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A multi-sensor based positioning device, positioning method, system and mechanical arm

A technology for positioning equipment and robotic arms, applied in the field of positioning, can solve the problems that the robotic arm cannot be positioned, and the replacement of the robotic arm requires reprogramming, etc., to achieve the effect of eliminating reprogramming

Active Publication Date: 2020-07-31
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a multi-sensor-based positioning device, positioning method, system and mechanical arm to solve the problem that the current mechanical arm needs to be reprogrammed every time the mechanical arm is replaced because it cannot be positioned

Method used

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  • A multi-sensor based positioning device, positioning method, system and mechanical arm
  • A multi-sensor based positioning device, positioning method, system and mechanical arm
  • A multi-sensor based positioning device, positioning method, system and mechanical arm

Examples

Experimental program
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Effect test

Embodiment 1

[0055] figure 1 A structural block diagram of a multi-sensor based positioning device provided by an embodiment of the present invention.

[0056] refer to figure 1 As shown, the positioning device provided in this embodiment is applied to a robot arm, and specifically includes a plurality of sensors 10 arranged at corresponding positions on the robot arm and a processor 20 respectively connected to each sensor.

[0057] Here, the multiple sensors are a three-axis acceleration sensor 11 , a three-axis gyroscope 12 , a three-axis magnetic field strength sensor 13 and a single-transmission and three-reception ultrasonic sensor 14 . The above-mentioned three-axis acceleration sensor is used to detect the three-axis acceleration value of the mechanical arm, and the three-axis gyroscope is used to detect the three-axis angular velocity value of the mechanical arm.

[0058] The three-axis magnetic field strength sensor is mainly used to change the output of the three axes of the m...

Embodiment 2

[0065] image 3 It is a flowchart of steps of a positioning method based on multiple sensors provided by an embodiment of the present invention.

[0066] refer to image 3 As shown, the positioning method provided in this embodiment is applied to the positioning device provided in the previous embodiment. The positioning device is set on the mechanical arm and includes a plurality of sensors, which are respectively used to detect the three-axis acceleration value, three-axis acceleration value, and three-axis acceleration value of the mechanical arm. Shaft angular velocity value, triaxial magnetic field strength value and ultrasonic data, the positioning method specifically includes the following steps:

[0067] S1. Acquire data detected by multiple sensors.

[0068] That is, the three-axis acceleration value, the three-axis angular velocity value, the three-axis magnetic field strength value and the ultrasonic data of the robotic arm detected by multiple sensors are acquire...

Embodiment 3

[0089] Figure 4 A structural block diagram of a multi-sensor based positioning system provided by an embodiment of the present invention.

[0090] refer to Figure 4 As shown, the positioning device provided in this embodiment is applied to the positioning device provided in Embodiment 1. The positioning device is set on the mechanical arm and includes a plurality of sensors, which are used to detect the three-axis acceleration value and the three-axis acceleration value of the mechanical arm respectively. Angular velocity value, three-axis magnetic field strength value and ultrasonic data, the positioning system specifically includes a data acquisition module 30, a first calculation module 40, a second calculation module 50, a third calculation module 60, a fourth calculation module 70 and a fusion calculation module 80 .

[0091] The data acquisition module is used to acquire the data detected by multiple sensors.

[0092] That is, the three-axis acceleration value, the th...

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Abstract

The embodiment of the invention provides multisensory-based positioning equipment as well as a positioning method and a positioning system thereof, and a mechanical arm. The positioning equipment comprises a plurality of sensors and a processor. The sensors are used for detecting the triaxial acceleration value, the triaxial angular speed value, the triaxial magnetic field intensity value and theultrasonic data of the mechanical arm; and the processor is used for calculating first displacement according to the triaxial acceleration value, calculating a first rotating angle according to the triaxial angular speed value, calculating a second rotating angle according to the triaxial magnetic field intensity value and the triaxial acceleration value, calculating second displacement accordingto the ultrasonic data as well as performing fusion calculation on the first displacement, the first rotating angle, the second displacement and the second rotating angle through a Kalman filter algorithm to acquire position data and direction data of the mechanical arm. The task track of the mechanical arm when the task is executed can be determined by utilizing the position data and the direction data, the mechanical arm is trained by utilizing the task track, and the reprogramming trouble is omitted.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a multi-sensor based positioning device, a positioning method, a system and a mechanical arm. Background technique [0002] Positioning devices have a wide range of applications in the fields of robotics, human attitude measurement, aerospace, entertainment, and consumer electronics. For example, a robot needs a positioning and navigation system when it is moving; in the aerospace field, a positioning and navigation system is required to provide accurate latitude, longitude and altitude information for aircraft or rockets; in the entertainment and consumer electronics fields, positioning equipment is required to enhance the playability of games and provide The mobile terminal provides positioning services. [0003] In particular, during the use of industrial robotic arms, it is necessary to describe the movement of the robotic arm by writing a program. When the mechanical ar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/005G01C21/20
Inventor 王喆垚赵鹤
Owner TSINGHUA UNIV
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