Installing method for TOF module for robot

An installation method and robot technology, applied in machine parts, manipulators, manufacturing tools, etc., can solve the problems of large measured plane error and ground point cloud sinking, and achieve the effect of solving the large measured plane error.

Active Publication Date: 2020-08-07
BESTECHNIC SHANGHAI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0018] The purpose of the present invention is to provide a method for installing TOF modules for robots, which effectively solves the problems of ground point cloud sinking and large errors of the measured plane

Method used

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  • Installing method for TOF module for robot
  • Installing method for TOF module for robot
  • Installing method for TOF module for robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] Such as Figure 5 As shown, a method for installing a TOF module for a robot includes the following steps:

[0052] S10, adjust the inclination angle between the optical axis of the TOF module and the ground, so that the height H of the optical center of the TOF module from the ground, the vertical field of view VFoV of the module, and the shortest measurable distance L of the module 2 and the robot's shortest required detection distance R min satisfy the corresponding constraint relationship;

[0053] S20, when arctan (H / L 2 ) is less than the preset threshold T 1 , configure the corresponding optical axis looking up angle X 1 , so that there is no part within the VFoV that is less than the shortest measurable distance, the preset threshold T 1 Relevant to VFoV, such as T 1 =0.5*VFoV.

[0054] When 0min = L2 , look up angle X 1 Satisfy the following relationship:

[0055] or,

[0056]

[0057] When 0min >L 2 , look up angle X 1 Satisfy the following re...

Embodiment 2

[0080] Such as Figure 8 As shown, a method for installing a TOF module for a robot includes the following steps:

[0081] S30, adjust the inclination angle between the optical axis of the TOF module and the ground, so that the height H of the optical center of the TOF module from the ground, the vertical field of view VFoV of the module, and the shortest measurable distance L of the module 2 and the robot's shortest required detection distance R min satisfy the corresponding constraint relationship;

[0082] S40, when arctan (H / L 2 ) greater than the preset threshold T 2 , configure the corresponding optical axis viewing angle X 2 (If X 2 is less than 0°, it means looking up), so that objects located in the detection range required by the robot can be detected. In a specific embodiment, T 2 =0.5*VFoV;

[0083] When 102 Satisfy the following relationship:

[0084]

[0085] In a specific embodiment, for example, the ToF module is installed at a higher height of the r...

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Abstract

The invention discloses an installing method for a TOF module for a robot. The installing method for the TOF module for the robot comprises the step of adjusting an inclination angle between an optical axis of the TOF module and the ground so that the height H of an optical center of the TOF module from the ground, the field of view angle in the vertical direction of the module VFoV, the shortestmeasurable distance L2 of the module and the shortest demand detection range Rmin of the robot meet corresponding constrained relationship. The installing method for the TOF module for the robot effectively solves the problems about ground point cloud sinking and large measured plane error.

Description

technical field [0001] The invention particularly relates to a method for installing a TOF module for a robot. Background technique [0002] The principle of TOF (Time of flight, "time of flight") sensor is essentially that its distance measurement principle is to continuously send an optical signal (pulse or continuous modulation wave, etc.) to the target to be measured through a surface light source, and then receive it with a receiving sensor ('camera'). From the light returned by the object, the flight (round-trip) time of the light signal is directly measured or indirectly calculated to obtain the distance of the target object, see figure 1 . [0003] Such as figure 2 As shown, the depth calculation process of a two-phase pulse TOF sensor is as follows (the present invention is also applicable to other types of TOF). [0004] If the time width of each light pulse is Δt, for each pixel of the receiving sensor, assuming that the light signal has only a single reflecti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00A47L11/40
CPCA47L11/40B25J19/00
Inventor 江一波
Owner BESTECHNIC SHANGHAI CO LTD
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