a support arm in the material distributing machine system according to the distance data and the coordinate data so as to control the support arm to rotate based on the rotation angle.
Further, the determining the rotation angle of the support arm in the material distributor system according to the distance data and the coordinate data comprises:
determining the rotation angle of a support arm in the material distributing machine system according to the distance data, the coordinate data and a preset two-dimensional coordinate system; the distance data comprise first distance data sent by first distance measuring equipment and second distance data sent by second distance measuring equipment, and the rotating angle of the bracket arm comprises the rotating angle of a large arm and the rotating angle of a small arm in the material distributing machine system.
The advantage that sets up like this lies in, through establishing predetermineeing two-dimensional coordinate system, converts the rotation of support arm from three-dimensional space's the solution problem to two-dimensional space's solution problem, has solved the complicated problem of calculation of three-dimensional space solution process, has improved computational efficiency.
Further, according to the distance data, the coordinate data and a preset two-dimensional coordinate system, the rotation angle of the support arm in the material distributor system is determined, and the method comprises the following steps:
according to the coordinate data and a preset two-dimensional coordinate system, determining the vertical distance and the horizontal distance of the positioning object in the preset two-dimensional coordinate system and the linear distance between the positioning object and the origin of coordinates in the preset two-dimensional coordinate system;
and calculating to obtain the rotation angle of the middle and large arms of the distributing machine system according to the first distance data, the second distance data, the linear distance, the vertical distance, the horizontal distance and the equipment distance between the first distance measuring equipment and the second distance measuring equipment.
Further, the rotation angle of the large arm satisfies the formula:
where α 1 denotes a rotation angle of the boom, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L1 denotes a device distance between the first ranging device and the second ranging device, L2 denotes first distance data, L3 denotes second distance data, and L4 denotes a straight distance.
Further, the determining the rotation angle of the support arm in the material distributor system according to the distance data and the coordinate data comprises:
and calculating to obtain the rotation angle of the small arm in the distributing machine system according to the vertical distance, the horizontal distance, the rotation angle of the large arm and preset distance data, wherein the preset distance data comprises the length of the small arm and the length of the large arm.
Further, the preset distance data further includes a safety distance between the end of the forearm and the positioning object and the straight-line distance.
The benefit that sets up like this lies in for the cloth mouth keeps certain distance with between the location object, can not lead to the cloth mouth too closely because of between cloth mouth and the location object to touch the location object at the in-process that moves to the locating position, avoids causing the damage problem of location object.
Further, the rotation angle of the small arm satisfies the formula:
wherein the content of the first and second substances,
where α 1 denotes a rotation angle of the upper arm, α 2 denotes a rotation angle of the lower arm, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L4 denotes a linear distance, La denotes a length of the upper arm, Lb denotes a length of the lower arm, and r denotes a safety distance.
In a third aspect, an embodiment of the present invention further provides a control device for a material distributor system, where the device includes:
the data receiving module is used for receiving coordinate data and distance data corresponding to the positioning object;
and the rotating angle determining module is used for determining the rotating angle of the support arm in the material distributing machine system according to the distance data and the coordinate data so as to control the support arm to rotate based on the rotating angle.
In a fourth aspect, the present invention also provides a storage medium containing computer executable instructions, which when executed by a computer processor, is used for executing the control method of any one of the above-mentioned distributing machine systems.
According to the embodiment of the invention, the positioning sensor and the distance measuring equipment are added in the material distributing machine system, so that the problem of positioning of the material distributing opening on the material distributing machine is solved, the positioning accuracy of the material distributing opening is improved, and the material distributing construction quality is ensured. Meanwhile, the driving equipment is added into the material distributor system, so that the material distribution port can move according to a positioning result, an intelligent following type material distribution mode of the material distributor is realized, and the material distribution efficiency of the material distributor is improved.
Drawings
Fig. 1 is a schematic structural diagram of a material distributor system according to an embodiment of the present invention.
Fig. 2 is a flowchart of a control method of a material distributor system according to a second embodiment of the present invention.
Fig. 3 is a schematic view of a material distributor system under a preset two-dimensional coordinate system according to a second embodiment of the present invention.
Fig. 4 is a schematic diagram of a control device of a material distributor system according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a material distributor system according to an embodiment of the present invention, and fig. a and B at the lower right of fig. 1 are enlarged images in the marked areas of the circular mark a and the circular mark B in fig. 1, respectively. This embodiment is applicable to the condition that adopts the cloth machine to carry out the cloth construction. The cloth machine system of this embodiment includes: the distributing machine comprises a distributing machine body 11, a driving device 12, a positioning sensor 13, a distance measuring device 14 and a controller 15;
wherein, the driving device 12, the positioning sensor 13, the distance measuring device 14 and the controller 15 are in communication connection; the driving device 12 is arranged on the distributing machine body 11 and is used for driving the support arm 16 on the distributing machine body 11 to rotate; the positioning sensor is arranged on the positioning object 17 and used for collecting coordinate data corresponding to the positioning object 17; the distance measuring device 14 is arranged on the support arm 16 and is used for collecting distance data corresponding to a positioning object 17; the controller 15 is arranged on the distributing machine body 11 and is used for determining the rotating angle of the support arm 16 according to the received distance data and the coordinate data, so that the controller 15 controls the driving device 12 to drive the support arm 16 to rotate based on the rotating angle.
In fig. 1, the positioning object 17 is taken as an example of a worker for illustration. Specifically, the positioning object 17 may be any object. For example, the positioning object 17 may be a non-mechanically movable object, and specifically, the worker may place the positioning object 17 at different target positions to be positioned. The positioning object 17 may also be a mechanically movable object, such as a moving cart, for example. The positioning object 17 is a worker, so that the step of manually controlling or moving the positioning object is avoided, and the positioning efficiency is improved. The positioning object 17 is a non-working person, so that the probability of personal injury in the positioning process of the distributing machine is reduced, and the safety in the construction process is improved.
In one embodiment, the positioning sensor 13 is optionally a UWB (Ultra Wide Band) sensor and the ranging device 14 is a UWB base station.
In one embodiment, optionally, the support arm 16 includes a large arm 161 and a small arm 162, and the ranging device 14 includes a first ranging device 141 and a second ranging device 142, wherein the first ranging device 141 and the second ranging device 142 are respectively disposed on the large arm 161. As shown in fig. 1, the material distribution port 111 of the material distributor body 11 is located at one end of the material distribution pipe, and the other end of the material distribution pipe is connected to one end of the small arm 162.
In one embodiment, optionally, the driving device 12 includes a first driving device 121 and a second driving device 122, wherein the first driving device 121 is disposed at a connecting position between the large arm 161 and the small arm 162 for driving the small arm 162 to rotate, and the second driving device 122 is disposed at a connecting position between the large arm 161 and the base 112 on the distributing machine body 11 for driving the large arm 161 to rotate. Specifically, the first driving device 121 and the second driving device 122 respectively include a motor and a speed reducer.
In this embodiment, the controller 15 controls the first driving device 121 and/or the second driving device 122 to drive the small arm 162 to rotate and/or drive the large arm 161 to rotate, the end of the small arm 162 is connected to the material distribution pipeline, and the rotation of the small arm 162 and/or the rotation of the large arm 161 drives the material distribution opening 111 to move, so as to achieve the technical effect that the material distribution opening 111 dynamically moves along with the positioning object.
According to the embodiment of the invention, the positioning sensor and the distance measuring equipment are added in the material distributing machine system, so that the problem of positioning of the material distributing opening on the material distributing machine is solved, the positioning accuracy of the material distributing opening is improved, and the material distributing construction quality is ensured. Meanwhile, the driving equipment is added into the material distributor system, so that the material distribution port can move according to a positioning result, an intelligent following type material distribution mode of the material distributor is realized, and the material distribution efficiency of the material distributor is improved.
Example two
Fig. 2 is a flowchart of a control method of a material distributor system according to a second embodiment of the present invention, where this embodiment is applicable to a case where a material distributor is used for material distribution construction, and the method may be performed by the material distributor system according to the second embodiment, and the system may be implemented in a software and/or hardware manner. The method specifically comprises the following steps:
s210, receiving coordinate data and distance data corresponding to the positioning object.
Specifically, the coordinate data is data collected by a positioning sensor placed on a positioning object, and the distance data is distance data between a distance measuring device and the positioning object, wherein the distance data is collected by the distance measuring device in the material distributing machine system.
In one embodiment, optionally, the distance measuring device generates distance data between the distance measuring device and the positioning object according to the interaction data with the positioning sensor; wherein the interaction data comprises coordinate data or time data. In one embodiment, when the interaction data is coordinate data, the ranging device generates distance data between the ranging device and the positioning object according to the coordinate data sent by the positioning sensor and the coordinate data of the ranging device. In another embodiment, when the interaction data is sensor time data, the distance measuring device receives a pulse radio pulse signal carrying the sensor time data, and distance data between the distance measuring device and the positioning object is calculated according to the received time data, the sensor time data and the pulse signal propagation speed.
And S220, determining the rotation angle of the support arm in the material distributor system according to the distance data and the sensor coordinate data so as to control the support arm to rotate based on the rotation angle.
In one embodiment, optionally, the position of the vertical frame of the distributing machine body is used as the origin of coordinates, and a preset two-dimensional coordinate system is established on a plane perpendicular to the vertical frame.
In one embodiment, optionally, the rotation angle of the support arm in the material distributor system is determined according to the distance data, the coordinate data and a preset two-dimensional coordinate system; wherein, the distance data include first distance data that first range finding equipment sent and the second distance data that second range finding equipment sent, and the turned angle of support arm includes the turned angle of the big arm in the cloth machine system and the turned angle of forearm.
The predetermined two-dimensional coordinate system may include a rectangular coordinate system or a polar coordinate system. Specifically, two mutually perpendicular straight lines are selected on a plane perpendicular to the vertical frame body and are respectively used as a horizontal axis and a longitudinal axis of the rectangular coordinate system, or one straight line is selected as a polar coordinate axis of the polar coordinate system. In one embodiment, the angle between the projection line of the large arm on the plane and the transverse axis is taken as the rotation angle of the large arm, the angle between the projection line of the small arm on the plane and the transverse axis is taken as the rotation angle of the small arm, or the angle between the projection line of the small arm on the plane and the projection line of the large arm on the plane is taken as the rotation angle of the small arm.
The advantage that sets up like this lies in, through establishing predetermineeing two-dimensional coordinate system, converts the rotation of support arm from three-dimensional space's the solution problem to two-dimensional space's solution problem, has solved the complicated problem of calculation of three-dimensional space solution process, has improved computational efficiency.
In one embodiment, optionally, according to the coordinate data and the preset two-dimensional coordinate system, determining a vertical distance and a horizontal distance of the positioning object in the preset two-dimensional coordinate system, and a straight-line distance between the positioning object and a coordinate origin in the preset two-dimensional coordinate system; and calculating the rotation angle of the large arm in the material distributing machine system according to the first distance data, the second distance data, the linear distance, the vertical distance, the horizontal distance and the equipment distance between the first distance measuring equipment and the second distance measuring equipment.
Specifically, the vertical distance represents a distance between the positioning object and a horizontal axis of the two-dimensional coordinate system, that is, a vertical coordinate corresponding to the positioning object, and the horizontal distance represents a distance between the positioning object and a vertical axis of the preset two-dimensional coordinate system, that is, an abscissa corresponding to the positioning object.
In one embodiment, optionally, the rotation angle of the large arm satisfies the formula:
where α 1 denotes a rotation angle of the boom, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L1 denotes a device distance between the first ranging device and the second ranging device, L2 denotes first distance data, L3 denotes second distance data, and L4 denotes a straight distance.
In an embodiment, optionally, the rotation angle of the small arm in the material distributor system is calculated according to the vertical distance, the horizontal distance, the rotation angle of the large arm, and preset distance data, wherein the preset distance data includes the length of the small arm and the length of the large arm.
In one embodiment, optionally, the rotation angle of the small arm satisfies the formula:
where α 1 denotes a rotation angle of the large arm, α 2 denotes a rotation angle of the small arm, Y0 denotes a vertical distance, X0 denotes a horizontal distance, La denotes a length of the large arm, and Lb denotes a length of the small arm.
In one embodiment, the preset distance data further includes a safety distance between the tip of the forearm and the positioning object and a straight-line distance. Wherein, for example, the safety distance is not less than 300 mm.
In one embodiment, optionally, the rotation angle of the small arm satisfies the formula:
wherein the content of the first and second substances,
where α 1 denotes a rotation angle of the upper arm, α 2 denotes a rotation angle of the lower arm, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L4 denotes a linear distance, La denotes a length of the upper arm, Lb denotes a length of the lower arm, and r denotes a safety distance.
Fig. 3 is a schematic view of a material distributor system under a preset two-dimensional coordinate system according to a second embodiment of the present invention. As shown in fig. 3, α 1 represents a rotation angle of the large arm, α 2 represents a rotation angle of the small arm, and in this embodiment, the rotation angle of the small arm is an angle between a projection straight line of the small arm and a projection straight line of the large arm. X0 denotes a horizontal distance, X1 denotes an abscissa of a cloth port at the front end of the forearm, Y0 denotes a vertical distance, L1 denotes a device distance between the first ranging device and the second ranging device, L2 denotes first distance data, L3 denotes second distance data, L4 denotes a straight distance, La denotes a length of the upper arm, Lb denotes a length of the lower arm, and r denotes a safety distance. The front base station in fig. 3 represents a first ranging apparatus, the rear base station represents a second ranging apparatus, and the sensor represents a positioning sensor.
In this embodiment, set up safe distance's benefit and lie in for the cloth mouth keeps certain distance with between the location object, can not lead to the cloth mouth to touch the location object at the in-process that moves to the locating position because of the distance is too near between cloth mouth and the location object, avoids causing the damage problem of location object.
Specifically, a first driving device in the material distributor system is controlled to drive the large arm to rotate based on the rotation angle of the large arm and/or a second driving device in the material distributor system is controlled to drive the small arm to rotate based on the rotation angle of the small arm, so that the effect that a material distribution opening on a material distributor pipeline connected with the small arm can move along with a positioned object is achieved.
According to the technical scheme, the rotating angle of the support arm is obtained through calculation according to the received distance data and the coordinate data corresponding to the positioning object, the positioning problem of the material distribution port on the material distribution machine is solved, the positioning accuracy of the material distribution port is improved, and the material distribution construction quality is guaranteed. Simultaneously, through based on turned angle control drive arrangement drive support arm and rotate for the cloth mouth can remove according to the location result, thereby has realized the intelligent following formula cloth mode of cloth machine, and then has improved the efficiency of cloth machine cloth.
EXAMPLE III
Fig. 4 is a schematic diagram of a control device of a material distributor system according to a third embodiment of the present invention. The embodiment can be suitable for the situation that the material distributor dynamically follows the material distribution, the device can be realized in a software and/or hardware mode, and the device can be configured in a material distributor system. This controlling means of cloth machine system includes: a data receiving module 310 and a rotation angle determining module 320.
A data receiving module 310, configured to receive coordinate data and distance data corresponding to a positioning object;
and a rotation angle determining module 320, configured to determine a rotation angle of the support arm in the material distributor system according to the distance data and the coordinate data, so as to control the support arm to rotate based on the rotation angle.
According to the technical scheme, the rotating angle of the support arm is calculated according to the received distance data and the coordinate data corresponding to the positioning object, the positioning problem of the material distribution port on the material distributor is solved, the positioning accuracy of the material distribution port is improved, and the material distribution construction quality is guaranteed. Simultaneously, through based on turned angle control drive arrangement drive support arm and rotate for the cloth mouth can remove according to the location result, thereby has realized the intelligent following formula cloth mode of cloth machine, and then has improved the efficiency of cloth machine cloth.
On the basis of the above technical solution, optionally, the rotation angle determining module 320 includes:
the rotating angle determining unit is used for determining the rotating angle of a support arm in the material distributing machine system according to the distance data, the coordinate data and a preset two-dimensional coordinate system; wherein, the distance data include first distance data that first range finding equipment sent and the second distance data that second range finding equipment sent, and the turned angle of support arm includes the turned angle of the big arm in the cloth machine system and the turned angle of forearm.
On the basis of the above technical solution, optionally, the rotation angle determining unit includes:
the large-arm rotation angle determining subunit is used for determining the vertical distance and the horizontal distance of the positioning object in a preset two-dimensional coordinate system and the linear distance between the positioning object and the coordinate origin in the preset two-dimensional coordinate system according to the coordinate data and the preset two-dimensional coordinate system; and calculating to obtain the rotation angle of the middle and large arms of the material distributing machine system according to the first distance data, the second distance data, the linear distance, the vertical distance, the horizontal distance and the equipment distance between the first distance measuring equipment and the second distance measuring equipment.
On the basis of the technical scheme, optionally, the rotation angle of the large arm meets the formula:
where α 1 denotes a rotation angle of the boom, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L1 denotes a device distance between the first ranging device and the second ranging device, L2 denotes first distance data, L3 denotes second distance data, and L4 denotes a straight distance.
On the basis of the above technical solution, optionally, the rotation angle determining unit includes:
and the small arm rotation angle determining subunit is used for calculating the rotation angle of the small arm in the distributing machine system according to the vertical distance, the horizontal distance, the rotation angle of the large arm and preset distance data, wherein the preset distance data comprise the length of the small arm and the length of the large arm.
On the basis of the above technical solution, optionally, the preset distance data further includes a safety distance between the end of the forearm and the positioning object and the linear distance.
On the basis of the technical scheme, optionally, the rotation angle of the small arm meets the formula:
wherein the content of the first and second substances,
where α 1 denotes a rotation angle of the upper arm, α 2 denotes a rotation angle of the lower arm, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L4 denotes a linear distance, La denotes a length of the upper arm, Lb denotes a length of the lower arm, and r denotes a safety distance.
The control device of the material distributor system provided by the embodiment of the invention can be used for executing the control method of the material distributor system provided by the embodiment of the invention, and has corresponding functions and beneficial effects of the execution method.
It should be noted that, in the embodiment of the control device of the material distributor system, the units and modules included in the control device are merely divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Example four
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, is configured to perform a method for controlling a material distributing machine system, where the method includes:
receiving coordinate data and distance data corresponding to a positioning object;
and determining the rotation angle of the support arm in the material distributor system according to the distance data and the coordinate data so as to control the support arm to rotate based on the rotation angle.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Of course, the storage medium provided by the embodiments of the present invention contains computer executable instructions, and the computer executable instructions are not limited to the above method operations, and may also perform related operations in the control method of the material distributor system provided by any embodiment of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A cloth machine system, characterized in that the system comprises: the distributing machine comprises a distributing machine body, a driving device, a positioning sensor, a distance measuring device and a controller;
the driving device, the positioning sensor, the distance measuring device and the controller are in communication connection;
the driving device is arranged on the distributing machine body and used for driving the support arm on the distributing machine body to rotate;
the positioning sensor is placed on a positioning object and used for collecting coordinate data corresponding to the positioning object;
the distance measuring equipment is arranged on the support arm and used for collecting distance data corresponding to the positioning object;
the controller is arranged on the distributing machine body and used for determining the rotating angle of the support arm according to the received distance data and the received coordinate data, so that the controller controls the driving device to drive the support arm to rotate based on the rotating angle.
2. The system of claim 1, wherein the support arm comprises a large arm and a small arm, and the ranging device comprises a first ranging device and a second ranging device, wherein the first ranging device and the second ranging device are respectively disposed on the large arm.
3. The system of claim 2, wherein said drive means comprises a first drive means and a second drive means, wherein said first drive means is disposed at a connection location between said large arm and said small arm for driving said small arm to rotate, and said second drive means is disposed at a connection location between said large arm and a base on the spreader body for driving said large arm to rotate.
4. A method of controlling a material distributor system, the method comprising:
receiving coordinate data and distance data corresponding to a positioning object;
and determining the rotation angle of a support arm in the material distributing machine system according to the distance data and the coordinate data so as to control the support arm to rotate based on the rotation angle.
5. The method of claim 4, wherein said determining a rotational angle of a support arm in a distributor system from said distance data and said coordinate data comprises:
determining the rotation angle of a support arm in the material distributing machine system according to the distance data, the coordinate data and a preset two-dimensional coordinate system; the distance data comprise first distance data sent by first distance measuring equipment and second distance data sent by second distance measuring equipment, and the rotating angle of the bracket arm comprises the rotating angle of a large arm and the rotating angle of a small arm in the material distributing machine system.
6. The method of claim 5, wherein said determining a rotational angle of a support arm in a spreader system based on said distance data, said coordinate data and a predetermined two-dimensional coordinate system comprises:
according to the coordinate data and a preset two-dimensional coordinate system, determining the vertical distance and the horizontal distance of the positioning object in the preset two-dimensional coordinate system and the linear distance between the positioning object and the origin of coordinates in the preset two-dimensional coordinate system;
and calculating to obtain the rotation angle of the middle and large arms of the distributing machine system according to the first distance data, the second distance data, the linear distance, the vertical distance, the horizontal distance and the equipment distance between the first distance measuring equipment and the second distance measuring equipment.
7. The method of claim 6, wherein the rotation angle of the large arm satisfies the formula:
where α 1 denotes a rotation angle of the boom, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L1 denotes a device distance between the first ranging device and the second ranging device, L2 denotes first distance data, L3 denotes second distance data, and L4 denotes a straight distance.
8. The method of claim 6, wherein said determining a rotational angle of a support arm in a distributor system from said distance data and said coordinate data comprises:
and calculating to obtain the rotation angle of the small arm in the distributing machine system according to the vertical distance, the horizontal distance, the rotation angle of the large arm and preset distance data, wherein the preset distance data comprises the length of the small arm and the length of the large arm.
9. The method of claim 8, wherein the preset distance data further comprises a safety distance between the tip of the forearm and the positioned object and the straight-line distance.
10. The method of claim 9, wherein the angle of rotation of the small arm satisfies the formula:
wherein the content of the first and second substances,
where α 1 denotes a rotation angle of the upper arm, α 2 denotes a rotation angle of the lower arm, Y0 denotes a vertical distance, X0 denotes a horizontal distance, L4 denotes a linear distance, La denotes a length of the upper arm, Lb denotes a length of the lower arm, and r denotes a safety distance.
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