Dual laser type robot joint angle measuring method and angle measuring device

An angle measurement device, a technology of robot joints, applied in the direction of measurement devices, optical devices, instruments, etc., can solve the problem of inability to guarantee the requirements of robot joint posture measurement, inability to adapt to production application scenarios, insufficient dynamic range, etc., to reduce errors. , low price, reliable measurement effect

Active Publication Date: 2020-06-09
TONGJI UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

These methods can achieve very high angle measurement accuracy, but the dynamic range of the measurement is small, and the cost is relatively high due to the precision processing of optical components and the complexity of the optical path.
Recently, a non-contact angle measurement device based on the laser triangulation method has been designed. This method has a large dynamic range and fast response speed, but the optical path of the device is complicated and the equipment cost is still high.
[0011] To sum up, the existing angle measurement devices are either difficult to install, or have insufficient dynamic range, or are expensive, and cannot meet the requirements for robot joint attitude measurement, and cannot adapt to complex production application scenarios.

Method used

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  • Dual laser type robot joint angle measuring method and angle measuring device
  • Dual laser type robot joint angle measuring method and angle measuring device
  • Dual laser type robot joint angle measuring method and angle measuring device

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Experimental program
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Effect test

Embodiment 1

[0054]This embodiment provides a method for measuring the joint angle of a dual laser robot. The method uses the ground plane as a reference plane to construct a laser-plane angle measurement model, and converts the geometric relationship between the laser ranging and the joint rotation angle to convert the joint rotation The angle change is converted into the laser ranging change. During real-time measurement, the rotation angle of the robot joint is obtained by measuring the dual laser ranging change value at the robot joint and the laser-plane angle measurement model. The method includes the following steps:

[0055] 1) Install a dual laser rangefinder on the robot, the dual laser rangefinder includes two dual lasers, the angle between the outgoing laser of the laser and the vertical direction of the arm axis is set according to the measurement requirements;

[0056] 2) Collect the left and right laser ranging values ​​of the dual laser rangefinder in real time during the j...

Embodiment 2

[0087] Such as figure 1 As shown, this implementation provides a dual laser robot joint angle measuring device, including a dual laser range finder 1 and a computer 2, wherein the dual laser range finder 1 is installed on the robot, and its central axis is in line with the arm axis of the robot Parallel; the computer 2 is connected with the dual laser rangefinder, and collects the left and right laser rangefinder values ​​of the dual laser rangefinder in real time during the movement of the robot joint, and obtains the rotation angle of the robot joint based on the laser-plane angle measurement model. The measuring principle of the angle measuring device is as in embodiment 1.

[0088] The dual laser rangefinder 1 can be installed in the axial direction of the mechanical arm, such as at the end of the robot or on the side of the mechanical arm, as long as it is parallel to the direction of motion.

[0089] Such as figure 2 As shown, the dual laser rangefinder includes a V-s...

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Abstract

The invention relates to a dual laser type robot joint angle measuring method and angle measuring device. The measuring method comprises the steps: building a laser-plane angle measurement model through employing a ground plane as a reference plane, and obtaining the rotation angle of a robot joint through the measurement of a dual laser distance measurement change value at the robot joint; the measuring device comprises a dual laser range finder which is installed on the robot, and the central axis of the dual laser range finder is parallel to the arm axis of the robot; and a computer is connected with the dual laser range finder, collects left and right laser range finding values of the dual laser range finder in real time in the movement process of the robot joint, and obtains the rotation angle of the robot joint based on the laser-plane angle measurement model. Compared with the methods and the devices in the prior art, the method and the device have the advantages of high measurement accuracy, simplicity and the like.

Description

technical field [0001] The invention relates to the technical field of robot joint angle measurement, in particular to a dual laser robot joint angle measurement method and an angle measurement device. Background technique [0002] Joint angle measurement is an important link in the process of robot motion control. Many scenes in industrial production and daily life need to measure joint angles, such as joint angles of multi-axis robots, opening and closing angles of automatic rotating doors and windows, etc. Usually, all kinds of angle measuring sensors convert the angular displacement of the mechanism into electrical signals, and the computer obtains the joint angle value of the mechanism through certain mathematical operations after receiving the data, so as to determine the joint movement position to provide feedback for the controller refer to. [0003] In recent years, with the development of computer technology and the improvement of sensor performance, angle measure...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/26
CPCG01B11/26
Inventor 陈启军杜孝国刘成菊
Owner TONGJI UNIV
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