CN207866119U - A kind of adaptive laser locating apparatus - Google Patents
A kind of adaptive laser locating apparatus Download PDFInfo
- Publication number
- CN207866119U CN207866119U CN201820099596.9U CN201820099596U CN207866119U CN 207866119 U CN207866119 U CN 207866119U CN 201820099596 U CN201820099596 U CN 201820099596U CN 207866119 U CN207866119 U CN 207866119U
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- lead screw
- motor
- laser
- circular base
- tapped
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Abstract
The utility model provides a kind of adaptive laser locating apparatus, including adjustable triangle frame, the bottom of adjustable triangle frame is equipped with universal wheel, the frame body of adjustable triangle frame is connected with cup dolly, frame body is fixed on the center of cup dolly, four tapped through holes are arranged in mutually perpendicular two radial symmetrics on cup dolly, tapped through hole is located at the outside of frame body, be spirally connected the lower ends of four adjusting lead screws in four tapped through holes, circular base slab is equal in magnitude with cup dolly, circular base slab is equipped with through-hole corresponding with tapped through hole, the upper end for adjusting lead screw passes through the output shaft of through-hole connection wire rod motor, four lead screw motors are fixedly connected with circular base slab, turning motor is fixedly mounted in the center of circular base slab.For the utility model according to the feedback position signal of laser pick-off target, microcontroller controls position and the angle of turning motor and lead screw motor adjustment laser emitter respectively, realizes quickly and accurately automatic track and localization.
Description
Technical field
The utility model is related to automatic positioning technology field, more particularly to a kind of adaptive laser locating apparatus.
Background technology
Placement technology is one of the basic technology for realizing farm working machinery automatic Pilot and prescription agricultural, in agricultural
Machinery, which surveys target sprinkling, accurate fertilizing, harvesting to produce, plant automatically etc. in many operation process, suffers from extensive purposes, is
One important content of modern Intelligent agricultural machinery research.Since laser has, small, light-weight, speed is fast and error is small
The advantages that, the application of horizontal and vertical calibration is extremely wide in building trade, but the research ability ground zero in terms of positioning.Swash
In photokinesis positioning system, there is not miss target phenomenon in laser transmitter projects laser signal and from motion tracking laser pick-off target,
It is the basis of dynamic Laser positioning system normal work.And after tracing into laser pick-off target, laser on the market at present
Emitter can only in the process be held by manually adjusting transmitting position or angle with achieving the purpose that precise positioning
It is also easy to produce error, influences positioning accuracy, causes to adjust repeatedly, inefficiency.
Utility model content
(1) the technical issues of solving
To solve the above-mentioned problems, the utility model provides a kind of adaptive laser locating apparatus, according to laser pick-off
The feedback position signal of target, microcontroller control the position and angle of turning motor and lead screw motor adjustment laser emitter respectively
Degree realizes quickly and accurately automatic track and localization, unmanned and field data fixed point acquisition is established for farm working machinery
Basis.
(2) technical solution
The bottom of a kind of adaptive laser locating apparatus, including adjustable triangle frame, the adjustable triangle frame is equipped with universal wheel,
The frame body of the adjustable triangle frame is connected with cup dolly, and the frame body is fixed on the center of the cup dolly, the circle
Four tapped through holes are arranged in mutually perpendicular two radial symmetrics on shape pedestal, and the tapped through hole is located at the outer of the frame body
Side, the lower end for the four adjusting lead screws that are spirally connected in four tapped through holes, circular base slab and the cup dolly are equal in magnitude,
The circular base slab is equipped with through-hole corresponding with the tapped through hole, and the upper end for adjusting lead screw connects across the through-hole
The output shaft of lead screw motor is connect, four lead screw motors are fixedly connected with the circular base slab, the circular base slab
Center turning motor is fixedly mounted, control cabinet is fixedly mounted in the side of the turning motor, and the control cabinet includes microcontroller
And accumulator, the top of the control cabinet are equipped with power switch, the output shaft of the turning motor is connected with the lower end of a shaft
It connects, the upper end of the shaft is fixedly connected with revolving platform, and laser emitter, the laser emitter hair are installed on the revolving platform
It penetrates laser signal and from motion tracking laser pick-off target, and feeds back the position signal of the laser pick-off target to the monolithic
Machine, the microcontroller export five road pwm pulse signals according to feedback signal and control four lead screw motors and described time respectively
Rotating motor works, and the lead screw motor adjusts length of the adjusting lead screw between the cup dolly and the circular base slab
Degree, the turning motor drive the laser emitter come back rotation, the microcontroller by the shaft and the revolving platform
It is electrically connected respectively with four lead screw motors, the turning motor, the laser emitter and the power switch, the storage
Battery is electrically connected with the power switch, and the accumulator is the microcontroller, four lead screws by the power switch
Motor, the turning motor and the laser emitter provide operating voltage.
Further, the microcontroller selects 16 microcontroller MC95S12DJ128.
Further, the lead screw motor and the turning motor are stepper motor, and the stepper motor selects RS-
380SH type stepper motors.
Further, the accumulator is rechargeable lithium battery.
Preferably, the revolving platform is circle.
(3) advantageous effect
The utility model provides a kind of adaptive laser locating apparatus, according to the feedback bit confidence of laser pick-off target
Number, microcontroller controls position and the angle of turning motor and lead screw motor adjustment laser emitter respectively, realizes quick and accurate
Automatic track and localization, it is simple in structure for farm working machinery is unmanned and field data fixed point acquisition lays the foundation, at
This is cheap, easy to operate, and accuracy of detection is high, fast response time, and stability and good reliability have good autgmentability, can be wide
It is general to be applied to other mappings and positioning occasion.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of adaptive laser locating apparatus involved by the utility model.
Fig. 2 is a kind of system functional block diagram of adaptive laser locating apparatus involved by the utility model.
Specific implementation mode
The embodiment involved by the utility model is described in further details below in conjunction with the accompanying drawings.
A kind of adaptive laser locating apparatus combined with Figure 1 and Figure 2, including adjustable triangle frame 1, the bottom of adjustable triangle frame 1
Equipped with universal wheel 3, the frame body 2 of adjustable triangle frame 1 is connected with cup dolly 4, and frame body 2 is fixed on the center of cup dolly 4, circle
Mutually perpendicular two radial symmetrics are arranged four tapped through holes 5 on shape pedestal 4, and tapped through hole 5 is located at the outside of frame body 2, and four
Be spirally connected the lower ends of four adjusting lead screws 6 in a tapped through hole 5, and circular base slab 7 and cup dolly 4 are equal in magnitude, circular support
Plate 7 is equipped with through-hole corresponding with tapped through hole 5, and the upper end for adjusting lead screw 6 passes through the output shaft of through-hole connection wire rod motor 8,
Four lead screw motors 8 are fixedly connected with circular base slab 7, and turning motor 9, revolution is fixedly mounted in the center of circular base slab 7
Control cabinet 10 is fixedly mounted in the side of motor 9, and control cabinet 10 includes microcontroller and accumulator, and the top of control cabinet 10 is equipped with power supply
Switch 11, the output shaft of turning motor 9 are connected with the lower end of a shaft 12, and the upper end of shaft 12 is fixed with revolving platform 13 to be connected
It connecing, laser emitter 14 is installed on revolving platform 13, laser emitter 14 emits laser signal and from motion tracking laser pick-off target,
And feedback laser receives the position signal of target to microcontroller, microcontroller exports five road pwm pulse signals point according to feedback signal
Not Kong Zhi four lead screw motors 8 and turning motor 9 work, the adjustment of lead screw motor 8 adjusts lead screw 6 in cup dolly 4 and round props up
Length between fagging 7, turning motor 9 drive laser emitter 14 come back rotation, microcontroller by shaft 12 and revolving platform 13
It is electrically connected respectively with four lead screw motors 8, turning motor 9, laser emitter 14 and power switch 11, accumulator and power switch
11 electrical connections, accumulator are that microcontroller, four lead screw motors 8, turning motor 9 and laser emitter 14 carry by power switch 11
For operating voltage.
Device needs independently to control four lead screw motors 8 and a turning motor 9, therefore microcontroller at least has
Five programmable channels PWM could export five road pwm pulse control signals.In order to simplify circuit, cost is reduced, system
Microcontroller selects 16 microcontroller MC95S12DJ12.The EEPROM of the RAM and 2KB of Flash, 8KB of its built-in 128KB, have
5V is inputted and driving capability, CPU working frequencies can reach 50MHz.The independent number I/O interfaces in 29 tunnels, 20 road bands are interrupted and are called out
The digital I/O interfaces for function of waking up, 10 A/D converters in 28 channels, input capture/output with 8 channels are compared, are also had
There are 8 programmable channels PWM.With 2 serial asynchronous communication interface SCI, 2 synchronous serial Peripheral Interface SPI, I2C buses
With CAN function modules etc., meet design requirement.
Lead screw motor 8 and turning motor 9 are stepper motor, and stepper motor selects RS-380SH type stepper motors.Monolithic
Machine adjusts the rotating speed of four lead screw motors 8 and turning motor 9 by changing duty ratio and the phase of pwm pulse signal and turns
To since cup dolly 4 is fixed on frame body 2, and adjusting lead screw 6 can rotate in the tapped through hole 5 of cup dolly 4, when four
When the rotating speed of a lead screw motor 8 and inconsistent steering, rotating speed and the steering for adjusting lead screw 6 are also inconsistent, so that relatively solid
Fixed circular base slab 7 can make the fine tuning of any direction and angle.Turning motor 9 drives laser by shaft 12 and revolving platform 13
Transmitter 14 carrys out back rotation, realizes the coarse adjustment in laser emitter direction.
The height of laser emitter 14 can be also adjusted by adjustable tripod 1.The universal wheel of 1 bottom of adjustable triangle frame installation
3 are moved easily device, time saving and energy saving.
Accumulator provides operating voltage for each functional unit of device, in order to embody energy-saving and environment-friendly design concept, electric power storage
Pond select rechargeable lithium battery, can Reusability, it is cost-effective.
Since cup dolly 4 and circular base slab 7 are circular design, it is contemplated that the good appearance and consistency of device,
Revolving platform 13 is preferably also circular design.
When device works, adjustment adjustable triangle frame 1, by rotating universal wheel 3, by laser emitter 14 it is rough against swashing
Light-receiving target presses power switch 11, and laser emitter 14 emits laser signal, while receiving the feedback of laser pick-off target
Position signal, the microcontroller for giving control cabinet 11 are handled, and microcontroller exports five road pwm pulse signals according to feedback signal,
Rotating speed and the steering of turning motor 9 and four lead screw motors 8 are adjusted separately, turning motor 9 drives laser emitter 14 to turn round
Dynamic, into the coarse adjustment on line direction, while four lead screw motors 8 control four adjusting lead screws 6 in 4 tapped through hole of cup dolly respectively
Rotating speed in 5 and steering, length of the four adjusting lead screws 6 of adjustment between cup dolly 4 and circular base slab 7, in arbitrary side
Position and angle are finely adjusted circular base slab 7, to do the fine tuning of any direction and angle to laser emitter 14, realize fast
Speed and accurately automatic track and localization.
The utility model provides a kind of adaptive laser locating apparatus, according to the feedback bit confidence of laser pick-off target
Number, microcontroller controls position and the angle of turning motor and lead screw motor adjustment laser emitter respectively, realizes quick and accurate
Automatic track and localization, it is simple in structure for farm working machinery is unmanned and field data fixed point acquisition lays the foundation, at
This is cheap, easy to operate, and accuracy of detection is high, fast response time, and stability and good reliability have good autgmentability, can be wide
It is general to be applied to other mappings and positioning occasion.
Embodiment described above is only that preferred embodiments of the present invention are described, not to this practicality
Novel conception and scope is defined.Without departing from the design concept of the present utility model, ordinary people in the field couple
The all variations and modifications that the technical solution of the utility model is made, should fall within the protection scope of the present utility model, this reality
With novel claimed technology contents, all record in detail in the claims.
Claims (5)
1. a kind of adaptive laser locating apparatus, it is characterised in that：Including adjustable triangle frame, the bottom of the adjustable triangle frame fills
There are universal wheel, the frame body of the adjustable triangle frame to be connected with cup dolly, the frame body is fixed in the cup dolly
The heart, four tapped through holes are arranged in mutually perpendicular two radial symmetrics on the cup dolly, and the tapped through hole is located at described
The outside of frame body, the lower end for the four adjusting lead screws that are spirally connected in four tapped through holes, circular base slab and the cup dolly
Equal in magnitude, the circular base slab is equipped with through-hole corresponding with the tapped through hole, and the upper end for adjusting lead screw passes through
The output shaft of the through-hole connection wire rod motor, four lead screw motors are fixedly connected with the circular base slab, described
Turning motor is fixedly mounted in the center of circular base slab, and control cabinet, the control cabinet is fixedly mounted in the side of the turning motor
Including microcontroller and accumulator, the top of the control cabinet is equipped with power switch, the output shaft of the turning motor and a shaft
Lower end be connected, the upper end of the shaft is fixedly connected with revolving platform, installs laser emitter on the revolving platform, described to swash
Optical transmitting set emits laser signal and from motion tracking laser pick-off target, and feed back the position signal of the laser pick-off target to
The microcontroller, the microcontroller export five road pwm pulse signals according to feedback signal and control four lead screw motors respectively
It works with the turning motor, the lead screw motor adjusts the adjusting lead screw in the cup dolly and the circular base slab
Between length, the turning motor drives the laser emitter come back rotation, institute by the shaft and the revolving platform
Microcontroller is stated to be electrically connected with four lead screw motors, the turning motor, the laser emitter and the power switch respectively
Connect, the accumulator is electrically connected with the power switch, the accumulator by the power switch be the microcontroller, four
The lead screw motor, the turning motor and the laser emitter provide operating voltage.
2. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The microcontroller selects 16
Microcontroller MC95S12DJ128.
3. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The lead screw motor and described
Turning motor is stepper motor, and the stepper motor selects RS-380SH type stepper motors.
4. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The accumulator is chargeable
Lithium battery.
5. a kind of adaptive laser locating apparatus according to claim 1, it is characterised in that：The revolving platform is circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820099596.9U CN207866119U (en) | 2018-01-22 | 2018-01-22 | A kind of adaptive laser locating apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820099596.9U CN207866119U (en) | 2018-01-22 | 2018-01-22 | A kind of adaptive laser locating apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207866119U true CN207866119U (en) | 2018-09-14 |
Family
ID=63462578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820099596.9U Expired - Fee Related CN207866119U (en) | 2018-01-22 | 2018-01-22 | A kind of adaptive laser locating apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207866119U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113390362A (en) * | 2021-05-26 | 2021-09-14 | 武汉钢铁有限公司 | High-precision self-adaptive platform for laser linear scanning |
-
2018
- 2018-01-22 CN CN201820099596.9U patent/CN207866119U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113390362A (en) * | 2021-05-26 | 2021-09-14 | 武汉钢铁有限公司 | High-precision self-adaptive platform for laser linear scanning |
| CN113390362B (en) * | 2021-05-26 | 2023-02-28 | 武汉钢铁有限公司 | High-precision self-adaptive platform for laser linear scanning |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180914 Termination date: 20190122 |