CN114856182B - Accurate positioning device and method based on mold robot - Google Patents
Accurate positioning device and method based on mold robot Download PDFInfo
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- CN114856182B CN114856182B CN202210351154.XA CN202210351154A CN114856182B CN 114856182 B CN114856182 B CN 114856182B CN 202210351154 A CN202210351154 A CN 202210351154A CN 114856182 B CN114856182 B CN 114856182B
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- 238000004891 communication Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 8
- 238000011065 in-situ storage Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005266 casting Methods 0.000 description 3
- 238000009415 formwork Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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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 a precise positioning device and method based on a mold robot. The scheme of the invention is that the accurate positioning device based on the die robot and the method corresponding to the device are adopted; 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 the error caused by the judgment of naked eyes is avoided; that is, the invention mainly ensures the positioning accuracy through the autonomous positioning and the posture adjustment of the mold robot, realizes the accurate positioning only by the infrared rays and the steering engine, measures the angle by the rotation of the steering engine, and measures the distance by the infrared rays. By the method of constructing the right triangle, the two-dimensional coordinates of the mold robot are calculated by the 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 a precise positioning device and method based on a mold robot.
Background
At present, when a mold robot is used for construction, the mold robot is generally matched with grouting equipment to construct a cast-in-situ wall, when grouting is carried out in a mold of one set of mold robot, the other set of mold robot is used for positioning and supporting a mold, and when the grouting equipment fills a first set of mold cavity, the other set of mold robot is required to complete positioning and supporting the mold. The positioning of the mould robots is limited by construction environments on the building site, in the actual operation process, the robots are controlled to move manually, so that the problem of deviation of positioning of naked eyes exists, adjustment is needed for a plurality of times, a large amount of time is consumed in the adjustment process, the first set of mould robots possibly cause that after the first set of mould robots are filled with slurry, the other set of mould robots still do not complete positioning and form supporting, the grouting system is forced to stop, once the grouting system stops, the slurry in the grouting pipeline is easily solidified in the pipeline, so that the grouting pipeline is blocked, and a large amount of time is consumed at the back to replace the grouting pipeline, thereby causing waste of a large amount of manpower and material resources.
Patent CN201520790513.7 discloses a cast-in-place beam pouring space measuring device, an inverted L-shaped shell is adopted, a first infrared emission sensor and a first infrared receiving sensor are arranged at the bottom of a vertical part of the inverted L-shaped shell, a second infrared emission sensor and a second infrared receiving sensor are arranged at the left side of the vertical part, a third infrared emission sensor is arranged at the front side of the vertical part, a normally open switch button is arranged at the bottom of a horizontal part of the inverted L-shaped shell, a button cap of the normally open switch button is positioned outside the inverted L-shaped shell, a control device and a loudspeaker are arranged in the inverted L-shaped shell, the control device is connected with a battery through a wire via the normally open switch button, the first infrared emission sensor, the second infrared receiving sensor, the third infrared emission sensor and the loudspeaker are all connected with the control device, a handle is arranged at the top of the horizontal part of the inverted L-shaped shell, and a sound emitting hole is arranged at the position corresponding to the loudspeaker on the inverted L-shaped shell. The cast-in-place beam casting space measuring device aims at the problems that a flat plate with the same width as the designed beam and the same length as the designed beam is used for measuring casting space, the size of the flat plate for measurement is various, the measuring efficiency is low, and the labor intensity is high, and the cast-in-place beam casting space measuring device is convenient and quick to measure, improves the working efficiency and reduces the working intensity.
Patent CN202110140539.7 discloses a formwork system and construction method for building cast-in-situ shear wall and filling wall, which is fixedly installed on a horizontal cast-in-situ slab of floor through a first formwork supporting mechanism, and is used for supporting and adjusting the formwork on the horizontal cast-in-situ slab of floor; the second template supporting mechanism is fixedly arranged on the outer side wall of the vertical wall body and used for supporting and adjusting the template positioned on the outer side of the horizontal cast-in-situ slab of 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 verticality monitoring mechanism is used for monitoring the verticality of the template; and a corresponding method; the technical problems to be solved are as follows: the traditional construction method has the advantages that the turnover number of the template system is small, deformation is easy, the template system is limited by shortage of wood resources, irrecoverability and the like, the cost is continuously increased, the shear wall template can be removed after the cast-in-situ slab concrete is poured, the removal is influenced by barriers such as supporting steel pipes at the bottom of the cast-in-situ slab template, the removal and carrying efficiency is very low, and the labor cost is very high; the later-built filling wall is influenced by the shortage of human resources in building, the labor cost for building the filling wall is also continuously increased, and the later-built filling wall can be constructed after the main concrete structure is completed and reaches a certain strength, so that the total construction period is influenced; the effects to be achieved are: the method realizes the front working procedure of post-building the filled wall, and is constructed simultaneously with the main concrete structure, so that the total construction period is not occupied, and the total construction period is advanced.
The technical problems of the present invention are not achieved by the solutions of the two patents, that is, the main stream of the positioning method on the market is performed visually, but the cost of visual positioning is high, so that the positioning method cannot be widely used, in other words, the positioning cost of the traditional operation mode is high, the efficiency is low, the precision is poor, the positioning time is long, and errors caused by the judgment of naked eyes often occur.
Therefore, the positioning method is carried out by relying on vision, the cost of vision positioning is high, the positioning method cannot be widely used, namely the traditional operation mode is high in positioning cost, low in efficiency, poor in precision and long in positioning time, and the defects of error technical problems caused by judgment of naked eyes often occur, so that the precise positioning device and method based on the die robot are urgently required to be designed and developed.
Disclosure of Invention
The first object of the invention is to provide a precise positioning device based on a mold robot;
the second object of the invention is to provide a precise positioning method based on a mold 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 for receiving the signal of the first transmitting module and a second receiving module for receiving the signal of the second transmitting module are arranged at the 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; a calculation module 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 a control module 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 die 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 emission angle of the first emission module; and a second angle identification module for identifying an emission angle of the second emission module.
Further, the distance recognition module comprises a first distance recognition module for recognizing the distance from the first transmitting module to the first receiving module; and a second distance identifying module for identifying a distance from the second transmitting module to the second receiving module.
Further, the emission angle ranges specifically from 0 ° to 180 °.
Further, the emission module is specifically an infrared emission module.
Further, the receiving module is specifically an infrared receiving module.
Further, a communication module for real-time data transmission communication is also arranged in the device.
The second object of the present invention is achieved by: a precise positioning method based on a mold robot comprises the following steps:
Creating a plane coordinate axis taking the center of the positioning device as an origin;
According to the first transmitting module and the second transmitting module which are arranged on two sides of the center of the positioning device, and the corresponding steering engine is combined with rotation, the transmitting modules are scanned anticlockwise from 0 degrees to 180 degrees;
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 the positioning device and the die robot template in real time according to the linear distance from the transmitting module to the receiving module;
according to the calculated vertical distance, controlling the transmitting angle of the transmitting module and the distance from the transmitting module to the receiving module in real time;
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 between the transmitting module and the receiving module in real time, and the method further comprises the following steps:
Generating a rotation degree of the first transmitting module and a rotation degree of the second transmitting module respectively;
generating a linear distance from the first transmitting module to the first receiving module and a linear distance from the second transmitting module to the second receiving module respectively;
the step of calculating the vertical distance between the positioning device and the die robot template in real time according to the linear distance from the transmitting module to the receiving module, and the method 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 between the transmitting module and the receiving module, and the real-time position distance between the positioning device and the mold robot template in real time according to the calculated 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, if so, controlling the positioning device to move according to the vertical distance, otherwise, repeating the previous method steps;
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, otherwise, repeating the previous method steps.
According to the precise positioning device based on the mold robot, the first transmitting module and the 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 for receiving the signal of the first transmitting module and a second receiving module for receiving the signal of the second transmitting module are arranged at the 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; a calculation module 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 die robot template in real time according to the vertical distance obtained by calculation of the calculation module, and the 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 the error caused by the judgment of naked eyes is avoided.
That is, the invention mainly ensures the positioning accuracy through the autonomous positioning and the posture adjustment of the mold robot, realizes the accurate positioning only by the infrared rays and the steering engine, measures the angle by the rotation of the steering engine, and measures the distance by the infrared rays. By the method of constructing the right triangle, the two-dimensional coordinates of the mold robot are calculated by the 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 of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a precise positioning method based on a mold robot;
FIG. 2 is a schematic 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 the rotation of a steering engine of a positioning device based on a precise positioning device of a mold robot;
FIG. 5 is a schematic diagram of 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 emission module; 102-a second transmitting module; 2-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-positioning means; 401—locating the device center point (origin); 5-templates of a mold robot;
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
For a better understanding of the present invention, its objects, technical solutions and advantages, further description of the present invention will be made with reference to the drawings and detailed description, and further advantages and effects will be readily apparent to those skilled in the art from the present disclosure.
The invention may be practiced or carried out in other embodiments and details within the scope and range of equivalents of the various features and advantages of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments 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 a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. Secondly, the technical solutions of the embodiments may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can realize the technical solutions, and when the technical solutions are contradictory or cannot be realized, the technical solutions are considered to be absent and are not within the scope of protection claimed in the present invention.
The invention discloses a precise positioning device and a precise positioning method based on a mold robot.
1-5 Are schematic diagrams of an accurate positioning device and method based on a mold robot according to an embodiment of the present invention.
The invention is further elucidated below in connection with the accompanying drawings.
As shown in fig. 2-5, the invention provides a precise positioning device based on a mold robot, wherein the two sides of the center of the positioning device are respectively provided with a first transmitting module 101 and a second transmitting module 102 which are equidistant;
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 the signal of the first transmitting module 101 and a second receiving module 302 for receiving the 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; a calculation module 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 a control module 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 die 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 emission angle of the first emission module 101; and a second angle identification module for identifying an emission angle of the second emission module 102.
The distance identifying module comprises a first distance identifying module for identifying the distance from the first transmitting module 101 to the first receiving module 301; and a second distance identifying module for identifying a distance from the second transmitting module 102 to the second receiving module 302.
The emission angle ranges in particular from 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 and communication.
In order to achieve the purpose of the scheme of the invention, the invention also provides a precise positioning method based on a mold robot, which specifically comprises the following steps:
Creating a plane coordinate axis taking the center of the positioning device as an origin;
According to the first transmitting module 101 and the second transmitting module 102 on two sides of the center of the positioning device, and by combining the rotation of the corresponding steering engine, the transmitting modules scan anticlockwise from 0 degrees to 180 degrees;
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 the positioning device and the die robot template in real time according to the linear distance from the transmitting module to the receiving module;
According to the calculated vertical distance, the transmitting angle of the transmitting module and the distance between the transmitting module and 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 generates the rotation degree of the transmitting module in real time, and the linear distance between the transmitting module and the receiving module is further provided with the following steps:
Generating a rotation degree of the first transmitting module 101 and a rotation degree 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, respectively;
the step of calculating the vertical distance between the positioning device and the die robot template in real time according to the linear distance from the transmitting module to the receiving module, and the method further comprises the following steps:
The vertical distance of the first transmitting module 101 to the first receiving module 301 and the vertical distance of the second transmitting module 102 to the second receiving module 302 are calculated.
The method comprises the steps of calculating the vertical distance, controlling the transmitting angle of a transmitting module, the distance from the transmitting module to a receiving module and the real-time position distance between a positioning device and a die robot template in real time, and further comprises the following steps:
Determining 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 method steps;
Determining 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, otherwise, repeating the previous method steps.
Specifically, in the embodiment of the invention, the matching equipment is provided with: the system 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 steering engine of the positioning device; 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 a plane coordinate axis by taking the center of the positioning device as an origin
S20: the infrared emission modules at two sides of the positioning device are respectively an infrared emission module 1 (-x 1, 0) and an infrared emission module 2 (x 1, 0)
S30: the steering engine at the infrared emission module 1 (-x 1, 0) scans counterclockwise from 0 ° to 180 °, and when scanning to the infrared receiving device 1, stops scanning, and records the degree α1 of rotation at the time of stopping scanning with the received distance h 1.
S40: the steering engine at the infrared emission module 2 (x 1, 0) scans counterclockwise from 0 ° to 180 °, and when scanning to the infrared receiving device 2, stops scanning, and records the degree α2 of rotation at the time of stopping scanning with the received distance h 2.
S50: as shown, the h3 distance is adjusted to h3=h4 (h3=sinα1h1, h4=sinα2h2), at which time steps S20-S40 are repeated to re-measure h1, h2, α1, α2, at which time α1=α2, h1=h2, the mold robot translates to the left by a distance h5 (h5=cos α1h1), and then translates downward by a distance h3 (sin α1h1).
And the other mould robot repeats the steps S10-S50, so that the two mould robots reach accurate positions.
Control principle:
the control principle flow chart is shown in fig. 5;
X1: the method comprises the steps that a 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 through socket communication, the server calculates data transmitted by the embedded module of the positioning device and sends the result to an embedded module of a mold robot in the socket communication mode, and the embedded module of the mold robot sends the result to a plc through a tcp/ip protocol, so that the plc is controlled.
And X2, after plc control is completed, a signal is sent to an embedded module of the mold robot through a tcp/ip protocol, the embedded module is sent to a server through a socket communication mode, after the server receives the instruction, a re-detection instruction is sent to an embedded module of the positioning device, the embedded module of the positioning device is sent to an infrared emission module through a serial port or an Ethernet communication mode, and the infrared emission module starts re-scanning.
X3: repeating the steps X1 and X2 until h3 and h4 are completely equal, initiating a stop instruction to an embedded module of the mold robot by the server, and transmitting the stop instruction to the plc module after receiving the stop instruction by the embedded module of the mold robot so as to control the mold robot to stop adjusting.
After X4: X3 is finished, the server sends left shift cos alpha 1h1, and the steps of X1 and X2 are repeated until the left shift cos alpha 1h1 is distant, and then the server stops.
X5: after X4 is finished, the server sends forward sin alpha 1h1 distance, and the steps of X1 and X2 are repeated until the positioning device is completely attached, and then stopping.
The second robot repeats the steps X1-X5 described above.
The invention discloses a precise positioning device based on a mold robot, wherein the two sides of the center of the positioning device are respectively provided with a first transmitting module 101 and a second transmitting module 102 which are equidistant; 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 the signal of the first transmitting module 101 and a second receiving module 302 for receiving the 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; a calculation module 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 die robot template in real time according to the vertical distance obtained by calculation of the calculation module, and the 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 the error caused by the judgment of naked eyes is avoided.
That is, the invention mainly ensures the positioning accuracy through the autonomous positioning and the posture adjustment of the mold robot, realizes the accurate positioning only by the infrared rays and the steering engine, measures the angle by the rotation of the steering engine, and measures the distance by the infrared rays. By the method of constructing the right triangle, the two-dimensional coordinates of the mold robot are calculated by the 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 foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. The accurate positioning device based on the 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 for receiving the signal of the first transmitting module and a second receiving module for receiving the signal of the second transmitting module are arranged at the 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; a calculation module 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 die 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 used for identifying the emission angle of the first emission module; and a second angle identification module for identifying an emission angle of the second emission module;
The distance recognition module comprises a first distance recognition module used for recognizing the distance from the first transmitting module to the first receiving module; and a second distance identifying module for identifying a distance from the second transmitting module to the second receiving module;
the control module controls the distance from the transmitting module to the receiving module, and 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, and if so, controlling the positioning device to move according to the vertical distance;
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, and if so, controlling the positioning device to move according to the horizontal distance.
2. The precise positioning device based on a mold robot according to claim 1, wherein the emission angle ranges from 0 ° to 180 °.
3. The precise positioning device based on the mold robot as claimed in claim 1, wherein the emitting module is specifically an infrared emitting module.
4. The precise positioning device based on the mold robot according to claim 1, wherein the receiving module is specifically an infrared receiving module.
5. The precise positioning device based on the mold robot, as claimed in claim 1, is characterized in that a communication module for real-time data transmission communication is further arranged in the device.
6. The accurate positioning method based on the mold robot is characterized by comprising the following steps:
Creating a plane coordinate axis taking the center of the positioning device as an origin;
According to the first transmitting module and the second transmitting module which are arranged on two sides of the center of the positioning device, and the corresponding steering engine is combined with rotation, the transmitting modules are scanned anticlockwise from 0 degrees to 180 degrees;
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 the positioning device and the die robot template in real time according to the linear distance from the transmitting module to the receiving module;
According to the calculated vertical distance, the transmitting angle of the transmitting module, the distance from the transmitting module to the receiving module and the real-time position distance between the positioning device and the mold robot template are controlled in real time, wherein the distance from the transmitting module to the receiving module is controlled specifically 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, if so, controlling the positioning device to move according to the vertical distance, otherwise, repeating the previous method steps;
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, otherwise, repeating the previous method steps.
7. The precise positioning method based on the mold robot according to claim 6, wherein the step of receiving the signal reflected by the transmitting module, the transmitting module stops scanning and generates the rotation degree of the transmitting module in real time, and the linear distance between the transmitting module and the receiving module, further comprises the steps of:
Generating a rotation degree of the first transmitting module and a rotation degree of the second transmitting module respectively;
generating a linear distance from the first transmitting module to the first receiving module and a linear distance from the second transmitting module to the second receiving module respectively;
the step of calculating the vertical distance between the positioning device and the die robot template in real time according to the linear distance from the transmitting module to the receiving module, and the method 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.
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