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Origin precise positioning system and positioning method based on low-precision multiple sensor fusion
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A precise positioning and sensor technology, applied in the direction of control using feedback, can solve the problems of insufficient positioning accuracy, high cost, and difficult assembly, and achieve the effect of reducing equipment cost, reducing equipment cost, and reducing assembly difficulty.
Active Publication Date: 2016-03-23
HARBIN INST OF TECH
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[0003] The present invention aims to solve the problem of high cost and difficult assembly in the existing origin positioning accuracy equipment if the high-precision sensor is used, and the contradiction that the positioning accuracy is not enough if the low-precision sensor is used can overcome the aforementioned problems, and further provides a Origin precise positioning system and positioning method based on low-precision multiple sensor fusion
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specific Embodiment approach 1
[0025] Specific implementation mode one: the following combination figure 1 Describe this embodiment, the low-precision multi-sensor fusion origin precise positioning system described in this embodiment, it includes industrial computer 1, DSP2, position pulse down counter 3, motor driver 4, motor 5, moving mechanism, displacement sensor 6 , displacement counter 7 and origin sensor 8;
[0026] The position command signal output terminal of the industrial computer 1 is connected to the position command signal input terminal of DSP2, and the total number of pulses to be sent by DSP2 is written into the position pulse decrement counter 3, and the pulse signal output terminal of the DSP2 is connected to the pulse signal input of the position pulse decrement counter 3 end, the state signal output end of the position pulse decrement counter 3 is connected to the state signal input end of DSP2, the position pulse decrement counter 3 is used to control the total number of position puls...
specific Embodiment approach 2
[0033] Embodiment 2: This embodiment further limits the low-precision multi-sensor fusion origin precise positioning system described in Embodiment 1. In this embodiment, the displacement sensor 6 is realized by a magnetic scale or a grating scale.
specific Embodiment approach 3
[0034] Specific implementation mode three: the following combination figure 1 and figure 2 Describe this embodiment, the origin precise positioning method of low-precision multiple sensor fusion described in this embodiment, this method is realized by the origin precise positioning system of low-precision multiple sensor fusion, the low-precision multiple sensor fusion The origin precise positioning system includes industrial computer 1, DSP2, position pulse subtraction counter 3, motor driver 4, motor 5, moving mechanism, displacement sensor 6, displacement counter 7 and origin sensor 8;
[0035] The position command signal output terminal of the industrial computer 1 is connected to the position command signal input terminal of DSP2, and the total number of pulses to be sent by DSP2 is written into the position pulse decrement counter 3, and the pulse signal output terminal of the DSP2 is connected to the pulse signal input of the position pulse decrement counter 3 end, th...
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Abstract
The invention relates to a multi-sensor fused original point precise positioning technology, in particular to a low-precision multi-sensor fused original point precise positioning system and positioning method. The problems that if a high-precision sensor is adopted in an existing original point positioning precision device, cost is high, assembling difficulty is large, and if a low-precision sensor is adopted, the previous problems are overcome, but positioning precision is low are solved. The low-precision sensor is adopted to lower the assembling difficulty and device cost, and meanwhile the positioning precision is guaranteed. A displacement sensor and an original point sensor are matched to achieve positioning, the requirement for the mounting precision of the sensors is lowered on the premise of achieving the positioning precision the same as that of the high-precision sensor, then the assembling difficulty of the sensors is lowered, the assembling difficulty is lowered by more than 30% year on year, and the device cost is lowered by 20%. The system and method are suitable for the multi-sensor fused original point positioning technology.
Description
technical field [0001] The invention relates to the origin precise positioning technology of multi-sensor fusion. Background technique [0002] With the increasing popularity of automation equipment in industrial production, the requirements for equipment motion control accuracy are getting higher and higher, and the equipment origin positioning accuracy has a great influence on the equipment motion control accuracy. In the current industrial equipment, the low accuracy of origin positioning is often caused by the low accuracy of the sensors used. In order to improve the accuracy, it is often realized by relying on high-precision inductive sensors, such as the PK15 produced by SONY, whose positioning accuracy can It has reached 3um, but it is followed by a substantial increase in equipment R&D and manufacturing costs, as well as assembly difficulties due to high assembly precision. Contents of the invention [0003] The present invention aims to solve the problem of high ...
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