Automatic equipment and control method thereof
Through the distance measurement of the correspondence relationship between the ultrasonic components and the reflective surface signal of the target object, the problem that the test accuracy of the automation device is affected by the environment and the target is solved, and a higher test accuracy is achieved.
Patent Information
- Application Number
- CN202510420141.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2025-07-04
AI Technical Summary
During the testing process of existing automation devices, the test accuracy is affected by the diversity of the test environment and test goals, resulting in low testing accuracy, and the algorithm model is difficult to build and poor versatility.
Ultrasonic signals are emitted by the ultrasonic component, and the echo signals reflected back by multiple reflective surfaces of the target object are received, the correspondence relationship between the receiving sensor of the ultrasonic component and the reflected surface signal is adjusted, the distance between the reflective surfaces is determined, and the distance between the movable reflective surface and the target plane is controlled to achieve accurate distance measurement.
The impact of the test environment and target objects on the test results is reduced and the test accuracy is improved.
Smart Images
Figure CN120254859A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of testing technology, and particularly to an automatic device and its control method. Background Art
[0002] With the progress and development of society, automation technologies and devices have gradually covered all aspects of production and life. For example, industrial robots and quality inspection systems in industrial manufacturing, automatic guided vehicles and intelligent sorting systems in logistics and warehousing, and automatic sensing of smart home appliances in smart homes all widely use automation technologies. These automation devices not only liberate productivity and improve production efficiency but also enhance the user experience.
[0003] Among them, obtaining information such as the distance of a target object through sensor technology to control an automation device is one of the common methods. However, the test environment for measuring the target through sensors shows diversity and complexity. For example, factors such as light intensity, temperature, and humidity will affect the accuracy of test results. Usually, complex algorithm models need to be used to improve test accuracy. However, for specific automation devices, it is difficult to construct algorithm models, and their generality is poor, making them not suitable for transplantation to multiple application platforms. In addition, the test effect is also affected by factors such as the size, color, material, and distance of the test target, which will also greatly reduce the test accuracy. Summary of the Invention
[0004] The purpose of the embodiments of this application is to provide an automatic device and its control method, which are less affected by the test environment and test target during testing and can effectively improve test accuracy.
[0005] On the one hand, an embodiment of this application provides a control method for an automatic device, including:
[0006] Controlling an ultrasonic component to emit ultrasonic signals towards a target object, and receiving echo signals reflected back by multiple reflection surfaces of the target object through the ultrasonic component;
[0007] Adjusting the ultrasonic component according to the echo signals so that there is a signal correspondence between multiple receiving sensors of the ultrasonic component and the multiple reflection surfaces of the target object;
[0008] Determining the distances between the ultrasonic component and the multiple reflection surfaces of the target object according to the echo signals;
[0009] Determining a target plane according to the distances between the ultrasonic component and the multiple reflection surfaces of the target object;
[0010] Determining the distance differences between the multiple reflection surfaces of the target object and the target plane according to the distances between the ultrasonic component and the multiple reflection surfaces of the target object;
[0011] Control the distance from one or more movable reflecting surfaces of the target object to the target plane according to the distance differences from the multiple reflecting surfaces of the target object to the target plane.
[0012] Optionally, the controlling the ultrasonic component to emit an ultrasonic signal towards the target object and receiving an echo signal reflected back by multiple reflecting surfaces of the target object through the ultrasonic component includes:
[0013] Control the transmitting sensor of the ultrasonic component to emit the ultrasonic signal towards the target object; receive the echo signals reflected back by multiple reflecting surfaces of the target object respectively through multiple receiving sensors of the ultrasonic component.
[0014] Optionally, the adjusting the ultrasonic component according to the echo signal so that there is a signal correspondence between multiple receiving sensors of the ultrasonic component and multiple reflecting surfaces of the target object includes:
[0015] Set a threshold value such that the threshold value is lower than the peak echo signal reflected back by multiple reflecting surfaces of the target object;
[0016] Determine the signal correspondence between multiple receiving sensors of the ultrasonic component and multiple reflecting surfaces of the target object according to that the smaller the distance between multiple reflecting surfaces of the target object and the ultrasonic component, the shorter the time for ultrasonic wave propagation from the ultrasonic component to the reflecting surface.
[0017] Optionally, the determining the signal correspondence between multiple receiving sensors of the ultrasonic component and multiple reflecting surfaces of the target object according to that the smaller the distance between multiple reflecting surfaces of the target object and the ultrasonic component, the larger the difference between the corresponding peak echo signal and the threshold value includes:
[0018] Adjust the design parameters and / or positions of the ultrasonic component so that the peak echo signal of only one reflecting surface among multiple reflecting surfaces exceeds the threshold value, and there is a signal correspondence between multiple receiving sensors of the ultrasonic component and multiple reflecting surfaces of the target object.
[0019] Optionally, the determining the distances between the ultrasonic component and multiple reflecting surfaces of the target object according to the echo signal includes:
[0020] When the distances between the ultrasonic component and multiple reflecting surfaces of the target object are all equal, or when the distances between the ultrasonic component and multiple reflecting surfaces of the target object are all less than a preset distance, it is determined that the target object has only one reflecting surface.
[0021] Optionally, determining a target plane based on the distances between the ultrasonic component and multiple reflection surfaces of the target object includes:
[0022] Sort the distances between the ultrasonic component and multiple reflection surfaces of the target object, and select, in the direction from the target object to the ultrasonic component, any plane that is higher than the minimum distance, or higher than the maximum distance, or within the positions of the multiple reflection surfaces from the ultrasonic component as the target plane; or select any one of the multiple reflection surfaces of the target object as the target plane.
[0023] Optionally, controlling the distances between one or more movable reflection surfaces of the target object and the target plane based on the distance differences between multiple reflection surfaces of the target object and the target plane includes:
[0024] Control the movement of the reflection surfaces of the target object so that the distance difference between each reflection surface and the target plane is equal to zero, or so that the distance differences between the reflection surfaces and the target plane are equal to a preset distance difference.
[0025] Optionally, controlling the distances between one or more movable reflection surfaces of the target object and the target plane based on the distance differences between multiple reflection surfaces of the target object and the target plane includes:
[0026] Control the reflection surfaces of the target object to move towards the ultrasonic component or move away from the ultrasonic component.
[0027] On the other hand, an embodiment of the present application provides an automatic device that can be controlled by the above control method of the automatic device, including an ultrasonic component and a load-carrying component, and further including a control component electrically connected to the ultrasonic component and the load-carrying component respectively. The load-carrying component is used to carry a target object, and the target object has multiple movable reflection surfaces;
[0028] The control component controls the ultrasonic component to emit ultrasonic waves towards the target object, and the control component also determines the distance differences between multiple reflection surfaces of the target object and the target plane based on the echo signals reflected back by the multiple reflection surfaces of the target object, so as to control the distances between one or more of the reflection surfaces of the target object and the target plane.
[0029] Optionally, the ultrasonic component includes at least one transmitting sensor and at least one receiving sensor.
[0030] The automatic device and its control method provided by the embodiments of the present application include controlling an ultrasonic component to emit an ultrasonic signal towards a target object, and receiving echo signals reflected back by multiple reflecting surfaces of the target object through the ultrasonic component; adjusting the ultrasonic component according to the echo signals so that there is a signal correspondence between multiple receiving sensors of the ultrasonic component and multiple reflecting surfaces of the target object; determining the distances between the ultrasonic component and multiple reflecting surfaces of the target object according to the echo signals; determining a target plane according to the distances between the ultrasonic component and multiple reflecting surfaces of the target object; determining the distance differences between multiple reflecting surfaces of the target object and the target plane according to the distances between the ultrasonic component and multiple reflecting surfaces of the target object; and controlling the distances between one or more movable reflecting surfaces of the target object and the target plane according to the distance differences between multiple reflecting surfaces of the target object and the target plane. By using ultrasonic waves for distance measurement, the influence of the test environment and the test target on the test results can be reduced, thereby effectively improving the test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.
[0032] Figure 1 is one of the flowcharts of the control method of the automatic device provided in this embodiment;
[0033] Figure 2 is one of the schematic structural diagrams of the automatic device provided in this embodiment;
[0034] Figures 3a - 3c is Figure 2 one of the schematic diagrams of the echo signals received by the ultrasonic component in
[0035] Figure 4a is Figure 2 the schematic structural diagram of the automatic device with the ultrasonic component reset on the basis of
[0036] Figures 4b - 4d is Figure 2 the second schematic diagram of the echo signals received by the ultrasonic component in
[0037] Figure 5a is the schematic diagram of the initial state of the automatic device provided in this embodiment;
[0038] Figure 5b is the schematic diagram of the target state of the automatic device provided in this embodiment;
[0039] Figures 6a - 6c isFigure 5b Schematic diagram of the echo signal received by the ultrasonic component
[0040] Figure 7 is Figure 5a 、 Figure 5b Schematic diagrams of the echo signals of the receiving sensor 121 of the ultrasonic component in the initial state and the target state
[0041] Figure 8a is the second schematic diagram of the automatic equipment structure provided by this embodiment
[0042] Figure 8b is the third schematic diagram of the automatic equipment structure provided by this embodiment
[0043] Figure 9a is the fourth schematic diagram of the automatic equipment structure provided by this embodiment
[0044] Figure 9b is the fifth schematic diagram of the automatic equipment structure provided by this embodiment
[0045] Figure 10 is the second flowchart of the control method of the automatic equipment provided by this embodiment
[0046] Figure 11a is the sixth schematic diagram of the automatic equipment structure provided by this embodiment
[0047] Figure 11b is the seventh schematic diagram of the automatic equipment structure provided by this embodiment
[0048] Figure 12 is the third flowchart of the control method of the automatic equipment provided by this embodiment
[0049] Figure 13 is the fourth flowchart of the control method of the automatic equipment provided by this embodiment
[0050] Figure 14 is the eighth schematic diagram of the automatic equipment structure provided by this embodiment
[0051] Figure 15 is the fifth flowchart of the control method of the automatic equipment provided by this embodiment
[0052] Icons: 10 - ultrasonic component; 11 - transmitting sensor; 121, 122, 123 - receiving sensors; 20 - load component; 21 - target object; 21a, 21b, 21c - sub - object modules; 211, 212, 213 - reflecting surfaces; S - target plane Detailed implementation manners
[0053] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.
[0054] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this application is usually placed when in use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.
[0055] It should also be noted that unless otherwise clearly specified and limited, the terms "set", "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.
[0056] The embodiment of the present application provides a control method for an automatic device based on ultrasonic ranging technology, which can solve the problems and difficulties existing in the current method of controlling an automated device by obtaining the distance information of a target object.
[0057] Specifically, please refer to Figure 1 As shown, the control method for the automatic device provided by the embodiment of the present application includes:
[0058] Step 200: Control the ultrasonic component 10 to emit an ultrasonic signal towards the target object 21, and receive the echo signals reflected back by multiple reflection surfaces of the target object 21 through the ultrasonic component 10.
[0059] A control component is used to control the ultrasonic component 10 and the target object 21. Among them, the ultrasonic component 10 includes at least one transmitting sensor 11 and multiple receiving sensors, and the target object 21 has multiple reflection surfaces. The control component controls the transmitting sensor 11 of the ultrasonic component 10 to emit an ultrasonic signal. After the ultrasonic signal encounters the reflection surface of the target object 21, an echo signal is formed and received by the receiving sensor of the ultrasonic component 10.
[0060] As Figure 2 shown, in the example of the present application, the target object 21 has three reflection surfaces, namely reflection surface 211, reflection surface 212, and reflection surface 213.
[0061] Step 201: Adjust the ultrasonic component 10 according to the echo signal so that there is a signal correspondence between the multiple receiving sensors of the ultrasonic component 10 and the multiple reflecting surfaces of the target object 21.
[0062] Adjusting the ultrasonic component 10 according to the echo signal includes adjusting the set parameters, installation position, etc. of the ultrasonic component 10. The purpose is to make there be a signal correspondence between the echo signals returned by the multiple receiving sensors and the multiple reflecting surfaces, that is, one receiving sensor corresponds to the echo signal of one reflecting surface.
[0063] Further, as Figures 3a - 3c shown, Figures 3a - 3c is Figure 2 a schematic diagram of the echo signal received by the ultrasonic component 10 in
[0064] Set a threshold value so that the threshold value is lower than the peak echo signal reflected by the multiple reflecting surfaces of the target object 21. According to Figure 2 the example of Figures 3a - 3c this, three peak echo signals higher than the threshold value can be obtained. In the effective signal interval according to the sampling time, the closer the reflecting surface of the target object 21 is to the position of the ultrasonic component 10, the closer the reflected peak echo signal is to
[0065] the starting end at the left end, that is, the smaller the distance between the multiple reflecting surfaces of the target object 21 and the ultrasonic component 10, the shorter the ultrasonic propagation time from the ultrasonic component 10 to the reflecting surface. Therefore, the first peak signal, the second peak signal, and the third peak signal of the effective signal respectively correspond to the echo signals of the reflecting surface 211, the reflecting surface 212, and the reflecting surface 213, thus forming a one-to-one correspondence between the three peak signals and the three reflecting surfaces, and further determining the signal correspondence between the multiple receiving sensors of the ultrasonic component 10 and the multiple reflecting surfaces of the target object 21.
[0065] Step 202: Determine the distances between the ultrasonic component 10 and the multiple reflecting surfaces of the target object 21 according to the echo signal.
[0066] According to the echo signal data, determine that the distance from the position of the ultrasonic component 10 to the reflecting surface 211 of the target object 21 is h1, the distance to the reflecting surface 212 of the target object 21 is h2, and the distance to the reflecting surface 213 of the target object 21 is h3.
[0067] It should be noted that the target object 21 can be composed of multiple sub-object modules spliced together to form one or more ultrasonic reflecting surfaces; it can also be composed of one object module, and this object module has at least one ultrasonic reflecting surface, such as Figure 8a 、 Figure 8bAs shown in the figure. When the target object 21 has only one reflecting surface, there is h1 = h2 = h3 = …… hn, that is, the distances between the ultrasonic component 10 and multiple reflecting surfaces of the target object 21 are equal. Or, when the distances between the position of the ultrasonic component 10 and multiple reflecting surfaces are less than a set preset distance, it is determined that the target object 21 has only one reflecting surface.
[0068] The reflecting surface of the target object 21 can be a solid reflecting surface or a liquid reflecting surface. The reflecting surface can be a plane or an uneven surface with patterns, such as Figure 9a 、 Figure 9b as shown in the figure.
[0069] Step 203: Determine the target plane S according to the distances between the ultrasonic component 10 and multiple reflecting surfaces of the target object 21.
[0070] The target plane S can be any reference plane parallel to the ultrasonic emission direction of the ultrasonic component 10 between the ultrasonic component 10 and the carrier component 20 carrying the target object 21.
[0071] The target plane S can be determined according to the distances between the position of the ultrasonic component 10 and multiple reflecting surfaces of the target object 21. For example, sort the distances between the position of the ultrasonic component 10 and multiple reflecting surfaces of the target object 21, and select any plane higher than the minimum distance, or higher than the maximum distance, or within the distances between multiple reflecting surfaces and the position of the ultrasonic component 10 in the direction from the target object 21 to the ultrasonic component 10 as the target plane S; or any one of the multiple reflecting surfaces of the target object 21 can be used as the target plane S, such as Figure 10 、 Figure 11a 、 Figure 11b as shown in the figure.
[0072] Step 204: Determine the distance differences between multiple reflecting surfaces of the target object 21 and the target plane S according to the distances between the ultrasonic component 10 and multiple reflecting surfaces of the target object 21.
[0073] The distance between the ultrasonic component 10 and the target plane S is H. According to h1, h2, and h3, the distance differences between the reflecting surface 211, reflecting surface 212, and reflecting surface 213 of the target object 21 and the target plane S are determined to be Δh1 = |h1 - H|, Δh2 = |h2 - H|, and Δh3 = |h3 - H| respectively.
[0074] Step 205: Control the distances between one or more movable reflecting surfaces of the target object 21 and the target plane S according to the distance differences between multiple reflecting surfaces of the target object 21 and the target plane S.
[0075] Finally, the control component adjusts the movement of the target object 21 so that the distance from the reflecting surface 211 and / or the reflecting surface 212 and / or the reflecting surface 213 to the target plane S is the target distance.
[0076] Specifically, each reflecting surface can be adjusted to the position of the target plane S, that is, the distance difference between each reflecting surface and the target plane S is equal to zero, h1' = h2' =... = hn' = H, Δh1' = Δh2' =... = Δhn' = 0, as Figure 5a 、 Figure 5b shown; it is also possible to make the distance difference between each reflecting surface and the target plane S equal to a preset distance difference. For example, the distances from each reflecting surface to the target plane S are adjusted proportionally, or adjusted to the target distance according to a certain rule.
[0077] When the control component adjusts the target object 21, it controls the reflecting surface of the target object 21 to move towards the ultrasonic component 10 or move away from the ultrasonic component 10. The target object 21 is placed on the loading component 20, and one or more movable sub-object module reflecting surfaces of the target object 21 are adjusted, as Figure 12 shown; it is also possible to control the rising or falling distance of the loading component 20, as Figure 13 、 Figure 14 shown; it is also possible to simultaneously adjust the rising or falling distance of the loading component 20 and the reflecting surface of one or more movable sub-object modules of the target object 21, as Figure 15 shown.
[0078] In a specific embodiment, the time for ultrasonic wave propagation between the ultrasonic component 10 and the reflecting surface 211 is set as t1, the time for ultrasonic wave propagation between the ultrasonic component 10 and the reflecting surface 212 is set as t2, and the time for ultrasonic wave propagation between the ultrasonic component 10 and the reflecting surface 213 is set as t3. Then, the distance from the position of the ultrasonic component 10 to the reflecting surface 211 of the target object 21:
[0079] h1 = v×(t1 / 2),
[0080] The distance from the position of the ultrasonic component 10 to the reflecting surface 212 of the target object 21:
[0081] h2 = v×(t2 / 2);
[0082] The distance from the position of the ultrasonic component 10 to the reflecting surface 213 of the target object 21:
[0083] h3 = v×(t3 / 2);
[0084] where v is the propagation speed of ultrasonic waves in the medium.
[0085] From Figures 3a - 3cIt can be seen that there are three echo peak signals in the three groups of echo signal data. According to the relationship that the closer the reflecting surface of the target object 21 is to the position of the ultrasonic component 10, the closer the reflected echo peak signal is to Figures 3a - 3c the starting end at the left end. Therefore, the corresponding relationship between the receiving sensor and the signals of each reflecting surface is determined, and further the distances from the ultrasonic component 10 to each reflecting surface are determined. The ultrasonic signal can be adjusted by adjusting the set parameters and / or the installation position of the ultrasonic component 10, so as to determine the corresponding relationship between each receiving sensor and the signals of each reflecting surface.
[0086] Figure 4a It is at Figure 2 On this basis, the set parameters and / or the installation position of the ultrasonic component 10 are adjusted, etc. The schematic diagram of the corresponding echo signal is as Figures 4b - 4d shown. From Figures 4b - 4d it can be seen that the receiving sensor 121, the receiving sensor 122 and the receiving sensor 123 obtain three groups of echo data. In the effective signal interval, only one echo peak signal exceeds the threshold respectively. These three echo peak signals correspond to the reflected signals of the reflecting surface 211, the reflecting surface 212 and the reflecting surface 213 in sequence. By adjusting the setting method of the ultrasonic component 10, the signal corresponding relationship between each receiving sensor and each reflecting surface can be made, and then the subsequent functions can be completed.
[0087] Referring again to Figure 5a 、 Figure 5b shown, Figure 5a is consistent with Figure 2 and is the initial state of the automatic device, corresponding to the schematic diagram of the echo signal received by the ultrasonic component 10 in the initial state of Figure 3; Figure 5b is the target state of the automatic device, corresponding to Figures 6a - 6c the schematic diagram of the echo signal received by the ultrasonic component 10 in the target state; Figure 7 is the schematic diagram of the echo signal of the receiving sensor 121 in the ultrasonic component 10 in the initial state and the target state.
[0088] Figure 5a In the example of
[0089] Figure 5b Among them, h1', h2', and h3' are the distances from the ultrasonic component 10 to the reflecting surfaces 211, 212, and 213 in the target state respectively, and Δh1', Δh2', and Δh3' are the distances from the reflecting surfaces 211, 212, and 213 to the target plane S in the target state respectively.
[0090] From Figure 5a 、 Figure 5b It can be seen that in this case, based on the echo signal data of the ultrasonic component 10, the automatic device can obtain the distance between the position of the ultrasonic component 10 and the reflecting surface of the target object 21, as well as the distance difference between the reflecting surface and the target plane S. Then, through the control component, one or more reflecting surfaces in the target object 21 are adjusted from the initial state to the target state.
[0091] As Figure 5a shown, in the initial state, the ultrasonic data of the three receiving sensors respectively correspond to the echo signals of the three reflecting surfaces. Since the closer the reflecting surface of the target object 21 is to the position of the ultrasonic component 10, the closer the peak signal of the reflected echo is to Figures 3a - 3c the starting end at the left end, the first peak signal, the second peak signal, and the third peak signal within the effective signal interval respectively correspond to the reflected signals of the reflecting surfaces 211, 212, and 213. The ultrasonic propagation times from the ultrasonic component 10 to the reflecting surfaces 211, 212, and 213 are t1, t2, and t3 respectively. Combining Figure 5a it can be obtained that:
[0092] h1 = v×(t1 / 2);
[0093] h2 = v×(t2 / 2);
[0094] h3 = v×(t3 / 2);
[0095] As Figures 6a - 6c shown, in the final state, the ultrasonic data of the three receiving sensors respectively correspond to the echo signals of the three reflecting surfaces. The ultrasonic propagation times from the ultrasonic component 10 to the reflecting surfaces 211, 212, and 213 are t1', t2', and t3' respectively, and t1' = t2' = t3'. Combining Figure 5a 、 Figure 7 it can be obtained that:
[0096] h1' = h2' = h3' = v×(t1' / 2) = v×(t2' / 2) = v×(t3' / 2);
[0097] Furthermore, it can be obtained that:
[0098] Δh1 = h1 - h1' = v×(t1 / 2 - t1' / 2);
[0099] Δh2 = h2 - h2' = v×(t2 / 2 - t2' / 2);
[0100] Δh3 = h3 - h3' = v×(t3 / 2 - t3' / 2);
[0101] Wherein, h1' = h2' = h3' = H.
[0102] The distance difference from the reflecting surface to the target plane S is obtained, and then one or more reflecting surfaces in the target object 21 are adjusted from the initial state to the target state by the control component.
[0103] Moreover, in order to improve the test accuracy, interference signals outside the effective signal interval can be preprocessed, or the accuracy can be improved by filtering noises within the effective signal interval. The propagation speed v of ultrasonic waves in the medium can also be calibrated using a temperature sensor, which can be processed by a calculation module or fed back by looking up a table, and calibrated in a wired or wireless manner.
[0104] The control method of the automatic device provided by the embodiment of the present application can measure distances through ultrasonic waves, reduce the influence of the test environment and test target on the test results, and thus effectively improve the test accuracy.
[0105] On the other hand, the embodiment of the present application also discloses an automatic device, which can be controlled by the control method of the automatic device in any one of the above. It includes an ultrasonic component 10, a load component 20, and a control component. The control component is electrically connected to the ultrasonic component 10 and the load component 20 respectively. The load component 20 is used to carry the target object 21, and the target object 21 has a plurality of movable reflecting surfaces.
[0106] Wherein, the control component controls the ultrasonic component 10 to emit ultrasonic waves towards the target object 21, and the control component also determines the distance difference from the plurality of reflecting surfaces of the target object 21 to the target plane S according to the echo signals reflected by the plurality of reflecting surfaces of the target object 21, and controls the distance from one or more of the reflecting surfaces of the target object 21 to the target plane S according to the distance difference.
[0107] Furthermore, the ultrasonic component 10 is composed of at least one sensor. At this time, this sensor can emit ultrasonic waves and can also receive the echo signals of ultrasonic waves, and is controlled by the control component.
[0108] In the example of the present application, the ultrasonic component 10 can also be composed of a plurality of sensors. Then, at least one transmitting sensor 11 can emit ultrasonic waves, and at least one receiving sensor receives ultrasonic waves, and is controlled by the control component. At this time, the plurality of receiving sensors of the present application can be integrated into one receiving sensor to receive the echo signals of different reflecting surfaces of the target object 21.
[0109] This automatic device includes the same structure and beneficial effects as the control method of the automatic device in the foregoing embodiment. The structure and beneficial effects of the control method of the automatic device have been described in detail in the foregoing embodiment and will not be elaborated herein.
[0110] The above are only embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A control method for an automatic device, characterized in that, Including: Controlling an ultrasonic component to emit an ultrasonic signal towards a target object, and receiving echo signals reflected back by multiple reflecting surfaces of the target object through the ultrasonic component; Adjusting the ultrasonic component according to the echo signals, so that multiple receiving sensors of the ultrasonic component have a signal correspondence relationship with the multiple reflecting surfaces of the target object; Determining the distances between the ultrasonic component and the multiple reflecting surfaces of the target object according to the echo signals; Determining a target plane according to the distances between the ultrasonic component and the multiple reflecting surfaces of the target object; Determining the distance differences between the multiple reflecting surfaces of the target object and the target plane according to the distances between the ultrasonic component and the multiple reflecting surfaces of the target object; Controlling the distances between one or more movable reflecting surfaces of the target object and the target plane according to the distance differences between the multiple reflecting surfaces of the target object and the target plane.
2. The control method of the automatic device according to claim 1, wherein The controlling an ultrasonic component to emit an ultrasonic signal towards a target object, and receiving echo signals reflected back by multiple reflecting surfaces of the target object through the ultrasonic component includes: Controlling a transmitting sensor of the ultrasonic component to emit the ultrasonic signal towards the target object; Receiving the echo signals reflected back by the multiple reflecting surfaces of the target object respectively through the multiple receiving sensors of the ultrasonic component.
3. The control method of the automatic device according to claim 1, characterized in that, The adjusting the ultrasonic component according to the echo signals, so that multiple receiving sensors of the ultrasonic component have a signal correspondence relationship with the multiple reflecting surfaces of the target object includes: Setting a threshold value, so that the threshold value is lower than the peak echo signals reflected back by the multiple reflecting surfaces of the target object; Determining the signal correspondence relationship between the multiple receiving sensors of the ultrasonic component and the multiple reflecting surfaces of the target object according to that the smaller the distance between the multiple reflecting surfaces of the target object and the ultrasonic component is, the shorter the ultrasonic propagation time between the ultrasonic component and the reflecting surface is.
4. The control method of the automatic device according to claim 3, characterized in that, The determining the signal correspondence relationship between the multiple receiving sensors of the ultrasonic component and the multiple reflecting surfaces of the target object according to that the smaller the distance between the multiple reflecting surfaces of the target object and the ultrasonic component is, the larger the difference between the corresponding peak echo signal and the threshold value is includes: Adjusting the design parameters and / or positions of the ultrasonic component, so that the peak echo signal of only one reflecting surface among the multiple reflecting surfaces exceeds the threshold value, and the multiple receiving sensors of the ultrasonic component have a signal correspondence relationship with the multiple reflecting surfaces of the target object.
5. The control method of the automatic device according to any one of claims 1 to 4, characterized in that, The determining the distances between the ultrasonic component and the multiple reflecting surfaces of the target object according to the echo signals includes: When the distances between the ultrasonic component and the multiple reflecting surfaces of the target object are equal, or when the distances between the ultrasonic component and the multiple reflecting surfaces of the target object are all less than a preset distance, it is determined that the target object has only one reflecting surface.
6. The control method of the automatic device according to claim 1, characterized in that, Determining a target plane according to the distances between the ultrasonic component and multiple reflecting surfaces of the target object includes: Sorting the distances between the ultrasonic component and multiple reflecting surfaces of the target object, and selecting, in the direction from the target object to the ultrasonic component, a plane that is higher than the minimum distance, or higher than the maximum distance, or any plane within the distances between the multiple reflecting surfaces and the position of the ultrasonic component as the target plane; or selecting any one of the multiple reflecting surfaces of the target object as the target plane.
7. The control method of the automatic device according to claim 1, characterized in that, Controlling the distances between one or more movable reflecting surfaces of the target object and the target plane according to the distance differences between the multiple reflecting surfaces of the target object and the target plane includes: Controlling the movement of the reflecting surfaces of the target object so that the distance difference between each reflecting surface and the target plane is equal to zero, or so that the distance differences between the reflecting surfaces and the target plane are equal to a preset distance difference.
8. The control method of the automatic device according to claim 1, wherein Controlling the distances between one or more movable reflecting surfaces of the target object and the target plane according to the distance differences between the multiple reflecting surfaces of the target object and the target plane includes: Controlling the reflecting surfaces of the target object to move towards the ultrasonic component or away from the ultrasonic component.
9. An automatic device that can be controlled by using the control method of the automatic device according to any one of claims 1 to 8, characterized in that, It includes an ultrasonic component and a load-carrying component, and also includes a control component electrically connected to the ultrasonic component and the load-carrying component respectively. The load-carrying component is used to carry a target object, and the target object has multiple movable reflecting surfaces; The control component also determines the distance differences between the multiple reflecting surfaces of the target object and the target plane according to the echo signals reflected back by the multiple reflecting surfaces of the target object, so as to control the distances between one or more of the reflecting surfaces of the target object and the target plane.
10. The automatic device according to claim 9, characterized in that, The ultrasonic component includes at least one transmitting sensor and at least one receiving sensor.