CN114856182A - Precise positioning device and method based on mold robot - Google Patents
Precise positioning device and method based on mold robot Download PDFInfo
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- 238000009415 formwork Methods 0.000 description 7
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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
- E04G17/00—Connecting or other auxiliary members for forms, falsework structures, or shutterings
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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
- E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
Abstract
The invention belongs to the technical field of building pouring, and particularly relates to an accurate positioning device and method based on a mold robot. The invention provides a precise positioning device based on a mold robot and a method corresponding to the device; the positioning cost is low, the efficiency is high, the precision is high, the positioning time can be greatly reduced, the labor is greatly saved, and errors caused by naked eye judgment are avoided; in other words, the positioning precision is ensured mainly by autonomous positioning and posture adjustment of the mold robot, the precise positioning is realized only by infrared rays and the steering engine, the angle is measured by rotation of the steering engine, and the distance measurement is carried out by infrared rays. And calculating the two-dimensional coordinates of the mold robot by a method of constructing a right triangle and a pythagorean theorem. The positioning device does not need a vision system, and the cost is about one tenth of that of the vision system.
Description
Technical Field
The invention belongs to the technical field of building pouring, and particularly relates to an accurate positioning device and method based on a mold robot.
Background
At present, when a mold robot is used for construction, generally, the mold robot is matched with grouting equipment to build a cast-in-place wall, when grouting is performed in a mold of one set of mold robot, the other set of mold robot is used for positioning and formwork supporting, and when the grouting equipment fills a first set of mold cavity, the other set of mold robot needs to complete positioning and formwork supporting. Receive the construction site construction environmental restriction, in the actual operation process, the location of mould robot is mostly to remove through artificial control robot, so there is the deviation problem of people's naked eye location, need adjust many times, and consume a large amount of time in the adjustment process, just probably lead to first set of mould robot after filling the slurry, another set still does not accomplish the location and accomplishes the formwork, forced stop grouting system, and grouting system once stops, the slurry among the grouting pipeline solidifies in the pipeline easily, thereby make grouting pipeline block up, thereby consume a large amount of time at the back and change grouting pipeline and cause a large amount of manpower and materials extravagant.
Patent CN201520790513.7 discloses a cast-in-place beam pouring space measuring device, which adopts an inverted L-shaped housing, a first infrared transmitting sensor and a first infrared receiving sensor are arranged at the bottom of the vertical part of the inverted L-shaped housing, a second infrared transmitting sensor and a second infrared receiving sensor are arranged at the left side of the vertical part, a third infrared transmitting sensor is arranged at the front side of the vertical part, a normally open switch button is arranged at the bottom of the horizontal part of the inverted L-shaped housing, a button cap of the normally open switch button is positioned outside the inverted L-shaped housing, a control device and a speaker are arranged in the inverted L-shaped housing, the control device is connected with a battery through a wire, the first infrared transmitting sensor, the first infrared receiving sensor, the second infrared transmitting sensor, the second infrared receiving sensor, the third infrared transmitting sensor and the speaker are all connected with the control device, the top of the horizontal part of the inverted L-shaped shell is provided with a handle, and the inverted L-shaped shell is provided with a sounding hole corresponding to the position of the loudspeaker. The cast-in-place beam pouring space measuring device aims at the problems that a flat plate with the same width as the designed beam width and the same length as the designed beam height is used for measuring pouring space, the flat plate for measurement is various in specification and size, low in measuring efficiency and high in labor intensity, the measuring device is convenient and fast to measure, the working efficiency is improved, and the working intensity is reduced.
The patent CN202110140539.7 discloses a formwork system and a construction method for building cast-in-place shear walls and infilled walls, wherein the formwork system is fixedly installed on a horizontal cast-in-place slab on a floor surface through a first formwork supporting mechanism, and is used for supporting and adjusting the formwork on the horizontal cast-in-place slab on the floor surface; the second template supporting mechanism is fixedly arranged on the outer side wall of the vertical wall body and is used for supporting and adjusting the template positioned on the outer side of the horizontal cast-in-place slab on the floor; the third template supporting mechanism is used for supporting the templates forming the door opening and the window opening; the template position monitoring mechanism is used for monitoring the position of the template; the template perpendicularity monitoring mechanism is used for monitoring the perpendicularity of the template; and a corresponding method; the technical problem to be solved is as follows: in the traditional construction method, the template system has less turnover times, is easy to deform, is limited by wood resource shortage, non-recoverability and the like, and has continuously increased cost, the removal of the shear wall template can be carried out after the concrete pouring of the cast-in-place plate, the removal is influenced by obstacles such as a support steel pipe at the bottom of the cast-in-place plate template and the like, the removal and carrying efficiency is very low, and the labor cost is very high; the rear-built infilled wall is influenced by the factors of shortage of building manpower resources, the labor cost for building the infilled wall is continuously increased, and the rear-built infilled wall can be constructed after the main concrete structure is finished and reaches a certain strength, so that the total construction period is influenced; the effects to be achieved are: the process of building the filler wall behind is prepositioned, and the filler wall and the main concrete structure are constructed simultaneously, so that the total construction period is not occupied, and the total construction period is advanced.
It can be seen that the technical problems of the present invention are not met by the solutions of the above two patents, that is, the mainstream positioning methods in the market are performed by vision, and the cost of vision positioning is high, which cannot be widely used.
Therefore, the positioning mode needs to be performed by means of vision, the cost of vision positioning is high, and the device cannot be widely used, namely, the positioning cost is high, the efficiency is low, the precision is poor, the positioning time is long in the traditional operation mode, the defect of error technical problem caused by naked eye judgment often occurs, and the design and development of the precise positioning device and method based on the die robot are urgently needed.
Disclosure of Invention
The first purpose of the invention is to provide a precise positioning device based on a mould robot;
the second purpose of the invention is to provide an accurate positioning method based on a mould robot;
the first object of the present invention is achieved by: the two sides of the center of the positioning device are respectively provided with a first transmitting module and a second transmitting module which are equidistant;
a first steering engine for controlling the emission angle of the first emission module is arranged beside the first emission module; a second steering engine for controlling the emission angle of the second emission module is arranged beside the second emission module; a first receiving module used for receiving a first transmitting module signal and a second receiving module used for receiving a second transmitting module signal are arranged at the position of a template of the mold robot;
the device is also provided with an angle identification module for identifying the transmitting angle of the transmitting module and a distance identification module for identifying the distance from the transmitting module to the receiving module; the calculation module is used for calculating the vertical distance between the positioning device and the mold robot template in real time according to the angle identified by the angle identification module and the distance identified by the distance identification module; and the control module is used for controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance from the positioning device to the mold robot template in real time according to the vertical distance calculated by the calculating module.
Further, the angle identification module comprises a first angle identification module for identifying the transmission angle of the first transmission module; and a second angle identification module for identifying the emission angle of the second emission module.
Further, the distance identification module comprises a first distance identification module for identifying the distance from the first transmitting module to the first receiving module; and a second distance identification module for identifying the distance from the second transmitting module to the second receiving module.
Further, the emission angle range is specifically 0 ° to 180 °.
Further, the transmitting module is specifically an infrared transmitting module.
Further, the receiving module is specifically an infrared receiving module.
Further, a communication module for real-time data transmission communication is arranged in the device.
The second object of the present invention is achieved by: a precise positioning method based on a mold robot specifically comprises the following steps:
creating a plane coordinate axis with the center of the positioning device as an origin;
according to the first transmitting module and the second transmitting module on the two sides of the center of the positioning device, the transmitting modules are enabled to scan anticlockwise from 0-180 degrees by combining the rotation of corresponding steering engines;
when the receiving module receives the signal reflected by the transmitting module, the transmitting module stops scanning and generates the rotation degree of the transmitting module and the linear distance from the transmitting module to the receiving module in real time;
calculating the vertical distance between a positioning device and a mold robot template in real time according to the linear distance from the transmitting module to the receiving module;
controlling the transmitting angle of the transmitting module and the transmitting module to the receiving module in real time according to the vertical distance obtained by calculation;
further, when the receiving module receives the signal reflected by the transmitting module, the transmitting module stops scanning, and generates the rotation degree of the transmitting module and the linear distance from the transmitting module to the receiving module in real time, the method further includes the following steps:
respectively generating the rotation degree of the first transmitting module and the rotation degree of the second transmitting module;
respectively generating a linear distance from a first transmitting module to a first receiving module and a linear distance from a second transmitting module to a second receiving module;
the step of calculating the vertical distance between the positioning device and the mold robot template in real time according to the linear distance between the transmitting module and the receiving module further comprises the following steps:
and calculating the vertical distance from the first transmitting module to the first receiving module and the vertical distance from the second transmitting module to the second receiving module.
Further, the step of controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the distance from the positioning device to the mold robot template at the real-time position in the step of calculating the vertical distance further comprises the following steps:
judging whether the vertical distance from the first transmitting module to the first receiving module is equal to the vertical distance from the second transmitting module to the second receiving module or not, if so, controlling the positioning device to move according to the vertical distance, otherwise, repeating the previous steps;
and judging whether the horizontal distance from the first transmitting module to the first receiving module is equal to the horizontal distance from the second transmitting module to the second receiving module, if so, controlling the positioning device to move according to the horizontal distance, and otherwise, repeating the steps of the previous method.
According to the accurate positioning device based on the mold robot, the first transmitting module and the second transmitting module which are equidistant are respectively arranged on the two sides of the center of the positioning device; a first steering engine for controlling the emission angle of the first emission module is arranged beside the first emission module; a second steering engine for controlling the emission angle of the second emission module is arranged beside the second emission module; a first receiving module used for receiving a first transmitting module signal and a second receiving module used for receiving a second transmitting module signal are arranged at a template of the mold robot; the device is also provided with an angle identification module for identifying the transmitting angle of the transmitting module and a distance identification module for identifying the distance from the transmitting module to the receiving module; the calculation module is used for calculating the vertical distance between the positioning device and the template of the mold robot in real time according to the angle identified by the angle identification module and the distance identified by the distance identification module; the control module is used for controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance from the positioning device to the mold robot template in real time according to the vertical distance calculated by the calculating module, and a method corresponding to the device; the positioning cost is low, the efficiency is high, the precision is high, the positioning time can be greatly reduced, the labor is greatly saved, and errors caused by naked eye judgment are avoided.
In other words, the positioning precision is ensured mainly by autonomous positioning and posture adjustment of the mold robot, the precise positioning is realized only by infrared rays and the steering engine, the angle is measured by rotation of the steering engine, and the distance measurement is carried out by infrared rays. And calculating the two-dimensional coordinates of the mold robot by a method of constructing a right triangle and a pythagorean theorem. The positioning device does not need a vision system, and the cost is about one tenth of that of the vision system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a precise positioning method based on a mold robot according to the present invention;
FIG. 2 is a schematic structural diagram of a precise positioning device based on a mold robot according to the present invention;
FIG. 3 is a schematic view of a positioning structure of a precise positioning device based on a mold robot according to the present invention;
FIG. 4 is a schematic diagram of a steering engine of a positioning device of a precise positioning device based on a mold robot according to the present invention;
FIG. 5 is a schematic diagram illustrating the control principle of a precise positioning device based on a mold robot according to the present invention;
in the figure:
1-a transmitting module; 101-a first transmitting module; 102-a second transmitting module; 2-a steering engine; 201-a first steering engine; 202-a second steering engine; 3-a receiving module; 301-a first receiving module; 302-a second receiving module; 4-a positioning device; 401-positioning device center point (origin); 5-template of the mold robot;
the objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
For better understanding of the objects, aspects and advantages of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings, and other advantages and capabilities of the present invention will become apparent to those skilled in the art from the description.
The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Secondly, the technical solutions in the embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The invention relates to a precise positioning device and method based on a mold robot.
Fig. 1-5 are schematic diagrams illustrating a precise positioning apparatus and method based on a mold robot according to an embodiment of the present invention.
The invention is further elucidated with reference to the drawing.
As shown in fig. 2-5, the present invention provides a precision positioning device based on a mold robot, wherein a first emitting module 101 and a second emitting module 102 are respectively arranged on two sides of the center of the positioning device at equal intervals;
a first steering engine 201 for controlling the emission angle of the first emission module 101 is arranged beside the first emission module 101; a second steering engine 202 for controlling the emission angle of the second emission module 102 is arranged beside the second emission module 102; a first receiving module 301 for receiving a signal of the first transmitting module 101 and a second receiving module 302 for receiving a signal of the second transmitting module 102 are arranged at the template 5 of the mold robot;
the device is also provided with an angle identification module for identifying the transmitting angle of the transmitting module and a distance identification module for identifying the distance from the transmitting module to the receiving module; the calculation module is used for calculating the vertical distance between the positioning device and the mold robot template in real time according to the angle identified by the angle identification module and the distance identified by the distance identification module; and the control module is used for controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance from the positioning device to the mold robot template in real time according to the vertical distance calculated by the calculating module.
The angle identification module comprises a first angle identification module for identifying the transmission angle of the first transmission module 101; and a second angle identification module for identifying the transmission angle of the second transmission module 102.
The distance identification module comprises a first distance identification module for identifying the distance from the first transmitting module 101 to the first receiving module 301; and a second distance identification module for identifying the distance from the second transmitting module 102 to the second receiving module 302.
The emission angle range is specifically 0 ° to 180 °.
The transmitting module is specifically an infrared transmitting module.
The receiving module is specifically an infrared receiving module.
The device is also provided with a communication module for real-time data transmission communication.
In order to achieve the purpose of the scheme of the invention, the invention also discloses an accurate positioning method based on the mold robot, which specifically comprises the following steps:
creating a plane coordinate axis with the center of the positioning device as an origin;
according to the first transmitting module 101 and the second transmitting module 102 on the two sides of the center of the positioning device, the transmitting modules are enabled to scan anticlockwise from 0-180 degrees by combining the rotation of corresponding steering engines;
when the receiving module receives the signal reflected by the transmitting module, the transmitting module stops scanning and generates the rotation degree of the transmitting module and the linear distance from the transmitting module to the receiving module in real time;
calculating the vertical distance between a positioning device and a mold robot template in real time according to the linear distance from the transmitting module to the receiving module;
according to the vertical distance obtained by calculation, the transmitting angle of the transmitting module and the distance from the transmitting module to the receiving module are controlled in real time, further, when the receiving module receives the signal reflected by the transmitting module, the transmitting module stops scanning, and the rotation degree of the transmitting module and the linear distance from the transmitting module to the receiving module are generated in real time, the method further comprises the following steps:
respectively generating the degrees of rotation of the first transmitting module 101 and the degrees of rotation of the second transmitting module 102;
respectively generating a linear distance from the first transmitting module 101 to the first receiving module 301 and a linear distance from the second transmitting module 102 to the second receiving module 302;
the step of calculating the vertical distance between the positioning device and the mold robot template in real time according to the linear distance between the transmitting module and the receiving module further comprises the following steps:
the vertical distance from the first transmitting module 101 to the first receiving module 301 and the vertical distance from the second transmitting module 102 to the second receiving module 302 are calculated.
The step of controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the distance from the positioning device to the real-time position of the mold robot template in real time according to the vertical distance obtained by calculation further comprises the following steps:
judging whether the vertical distance from the first transmitting module 101 to the first receiving module 301 is equal to the vertical distance from the second transmitting module 102 to the second receiving module 302, if so, controlling the positioning device to move according to the vertical distance, otherwise, repeating the previous steps;
and judging whether the horizontal distance from the first transmitting module 101 to the first receiving module 301 is equal to the horizontal distance from the second transmitting module 102 to the second receiving module 302, if so, controlling the positioning device to move according to the horizontal distance, and otherwise, repeating the steps of the previous method.
Specifically, in the embodiment of the present invention, the supporting device in the scheme is provided with: the device comprises an infrared transmitting module, an infrared receiving module, an embedded control module, a server, a plc control module, a driving module, a positioning device and a positioning device steering engine.
The installation method comprises the following steps: the infrared emission module is arranged on the positioning device steering engine; the positioning device is a construction position (target position) to which the mold robot needs to move; the infrared receiving modules are arranged on the left side and the right side of the template.
The implementation steps are as follows:
s10: establishing plane coordinate axis with center of positioning device as origin
S20: the infrared emission modules at two sides of the positioning device are respectively an infrared emission module 1(-x1, 0) and an infrared emission module 2(x1, 0)
S30: the steering engine at the infrared emitting module 1(-x1, 0) scans counterclockwise from 0 ° to 180 °, when the infrared receiving device 1 is scanned, the scanning is stopped, and the degree α 1 of rotation at the time of stopping scanning and the received distance h1 are recorded.
S40: the steering engine at the infrared ray emitting module 2(x1, 0) scans counterclockwise from 0 ° to 180 °, and when the infrared ray receiving device 2 is scanned, the scanning is stopped, and the degree α 2 of rotation at the time of stopping the scanning and the received distance h2 are recorded.
S50: as shown in the figure, the h3 distance is adjusted so that h3 is h4(h3 is sin α 1, and h4 is sin α 2), then the above steps S20-S40 are repeated, h1, h2, α 1, and α 2 are measured again, and then α 1 is α 2 and h1 is h2, the mold robot is shifted leftward by h5(h5 is cos α 1) and then downward by h3(sin α 1).
And repeating the steps S10-S50 by the other mold robot, so that the two mold robots reach accurate positions.
The control principle is as follows:
the control principle flow chart is shown in FIG. 5;
x1: the method comprises the following steps that the scanning result of an infrared emission module in a positioning device is sent to an embedded module of the positioning device in a tcp or serial port communication mode, the embedded module of the positioning device is transmitted to a server in a socket communication mode, the server calculates data transmitted by the embedded module of the positioning device and sends the result to the embedded module of the mold robot in the socket communication mode, the embedded module of the mold robot is sent to a plc through a tcp/ip protocol, and the plc is controlled.
And X2, after plc control is finished, sending a signal to an embedded module of the mold robot through a tcp/ip protocol, sending the embedded module to a server through a socket communication mode, after receiving the command, initiating a retest command to the embedded module of the positioning device, sending the embedded module of the positioning device to an infrared emission module through a serial port or an Ethernet communication mode, and starting rescanning by the infrared emission module.
X3: and repeating the steps of X1 and X2 until h3 and h4 are completely equal, initiating a stop instruction to the embedded module of the mold robot by the server, and transmitting the stop instruction to the plc module after the stop instruction is received by the embedded module of the mold robot so as to control the mold robot to stop adjusting.
After the X4: X3 is finished, the server sends the left translation cos alpha 1h1, repeats the steps of X1 and X2 until the distance of the left translation cos alpha 1h1, and then stops.
X5: after the end of X4, the server sends forward sin α 1h1 distance, repeats X1 and X2 steps until the positioning device is completely attached, and then stops.
The second robot repeats the above X1-X5 steps.
According to the precise positioning device based on the mold robot, the first transmitting module 101 and the second transmitting module 102 are arranged on two sides of the center of the positioning device at equal intervals respectively; a first steering engine 201 for controlling the emission angle of the first emission module 101 is arranged beside the first emission module 101; a second steering engine 202 for controlling the emission angle of the second emission module 102 is arranged beside the second emission module 102; a first receiving module 301 for receiving a signal of the first transmitting module 101 and a second receiving module 302 for receiving a signal of the second transmitting module 102 are arranged at the template 5 of the mold robot; the device is also provided with an angle identification module for identifying the transmitting angle of the transmitting module and a distance identification module for identifying the distance from the transmitting module to the receiving module; the calculation module is used for calculating the vertical distance between the positioning device and the mold robot template in real time according to the angle identified by the angle identification module and the distance identified by the distance identification module; the control module is used for controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance from the positioning device to the mold robot template in real time according to the vertical distance calculated by the calculating module, and a method corresponding to the device; the positioning cost is low, the efficiency is high, the precision is high, the positioning time can be greatly reduced, the labor is greatly saved, and errors caused by naked eye judgment are avoided.
In other words, the positioning precision is ensured mainly by autonomous positioning and posture adjustment of the mold robot, the precise positioning is realized only by infrared rays and the steering engine, the angle is measured by rotation of the steering engine, and the distance measurement is carried out by infrared rays. And calculating the two-dimensional coordinates of the mold robot by a method of constructing a right triangle and a pythagorean theorem. The positioning device does not need a vision system, and the cost is about one tenth of that of the vision system.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An accurate positioning device based on a mold robot is characterized in that a first transmitting module and a second transmitting module which are equidistant are respectively arranged on two sides of the center of the positioning device;
a first steering engine for controlling the emission angle of the first emission module is arranged beside the first emission module; a second steering engine for controlling the emission angle of the second emission module is arranged beside the second emission module; a first receiving module used for receiving a first transmitting module signal and a second receiving module used for receiving a second transmitting module signal are arranged at the position of a template of the mold robot;
the device is also provided with an angle identification module for identifying the transmitting angle of the transmitting module and a distance identification module for identifying the distance from the transmitting module to the receiving module; the calculation module is used for calculating the vertical distance between the positioning device and the mold robot template in real time according to the angle identified by the angle identification module and the distance identified by the distance identification module; and the control module is used for controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance from the positioning device to the mold robot template in real time according to the vertical distance calculated by the calculating module.
2. The precision positioning device based on the mold robot as claimed in claim 1, wherein the angle recognition module comprises a first angle recognition module for recognizing the emitting angle of the first emitting module; and a second angle identification module for identifying the emission angle of the second emission module.
3. The precision positioning device based on the mold robot as claimed in claim 1, wherein the distance recognition module comprises a first distance recognition module for recognizing a distance from the first transmission module to the first receiving module; and a second distance identification module for identifying the distance from the second transmitting module to the second receiving module.
4. A precision positioning device based on a mold robot according to claim 1 or 2, characterized in that the emission angle range is in particular 0 ° to 180 °.
5. The precision positioning device based on the mold robot as claimed in claim 1 or 2, wherein the emitting module is an infrared emitting module.
6. The precision positioning device based on the mold robot as claimed in claim 1 or 2, wherein the receiving module is an infrared receiving module.
7. The precision positioning device based on the mold robot as claimed in any one of claims 1-3, wherein the device is further provided with a communication module for real-time data transmission communication.
8. A precise positioning method based on a mold robot is characterized by comprising the following steps:
creating a plane coordinate axis with the center of the positioning device as an origin;
according to the first transmitting module and the second transmitting module on the two sides of the center of the positioning device, the transmitting modules are enabled to scan anticlockwise from 0-180 degrees by combining the rotation of corresponding steering engines;
when the receiving module receives the signal reflected by the transmitting module, the transmitting module stops scanning and generates the rotation degree of the transmitting module and the linear distance from the transmitting module to the receiving module in real time;
calculating the vertical distance between a positioning device and a mold robot template in real time according to the linear distance from the transmitting module to the receiving module;
and controlling the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance from the positioning device to the mold robot template in real time according to the vertical distance obtained by calculation.
9. The method of claim 8, wherein when the receiving module receives the signal reflected by the transmitting module, the transmitting module stops scanning and generates the rotation degree of the transmitting module and the linear distance from the transmitting module to the receiving module in real time, and further comprising the following steps:
respectively generating the rotation degree of the first transmitting module and the rotation degree of the second transmitting module;
respectively generating a linear distance from a first transmitting module to a first receiving module and a linear distance from a second transmitting module to a second receiving module;
the step of calculating the vertical distance between the positioning device and the mold robot template in real time according to the linear distance between the transmitting module and the receiving module further comprises the following steps:
and calculating the vertical distance from the first transmitting module to the first receiving module and the vertical distance from the second transmitting module to the second receiving module.
10. The method of claim 8, wherein the step of controlling the emitting angle of the emitting module, the distance from the emitting module to the receiving module, and the distance from the positioning device to the mold robot template in real time according to the calculated vertical distance further comprises the steps of:
judging whether the vertical distance from the first transmitting module to the first receiving module is equal to the vertical distance from the second transmitting module to the second receiving module or not, if so, controlling the positioning device to move according to the vertical distance, otherwise, repeating the previous steps;
and judging whether the horizontal distance from the first transmitting module to the first receiving module is equal to the horizontal distance from the second transmitting module to the second receiving module, if so, controlling the positioning device to move according to the horizontal distance, and otherwise, repeating the steps of the previous method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210351154.XA CN114856182B (en) | 2022-04-02 | 2022-04-02 | Accurate positioning device and method based on mold robot |
Applications Claiming Priority (1)
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