WO2022205648A1 - 液压缸和作业机械 - Google Patents

液压缸和作业机械 Download PDF

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Publication number
WO2022205648A1
WO2022205648A1 PCT/CN2021/103595 CN2021103595W WO2022205648A1 WO 2022205648 A1 WO2022205648 A1 WO 2022205648A1 CN 2021103595 W CN2021103595 W CN 2021103595W WO 2022205648 A1 WO2022205648 A1 WO 2022205648A1
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WO
WIPO (PCT)
Prior art keywords
piston rod
hydraulic cylinder
encoding
feature
target
Prior art date
Application number
PCT/CN2021/103595
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English (en)
French (fr)
Inventor
卢志学
贺电
徐周
Original Assignee
三一汽车制造有限公司
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Application filed by 三一汽车制造有限公司 filed Critical 三一汽车制造有限公司
Publication of WO2022205648A1 publication Critical patent/WO2022205648A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT

Definitions

  • the present application relates to the field of hydraulic technology, and in particular, to a hydraulic cylinder and a working machine.
  • Hydraulic cylinders are widely used in various types of construction machinery as the executive components of hydraulic systems. With the diversification of customer needs and the improvement of control accuracy requirements, the detection and control accuracy of hydraulic cylinder piston rod displacement also needs to be continuously improved.
  • the position of the piston rod is usually detected by a magnetostrictive displacement sensor, but the detection range of this method is small, and the detection accuracy is limited; or the position of the piston rod is detected by a wire rope built-in displacement sensor, but this This method is more troublesome to install and maintain the sensor. The longer the stroke, the higher the price.
  • the wire rope also has problems such as slippage and zero-point drift, which affects the stability of position detection.
  • the present application provides a hydraulic cylinder and a working machine, which are used to improve the detection accuracy and efficiency of the piston rod position in the prior art, and overcome the defects of low detection accuracy and high detection cost in the prior art.
  • the present application provides a hydraulic cylinder, comprising: a cylinder body, the cylinder body comprising a cylinder body and a cylinder head;
  • the piston rod is provided with a plurality of encoding units along the movement direction, and each encoding unit includes the same start code and characteristic unit; the characteristic units of any two encoding units are different.
  • each of the characteristic units includes at least one characteristic code spaced apart from each other.
  • a hydraulic cylinder is provided according to the present application, wherein the start code and the feature unit are both barcodes.
  • whether any two of the characteristic units are different is determined by comparing at least two of the order of the barcode, the width of the barcode, the color, the length of the barcode and the spacing between adjacent barcodes;
  • the barcode is formed by etching on the surface of the piston rod.
  • a hydraulic cylinder wherein the cylinder body is provided with an opening facing the encoding unit, the hydraulic cylinder further includes an image capturing device, the image capturing device is installed at the opening, and at least one of the image capturing devices is installed at the opening.
  • the encoding unit is captured by the image capturing device.
  • a hydraulic cylinder is provided according to the present application, and the image acquisition device includes:
  • the light hood is mounted on the opening and is in an interference fit with the opening, and the light hood is provided with a viewing window facing the encoding unit;
  • a hydraulic cylinder is provided according to the present application, and the image acquisition device further includes:
  • a homogenizing plate is installed in the light shield and located on the side of the camera away from the viewing window.
  • a hydraulic cylinder is provided according to the present application, further comprising:
  • a processor which is electrically connected to the image acquisition device and configured to determine the position information of the piston rod according to the target image acquired by the image acquisition device and a pre-stored piston rod pixel library;
  • the piston rod pixel library stores the full stroke pixel information of the piston rod, the corresponding relationship between the full stroke pixel information of the piston rod and the displacement of the piston rod, and the full stroke pixel information at least includes the Pixel information within the range that the piston rod can move relative to the opening.
  • the processor is configured to first determine a target coding feature segment from a coding feature library according to the coding unit in the target image collected by the image acquisition device, and then determine the target coding feature segment based on the target coding
  • the feature segment obtains the corresponding target pixel information in the piston rod pixel library, and then determines the position information of the piston rod according to the pixels of the target image and the pixels of the target pixel information.
  • the present application also provides a work machine including the hydraulic cylinder as described above.
  • the hydraulic cylinder and working machine provided by this application, through the same start code and different feature units, the same start code can quickly identify the coding unit on the piston rod, the efficiency is high, and the piston rod corresponding to the coding unit can be determined.
  • the position detection of the piston rod in the hydraulic cylinder is realized, the structure of the piston rod does not need to be destroyed, and the detection range is not limited.
  • FIG. 1 is a schematic structural diagram of a hydraulic cylinder provided by the application.
  • Fig. 2 is one of coding unit schematic diagrams provided by the application.
  • Fig. 3 is the second schematic diagram of the coding unit provided by the application.
  • FIG. 4 is a schematic structural diagram of an image acquisition device for a hydraulic cylinder provided by the present application.
  • FIG. 5 is one of the schematic diagrams of the target images collected by the image collection device provided in the present application.
  • FIG. 6 is the second schematic diagram of the target image collected by the image collection device provided by the present application.
  • FIG. 7 is a flowchart of a method for detecting the position of a piston rod of a hydraulic cylinder provided by the present application.
  • the hydraulic cylinder can convert hydraulic energy into mechanical energy for reciprocating motion.
  • the hydraulic cylinder is the executive element in the hydraulic transmission system of the working machine.
  • the hydraulic cylinder includes: a cylinder body, which includes a cylinder body 1 and a cylinder head 2; and a piston rod 3 , which is movably mounted on the cylinder body.
  • the piston rod 3 is provided with a plurality of encoding units 20 along the movement direction, and the plurality of encoding units 20 are sequentially arranged on the piston rod 3 .
  • each encoding unit 20 is spaced and distributed along the movement direction of the piston rod 3 , each encoding unit 20 includes the same start code 21 and characteristic unit 22 , and the characteristic units 22 of any two encoding units 20 are different.
  • each coding unit 20 represents the position information on the piston rod 3
  • the characteristic units 22 of any two coding units 20 are different, and each coding unit 20 has uniqueness.
  • the same start code 21 facilitates the identification of the starting point of the encoding unit 20, and can improve the efficiency of identification.
  • the characteristic units 22 of any two encoding units 20 are different, and the unique encoding unit 20 can be identified through the identification of the characteristic units 22.
  • the characteristic unit 22 is the distinguishing unit of each encoding unit 20, the piston rod 3 is provided with a plurality of encoding units 20 along the movement direction, the characteristic units 22 of any two encoding units 20 are different, and through the identification of the characteristic units 22, it is possible to identify the corresponding The coding unit 20.
  • Each feature unit 22 includes at least one feature code, and the plurality of feature codes in the feature unit 22 are arranged at intervals.
  • the number of feature codes included in each feature unit 22 may be the same or different.
  • the coding unit 20 composed of the feature unit 22 and the start code 21 on the piston rod 3 is more regular, which is beneficial to the identification of the coding unit 20 .
  • the shape, type and number of the start code 21 and the characteristic unit 22 in the plurality of coding units 20 on the piston rod 3 can be adjusted according to the shape of the piston rod 3 and the detection requirements.
  • the shape of the start code 21 and the characteristic unit 22 included in the coding unit 20 may be a strip, a triangle, a pentagon or other characteristic shapes.
  • the coding unit on the piston rod can be quickly identified through the same starting code and different feature units, the position of the piston rod corresponding to the coding unit is determined, and the position detection of the piston rod in the hydraulic cylinder is realized.
  • the detection range is not limited.
  • both the start code 21 and the feature unit 22 are barcodes.
  • the shape of the start code 21 and the characteristic unit 22 in the plurality of coding units 20 is a long bar, in other words, the start code 21 and the characteristic unit 22 are barcodes.
  • the coding unit 20 composed of barcodes has high reliability, and can be used flexibly when the coding unit 20 is used to detect the position of the piston cylinder in the hydraulic cylinder.
  • the barcode may be formed by etching on the surface of the piston rod 3 .
  • the start code 21 and the feature unit 22 in the coding unit 20 are both barcodes, and the barcodes are formed by etching on the surface of the piston rod 3 , and can also be stamped on the surface of the piston rod 3 by sticking or other means.
  • the barcode is etched on the piston rod 3, and the formed coding unit 20 has high definition and corrosion resistance.
  • whether any two feature units 22 are different is determined by comparing at least two of the barcode order, barcode width, color, barcode length, and spacing between adjacent barcodes.
  • Each coding unit 20 may include a plurality of barcodes, and a unique feature unit 22 is formed by designing the order, width, color, length and spacing of adjacent barcodes, and then a unique coding unit 20 is formed to realize different coding units 20 and pistons. Unique correspondence of the rod 3 position.
  • multiple barcodes with different widths and colors are etched on the surface of the piston rod 3, a barcode with a fixed width and color is used as the starting code 21, three barcodes with different colors and different widths are the feature units 22, and the starting code 21
  • a plurality of coding units 20 are formed on the piston rod 3 with a plurality of different characteristic units 22 .
  • Whether any two characteristic units 22 are different is determined by comparing the width and color of the barcode, and then it is determined whether the two coding units 20 are different.
  • a plurality of barcodes with different widths and sequences are etched on the surface of the piston rod 3, a barcode with a fixed width is used as the starting code 21, and three barcodes with different sequences and different widths are used as the feature unit 22, so as to form a barcode on the piston rod 3.
  • Whether any two characteristic units 22 are different is determined by comparing the width and order of the barcode, and then it is judged whether the two coding units 20 are different.
  • the width of the start code 21 is smaller than the width of any feature unit 22, reducing the overall width of the encoding unit 20, and the piston rod 3 can be provided with more encoding units 20 in the full stroke range, improving the encoding
  • the unit 20 identifies the accuracy of the position.
  • each coding unit 20 includes the same starting code 21.
  • the initial code 21 has the same number of feature units 22, and the same number refers to the barcodes contained in the feature units 22, that is, the feature units 22 contain the same number of feature codes.
  • the start code 21 is the same within the full stroke range of the piston rod 3, each feature unit 22 is unique within the full stroke range of the piston rod 3, and the start code 21 and each different feature unit 22 are guaranteed to be within the full stroke range
  • the coding unit 20 does not appear to be repeated.
  • the barcode with a width of 0.2mm is used as the starting code 21 of the coding unit 20, and the remaining 3 feature codes with four widths of 0.8mm, 1.2mm, 1.6mm and 2.0mm are freely combined in different orders, and the spacing between any barcodes is 3mm. Distinct feature units 22 .
  • the corresponding coding unit 20 can be quickly identified by the start code 21 with a width of 0.2 mm and the feature unit 22 composed of three feature codes with different sequences and widths behind the start code 21 .
  • the two characteristic units 22 of any encoding unit 20 are different in the full stroke of the piston rod 3 , thereby constituting a piston rod 3 in which any encoding unit 20 has unique characteristic information.
  • the cylinder is provided with an opening 10 facing the encoding unit 20, the hydraulic cylinder further includes an image capturing device, the image capturing device is installed at the opening 10, and at least one encoding unit 20 is captured by the image capturing device.
  • the target image 11 obtained at the opening 10 includes at least one encoding unit 20 on the piston rod 3 , and the complete encoding unit 20 is read to obtain the position information of the piston rod 3 corresponding to the encoding unit 20 .
  • the image acquisition device includes a hood 6 , a camera 4 , a light homogenizer 7 , a dust ring 5 , etc.
  • the camera 4 in the image acquisition device is connected to the processor 8 through a data line 9 .
  • the shading cover 6 is installed on the opening 10 and has an interference fit with the opening 10.
  • the shading cover 6 is provided with a window facing the encoding unit 20 to block external stray light.
  • the camera 4 is installed in the hood 6 and is directly opposite to the viewing window, and is used to capture the target image 11 on the piston rod 3 .
  • the light homogenizing plate 7 is installed in the light hood 6, and is located on the side of the camera 4 away from the viewing window, and is an illumination auxiliary tool when the camera 4 captures the target image 11.
  • the hydraulic cylinder further includes a processor 8, which is electrically connected to the image acquisition device and configured to determine the position of the piston rod 3 according to the target image 11 acquired by the image acquisition device and a pre-stored piston rod pixel library information;
  • the piston rod pixel library stores the full stroke pixel information of the piston rod 3, the corresponding relationship between the full stroke pixel information of the piston rod 3 and the displacement of the piston rod 3, and the full stroke pixel information at least includes the piston rod 3 can move relative to the target position range. pixel information inside.
  • the opening 10 is stationary relative to the cylinder, and the image on the piston rod 3 obtained by the image acquisition device at the opening 10 is the target image 11 .
  • the target image 11 shown in FIG. 5 includes one coding unit 20
  • the target image 11 shown in FIG. 6 includes two coding units 20 .
  • the start code 21 of each coding unit 20 is the same, and the characteristic unit 22 is different.
  • the step of determining the position information of the piston rod 3 by the processor 8 according to the target image 11 collected by the image collecting device includes steps 710 to 740 .
  • Step 710 acquiring the target image 11 at the opening 10 .
  • the opening 10 is stationary relative to the cylinder, and when the piston rod 3 reaches different displacements during the movement, the target images 11 exposed at the opening 10 are different.
  • Step 720 acquire pixel information corresponding to the target image 11 .
  • the exposed target images 11 are different, and accordingly, the pixel information in the target images 11 is also different.
  • the pixel information of the target image 11 has a unique correspondence with the displacement information of the piston rod 3, and can be obtained by computer software or a program.
  • Step 730 Compare the pixel information with the piston rod pixel library.
  • the full-stroke pixel information of the piston rod 3 includes pixel information of the target image 11 corresponding to the piston rod 3 at different displacements.
  • the piston rod pixel library is pre-established before the position detection of the piston rod 3. After the establishment is completed, it can be stored in the memory or in the cloud.
  • High-frequency imaging is performed on the pixel information of the full stroke in the movement direction of the piston rod 3 , and a complete image of the piston rod 3 on the piston rod 3 is captured.
  • Binarization is performed on the image of the piston rod 3, feature information is extracted, and a coding feature library in which the pixel information of the piston rod 3 image corresponds to the position information of the piston rod 3 is established.
  • Each image pixel information in the piston rod pixel library has a unique corresponding position of the piston rod 3, and any position of the piston rod 3 also has corresponding image pixel information.
  • the piston rod pixel library stores the full stroke pixel information of the piston rod 3 and the corresponding relationship between the full stroke pixel information of the piston rod 3 and the position information of the piston rod 3, and the full stroke pixel information at least includes the piston rod 3 within the movable range relative to the opening 10. pixel information of
  • the piston rod pixel library After the piston rod pixel library is established, it can be stored in the memory or in the cloud, and can be directly read from the memory or the cloud for use when detecting the position of the piston rod 3.
  • the piston rod pixel library is established by the pixel information of the target image 11 obtained when the piston rod 3 moves and the corresponding position information.
  • the full stroke pixel information in the piston rod pixel library at least includes the pixel information within the movable range of the piston rod 3 relative to the opening 10. .
  • Step 740 based on the comparison result, determine the position information of the piston rod 3 .
  • the pixel information of the target image 11 represents the real-time position of the piston rod 3
  • the piston rod pixel library is the pixel information library of different positions in the full stroke of the piston rod 3 .
  • the pixel information of the target image 11 is compared with the piston rod pixel library, and the pixel information consistent with the pixel information of the target image 11 is found in the piston rod pixel library.
  • the real-time position of the piston rod 3 can be accurately located, and the accuracy can be improved by setting in this way.
  • the processor 8 is configured to first determine the target encoding feature segment from the encoding feature library according to the encoding unit 20 in the target image 11 collected by the image acquisition device, and then obtain the piston rod pixel library based on the target encoding feature segment. Corresponding target pixel information, and then determine the position information of the piston rod 3 according to the pixels of the target image 11 and the pixels of the target pixel information.
  • step 730 further includes: based on the encoding unit 20 of the target image 11, determining the target encoding feature segment from the encoding feature library , and obtain the corresponding target pixel information in the piston rod pixel library based on the target coding feature segment.
  • a plurality of coding units 20 arranged along the movement direction of the piston rod 3 are distributed all over the piston rod 3 , and a full stroke characteristic code is formed on the surface of the piston rod 3 .
  • the coding feature library includes coding feature segments corresponding to all coding units 20 on the piston rod 3 , and each coding feature segment has a corresponding relationship with the position of the piston rod 3 .
  • the corresponding relationship between the full stroke pixel information of the piston rod 3 and the displacement of the piston rod 3 is stored in the piston rod pixel library.
  • Each encoded feature segment in the encoded feature library also has a corresponding relationship with the pixel information of the piston rod pixel library.
  • the encoding signature library can be determined by:
  • High-frequency imaging is performed on the pixel information of the full stroke in the movement direction of the piston rod 3 , and images of the complete plurality of encoding units 20 of the piston rod 3 on the piston rod 3 are captured.
  • Binarization is performed on each encoding unit 20 to extract the feature information of the encoding unit 20, and an encoding feature library of the position information of each encoding unit 20 corresponding to the piston rod 3 and the position information of each encoding unit 20 corresponding to the piston rod 3 in the whole stroke is established.
  • Each coding unit 20 in the coding feature library has a unique corresponding position of the piston rod 3, and any position of the piston rod 3 also has corresponding coding unit 20 information.
  • the coding feature library After the coding feature library is established, it can be stored in the memory or in the cloud, and can be directly read from the memory or the cloud for use when detecting the position of the piston rod 3.
  • the encoding feature segment can be determined from the encoding feature library based on the encoding unit 20 on the target image 11 to detect the position of the piston rod 3 .
  • the coding feature segment corresponding to the coding unit 20 on the target image 11 is the target coding feature segment.
  • the encoding feature segment consistent with the encoding unit 20 on the target image 11 is found from the encoding feature library, that is, the target encoding feature segment, and the target encoding feature segment is used.
  • the corresponding target pixel information in the piston rod pixel library is obtained, so as to obtain the position information of the piston rod 3, which can take into account both efficiency and accuracy.
  • the processor 8 when the processor 8 processes step 730, it includes: comparing the pixel information corresponding to the target image 11 with the target pixel information and the pixel information on both sides of the target pixel information.
  • the comparison range between the pixel information corresponding to the target image 11 and the target pixel information is extended, and a supplementary comparison interval is within a certain range on both sides of the target pixel information.
  • the pixel information corresponding to the target image 11 is compared with the target pixel information, and the pixel information corresponding to the target image 11 is compared with the pixel information on both sides of the target pixel information.
  • adding pixel information within a certain range on both sides can ensure that the pixel information corresponding to the target image 11 is fully compared with the target pixel information, and avoid the situation that the complete pixel information of the target image 11 cannot be found in the target pixel information. happening.
  • Adding pixel information within a certain range on both sides to the target pixel information can be adjusted according to the interval width of the acquired target image 11 .
  • the processor 8 determines the target encoding feature segment from the encoding feature library based on the encoding unit 20 of the target image 11, and specifically includes: identifying the encoding unit 20 of the target image 11; based on the encoding unit 20 of the target image 11, The first encoding unit 20 corresponding to the encoding unit 20 of the target image 11 is searched from the encoding feature database; the target encoding feature segment is determined based on the position of the first encoding unit 20 on the encoding feature database.
  • the encoding unit 20 on the target image 11 is identified.
  • the starting point of the coding unit 20 is quickly found by identifying the start code 21 of the coding unit 20 , and then the unique coding unit 20 is identified by the feature unit 22 .
  • the encoding unit 20 on the target image 11 obtained at the opening 10 is identified, and the identification result is the encoding unit 20 representing the position of the piston rod 3 .
  • the target image 11 shown in FIG. 6 includes two coding units 20
  • the target image 11 shown in FIG. 5 includes one coding unit 20 .
  • Different target images 11 correspond to different encoding units 20 and represent the position information of different positions of the piston rod 3 .
  • the first coding unit corresponding to the coding unit 20 of the target image 11 is searched from the coding feature library.
  • the encoding feature library includes each encoding unit 20 and its corresponding position information, and each unique encoding unit 20 on the piston rod 3 can find the corresponding unit in the encoding feature library, that is, the first encoding unit.
  • the target coding feature segment is determined.
  • the position information of the piston rod 3 represented by the first coding unit is approximate position information, and the approximate position information is the position range corresponding to the coding unit 20 of the target image 11, that is, the target coding feature segment.
  • the target coding feature segment can be quickly determined, and the coding unit 20 has a fast recognition speed and high accuracy.
  • the target encoding feature segment acquired by the processor 8 includes a target interval corresponding to the target encoding feature segment and a supplementary interval located on at least one side of both sides of the target interval.
  • the target interval is to identify the position interval corresponding to the target encoding feature segment, expand the range of the target encoding feature segment, and include the supplementary interval within a certain range on at least one of the two sides of the target interval into the scope of the target encoding feature segment.
  • the target interval of the target encoding feature segment corresponding to the encoding unit 20 of the target image 11 of the obtained piston rod 3 has the length of one encoding unit 20, and it is extended to obtain a total of two encodings of the target interval and its complementary intervals on both sides.
  • the position of the piston rod 3 is detected by scanning the code, and the position of the piston rod 3 is obtained by adding the product of the number of detected complete barcodes and the length of the complete barcode and the position of the reference complete barcode.
  • the position detection accuracy of the piston rod 3 obtained by calculating the bar code compensation value is not high, and the accuracy of the position detection of the piston rod 3 is limited by the length of the bar code.
  • the position of the piston rod 3 is obtained through the accurate comparison between the target image 11 and the target coding feature segment, and the detected position is not affected by the coding length.
  • the accurate comparison between the target image 11 and the target coding feature segment image improves the The accuracy of piston rod 3 position detection.
  • a coding feature library and a piston rod pixel library are established, and an image acquisition device is used to perform full-stroke high-frequency photography, image stitching, binarization processing, and feature extraction on the piston rod 3 provided with multiple coding units 20, and the piston rod 3 is established.
  • the upper full-stroke encoding and the encoding feature library and piston rod pixel library corresponding to the full-stroke pixels and position information.
  • the piston rod 3 moves, the camera 4 shoots the target image 11 on the piston rod 3 at high frequency, and the processor 8 recognizes the target image 11 and the encoding unit 20 on the target image 11 .
  • the corresponding coding unit 20 is searched from the established coding feature library, and the target coding feature segment is determined based on the position of the coding unit 20 on the coding feature library, and the approximate position of the piston rod 3 is quickly determined.
  • the pixel information of the target image 11 is compared with the target pixel information corresponding to the target coding feature segment to obtain the precise position of the piston rod 3 and realize absolute displacement detection.
  • the target image 11 at the opening 10 acquired by the camera 4 within the viewing window range ensures that there is one complete encoding unit 20 in the viewing window at any time.
  • the target image 11 shown in FIG. 5 has one coding unit 20
  • the target image 11 shown in FIG. 6 has two coding units 20 .
  • a complete encoding unit 20 can be identified by including 2 ⁇ -1 barcodes in the target image 11 , and x is the number of barcodes included in one encoding unit 20 .
  • the piston rod 3 moves, and after the camera 4 captures an image, the processor 8 first captures the coding unit 20 starting feature unit 22, and then identifies the complete coding unit 20, based on the corresponding coding unit 20 on the coding feature library. position, determine the target coding feature segment, and quickly determine the approximate position of the piston rod 3.
  • the pixel information of the target image 11 is accurately compared with the target pixel information corresponding to the target encoding feature segment, so as to obtain the accurate position of the target image 11 .
  • the coding unit on the piston rod can be quickly identified through the same start code and different feature units, the position of the piston rod corresponding to the coding unit can be quickly determined, and the position detection of the piston rod in the hydraulic cylinder can be realized.
  • the detection range is not limited.
  • the present application also provides a work machine including the hydraulic cylinder as described above.
  • the working machine may be a working machine including a hydraulic cylinder, such as a tower crane, a truck crane, an excavator, a pile driver, a concrete machine, a road roller, a mixer truck, a roadheader, a pump truck or a fire truck.
  • a hydraulic cylinder such as a tower crane, a truck crane, an excavator, a pile driver, a concrete machine, a road roller, a mixer truck, a roadheader, a pump truck or a fire truck.
  • the hydraulic cylinder in the working machine can identify the coding unit on the piston rod through the start code and feature unit through the piston rod, and quickly determine the position of the piston rod corresponding to the coding unit. When the position detection of the piston rod in the hydraulic cylinder is realized, no damage is required.
  • the structure of the piston rod, and the detection range is not limited.

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Abstract

本申请提供一种液压缸和作业机械，该液压缸包括：缸体，所述缸体包括缸本体（1）和缸盖（2），活塞杆（3），所述活塞杆（3）可活动地安装于所述缸体；所述活塞杆（3）沿运动方向设有多个编码单元（20），每个所述编码单元（20）均包括同样的起始码（21）和特征单元（22）；任意两个所述编码单元（20）的所述特征单元（22）不相同。本申请提供的液压缸通过同样的起始码（21）和相异的特征单元（22），快速识别活塞杆（3）上的编码单元（20），确定编码单元（20）对应的活塞杆（3）的位置，在进行液压缸中活塞杆（3）的位置检测时，无需破坏活塞杆（3）的结构，并且检测量程不受限制。

Description

液压缸和作业机械
相关申请的交叉引用
本申请要求于2021年03月31日提交的申请号为202110351671.2，发明名称为“液压缸和作业机械”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及液压技术领域，尤其涉及一种液压缸和作业机械。
背景技术
液压缸作为液压系统的执行元件，广泛应用在各类工程机械机构中。随着客户需求的多样化和控制精度要求的提高，液压缸活塞杆位移的检测与控制精度也需要不断提高。
现有技术中，通常是通过磁致伸缩类位移传感器来检测活塞杆位置，但是这种方式检测的量程较小，检测精度受限；或者通过钢丝绳内置式拉线位移传感器检测活塞杆位置，但这种方式传感器安装和维护都比较麻烦，行程越长价格越高，钢丝绳还存在打滑和零点漂移等问题，影响位置检测的稳定性。
发明内容
本申请提供一种液压缸和作业机械，用以解决现有技术中提高活塞杆位置检测精度和效率，克服现有技术中检测精度低和检测成本高的缺陷。
本申请提供一种液压缸，包括：缸体，所述缸体包括缸本体和缸盖；
活塞杆，所述活塞杆可活动地安装于所述缸体；
所述活塞杆沿运动方向设有多个编码单元，每个所述编码单元均包括同样的起始码和特征单元；任意两个所述编码单元的所述特征单元不相同。
根据本申请提供一种的液压缸，每个所述特征单元包括至少一条且相互间隔的特征码。
根据本申请提供一种的液压缸，所述起始码和所述特征单元均为条码。
根据本申请提供一种的液压缸，通过所述条码的次序、条码宽度、颜色、条码长度和相邻条码的间距中至少两种比较确定任意两个所述特征单元是否相异；或者，所述条码在所述活塞杆表面刻蚀形成。
根据本申请提供一种的液压缸，所述缸体设有朝向所述编码单元的开口，所述液压缸还包括图像采集装置，所述图像采集装置安装于所述开口处，且至少一个所述编码单元被所述图像采集装置采集到。
根据本申请提供一种的液压缸，所述图像采集装置包括：
遮光罩，所述遮光罩安装于所述开口，且与所述开口过盈配合，所述遮光罩设有朝向所述编码单元的视窗；
相机，所述相机安装于所述遮光罩内，且与所述视窗正对。
根据本申请提供一种的液压缸，所述图像采集装置还包括：
均光板，所述均光板安装于所述遮光罩内，且位于所述相机背离所述视窗的一侧。
根据本申请提供一种的液压缸，还包括：
处理器，所述处理器与所述图像采集装置电连接，用于根据所述图像采集装置采集的目标图像以及预存的活塞杆像素库确定所述活塞杆的位置信息；
其中，所述活塞杆像素库存储所述活塞杆的全行程像素信息、所述活塞杆的全行程像素信息与所述活塞杆的位移的对应关系，且所述全行程像素信息至少包括所述活塞杆可相对所述开口移动范围内的像素信息。
根据本申请提供一种的液压缸，所述处理器用于先根据所述图像采集装置采集的目标图像中的所述编码单元，从编码特征库中确定目标编码特征段，再基于所述目标编码特征段获得所述活塞杆像素库中对应的目标像素信息，再根据所述目标图像的像素以及所述目标像素信息的像素确定所述活塞杆的位置信息。
本申请还提供一种作业机械，包括如上述的液压缸。
本申请提供的液压缸和作业机械，通过同样的起始码和相异的特征单元，同样的起始码可以快速识别活塞杆上的编码单元，效率较高，确定编码单元对应的活塞杆的位置，在实现液压缸中活塞杆的位置检测时，无需破坏活塞杆的结构，并且检测量程不受限制。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的液压缸结构示意图；
图2是本申请提供的编码单元示意图之一；
图3是本申请提供的编码单元示意图之二；
图4是本申请提供的液压缸的图像采集装置的结构示意图；
图5是本申请提供的图像采集装置采集的目标图像示意图之一；
图6是本申请提供的图像采集装置采集的目标图像示意图之二；
图7是本申请提供的液压缸的活塞杆位置检测的方法流程图。
附图标记：
1：缸本体；2：缸盖；3：活塞杆；
4：相机；5：防尘圈；6：遮光罩；
7：均光板；8：处理器；9：数据线；
10：开口；11：目标图像；20：编码单元；
21：起始码；22：特征单元。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“上”、“下”、“内”、“外”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
液压缸可将液压能转变为机械能做往复运动，液压缸是作业机械的液压传动系统中的执行元件。
本申请提供一种液压缸，如图1所示，该液压缸包括：缸体，缸体包括缸本体1和缸盖2；活塞杆3，活塞杆3可活动地安装于所述缸体。
如图2所示，活塞杆3沿运动方向设有多个编码单元20，多个编码单元20在活塞杆3上依序设置。
如图3所示，编码单元20沿活塞杆3的运动方向间隔开分布，每个编码单元20包括同样的起始码21和特征单元22，任意两个编码单元20的特征单元22相异。
活塞杆3上的编码单元20与活塞杆3的位置相互对应，各编码单元20代表了活塞杆3上的位置信息，任意两个编码单元20的特征单元22相异，每个编码单元20具有唯一性。
同样的起始码21，便于编码单元20起点的识别，可以提高识别的效率，任意两个编码单元20的特征单元22相异，可通过特征单元22的识别，识别出唯一的编码单元20。
特征单元22是各编码单元20的区分单元，活塞杆3沿运动方向设有多个编码单元20，任意两个编码单元20的特征单元22相异，通过特征单元22的识别，可识别出对应的编码单元20。
每个特征单元22包括至少一条以上的特征码，特征单元22中的多条特征码间隔设置。
每个特征单元22包括的特征码数目可以相同，也可以不同。
当每个特征单元22包括数目相同的特征码，使得活塞杆3上由特征单元22以及起始码21构成的编码单元20更加规整，有利于编码单元20的识别。
活塞杆3上的多个编码单元20中起始码21和特征单元22的形状、种类和数目可根据活塞杆3的形状和检测要求进行调整。
编码单元20所包含的起始码21和特征单元22的形状可为长条形、三角形、五角形或其他特征形状。
根据本申请提供的液压缸，通过同样的起始码和相异的特征单元，快速识别活塞杆上的编码单元，确定编码单元对应的活塞杆的位置，在实现 液压缸中活塞杆的位置检测时，无需破坏活塞杆的结构，并且检测量程不受限制。
在一些实施例中，起始码21和特征单元22均为条码。
多个编码单元20中起始码21和特征单元22的形状为长条形的，换言之，起始码21和特征单元22为条码。
由条码构成的编码单元20可靠性高，在利用编码单元20检测液压缸中活塞缸位置时，使用灵活。
在一些实施例中，条码可以是在活塞杆3表面刻蚀形成。
编码单元20中起始码21和特征单元22都是条码，条码在活塞杆3表面刻蚀形成，也可以以粘贴或其他手段印刻在活塞杆3表面。
在活塞杆3上刻蚀条码，所形成的编码单元20清晰度高，耐腐蚀。
在一些实施例中，通过条码的次序、条码宽度、颜色、条码长度和相邻条码的间距中至少两种比较确定任意两个特征单元22是否相异。
每个编码单元20可以包括多个条码，通过设计条码的次序、宽度、颜色、长度和相邻条码的间距构成唯一的特征单元22，进而构成唯一的编码单元20，实现不同编码单元20与活塞杆3位置的唯一对应。
例如，在活塞杆3表面刻蚀宽度和颜色不同的多条条码，以一个固定宽度和颜色的条码为起始码21，3个颜色不同且宽度不同的条码为特征单元22，起始码21和多个相异的特征单元22在活塞杆3上构成多个编码单元20。
通过条码的宽度和颜色比较确定任意两个特征单元22是否相异，进而判断两个编码单元20是否相异。
例如，在活塞杆3表面刻蚀宽度和次序不同的多条条码，以一个固定宽度的条码为起始码21，3个次序不同且宽度不同的条码为特征单元22，从而构成在活塞杆3上的多个编码单元20。
通过条码的宽度和次序比较确定任意两个特征单元22是否相异，进而判断两个编码单元20是否相异。
在一些实施例中，起始码21的宽度小于任一特征单元22的宽度，减小了编码单元20的整体宽度，活塞杆3能够在全行程范围内设置更多的编码单元20，提高编码单元20识别位置的精度。
如图3所示，以4根条码为一个编码单元20，编码单元20中起始第一个条码为起始码21，剩余3根条码组成特征单元22，每个编码单元20包括同样的起始码21和数目相同的特征单元22，数目相同是指特征单元22包含的条码，也即特征单元22包含的特征码的数目相同。
其中，起始码21在活塞杆3全行程范围内是相同的，各个特征单元22在活塞杆3全行程范围内是唯一的，起始码21和各个不同的特征单元22保证全行程范围内的编码单元20不出现重复。
例如，在实际的执行中，在活塞杆3上全行程沿圆周刻蚀0.2mm、0.8mm、1.2mm、1.6mm、2.0mm五种宽度不同的条码，4根条码为一个编码单元20。
以0.2mm宽度的条码作为编码单元20起始码21，剩余3根由0.8mm、1.2mm、1.6mm、2.0mm四种宽度的特征码以不同次序自由组合，任意条码间的间距为3mm，组成相异的特征单元22。
通过0.2mm宽度的起始码21以及在起始码21后面三根次序和宽度不同的特征码组成的特征单元22，能够快速识别对应的编码单元20。
在活塞杆3全行程内任意编码单元20的两个特征单元22均不相同，由此构成一根任一编码单元20具有唯一特征信息的活塞杆3。
在一些实施例中，缸体设有朝向编码单元20的开口10，液压缸还包括图像采集装置，图像采集装置安装于开口10处，且至少一个编码单元20被图像采集装置采集到。
在开口10处获取的目标图像11包括活塞杆3上至少一个编码单元20，读取完整的编码单元20，从而获取编码单元20对应的活塞杆3的位置信息。
如图4所示，图像采集装置包括遮光罩6、相机4、均光板7及防尘圈5等，图像采集装置中的相机4通过数据线9与处理器8相连。
遮光罩6，遮光罩6安装于开口10，且与开口10过盈配合，遮光罩6设有朝向编码单元20的视窗，遮挡外部杂光。
相机4，相机4安装于遮光罩6内，且与视窗正对，用于拍摄活塞杆3上目标图像11。
均光板7，均光板7安装于遮光罩6内，且位于相机4背离视窗的一 侧，是相机4拍摄目标图像11时的照明辅助工具。
在一些实施例中，所述液压缸还包括处理器8，处理器8与图像采集装置电连接，用于根据图像采集装置采集的目标图像11以及预存的活塞杆像素库确定活塞杆3的位置信息；
其中，活塞杆像素库存储活塞杆3的全行程像素信息、活塞杆3的全行程像素信息与活塞杆3的位移的对应关系，且全行程像素信息至少包括活塞杆3可相对目标位置移动范围内的像素信息。
如图5和图6所示，开口10相对于缸体静止，图像采集装置在开口10获取的活塞杆3上的图像，即目标图像11。
其中，图5所示的目标图像11包含一个编码单元20，图6所示的目标图像11中包含两个编码单元20。
每个编码单元20的起始码21是同样的，特征单元22是相异的。
如图7所示，处理器8根据图像采集装置采集的目标图像11确定活塞杆3的位置信息的步骤包括步骤710至步骤740。
步骤710、在开口10获取目标图像11。
开口10相对于缸体静止，活塞杆3在运动过程中，到达不同位移处时，在开口10露出的目标图像11不同。
步骤720、获取目标图像11对应的像素信息。
活塞杆3移动到不同位移处所露出的目标图像11不同，相应地，目标图像11中的像素信息也不同。
目标图像11的像素信息与活塞杆3的位移信息具有唯一对应性，可通过计算机软件或程序获取。
步骤730、将像素信息与活塞杆像素库进行比对。
活塞杆3的全行程像素信息中包括活塞杆3处于不同位移时对应的目标图像11的像素信息。
活塞杆像素库是在活塞杆3位置检测前预先建立的，建立完成后，可存储与存储器或云端中。
活塞杆像素库的建立过程如下：
对活塞杆3运动方向上的全行程像素信息进行高频摄像，拍摄该活塞杆3上完整的活塞杆3图像。
对活塞杆3图像进行二值化处理，提取特征信息，建立活塞杆3图像像素信息对应活塞杆3位置信息的编码特征库。
活塞杆像素库中每一图像像素信息都有唯一对应的活塞杆3位置，活塞杆3的任一位置也有对应的图像像素信息。
活塞杆像素库存储活塞杆3的全行程像素信息及活塞杆3的全行程像素信息与活塞杆3的位置信息的对应关系，且全行程像素信息至少包括活塞杆3可相对开口10移动范围内的像素信息
活塞杆像素库建立完成后，可存储存储器或云端中，进行活塞杆3位置检测时，可直接从存储器或云端读取使用。
活塞杆像素库通过活塞杆3移动时获取的目标图像11的像素信息与对应的位置信息建立，活塞杆像素库中的全行程像素信息至少包括活塞杆3可相对开口10移动范围内的像素信息。
步骤740、基于比对结果，确定活塞杆3的位置信息。
目标图像11的像素信息表征了活塞杆3所处的实时位置，活塞杆像素库是活塞杆3全行程内不同位置的像素信息库。
将目标图像11的像素信息与活塞杆像素库进行比对，在活塞杆像素库找到与目标图像11的像素信息一致的像素信息。
将目标图像11的像素信息与活塞杆像素库进行比对，能够准确定位活塞杆3的实时位置，通过这样设置可以提高精度。
在一些实施例中，处理器8用于先根据图像采集装置采集的目标图像11中的编码单元20，从编码特征库中确定目标编码特征段，再基于目标编码特征段获得活塞杆像素库中对应的目标像素信息，再根据目标图像11的像素以及目标像素信息的像素确定活塞杆3的位置信息。
在上述的处理器8根据图像采集装置采集的目标图像11确定活塞杆3的位置信息的步骤中，步骤730还包括：基于目标图像11的编码单元20，从编码特征库中确定目标编码特征段，基于目标编码特征段获得活塞杆像素库中对应的目标像素信息。
沿活塞杆3运动方向设的多个编码单元20是遍布活塞杆3的，在活塞杆3表面形成全行程特征编码。
在进行活塞杆3位置检测之前，需建立代表活塞杆3表面全行程的多 个编码单元20与活塞杆3位置信息的对应关系的编码特征库。
编码特征库包含活塞杆3上的所有编码单元20对应的编码特征段，每个编码特征段与活塞杆3的位置具有对应关系。
活塞杆像素库中存储有活塞杆3的全行程像素信息与活塞杆3的位移的对应关系。
编码特征库中的每一个编码特征段与活塞杆像素库的像素信息同样具有对应关系。
编码特征库可以通过如下方式确定：
对活塞杆3运动方向上的全行程像素信息进行高频摄像，拍摄该活塞杆3上完整的活塞杆3的多个编码单元20的图像。
对拍摄的全行程中全行程像素信息图像上的编码单元20进行识别，识别出全行程中每一个编码单元20，将识别出的每一个编码单元20进行拆分和拼接。
对各编码单元20进行二值化处理提取该编码单元20的特征信息，建立各编码单元20对应活塞杆3位置信息和全行程中每一编码单元20对应活塞杆3位置信息的编码特征库。
编码特征库中每一编码单元20都有唯一对应的活塞杆3位置，活塞杆3的任一位置也有对应的编码单元20信息。
编码特征库建立完成后，可存储存储器或云端中，进行活塞杆3位置检测时，可直接从存储器或云端读取使用。
编码特征库建立完后，可基于目标图像11上的编码单元20，从编码特征库中确定编码特征段，对活塞杆3位置进行检测。
目标图像11上的编码单元20对应的编码特征段即为目标编码特征段。
编码特征库建立完后，基于目标图像11上的编码单元20，从编码特征库中查找到与目标图像11上的编码单元20一致的编码特征段，即目标编码特征段，利用目标编码特征段获得活塞杆像素库中对应的目标像素信息，从而获取活塞杆3位置信息，这样可以兼顾效率和精度。
在一些实施例中，处理器8处理步骤730时，包括：将目标图像11对应的像素信息与目标像素信息及目标像素信息两侧的像素信息进行比对。
将目标图像11对应的像素信息与目标像素信息的比对范围进行扩展，在目标像素信息两侧一定范围内的补充比对区间。
将目标图像11对应的像素信息与目标像素信息进行对比，以及将目标图像11对应的像素信息与目标像素信息两侧的像素信息进行比对。
在目标像素信息外增加两侧一定范围内的像素信息，可保证目标图像11对应的像素信息与目标像素信息全面比对，避免出现在目标像素信息中无法找到完整的目标图像11的像素信息的情况。
目标像素信息外增加两侧一定范围内的像素信息可根据获取目标图像11的区间宽度进行调整。
在一些实施例中，处理器8基于目标图像11的编码单元20，从编码特征库中确定目标编码特征段，具体包括：识别目标图像11的编码单元20；基于目标图像11的编码单元20，从编码特征库中查找与目标图像11的编码单元20对应的第一编码单元20；基于第一编码单元20在编码特征库上的位置，确定目标编码特征段。
首先，识别目标图像11上的编码单元20。
通过识别编码单元20的起始码21快速找到编码单元20的起始点，接着通过特征单元22识别出唯一的编码单元20。
在该步骤中，在开口10处获取的目标图像11上的编码单元20进行识别，识别结果即为代表活塞杆3位置的编码单元20。
例如，在图6所示的目标图像11中包含两个编码单元20，图5所示的目标图像11包含一个编码单元20。
不同的目标图像11对应不同的编码单元20，代表活塞杆3不同位置的位置信息。
然后，基于目标图像11的编码单元20，从编码特征库中查找与目标图像11的编码单元20对应的第一编码单元。
编码特征库中包含每个编码单元20及其对应的位置信息，活塞杆3上具有唯一性的各编码单元20均能在编码特征库中找到对应单元，也即第一编码单元。
基于第一编码单元在编码特征库上的位置，确定目标编码特征段。
第一编码单元所代表活塞杆3的位置信息是大致位置信息，该大致位 置信息为目标图像11的编码单元20对应的位置范围，即目标编码特征段。
通过在目标图像11中识别目标编码单元，在编码特征库寻找编码单元20对应的第一编码单元，能够快速确定目标编码特征段，编码单元20识别速度快，准确性高。
在一些实施例中，处理器8所获取目标编码特征段包括与目标编码特征段对应的目标区间以及位于目标区间两侧中至少一侧的补充区间。
目标区间是识别出目标编码特征段对应的位置区间，对目标编码特征段的范围进行扩展，将目标区间两侧中至少一侧一定范围内的补充区间也归入目标编码特征段的范围。
例如，获取的活塞杆3的目标图像11的编码单元20对应的目标编码特征段的目标区间有1个编码单元20长度，将其进行扩展，得到目标区间及其两侧补充区间共2个编码单元20长度的目标编码特征段。
相关技术中记载通过扫码检测活塞杆3的位置，通过检测完整条码的个数与完整条码的长度的乘积和基准完整条码的位置相加得到活塞杆3的位置。
在相关技术中活塞杆3位置的检测通过计算条码补偿值得到的活塞杆3位置准确性不高，活塞杆3位置检测的精度受条码长度的限制。
本申请中通过目标图像11与目标编码特征段进行精确比对获取活塞杆3的位置，检测的位置不受编码长度的影响，目标图像11与目标编码特征段图像间精确的比对，提高了活塞杆3位置检测的准确性。
下面描述一个具体的实施例。
首先，建立编码特征库和活塞杆像素库，使用图像采集装置对设有多个编码单元20的活塞杆3进行全行程高频摄像、图像拼接、二值化处理、特征提取，建立活塞杆3上全行程编码及全行程像素与位置信息对应的编码特征库和活塞杆像素库。
然后，活塞杆3运动，相机4高频拍摄活塞杆3上的目标图像11，处理器8识别目标图像11，识别目标图像11上的编码单元20。
根据识别结果，从建立的编码特征库中查找与之对应的编码单元20，基于编码单元20在编码特征库上的位置，确定目标编码特征段，快速确定活塞杆3的大致位置。
最后，将目标图像11的像素信息与目标编码特征段对应的目标像素信息进行像素比对，得到活塞杆3的精确位置，实现绝对位移检测。
如图5和图6所示，相机4视窗范围所获取的开口10处的目标图像11，保证任意时刻有1个完整的编码单元20在视窗内。
其中，图5所示的目标图像11中有1个编码单元20，图6所示的目标图像11有2个编码单元20。
在进行编码单元20的识别时，目标图像11中包括2x-1根条码即可识别一个完整的编码单元20，x为一个编码单元20中所包含条码的数量。
建立编码特征库后，活塞杆3运动，相机4摄取图像后，处理器8先捕捉编码单元20起始特征单元22，然后识别完整编码单元20，基于编码单元20在编码特征库上的对应的位置，确定目标编码特征段，快速确定活塞杆3的大致位置。
将目标图像11的像素信息和目标编码特征段对应的目标像素信息进行精确的比对，从而获得目标图像11的准确位置。
根据本申请提供的液压缸，通过同样的起始码和相异的特征单元快速识别活塞杆上的编码单元，快速确定编码单元对应的活塞杆的位置，在实现液压缸中活塞杆的位置检测时，无需破坏活塞杆的结构，并且检测量程不受限制。
本申请还提供一种作业机械，包括如上述的液压缸。
作业机械可以为塔式起重机、汽车起重机、挖掘机、打桩机、混凝土机械、压路机、搅拌车、掘进机、泵车或消防车等包含液压缸的作业机械。
作业机械中的液压缸，通过活塞杆通过起始码和特征单元识别活塞杆上的编码单元，快速确定编码单元对应的活塞杆的位置，在实现液压缸中活塞杆的位置检测时，无需破坏活塞杆的结构，并且检测量程不受限制。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种液压缸，包括：
    缸体，所述缸体包括缸本体和缸盖；
    活塞杆，所述活塞杆可活动地安装于所述缸体；
    所述活塞杆沿运动方向设有多个编码单元，每个所述编码单元均包括同样的起始码、特征单元；任意两个所述编码单元的所述特征单元不相同。
  2. 根据权利要求1所述的液压缸，其中每个所述特征单元包括相同数目的特征码。
  3. 根据权利要求1所述的液压缸，其中所述起始码和所述特征单元均为条码。
  4. 根据权利要求3所述的液压缸，其中通过所述条码的次序、条码宽度、颜色、条码长度和相邻条码的间距中至少两种比较确定任意两个所述特征单元是否相异；或者，所述条码在所述活塞杆表面刻蚀形成。
  5. 根据权利要求1至4中任一项所述的液压缸，其中
    所述缸体设有朝向所述编码单元的开口，所述液压缸还包括图像采集装置，所述图像采集装置安装于所述开口处，且至少一个所述编码单元被所述图像采集装置采集到。
  6. 根据权利要求5所述的液压缸，其中所述图像采集装置包括：
    遮光罩，所述遮光罩安装于所述开口，且与所述开口过盈配合，所述遮光罩设有朝向所述编码单元的视窗；
    相机，所述相机安装于所述遮光罩内，且与所述视窗正对。
  7. 根据权利要求6所述的液压缸，其中所述图像采集装置还包括：
    均光板，所述均光板安装于所述遮光罩内，且位于所述相机背离所述视窗的一侧。
  8. 根据权利要求5所述的液压缸，还包括：
    处理器，所述处理器与所述图像采集装置电连接，用于根据所述图像采集装置采集的目标图像以及预存的活塞杆像素库确定所述活塞杆的位置信息；
    其中，所述活塞杆像素库存储所述活塞杆的全行程像素信息、所述活塞杆的全行程像素信息与所述活塞杆的位移的对应关系，且所述全行程像 素信息至少包括所述活塞杆可相对所述开口移动范围内的像素信息。
  9. 根据权利要求8所述的液压缸，其中所述处理器用于先根据所述图像采集装置采集的目标图像中的所述编码单元，从编码特征库中确定目标编码特征段，再基于所述目标编码特征段获得所述活塞杆像素库中对应的目标像素信息，再根据所述目标图像的像素以及所述目标像素信息的像素确定所述活塞杆的位置信息。
  10. 一种作业机械，包括：如权利要求1至9任一项所述的液压缸。
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