CN205175402U - A positioning system for positioning mobile equipment - Google Patents
A positioning system for positioning mobile equipment Download PDFInfo
- Publication number
- CN205175402U CN205175402U CN201520995223.6U CN201520995223U CN205175402U CN 205175402 U CN205175402 U CN 205175402U CN 201520995223 U CN201520995223 U CN 201520995223U CN 205175402 U CN205175402 U CN 205175402U
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- mobile device
- positioning system
- identification strip
- fixture frame
- cam
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Abstract
The utility model discloses a positioning system for positioning mobile equipment, including fixture frame and the mobile device that ability relatively fixed thing frame was done exercises, be equipped with the diaphragm that the multirow is used for placing article on the fixture frame, include still that the sign is regional, the sign is regional including the input module, camera device, controlling means and a plurality of designation strip that are used for importing target position sigual, and controlling means's input and camera device are connected, its output is connected with driving motor on the mobile device for thereby handle back and target position sigual contrast formation control signal with image information and video information that the camera device was gathered, driving motor receives control signal, fix a position the position of mobile device. The utility model discloses when fixing a position the mobile device of motion on the guide rail, also can fix a position by the accurate article that pick, place to manipulator or arm, have accurate, stable good, the cheap characteristics in location.
Description
Technical field
The utility model relates to a kind of positioning system, is specifically related to a kind of positioning system for locating mobile device.
Background technology
In recent years along with the development of science and technology and the progress of society, a large amount of intelligentized equipment appears in our life, relates to all trades and professions.As intelligent warehousing system, the intelligent domestic system and intelligent self-service borrowing-returning books system etc. of logistic industry.In these systems, having a crucial technology to be how the mobile device of moving on rails accurately judges to arrive the target location of specifying, is the major criterion of the intelligent system weighed.But at present about the location technology of mobile device, what mostly adopt is the method such as moving track calculation or bar code scanning.There is the shortcoming that price is high, the precision of location, stability and reliability are poor in these existing location technologies.
Meanwhile, for capturing, the mechanical arm of placing articles or mechanical arm be generally mounted in mobile device, mechanical arm or mechanical arm capturing, placing articles time also need to carry out location, position, to realize the object of intellectualized operation.And at present about mostly the localization method of mechanical arm mechanical arm is to be realized by sensor technology, system complexity is set, the precision of location is short of to some extent.
At present, not yet have a kind of both can position the mobile device on guide rail while, the device that also can accurately position the crawl of mechanical arm or mechanical arm, placing articles or system.
Utility model content
For above-mentioned deficiency, the technical problems to be solved in the utility model is to provide a kind of camera positioning system for track mobile devices, it is while positioning the mobile device of moving on rails, also accurately can position the crawl of mechanical arm or mechanical arm, placing articles, there is accurate positioning, good stability, cheap feature.
For solving the problem, the utility model is achieved through the following technical solutions:
For a positioning system for locating mobile device, comprise the mobile device that fixture frame carries out moving with a relative fixture frame of energy, described fixture frame is provided with many rows for the transverse slat of placing articles, also comprises
Identified areas, described identified areas comprises multiple identification strip, and it is corresponding that identification strip and arranges transverse slat, for marking the diverse location on fixture frame;
Cam device, described cam device to be installed on mobile device and described identified areas in the collection shooting area of cam device, for gathering image information on identification strip and video information;
Control device, the input end of described control device is connected with cam device, its output terminal is connected with the drive motor on mobile device, after carrying out process for the image information that collected by cam device and video information and target position signal contrast thus formation control signal, the drive motor on described mobile device receives described control signal, positions the position of mobile device;
Load module, described load module is connected with control device, for inputting target position signal.
In such scheme, the bottom of described mobile device is provided with the motion guide rail slided for mobile device.
In such scheme, described identification strip is alternately arranged continuously by secret note and informal voucher and forms, and the width of secret note on each identification strip and/or informal voucher is different, length is identical.
In such scheme, the imageing sensor that described cam device comprises camera and is connected with camera, described camera is for taking the video information of identified areas.
In such scheme, described control device comprises processor, for the power module of powering and the videodataclus tearing module, the image processing module that are connected on the input end of processor, the output terminal of described processor is connected with the drive motor of mobile device.
In such scheme, described load module is specifically as follows graphics scanner and keyboard.
Compared with prior art, the beneficial effects of the utility model are:
The utility model carries out shooting, collecting by cam device to identified areas, obtain video information and image information, then counting positioning function is realized by passing to processor after image processing module and videodataclus tearing resume module, namely black, informal voucher information that camera photographs are counted, just reach the position of target when counting number of targets and reaching the setting value of input, thus realize the accurate location to mobile device; Can determine according to counting that is black, informal voucher and wait to capture or the position of placing articles row at place on fixture frame, determine the position of the row at its place on fixture frame according to the black and white bar width difference of each row's identification strip simultaneously, processor captures waiting or the positional information of placing articles on fixture frame sends to mechanical arm or mechanical arm, realizes the positioning function to mechanical arm or mechanical arm.Have that positioning precision is high, good stability, system responses realizes fast, cheap advantage.
Accompanying drawing explanation
Fig. 1 is originally for the use structural representation of the positioning system of locating mobile device.
Fig. 2 is the structural representation of described identification strip.
Fig. 3 is the theory of constitution block diagram of described control device.
Number in the figure is: 1, motion guide rail; 2, mobile device; 3, cam device; 4, identification strip; 4-1, secret note; 4-2, informal voucher; 5, fixture frame.
Embodiment
In description of the present utility model, it will be appreciated that, term " length ", " width ", " end ", " interior ", etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of the device of instruction or hint indication or parts must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.The implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the utility model, unless otherwise clear and definite regulation, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, the connection of two element internals can be made.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the utility model can be understood as the case may be.
Below in conjunction with specific embodiments and the drawings the utility model is further explained explanation.
As shown in Figure 1, a kind of positioning system for locating mobile device, comprises the mobile device 2 that fixture frame 5 carries out moving with a relative fixture frame 5 of energy, and the bottom of described mobile device 2 is provided with the motion guide rail 1 slided for mobile device 2.Described fixture frame 5 is provided with the transverse slat of many rows for placing articles, and described transverse slat is laterally sequentially arranged on fixture frame 5, also comprises
Identified areas, described identified areas comprises the side surfaces that multiple identification strip 4, identification strip 4 correspondence is installed on row's transverse slat, for marking the diverse location on fixture frame 5.As shown in Figure 2, each identification strip 4 is alternately arranged continuously by secret note 4-1 and informal voucher 4-2 and forms, and the width of secret note 4-1 on each identification strip 4 and/or informal voucher 4-2 is different, length is identical.Being arranged so that like this, identification strip 4 correspondence represents the position of this row on fixture frame 5 on the whole, and separately with regard to an identification strip 4, count the number of the secret note 4-1 on identification strip 4 and/or informal voucher 4-2, then the respective point count down to can be expressed as the column position on fixture frame 5.
Cam device 3, described cam device 3 to be installed on mobile device 2 and described identified areas in the collection shooting area of cam device 2, for gathering image information on identification strip 4 and video information.The imageing sensor that described cam device 3 comprises camera and is connected with camera, described camera is for taking video and the image information of identified areas.
Control device, the input end of described control device is connected with cam device 3, its output terminal is connected with the drive motor on mobile device 2, after carrying out process for the image information that collected by cam device 3 and video information and target position signal contrast thus formation control signal, the drive motor on described mobile device 2 receives described control signal, positions the position of mobile device 2.As shown in Figure 3, in the present embodiment, described control device comprises processor, for the power module of powering and the videodataclus tearing module, the image processing module that are connected on the input end of processor, the output terminal of described processor is connected with the drive motor of mobile device 2.Videodataclus tearing module is specially LM1881 chip, for carrying out videodataclus tearing to Composite Video Signal.Image processing module is used for transferring image information to voltage signal.
Load module, described load module is connected with control device, for inputting target position signal.Described load module is graphics scanner and keyboard.
During utility model works:
1) first, the target location that will be arrived by load module typing mobile device 2, the secret note 4-1 namely on place identification strip 4 and/or width, the shape facility of informal voucher 4-2, input by graphics scanner; When also will input in-position, to should the accumulative sum of secret note 4-1 on identification strip 4 and/or informal voucher 4-2, by input through keyboard;
2) drive motor is opened, mobile device 2 moves along motion guide rail 1, and move together with cam device 3, meanwhile, secret note 4-1 on camera shooting identification strip 4 and/or informal voucher 4-2 information, when scanning and step 1) in typing secret note 4-1 and/or and the width of informal voucher 4-2 consistent identification strip 4 time, processor controls cam device 3 and locks this identification strip 4, and open tally function, namely by imageing sensor, the gradation conversion of the image of this identification strip 4 is become and gray scale magnitude of voltage one to one, then this magnitude of voltage is exported by vision signal, the height of this voltage signal rises and falls and has reacted the grey scale change of this image, then by videodataclus tearing module, videodataclus tearing is carried out to the Composite Video Signal on identification strip, namely the analog picture signal photographed is become digital signal through image processing module with videodataclus tearing module converter by imageing sensor, such processor counts black or/informal voucher, when arriving target location, processor sends the control signal of stopping to the drive motor on mobile device, then drive motor is closed, and mobile device 2 is parked on the target location of setting,
3) while mobile device 2 is located, target location is also determined, namely the position of the row and column at place is determined, by manipulating the mechanical arm or mechanical arm that are arranged on mobile device 2, the article that can realize the transverse slat be opposite on fixture frame 5 carry out capturing or being placed on exactly on the transverse slat of this position by article.
This positioning system both can position the mobile device 2 on motion guide rail 1, while mobile device 2 is located, accurately can also locate the mechanical arm be arranged on mobile device 2 or mechanical arm simultaneously.Therefore, the aspects such as the express delivery that this positioning system being used for locating mobile device can be applicable to intelligent express system is asked for, intelligent self-service borrowing-returning books system.
These are only and embodiment of the present utility model is described; be not limited to the utility model; for a person skilled in the art; all within spirit of the present utility model and principle; any amendment of doing, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. the positioning system for locating mobile device, comprise the mobile device (2) that fixture frame (5) carries out moving with a relative fixture frame (5) of energy, described fixture frame (5) is provided with many rows for the transverse slat of placing articles, it is characterized in that: also comprise
Identified areas, described identified areas comprises multiple identification strip (4), and it is corresponding that identification strip (4) and arranges transverse slat, for marking the diverse location on fixture frame (5);
Cam device (3), described cam device (3) is installed on the upper and described identified areas of mobile device (2) in the collection shooting area of cam device (3), for gathering image information on identification strip (4) and video information;
Control device, the input end of described control device is connected with cam device (3), its output terminal is connected with the drive motor on mobile device (2), after carrying out process for the image information that collected by cam device (3) and video information and target position signal contrast thus formation control signal, the drive motor on described mobile device (2) receives described control signal, positions the position of mobile device (2);
Load module, described load module is connected with control device, for inputting target position signal.
2. as claimed in claim 1 for the positioning system of locating mobile device, it is characterized in that: the bottom of described mobile device (2) is provided with the motion guide rail (1) slided for mobile device (2).
3. as claimed in claim 1 or 2 for the positioning system of locating mobile device, it is characterized in that: described identification strip (4) is alternately arranged continuously by secret note (4-1) and informal voucher (4-2) and forms, and the width of secret note (4-1) on each identification strip (4) and/or informal voucher (4-2) is different, length is identical.
4. as claimed in claim 3 for the positioning system of locating mobile device, it is characterized in that: the imageing sensor that described cam device (3) comprises camera and is connected with camera, described camera is for taking the video information of identified areas.
5. as claimed in claim 4 for the positioning system of locating mobile device, it is characterized in that: described control device comprises processor, for the power module of powering and the videodataclus tearing module, the image processing module that are connected on the input end of processor, the output terminal of described processor is connected with the drive motor on mobile device (2).
6., as claimed in claim 1 for the positioning system of locating mobile device, it is characterized in that: described load module is graphics scanner and keyboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520995223.6U CN205175402U (en) | 2015-12-04 | 2015-12-04 | A positioning system for positioning mobile equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520995223.6U CN205175402U (en) | 2015-12-04 | 2015-12-04 | A positioning system for positioning mobile equipment |
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| Publication Number | Publication Date |
|---|---|
| CN205175402U true CN205175402U (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520995223.6U Expired - Fee Related CN205175402U (en) | 2015-12-04 | 2015-12-04 | A positioning system for positioning mobile equipment |
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| Country | Link |
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| CN (1) | CN205175402U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333864A (en) * | 2015-12-04 | 2016-02-17 | 钦州学院 | Positioning system for positioning movable device |
| CN108324442A (en) * | 2018-02-07 | 2018-07-27 | 成都中友启明科技有限公司 | The positioning system and localization method of a kind of device on orbital path |
-
2015
- 2015-12-04 CN CN201520995223.6U patent/CN205175402U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333864A (en) * | 2015-12-04 | 2016-02-17 | 钦州学院 | Positioning system for positioning movable device |
| CN108324442A (en) * | 2018-02-07 | 2018-07-27 | 成都中友启明科技有限公司 | The positioning system and localization method of a kind of device on orbital path |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160420 Termination date: 20181204 |