CN202929202U - Non-contact detection device for relative poses between two planes - Google Patents

Abstract

The utility model discloses a non-contact detection device for relative poses between two planes. The device comprises a tilt angle sensor, a mounting frame, a singlechip-based master control system and at least three distance sensors, wherein the tilt angle sensor is arranged on the mounting frame; at least one measuring shaft of the tilt angle sensor is perpendicular to the mounting frame; the singlechip-based master control system is connected with the three distance sensors through an inter-integrated circuit (I<2>C) bus; and the tilt angle sensor is connected with the singlechip-based master control system. Through non-contact detection, the dead zone of no contact no signal is avoided, the measuring distance is effectively increased, and the measuring range is effectively expanded; a detection method disclosed by the utility model is simple, easy to implement, high in accuracy, low in equipment cost and convenient to popularize and apply; and the detection device is independent and complete and is conveniently fused with other systems.

Description

A kind of non-contact detection device of two interplanar relative poses

Technical field

The utility model relates to robot detection technique field, particularly a kind of non-contact detection device of two interplanar relative poses.

Background technology

Along with making rapid progress of science and technology, robotization has been widely used in all trades and professions, particularly commercial production.In these were used, detecting and being operated object was the first step of all process steps with respect to the pose of action subject.The relative pose that wherein has a class job to relate between plane and plane detects, such as: in industrial carrying and climbing robot etc. are used, usually comprise moving plane (generally less, sucker plane for example) (generally larger with quiet plane, absorbate surface for example), how utilizing simple sensor efficiently to guarantee that moving plane and quiet plane fit tightly fast, is namely that the typical case one of uses.

Conventional art generally adopts feeler or Curvature Optical Fiber Sensor to solve this problem, two kinds of double-feet small-sized wall-climbing robot FLIPPER of as state in Michigan, United States university development and CRAWLER etc.But there are many deficiencies in the method:

1) only have and just have signal to produce after two plane contact, and this moment two interplanar relative poses adjustment amount often very limited, otherwise easily produce collision, seem passive;

2) in the close process in two planes, can't provide effective inspiration and guidance information, seem blindly;

3) adjustment amount is often logical signal, but not quantitative information, poor efficiency seems.And to overcome these difficulties, non-contact detection is a splendid selection.Machine vision is also a kind of solution.But it has requirement to illumination, background etc., and various visual angles and a plurality of road sign point generally need to be set, and corresponding image processing program is complicated, consuming time many, and testing cost significantly improves unavoidably.

The utility model content

Goal of the invention of the present utility model is the technical deficiency that detects for existing robot, and it is the non-contact detection device of detectable two interplanar relative poses that a kind of noncontact is provided.

For achieving the above object, the technical solution adopted in the utility model is:

A kind of non-contact detection device of two interplanar relative poses is provided, comprises obliquity sensor, erecting frame, SCM Based master control system and at least 3 range sensors; Described obliquity sensor be arranged on erecting frame and at least 1 of obliquity sensor to measure axle vertical with erecting frame; Described SCM Based master control system is passed through I ²The C bus is connected with 3 range sensors; In addition, described obliquity sensor also is connected with SCM Based master control system.

Preferably, described three described range sensors are equilateral triangle and are distributed on erecting frame.

Preferably, described erecting frame is provided with three vacuum cups, is used for contacting with outside plane; And the triangle of the triangle of three range sensor compositions and three vacuum cup compositions is staggered.

Preferably, three described vacuum cups also are equilateral triangle and distribute, and the equilateral triangle of the equilateral triangle of three range sensor compositions and three vacuum cup compositions just is staggered, and the cylindrical of the equilateral triangle of three range sensor compositions is concentric with the cylindrical of the equilateral triangle of three vacuum cups compositions.

Preferably, described range sensor is ultrasonic sensor or infrared sensor.

Preferably, described obliquity sensor adopts single shaft, twin shaft or three axial rake sensors.

Preferably, described SCM Based master control system is connected with host computer by data line.

A kind of non-contact detection method that uses two interplanar relative poses of said apparatus comprises the steps: to be provided with the first plane and the second plane; Wherein, the first plane is as moving plane, and the second plane is quiet plane; Above-mentioned range sensor and obliquity sensor are located in the first plane; If the angle between the first plane and the second plane and increment corner β and the first plane to the second plane apart from three kinds of posture information of d; Measurement for increment corner β, the measurement axle of obliquity sensor is vertical with the first plane, when self normal vector rotated, obliquity sensor had been the first plane with respect to the increment corner on the second plane in the difference of the measured angle for gravity direction before rotation and after rotating when the first plane; 3 range sensor distributions triangular in shape on the first plane, its direction of measurement all perpendicular to the first plane, point to the second plane, by following formula calculate the angle α that can obtain between the first plane and the second plane and the first plane to the second plane apart from d:

$\mathrm{\&alpha;}=\arctan \frac{\sqrt{3{(l_3-l_1)}^2+{({\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="120822113545.png,120822113622.png"\; state="\{\{state\}\}">l</figure-callout>}}_3+l_2-{2l}_1)}^2}}{3R};$

$\left|\stackrel{\&RightArrow;}{d}\right|=\frac{\left|Q\right|}{\sqrt{M^2+N^2+P^2}};$

Wherein, l ₁, l ₂, l ₃---the value that each range sensor is measured; The distribution circle radius of R---three range sensors;

${\left[\begin{array}{cccc}M& N& P& Q\end{array}\right]}^T={\left[\begin{array}{cccc}-\sqrt{3}(l_3-l_1)& {\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="120822113545.png,120822113622.png"\; state="\{\{state\}\}">l</figure-callout>}}_3+l_2-{2\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="120822113545.png,120822113622.png"\; state="\{\{state\}\}">l</figure-callout>}}_1& 3R& -R(l_1+l_2+l_3)\end{array}\right]}^T.$

Preferably, it is zero position that described the first plane first turns to the increment corner around self normal vector, after the measured value of obliquity sensor be the first plane with respect to the increment corner β on the second plane.

Preferably, described 3 range sensors are the equilateral triangle distribution on the first plane.

The utility model has following beneficial effect with respect to prior art: the utility model has been avoided the blind area of " do not contact is no signal " by non-contact detecting, has effectively increased measuring distance and scope; Detection method of the present utility model is simple, is easy to realize, precision is high, and equipment cost is low, and is easy to utilize; Pick-up unit of the present utility model is independent, complete, is convenient to merge with other system.

Description of drawings

Fig. 1 is detection schematic diagram of the present invention;

Fig. 2 is the schematic diagram that obliquity sensor of the present invention is installed;

Fig. 3 is between the first plane and the second plane and the obliquity sensor scheme of installation when the increment corner of axle is β;

Fig. 4 is the block diagram of device used herein;

Fig. 5 is that pose of the present invention detects schematic diagram;

Fig. 6 is that the pose when adjusting angle α and adjustment increment corner β detects schematic diagram;

Fig. 7 is that the pose when adjusting apart from d detects schematic diagram.

Embodiment

Below in conjunction with the drawings and specific embodiments, goal of the invention of the present invention is described in further detail, embodiment can not give unnecessary details one by one at this, but therefore embodiments of the present invention are not defined in following examples.Unless stated otherwise, material and the job operation of the present invention's employing are the art conventional material and job operation.

As Fig. 1, Fig. 2 and shown in Figure 3, the first plane 2 and the second plane 6 are respectively two separate planes, and its relation in the space is any, comprises crossing, coincidence or parallel, the situation when being crossing shown in figure.

Set up coordinate system as shown in the figure, the crucial relative pose information on the first plane 2 and the second plane 6 has between three: the first planes 2 and the second plane 6 and around the angle α of y axle; Between the first plane 2 and the second plane 6 and around the increment corner β of Z axis; And first plane 2 central point O to the second plane 6 apart from d, wherein, the present embodiment central point is that example describes, but can extend to any point in the first plane.

The non-contact detection method of a kind of two interplanar relative poses disclosed by the invention and device thereof are to providing three crucial relative pose information between above-mentioned the first plane 2 and the second plane 6 by non-contact detection method.On method, for angle with apart from the measurement of d, take " determining a plane at 3 " as ultimate principle, namely three range sensors 1,4 and 5 are the equilateral triangle distribution on the first plane.Its direction of measurement all perpendicular to the first plane 2, point to the second plane 6, by following formula calculate the angle that can obtain between the first plane 2 and the second plane 6 and the first plane 2 central point O to the second plane 6 apart from d:

$\mathrm{\&alpha;}=\arctan \frac{\sqrt{3{(l_3-l_1)}^2+{({\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="120822113545.png,120822113622.png"\; state="\{\{state\}\}">l</figure-callout>}}_3+l_2-{2l}_1)}^2}}{3R};$

$\left|\stackrel{\&RightArrow;}{d}\right|=\frac{\left|Q\right|}{\sqrt{M^2+N^2+P^2}};$

Wherein, l ₁, l ₂, l ₃---the value that each range sensor is measured; The distribution circle radius of R---three range sensors;

${\left[\begin{array}{cccc}M& N& P& Q\end{array}\right]}^T={\left[\begin{array}{cccc}-\sqrt{3}(l_3-l_1)& {\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="120822113545.png,120822113622.png"\; state="\{\{state\}\}">l</figure-callout>}}_3+l_2-{2\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="120822113545.png,120822113622.png"\; state="\{\{state\}\}">l</figure-callout>}}_1& 3R& -R(l_1+l_2+l_3)\end{array}\right]}^T.$

Measurement for increment corner β, obliquity sensor 3 is fixed in the first plane 2, particular location is not limit but the measurement axle of obliquity sensor 3 must be vertical with the first plane 2, this measures the sensitive direction that axle characterizes obliquity sensor, the rotation that it can be measured around axis be the measurement axle, shown in Figure 2 is inside perpendicular to paper.When if rotate around self normal vector on the first plane 2, obliquity sensor 3 measured angle poor before rotation and after rotating, this moment, two angle values all for gravity direction, be the first plane 2 with respect to the increment corner on the second plane 6, and in this process, the second plane 6 were static all the time.

If defining the increment corner of the first plane 2 when self normal vector turns to a certain position is zero, be that this position is zero-bit, the measured value of obliquity sensor 3 is the first plane with respect to the increment corner β on the second plane, and concrete " a certain position " can define according to concrete application demand, and shown in Figure 2 is one kind of example.

From the device of using, the solution of the present invention comprises: range sensor 1, range sensor 4, range sensor 5, obliquity sensor 3, based on master control system (not marking in figure) and their erecting frame of monolithic sheet.This erecting frame that is the first above-mentioned plane 2 are substrates of fixing each equipment; SCM Based master control system can be fixed on erecting frame, also can be placed in outside erecting frame, and it is connected with each sensor by corresponding data line and gets final product.

As shown in Figure 3, the work of master control system management and coordination distance sensor 1, range sensor 4, range sensor 5 and obliquity sensor 3, and the data of responsible each sensor of acquisition and processing, can have both communication function when being connected with other system, thereby two measured interplanar relative pose information are sent.

Range sensor 1,4 and 5 can pass through I ²The modes such as C bus access master control system, so that a plurality of sensing equipment is shared same single-chip microcomputer; 3 D/A converter modules that can directly access single-chip microcomputer of obliquity sensor.Range sensor 1,4 and 5 can adopt that ultrasonic sensor, infrared distance sensor etc. are various possesses acquisition point to the sensor of plane and straight line distance.Obliquity sensor 3 can adopt single shaft, twin shaft or three axles, only needs to guarantee that wherein one measurement axle must get final product with the first plane 2 at right angle settings; Single-chip microcomputer can adopt digital signal processor (DSP) etc. to possess the chip of similar functions.

As shown in Figure 4, during application, suppose the first plane 2 motions, as the end negative-pressure adsorption paw of transfer robot; The second plane 6 is static, as the surface as large goods; Object run is to make the first plane 2 and the second plane 6 fit tightly.In the first plane 2 motion processes, as shown in Figure 5, utilize the method disclosed in the present and device, can detect easily it with respect to the crucial relative pose information on the second plane 6.Master control system is sent to host computer (such as the programmable logic controller (PLC) of control and industrial computer etc.) with this information, host computer with this as inspiring and guiding, adjust successively and make that two interplanar increment corners are zero, angle α is zero, this moment, the first plane 2 and the second plane 6 were parallel to each other, namely as shown in Figure 6.Keep the attitude on the first plane 2 constant, and move along Z axis shown in Figure 1, the interplanar distance of Real Time Monitoring two can realize fitting tightly rapidly and efficiently, thus for absorption ready, finally as shown in Figure 7.

During concrete enforcement, for avoiding the measurement blind area of range sensor, range sensor can be arranged in parallel with the first plane 2 but have on the plane of one section constant distance, does not overlap the same as the absorption plane of the present embodiment with plane, range sensor place.Certainly, above-mentioned set-up procedure also can settle at one go in the situation that do not produce collision, and this can not consist of the essential distinction different with the present invention.

Above-described embodiment is only preferred embodiment of the present utility model, is not to limit practical range of the present utility model.Be that all equalizations of doing according to the utility model content change and modify, all contained by the utility model claim scope required for protection.

Claims (6)

1. the non-contact detection device of an interplanar relative pose, is characterized in that: comprise obliquity sensor, erecting frame, SCM Based master control system and 3 range sensors at least; Described obliquity sensor be arranged on erecting frame and at least 1 of obliquity sensor to measure axle vertical with erecting frame; Described SCM Based master control system is passed through I ²The C bus is connected with 3 range sensors; In addition, described obliquity sensor also is connected with SCM Based master control system.

2. the non-contact detection device of two interplanar relative poses according to claim 1, it is characterized in that: described three range sensors are equilateral triangle and are distributed on erecting frame.

3. the non-contact detection device of two interplanar relative poses according to claim 2, it is characterized in that: described erecting frame is provided with three vacuum cups, is used for contacting with outside plane; Three described vacuum cups also are equilateral triangle and distribute, and the equilateral triangle of the equilateral triangle of three range sensor compositions and three vacuum cup compositions just is staggered, and the cylindrical of the equilateral triangle of three range sensor compositions is concentric with the cylindrical of the equilateral triangle of three vacuum cups compositions.

4. the non-contact detection device of two interplanar relative poses according to claim 1, it is characterized in that: described range sensor is ultrasonic sensor or infrared sensor.

5. the non-contact detection device of two interplanar relative poses according to claim 1, is characterized in that: described obliquity sensor employing single shaft, twin shaft or three axial rake sensors.

6. the non-contact detection device of the described two interplanar relative poses of according to claim 1-5 any one, it is characterized in that: described SCM Based master control system is connected with host computer by data line.

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