CN117706107A - High-speed short-stroke movement speed measuring device and method - Google Patents
High-speed short-stroke movement speed measuring device and method Download PDFInfo
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Abstract
The device comprises a laser ranging sensor, a signal processing module and a control module, wherein the laser ranging sensor is used for sending a first instruction to the signal processing module when the position of a fork to be measured reaches a measurement starting position, acquiring the position of the fork to be measured in real time after receiving an acquisition position instruction, sending a second instruction to the signal processing module when the position of the fork to be measured reaches a measurement ending position, and sending displacement data of the fork to be measured between the measurement starting position and the measurement ending position to the control module after receiving the acquisition stopping instruction; the control module is used for starting the timer to start timing after receiving the first pulse electric signal, sending an acquisition position instruction to the laser ranging sensor, closing the timer after receiving the second pulse electric signal, determining the telescopic speed of the fork to be measured based on displacement data and the duration of the timer, and improving the accuracy and efficiency of high-speed short-stroke movement speed measurement.
Description
Technical Field
The application relates to the technical field of detection equipment, in particular to a high-speed short-stroke movement speed measuring device and method.
Background
In modern logistics warehouse systems, automated stereoscopic warehouse applications are increasingly widespread. The to-be-measured performance is a key component of the stereoscopic warehouse, and plays a critical role in the operation of the whole stereoscopic warehouse. The high-speed short-stroke movement device comprises a stacker and other devices, and the method adopted by the current measurement of the high-speed short-stroke movement speed is to measure by using an encoder and a laser ranging sensor, but the traditional method for measuring the object speed by using the laser ranging sensor cannot meet the requirement of measuring the telescopic speed of a fork to be measured, so that the technical problem that how to improve the accuracy and efficiency of measuring the high-speed short-stroke movement speed is not small is solved.
Disclosure of Invention
In view of this, the object of the present application is to provide a high-speed short-stroke movement speed measuring device and method, which can realize the measurement of the high-speed short-stroke movement speed through a laser ranging sensor, a signal processing module and a control module, and improve the accuracy and efficiency of the measurement of the high-speed short-stroke movement speed.
The embodiment of the application provides a high-speed short-stroke movement speed measuring device, which comprises a laser ranging sensor, a signal processing module and a control module, wherein the laser ranging sensor is in communication connection with the signal processing module and the control module, and the signal processing module is connected with the control module; wherein,
the laser ranging sensor is used for sending a first instruction to the signal processing module when the position of the fork to be measured reaches the measurement starting position, collecting the position of the fork to be measured in real time after receiving the position collecting instruction, sending a second instruction to the signal processing module when the position of the fork to be measured reaches the measurement ending position, and sending displacement data of the fork to be measured between the measurement starting position and the measurement ending position to the control module after receiving the acquisition stopping instruction;
the signal processing module is used for sending a first pulse electric signal to the control module after receiving a first instruction, and sending a second pulse electric signal to the control module after receiving a second instruction;
the control module is used for starting a timer to start timing after receiving the first pulse electric signal, sending an acquisition position instruction to the laser ranging sensor, closing the timer after receiving the second pulse electric signal, sending an acquisition stopping instruction to the laser ranging sensor, and determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer.
In one possible implementation manner, the control module is specifically configured to, when determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer:
determining the time interval of the duration, and determining the displacement information corresponding to each time interval in the displacement data;
determining displacement difference of the displacement information of every two adjacent time intervals based on the time intervals and the displacement information corresponding to each time interval;
and determining the expansion speed of the fork to be measured based on the displacement difference of the displacement information of every two adjacent time intervals and the time intervals.
In one possible implementation manner, the high-speed short-stroke movement speed measuring device further comprises a man-machine interaction module, wherein the man-machine interaction module is in communication connection with the control module; wherein,
and the man-machine interaction module is used for receiving the expansion speed of the fork to be measured and the displacement data sent by the control module, and displaying the expansion speed and the displacement data.
In one possible implementation manner, the man-machine interaction module is further used for:
setting the measurement starting position and the measurement ending position, and sending the set measurement starting position and the set measurement ending position to the control module.
In one possible implementation, the control module is further configured to:
and after receiving an instruction for testing the laser ranging sensor sent by the man-machine interaction module, controlling a test task of the laser ranging sensor to determine test data of the laser ranging sensor.
In one possible embodiment, the high-speed short-stroke movement speed measuring device further comprises a data storage module, wherein the data storage module is in communication connection with the control module; wherein,
the data storage module is used for receiving the expansion speed and the displacement data of the fork to be measured, which are sent by the control module, and storing the expansion speed and the displacement data so that a user can search the expansion speed and the displacement data.
In one possible embodiment, the high-speed short-stroke movement speed measuring device further comprises a power supply module, wherein the power supply module adopts a voltage of 24V so as to supply power to the measuring device.
The embodiment of the application also provides a high-speed short-stroke movement speed measuring method, which comprises the following steps:
if the position of the fork to be measured reaches the position of the beginning of measurement, starting a timer to start timing and collecting the position of the fork to be measured in real time;
if the position of the fork to be measured reaches the position of the measurement end, closing a timer and stopping collecting the position of the fork to be measured in real time, and determining displacement data of the fork to be measured between the position of the measurement start and the position of the measurement end;
and determining the telescopic speed of the fork to be measured based on the displacement data and the time length of the timer.
The embodiment of the application also provides electronic equipment, which comprises: the system comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory are communicated through the bus when the electronic device runs, and the machine-readable instructions are executed by the processor to execute the steps of the high-speed short-stroke movement speed measuring method.
Embodiments of the present application also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the high-speed short-stroke movement speed measurement method as described above.
The embodiment of the application provides a high-speed short-stroke movement speed measuring device, a method, equipment and a medium, wherein the measuring device comprises a laser ranging sensor, a signal processing module and a control module, the laser ranging sensor is in communication connection with the signal processing module and the control module, and the signal processing module is connected with the control module; the laser ranging sensor is used for sending a first instruction to the signal processing module when the position of the fork to be measured reaches the measurement starting position, collecting the position of the fork to be measured in real time after receiving the position collecting instruction, sending a second instruction to the signal processing module when the position of the fork to be measured reaches the measurement ending position, and sending displacement data of the fork to be measured between the measurement starting position and the measurement ending position to the control module after receiving the acquisition stopping instruction; the signal processing module is used for sending a first pulse electric signal to the control module after receiving a first instruction, and sending a second pulse electric signal to the control module after receiving a second instruction; the control module is used for starting a timer to start timing after receiving the first pulse electric signal, sending an acquisition position instruction to the laser ranging sensor, closing the timer after receiving the second pulse electric signal, sending an acquisition stopping instruction to the laser ranging sensor, and determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer. The high-speed short-stroke movement speed measurement is realized through the laser ranging sensor, the signal processing module and the control module, and the accuracy and the efficiency of the high-speed short-stroke movement speed measurement are improved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a high-speed short-stroke movement speed measuring device according to an embodiment of the present application;
FIG. 2 is a second schematic diagram of a high-speed short-stroke movement speed measuring device according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a high-speed short-stroke movement speed measurement provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Icon: 100-a high-speed short-stroke movement speed measuring device; 110-a laser ranging sensor; 120-a signal processing module; 130-a control module; 140-a man-machine interaction module; 150-a data storage module; 160-a power module; 400-an electronic device; 410-a processor; 420-memory; 430-bus.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In order to enable one skilled in the art to use the present disclosure, the following embodiments are provided in connection with a specific application scenario "measuring the telescopic speed of a pallet fork to be measured", and the general principles defined herein may be applied to other embodiments and application scenarios for a person skilled in the art without departing from the spirit and scope of the present disclosure.
First, application scenarios applicable to the present application will be described. The method and the device can be applied to the technical field of detection equipment.
It has been found that in modern logistics warehouse systems, automated stereoscopic warehouse applications are increasingly widespread. The to-be-measured performance is a key component of the stereoscopic warehouse, and plays a critical role in the operation of the whole stereoscopic warehouse. At present, the method for measuring the high-speed short-stroke movement speed is to use an encoder and a laser ranging sensor for measuring, but the traditional method for measuring the object speed by the laser ranging sensor cannot meet the requirement of measuring the telescopic speed of a fork to be measured, so that the technical problem of how to improve the accuracy and efficiency of measuring the high-speed short-stroke movement speed is not small.
Based on this, the embodiment of the application provides a high-speed short-stroke movement speed measuring device, which realizes the measurement of the high-speed short-stroke movement speed through a laser ranging sensor, a signal processing module and a control module, and improves the accuracy and the efficiency of the measurement of the high-speed short-stroke movement speed.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a high-speed short-stroke movement speed measuring device 100 according to an embodiment of the present application. As shown in fig. 1, the measuring device provided in the embodiment of the present application includes a laser ranging sensor 110, a signal processing module 120, and a control module 130, where the laser ranging sensor 110 is communicatively connected to both the signal processing module 120 and the control module 130, and the signal processing module 120 is connected to the control module 130.
Specifically, the laser ranging sensor 110 is configured to send a first instruction to the signal processing module 120 when the position of the fork to be measured reaches the measurement start position, collect the position of the fork to be measured in real time after receiving the position collection instruction, send a second instruction to the signal processing module 120 when the position of the fork to be measured reaches the measurement end position, and send displacement data of the fork to be measured between the measurement start position and the measurement end position to the control module 130 after receiving the acquisition stop instruction; the signal processing module 120 is configured to send a first pulse electrical signal to the control module 130 after receiving a first instruction, and send a second pulse electrical signal to the control module 130 after receiving the second instruction; the control module 130 is configured to start a timer to start timing after receiving the first pulse electrical signal, send an acquisition position instruction to the laser ranging sensor 110, close the timer after receiving the second pulse electrical signal, send an acquisition stopping instruction to the laser ranging sensor 110, and determine the expansion speed of the fork to be measured based on the displacement data and the duration of the timer.
In a specific embodiment, the laser ranging sensor 110 is configured to send a first instruction to the signal processing module 120 when the position of the fork to be measured reaches the measurement start position, the signal processing module 120 sends a first pulse electric signal to the control module 130 after receiving the first instruction, the control module 130 starts the timer to start timing after receiving the first pulse electric signal, and sends an acquisition position instruction to the laser ranging sensor 110, the laser ranging sensor 110 acquires the position of the fork to be measured in real time after receiving the acquisition position instruction, the laser ranging sensor 110 detects that the position of the fork to be measured reaches the measurement end position, sends a second instruction to the signal processing module 120 when the position of the fork to be measured reaches the measurement end position, the signal processing module 120 sends a second pulse electric signal to the control module 130 after receiving the second instruction, the control module 130 closes the timer and sends an acquisition stop instruction to the laser ranging sensor 110 after receiving the acquisition stop instruction, and the control module 130 determines the displacement data between the measurement start position and the measurement end position of the fork to be measured and the expansion and contraction speed of the fork to be measured according to the displacement data and the length of the measurement time length of the fork to be measured.
The signal processing module 120 may be a single chip microcomputer or a PLC.
Wherein the measurement start position and the measurement end position are input in advance by the user.
The fork to be measured may be a fork of other high-speed short-stroke movement devices such as a stacker fork, and the portion is not particularly limited.
The first instruction and the second instruction are directly transmitted between the two modules through a control cable.
In one possible implementation manner, when the control module 130 is configured to determine the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer, the control module 130 is specifically configured to:
a: and determining the time interval of the time length, and determining the displacement information corresponding to each time interval in the displacement data.
Here, the time length is determined according to the starting time and the closing time of the timer, the time interval of the time length is set, and the displacement information corresponding to each time interval is determined in the displacement data.
The time interval may be 10ms,50ms,100ms, and other times.
B: and determining the displacement difference of the displacement information of every two adjacent time intervals based on the time intervals and the displacement information corresponding to each time interval.
Here, the displacement difference of the displacement information of each adjacent two time intervals is determined according to the time intervals and the displacement information corresponding to each time interval.
C: and determining the expansion speed of the fork to be measured based on the displacement difference of the displacement information of every two adjacent time intervals and the time intervals.
Here, the expansion and contraction speed of the fork to be measured is determined according to the displacement difference of the displacement information of every two adjacent time intervals and the time intervals.
The method comprises the steps of obtaining displacement data with a time stamp, setting calculation time intervals such as 10ms,50ms,100ms and the like according to requirements, selecting displacement data of corresponding time intervals according to the selected time intervals, calculating displacement differences of the displacement data of each interval, and dividing the displacement differences by the time intervals to obtain the telescopic speed of the fork if the continuous 3 displacement differences are in an arithmetic progression (+ -error) within the proving time interval, wherein the telescopic action of the fork to be measured is undergoing a uniform acceleration or uniform deceleration process, the acceleration parameter of the fork to be measured at the time interval can be calculated according to a uniform acceleration or uniform deceleration formula, and the telescopic action of the fork to be measured is undergoing uniform motion if the continuous 2 displacement differences are in the same numerical value (+ -error).
Further, referring to fig. 2, fig. 2 is a second schematic structural diagram of a high-speed short-stroke movement speed measuring device 100 according to an embodiment of the present application. As shown in fig. 2, the measurement device further includes a man-machine interaction module 140, and the man-machine interaction module 140 is communicatively connected to the control module 130.
Specifically, the man-machine interaction module 140 is configured to receive the expansion speed of the fork to be measured and the displacement data sent by the control module 130, and display the expansion speed and the displacement data. The man-machine interaction module 140 is further configured to: the measurement start position and the measurement end position are set, and the set measurement start position and measurement end position are transmitted to the control module 130.
Here, the man-machine interaction module 140 may display the expansion speed and displacement data of the fork to be measured, and display the expansion speed and displacement data, and may also perform parameter setting, for example, parameter setting on the measurement start position and the measurement end position.
Specifically, the control module 130 is further configured to: after receiving the instruction for testing the laser ranging sensor 110 sent by the man-machine interaction module 140, the testing task of the laser ranging sensor 110 is controlled to determine the testing data of the laser ranging sensor 110.
In a specific embodiment, after receiving the instruction for testing the laser ranging sensor 110 sent by the man-machine interaction module 140, the control module 130 controls the testing task of the laser ranging sensor 110 to determine the testing data of the laser ranging sensor 110.
Here, when the speed measuring device is in an operating state, the control module 130 is a core part of the entire device. On the one hand, the system is responsible for receiving the data sent by the laser ranging sensor 110, and processing, calculating and counting the data. And transmits the data to the man-machine interaction unit for display. On the other hand, the system is responsible for receiving the instruction sent by the man-machine interaction module 140, controlling the test work of the laser ranging sensor 110 according to the instruction, and storing and calling the test data according to the user requirement.
Further, the high-speed short-stroke movement speed measuring device further comprises a data storage module 150, wherein the data storage module 150 is in communication connection with the control module 130; the data storage module 150 is configured to receive the expansion speed of the fork to be measured and the displacement data sent by the control module 130, and store the expansion speed and the displacement data, so that a user searches for the expansion speed and the displacement data.
Here, the data storage module 150 receives the expansion speed and displacement data of the fork to be measured sent by the control module 130, and stores the expansion speed and displacement data, so that the user searches for the expansion speed and displacement data.
Further, the high-speed short-stroke movement speed measuring device further comprises a power module 160, and the voltage adopted by the power module 160 is 24V so as to supply power to the measuring device.
Here, the 220V power supply is changed to 24V power to power the entire test device using the conventional 220V power module 160.
In the scheme, the man-machine interaction module 140 is a man-machine interaction interface through which a user performs operations such as parameter setting, instruction sending, data recording, storage, reading and the like; the data storage module 150 is used for storing user historical test data, and can screen and count the test data according to user requirements.
In a specific embodiment, a tester places the speed measuring device at a proper position at the beginning of measurement, inputs a measurement start position and a measurement end position in the measuring device in advance and starts measurement, an operator controls the fork to be measured to perform telescopic action, in the process, the laser ranging sensor 110 captures position information of the fork in real time, when the fork to be measured runs to the measurement start position preset by the speed measuring device, the signal processing module 120 sends a pulse electric signal to the control module 130, and the control module 130 starts a timer to start timing after receiving the pulse signal and starts recording displacement change data of the fork to be measured. When the fork to be measured continues to move to the measurement end position preset by the speed measuring device, the signal processing module 120 can send a pulse electric signal to the control unit again, the control module 130 closes the timer after receiving the pulse signal and stops recording displacement change data of the fork to be measured, and the expansion speed of the fork to be measured is determined according to the displacement change data and the timing data of the timer in the measuring process.
The embodiment of the application provides a high-speed short-stroke movement speed measuring device, which comprises a laser ranging sensor, a signal processing module and a control module, wherein the laser ranging sensor is in communication connection with the signal processing module and the control module, and the signal processing module is connected with the control module; the laser ranging sensor is used for sending a first instruction to the signal processing module when the position of the fork to be measured reaches the measurement starting position, collecting the position of the fork to be measured in real time after receiving the position collecting instruction, sending a second instruction to the signal processing module when the position of the fork to be measured reaches the measurement ending position, and sending displacement data of the fork to be measured between the measurement starting position and the measurement ending position to the control module after receiving the acquisition stopping instruction; the signal processing module is used for sending a first pulse electric signal to the control module after receiving a first instruction, and sending a second pulse electric signal to the control module after receiving a second instruction; the control module is used for starting a timer to start timing after receiving the first pulse electric signal, sending an acquisition position instruction to the laser ranging sensor, closing the timer after receiving the second pulse electric signal, sending an acquisition stopping instruction to the laser ranging sensor, and determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer. The high-speed short-stroke movement speed measurement is realized through the laser ranging sensor, the signal processing module and the control module, and the accuracy and the efficiency of the high-speed short-stroke movement speed measurement are improved.
Referring to fig. 3, fig. 3 is a flowchart of a method for measuring a high-speed short-stroke movement speed according to an embodiment of the present application. As shown in fig. 2, the method for measuring the speed of the high-speed short-stroke motion provided by the embodiment of the application includes:
s301: and if the position of the fork to be measured reaches the position of the measurement start, starting a timer to start timing and collecting the position of the fork to be measured in real time.
In the step, if the position of the fork to be measured reaches the position of the measurement start, a timer is started to start timing and the position of the fork to be measured is acquired in real time.
S302: if the position of the fork to be measured reaches the position of the measurement end, the timer is closed, real-time acquisition of the position of the fork to be measured is stopped, and displacement data of the fork to be measured between the position of the measurement start and the position of the measurement end are determined.
In the step, if the position of the fork to be measured reaches the position of the end of measurement, the timer is closed, the position of the fork to be measured is stopped from being collected in real time, and displacement data of the fork to be measured between the position of the start of measurement and the position of the end of measurement are determined.
S303: and determining the telescopic speed of the fork to be measured based on the displacement data and the time length of the timer.
In the step, the telescopic speed of the fork to be measured is determined according to the displacement data and the time length of the timer.
In a specific embodiment, when the laser ranging sensor detects that the position of the fork to be measured is at a preset measurement starting position, the signal processing module sends a first pulse electric signal to the control module, so that the control module starts a timer to start timing and record displacement data of the fork to be measured, when the fork to be measured continues to move to a preset measurement ending position, the signal processing module sends a second pulse electric signal to the control module, the control module closes the timer after receiving the second pulse electric signal, determines time length from the starting time to the closing time according to the timer, and stops recording displacement change data of the fork to be measured. At this time, the measuring device obtains a section of displacement data with a time stamp, a calculation time interval such as 10ms,50ms,100ms and the like can be set according to the requirement, the system selects the displacement data of the corresponding time interval according to the selected time interval, the displacement difference of the displacement data of every two adjacent time intervals can be calculated, if 3 continuous displacement differences are in an arithmetic series (+ -error), the fact that the fork stretching action to be measured is in the time interval is proved to be subjected to a uniform acceleration or uniform deceleration process, the time interval can be calculated according to a uniform acceleration or uniform deceleration formula, and the acceleration parameters of the fork stretching to be measured are proved; if the continuous 2 displacement differences are the same value (within +/-error), the fork to be measured stretches and stretches, and the uniform motion is carried out in the stretching process, and the stretching speed of the fork to be measured is obtained by dividing the displacement differences by the time interval.
In one possible implementation manner, the determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer includes:
determining the time interval of the duration, and determining the displacement information corresponding to each time interval in the displacement data;
determining displacement difference of the displacement information of every two adjacent time intervals based on the time intervals and the displacement information corresponding to each time interval;
and determining the expansion speed of the fork to be measured based on the displacement difference of the displacement information of every two adjacent time intervals and the time intervals.
In one possible embodiment, the method for measuring the speed of the high-speed short-stroke movement further includes:
and the control machine interaction module receives the expansion speed of the fork to be measured and the displacement data sent by the control module, and displays the expansion speed and the displacement data.
In one possible embodiment, the method for measuring the speed of the high-speed short-stroke movement further includes:
and controlling the man-machine interaction module to set the measurement starting position and the measurement ending position, and sending the set measurement starting position and the set measurement ending position to the control module.
In one possible embodiment, the method for measuring the speed of the high-speed short-stroke movement further includes:
after the control module receives the instruction for testing the laser ranging sensor sent by the man-machine interaction module, the control module controls the testing task of the laser ranging sensor to determine the testing data of the laser ranging sensor.
In one possible embodiment, the method for measuring the speed of the high-speed short-stroke movement further includes:
and controlling the data storage module to receive the expansion speed and the displacement data of the fork to be measured, which are sent by the control module, and storing the expansion speed and the displacement data so as to enable a user to search the expansion speed and the displacement data.
The embodiment of the application provides a high-speed short-stroke movement speed measuring method, which comprises the following steps: if the position of the fork to be measured reaches the position of the beginning of measurement, starting a timer to start timing and collecting the position of the fork to be measured in real time; if the position of the fork to be measured reaches the position of the measurement end, closing a timer and stopping collecting the position of the fork to be measured in real time, and determining displacement data of the fork to be measured between the position of the measurement start and the position of the measurement end; and determining the telescopic speed of the fork to be measured based on the displacement data and the time length of the timer. The high-speed short-stroke movement speed measurement is realized through the laser ranging sensor, the signal processing module and the control module, and the accuracy and the efficiency of the high-speed short-stroke movement speed measurement are improved.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the electronic device 400 includes a processor 410, a memory 420, and a bus 430.
The memory 420 stores machine-readable instructions executable by the processor 410, and when the electronic device 400 is running, the processor 410 communicates with the memory 420 through the bus 430, and when the machine-readable instructions are executed by the processor 410, the steps of the high-speed short-stroke movement speed measurement method in the method embodiment shown in fig. 1 can be executed, and detailed implementation is omitted herein.
The embodiment of the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the high-speed short-stroke movement speed measurement method in the method embodiment shown in fig. 1 may be executed, and a specific implementation manner may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The high-speed short-stroke movement speed measuring device is characterized by comprising a laser ranging sensor, a signal processing module and a control module, wherein the laser ranging sensor is in communication connection with the signal processing module and the control module, and the signal processing module is connected with the control module; wherein,
the laser ranging sensor is used for sending a first instruction to the signal processing module when the position of the fork to be measured reaches the measurement starting position, collecting the position of the fork to be measured in real time after receiving the position collecting instruction, sending a second instruction to the signal processing module when the position of the fork to be measured reaches the measurement ending position, and sending displacement data of the fork to be measured between the measurement starting position and the measurement ending position to the control module after receiving the acquisition stopping instruction;
the signal processing module is used for sending a first pulse electric signal to the control module after receiving a first instruction, and sending a second pulse electric signal to the control module after receiving a second instruction;
the control module is used for starting a timer to start timing after receiving the first pulse electric signal, sending an acquisition position instruction to the laser ranging sensor, closing the timer after receiving the second pulse electric signal, sending an acquisition stopping instruction to the laser ranging sensor, and determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer.
2. The high-speed short-stroke movement speed measurement device according to claim 1, wherein the control module is configured to, when determining the telescopic speed of the fork to be measured based on the displacement data and the duration of the timer, specifically:
determining the time interval of the duration, and determining the displacement information corresponding to each time interval in the displacement data;
determining displacement difference of the displacement information of every two adjacent time intervals based on the time intervals and the displacement information corresponding to each time interval;
and determining the expansion speed of the fork to be measured based on the displacement difference of the displacement information of every two adjacent time intervals and the time intervals.
3. The high-speed short-stroke movement speed measurement device according to claim 1, further comprising a man-machine interaction module in communication with the control module; wherein,
and the man-machine interaction module is used for receiving the expansion speed of the fork to be measured and the displacement data sent by the control module, and displaying the expansion speed and the displacement data.
4. The high-speed short-stroke movement speed measurement device according to claim 3, wherein the man-machine interaction module is further configured to:
setting the measurement starting position and the measurement ending position, and sending the set measurement starting position and the set measurement ending position to the control module.
5. A high speed short travel movement speed measurement device according to claim 3, wherein the control module is further configured to:
and after receiving an instruction for testing the laser ranging sensor sent by the man-machine interaction module, controlling a test task of the laser ranging sensor to determine test data of the laser ranging sensor.
6. The high-speed short-stroke movement speed measurement device according to claim 1, further comprising a data storage module in communication with the control module; wherein,
the data storage module is used for receiving the expansion speed and the displacement data of the fork to be measured, which are sent by the control module, and storing the expansion speed and the displacement data so that a user can search the expansion speed and the displacement data.
7. The high-speed short-stroke movement speed measurement device according to claim 1, further comprising a power supply module that uses a voltage of 24V to power the measurement device.
8. A high-speed short-stroke movement speed measurement method, characterized in that the high-speed short-stroke movement speed measurement method is applied to the high-speed short-stroke movement speed measurement device according to any one of claims 1 to 7, the high-speed short-stroke movement speed measurement method comprising:
if the position of the fork to be measured reaches the position of the beginning of measurement, starting a timer to start timing and collecting the position of the fork to be measured in real time;
if the position of the fork to be measured reaches the position of the measurement end, closing a timer and stopping collecting the position of the fork to be measured in real time, and determining displacement data of the fork to be measured between the position of the measurement start and the position of the measurement end;
and determining the telescopic speed of the fork to be measured based on the displacement data and the time length of the timer.
9. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is operating, said machine readable instructions when executed by said processor performing the steps of the high speed short stroke movement speed measurement method of claim 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the high-speed short-stroke movement speed measurement method according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311723442.4A CN117706107A (en) | 2023-12-14 | 2023-12-14 | High-speed short-stroke movement speed measuring device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311723442.4A CN117706107A (en) | 2023-12-14 | 2023-12-14 | High-speed short-stroke movement speed measuring device and method |
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| CN117706107A true CN117706107A (en) | 2024-03-15 |
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| CN202311723442.4A Pending CN117706107A (en) | 2023-12-14 | 2023-12-14 | High-speed short-stroke movement speed measuring device and method |
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