A positioning system based on PCC controller and wireless sensor

Abstract

The present application relates to the technical field of relay stroke measurement, and provides a positioning system based on a PCC controller and a wireless sensor, specifically including a first sensor, a second sensor, a PCC controller and a human-machine interface. The present application adopts a PCC controller as the data acquisition and calculation unit of the positioning system, combined with an ultrasonic wireless sensor, to scan the object to be measured, and can automatically complete the data measurement and numerical calculation procedures required for the coordinate calibration of the object to be measured, and can be displayed in the form of a picture on the human-machine interface. The present application configures an advanced ultrasonic wireless sensor and a special tooling, connects the sensor to the PCC controller through communication or analog means, and the measurement data is stored, calculated and output inside the PCC controller, and the communication connection is achieved between the PCC controller and the human-machine interface, thereby completing the acquisition, calculation, display and transmission functions.

Description

Technical Field

[0001] The present application relates to the technical field of positioning devices for hydropower generation, and in particular to a positioning system based on a PCC controller and a wireless sensor. Background Art

[0002] Measuring the travel of a servo is a crucial process in hydropower projects, and this is primarily accomplished by determining the position of a probe. Currently, conventional positioning methods in the hydropower industry rely on a single sensor for single-dimensional positioning.

[0003] For details, see Figure 1 , which is a schematic diagram of the conventional positioning method in the prior art. The specific method is: first, according to the measurement range of sensor 1, set the minimum detection distance 4 and the maximum detection distance 5, calibrated to 0% and 100% respectively. Then, within this range, according to the interpolation formula, the percentage is displayed based on the analog value collected in real time. Conventional positioning methods have the following application characteristics:

[0004] (1) The measured object 3 moves in a straight line. After obtaining the range and pattern of the measured object's movement in advance, the measuring sensor 1 is installed to match the measured object 3. Generally, the sensor 1, wire rope 2, and measured object 3 are required to be in a straight line and coaxial. If the sensor 1 or the measured object 3 is installed crookedly, the measurement results will show nonlinear changes, thereby reducing the measurement precision and accuracy.

[0005] (2) Automatic positioning can only be achieved for stationary objects under test, but it is not possible to determine the position of objects under test that are moving on a plane or after the object has finished moving. Alternatively, manual measurement is required to determine the position. Specifically, when the object under test moves irregularly within a plane, manual intervention is required to obtain positioning information. Alternatively, a second sensor can be used for measurement, but the installation of the second sensor and the measurement data of the two sensors still require manual secondary processing to accurately locate the specific position of the object under test. Therefore, conventional positioning methods cannot automatically complete data collection, calculation, and analysis.

[0006] (3) Wire rope or short-distance wireless measurement is mostly used, which is complex to install and has low reliability, accuracy and integration. In addition, the measurement data cannot be monitored online and transmitted in real time, nor can it be presented in the form of images, coordinates, etc.

[0007] In recent years, to meet on-site requirements, probes are often not stationary but need to move freely on the guide vanes. Furthermore, with the increasing demand for highly automated and intelligent operation and maintenance of mechanical equipment, there is an urgent need to upgrade and integrate conventional positioning methods to replace traditional manual measurement methods. This allows for precise positioning of moving probes, thereby achieving a high degree of automation in the equipment. Therefore, a dynamic positioning system that can automatically collect and calculate data, and enable real-time online measurement and display is urgently needed. Summary of the Invention

[0008] In order to overcome the shortcomings of the existing technology, the present application aims to provide a positioning system based on a PCC controller and a wireless sensor, which can perform coordinate measurement and positioning of a measured object (probe or other object) moving on a plane; and can automatically collect and calculate the measurement data without relying on a pull rope, and the measurement process and the acquisition of measurement results do not need to rely on manual labor; the processed data can also be displayed on the screen and transmitted to other required equipment over long distances.

[0009] In order to achieve the above objectives, the present application provides a positioning system based on a PCC controller and a wireless sensor, specifically comprising: a first sensor, a second sensor, a PCC controller and a human-machine interface.

[0010] The first sensor is used to obtain a first sampling value of the measured object and send the first sampling value to the PCC controller, where the first sampling value is distance information between the first sensor and the measured object.

[0011] The second sensor is used to collect a second sampling value of the object to be measured and send the second sampling value to the PCC controller; the second sampling value is distance information between the second sensor and the object to be measured.

[0012] The PCC controller is used to accurately locate the object under test according to the first sampling value and the second sampling value to obtain a precise target position; and send the precise target position to the human-machine interface.

[0013] The human-machine interface is used to display the precise target position on the screen.

[0014] Furthermore, the PCC controller accurately locates the measured object according to the first sampling value and the second sampling value, and a specific method for obtaining the precise target position is:

[0015] Set the activity range of the object to be measured.

[0016] A reference point A and a reference point B are set, wherein the reference point A is the installation position of the first sensor, and the reference point B is the installation position of the second sensor.

[0017] The distance between the reference point A and the reference point B is obtained, marked as c.

[0018] The distance between the reference point A and the object to be measured is obtained, marked as b; and the distance between the reference point B and the object to be measured is obtained, marked as a.

[0019] A circle is drawn with the reference point A as the center and b as the radius to obtain circle A.

[0020] A circle is drawn with the reference point B as the center and a as the radius to obtain circle B.

[0021] The intersection point of the circle A and the circle B is obtained, and the intersection point located within the activity range is determined as the precise target position.

[0022] Furthermore, the first sensor and the second sensor are ultrasonic ranging sensors, and the ultrasonic ranging sensor is an M18 model.

[0023] Furthermore, the positioning system also includes a linkage tooling, which is connected to the object to be measured as a whole, moves synchronously with the object to be measured, and is used to receive and feed back the ranging signals sent by the first sensor and the second sensor.

[0024] Furthermore, the linkage tooling includes a metal sensing surface, a spherical joint and a cylindrical body. The metal sensing surface is used to receive and feedback the ranging signals sent by the first sensor and the second sensor. A first strong magnet sheet is attached to the metal sensing surface, and the first strong magnet sheet is connected to the center of the spherical joint. The spherical joint is arranged in the cylindrical body according to a preset ratio, and the spherical joint can link the metal sensing surface to rotate in all directions.

[0025] Furthermore, the cylindrical body is a cylinder that can be extended and retracted along the axial direction. One end of the cylindrical body is hollow and contains the spherical joint of a preset proportion. The spherical joint and the cylindrical body are located at the same axial center and are connected by tapping M4 threads to lock the spherical joint to prevent the metal sensing surface from rotating.

[0026] Furthermore, the preset ratio is 60%.

[0027] Furthermore, the positioning system also includes two customized brackets matching the first sensor and the second sensor, and the customized brackets are respectively used to fix the first sensor and the second sensor.

[0028] Furthermore, the customized bracket is L-shaped and made of 3 mm thick steel. The bottom of the L-shape is provided with a second strong magnet sheet of matching size; the side opening of the customized bracket is a U-shaped groove with a diameter of 19 mm.

[0029] Furthermore, the positioning system also includes a power supply device for providing power support for the PCC controller, the first sensor, the second sensor and the human-machine interface.

[0030] The present application provides a positioning system based on a PCC controller and a wireless sensor. The present application adopts a PCC controller as the data acquisition and calculation unit of the positioning system, and combines it with an ultrasonic wireless sensor to scan the object to be measured. It can automatically complete the data measurement and numerical calculation procedures required for the coordinate calibration of the object to be measured, and can be displayed in the form of a picture on the human-machine interface. The present application configures an advanced ultrasonic wireless sensor and a special tooling, connects the sensor to the PCC controller through communication or analog quantity, and the measurement data is stored, calculated and output inside the PCC controller, and the communication connection is achieved between the PCC controller and the human-machine interface, thereby completing the acquisition, calculation, display and transmission functions; at the same time, the human-machine interface can set parameters and calibrate the range of the measurement benchmark. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 This is a schematic diagram of the operation of a conventional positioning method in the prior art;

[0033] Figure 2 A schematic diagram of the measurement and positioning principle of a positioning system based on a PCC controller and wireless sensors provided in an embodiment of the present application;

[0034] Figure 3 Schematic diagram of the measurement principle of the ultrasonic ranging sensor provided in the embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of the linkage tooling for the object to be measured provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the customized bracket structure provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of a portable positioning device provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of the structure of a positioning system based on a PCC controller and wireless sensors provided in an embodiment of the present application;

[0039] Figure 8 Schematic diagram of screen display provided in the embodiment of the present application.

[0040] In the figure, 1-sensor, 2-wire rope, 3-measured object, 4-minimum detection distance, 5-maximum detection distance, 6-linkage tooling, 61-metal sensing surface, 611-first strong magnet, 62-spherical joint, 63-cylindrical body, 631-bolt hole, 7-customized bracket, 71-second strong magnet, 8-human-machine interface, 9-signal acquisition interface, 10-power interface, 11-communication interface, 12-storage online interface. DETAILED DESCRIPTION

[0041] The following is a complete and clear description of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] Currently, in the hydropower industry, the stroke measurement of relays is mostly still completed using traditional positioning methods. However, traditional positioning methods are simple and single, and are linear positioning. They cannot accurately locate two-dimensional moving objects, and even if they can be positioned, manual intervention is required to achieve it. They cannot automatically calculate two-dimensional coordinates. Moreover, traditional positioning is only a method, and is only used as control feedback or data display in the control equipment. It cannot be displayed to users in real time.

[0043] Therefore, the embodiments of the present application address the shortcomings of traditional positioning methods and provide a positioning system based on a PCC controller and wireless sensors, which is primarily used for measuring the travel of relays in hydropower projects. This positioning system can measure the coordinates and position the measured object (probe or other object) moving on a plane, enabling automatic collection and calculation of measurement data without relying on a pull cord, and the analysis process and results require no human intervention. Furthermore, the processed data can be displayed visually and transmitted remotely (via communication or analog output) to other required equipment.

[0044] The embodiment of the present application provides a positioning system based on a PCC controller and a wireless sensor, specifically including: a first sensor, a second sensor, a PCC controller and a human-machine interface.

[0045] In the embodiment of the present application, the first sensor is used to obtain a first sampling value of the object under measurement and send the first sampling value to the PCC controller, wherein the first sampling value is real-time distance information between the first sensor and the object under measurement.

[0046] In the embodiment of the present application, the second sensor is used to collect a second sampling value of the object under test and send the second sampling value to the PCC controller, wherein the second sampling value is real-time distance information between the second sensor and the object under test.

[0047] In the embodiment of the present application, the PCC controller is used to accurately locate the object under test according to the first sampling value and the second sampling value to obtain a precise target position; and send the obtained precise target position to the human-machine interface.

[0048] Specifically, the PCC controller mainly includes an analog input module, a communication module, and a CPU module. The analog input module is mainly used to receive analog sampling signals sent by the first sensor and the second sensor. The communication module is used to connect with other application devices. The CPU module is used for data conversion, calculation, analysis, and transmission, and realizes communication connection with the human-machine interface. Among them, in the embodiment of the present application, the PCC controller uses the latest X20 series of PCC from B&R, the CPU model can be CP1485 or above, and the analog module model is AI4622. One module of this model can receive four analog signals (current and voltage can be selected by jumper).

[0049] In the embodiment of the present application, the PCC controller performs precise positioning according to the following method to obtain the precise target position:

[0050] Step S11: setting the activity range of the object to be measured.

[0051] Step S12: setting a reference point A and a reference point B, wherein the reference point A is the installation position of the first sensor, and the reference point B is the installation position of the second sensor.

[0052] Step S13: Obtain the distance between the reference point A and the reference point B, marked as c.

[0053] Step S14: obtaining the distance between the reference point A and the object to be measured, marked as b; and obtaining the distance between the reference point B and the object to be measured, marked as a.

[0054] Step S15: Draw a circle with the reference point A as the center and b as the radius to obtain circle A.

[0055] Step S16: Draw a circle with the reference point B as the center and a as the radius to obtain circle B.

[0056] Step S17: Obtain the intersection of the circle A and the circle B, and determine the intersection within the activity range as the precise target position.

[0057] Specifically, refer to Figure 2 , is a schematic diagram of the measurement and positioning principle of a positioning system based on a PCC controller and a wireless sensor provided in an embodiment of the present application. For the convenience of calculation, in an embodiment of the present application, a square is set to represent the range of activity of the object to be measured (which can be a probe). On a certain boundary within the range of activity of the object to be measured, a reference point A and a reference point B are set. An ultraviolet ranging sensor is installed at each of the two locations, and the object to be measured moves within the defined range of activity. The ultraviolet ranging sensor at the reference point A detects that the distance between the reference point A and the object to be measured is b through the principle of ultrasonic detection; the ultraviolet ranging sensor at the reference point B detects that the distance between the reference point B and the object to be measured is a through the principle of ultrasonic detection. The distance between the reference point A and the reference point B is known and is defined as c. Then, a circle is drawn with the reference point A as the center and b as the radius, and a circle is drawn with the reference point B as the center and a as the radius. Thus, the two circles have at most two intersection points, J1 and J2. The intersection point J1, which falls within the previously defined range of motion (i.e., the square), is the precise location C of the object being measured. Further calculations can yield the precise target location of the object being measured. It should be noted that a, b, and c are actually per-unit values.

[0058] In the embodiment of the present application, the human-machine interface is used to display the precise target position on the screen. Specifically, the human-machine interface is used for screen configuration, and it mainly has functions such as parameter setting, information display, and storage. Specifically, the human-machine interface can use a small touch screen of the MCGS brand, model TPC7062KD. This model product is a high-performance embedded integrated touch screen with an embedded low-power CPU as the core. The product has a compact body, uses a standard 7-inch LCD screen with a resolution of 800×480, has a compact installation control, excellent display quality, and is equipped with a four-wire resistive touch screen with a resolution of 1024×1024.

[0059] In the embodiment of the present application, the first sensor and the second sensor are ultrasonic ranging sensors, and the ultrasonic ranging sensor is of the M18 model. Specifically, since the object being measured is constantly moving, the traditional rope-type sensor is obviously no longer applicable for dynamic position determination, and a wireless, highly integrated, easy-to-install, and compact sensor must be selected. For this reason, in the embodiment of the present application, the use of an ultrasonic ranging sensor is the best choice. Specifically, refer to Figure 3 , is a schematic diagram of the measurement principle of the ultrasonic ranging sensor provided in the embodiment of the present application, wherein the outer diameter of this type of ultrasonic ranging sensor is M18, the standard target plate size is 100×100mm, Figure 3 As can be seen, this type of ultrasonic ranging sensor has a sector-shaped scanning pattern, which significantly reduces measurement errors caused by installation deviations. More specifically, the sensor requires a 24V power supply and uses a three-wire wiring principle. Its measurement range is 3 meters and above. Its output signal type is either 4-20mA or 0-10V current. Its ambient temperature range is -5 to 50°C, and its external wiring uses a 5-pin plug.

[0060] In an embodiment of the present application, the positioning system further includes a linkage tooling, which is connected to the measured object as a whole and moves synchronously with the measured object, and is used to receive and feed back the ranging signals sent by the first sensor and the second sensor.

[0061] Specific reference Figure 4 Schematic diagram of the structure of the linkage tooling of the object to be measured provided in the embodiment of the present application. As can be seen from the figure, the linkage tooling 6 is mainly composed of three parts: a metal sensing surface 61, a spherical joint 62 and a cylindrical body 63. The metal sensing surface 61 is used to receive and feedback the ranging signals sent by the first sensor and the second sensor, and a first strong magnet sheet 611 is attached to the metal sensing surface 61. The first strong magnet sheet 611 is connected to the rotation center of the spherical joint 62 through an M4 bolt. The spherical joint 62 can rotate in all directions within a certain range, thereby bringing The moving metal sensing surface 61 rotates in all directions together, which plays a role in adjusting the metal sensing surface 61; further, the cylindrical body 63 is a cylinder with a certain axial elasticity. One end of the cylindrical body 63 is hollow and contains a spherical joint 62 with a volume of 60%. The spherical joint 62 and the cylindrical body 63 are located at the same axial center and are connected by tapping M4 threads, which is conducive to the M4 hexagon socket bolt as a top screw to lock the spherical joint 62, thereby preventing the metal sensing surface 61 from rotating arbitrarily during the distance measurement process, affecting the accuracy of the measurement data.

[0062] Specifically, the embodiment of the present application aims to locate a moving object to be measured. It is difficult to directly detect the target using the above-mentioned sensor, or the positioning is not accurate enough. Therefore, a tooling that moves with the object to be measured needs to be designed. Figure 4It can be seen that the linkage tooling is designed with a measured metal sensing surface 61, which is adjustable and has a locking function. It is made of metal, 3mm thick, and black; the radius R1 of the rotatable spherical joint is 15mm; the diameter d1 and length L1 of the cylindrical body 63 are both 40mm, and a bolt hole 631 is provided at the other end of the cylindrical body 63 for screwing in an M4 hexagon socket bolt, wherein the inner diameter d2 of the bolt hole is set to 10mm, and the embodiment of the present application uses an M4 hexagon socket bolt with an outer diameter of 8mm for the nut. In this way, the outer diameter of the nut is smaller than the inner diameter of the bolt hole, thereby reserving a margin for screwing in the bolt, which is convenient for operation. In addition, the sinking depth h of the M4 hexagon socket bolt is 6mm.

[0063] In the embodiment of the present application, the positioning system further includes a customized bracket 7 matching the first sensor and the second sensor, and there are two customized brackets 7, which are used to fix the first sensor and the second sensor respectively.

[0064] Specifically, in order to avoid the accuracy of the measurement results being affected by the shaking or slight movement of the sensor, the sensor needs to be fixed. The embodiment of this application uses an M18 thick ultrasonic ranging sensor. Considering the adjustability of the sensor fixation and the convenience of the bracket installation, the sensor customized bracket is designed as follows: Figure 5 As shown, Figure 5 (a) is a front view of the customized bracket. Figure 5 (b) is a side view of the customized bracket. Figure 5 (c) is a top view of the customized bracket. Figure 5 As can be seen from (a)-(c), the customized bracket 7 is designed to be L-shaped and made of 3 mm thick steel. The L-shaped bottom of the customized bracket 7 is provided with a second strong magnet piece 71 that matches the size of the L-shaped bottom. It is designed as a magnet here, firstly to play a better fixing role, and secondly to facilitate the installation and adjustment of the fixed bracket 7. It can be installed and used, and can be removed after testing, making the operation more convenient and variable.

[0065] The side opening of the customized bracket 7 is a U-shaped groove, wherein the width W1 of the L-shaped side end is 25mm, the height H1 is 70mm, and the thickness D1 is 3mm; the length L2 of the L-shaped bottom end is 65mm, the width W2 is 25mm, and the thickness D2 is 3mm; the width W3 of the U-shaped groove is 19mm, and the depth H2 is 56.5mm, wherein the depth H3 of the straight part of the U-shaped groove is 47mm, and the radius R2 of the arc part of the U-shaped groove is 9.5mm. This design facilitates the up and down adjustment of the sensor and is more flexible.

[0066] Furthermore, the positioning system also includes a power supply device for providing power support for the PCC controller, the first sensor, the second sensor and the human-machine interface.

[0067] It should be noted that, in order to make the operation easier, in some embodiments of the present application, the PCC controller and the ECU can be integrated into one device to form a portable device. Figure 6 , is a schematic diagram of the appearance of the portable positioning device provided in an embodiment of the present application. The device can be designed to be 30 cm in length, 20 cm in depth, and 40 cm in height. Such a design makes the device compact and easy to carry. As can be seen from the figure, the portable device includes a human-machine interface 8, and is provided with a signal acquisition interface 9, a power interface 10, a communication interface 11, and a storage online interface 12. All interfaces are aviation plugs that are easy to plug and unplug, wherein the signal acquisition interface 9 is connected to an external ultrasonic ranging sensor. This portable device provides an RS485 interface to the outside, supports the standard MODBUS protocol, and can be easily connected to a general data collector.

[0068] It can be seen that the embodiments of the present application have the following characteristics:

[0069] 1. The embodiment of the present application proposes using two wireless sensors to collect and calculate data on an object moving on a plane, and to determine the coordinates of the measured object.

[0070] 2. After the data is processed by the PCC controller and the human-machine interface, the position of the measured object can be displayed vividly. The human-machine interface has functions such as parameter setting, information display and storage.

[0071] 3. The embodiment of the present application designs a multi-angle and adjustable sensing metal surface with a simple structure, economical and practical, and easy to install.

[0072] 4. The PCC controller provides an RS485 interface and supports the standard MODBUS protocol, which can be easily connected to a general data collector or other data platform.

[0073] The following is a brief overview of a positioning system based on a PCC controller and wireless sensors, as provided in an embodiment of this application. This positioning system, primarily used for measuring the travel of a servomotor, comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a custom sensor bracket, a PCC controller, a linkage fixture for the measured object, a human-machine interface, and a power supply.

[0074] See also Figure 7, which is a structural diagram of a positioning system based on a PCC controller and a wireless sensor provided in an embodiment of the present application. As can be seen from the figure, the positioning system is mainly composed of a PCC controller, a sensor unit composed of two ultrasonic sensors, a human-machine interface, a power supply device, and a measured object. The two ultrasonic sensors collect the position of the measured object (here is the probe) and input it into the analog input module of the PCC controller in an analog manner. The data is converted and calculated by the CPU module and communicated with the touch screen HMI of the human-machine interface. At the same time, the calculated result data can also be transmitted to other application systems in a MODBUS485 communication manner. The power module in the power supply device provides power support to the PCC controller, human-machine interface and ultrasonic sensor.

[0075] Specifically, the present invention provides a positioning system based on a PCC controller and wireless sensors. This system utilizes the PCC controller's analog-to-digital conversion, filtering, and software programming techniques to measure, extract, analyze, calculate, and transmit the position of the object being measured. The human-machine interface uses an MCGS product for screen configuration, with primary functions for parameter setting and position visualization. The specific processing steps of this positioning system can be represented as follows:

[0076] ① Data collection and calibration. Perform numerical calibration on the interface based on the range of each sensor. Assume that the calibration preset data for a single sensor is as shown in Table 1. It should be emphasized that the data in the table are hypothetical values.

[0077] Table 1 Preset value calibration table for a single sensor

[0078] Minimum sampling analog value 4mA Maximum sampling analog value 20mA Minimum sampling value code value semp_min 6553 Maximum sampling value code value semp_max 32767 Minimum sampling calibration percentage 0％ Maximum sampling calibration percentage 100％ Corresponding to the minimum position L_min 20mm Corresponding maximum position L_max 2020mm

[0079] The measurement position Y1 of the first ultrasonic ranging sensor for the object being measured can be calculated using the following formula:

[0080]

[0081] Where X1 is the real-time sampling value of the first ultrasonic ranging sensor.

[0082] The second ultrasonic ranging sensor measures the position Y2 of the object being measured. The calculation principle and method are the same as those for Y1, which can be specifically expressed as follows:

[0083]

[0084] Where X2 is the real-time sampling value of the second ultrasonic ranging sensor.

[0085] ② According to the above formula, the specific values ​​of Y1 and Y2 can be obtained. Figure 2In the triangle △ABC, AB represents the base points of the two ultrasonic ranging sensors, and C represents the probe position of the object being measured. This means b = Y1 and b = Y2. Draw circles with radii b and a, respectively. The intersection of these circles on the AB reference line (within the range of motion) is the precise location of the object being measured.

[0086] Assuming point B is the viewing angle, to describe the position of C, we only need to find the size of ∠ABC and the length of a. The length of a can be determined using the aforementioned formula, while the size of the angle ∠ABC can be calculated using the following derivation process:

[0087] According to the numerical relationship between triangle angles and sides:

[0088] b 2 =a 2 +c 2 -2ac×cos∠B (1)

[0089] From formula (1), it can be deduced that:

[0090]

[0091] From formula (2), we can get:

[0092]

[0093] On the premise of knowing the angle and side length, the coordinates of point C of the measured object can be calibrated and quantitatively described based on the determined position of point B.

[0094] ③ Screen display. Figure 8 , is a schematic diagram of the screen display provided by the embodiment of the present application. According to the above method and the obtained data, the position is displayed visually on the human-computer interface. Among them, the circular curve and the position of the measured object are both scripted and programmed in the interface.

[0095] In summary, the embodiments of the present application have the following advantages:

[0096] 1. PCC and human-machine interface (such as MCGS touch screen) technology are used for the first time in the position measurement and coordinate calibration of mobile targets. It has a compact structure, simple algorithm, accurate data and rich display.

[0097] 2. The positioning system integrates wireless sensors, PCC1382 modules, analog and communication modules, power supply units, and display units. The collected data is directly output in the form of analog signals. At the same time, the collected raw data, per-unit data, and processed information are remotely transmitted to other data access platforms through standard MODBUS485 communication.

[0098] 3. The PCC programming language is simple. Conventional mathematical operations, including cosine and its inverse, can all be directly called by functions or instructions without reprogramming. The human-machine interface is easy to configure and has a rich component library. Simple data association can also be completed through script programming according to screen display needs.

[0099] Finally, it should be emphasized that there are relatively few two-dimensional positioning methods for mobile targets based on systems composed of PCC controllers, MCGS and wireless sensors in the industry. In the domestic existing technology, there is a method of capturing the scene by direct photography technology, and then performing data analysis and calculation in reverse, but this method is not accurate in positioning. In addition, the application scope of the positioning system provided in the embodiment of the present application is not limited to mobile probes, nor is it limited to applications in hydropower projects, but can also be used for positioning in other industries (mobile targets in mining, shipping, automobiles, aerospace, etc.). The difference is that the induction tooling needs to be combined with the structural characteristics of the mobile object to customize the connection method.

[0100] The present application provides a positioning system based on a PCC controller and a wireless sensor, which is applied to the stroke measurement of a servomotor. The positioning system includes: a first sensor, a second sensor, a PCC controller and a human-machine interface.

[0101] The first sensor is used to obtain a first sampling value of the measured object and send the first sampling value to the PCC controller, where the first sampling value is distance information between the first sensor and the measured object.

[0102] The second sensor is used to collect a second sampling value of the object to be measured and send the second sampling value to the PCC controller; the second sampling value is distance information between the second sensor and the object to be measured.

[0103] The PCC controller is used to accurately locate the object under test according to the first sampling value and the second sampling value to obtain a precise target position; and send the precise target position to the human-machine interface.

[0104] The human-machine interface is used to display the precise target position on the screen.

[0105] It can be seen from the above technical solutions that the present application provides a positioning system based on a PCC controller and a wireless sensor. The present application adopts a PCC controller as the data acquisition and calculation unit of the positioning system, and combines it with an ultrasonic wireless sensor to scan the object to be measured. It can automatically complete the data measurement and numerical calculation procedures required for the coordinate calibration of the object to be measured, and can be displayed in the form of a screen on the human-computer interface. The present application configures an advanced ultrasonic wireless sensor and a special tooling to connect the sensor to the PCC controller through communication or analog quantity. The measurement data is stored, calculated and output inside the PCC controller, and the communication connection is achieved between the PCC controller and the human-computer interface, thereby completing the acquisition, calculation, display and transmission functions; at the same time, the human-computer interface can set parameters and calibrate the range of the measurement benchmark.

[0106] The present application has been described in detail above with reference to specific embodiments and exemplary examples so that those skilled in the art can understand or implement the present application. However, these descriptions should not be construed as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present application, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the appended claims.

Claims

1. A positioning system based on PCC controller and wireless sensor, characterized in that: The positioning system includes: a first sensor, a second sensor, a PCC controller and a human-machine interface; The first sensor is used to obtain a first sampling value of the measured object and send the first sampling value to the PCC controller, where the first sampling value is distance information between the first sensor and the measured object; The second sensor is used to collect a second sampling value of the measured object and send the second sampling value to the PCC controller; the second sampling value is the distance information between the second sensor and the measured object; The PCC controller is used to accurately locate the object under test according to the first sampling value and the second sampling value to obtain a precise target position; and send the precise target position to the human-machine interface; The human-machine interface is used to display the precise target position on the screen; The positioning system also includes a linkage tooling, which is connected to the object to be measured as a whole and moves synchronously with the object to be measured; wherein, the linkage tooling includes a metal sensing surface, a spherical joint and a cylindrical body, wherein the metal sensing surface is used to receive and feedback the ranging signals sent by the first sensor and the second sensor, a strong magnet sheet is attached to the metal sensing surface, and the strong magnet sheet is connected to the center of the spherical joint. The spherical joint is arranged in the cylindrical body according to a preset ratio, and the spherical joint can link the metal sensing surface to rotate in all directions; The cylindrical body is a cylinder that can be extended and retracted along the axial direction. One end of the cylindrical body is hollow and contains the spherical joint of a preset proportion. The spherical joint and the cylindrical body are located at the same axial center and are connected by tapping M4 threads to lock the spherical joint to prevent the metal sensing surface from rotating.

2. A positioning system based on a PCC controller and a wireless sensor according to claim 1, characterized in that: The PCC controller accurately locates the measured object according to the first sampling value and the second sampling value to obtain the precise target position in the following specific method: Set the activity range of the object being measured; Setting a reference point A and a reference point B, wherein the reference point A is the installation position of the first sensor and the reference point B is the installation position of the second sensor; Obtain the distance between the reference point A and the reference point B, marked as c; Obtain the distance between the reference point A and the object to be measured, marked as b; and obtain the distance between the reference point B and the object to be measured, marked as a; Draw a circle with the reference point A as the center and b as the radius to obtain circle A; Draw a circle with the reference point B as the center and a as the radius to obtain circle B; The intersection point of the circle A and the circle B is obtained, and the intersection point located within the activity range is determined as the precise target position.

3. A positioning system based on a PCC controller and a wireless sensor according to claim 1, characterized in that: The first sensor and the second sensor are ultrasonic distance measuring sensors, and the ultrasonic distance measuring sensor is an M18 model.

4. A positioning system based on a PCC controller and a wireless sensor according to claim 1, characterized in that: The preset ratio is 60%.

5. A positioning system based on a PCC controller and a wireless sensor according to claim 1, characterized in that: The positioning system further includes two customized brackets matching the first sensor and the second sensor, and the customized brackets are respectively used to fix the first sensor and the second sensor.

6. A positioning system based on a PCC controller and a wireless sensor according to claim 5, characterized in that: The customized bracket is L-shaped and made of 3 mm thick steel. The bottom of the L-shape is provided with a second strong magnet piece of matching size; the side opening of the customized bracket is a U-shaped groove with a diameter of 19 mm.

7. A positioning system based on a PCC controller and a wireless sensor according to claim 1, characterized in that: The positioning system further includes a power supply device for providing power support for the PCC controller, the first sensor, the second sensor and the human-machine interface.

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