Positioning method and device for circular end socket, equipment, medium and product
By using a ranging sensor to move along different directions to obtain the extreme coordinates of the circular head, the problems of wear and high cost of positioning fixtures in the existing technology are solved, and rapid and accurate positioning of the circular head is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-27
- Publication Date
- 2026-03-10
AI Technical Summary
In the existing technology, the positioning of circular heads requires special positioning fixtures, which leads to wear and high costs, and the capacitive edge-finding positioning has a large error when the slope of the head is large.
The range sensor moves along different directions to obtain the poles of the circular head, including the first positioning point and the second positioning point. The coordinates of the poles of the head are determined by the perpendicular relationship between the range sensor's range value and the direction.
It achieves fast and accurate positioning of circular heads, adapts to heads of different specifications, avoids workpiece wear and high costs, and reduces positioning errors.
Smart Images
Figure CN121624699A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of laser processing technology, and in particular to a method, apparatus, equipment, medium, and product for positioning a circular end cap. Background Technology
[0002] In laser cutting, the workpiece needs to be positioned. However, since the worktable supporting the workpiece is usually flat, while the circular head is spherical, in order to position the three-dimensional circular head, related technologies usually require the design of special positioning fixtures for each size of circular head. Not only are the positioning fixtures prone to wear, but the positioning cost is also high. Summary of the Invention
[0003] This invention provides a method, apparatus, device, medium, and product for positioning a circular end cap. The method for positioning a circular end cap can easily and quickly locate the extreme point of the circular end cap, facilitating the processing of the circular end cap.
[0004] The present invention proposes a method for positioning a circular end cap, the method comprising: controlling a distance measuring sensor to move along a first direction to obtain a first positioning point, the first positioning point corresponding to the highest point of the circular end cap on the path of the distance measuring sensor in the first direction, the distance measuring sensor being used to measure the distance to the circular end cap along a second direction, the second direction being perpendicular to the first direction; The ranging sensor is controlled to move from the first positioning point along a third direction to obtain a second positioning point. The second positioning point corresponds to the highest point of the circular end cap on the path of the ranging sensor in the third direction. The third direction, the second direction, and the first direction are all perpendicular to each other. The pole of the circular head is obtained based on the second positioning point and the distance measured by the distance measuring sensor.
[0005] Optionally, controlling the ranging sensor to move along a first direction to obtain a first positioning point includes: The ranging sensor is controlled to move from the initial point along the first direction to obtain the ranging value of the ranging sensor. The ranging value gradually increases as the distance between the ranging sensor and the circular end cap gradually increases. Based on the measured distance value, the ranging sensor is controlled to move from a first path point to a second path point and stop. The measured distance value of the ranging sensor at the second path point is greater than the measured distance value of the ranging sensor at the first path point. During the process of the ranging sensor moving from the initial point to the first path point, the measured distance value gradually decreases. The first location point is obtained based on the first path point.
[0006] Optionally, the positioning method for the circular end cap includes: Control the ranging sensor to move from the second path point to the first path point.
[0007] Optionally, the initial point is located at the periphery of the circular head.
[0008] Optionally, controlling the ranging sensor to move along a third direction from the first positioning point to obtain the second positioning point includes: The distance sensor is controlled to move from the first positioning point along the third direction to obtain the distance value of the distance sensor. The distance value gradually increases as the distance between the distance sensor and the circular end cap gradually increases. Based on the measured distance value, the ranging sensor is controlled to move from the third path point to the fourth path point and stop. The measured distance value of the ranging sensor at the fourth path point is greater than the measured distance value of the ranging sensor at the third path point. During the process of the ranging sensor moving from the first positioning point to the third path point, the measured distance value gradually decreases. The second positioning point is obtained based on the third path point.
[0009] Optionally, the distance between the circular end cap and the ranging sensor is within the ranging range of the ranging sensor.
[0010] The present invention also proposes a positioning device for a circular end cap, comprising: a first obtaining module, used to control a ranging sensor to move along a first direction to obtain a first positioning point, the first positioning point corresponding to the highest point of the circular end cap on the path of the ranging sensor in the first direction, the ranging sensor being used to measure the distance to the circular end cap along a second direction, the second direction being perpendicular to the first direction; The second acquisition module is used to control the ranging sensor to move along a third direction from the first positioning point to obtain a second positioning point. The second positioning point corresponds to the highest point of the circular end cap on the path of the ranging sensor in the third direction. The third direction, the second direction, and the first direction are all perpendicular to each other. The third obtaining module is used to obtain the pole of the circular head based on the second positioning point and the distance measurement value of the ranging sensor.
[0011] The present invention also proposes a positioning device for a circular end cap, comprising: a memory storing a computer program; The processor, when executing the computer program, is capable of implementing the steps of the positioning method for the circular end cap as described in any of the above embodiments.
[0012] The present invention also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the above embodiments.
[0013] The present invention also proposes a computer program product, comprising a computer program that, when executed by a processor, implements the method described in any of the above embodiments.
[0014] The present invention provides a method, device, equipment, computer-readable storage medium, and computer program product for positioning a circular end cap. The first positioning point obtained corresponds to the highest point of the circular end cap on the path of the ranging sensor in a first direction. A second positioning point obtained from the first positioning point corresponds to the highest point of the circular end cap on the path of the ranging sensor in a third direction. Based on the coordinates of the second positioning point and the ranging value of the ranging sensor, the extreme coordinates of the circular end cap can be obtained. Obtaining the extreme coordinates of the circular end cap completes the positioning of the circular end cap, providing a basis for subsequent laser processing of the circular end cap. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0016] Figure 1 This is a flowchart illustrating a method for positioning a circular end cap in an embodiment of the present invention; Figure 2 This is a schematic diagram of the circular end cap and the ranging sensor in an embodiment of the present invention; Figure 3 This is another flowchart illustrating the positioning method for the circular end cap in an embodiment of the present invention; Figure 4 This is a schematic diagram of another structure of the circular end cap in an embodiment of the present invention; Figure 5 This is a schematic diagram of the surface structure of the circular end cap in an embodiment of the present invention; Figure 6 This is another flowchart illustrating the positioning method for the circular end cap in an embodiment of the present invention; Figure 7 This is another structural schematic diagram of the circular end cap in an embodiment of the present invention; Figure 8 A schematic diagram of the positioning device for the circular end cap in an embodiment of the present invention.
[0017] Explanation of icon numbers: 100mm round end cap; Distance sensor 200; Positioning device 300 for circular end caps; First module 310 is obtained; Second acquisition module 330; The third module obtained is 350.
[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0021] Furthermore, the use of terms such as "second" and "first" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "second" or "first" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.
[0022] Please see Figure 1 and Figure 2 This application provides a method for positioning a circular end cap 100, comprising: S10, control the distance sensor 200 to move along the first direction to obtain the first positioning point. The first positioning point corresponds to the highest point of the circular end cap 100 on the path of the distance sensor 200 in the first direction. The distance sensor 200 is used to measure the distance to the circular end cap 100 along the second direction. The second direction is perpendicular to the first direction. S20, control the ranging sensor 200 to move from the first positioning point along the third direction to obtain the second positioning point. The second positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. The third direction, the second direction and the first direction are perpendicular to each other. S30: Based on the second positioning point and the ranging value measured by the ranging sensor 200, the pole of the circular head 100 is obtained.
[0023] Thus, the first positioning point obtained corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the first direction. The second positioning point obtained from the first positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. Based on the coordinates of the second positioning point and the ranging value of the ranging sensor 200, the polar coordinates of the circular end cap 100 can be obtained. Obtaining the polar coordinates of the circular end cap 100 completes the positioning of the circular end cap 100, providing a basis for subsequent laser processing of the circular end cap 100.
[0024] Specifically, and understandably, compared to positioning workpieces of other shapes, the circular end cap 100 can be positioned simply by finding its extreme point before processing, which is sufficient to provide a basis for subsequent laser processing of the circular end cap 100. It is understood that in this application, the extreme point of the circular end cap 100 refers to the highest point on the surface of the circular end cap 100.
[0025] In related technologies, positioning workpieces using positioning fixtures is not only prone to wear and tear on the workpieces, but also requires the design of different positioning fixtures for different specifications of circular heads 100, resulting in high costs. When positioning by capacitive edge finding, if the slope of the head is large, the capacitance value may be too large, leading to a large error. In contrast, this application uses a ranging sensor 200 for positioning, which is not affected by factors such as workpiece specifications and surface oxide layer, and can achieve positioning quickly and accurately.
[0026] Understandably, the ranging sensor 200 may include an analog laser displacement sensor.
[0027] It is understandable that there are many ways to control the ranging sensor 200 to move along the first direction to obtain the first positioning point. In one embodiment, the coordinates of the starting point of the ranging sensor 200 are known. It is understandable that the coordinates of the starting point can be preset or detected in real time; this application does not impose specific limitations. A first preset output value can be set according to the height of the circular end cap 100. That is, when the ranging value of the ranging sensor 200 reaches the first preset output value, it indicates that the ranging sensor 200 has moved to the first positioning point. Then, the ranging sensor 200 is controlled to move along the first direction until the ranging value of the ranging sensor 200 reaches the first preset output value. The coordinates of the first positioning point are obtained based on the distance the ranging sensor 200 moves along the first direction. It is understandable that there are many ways to control the ranging sensor 200 to move from the first positioning point along a third direction to obtain the second positioning point. In one embodiment, a second preset output value can be set according to the height of the circular end cap 100. That is, when the distance measured by the distance sensor 200 reaches the second preset output value, it indicates that the distance sensor 200 has moved to the second positioning point. Then, the distance sensor 200 is controlled to move along a third direction until the distance measured by the distance sensor 200 reaches the second preset value. Based on the distance the distance sensor 200 moves along the third direction, the coordinates of the second positioning point are obtained, thereby realizing the positioning of the extreme point of the circular end cap 100 and providing a basis for subsequent processing.
[0028] Understandably, the coordinate system of the first positioning point can be a coordinate system composed of the first direction and the third direction, and the coordinates of the first positioning point can be obtained based on the distance the ranging sensor 200 moves along the first direction and the third direction. Similarly, the coordinate system of the second positioning point can be a coordinate system composed of the first direction and the third direction, and the coordinates of the second positioning point can be obtained based on the distance the ranging sensor 200 moves along the first direction and the third direction.
[0029] Understandably, in this application, the highest point means the point on the circular end cap 100 that is closest to the ranging sensor 200.
[0030] Understandably, the second direction is along the vertical direction, and the height of the circular head 100 means the value of the circular head 100 along the second direction.
[0031] Understandably, the meaning of the first positioning point corresponding to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the first direction is that when the ranging sensor 200 detects the highest point of the circular end cap 100 on its path in the first direction, the ranging sensor 200 is located at the first positioning point. Similarly, the meaning of the second positioning point corresponding to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction is that when the ranging sensor 200 detects the highest point of the circular end cap 100 on its path in the third direction, the ranging sensor 200 is located at the second positioning point.
[0032] Understandably, the distance between the distance measuring sensor 200 and the circular head 100 can be known based on the distance measuring value of the distance measuring sensor 200. Thus, the coordinates of the surface of the circular head 100 along the second direction can be obtained based on the distance measuring value of the distance measuring sensor 200. By combining the coordinates of the second positioning point along the first and third directions, the coordinates of the circular head 100 in the three-dimensional coordinate system of the first, second, and third directions can be obtained.
[0033] Please see Figure 3 In one embodiment, S10 includes: S11, control the distance sensor 200 to move from the initial point along the first direction, and obtain the distance value of the distance sensor 200. The distance value gradually increases as the distance between the distance sensor 200 and the circular end cap 100 gradually increases. S13, based on the distance measurement value, control the distance sensor 200 to move from the first path point to the second path point and stop. The distance measurement value of the distance sensor 200 at the second path point is greater than the distance measurement value of the distance sensor 200 at the first path point. During the process of the distance sensor 200 moving from the initial point to the first path point, the distance measurement value gradually decreases. S15, Obtain the first positioning point based on the first path point.
[0034] Thus, as the ranging sensor 200 moves from the initial point to the first path point, the height of the circular end cap 100 measured by the ranging sensor 200 gradually increases until it moves to the second path point. The height of the circular end cap 100 at the second path point is lower than the height of the circular end cap 100 at the first path point, which means that the first path point is the first positioning point, thereby achieving the acquisition of the first positioning point.
[0035] Understandably, in this embodiment, the first positioning point can be automatically acquired without the need to preset the output value to control the ranging sensor 200 to stop at the highest point of the circular end cap 100 on the path of the ranging sensor 200, which can conveniently and quickly adapt to the positioning requirements of various models of circular end cap 100.
[0036] For details, please refer to Figure 4 and Figure 5 In one implementation, Figure 4 and Figure 5 In this diagram, P0(X0,Y0,Z0) represents the detection position of the ranging sensor 200 located at the initial point on the circular head 100, P1(X1,Y1,Z1) represents the detection position of the ranging sensor 200 located at the second path point on the circular head 100, and P2(X2,Y2,Z2) represents the detection position of the ranging sensor 200 located at the first path point on the circular head 100. The ranging sensor 200 starts from the initial point corresponding to P0 (X0,Y0,Z0) and moves along the first direction, passing through the first path point corresponding to P2 (X2,Y2,Z2) until it reaches the second path point corresponding to P1 (X1,Y1,Z1). During the process from the initial point corresponding to P0 (X0,Y0,Z0) to the first path point corresponding to P2 (X2,Y2,Z2), the height of the circular head 100 is continuously increased until the height of the circular head 100 is measured to decrease, which is the second path point corresponding to P1 (X1,Y1,Z1). At this time, it can be known that P2 (X2,Y2,Z2) corresponding to the first path point just passed is the highest point of the circular head 100 on the path of the ranging sensor 200, so the first positioning point is obtained according to the coordinates of the first path point.
[0037] It is understood that the initial point can be any location, and this application does not impose any specific restrictions. It is understood that the ranging sensor 200 starts moving from the initial point along the first direction. Since the first direction can be forward or reverse, the ranging sensor 200 may gradually increase the ranging value during its movement along the first direction, that is, there is a probability that the ranging sensor 200 will move in a direction away from the first path point. At this time, the moving direction of the ranging sensor 200 can be adjusted according to the trend of the ranging value, so as to make the ranging sensor 200 move in a direction closer to the first path point.
[0038] It is understandable that the increasing distance between the ranging sensor 200 and the circular head 100 means that the height of the circular head 100 is gradually decreasing, and the decreasing distance between the ranging sensor 200 and the circular head 100 means that the height of the circular head 100 is gradually increasing.
[0039] Furthermore, the positioning method for the circular end cap 100 also includes: Control the ranging sensor 200 to move from the second path point to the first path point.
[0040] This allows the ranging sensor 200 to move along a third direction starting from the first path point.
[0041] In one implementation, the initial point is located at the periphery of the circular head 100.
[0042] Thus, the ranging sensor 200 only needs to move unidirectionally along the first direction to ensure that it moves in the direction closest to the first path point, without the need for the ranging sensor 200 to move bidirectionally along the first direction.
[0043] In one implementation, please refer to Figure 6 S20 includes: S21, control the distance sensor 200 to move from the first positioning point along the third direction, and obtain the distance value of the distance sensor 200. The distance value gradually increases as the distance between the distance sensor 200 and the circular end cap 100 gradually increases. S23, based on the distance measurement value, control the distance sensor 200 to move from the third path point to the fourth path point and stop. The distance measurement value of the distance sensor 200 at the fourth path point is greater than the distance measurement value of the distance sensor 200 at the third path point. During the process of the distance sensor 200 moving from the first positioning point to the third path point, the distance measurement value gradually decreases. S25, based on the third path point, obtain the second positioning point.
[0044] Thus, as the ranging sensor 200 moves from the first positioning point to the third path point, the height of the circular end cap 100 measured by the ranging sensor 200 gradually increases until it moves to the fourth path point. The height of the circular end cap 100 at the fourth path point is lower than the height of the circular end cap 100 at the third path point, which means that the third path point is the second positioning point, thereby achieving the acquisition of the second positioning point.
[0045] Understandably, in this embodiment, the acquisition of the second positioning point can be achieved automatically without the need to preset the output value to control the ranging sensor 200 to stop at the highest point of the circular end cap 100 on the path of the ranging sensor 200, which can conveniently and quickly adapt to the positioning requirements of various models of circular end cap 100.
[0046] For details, please refer to Figure 3 and Figure 7In one embodiment, P2(X2,Y2,Z2) represents the detection position of the ranging sensor 200 located at the first positioning point on the circular end cap 100, P3(X3,Y3,Z3) represents the detection position of the ranging sensor 200 located at the fourth path point on the circular end cap 100, and P4(X4,Y4,Z4) represents the detection position of the ranging sensor 200 located at the third path point on the circular end cap 100. The ranging sensor 200 starts from the first positioning point corresponding to P2(X2,Y2,Z2) and moves along a third direction, passing through the third path point corresponding to P4(X4,Y4,Z4) until it reaches the fourth path point corresponding to P3(X3,Y3,Z3). During the process from the first positioning point corresponding to P2(X2,Y2,Z2) to the third path point corresponding to P4(X4,Y4,Z4), the height of the circular end cap 100 is continuously increased until the height of the circular end cap 100 is measured to decrease, which is the fourth path point corresponding to P3(X3,Y3,Z3). At this time, it can be known that P4(X4,Y4,Z4), which just passed the third path point, is the highest point of the circular end cap 100 on the path of the ranging sensor 200. Thus, the second positioning point is obtained based on the coordinates of the third path point.
[0047] In one embodiment, the distance between the circular end cap 100 and the ranging sensor 200 is within the ranging range of the ranging sensor 200.
[0048] This ensures the accuracy of the ranging sensor 200.
[0049] Please see Figure 8 This invention provides a positioning device 300 for a circular end cap, comprising a first obtaining module 310, a second obtaining module 330, and a third obtaining module 350. The first obtaining module 310 controls a ranging sensor 200 to move along a first direction to obtain a first positioning point. The first positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 along the first direction. The ranging sensor 200 measures the distance to the circular end cap 100 along a second direction, which is perpendicular to the first direction. The second obtaining module 330 controls the ranging sensor 200 to move from the first positioning point along a third direction to obtain a second positioning point. The second positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 along the third direction. The third direction, the second direction, and the first direction are all perpendicular to each other. The third obtaining module 350 obtains the pole of the circular end cap 100 based on the second positioning point and the distance measured by the ranging sensor 200.
[0050] The positioning device 300 for the circular end cap of this invention obtains a first positioning point corresponding to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the first direction. A second positioning point obtained from the first positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. Based on the coordinates of the second positioning point and the ranging value of the ranging sensor 200, the extreme coordinates of the circular end cap 100 can be obtained. Obtaining the extreme coordinates of the circular end cap 100 completes the positioning of the circular end cap 100, providing a basis for subsequent laser processing of the circular end cap 100.
[0051] It is understood that the positioning device 300 for the circular head may include an FPGA (Field Programmable Gate Array) chip, an analog-to-digital converter, a digital-to-analog converter, etc., and this application does not impose specific limitations.
[0052] This invention provides a positioning device for a circular end cap 100, comprising a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it can implement the steps of the positioning method for the circular end cap 100 as described above.
[0053] The positioning device for the circular end cap 100 in this embodiment of the invention obtains a first positioning point corresponding to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the first direction. A second positioning point obtained from the first positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. Based on the coordinates of the second positioning point and the ranging value of the ranging sensor 200, the extreme coordinates of the circular end cap 100 can be obtained. Obtaining the extreme coordinates of the circular end cap 100 completes the positioning of the circular end cap 100, providing a basis for subsequent laser processing of the circular end cap 100.
[0054] The present invention also proposes a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of the working method of any of the above embodiments.
[0055] For example, when the program is executed by the processor, the steps to achieve the following working method are: S10, control the distance sensor 200 to move along the first direction to obtain the first positioning point. The first positioning point corresponds to the highest point of the circular end cap 100 on the path of the distance sensor 200 in the first direction. The distance sensor 200 is used to measure the distance to the circular end cap 100 along the second direction. The second direction is perpendicular to the first direction. S20, control the ranging sensor 200 to move from the first positioning point along the third direction to obtain the second positioning point. The second positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. The third direction, the second direction and the first direction are perpendicular to each other. S30: Based on the second positioning point and the ranging value measured by the ranging sensor 200, the pole of the circular head 100 is obtained.
[0056] The computer-readable storage medium of this invention obtains a first positioning point corresponding to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the first direction. A second positioning point obtained from the first positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. Based on the coordinates of the second positioning point and the ranging value of the ranging sensor 200, the polar coordinates of the circular end cap 100 can be obtained. Obtaining the polar coordinates of the circular end cap 100 completes the positioning of the circular end cap 100, providing a basis for subsequent laser processing of the circular end cap 100.
[0057] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the working method described in any of the above embodiments.
[0058] For example, when the program is executed by the processor, the steps to achieve the following working method are: S10, control the distance sensor 200 to move along the first direction to obtain the first positioning point. The first positioning point corresponds to the highest point of the circular end cap 100 on the path of the distance sensor 200 in the first direction. The distance sensor 200 is used to measure the distance to the circular end cap 100 along the second direction. The second direction is perpendicular to the first direction. S20, control the ranging sensor 200 to move from the first positioning point along the third direction to obtain the second positioning point. The second positioning point corresponds to the highest point of the circular end cap 100 on the path of the ranging sensor 200 in the third direction. The third direction, the second direction and the first direction are perpendicular to each other. S30: Based on the second positioning point and the ranging value measured by the ranging sensor 200, the pole of the circular head 100 is obtained.
[0059] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).
[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0061] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A method of positioning a circular head, characterized in that, The positioning method of the circular head includes: controlling the ranging sensor to move along a first direction to obtain a first positioning point, the first positioning point corresponding to a highest point of the circular head on a path of the ranging sensor in the first direction, the ranging sensor being configured to measure a distance from the circular head along a second direction, the second direction being perpendicular to the first direction; controlling the ranging sensor to move along a third direction from the first positioning point to obtain a second positioning point, the second positioning point corresponding to a highest point of the circular head on a path of the ranging sensor in the third direction, the third direction, the second direction and the first direction being perpendicular to each other; obtaining a pole point of the circular head according to the second positioning point and a ranging value of the ranging sensor.
2. The method of positioning a circular head as defined in claim 1, wherein, The control of the ranging sensor to move along a first direction to obtain a first positioning point includes: controlling the ranging sensor to move from an initial point along the first direction to obtain a ranging value of the ranging sensor, the ranging value gradually increasing as a distance between the ranging sensor and the circular head gradually increases; controlling the ranging sensor to move from a first path point to a second path point according to the ranging value, the ranging value of the ranging sensor at the second path point being greater than the ranging value of the ranging sensor at the first path point, the ranging value gradually decreasing as the ranging sensor moves from the initial point to the first path point; obtaining the first positioning point according to the first path point.
3. The method of positioning a circular head as defined in claim 2, wherein, The positioning method of the circular head includes: controlling the ranging sensor to move from the second path point to the first path point.
4. The method of positioning a circular head as defined in claim 2, wherein, The initial point is located at a circumference of the circular head.
5. The method of positioning a circular head as defined in claim 1, wherein, The control of the ranging sensor to move along a third direction from the first positioning point to obtain a second positioning point includes: controlling the ranging sensor to move from the first positioning point along the third direction to obtain a ranging value of the ranging sensor, the ranging value gradually increasing as a distance between the ranging sensor and the circular head gradually increases; controlling the ranging sensor to move from a third path point to a fourth path point according to the ranging value, the ranging value of the ranging sensor at the fourth path point being greater than the ranging value of the ranging sensor at the third path point, the ranging value gradually decreasing as the ranging sensor moves from the first positioning point to the third path point; obtaining the second positioning point according to the third path point.
6. The method of positioning a circular head as defined in claim 1, wherein, The distance between the circular head and the ranging sensor is within a ranging range of the ranging sensor.
7. A positioning device for a circular head, characterized in that The positioning method includes: a first obtaining module configured to control a ranging sensor to move along a first direction to obtain a first positioning point, the first positioning point corresponding to a highest point of a circular head on a path of the ranging sensor in the first direction, the ranging sensor being configured to measure a distance from the circular head along a second direction, the second direction being perpendicular to the first direction; a second obtaining module, configured to control the distance measuring sensor to move along a third direction from the first positioning point, and obtain a second positioning point, the second positioning point corresponding to a highest point of the circular head on a path of the distance measuring sensor in the third direction, the third direction, the second direction and the first direction being perpendicular to each other in pairs; a third obtaining module, configured to obtain a pole point of the circular head according to the second positioning point and a distance measuring value of the distance measuring sensor.
8. A positioning device for a circular head, characterized in that comprising: a memory, which stores a computer program; a processor, which, when executing the computer program, is capable of implementing the steps of the positioning method of the circular head according to any one of claims 1 to 6.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the method according to any one of claims 1 to 6.
10. A computer product comprising a computer program, characterized in that The computer program, when executed by the processor, implements the method according to any one of claims 1 to 6. The computer program, when executed by the processor, implements the method according to any one of claims 1 to 6.