JPS61108905A - Direction detector - Google Patents
Direction detectorInfo
- Publication number
- JPS61108905A JPS61108905A JP23106384A JP23106384A JPS61108905A JP S61108905 A JPS61108905 A JP S61108905A JP 23106384 A JP23106384 A JP 23106384A JP 23106384 A JP23106384 A JP 23106384A JP S61108905 A JPS61108905 A JP S61108905A
- Authority
- JP
- Japan
- Prior art keywords
- light
- elements
- axes
- photodetecting
- detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
(産業上の利用分野)
本発明は、2軸の互いに交わる角度および方向を検出す
る検出器に関するもので、自在継手の屈曲する方向とそ
の角度を検出する場合又は多関節ロボット等に用いられ
るものである。Detailed Description of the Invention [Objective of the Invention] (Industrial Application Field) The present invention relates to a detector that detects the angle and direction of intersection of two axes, and detects the bending direction of a universal joint and its angle. It is used for detection purposes or for articulated robots.
(従来の技術)
本発明に係る従来技術としては、実開昭57−3560
8号「テンショメータの保護機構付き回転位置検出装置
」があり、相対回転する一方軸にポテンショメークの本
体部を固定し、他方軸にポテンショメータ軸を固定して
取り付けた技術が開示されている。この場合相対回転す
る軸はほぼ同心であるが、これが任意の角度にて交叉す
る場合は第7図に示すような構造となる。すなわち、任
意の角度にて交叉するA、B軸において、ジョインl−
Al及びB1を設け、コマ片Cを介してピンにて結合し
自在継手とし、それぞれにポテンショメータD1及びD
2を設けたもので、2つのリンクを連結する回りの対偶
の軸の回転角をポテンショメークで測定し、2軸の相対
位置を知るI食出器である。(Prior art) As a prior art related to the present invention, Utility Model Application Publication No. 57-3560
No. 8 ``Rotary position detection device with protection mechanism for tensionometer'' discloses a technique in which the main body of a potentiometer is fixed to one relatively rotating shaft, and the potentiometer shaft is fixed and attached to the other shaft. In this case, the axes of relative rotation are approximately concentric, but if they intersect at an arbitrary angle, a structure as shown in FIG. 7 is obtained. That is, in the A and B axes that intersect at an arbitrary angle, join l-
Al and B1 are provided and connected with a pin through the piece C to form a universal joint, and potentiometers D1 and D are respectively connected.
This is an I-eating device that uses a potentiometer to measure the rotation angle of the pair of shafts around the connection of the two links, and determines the relative position of the two shafts.
(発明が解決しようとする問題点)
しかしこの様な従来の検出器は、ポテンショメータの摩
擦のために、自在継手の抵抗が著しく大きくなり、その
ためにポテンショメータイ寸きの自在継手は伝導効率が
悪く、また自在継手を拘束することなく自由状態で使用
することは不可能であ゛ るという問題点がある。(Problem to be solved by the invention) However, in such conventional detectors, the resistance of the universal joint is extremely large due to the friction of the potentiometer, and as a result, a universal joint the size of a potentiometer has poor conduction efficiency. Another problem is that it is impossible to use the universal joint in a free state without restraining it.
そこで本発明は、上記従来技術の欠点を解消し、摩擦抵
抗の少なくない、伝導効率の良い検出器を提供すること
をその技術的課題とするものである。Therefore, the technical object of the present invention is to eliminate the drawbacks of the above-mentioned prior art and to provide a detector with not only little frictional resistance but also good conduction efficiency.
(問題点を解決するための手段)
上記技術的課題を解決するために講じた手段は、2軸の
一方軸に投光素子を他方の軸に受光素子を複数配置し、
前記2軸を自在継手にて連結するものである。(Means for solving the problem) The means taken to solve the above technical problem is to arrange a plurality of light emitting elements on one of the two axes and a plurality of light receiving elements on the other axis.
The two shafts are connected by a universal joint.
(作用)
上記技術的手段によると、発光素子と受光素子は前記2
軸にそれぞれ垂直な平面上に適当な配列で固定されてお
り、投光素子からの直接の光が少なくとも1つの受光素
子に照射されるもので、検出器の出力は、投光素子から
の光の受光素子が受ける量に比例して発生する電流であ
り、各受光素子の出力を総合して、2つの軸の交わる角
度と方向を検出するものである。このように検出器自体
は光線を媒介としており非接触のために、摩擦による影
響はまったくなく、従って伝導効率の良い検出器である
。(Operation) According to the above technical means, the light emitting element and the light receiving element are
They are fixed in an appropriate arrangement on a plane perpendicular to each axis, and the direct light from the light emitting element is irradiated onto at least one light receiving element, and the output of the detector is the light from the light emitting element. This is a current generated in proportion to the amount received by the light receiving element, and the output of each light receiving element is integrated to detect the angle and direction where the two axes intersect. In this way, the detector itself uses light as a medium and is non-contact, so it is not affected by friction at all, and is therefore a detector with good conduction efficiency.
(実施例) 以下、本発明を実施例に基づいて説明する。(Example) Hereinafter, the present invention will be explained based on examples.
3と4は5の自在継手によって接続されるリンクである
。前記2つのリンクが交わる方向と角度を検出するため
に、それぞれのリンクに垂直な平面板6,7を設け、前
記平面板に投光素子1”+1b・・・と受光素子2a、
2b、2c・・・を配置する。投光素子と受光素子は必
要とする測定範囲によって適当に配列すのもので、この
例として第2図に示す。(イ)は投光素子の、(ロ)は
受光素子の配列例で、この例として投光素子として発光
ダイオード、受光素子としてフォトダイオードを使用す
る。3 and 4 are links connected by a universal joint 5. In order to detect the direction and angle at which the two links intersect, plane plates 6 and 7 perpendicular to each link are provided, and light emitting elements 1"+1b..., light receiving elements 2a,
2b, 2c... are placed. The light emitting element and the light receiving element are arranged appropriately depending on the required measurement range, and an example of this is shown in FIG. (A) is an example of the arrangement of the light projecting element, and (B) is an example of the arrangement of the light receiving element. In this example, a light emitting diode is used as the light projecting element, and a photodiode is used as the light receiving element.
以上の構造においてその作用を説明する。The operation of the above structure will be explained.
2つのリンクが同一直線上にあるとき投光素子が受光素
子に投光する範囲は第3図の(a)のようになり受光素
子2a、2b・・・に均等に投光素子la、lb・・・
が投光する。ここで円で示される部分が投光されている
部分で、正方形で示されているところが受光素子である
。When the two links are on the same straight line, the range in which the light emitting element emits light to the light receiving element is as shown in FIG. ...
emits light. Here, the part indicated by a circle is the part where light is projected, and the part indicated by a square is the light receiving element.
2つのリンクが角度を持つに従ってその方向と角度によ
って(a)〜Tf)のように変化し、例えば〜)に示す
ように1aと2aが大きく重なり1dと2dとの重なり
が小さくなることにより、リンクとの交わりの角度が検
出出来、受光素子の出力はこれ、らに投光される部分の
面積に比例することになる。第4図はリンク軸の傾きθ
°の大きさと受光素子の出力Pとの関係を示したもので
、グラフAは、第3図の投光素子1aと受光素子2aと
の重なり状況を示したもので、重なった面積の最大の場
合が第3図の(C)の状況であり、又1bと2b及びI
Cと20との重なり状況をグラフBで示し、1dと2d
及び1eと2eとの重なり状況をグラフCで示す。この
重なった面積の大きさが、受光素子出力Pを表すもので
、この場合の2軸の傾きの大きさすなわち2軸が交わる
三次元の角度θが検出できるものである。As the two links have an angle, the angle changes as shown in (a) to Tf) depending on the direction and angle. For example, as shown in ~), 1a and 2a overlap greatly and 1d and 2d overlap less, so that The angle of intersection with the link can be detected, and the output of the light-receiving element is proportional to the area of the portion onto which the light is projected. Figure 4 shows the inclination θ of the link axis.
Graph A shows the relationship between the magnitude of ° and the output P of the light-receiving element. Graph A shows the overlap between the light-emitting element 1a and the light-receiving element 2a in Fig. 3. The case is the situation (C) in Figure 3, and 1b, 2b and I
Graph B shows the overlap between C and 20, and 1d and 2d
Graph C shows the overlap between 1e and 2e. The size of this overlapping area represents the light receiving element output P, and in this case, the magnitude of the inclination of the two axes, that is, the three-dimensional angle θ where the two axes intersect can be detected.
第5図は互いに平行な2軸3.4の位置関係を検出する
場合の実施例で、垂直板8.9を2軸に取り付け、発光
素子1a、lb・・・及び受光素子2a、2b・・・に
より第3図と同じ方法により前記P及びθ°の測定を行
い、2軸の位置関係を検出するものである。FIG. 5 shows an embodiment in which the positional relationship between two axes 3.4 parallel to each other is detected, in which a vertical plate 8.9 is attached to the two axes, and light emitting elements 1a, lb... and light receiving elements 2a, 2b... . . , the above-mentioned P and θ° are measured by the same method as shown in FIG. 3, and the positional relationship between the two axes is detected.
第6図は、外乱光か十分に遮蔽できない場合の実施例で
3及び4は軸、5は自在継手で垂直板6.7があり、発
光ダイオードを使用した発光素子10a、10b・・・
と受光素子としてフォトダイオードlla、llb・・
・を使用し、前記垂直板に取り付けたもので、投光素子
の発光スペクトルのピーク値と受光素子の最も感度の良
い波長域とがおよそ一致するように選定するものである
。前記発光素子及び受光素子には素子の前にその波長域
の光を通しやすい光学フィルタ12a、12b・・・及
び13a、13b・・・が設けられている。14.15
はアンプ、16はA/D変換機、17はマイコンである
。Fig. 6 shows an example in which disturbance light cannot be sufficiently shielded, and 3 and 4 are shafts, 5 is a universal joint, and vertical plates 6, 7 are provided, and light emitting elements 10a, 10b using light emitting diodes are used.
and photodiodes lla, llb as light receiving elements.
- is used and attached to the vertical plate, and is selected so that the peak value of the emission spectrum of the light emitting element approximately coincides with the wavelength range in which the light receiving element is most sensitive. The light emitting element and the light receiving element are provided with optical filters 12a, 12b, . . . and 13a, 13b, . 14.15
is an amplifier, 16 is an A/D converter, and 17 is a microcomputer.
前記装置において発光素子はその先金を増すためにパル
ス的に電流を流し定格以上の出力を得るようにし、また
受光素子の出力を得るようにし、また受光素子の・出力
は投光素子の発光前のものと発光中のものとを減らし、
さらにそれを数回繰り返しそれらの平均をそることで、
外乱光の影響を除くことができるものである。すなわち
、(1)LEDをパルス点灯させ、点灯前と点灯後の結
果を減らすことにより、時間の変化の少ない外乱 光の
影響を排除することができ、これを第6図 (ロ)に示
し、図中118.llbはフォトダ イオードでPは、
それぞれのフォトダイオード の出力を示し、棒グラフ
は点灯時の出力、斜線 部分は、点灯前の出力であり、
この影響をさし ひいた出力を(ハ)に示す。In the above device, the light emitting element is made to pass current in a pulsed manner to obtain an output higher than its rating in order to increase its lead, and also to obtain the output of the light receiving element, and the output of the light receiving element is equal to the light emission of the light emitting element. Reduce the previous one and the one that is emitting light,
By repeating this several times and taking the average,
It is possible to eliminate the influence of external light. In other words, (1) By lighting the LED in pulses and reducing the results before and after lighting, it is possible to eliminate the influence of disturbance light that changes little over time, as shown in Figure 6 (b). 118 in the figure. llb is a photodiode and P is
The output of each photodiode is shown, the bar graph is the output when the light is on, the shaded area is the output before the light is on,
The output after subtracting this effect is shown in (c).
(2)LEDをパルス点灯を繰り返し、その度毎の値を
平均することにより、時間変化の多い外乱光を平均化し
、その影響を緩和させることができる。(2) By repeatedly lighting the LED in pulses and averaging the values each time, it is possible to average out the disturbance light that changes over time and alleviate its influence.
(3+ (11及び(2)を共に実施することにより
、外乱光の測定値に対する影響を少なくすることができ
る。(3+ By implementing both (11 and (2)), the influence of ambient light on the measured value can be reduced.
本発明は次の特有の効果を有する。すなわち、従来技術
の解決手段として、ポテンショメータのかわりにロータ
リエンコーダを使用することも考えられるが、この場合
は装置が非常な高価となり、これに対して本検出器は構
造簡単で、低コストであり、またある1点をテレビカメ
ラ等の画像装置によって捕え、画像処理技術を用いるこ
とも考えられるがこの場合画像取り込み規格の制限のた
めに少なくとも画像1フレーム当り33m/secの測
定時間を要し、これに対して本検出器は瞬間に測定でき
るものである。The present invention has the following unique effects. In other words, as a solution to the prior art, it may be possible to use a rotary encoder instead of a potentiometer, but in this case the device would be extremely expensive, whereas the present detector has a simple structure and is low cost. , It is also possible to capture one point with an image device such as a television camera and use image processing technology, but in this case, due to the limitations of image capture standards, it would require a measurement time of at least 33 m/sec per image frame. In contrast, this detector can measure instantaneously.
また検出器の一般の問題として温度特性があるが本検出
器の場合構成する発光素子または受光素子の一部のみが
他と無視できないほどの温度差がある場合を除けば、複
数の素子が互いに補償し合うことにより、温度特性につ
いてはまったく問題がない。In addition, temperature characteristics are a general problem with detectors, but in the case of this detector, multiple elements do not interact with each other unless there is a non-negligible temperature difference between some of the light-emitting elements or light-receiving elements. By mutually compensating, there is no problem with temperature characteristics.
第1図は本実施例を簡略した説明図であり、第2図の(
イ)及び(ロ)は第1図の要部の拡大説HA図である。
第3図の(al〜(f)は発光素子及び受光素子の作動
説明図であり、第4図は2軸の傾き角θ°と受光素子出
力Pとの関係を示すグラフである。第5図は他の実施例
の説明図であり、第6図は外乱防止を含む他の実施例の
説明図で、(伯は簡略図で、(ロ)は外乱を含んだもの
1.(ハ)は外乱を削除したグラフである。17tfl
tj07644m p。Fig. 1 is a simplified explanatory diagram of this embodiment, and Fig. 2 (
A) and (B) are enlarged HA views of the main parts of FIG. (al to (f) in FIG. 3 are explanatory diagrams of the operation of the light emitting element and the light receiving element, and FIG. 4 is a graph showing the relationship between the tilt angle θ° of the two axes and the light receiving element output P. The figure is an explanatory diagram of another embodiment, and FIG. 6 is an explanatory diagram of another embodiment including disturbance prevention. is a graph with disturbance removed.17tfl
tj07644m p.
Claims (1)
を検出する検出器において、一方の軸の垂直な平面上に
投光素子を複数配置し、他方の軸の垂直な平面上に受光
素子を複数配置し、前記各軸間を自在継手にて連絡し、
受光素子の出力測定により、2軸が交叉する方向及び角
度を検出する方向検出器。In a detector that detects the angle and direction when one axis intersects with the other, multiple light emitting elements are arranged on a plane perpendicular to one axis, and light is received on a plane perpendicular to the other axis. A plurality of elements are arranged, and the respective axes are connected by a universal joint,
A direction detector that detects the direction and angle at which two axes intersect by measuring the output of a light receiving element.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23106384A JPS61108905A (en) | 1984-10-31 | 1984-10-31 | Direction detector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23106384A JPS61108905A (en) | 1984-10-31 | 1984-10-31 | Direction detector |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS61108905A true JPS61108905A (en) | 1986-05-27 |
Family
ID=16917702
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP23106384A Pending JPS61108905A (en) | 1984-10-31 | 1984-10-31 | Direction detector |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61108905A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0568276A1 (en) * | 1992-04-25 | 1993-11-03 | British Aerospace Public Limited Company | Testing of structures |
-
1984
- 1984-10-31 JP JP23106384A patent/JPS61108905A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0568276A1 (en) * | 1992-04-25 | 1993-11-03 | British Aerospace Public Limited Company | Testing of structures |
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