CN215264031U

CN215264031U - Array type infrared wire two-dimensional position detection sensor

Info

Publication number: CN215264031U
Application number: CN202120870419.8U
Authority: CN
Inventors: 林桂明; 陈永志; 陈华
Original assignee: Zhejiang Qingda Intelligent Robot Co ltd
Current assignee: Zhejiang Qingda Intelligent Robot Co ltd
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-12-21
Anticipated expiration: 2031-04-26

Abstract

The utility model discloses an array type infrared wire two-dimensional position detection sensor, which comprises a measuring host, wherein the measuring host comprises a host shell and a cable travelling mechanism arranged on the host shell, and the host shell is movably arranged on a bearing wire through the cable travelling mechanism; still be provided with the measuring mechanism who is surveyed the wire on the host computer shell, measuring mechanism includes infrared emission array and infrared receiving array, and infrared emission array and infrared receiving array are in the same face of host computer shell, the utility model discloses when detecting the wire position, infrared emission array and infrared receiving array are near placing, and each transmitting unit is to being surveyed wire transmission infrared light beam in proper order in the infrared emission array, and the transmission beam produces the reflected light beam after being surveyed the wire, and the reflected light beam reachs the infrared receiving array and produces corresponding voltage signal, and transmission and acceptance point distance are surveyed the wire nearer, can avoid receiving the influence of external environment light, can realize horizontal and vertical two-way position detection simultaneously.

Description

Array type infrared wire two-dimensional position detection sensor

Technical Field

The utility model belongs to the technical field of cable conductor position measurement, more specifically the utility model relates to an array infrared conductor two dimension position detection sensor that says so.

Background

The existing wire position detection technology mainly comprises the following steps: image-based detection methods. The image is obtained by shooting with a camera, and the position of the wire is obtained by identifying and analyzing the image by using a computer technology. This method has a high processing power requirement because it is susceptible to ambient light for image acquisition. For example, patent CN108534759A discloses a cable position detecting and controlling device, i.e. a photographing pendant, which comprises a pendant, an infrared shooting device for shooting the position of a cable in a pipeline to obtain a first picture, a computer for comparing the first picture with a second picture of the cable in the center of the pipeline, and a controlling device for controlling a traction device to pull the cable to be positioned in the center of the pipeline according to the comparison result of the computer. The cable position detection and control device provided by the invention can be used for photographing and hanging, and can overcome the defects that the inductive hanging is weak in anti-frequency-conversion interference capability, electrical components are easy to damage, and the zero point is easy to drift; overcomes the defects that the laser suspension has weak penetrating ability to vapor and smoke and is easy to control failure.

Infrared correlation based methods. For example, patent CN103344179B discloses a cable position detection control system and method. When the system is used for measuring the position of a cable, the light emitter emits parallel light beams to the detected cable. The parallel light beam comprises a first light beam above the central axis of the parallel light beam and a second light beam below the central axis. The first light beam and the second light beam reach the light receiver after passing through the detected cable and generate corresponding first voltage signals and second voltage signals. The first voltage signal and the second voltage signal are equal when the cable is in the center position, and correspondingly, the first voltage signal and the second voltage signal are not equal when the cable is deviated from the center position. And the controller calculates the difference value of the first voltage signal and the second voltage signal, determines the position of the cable according to the preset corresponding relation between the difference value of the first voltage signal and the second voltage signal and the position of the detected cable, and further controls the position of the cable. This method requires that the wire be located in the middle between the transmitter and the receiver and that only a position perpendicular to the direction of light emission can be detected.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a when detecting the wire position, infrared emission array and infrared receiving array are near placing, each transmitting unit is in proper order to being detected wire transmission infrared light beam in the infrared emission array, the transmission beam produces the reflected beam after being surveyed the wire, the reflected beam reachs infrared receiving array and produces corresponding voltage signal, transmission and acceptance point distance are surveyed the wire nearer, can avoid receiving the influence of external environment light, can realize horizontal and vertical two-way position detection simultaneously.

In order to achieve the above purpose, the utility model provides a following technical scheme: an array type infrared wire two-dimensional position detection sensor comprises a measurement host, wherein the measurement host comprises a host shell and a cable travelling mechanism arranged on the host shell, and the host shell is movably arranged on a bearing wire through the cable travelling mechanism; still be provided with the measuring mechanism of being surveyed the wire on the host computer shell, measuring mechanism includes infrared emission array and infrared receiving array, and infrared emission array and infrared receiving array are on the same face of host computer shell.

The infrared emission array further comprises a plurality of emission units which are uniformly distributed along the vertical direction; the infrared receiving array comprises a plurality of receiving units which are uniformly distributed along the vertical direction.

And further, the infrared transmitting array and the infrared receiving array are transversely arranged.

And the measuring host is a patrol robot.

Compared with the prior art, the beneficial effects of the utility model are that: when the position of a wire is detected, the infrared transmitting array and the receiving array are placed close to each other, each transmitting unit in the infrared transmitting array sequentially transmits infrared beams to the detected wire, the transmitted beams generate reflected beams after passing through the detected wire, the reflected beams reach the infrared receiving array to generate corresponding voltage signals, the signal processing module analyzes the received voltage signals to obtain the position of the wire perpendicular to the beams and the distance between the wires, the detection of the two-dimensional position of the wire can be realized in a non-contact mode, the detection is not influenced by ambient light, the performance is reliable, and the cable inspection robot outdoor use scene is very suitable for a cable inspection robot.

Drawings

FIG. 1 is a schematic structural view of the measuring mainframe of the present invention for transmitting and receiving infrared rays;

fig. 2 is a first schematic diagram of the measuring host transmitting and receiving infrared rays at different distances to the measured wire according to the present invention;

FIG. 3 is a second schematic diagram of the measuring host transmitting and receiving infrared rays at different distances to the measured wire according to the present invention;

FIG. 4 is a graph of projection plotted along the x-axis or y-axis based on received data;

fig. 5 is a schematic structural diagram of a measurement host utilized in the present invention.

Reference numerals: 1. a measurement host; 2. an infrared emitting array; 3. an infrared receiving array; 4. and (4) conducting wires.

Detailed Description

Embodiments of the method for detecting a position of a wire according to the present invention are further described with reference to fig. 1 to 5.

In the description of the present invention, it should be noted that, for the orientation words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and the positional relationship are indicated based on the orientation or the positional relationship shown in the drawings, and the description is only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the device or the element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and "a plurality" or "a plurality" in the description of the invention means two or more unless a specific definition is explicitly provided.

An array type infrared wire two-dimensional position detection sensor comprises a measurement host 1, wherein the measurement host 1 comprises a host shell and a cable travelling mechanism arranged on the host shell, and the host shell is movably arranged on a bearing wire 4 through the cable travelling mechanism; still be provided with the measuring mechanism of 4 wires under test on the host computer shell, measuring mechanism includes infrared emission array 2 and infrared receiving array 3, and infrared emission array 2 and infrared receiving array 3 are on the same side of host computer shell.

In this embodiment, the preferred infrared emission array 2 includes a plurality of emission units, which are vertically and uniformly distributed; the infrared receiving array 3 comprises a plurality of receiving units which are uniformly distributed along the vertical direction.

In the preferred embodiment, the infrared transmitting array 2 and the infrared receiving array 3 are both arranged transversely.

The infrared emission unit in the present embodiment emits horizontal infrared rays.

A method for detecting the position of a lead 4 comprises a measuring host 1, wherein an infrared transmitting array 2 and an infrared receiving array 3 are arranged on the measuring host 1, the infrared transmitting array 2 and the infrared receiving array 3 are arranged on the same side, the infrared transmitting array 2 is provided with m channels, the infrared receiving array 3 is provided with n channels, and the measuring method comprises the following steps:

first, the voltage signal threshold of the infrared receiving array 3 is set.

S1: the infrared transmitting array 2 unit 1, the infrared receiving arrays 31 to n units receive the reflected light beam, generate n-channel voltage signals, the voltage signals are logic '1' when being greater than the set threshold value, otherwise are logic '0', and the logic of n channels is recorded as n groups of received data;

s2: repeating the step S1 until the infrared emission unit m finishes emission, and generating and recording n multiplied by m groups of received data;

s3: the two-dimensional position of the measured wire 4 is obtained by analyzing n × m sets of received data.

The utility model discloses in the measuring host computer 1 who adopts for patrolling and examining the robot.

The utility model discloses well infrared emission array 2 and the infrared receiving array 3 on the measurement host computer 1 distribute along vertical direction array.

The utility model discloses be used for measuring two-dimensional position data of adjacent wire 4.

Specifically, at least two wires 4 are arranged between two towers, and the measuring main machine 1 is arranged on one wire 44.

When the device works, a measuring host 1 firstly measures at a measuring point, an infrared emission array 2 unit 1 emits light beams, the emitted light beams are parallel light, the light beams are reflected by a measured lead 4 (a lead 4 facing the infrared emission array 2 unit of the measuring host 1) and received by an infrared receiving array 3 unit, the infrared receiving arrays 3 of n channels all generate voltage signals, the voltage signals are compared with a set threshold direction, the voltage signals are logic '1' when the voltage signals are larger than the set threshold direction, otherwise, the voltage signals are logic '0', n groups of received data are further obtained, if the infrared emission array 2 unit 1 emits light beams, the received data obtained by the infrared receiving arrays 3 of n channels are logic '0', the situation that the measured lead 4 is not arranged at a position parallel to the infrared emission array 2 unit 1 or the distance of the measured lead 4 is too far is indicated; if some of the received data is logic "1", it indicates that there is a tested wire 4; and repeating the above steps to enable all the infrared emission array 2 units to sequentially emit light beams to obtain m × n groups of receiving data, and determining the position of the measured lead 4 perpendicular to the infrared direction (vertical direction) at the measuring point according to the receiving data.

As shown in fig. 2, the position of the lead 4 under test in the direction parallel to the infrared ray (transverse direction) can be obtained by:

data still adopts above-mentioned receipt data, and infrared emission unit and receiving element all have certain effective angle, and when infrared emission unit and infrared receiving element effect region overlap and received light energy and be greater than the threshold value, corresponding receiving element data is 1, consequently can pass through A, B, C areas in proper order when wire 4 is close to infrared transmission and receiving array by the distant place:

and (2) area A: when the wire 4 is far away and the energy of the reflected light beam is less than the set threshold value, the received data is logic '0'.

And a B region: when the wire 4 just enters the area B, only the energy received by the infrared receiving unit which is right opposite to the wire 4 is larger than a set threshold, the logic of the data received by the infrared receiving unit is 1, and the data received by the other infrared units is 0; when the conducting wire 4 is gradually close to the array, a plurality of infrared receiving units which are close to the conducting wire 4 can receive stronger energy, and the closer the distance, the more the corresponding infrared receiving units are.

And a C region: the wire 4 is close to the infrared transmitting unit array and the infrared receiving unit array, and this area is defined as a blind area into which the wire 4 is prohibited from entering.

According to the above characteristics, the received data is projected according to the x-axis or the y-axis, as shown in fig. 3 and 4, a (b) corresponds to the position e of the lead 4 in the vertical direction, and w1(w2) corresponds to the position d of the lead 4 in the horizontal direction, so that the positions of the lead 4 to be measured in the horizontal direction and the vertical direction can be obtained.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An array type infrared wire two-dimensional position detection sensor comprises a measurement host, and is characterized in that the measurement host comprises a host shell and a cable travelling mechanism arranged on the host shell, and the host shell is movably arranged on a bearing wire through the cable travelling mechanism; still be provided with the measuring mechanism of being surveyed the wire on the host computer shell, measuring mechanism includes infrared emission array and infrared receiving array, and infrared emission array and infrared receiving array are on the same face of host computer shell.

2. The array-type infrared wire two-dimensional position detection sensor as claimed in claim 1, wherein: the infrared emission array comprises a plurality of emission units which are uniformly distributed along the vertical direction; the infrared receiving array comprises a plurality of receiving units which are uniformly distributed along the vertical direction.

3. The array-type infrared wire two-dimensional position detection sensor as claimed in claim 2, wherein: the infrared transmitting array and the infrared receiving array are transversely arranged.

4. The array type infrared wire two-dimensional position detection sensor according to claim 3, wherein: the measurement host computer is for patrolling and examining the robot.