CN108226867B - Grab bucket ultrasonic positioning method - Google Patents
Grab bucket ultrasonic positioning method Download PDFInfo
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- CN108226867B CN108226867B CN201711421757.8A CN201711421757A CN108226867B CN 108226867 B CN108226867 B CN 108226867B CN 201711421757 A CN201711421757 A CN 201711421757A CN 108226867 B CN108226867 B CN 108226867B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an ultrasonic positioning method for a grab bucket, which comprises the following steps: installing a synchronous component, installing an ultrasonic transmitter on the grab bucket to be positioned, and installing a positioning calculation device and at least three ultrasonic receivers on the periphery of the operation area of the grab bucket to be positioned; the ultrasonic transmitter sends out an ultrasonic signal under the trigger of the synchronous component; the ultrasonic receivers and the positioning calculation device measure the propagation time of ultrasonic signals, and the positioning calculation device calculates the position coordinates of the grab bucket to be positioned according to the installation position of each ultrasonic receiver and the measured propagation time. The invention has the advantages that no mechanical equipment is needed, and frequent maintenance work such as abrasion, oiling and the like does not exist; errors caused by track slippage and the like are avoided, and a corresponding calibration device is not needed.
Description
Technical Field
The invention belongs to the field of mechanical equipment, and particularly relates to an ultrasonic positioning method for a grab bucket.
Background
Conventional grapples are typically suspended below the crane; in the prior art, an encoder is generally adopted for ranging to position a grab bucket; in the positioning process, the encoder of the cart system detects the X coordinate of the grab bucket, the encoder of the trolley system detects the Y mark of the grab bucket, and the winch system provides the Z coordinate of the grab bucket. The detected signal is sent to the cart from the trolley and then to the ground.
The positioning method has the following problems: 1. the encoder can generate mechanical abrasion in the using process, thereby causing measurement errors; 2. the measurement result of the encoder needs to be transmitted to the ground through a cable, but the cart and the trolley are both movable parts, and the cable connected to the movable parts is easy to break; 3. the rail slipping phenomenon exists in the running process of the cart and the trolley, and the encoder cannot detect the displacement caused by the rail slipping.
Disclosure of Invention
The invention aims to provide the grab bucket ultrasonic positioning method according to the defects of the prior art, and the positioning method can accurately and reliably acquire the position coordinates of the grab bucket by adopting an ultrasonic positioning mode.
The purpose of the invention is realized by the following technical scheme:
a grab bucket ultrasonic positioning method comprises the following steps: installing a synchronous component, installing an ultrasonic transmitter on the grab bucket to be positioned, and installing a positioning calculation device and at least three ultrasonic receivers on the periphery of the operation area of the grab bucket to be positioned; the ultrasonic transmitter sends out an ultrasonic signal under the trigger of the synchronous component; the ultrasonic receiver receives the ultrasonic signal sent by the ultrasonic transmitter, converts the ultrasonic signal into an electric signal and immediately transmits the electric signal to the positioning computing device; the positioning calculation device starts timing under the triggering of the synchronization component and calculates the propagation time of the ultrasonic wave from the ultrasonic transmitter to each ultrasonic receiver according to the electric signals sent by each ultrasonic receiver; and the positioning calculation device calculates the position coordinates of the grab bucket to be positioned according to the installation position of each ultrasonic receiver and the measured propagation time.
The synchronous component comprises a synchronous signal transmitting module and a plurality of synchronous triggering modules; the ultrasonic transmitter and the positioning calculation device are both connected with a synchronous trigger module; in the process that the synchronous component triggers the positioning calculation device and the ultrasonic transmitter, the synchronous signal transmitting module simultaneously transmits synchronous signals to the synchronous triggering modules, and after receiving the synchronous signals, the synchronous triggering modules output triggering signals to the positioning calculation device and the ultrasonic transmitter.
The synchronous signal is an infrared pulse signal or a radio pulse signal.
A standby crystal oscillator timing module is arranged in the synchronous trigger module, and the standby crystal oscillator timing module of each synchronous trigger module synchronously times; and when the synchronous trigger modules cannot receive the synchronous signals, each synchronous trigger module synchronously outputs trigger signals according to the timing data of the standby crystal oscillator timing module.
A timer and a calculation module are arranged in the positioning calculation device; after the timer receives the trigger signal, the timer starts timing; when the positioning calculation device receives the electric signal sent by a certain ultrasonic receiver, the calculation module of the positioning calculation device records timing data of the timer, and the timing data is used as the propagation time of the ultrasonic signal to the ultrasonic receiver.
And when the number of the grab buckets to be positioned is more than one, the ultrasonic transmitter of each grab bucket to be positioned adopts different transmitting frequencies.
The step of calculating the position coordinates of the grab bucket to be positioned by the positioning calculation device specifically comprises the following steps: the positioning calculation device calculates distance data between each ultrasonic receiver and the ultrasonic transmitter according to the propagation speed of the ultrasonic wave and the propagation time of the ultrasonic receiver; and the positioning calculation device calculates the position coordinates of the grab bucket to be positioned according to the position coordinates of the ultrasonic receivers and the distance data.
The calculating device is connected with a plurality of temperature sensors, and corrects the ultrasonic propagation speed according to the temperature data detected by the temperature sensors.
The invention has the advantages that no mechanical equipment is needed, and frequent maintenance work such as abrasion, oiling and the like does not exist; errors caused by track slipping and the like are avoided, so that a corresponding calibration device is not needed; the set of receiver and calculation equipment can provide positioning for a plurality of grab buckets, and the coordinates of each grab bucket are transmitted by the same channel, so that centralized monitoring of the garbage crane is facilitated; the installation on the existing equipment, the engineering volume is little.
Drawings
Fig. 1 is a side view of a positioning system used in embodiment 1 of the present invention;
fig. 2 is a block diagram showing the structure of a positioning system used in embodiment 1 of the present invention;
fig. 3 is a block diagram of a synchronization signal transmitting module in embodiment 1 of the present invention;
FIG. 4 is a block diagram of a positioning computing device and a synchronization triggering module according to the present invention;
fig. 5 is a side view of a positioning system used in embodiment 2 of the present invention.
Detailed Description
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings to facilitate understanding by those skilled in the art:
referring to fig. 1-5, the labels 1-18 in the figures are: the device comprises a grab bucket 1 to be positioned, a garbage crane 2, a garbage pool 3, a synchronizing component 4, an ultrasonic receiver 5, an ultrasonic transmitter 6, a positioning calculation device 7, a synchronizing signal transmitting module 8, a synchronizing triggering module 9, a timing triggering control circuit 10, an infrared flasher 11, a synchronizing signal receiving module 12, a triggering signal generating module 13, a standby crystal oscillator timing module 14, a timer 16, a temperature sensor 17, a wireless pulse signal transmitter 18 and a calculation module 19.
Example (b): as shown in fig. 1, the present embodiment relates specifically to a grab bucket ultrasonic positioning method for positioning the position of a grab bucket; in the embodiment, two grab buckets 1 to be positioned are suspended above a garbage pool 3 through a garbage crane 2, and the garbage pool 3 and the space above the garbage pool are operation areas of the grab buckets 1 to be positioned; the length of the garbage pool is 100m, and the width of the garbage pool is 25 m; the method specifically comprises the following steps:
1) as shown in fig. 1 and 2, a synchronizing assembly 4 is installed, an ultrasonic transmitter 6 is installed on the grab 1 to be positioned, and a positioning calculation device 7 and at least three ultrasonic receivers 5 are installed on the periphery of the operation area of the grab to be positioned.
1.1) as shown in fig. 1 and 2, the synchronization component 4 comprises a synchronization signal transmitting module 8 and two synchronization triggering modules 9; the synchronous signal transmitting module 8 is used for transmitting synchronous signals to each synchronous triggering module 9; in the installation process, two synchronous trigger modules 9 are respectively installed on the positioning calculation device 7 and the ultrasonic transmitter 6; after receiving the synchronization signal sent by the synchronization signal transmitting module 8, each synchronization triggering module 9 can simultaneously output a triggering signal to the positioning calculating device 7 and the ultrasonic transmitter 6.
As shown in fig. 1 and 3, the synchronization signal in this embodiment is an infrared pulse signal; the synchronous signal transmitting module 8 comprises a timing trigger control circuit 10 and five infrared flashers 11; the infrared flasher 11 is connected with the timing trigger control circuit 10; the timing trigger control circuit 10 can control each infrared flasher 11 to send out synchronous signals at the same time every preset time; in the installation process, the five infrared flashers 11 are dispersedly installed on the lower surface of the factory building ceiling above the garbage pool 3, and the plurality of infrared flashers 11 can prevent obstacles such as a girder of a crane and the like from shielding the synchronous trigger module 9, so that the synchronous trigger module 9 can effectively receive at least one synchronous signal sent by one infrared flasher 11; in this embodiment, the synchronization signal propagates at the speed of light, and the propagation time of the synchronization signal is negligible.
As shown in fig. 1 and 4, the synchronization triggering module 9 includes a synchronization signal receiving module 12 and a triggering signal generating module 13; in the present embodiment, the synchronization signal receiving module 12 is a photoelectric sensor; the synchronous signal receiving module 12 is connected with the trigger signal generating module 13; the output end of the trigger signal generating module 13 is connected with the ultrasonic transmitter 6 or the positioning calculation device 7; the synchronization signal receiving module 12 may control the trigger signal generating module 13 to output the trigger signal after detecting the synchronization signal.
As shown in fig. 1 and 4, a standby crystal oscillator timing module 14 is further disposed in the synchronous trigger module 9, and the standby crystal oscillator timing module 14 is connected to the trigger signal generating module 13; the standby crystal oscillator timing module 14 adopts a high-precision crystal oscillator, and can ensure that the standby crystal oscillator timing module 14 in each synchronous trigger module 9 synchronously clocks.
1.2) as shown in fig. 1 and 2, in the installation process, two ultrasonic transmitters 6 are respectively installed on two grab buckets 1 to be positioned; the ultrasonic transmitter 6 is used for sending out an ultrasonic signal under the triggering of the synchronizing component 4.
1.3) as shown in the figures 1 and 2, respectively fixedly installing four ultrasonic receivers 5 on the ground surface around the garbage pool 3; the ultrasonic receiver 5 is used for converting the received ultrasonic signal into an electric signal; after the ultrasonic receivers 5 are mounted, the positioning calculation device 7 is connected to each ultrasonic receiver 5 by a cable.
As shown in fig. 1 and 2, the positioning calculation device 7 and the ultrasonic receiver 5 are fixed devices, and can reliably communicate with each other through a cable; the positioning calculation device 7 can adopt a PLC, a singlechip or an industrial personal computer; the positioning calculation means 7 may transmit the calculated position coordinates of the grapple 1 to be positioned to a control device or a monitoring device.
As shown in fig. 1 and 4, the positioning calculation device 7 includes a calculation module 19 and a timer 16; when the timer 16 receives the trigger signal, the timer 16 starts timing; when the positioning calculation device 7 receives an electric signal from one of the ultrasonic receivers 5, the calculation module 19 of the positioning calculation device 7 records the timing data of the timer 16 and takes the timing data as the propagation time of the ultrasonic signal from the ultrasonic transmitter 6 to the ultrasonic receiver 16.
2) As shown in fig. 2 and 4, the synchronization signal transmitting module 8 of the synchronization component 4 transmits the synchronization signal once every second; each synchronous trigger module 9 of the synchronous component 4 outputs a trigger signal after receiving the synchronous signal; the ultrasonic transmitter 6 sends out an ultrasonic signal under the trigger of the trigger signal; after receiving the trigger signal, the timer 16 resets its internal timing data and starts timing; after the ultrasonic receiver 5 receives the ultrasonic signal, the ultrasonic receiver 5 converts the ultrasonic signal into an electric signal and sends the electric signal to the positioning calculation device 7; the positioning calculation means 7 records the timing data as the propagation time of the ultrasonic signal.
As shown in fig. 1 and 2, in this embodiment, two grab buckets 1 to be positioned and an ultrasonic transmitter 6 are arranged above a garbage pool 3, and an ultrasonic receiver 5 receives ultrasonic signals twice in the timing process; in order to distinguish the ultrasonic signals emitted by the two ultrasonic transmitters 6, the two ultrasonic receivers 5 use different transmission frequencies.
As shown in fig. 1 and 4, when the visibility of the air above the garbage pool 3 is poor, the synchronization triggering module 9 may not receive the synchronization signal; when the synchronous trigger modules 9 cannot receive the synchronous signals for a long time, each synchronous trigger module 9 synchronously outputs the trigger signals according to the timing data of the standby crystal oscillator timing module 14.
3) As shown in fig. 1 and 2, after the positioning calculation device 7 receives the propagation time of the ultrasonic signal, it can calculate the distance data between each ultrasonic receiver 5 and the ultrasonic transmitter 6 according to the propagation time of the ultrasonic signal to each ultrasonic receiver 5 and the propagation speed of the ultrasonic signal; the position coordinates of each ultrasonic receiver 5 are stored in the positioning calculation device 7; the positioning calculation device 7 can calculate the position coordinates of the grapple 1 to be positioned based on the position coordinates of each ultrasonic receiver 5 and the distance data.
As shown in fig. 1 and 2, since the propagation velocity of the ultrasonic wave is a known quantity, the distance data between each ultrasonic receiver 5 and the ultrasonic transmitter 6 can be calculated by the propagation velocity of the ultrasonic wave and the propagation time of the ultrasonic signal; however, the propagation speed of the ultrasonic wave is greatly affected by the temperature, and a large error is caused by adopting a fixed propagation speed for calculation; in order to correct errors caused by temperature, a plurality of temperature sensors 17 are arranged around the operation area of the grab bucket 1 to be positioned; the temperature sensor 17 must be disposed at a position where the average temperature of the ultrasonic signal propagation path can be detected; the position can be obtained by detecting the temperature distribution condition in the garbage pool 3; the positioning calculation device 7 is connected with the temperature sensor 17, and the positioning calculation device 7 can correct the propagation speed of the ultrasonic wave according to the temperature data detected by the temperature sensor 17, so as to correct the position coordinates of the grab bucket 1 to be positioned.
As shown in fig. 1 and 2, the transmitting power of the ultrasonic transmitter 6 is not too large, and the transmission distance is not too far, and an effective distance of 40-50m is generally considered; when the area of the garbage pool 3 is too large, the number of the ultrasonic receivers 5 can be more than three; when the number of the ultrasonic receivers 5 capable of receiving the ultrasonic signal is more than three, the detection results of the ultrasonic transmitter 6 may be screened in various ways.
In the calculation process of the positioning calculation device 7, the detection results of the three ultrasonic receivers 5 closest to the grab bucket 1 to be positioned can be selected from the plurality of ultrasonic receivers 5 for calculation; from the propagation times detected by the three ultrasonic receivers 5, the position coordinates of the two grapple 1 to be positioned can be derived (the intersection of the three circles has two intersections), and the positioning calculation means 7 needs to exclude an erroneous coordinate from the two position coordinates.
In the screening process, when one of the two position coordinates is positioned outside the operation area of the grab bucket 1 to be positioned, the position coordinate can be excluded, and the other position coordinate is used as the position coordinate of the grab bucket 1 to be positioned; when the two position coordinates are both located in the operation area of the grab bucket 1 to be positioned, the position coordinates of the grab bucket 1 to be positioned can be determined according to the motion track and the motion direction of the grab bucket 1 to be positioned due to the continuity of the track of the grab bucket 1 to be positioned.
In the calculation process of the positioning calculation device 7, the detection results of four ultrasonic receivers 5 can be selected from the plurality of ultrasonic receivers 5 for calculation; in the calculation process, the positioning calculation device 7 selects three from the detection results of the four ultrasonic receivers 5 for calculation in four times; four calculation results can be obtained through calculation, and when the error of the four calculation results is large, the positioning system can be judged to be in fault.
In the calculation process of the positioning calculation device 7, the detection results of four ultrasonic receivers 5 with non-coplanar installation positions can be selected from the plurality of ultrasonic receivers 5 for calculation; when the selected mounting positions of the four ultrasonic receivers 5 are not coplanar, the positioning calculation device 7 can calculate unique position coordinates.
The beneficial technical effects of this embodiment do: mechanical equipment is not needed, and frequent maintenance work such as abrasion, oil filling and the like does not exist; errors caused by track slipping and the like are avoided, so that a corresponding calibration device is not needed; the set of receiver and calculation equipment can provide positioning for a plurality of grab buckets, and the coordinates of each grab bucket are transmitted by the same channel, so that centralized monitoring of the garbage crane is facilitated; the installation on the existing equipment, the engineering volume is little.
Example 2: as shown in fig. 4 and 5, the main difference between this embodiment and embodiment 1 is that the synchronization signal in this embodiment is a radio pulse signal; in this embodiment, the synchronization signal transmitting module 8 includes a timing trigger control circuit 10 and a wireless pulse signal transmitter 18 connected to each other; the wireless pulse signal transmitter 18 can send out a synchronous signal under the control of the timing trigger control circuit 10; the synchronization signal receiving module 12 in the synchronization triggering module 9 is a wireless pulse signal receiver for adapting to the synchronization signal transmitting module 8.
Claims (4)
1. The grab bucket ultrasonic positioning method is characterized by comprising the following steps: installing a synchronous component, installing an ultrasonic transmitter on the grab bucket to be positioned, and installing a positioning calculation device and at least three ultrasonic receivers on the periphery of the operation area of the grab bucket to be positioned; the ultrasonic transmitter sends out an ultrasonic signal under the trigger of the synchronous component; the ultrasonic receiver receives the ultrasonic signal sent by the ultrasonic transmitter, converts the ultrasonic signal into an electric signal and immediately transmits the electric signal to the positioning computing device; the positioning calculation device starts timing under the triggering of the synchronization component and respectively measures the propagation time of the ultrasonic wave from the ultrasonic transmitter to each ultrasonic receiver according to the electric signals sent by each ultrasonic receiver; the positioning calculation device calculates the position coordinates of the grab bucket to be positioned according to the installation position of each ultrasonic receiver and the measured propagation time; the positioning calculation device is connected with a plurality of temperature sensors and corrects the propagation speed of the ultrasonic waves according to temperature data detected by the temperature sensors;
the synchronous component comprises a synchronous signal transmitting module and a plurality of synchronous triggering modules; the ultrasonic transmitter and the positioning calculation device are both connected with a synchronous trigger module; in the process that the synchronous component triggers the positioning calculation device and the ultrasonic transmitter, the synchronous signal transmitting module simultaneously transmits synchronous signals to the synchronous triggering modules, and after receiving the synchronous signals, the synchronous triggering modules output triggering signals to the positioning calculation device and the ultrasonic transmitter; the synchronous signal is an infrared pulse signal or a radio pulse signal; the synchronous signal transmitting module comprises a timing trigger control circuit and five infrared flashers connected with the timing trigger control circuit, and the five infrared flashers are dispersedly and alternately arranged on the lower surface of a workshop ceiling above the garbage pool;
a standby crystal oscillator timing module is arranged in the synchronous trigger module, and the standby crystal oscillator timing module of each synchronous trigger module synchronously times; and when the synchronous trigger modules cannot receive the synchronous signals, each synchronous trigger module synchronously outputs trigger signals according to the timing data of the standby crystal oscillator timing module.
2. The grab bucket ultrasonic positioning method according to claim 1, wherein a timer and a calculation module are arranged in the positioning calculation device; after the timer receives the trigger signal, the timer starts timing; when the positioning calculation device receives the electric signal sent by a certain ultrasonic receiver, the calculation module of the positioning calculation device records timing data of the timer, and the timing data is used as the propagation time of the ultrasonic signal to the ultrasonic receiver.
3. The method as claimed in claim 1, wherein when the number of the grapple to be positioned is more than one, the ultrasonic transmitter of each grapple to be positioned adopts different transmitting frequency.
4. The method according to claim 2, wherein the step of calculating the position coordinates of the grapple to be positioned by the positioning calculation device comprises the following steps: the positioning calculation device calculates distance data between each ultrasonic receiver and the ultrasonic transmitter according to the propagation speed of the ultrasonic wave and the propagation time of the ultrasonic receiver; and the positioning calculation device calculates the position coordinates of the grab bucket to be positioned according to the position coordinates of the ultrasonic receivers and the distance data.
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| CN108802688A (en) * | 2018-07-18 | 2018-11-13 | 上海天豚信息科技有限公司 | Localization method, the space positioning system of object to be measured object in space |
| CN115106767B (en) * | 2022-08-01 | 2024-07-16 | 中国船舶集团有限公司第七一六研究所 | Screw fool-proof tightening system based on ultrasonic positioning |
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| CN102033222B (en) * | 2010-11-17 | 2013-02-13 | 吉林大学 | Large-scale multiple-object ultrasonic tracking and locating system and method |
| CN102156285A (en) * | 2011-03-16 | 2011-08-17 | 杭州华韵天略电子科技有限公司 | Method and system for performing three-dimensional location by ultrasonic waves |
| CN102253367A (en) * | 2011-04-01 | 2011-11-23 | 长春理工大学 | Ultrasonic wave based indoor three-dimensional positioning system and method |
| CN102752845B (en) * | 2012-07-27 | 2018-05-18 | 南开大学 | Stereoscopic ultrasonic Positioning System time synchronization mechanism based on wireless sensor network |
| CN104597878A (en) * | 2014-12-31 | 2015-05-06 | 重庆川仪自动化股份有限公司 | Controller time synchronizing method of industrial control system |
| CN105607034A (en) * | 2015-12-23 | 2016-05-25 | 北京凌宇智控科技有限公司 | Three-dimensional space detection system, positioning method and system |
| CN205982614U (en) * | 2016-08-09 | 2017-02-22 | 上海木牛机器人有限公司 | Positioning system who possesses wireless radio frequency device and ultrasonic device |
| CN106895838A (en) * | 2017-01-17 | 2017-06-27 | 无锡辰星机器人科技有限公司 | A kind of indoor navigation localization method, system, equipment to be positioned and anchor node |
| CN107300704B (en) * | 2017-05-15 | 2020-07-28 | 武汉星巡智能科技有限公司 | Indoor positioning method and device for unmanned aerial vehicle |
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