System for locating an assembly robot using a binocular infrared sensing device
An infrared sensor and robot positioning technology, applied in the field of positioning systems, can solve the problems that the manipulator cannot reliably grasp objects or accurately place objects, and cannot accurately locate transparent cylindrical and spherical objects, so as to suppress the interference of infrared signals and have a novel structure Effect
Inactive Publication Date: 2014-11-12
唐国民
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Problems solved by technology
[0003] In order to overcome the shortcomings that the current positioning system for assembly and distribution robots cannot accurately locate transparent cylindrical and spherical objects, resulting in the inability of the manipulator to reliably grasp the object or accurately place the object, the invention provides a binocular infrared sensor device assembly robot positioning system
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[0015] Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
[0016] figure 1 and figure 2 It is a structural schematic diagram of the positioning system of the binocular infrared sensor device, image 3 For the electrical schematic diagram of the present invention, two infrared emission tubes 1 installed on the control circuit board 5 are image 3 The schematic diagram is TR1 and TR2, and the infrared receiving head 2 is in image 3 The schematic diagram is RD, the MCU adopts AT89C51 series, two infrared emitting tubes 1 are symmetrically arranged on both sides of the infrared receiving head 2, the light-emitting centers of the two infrared emitting tubes 1 and the center of the infrared receiving head 2 are on the same plane, each The infrared emitting tubes 1 are all inclined to the side of the infrared receiving head 2 and form an acute angle A1 with the control circuit board 5. The vertical distance from the l...
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The invention discloses a system for locating an assembly robot using a binocular infrared sensing device. The system comprises two infrared emitters, an infrared receiver and a single chip microcomputer. The two infrared emitters, the infrared receiver and the single chip microcomputer are mounted on a control circuit board. The positive polarity terminal of each infrared emitter is connected with a power source via a pull-up resistor, and the negative polarity terminal is connected with one I / O port of the single chip microcomputer via a triode transistor and an adjustable resistor. One end of the triode transistor is connected to ground. One end of the infrared receiver is connected with the power source, one end is connected to ground, and one end is connected with one I / O port of the single chip microcomputer. Each of the two infrared emitters and the infrared receiver is connected with one I / O port of the single chip microcomputer. The control circuit board is provided with three locating state indicator lights and a U-shaped dustproof light shield. The system uses double infrared emitters to accurately determine the position deviation of the locating system itself from transparent cylindrical and spherical objects to be detected, so that the assembly robot is accurately located to realize exact grabbing and placing of an object.
Description
technical field [0001] The invention relates to a positioning system, in particular to a positioning device using double infrared emitting tubes. Background technique [0002] At present, the common infrared sensor devices used for obstacle detection or accurate positioning of assembly robots, their detection accuracy is usually affected by external light, surface shape, surface color and transparency, especially for transparent cylindrical and spherical objects, etc., the detection is accurate The rate is not high; when using it as a positioning sensing method, the positioning accuracy rate varies greatly with the different moving speeds of the robot and the different response sensitivities of the detection circuit. On the other hand, many assembly robots usually have to grasp spherical objects, or accurately stop in front of cylindrical objects, and there is an urgent need to solve the problem that the current manipulator cannot reliably grasp objects or accurately release...
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Inventor 唐国民邹华东
Owner 唐国民