Posture detection methods for mechanical equipment, posture detection systems and actuators

Abstract

This invention discloses a pose detection method for mechanical equipment, a pose detection system, and an actuator. The pose detection system includes a laser emitter, a detection camera, and an image processing system. The laser emitter emits a grid-shaped light spot onto a detection plane. The grid-shaped light spot includes m horizontal light spots and n vertical light spots, which are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. The detection camera is used to acquire an image of the light spot illuminating the detection plane. The image processing system is signal-connected to the detection camera to obtain the pose of the laser emitter based on the light spot image. The laser emitter is movable relative to the detection camera. The pose detection system of this invention can realize the automatic detection of the pose of the actuator.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, and specifically to a mechanical equipment, a posture detection system, and a posture detection method for an actuator. Background Technology

[0002] In industrial production and manufacturing technologies, there are numerous situations where actuators operate relative to a plane, such as flat plate welding, flat plate cutting, and robotic gripping and handling. In these cases, it is necessary to obtain the position and orientation of the actuator relative to the plane in order to achieve automatic control of the actuator. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of the present invention propose a pose detection system to achieve automatic detection of the pose of an actuator.

[0005] The pose detection system of this invention includes a laser emitter, a detection camera, and an image processing system. The laser emitter emits a grid-shaped light spot onto a detection plane. The grid-shaped light spot includes m horizontal light spots and n vertical light spots, which are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. The detection camera is used to acquire an image of the light spot illuminated by the grid-shaped light spot on the detection plane. The image processing system is signal-connected to the detection camera to obtain the pose of the laser emitter based on the light spot image. The laser emitter is movable relative to the detection camera.

[0006] In some embodiments, the detection camera includes a lens with a filter on the object side for light of the same wavelength as that emitted by the laser emitter to pass through.

[0007] In some embodiments, the pose detection system further includes a protective housing having a protective cavity, and the detection camera is disposed within the protective cavity.

[0008] In some embodiments, the protective housing includes a metal cover and a light-transmitting plate. The metal cover has a light-transmitting hole, and the light-transmitting plate blocks the light-transmitting hole. The metal cover and the light-transmitting plate form a closed protective cavity, and the detection camera is positioned corresponding to the light-transmitting plate.

[0009] Embodiments of the present invention also provide a mechanical device having the above-described pose detection system.

[0010] The mechanical device of this invention includes a frame and a pose detection system as described in any of the above embodiments. An actuator is provided on the frame and the actuator is movable relative to the frame. A laser emitter is provided on the actuator and a detection camera is provided on the frame.

[0011] Embodiments of the present invention also provide a pose detection method with an actuator.

[0012] The pose detection method of the actuator in this embodiment of the invention includes:

[0013] The laser emitter emits a grid-shaped light spot onto the detection plane;

[0014] The detection camera is used to acquire images of light spots on the detection plane;

[0015] The image processing system is used to process the light spot image to obtain the pose of the actuator;

[0016] The pose of the actuator includes the distance between the actuator and the detection plane, and the angle between the actuator and the detection plane.

[0017] In some embodiments, the step of obtaining the pose of the actuator includes:

[0018] The laser emitter is pre-calibrated, and the calibration data is stored in a database. The calibration of the laser emitter includes: the grid-shaped light spot emitted by the laser emitter irradiates the calibration plane, so that the calibration light spot appears on the calibration plane, and the calibration data including image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser emitter and the calibration plane is acquired.

[0019] The light spot image is processed to obtain image information of the light spot image;

[0020] The image information of the acquired spot image is compared with the calibration data in the database to obtain the pose of the laser emitter.

[0021] In some embodiments, the calibration spot includes m transverse light patterns formed by m transverse light spots and n longitudinal light patterns formed by n longitudinal light spots, and obtaining the calibration data includes:

[0022] Obtain at least one horizontal spacing and at least one vertical spacing, wherein the horizontal spacing is the spacing between any two of the vertical light patterns, and the vertical spacing is the spacing between any two of the horizontal light patterns;

[0023] The light spot image includes m horizontal light bars formed by m horizontal light spots and n vertical light bars formed by n vertical light spots. The image information for obtaining the light spot image includes:

[0024] Obtain at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two of the vertical light stripes, and the vertical distance is the distance between any two of the horizontal light stripes;

[0025] The two longitudinal light patterns and the two longitudinal light stripes are all formed by the same two longitudinal light spots, and the two transverse light patterns and the two transverse light stripes are all formed by the same two transverse light spots.

[0026] In some embodiments, m and n are both positive integers greater than or equal to 3;

[0027] Obtaining the calibration data includes: obtaining at least two horizontal spacings and at least two vertical spacings, and obtaining the ratio of the at least two horizontal spacings and the ratio of the at least two vertical spacings;

[0028] The image information for obtaining the light spot image includes:

[0029] Obtain at least two lateral distances and at least two longitudinal distances, and obtain the ratio of the at least two lateral distances and the ratio of the at least two longitudinal distances.

[0030] In some embodiments, the at least two lateral spacings include the spacing between the outermost longitudinal light pattern and at least one other longitudinal light pattern, and the spacing between the middle longitudinal light pattern and at least one other longitudinal light pattern; the at least two longitudinal spacings include the spacing between the outermost lateral light pattern and at least one other lateral light pattern, and the spacing between the middle lateral light pattern and at least one other lateral light pattern.

[0031] The at least two lateral distances include the distance between the outermost longitudinal light strip and at least one of the remaining longitudinal light strips, and the distance between the middle longitudinal light strip and at least one of the remaining longitudinal light strips; the at least two longitudinal distances include the distance between the outermost lateral light strip and at least one of the remaining lateral light strips, and the distance between the middle lateral light strip and at least one of the remaining lateral light strips.

[0032] When the mechanical equipment of this invention operates, it can use a laser emitter to emit a grid-shaped light spot onto a detection plane and use a detection camera to acquire the light spot image on the detection plane. By processing the acquired light spot image using an image processing system, the pose of the actuator can be obtained, enabling automatic adjustment of the actuator's pose and improving the automation of the mechanical equipment. Therefore, the mechanical equipment of this invention has the advantage of a high degree of automation. Attached Figure Description

[0033] Figure 1 This is a partial structural schematic diagram of a mechanical device according to an embodiment of the present invention.

[0034] Figure 2 yes Figure 1 A schematic diagram of the first-view structure of the detection camera.

[0035] Figure 3 yes Figure 1 A schematic diagram of the second-view structure of the detection camera.

[0036] Figure 4 This is a flowchart of a pose detection method for an actuator according to an embodiment of the present invention.

[0037] Figure 5 This is a partial structural schematic diagram of the actuator, the field of view of the detection camera, and the detection plane of the mechanical device in a first use state according to an embodiment of the present invention.

[0038] Figure 6 yes Figure 5 A schematic diagram of a medium-sized light spot image.

[0039] Figure 7 This is a partial structural schematic diagram of the actuator, the field of view of the detection camera, and the detection plane when the mechanical device is in a second use state according to an embodiment of the present invention.

[0040] Figure 8 yes Figure 7 A schematic diagram of a medium-sized light spot image.

[0041] Figure 9 This is a partial structural schematic diagram of the actuator, the field of view of the detection camera, and the detection plane of the mechanical device in a third use state according to an embodiment of the present invention.

[0042] Figure 10 yes Figure 9 A schematic diagram of a medium-sized light spot image.

[0043] Figure 11 This is a partial structural schematic diagram of the actuator, the field of view of the detection camera, and the detection plane when the mechanical device is in the fourth use state according to an embodiment of the present invention.

[0044] Figure 12 yes Figure 11 A schematic diagram of a medium-sized light spot image.

[0045] Figure label:

[0046] 100 mechanical equipment;

[0047] Rack 1;

[0048] Executive Agency 2;

[0049] Laser emitter 3;

[0050] Inspection camera 4; protective housing 401; metal cover 4011; light-transmitting plate 4012; lens 402; filter 403;

[0051] Detection plane 10;

[0052] Field of view 20;

[0053] Image 30. Detailed Implementation

[0054] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0055] like Figures 1 to 12 As shown, the mechanical device 100 of this embodiment includes a frame 1 and a pose detection system. An actuator 2 is mounted on the frame 1 and is movable relative to the frame 1, allowing the actuator 2 to move relative to the detection plane 10. The pose detection system includes a laser emitter 3, a detection camera 4, and an image processing system (not shown). The laser emitter 3 emits a grid-shaped light spot onto the detection plane 10. The grid-shaped light spot includes m horizontal light spots and n vertical light spots, which are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. The detection camera 4 is used to acquire a light spot image 30 of the grid-shaped light spot illuminating the detection plane 10. The image processing system is signal-connected to the detection camera 4 to obtain the pose of the laser emitter 3 based on the light spot image 30. The laser emitter 3 is mounted on the actuator 2, and the detection camera 4 is mounted on the frame 1.

[0056] As is known to those skilled in the art, the grid-shaped light spot emitted by the laser emitter 3 is fixed. When the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10 and the distance between the laser emitter 3 and the detection plane 10 increases, the size of the rectangular frame light spot formed by the rectangular grids in the grid-shaped light spot will increase when the grid-shaped light spot emitted by the laser emitter 3 illuminates the detection plane 10. Conversely, when the distance between the laser emitter 3 and the detection plane 10 decreases, the size of the rectangular frame light spot formed by the rectangular grids in the grid-shaped light spot will decrease when the grid-shaped light spot emitted by the laser emitter 3 illuminates the detection plane 10.

[0057] When the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 is acute, and the angle between the laser emitter 3 and the detection plane 10 changes, the shape and size of the rectangular frame spot formed by the rectangular grids in the grid-shaped light spot will change when the grid-shaped light spot emitted by the laser emitter 3 illuminates the detection plane 10. For example, if the rectangular grids in the grid-shaped light spot emitted by the laser emitter 3 are square grids, then the rectangular frame spot formed by the rectangular grids on the detection plane 10 will be a rectangle including both the long and short sides. Furthermore, when the distance between the laser emitter 3 and the detection plane 10 remains constant, and the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 changes, at least one of the long and short sides of the rectangle will change.

[0058] Furthermore, it is understood that when the same laser emitter 3 is equidistant from the detection plane 10, and the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 is the same, the shape and size of the light spot formed on the detection plane 10 will be identical each time it is irradiated multiple times. The size of the light spot includes the area and side length of the rectangular frame light spot formed by the rectangular grid of the grid-shaped light spot irradiating the detection plane 10. The shape and size of the light spot constitute the image information of the light spot.

[0059] In summary, there is a unique and definite correspondence between the distance between the laser emitter 3 and the detection plane 10, the angle between the laser emission direction of the laser emitter 3 and the detection plane 10, the shape of the light spot formed on the detection plane 10, and the size of the light spot formed on the detection plane 10. For ease of description, the following uses the distance between the laser emitter 3 and the detection plane 10 as the calibration distance, the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 as the calibration angle, the shape of the light spot formed on the detection plane 10 as the calibration shape, and the size of the light spot formed on the detection plane 10 as the calibration size. Then, there is a unique and definite correspondence between the calibration distance, calibration angle, calibration shape, and calibration size. That is, when the calibration distance and calibration angle are determined, the calibration shape and calibration size are also uniquely determined; conversely, when the calibration shape and calibration size are determined, the calibration distance and calibration angle are also uniquely determined.

[0060] For ease of description, the shape of the light spot formed on the detection plane 10 is called the detection shape, the size of the light spot formed on the detection plane 10 is called the detection size, the distance between the laser emitter 3 and the detection plane 10 is called the detection distance, and the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 is called the detection angle. The light spot image 30 acquired by the detection camera 4 is the image of the light spot formed on the detection plane 10, and the detection shape and detection size are the image information of the light spot image 30. Given the known correspondence between the calibration distance, calibration angle, calibration shape, and calibration size, if the detection shape and detection size are obtained at the working site of the mechanical equipment 100, the detection distance and detection angle can be obtained. The correspondence between the calibration distance, calibration angle, calibration shape, and calibration size forms a database, which includes multiple data sets. Each data set includes the calibration distance, calibration angle, calibration shape, and calibration size, and at least one of the calibration distance and calibration angle is different between different data sets.

[0061] Specifically, the detection shape and size are compared with the aforementioned database. A data set in the database is found where the calibration shape and size are equal to the detection shape and size. The calibration distance in this data set is the detection distance, and the calibration angle is the detection angle. Therefore, when using the mechanical equipment 100, only the detection shape and size are needed to obtain the distance between the laser emitter 3 and the detection plane 10, as well as the angle between the laser emission direction of the laser emitter 3 and the detection plane 10.

[0062] Since the laser emitter 3 is fixed on the actuator 2, the relative position between the laser emitter 3 and the actuator 2 is fixed. The pose of the laser emitter 3 changes with the pose of the actuator 2. The pose of the actuator 2 can be obtained by the distance between the laser emitter 3 and the detection plane 10, as well as the angle between the laser emission direction of the laser emitter 3 and the detection plane 10.

[0063] The laser emitter 3 can be used to illuminate the calibration plane (detection plane 10 or other planar surfaces) at different distances and angles in advance, and image information (including shape and size) of the light spot formed on the calibration plane at each illumination can be obtained. This yields multiple sets of data, including the distance between the laser emitter 3 and the calibration plane, the angle between the laser emission direction of the laser emitter 3 and the calibration plane, the shape of the light spot formed on the calibration plane, and the size of the light spot formed on the calibration plane. These data sets are stored as calibration data in a database. In actual use of the mechanical equipment 100, the laser emitter 3 illuminates the detection plane 10, and the detection camera 4 acquires the light spot image 30 on the detection plane 10. By comparing the image information of the acquired light spot image 30 with the data sets in the database, the distance between the laser emitter 3 and the detection plane 10, as well as the angle between the laser emission direction of the laser emitter 3 and the detection plane 10, can be obtained. Based on the positional relationship between the laser emitter 3 and the actuator 2, the distance between the actuator 2 and the detection plane 10, as well as the angle between the actuator 2 and the detection plane 10, can be calculated to obtain the pose of the actuator 2.

[0064] When the mechanical equipment 100 of this embodiment of the invention is operating, it can use a laser emitter 3 to emit a grid-shaped light spot to the detection plane 10 and use a detection camera 4 to acquire the light spot image 30 on the detection plane 10; by using an image processing system to process the acquired light spot image 30, the pose of the actuator 2 can be obtained, so as to realize the automatic adjustment of the pose of the actuator 2 and improve the automation of the mechanical equipment 100.

[0065] Therefore, the mechanical equipment 100 of the present invention has the advantages of high degree of automation.

[0066] Optionally, the mechanical equipment 100 can be a rock bolt drilling rig, the frame 1 can be the body of the rock bolt drilling rig, and the actuator 2 can be the rock bolt drilling machine of the rock bolt drilling rig. For example, the actuator 2 includes a drill frame and a drill box, the drill box being movably mounted on the drill frame, and the laser emission direction of the laser emitter 3 being parallel to the movement direction of the drill box. The optical axis of the detection camera 4 is perpendicular to the coal wall, and the coal wall forms the aforementioned detection plane 10. The drill frame is connected to the body of the drilling rig via a robotic arm, and the drill box is used to install rock bolts or anchor cables.

[0067] For example, the drill frame is equipped with a slide rail, and the drill box is equipped with a slider. The slider can move along the extension direction of the slide rail. By utilizing the cooperation between the slider and the slide rail, the drill box moves relative to the drill frame in a preset direction. The laser emission direction of the laser emitter 3 is parallel to the extension direction of the slide rail. When the laser emitter 3 emits a grid-shaped light spot towards the detection plane, the optical axis of the detection camera 4 is perpendicular to the coal wall so that the detection camera 4 can acquire the light spot image 30 of the grid-shaped light spot illuminating the coal wall.

[0068] By setting the laser emission direction of laser emitter 3 parallel to the movement direction of the drill box, the angle between the laser emission direction of laser emitter 3 and the coal wall is equal to the angle between the anchor drilling rig and the coal wall. Thus, the angle between the laser emission direction of laser emitter 3 and the coal wall is obtained, which is also the angle between the anchor drilling rig and the coal wall. By aligning the optical axis of detection camera 4 perpendicular to the coal wall, the light spot image 30 acquired by detection camera 4 is made consistent with the light spot formed on the coal wall. Therefore, the image processing system's processing procedure is simplified, processing time is shortened, and it is beneficial to further improve the pose adjustment efficiency and accuracy of the anchor drilling rig.

[0069] Optionally, the actuator 2 can be a robotic arm.

[0070] Optionally, the laser emitter 3 and the actuator 2 can be bonded together or connected by fasteners, such as bolts, screws, etc.

[0071] In some embodiments, such as Figure 2 and Figure 3 As shown, the pose detection system also includes a protective housing 401, which has a protective cavity, and the detection camera 4 is located inside the protective cavity.

[0072] The protective housing 401 can be welded to the frame 1 or connected by fasteners. The detection camera 4 can be connected to the protective housing 401 by adhesive or fasteners, such as bolts or screws.

[0073] By placing the detection camera 4 inside the protective cavity formed by the protective housing 401, external dust and liquids can be prevented from affecting the operation of the detection camera 4.

[0074] Optionally, the protective housing 401 includes a metal cover 4011 and a light-transmitting plate 4012. The metal cover 4011 has a light-transmitting hole for light to enter the detection camera 4. The detection camera 4 is connected to the metal cover 4011, and the light-transmitting plate 4012 blocks the light-transmitting hole. The metal cover 4011 and the light-transmitting plate 4012 define a closed protective cavity. The light-transmitting plate 4012 can be made of acrylic, tempered glass, or other light-transmitting materials.

[0075] By designing the protective housing 401 as described above, the protective cavity is made into a closed protective cavity, which can more effectively prevent external dust and liquids from affecting the operation of the detection camera 4.

[0076] Optionally, the metal housing 4011 is provided with a wire passage hole for the power cable and signal cable of the detection camera 4 to pass through.

[0077] Optionally, the metal cover 4011 is made of metal.

[0078] Optionally, such as Figure 2 and Figure 3 As shown, the detection camera 4 includes a lens 402, and a filter 403 is provided on the object side of the lens 402. The filter 403 allows light with the same wavelength as that emitted by the laser emitter 3 to pass through.

[0079] By setting a filter 403 on the object side of the lens 402, interference light can be filtered out. Only the light emitted by the laser emitter 3 can pass through the filter 403 and enter the lens 402 of the detection camera 4, thereby making the spot image 30 obtained by the detection camera 4 more accurate and improving the pose adjustment accuracy of the pose detection system.

[0080] Optionally, a connecting tube is provided on the outside of the filter 403, and the filter 403 is connected to the lens 402 of the detection camera 4 through the connecting tube.

[0081] like Figures 4 to 12 As shown, the pose detection method of the actuator in this embodiment of the invention includes:

[0082] S01, a grid-shaped light spot is emitted from the laser emitter 3 in the detection plane 10;

[0083] S02, use the detection camera 4 to acquire the light spot image 30 on the detection plane 10;

[0084] S03, the image processing system is used to process the light spot image 30 to obtain the pose of the laser emitter 3;

[0085] The pose of the laser emitter 3 includes the distance between the laser emitter 3 and the detection plane 10, and the angle between the laser emitter 3 and the detection plane 10.

[0086] Therefore, the pose detection method of the actuator in this embodiment of the invention can realize the automatic detection of the pose of the actuator 2, thereby facilitating the automatic control of the actuator 2.

[0087] Optionally, the pose of the laser emitter 3 is the same as the pose of the actuator 2.

[0088] In some embodiments, the step of obtaining the pose of the laser emitter 3 includes:

[0089] The laser emitter 3 is calibrated in advance, and the calibration data is stored in the database. The calibration of the laser emitter 3 includes: the grid-shaped light spot emitted by the laser emitter 3 illuminates the calibration plane, so that the calibration light spot appears on the calibration plane, and the calibration data including the image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser emitter and the calibration plane are obtained.

[0090] The light spot image 30 is processed to obtain the image information of the light spot image 30;

[0091] The image information of the acquired spot image 30 is compared with the calibration data in the database to obtain the pose of the laser emitter 3;

[0092] The pose of the actuator 2 is obtained based on the relative positions of the laser emitter 3 and the actuator 2.

[0093] By calibrating the laser emitter 3 in advance, a database containing calibration data is obtained. In actual use, the image information of the acquired spot image 30 is compared with the calibration data in the database to easily obtain the pose of the laser emitter 3.

[0094] The calibration light spot includes m transverse light patterns formed by m transverse light spots and n longitudinal light patterns formed by n longitudinal light spots. The light spot image 30 includes m transverse light stripes 3001 formed by m transverse light spots and n longitudinal light stripes 3002 formed by n longitudinal light spots.

[0095] Acquiring calibration data includes: acquiring at least one horizontal spacing and at least one vertical spacing, wherein the horizontal spacing is the spacing between any two vertical light patterns, and the vertical spacing is the spacing between any two horizontal light patterns.

[0096] The image information of the light spot image 30 includes: acquiring at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two vertical light stripes 3002, and the vertical distance is the distance between any two horizontal light stripes 3001.

[0097] Among them, the above-mentioned "two longitudinal light patterns" and the above-mentioned "two longitudinal light stripes 3002" are all formed by the same two longitudinal light spots, and the above-mentioned "two transverse light patterns" and the above-mentioned "two transverse light stripes 3001" are all formed by the same two transverse light spots.

[0098] It is understandable that when both m and n are equal to 2, the lateral spacing is the spacing between two adjacent longitudinal light patterns; the longitudinal spacing is the spacing between two adjacent lateral light patterns; the lateral distance is the distance between two adjacent longitudinal light stripes 3002; and the longitudinal distance is the distance between two adjacent lateral light stripes 3001. The two longitudinal light patterns and two longitudinal light stripes 3002 are all formed by the same two longitudinal light spots, and the two lateral light patterns and two lateral light stripes 3001 are all formed by the same two lateral light spots.

[0099] When m is a positive integer greater than or equal to 3, the longitudinal spacing can be the spacing between two adjacent transverse light patterns, or the spacing between two transverse light patterns with an intermediate interval of p transverse light patterns; the longitudinal distance can be the distance between two adjacent transverse light stripes 3001, or the spacing between two transverse light stripes 3001 with an intermediate interval of p transverse light stripes 3001. Here, p is a positive integer less than or equal to (m-2). It should be noted that the longitudinal spacing corresponds to the longitudinal distance. Specifically, at least two transverse light spots in the grid-shaped light spot are transverse calibration light spots. The longitudinal spacing refers to the spacing between the transverse light patterns formed by the transverse calibration light spots on the calibration plane when the grid-shaped light spot illuminates the calibration plane. The longitudinal distance refers to the distance between the transverse light stripes 3001 formed by the transverse calibration light spots on the detection plane 10 when the grid-shaped light spot illuminates the detection plane 10.

[0100] For example, if m equals 15, the grid-shaped light spot includes fifteen transverse light spots, which are evenly distributed along the vertical direction. There are six transverse calibration light spots from bottom to top, designated as the first, third, ninth, eleventh, thirteenth, and fifteenth transverse light spots. When the grid-shaped light spot including these six transverse calibration light spots illuminates the calibration plane, the distance between the transverse light pattern formed by the first transverse calibration light spot and the transverse light pattern formed by the third transverse calibration light spot is the first vertical distance Y. 01 The distance between the transverse light pattern formed by the thirteenth transverse calibration spot and the transverse light pattern formed by the fifteenth transverse calibration spot is the second longitudinal distance Y. 02 The distance between the transverse light pattern formed by the ninth transverse calibration spot and the transverse light pattern formed by the eleventh transverse calibration spot is the third longitudinal distance Y. 03 .like Figure 6As shown, when the grid-shaped light spot including the above six transverse calibration spots illuminates the detection plane 10, the distance between the transverse light stripe 3001 formed by the first transverse calibration spot and the transverse light stripe 3001 formed by the third transverse calibration spot is the first longitudinal distance Y1; the distance between the transverse light stripe 3001 formed by the thirteenth transverse calibration spot and the transverse light stripe 3001 formed by the fifteenth transverse calibration spot is the second longitudinal distance Y2; and the distance between the transverse light stripe 3001 formed by the ninth transverse calibration spot and the transverse light stripe 3001 formed by the eleventh transverse calibration spot is the third longitudinal distance Y3. The aforementioned first longitudinal distance Y... 01 Corresponding to the first longitudinal distance Y1, the aforementioned second longitudinal spacing Y 02 Corresponding to the second longitudinal distance Y2, the aforementioned third longitudinal spacing Y 03 This corresponds to the third longitudinal distance Y3. The calibration data in the database includes the aforementioned first longitudinal spacing Y. 01 The second vertical spacing Y 02 and the third vertical spacing Y 03 The image information of the acquired spot image 30 includes the first longitudinal distance Y1, the second longitudinal distance Y2, and the third longitudinal distance Y3 mentioned above. When actually performing pose detection of the actuator 2, the first longitudinal distance Y1 and the first longitudinal spacing Y3 can be compared... 01 The second longitudinal distance Y2 and the second longitudinal spacing Y 02 The third longitudinal distance Y3 and the third longitudinal spacing Y 03 Comparison.

[0101] When n is a positive integer greater than or equal to 3, the horizontal spacing can be the spacing between two adjacent vertical light patterns, or the spacing between two vertical light patterns with a middle interval of q; the horizontal distance is the distance between two adjacent vertical light strips 3002, or the spacing between two vertical light strips 3002 with a middle interval of q; where q is a positive integer less than or equal to (n-2).

[0102] When n is a positive integer greater than or equal to 3, the lateral spacing can be the spacing between two adjacent longitudinal light patterns, or the spacing between two longitudinal light patterns with an intermediate interval of q longitudinal light patterns; the lateral distance can be the distance between two adjacent longitudinal light stripes 3002, or the spacing between two longitudinal light stripes 3002 with an intermediate interval of p longitudinal light stripes 3002. Here, q is a positive integer less than or equal to (n-2). It should be noted that the lateral spacing corresponds to the lateral distance. Specifically, at least two longitudinal light spots in the grid-shaped light spot are longitudinal calibration light spots. The lateral spacing refers to the spacing between the longitudinal light patterns formed by the longitudinal calibration light spots on the calibration plane when the grid-shaped light spot illuminates the calibration plane. The lateral distance refers to the distance between the longitudinal light stripes 3002 formed by the longitudinal calibration light spots on the detection plane 10 when the grid-shaped light spot illuminates the detection plane 10.

[0103] For example, n equals 21, meaning the grid-shaped light spot includes twenty-one longitudinal light spots, evenly spaced along the left-right direction. There are six longitudinal calibration spots from left to right: the first, third, tenth, twelfth, nineteenth, and twenty-first longitudinal light spots. When the grid-shaped light spot including these six longitudinal calibration spots illuminates the calibration plane, the distance between the longitudinal light pattern formed by the first longitudinal calibration spot and the longitudinal light pattern formed by the third longitudinal calibration spot is the first lateral distance X. 01 The distance between the longitudinal beam pattern formed by the longitudinal calibration spot of Article 19 and the longitudinal beam pattern formed by the longitudinal calibration spot of Article 21 is the second lateral distance X. 02 The distance between the longitudinal beam pattern formed by the tenth longitudinal calibration spot and the longitudinal beam pattern formed by the twelfth longitudinal calibration spot is the third transverse distance X. 03 .like Figure 6 As shown, when the grid-shaped light spot including the above six longitudinal calibration spots illuminates the detection plane 10, the distance between the longitudinal light stripe 3002 formed by the first longitudinal calibration spot and the longitudinal light stripe 3002 formed by the third longitudinal calibration spot is the first lateral distance X1; the distance between the longitudinal light stripe 3002 formed by the nineteenth longitudinal calibration spot and the longitudinal light stripe 3002 formed by the twenty-first longitudinal calibration spot is the second lateral distance X2; and the distance between the longitudinal light stripe 3002 formed by the tenth longitudinal calibration spot and the longitudinal light stripe 3002 formed by the twelfth longitudinal calibration spot is the third lateral distance X3. The aforementioned first lateral distance X... 01 Corresponding to the first lateral distance X1, the second lateral spacing X mentioned above 02 Corresponding to the second lateral distance X2, the third lateral spacing X mentioned above 03This corresponds to the third lateral distance X3. The calibration data in the database includes the aforementioned first lateral spacing X. 01 The second horizontal spacing X 02 and the third horizontal spacing X 03 The image information of the acquired spot image 30 includes the first lateral distance X1, the second lateral distance X2, and the third lateral distance X3 mentioned above. When actually performing pose detection of the actuator 2, the first lateral distance X1 and the first lateral spacing X3 can be considered... 01 The second horizontal distance X2 and the second horizontal spacing X 02 The third horizontal distance X3 and the third horizontal spacing X 03 Comparison.

[0104] It is understandable that when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, the grid-shaped light spot emitted by the laser emitter 3 illuminates the detection plane 10. The resulting light spot on the detection plane 10 is essentially an enlarged version of the grid-shaped light spot; that is, the shape of the light spot on the detection plane 10 is the same as the shape of the grid-shaped light spot, and the size of the light spot on the detection plane 10 is larger than the size of the grid-shaped light spot. Furthermore, when the distance between the laser emitter 3 and the detection plane 10 is different, the lengths of the transverse light stripe 3001 and the longitudinal light stripe 3002 formed on the detection plane 10 are different. Correspondingly, the transverse distance, the longitudinal distance, and the side length of each rectangular light spot are also different. By comparing one of the obtained transverse distance, longitudinal distance, and the area of ​​the rectangular light spot with the calibration data in the database, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

[0105] When the laser emission direction of laser emitter 3 is perpendicular to the detection plane 10, the side length of the rectangular light spot formed on the detection plane 10 is taken as the initial side length. For example... Figure 7 and Figure 8As shown, when the detection plane 10 is a vertical plane, a plane parallel to the vertical direction and perpendicular to the detection plane 10 is used as the vertical reference plane. When the distance between the laser emitter 3 and the detection plane 10 remains constant, the laser emission direction of the laser emitter 3 is parallel to the aforementioned vertical reference plane, the transverse light spot emitted by the laser emitter 3 is parallel to the horizontal direction, the longitudinal light spot emitted by the laser emitter 3 is parallel to the vertical direction, and the laser emission direction of the laser emitter 3 is tilted along the vertical direction, making an acute angle between the laser emission direction of the laser emitter 3 and the detection plane 10, the length of the longitudinal light stripe 3002 formed by the longitudinal light spot on the detection plane 10 will change with the angle between the laser emission direction of the laser emitter 3 and the detection plane 10, while the length of the transverse light stripe 3001 formed by the transverse light spot on the detection plane 10 remains constant. Therefore, the side length of the rectangular frame spot formed by the rectangular light grid, which is parallel to the horizontal direction, remains constant; while the side length of the rectangular frame spot formed by the rectangular light grid, which is parallel to the vertical direction, changes with the angle between the laser emission direction of the laser emitter 3 and the detection plane 10, and the amount of change in the side length of the rectangular frame spot at different positions in the vertical direction is different.

[0106] To obtain the angle between the laser emission direction of laser emitter 3 and the detection plane 10 by comparing the longitudinal distance and the longitudinal spacing, multiple longitudinal distances need to be compared with their corresponding longitudinal spacings. Furthermore, even if the angle between the laser emission direction of laser emitter 3 and the detection plane 10 is the same, the longitudinal distance and longitudinal spacing will change if the distance between laser emitter 3 and the detection plane 10 is different. Therefore, to obtain the angle between the laser emission direction of laser emitter 3 and the detection plane 10 simply by comparing the longitudinal distance and the longitudinal spacing, multiple sets of longitudinal spacing data need to be pre-calibrated. It is understandable that when the angle between the laser emission direction of laser emitter 3 and the detection plane 10 is the same, but the distance between laser emitter 3 and the detection plane 10 is different, the ratio of the two longitudinal distances is the same. Therefore, the ratio of at least two longitudinal spacings can be obtained in advance, and the ratio of at least two longitudinal distances can be obtained when processing the spot image 30. By comparing the ratio of at least two longitudinal distances with the ratio of at least two longitudinal spacings, the angle α between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained. Furthermore, by comparing the obtained lateral distance with the calibration data in the database, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

[0107] Similarly, such as Figure 9 and Figure 10As shown, when the detection plane 10 is a vertical plane, a plane parallel to the horizontal direction and perpendicular to the detection plane 10 is used as the horizontal reference plane. When the distance between the laser emitter 3 and the detection plane 10 remains constant, the laser emission direction of the laser emitter 3 is parallel to the aforementioned horizontal reference plane, the transverse light spot emitted by the laser emitter 3 is parallel to the horizontal direction, the longitudinal light spot emitted by the laser emitter 3 is parallel to the vertical direction, and the laser emission direction of the laser emitter 3 is tilted along the horizontal direction, making the laser emission direction of the laser emitter 3 form an acute angle with the detection plane 10, the side length of the rectangular frame light spot formed by the rectangular light grid, which is parallel to the vertical direction, remains constant. However, the side length of the rectangular frame light spot formed by the rectangular light grid, which is parallel to the horizontal direction, changes with the angle between the laser emission direction of the laser emitter 3 and the detection plane 10. Furthermore, the amount of change in the side length of the rectangular frame light spot at different positions in the horizontal direction is different.

[0108] At least two ratios of lateral spacing can be obtained in advance, and at the same time, when processing the spot image 30, at least two ratios of lateral distance can be obtained. By comparing the ratios of the at least two lateral distances with the ratios of the at least two lateral spacings, the angle β between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained. In addition, by comparing the obtained longitudinal distance with the calibration data in the database, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

[0109] Optionally, m and n are both positive integers greater than or equal to 3. Acquiring calibration data includes: acquiring at least two horizontal spacings and at least two vertical spacings, acquiring the ratio of at least two horizontal spacings and the ratio of at least two vertical spacings. Acquiring image information of the spot image 30 includes: acquiring at least two horizontal distances and at least two vertical distances, acquiring the ratio of at least two horizontal distances and the ratio of at least two vertical distances.

[0110] For example, calibration data includes three horizontal spacings, three vertical spacings, and the ratios of at least two horizontal spacings and at least two vertical spacings, where the three horizontal spacings are X... 01 X 02 and X 03 The three vertical spacings are Y 01 Y 02 and Y 03 .like Figure 6 , Figure 8 , Figure 10 and Figure 12 As shown, the image information of the light spot image 30 includes three horizontal distances, three vertical distances, and the ratios of at least two horizontal distances and at least two vertical distances. The three horizontal distances are X1, X2, and X3, and the three vertical distances are Y1, Y2, and Y3. X1, X2, and X3 are respectively related to X...01 X 02 and X 03 Correspondingly; Y1, Y2 and Y3 are respectively related to Y 01 Y 02 and Y 03 Correspondingly, the ratio of horizontal spacing can include X 02 With X 01 The ratio of X 03 With X 02 The ratio of the vertical spacing can include Y. 02 With Y 01 The ratio of Y 03 With Y 02 The ratio of horizontal distances can include the ratio of X2 to X1 and the ratio of X3 to X2, while the ratio of vertical distances can include the ratio of Y2 to Y1 and the ratio of Y3 to Y2.

[0111] like Figure 5 and Figure 6 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, we can determine that the angle between the laser emission direction of laser emitter 3 and the detection plane 10 is 90°. 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio, or the ratio of Y2 to Y1, is the same as Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

[0112] Similarly, such as Figure 7 and Figure 8 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the angle α between the laser emission direction of laser emitter 3 and the detection plane 10 can be obtained. 01 Compare, or compare X2 with X. 02 The ratio, or the ratio of X3 to X 03 By comparison, the distance d between the laser emitter 3 and the detection plane 10 can be obtained. For example... Figure 9 and Figure 10 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the angle β between the laser emission direction of laser emitter 3 and the detection plane 10 can be obtained. 01 Compare, or compare Y2 with Y 02 The ratio, or the ratio of Y3 to Y 03 By comparison, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

[0113] Similarly, such as Figure 11 and Figure 12 As shown, by comparing the ratio of X2 to X1 with X... 02 With X 01 The ratio, or the ratio of X3 to X2, is equal to X. 03 With X 02 The ratio comparison, and the comparison of the ratio of Y2 to Y1 with Y... 02 With Y 01 The ratio, or the ratio of Y3 to Y2, is the same as Y... 03 With Y 02 By comparing the ratios, the vertical angle α and the horizontal angle β between the laser emission direction of laser emitter 3 and the detection plane 10 can be obtained. Then, the actuator 2 can be moved along one of the vertical or horizontal directions so that either α or β equals 90°, and then a spot image 30 can be acquired. The distance d between the laser emitter 3 and the detection plane 10 can be obtained based on the image information of the acquired spot image 30. For example, by moving the actuator 2 vertically so that α equals 90°, and then acquiring the image information of the spot image 30, the distance d between the laser emitter 3 and the detection plane 10 can be obtained by comparing Y1 and Y2. 01 Compare, or compare Y2 with Y 02 The ratio, or the ratio of Y3 to Y03 By comparison, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

[0114] Optionally, the multiple rectangular light grids in the grid-shaped light spot are all square light grids with equal side lengths.

[0115] Optionally, the at least two lateral spacings include the spacing between the outermost longitudinal beam and at least one other longitudinal beam, and the spacing between the middle longitudinal beam and at least one other longitudinal beam. The at least two longitudinal spacings include the spacing between the outermost lateral beam and at least one other lateral beam, and the spacing between the middle lateral beam and at least one other lateral beam.

[0116] The outermost vertical light pattern can be understood as a vertical light pattern close to both sides in the horizontal direction, and the middle vertical light pattern can be understood as a vertical light pattern close to the center in the horizontal direction. The outermost horizontal light pattern can be understood as a horizontal light pattern close to both sides in the vertical direction, and the middle horizontal light pattern can be understood as a horizontal light pattern close to the center in the vertical direction.

[0117] For example, when n equals 21, twenty-one longitudinal light spots are evenly distributed along the left-right direction. The first and twenty-first longitudinal light spots in the left-right direction are the outermost longitudinal light spots, and the eleventh longitudinal light spot is the middle longitudinal light spot. Correspondingly, when this grid-shaped light spot illuminates the calibration plane, the first and twenty-first longitudinal light patterns formed on the calibration plane are the outermost longitudinal light patterns, and the eleventh longitudinal light pattern formed on the calibration plane is the middle longitudinal light pattern. The lateral spacing can include the spacing between the first and third longitudinal light patterns, the twenty-first and nineteenth longitudinal light patterns, and the tenth and twelfth longitudinal light patterns. The third, nineteenth, tenth, and twelfth longitudinal light patterns are the light patterns formed by the third, nineteenth, tenth, and twelfth longitudinal light spots on the calibration plane, respectively.

[0118] When m equals 15, the fifteen transverse light spots are evenly distributed along the vertical direction. The first and fifteenth transverse light spots are the outermost transverse light spots, and the tenth transverse light spot is the central vertical light spot. Correspondingly, when this grid-shaped light spot illuminates the calibration plane, the first and fifteenth transverse light patterns formed on the calibration plane are the outermost transverse light patterns, and the tenth transverse light pattern formed on the calibration plane is the central transverse light pattern. The vertical spacing can include the spacing between the first and third transverse light patterns, the fifteenth and thirteenth transverse light patterns, and the ninth and eleventh transverse light patterns. Specifically, the third, thirteenth, ninth, and eleventh transverse light patterns are the light patterns formed by the third, thirteenth, ninth, and eleventh transverse light spots on the calibration plane, respectively.

[0119] At least two lateral distances include the distance between the outermost longitudinal light stripe 3002 and at least one other longitudinal light stripe 3002, and the distance between the middle longitudinal light stripe 3002 and at least one other longitudinal light stripe 3002. At least two longitudinal distances include the distance between the outermost lateral light stripe 3001 and at least one other lateral light stripe 3001, and the distance between the middle longitudinal light stripe 3002 and at least one other lateral light stripe 3001.

[0120] The outermost longitudinal light stripe 3002 can be understood as longitudinal light stripes 3002 located near both sides in the transverse direction, and the middle longitudinal light stripe can be understood as longitudinal light stripe 3002 located near the center in the transverse direction. The outermost transverse light stripe 3001 can be understood as transverse light stripe 3001 located near both sides in the longitudinal direction, and the middle transverse light stripe 3001 can be understood as transverse light stripe 3001 located near the center in the longitudinal direction.

[0121] For example, when n equals 21, twenty-one longitudinal light spots are evenly distributed along the left-right direction. The first and twenty-first longitudinal light spots in the left-right direction are the outermost longitudinal light spots, and the eleventh longitudinal light spot is the middle longitudinal light spot. Correspondingly, when the grid-shaped light spots illuminate the detection plane 10, the first and twenty-first longitudinal light stripes 3002 formed on the detection plane 10 are the outermost longitudinal light stripes 3002, and the eleventh longitudinal light stripe 3002 formed on the detection plane 10 is the middle longitudinal light stripe 3002. The lateral distance can include the distance between the first and third longitudinal light stripes 3002, the twenty-first and nineteenth longitudinal light stripes 3002, and the tenth and twelfth longitudinal light stripes 3002. Among them, the third, nineteenth, tenth and twelfth longitudinal light stripes 3002 are the light patterns formed by the third, nineteenth, tenth and twelfth longitudinal light spots on the detection plane 10, respectively.

[0122] When m equals 15, the fifteen transverse light spots are evenly distributed along the vertical direction. The first and fifteenth transverse light spots in the vertical direction are the outermost transverse light spots, and the tenth transverse light spot is the central vertical light spot. Correspondingly, when the grid-shaped light spots illuminate the detection plane 10, the first and fifteenth transverse light stripes 3001 formed on the detection plane 10 are the outermost transverse light stripes 3001, and the tenth transverse light stripe 3001 formed on the detection plane 10 is the central transverse light stripe 3001. The vertical distance can include the distance between the first and third transverse light stripes 3001, the fifteenth and thirteenth transverse light stripes 3001, and the ninth and eleventh transverse light stripes 3001. Among them, the third, thirteenth, ninth and eleventh transverse light stripes 3001 are the light patterns formed by the third, thirteenth, ninth and eleventh transverse light spots on the detection plane 10, respectively.

[0123] The lateral spacing, longitudinal spacing, lateral distance, and longitudinal distance obtained by the above method are more representative, and the resulting positional accuracy of the actuator 2 is higher, which is beneficial to improving the reliability of the mechanical equipment 100.

[0124] The pose detection method of the actuator in this embodiment of the invention realizes the pose detection of the actuator 2 during operation through a laser emitter 3, a detection camera 4 and an image processing system, which facilitates the automatic adjustment of the pose of the actuator 2 and helps to improve the automation level of the mechanical equipment 100.

[0125] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0126] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0127] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0128] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0129] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0130] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A method for detecting the pose of an actuator, characterized in that, The mechanical equipment used includes a frame and a pose detection system. An actuator is mounted on the frame and is movable relative to the frame. The pose detection system includes: A laser emitter that emits a grid-shaped light spot toward a detection plane. The grid-shaped light spot includes m horizontal light spots and n vertical light spots. The m horizontal light spots and n vertical light spots are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. A detection camera is used to acquire an image of the light spot illuminating the detection plane with the grid-shaped light spot; and An image processing system, which is connected to the detection camera signal, to obtain the pose of the laser emitter based on the light spot image; The laser emitter is movable relative to the detection camera, the laser emitter is mounted on the actuator, and the detection camera is mounted on the frame; The pose detection method includes: The laser emitter emits a grid-shaped light spot onto the detection plane; The detection camera is used to acquire images of light spots on the detection plane; The image processing system is used to process the light spot image to obtain the pose of the actuator; The pose of the actuator includes the distance between the actuator and the detection plane, and the angle between the actuator and the detection plane; The step of obtaining the pose of the actuator includes: The laser emitter is pre-calibrated, and the calibration data is stored in a database. The calibration of the laser emitter includes: the grid-shaped light spot emitted by the laser emitter irradiates the calibration plane, so that the calibration light spot appears on the calibration plane, and the calibration data including image information of the calibration light spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser emitter and the calibration plane is acquired. The light spot image is processed to obtain image information of the light spot image; The image information of the acquired spot image is compared with the calibration data in the database to obtain the pose of the laser emitter.

2. The pose detection method for the actuator according to claim 1, characterized in that, The detection camera includes a lens, and the object side of the lens is provided with a filter, which allows light of the same wavelength as that emitted by the laser emitter to pass through.

3. The pose detection method for the actuator according to claim 2, characterized in that, The pose detection system also includes a protective housing, which has a protective cavity, and the detection camera is disposed inside the protective cavity.

4. The pose detection method for the actuator according to claim 3, characterized in that, The protective housing includes a metal cover and a light-transmitting plate. The metal cover has a light-transmitting hole, and the light-transmitting plate blocks the light-transmitting hole. The metal cover and the light-transmitting plate form a closed protective cavity, and the detection camera is set corresponding to the light-transmitting plate.

5. The pose detection method for the actuator according to claim 1, characterized in that, The calibration light spot includes m transverse light patterns formed by m transverse light spots and n longitudinal light patterns formed by n longitudinal light spots. Obtaining the calibration data includes: Obtain at least one horizontal spacing and at least one vertical spacing, wherein the horizontal spacing is the spacing between any two of the vertical light patterns, and the vertical spacing is the spacing between any two of the horizontal light patterns; The light spot image includes m horizontal light bars formed by m horizontal light spots and n vertical light bars formed by n vertical light spots. The image information for obtaining the light spot image includes: Obtain at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two of the vertical light stripes, and the vertical distance is the distance between any two of the horizontal light stripes; The two longitudinal light patterns and the two longitudinal light stripes are all formed by the same two longitudinal light spots, and the two transverse light patterns and the two transverse light stripes are all formed by the same two transverse light spots.

6. The pose detection method for the actuator according to claim 5, characterized in that, Both m and n are positive integers greater than or equal to 3; Obtaining the calibration data includes: obtaining at least two of the horizontal spacings and at least two of the vertical spacings. Obtain the ratio of the at least two horizontal spacings and the ratio of the at least two vertical spacings; The image information for obtaining the light spot image includes: Obtain at least two horizontal distances and at least two vertical distances. Obtain the ratio of the at least two horizontal distances and the ratio of the at least two vertical distances.

7. The pose detection method for the actuator according to claim 6, characterized in that, The at least two lateral spacings include the spacing between the outermost longitudinal light pattern and at least one other longitudinal light pattern, and the spacing between the middle longitudinal light pattern and at least one other longitudinal light pattern; the at least two longitudinal spacings include the spacing between the outermost lateral light pattern and at least one other lateral light pattern, and the spacing between the middle lateral light pattern and at least one other lateral light pattern. The at least two lateral distances include the distance between the outermost longitudinal light strip and at least one of the remaining longitudinal light strips, and the distance between the middle longitudinal light strip and at least one of the remaining longitudinal light strips; the at least two longitudinal distances include the distance between the outermost lateral light strip and at least one of the remaining lateral light strips, and the distance between the middle lateral light strip and at least one of the remaining lateral light strips.

Images