Height measurement system, method and device
By combining the gear unit and angle sensor in the height measurement system, the rotation angle of the probe rod and the measurement angle change are amplified, the problem of low height measurement accuracy in the prior art is solved, and high-precision height measurement and control are achieved.
Patent Information
- Application Number
- CN202411955045.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-03-18
AI Technical Summary
The existing height measurement methods have problems of high cost and low accuracy in special scenarios such as agricultural machinery and engineering machinery.
A height measurement system is provided, combining a gear set unit and an angle sensor to amplify the rotation angle of the probe rod through the gear set, and use an angle sensor to measure the change of the rotation angle to achieve height measurement.
Improves the accuracy of height measurement, enables accurate relative or absolute height control, and is suitable for height measurement requirements in special scenarios.
Smart Images
Figure CN119642778A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present disclosure relate to the technical field of height measurement, and in particular, to a height measurement system, method and device. Background Art
[0002] Height measurement is a basic requirement for perception and control. The measurement methods used on mechanical equipment include laser ranging, wire ranging, Hall ranging, etc. However, in some special scenarios, such as agricultural machinery and construction machinery, the above measurement methods are affected by their own limitations or cost constraints. Summary of the invention
[0003] In order to solve the problems existing in the prior art, the embodiments of the present disclosure provide a height measurement system, method and device.
[0004] In view of this, on the one hand, an embodiment of the present disclosure provides a height measurement system, including a gear group unit, a probe rod and a walking unit, one end of the probe rod is connected to the gear group unit, and the other end of the probe rod is connected to the walking unit, the gear group includes at least a first gear and a second gear that are meshed with each other, the outer diameter of the second gear is larger than the outer diameter of the first gear, the first gear is connected to the target to be measured, the second gear is connected to the probe rod, and an angle sensor is arranged on the first gear.
[0005] In some embodiments, the first gear and the second gear are respectively connected to corresponding bearings on the target to be measured through respective shafts.
[0006] In some embodiments, an extension line of the probe rod passes through the center of the second gear.
[0007] In some embodiments, the gear shaft of the first gear is connected to the rotating shaft of the angle sensor through a coupling.
[0008] In some embodiments, the height measurement system further includes a limit frame, the limit frame is arranged between the gear set unit and the walking unit, and the probe rod passes through the limit frame.
[0009] In some embodiments, the limiting frame is connected to the target to be measured, and a through hole is provided on the limiting frame. The probe rod passes through the through hole and can move up and down in the through hole.
[0010] In some embodiments, the walking unit is a roller.
[0011] On the one hand, an embodiment of the present disclosure provides a height measurement method, including: determining the measuring range of an angle sensor according to the extreme positions of a height measurement system; obtaining the length of a probe rod and the initial height of a gear set unit and an initial angle of the angle sensor corresponding to an initial position to complete system calibration; and determining the height of a target based on a current measurement value of the angle sensor corresponding to the current position of the target.
[0012] In some embodiments, the method further includes: achieving height control of the target based on the reading value of the angle sensor.
[0013] In one aspect, an embodiment of the present disclosure provides a height measurement device, including a range determination module, a calibration module, and a height determination module coupled to each other, wherein:
[0014] The range determination module is used to determine the range of the angle sensor according to the limit position of the height measurement system;
[0015] The calibration module is used to obtain the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete the system calibration;
[0016] The height determination module is used to determine the height of the target based on a current measurement value of an angle sensor corresponding to the current position of the target.
[0017] The disclosed embodiment can measure the height by combining the gear set unit with the angle sensor, and can amplify a smaller rotation angle, thereby improving the measurement accuracy of the height, and can also achieve precise relative or absolute height control.
[0018] In order to make the above-mentioned objectives, features and advantages of the embodiments of the present disclosure more obvious and understandable, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In the drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the disclosed embodiments. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method. The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:
[0020] Figure 1 is a schematic diagram of the arrangement of a height measurement system provided by an embodiment of the present disclosure;
[0021] Figure 2 is a schematic diagram of a partial arrangement of a height measurement system provided by an embodiment of the present disclosure;
[0022] Figure 3 It is a schematic diagram of the steps of the height measurement method provided in an embodiment of the present disclosure.
[0023] Among them, the reference numerals in the above drawings are:
[0024] 1-first gear; 2-second gear; 3-probe rod; 4-travel unit; 5-limit frame; 6-coupling; 7-angle sensor. DETAILED DESCRIPTION
[0025] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.
[0026] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.
[0027] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.
[0028] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.
[0029] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.
[0030] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
[0031] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.
[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.
[0033] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.
[0034] The first embodiment of the present disclosure provides a height measurement system, which combines a gear set structure and an angle sensor to achieve corresponding height calibration and height measurement of a target to be measured. Figure 1 As shown, the height measurement system of the embodiment of the present disclosure includes a gear set unit, a probe rod 3 and a walking unit 4, wherein the gear set unit is connected to a rack serving as a target to be measured, wherein the rack here can be any object whose height needs to be detected, wherein one end of the probe rod 3 is connected to the gear set unit, and the other end thereof is connected to the walking unit 4.
[0035] Specifically, the gear set here includes at least a first gear 1 and a second gear 2 meshing with each other, wherein the center of the first gear 1 is O1, and the center of the second gear 2 is O2. The first gear 1 and the second gear 2 are respectively connected to corresponding bearings on the frame through their respective shafts to ensure their respective axial positioning.
[0036] Further, the outer diameter of the second gear 2 is greater than the outer diameter of the first gear 1. The second gear 2 is fixedly connected to the probe rod 3, wherein the extension line of the probe rod 3 passes through the center O2 of the second gear. When the probe rod 3 moves, the probe rod 3 can drive the rotation of the second gear 2, and the second gear 2 drives the rotation of the first gear 1, so that the movement of the probe rod 3 is transmitted to the first gear 1 through the second gear 2.
[0037] Furthermore, an angle sensor 7 is provided on the first gear 1, and the angle sensor 7 can detect the change of the rotation angle of the first gear 1. The gear shaft of the first gear 1 is connected to the rotating shaft of the angle sensor 7 through a coupling 6, and the rotating shaft of the angle sensor 7 here realizes rotation synchronization with the first gear 1 based on the coupling 6, and the angle sensor 7 is connected to the frame through a connecting piece.
[0038] Furthermore, the height measurement system further includes a limit frame 5, the limit frame 5 is arranged between the gear set unit and the walking unit 4, and the probe rod 3 passes through the limit frame 5. Specifically, the limit frame 5 is fixedly connected to the frame, and a through hole is arranged on the limit frame 5. The position of the through hole on the limit frame 5 is determined based on the positional relationship between the probe rod 3 and the limit frame 5, and the size of the through hole is determined based on the size of the probe rod 3. The through hole here is, for example, a square hole. The cross-sectional size of the through hole is larger than the cross-sectional size of the probe rod 3, so that the probe rod 3 can pass through the through hole and move up and down in the through hole.
[0039] Furthermore, the walking unit 4 can walk on the ground, for example, and drive the probe rod 3 to move up and down by walking, thereby driving the rotation of the gear unit, and the change in the rotation angle of the gear unit is converted into the height of the rack. The walking unit 4 can be a roller or other device suitable for walking on the ground. The centroid of the walking unit 4 here is O3, for example, it can be the center of the roller O3.
[0040] When the height measurement system of this embodiment is working, the walking unit 4 is attached to the ground and moves along with the ground due to the gravity of the walking unit 4 and the probe rod 3. When the walking unit 4 changes in height, the walking unit 4 drives the probe rod 3 to move, thereby driving the second gear 2 to rotate and driving the first gear 1 to rotate based on the meshing relationship. The rotating shaft of the angle sensor 7 rotates synchronously with the first gear 1 due to the action of the coupling 6, and the height of the rack is determined by obtaining the change in the rotation angle of the angle sensor 7.
[0041] The transmission ratio between the second gear 2 and the first gear 1 is i, that is, the rotation angle of the first gear 1 and the angle sensor 7 is i times the rotation angle of the second gear. If i>1, the rotation angle of the second gear 2 can be amplified by the transmission ratio, thereby improving the measurement accuracy of the angle sensor 7 for the angle change of the second gear 2. In this way, according to the measurement result of the angle sensor 7 and the structural parameters of the height measurement system, the height between the center O2 of the second gear 2 and the centroid O3 of the walking unit 4, as well as the height of the center O2 of the second gear 2 from the ground can be calculated, thereby obtaining the height of the frame.
[0042] In this embodiment, the rotation angle of the probe rod can be amplified by the gear set unit and the change of the rotation angle can be measured by the angle sensor, and finally the height information can be measured and obtained, thereby improving the measurement accuracy of the entire height measurement system.
[0043] A second embodiment of the present disclosure provides a height measurement method, which uses the height measurement system of the first embodiment to measure the height of a target such as a rack. Figure 2 As shown, the height measurement method includes:
[0044] S101, determining the measuring range of the angle sensor according to the limit position of the height measurement system.
[0045] In this step, the range of the angle sensor is determined according to the extreme position of the height measurement system. Since it is difficult to ensure that the zero point of the angle sensor is at the set position during installation, in order to facilitate the installation of the entire height measurement system and ensure the measurement accuracy of the height measurement system, Figure 2 As shown, calibration needs to be performed according to a predetermined method. Specifically, Figure 3 As shown, since the probe rod 3 can move up and down relative to the through hole of the support frame 5, the entire height measurement system, especially the walking unit 4, is set at a predetermined extreme position (for example Figure 3 When the travel unit 4 is at the farthest position, the probe rod 3 is at the bottom of the through hole). The range is determined here to ensure that when the angle sensor 7 is in any rotation position, the position can ensure that the height measurement system is in the entire working range, that is, the angle sensor 7 always works within the effective range. When the travel unit 4 changes from one extreme position to another extreme position, the reading of the angle sensor 7 also changes from one extreme value of the effective range to another extreme value, so that the range of the angle sensor 7 can be determined.
[0046] S102, obtaining the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete system calibration.
[0047] After the range of the angle sensor is determined according to the extreme position of the height measurement system in step S101, in this step, the length L of the probe rod, the initial height H0 of the gear unit corresponding to the initial position, and the initial angle α0 of the angle sensor are obtained to complete the system calibration. The length L of the probe rod 3, the initial height H0 of the gear unit corresponding to the initial position, and the initial angle α0 of the angle sensor 7 are input into a predetermined measurement formula as initial conditions to complete the system calibration.
[0048] S103, determining the height of the target based on a current measurement value of an angle sensor corresponding to the current position of the target.
[0049] After the system calibration is completed by obtaining the length of the probe rod and the initial height of the gear set unit corresponding to the initial position and the initial measurement value of the angle sensor through the above step S102, in this step, the height of the target is determined based on the current measurement value of the angle sensor corresponding to the current position of the target.
[0050] Specifically, according to the calibration result determined in step S102, the height value h corresponding to the target is calculated based on the following formula using the reading α of the measurement value collected by the angle sensor 7:
[0051]
[0052] The above steps can directly measure the height of the target. Of course, in addition to direct height measurement, another application scenario is height control. In this scenario, the height can be used as the control object, and the angle can also be used as the control object.
[0053] When the angle is the control object, the angle α is calculated using the following formula:
[0054]
[0055] In this way, the reading value of the angle sensor 7 can be determined based on different heights, thereby achieving height control.
[0056] The disclosed embodiment can measure the height by combining the gear set unit with the angle sensor, and can amplify a smaller rotation angle, thereby improving the measurement accuracy of the height, and can also achieve precise relative or absolute height control.
[0057] Based on the same inventive concept, a third embodiment of the present disclosure provides a height measurement device, which may be, for example, a control device in a height measurement system, including a range determination module, a calibration module, and a height determination module coupled to each other, wherein:
[0058] The range determination module is used to determine the range of the angle sensor according to the limit position of the height measurement system;
[0059] The calibration module is used to obtain the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete the system calibration;
[0060] The height determination module is used to determine the height of the target based on a current measurement value of an angle sensor corresponding to the current position of the target.
[0061] Also includes:
[0062] The height control module is used to realize the height control of the target based on the reading value of the angle sensor.
[0063] The disclosed embodiment can measure the height by combining the gear set unit with the angle sensor, and can amplify a smaller rotation angle, thereby improving the measurement accuracy of the height, and can also achieve precise relative or absolute height control.
[0064] A fourth embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:
[0065] S11, used to determine the measuring range of the angle sensor according to the limit position of the height measurement system;
[0066] S12, obtaining the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete system calibration;
[0067] S13, determining the height of the target based on a current measurement value of an angle sensor corresponding to the current position of the target.
[0068] The storage medium of the present disclosure stores a computer program, which can implement the methods in different implementation modes of the above-mentioned first embodiment when executed by a processor.
[0069] The disclosed embodiment can measure the height by combining the gear set unit with the angle sensor, and can amplify a smaller rotation angle, thereby improving the measurement accuracy of the height, and can also achieve precise relative or absolute height control.
[0070] A fifth embodiment of the present disclosure provides an electronic device, the electronic device comprising at least a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program on the memory, specifically including:
[0071] S21, used to determine the measuring range of the angle sensor according to the limit position of the height measurement system;
[0072] S22, obtaining the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete system calibration;
[0073] S23, determining the height of the target based on a current measurement value of an angle sensor corresponding to the current position of the target.
[0074] The memory of the electronic device of the present disclosure stores a computer program, and the processor implements the methods of other implementations in the above-mentioned first embodiment when executing the computer program in the memory.
[0075] The disclosed embodiment can measure the height by combining the gear set unit with the angle sensor, and can amplify a smaller rotation angle, thereby improving the measurement accuracy of the height, and can also achieve precise relative or absolute height control.
[0076] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.
[0077] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0078] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0079] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0081] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
[0082] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiment when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.
[0083] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.
[0084] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. A height measurement system, characterized in that: It includes a gear set unit, a probe rod and a walking unit, one end of the probe rod is connected to the gear set unit, and the other end of the probe rod is connected to the walking unit, the gear set includes at least a first gear and a second gear that are meshed with each other, the outer diameter of the second gear is larger than the outer diameter of the first gear, the first gear is connected to the target to be measured, the second gear is connected to the probe rod, and an angle sensor is arranged on the first gear.
2. The height measurement system according to claim 1, characterized in that: The first gear and the second gear are connected to corresponding bearings on the target to be measured through their own shafts.
3. The height measurement system according to claim 1, characterized in that: An extension line of the probe rod passes through the center of the second gear.
4. The height measurement system according to claim 1, characterized in that: The gear shaft of the first gear is connected to the rotating shaft of the angle sensor through a coupling.
5. The height measurement system according to claim 1, characterized in that: The height measurement system further comprises a limit frame, which is arranged between the gear set unit and the travel unit, and the probe rod passes through the limit frame.
6. The height measurement system according to claim 5, characterized in that: The limiting frame is connected to the target to be measured, and a through hole is arranged on the limiting frame. The probe rod passes through the through hole and can move up and down in the through hole.
7. The height measurement system according to claim 1, characterized in that: The walking unit is a roller.
8. A method for measuring height, characterized in that: include: Used to determine the measuring range of the angle sensor according to the extreme position of the height measurement system; Obtain the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete the system calibration; The height of the target is determined based on the current measurement value of the angle sensor corresponding to the current position of the target.
9. The height measurement method according to claim 8, characterized in that: Also includes: The height of the target is controlled based on the reading value of the angle sensor.
10. A height measuring device, characterized in that: It includes a mutually coupled range determination module, a calibration module and a height determination module, wherein: The range determination module is used to determine the range of the angle sensor according to the limit position of the height measurement system; The calibration module is used to obtain the length of the probe rod and the initial height of the gear unit and the initial angle of the angle sensor corresponding to the initial position to complete the system calibration; The height determination module is used to determine the height of the target based on a current measurement value of an angle sensor corresponding to the current position of the target.