Pose detection system, mechanical device and pose detection method

Abstract

The application discloses a pose detection system, a mechanical device and a pose detection method. The pose detection system comprises a laser emitter, a detection camera and an image processing system. The laser emitter can emit a cross circular light spot to a detection plane. The cross circular light spot comprises a circular light spot and a cross line light spot with the same center. The detection camera is used for acquiring a light spot image of the cross circular light spot irradiated on the detection plane. The image processing system is in signal connection with the detection camera, so as to obtain the pose of the laser emitter according to the light spot image. The laser emitter can move relative to the detection camera. In use, the laser emitter is installed on an executing mechanism of the mechanical device, and the detection camera is installed on a rack of the mechanical device. Since the laser emitter is relatively static with the executing mechanism, the pose of the executing mechanism can be obtained by obtaining the pose of the laser emitter.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, specifically to a pose detection system, mechanical equipment, and pose detection method. 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 cross-shaped circular light spot onto a detection plane. The cross-shaped circular light spot includes a circular light spot with its center coinciding with the center of the light spot and a cross-shaped light spot. The detection camera is used to acquire an image of the light spot illuminated by the cross-shaped circular 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 housing and a camera body, the housing having a mounting cavity, and the camera body disposed within the mounting cavity.

[0007] In some embodiments, the camera body includes a lens and a filter, the filter being disposed on the object side of the lens, the filter allowing light of the same wavelength as that emitted by the laser emitter to pass through.

[0008] Embodiments of the present invention also propose a mechanical device having the above-described pose detection system.

[0009] The mechanical device of this invention includes a frame, an actuator, and a pose detection system as described in any of the above embodiments. The actuator is movably mounted on the frame so that it can move relative to the detection plane. The laser emitter is mounted on the actuator, and the detection camera is mounted on the frame.

[0010] Embodiments of the present invention also provide a pose detection method.

[0011] The pose detection method of this invention is implemented using the pose detection system described in any of the above embodiments, including:

[0012] The laser emitter emits a cross-shaped light spot toward the detection plane;

[0013] The detection camera is used to acquire images of light spots on the detection plane;

[0014] The image processing system is used to process the light spot image to obtain the pose of the laser emitter;

[0015] The pose of the laser emitter includes the distance between the laser emitter and the detection plane, and the angle between the laser emitter and the detection plane.

[0016] In some embodiments, the step of obtaining the pose of the laser emitter includes:

[0017] The laser emitter is pre-calibrated, and the calibration data is stored in a database. The calibration of the laser emitter includes: the cross-shaped circular 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.

[0018] The light spot image is processed to obtain image information of the light spot image;

[0019] 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;

[0020] Wherein, when the calibration spot includes a circular portion, the image information of the calibration spot includes the diameter or area of ​​the calibration spot; when the calibration spot includes an elliptical portion, the image information of the calibration spot includes the major axis length and the minor axis length of the calibration spot;

[0021] When the light spot image includes a circular portion formed by the circular light spot, the image information of the light spot image includes the diameter or area of ​​the circular portion; when the light spot image includes an elliptical portion formed by the circular light spot, the image information of the light spot image includes the major axis length and minor axis length of the elliptical portion.

[0022] In some embodiments, the step of acquiring image information of the light spot image includes:

[0023] The crosshair-shaped light spot includes two mutually perpendicular straight-line light spots. A two-dimensional first rectangular coordinate system is established with the point in the light spot image corresponding to the center of the crosshair-shaped light spot as the origin O1, the line in the light spot image corresponding to one of the straight-line light spots as the X1 axis, and the line in the light spot image corresponding to the other of the two straight-line light spots as the Y1 axis.

[0024] The detection camera has a field of view, and a two-dimensional second rectangular coordinate system is established with the center of the field of view as the origin O2, the axis of symmetry of the field of view parallel to the X1 axis as the X2 axis, and the axis of symmetry of the field of view parallel to the Y1 axis as the Y2 axis.

[0025] When the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system, the light spot image includes a circular portion formed by the circular light spot, and the diameter or area of ​​the circular portion is obtained as the image information of the light spot image.

[0026] When the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset from the Y2 axis of the second rectangular coordinate system, or when the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, the light spot image includes an elliptical portion formed by the circular light spot, and the major axis length and minor axis length of the elliptical portion are obtained as image information of the light spot image.

[0027] In some embodiments, the spot image includes the crosshair portion formed by the crosshair spot;

[0028] When the light spot image includes the circular portion, the crosshair portion and the circular portion form four intersection points. In the first rectangular coordinate system, the four intersection points are (0, x1), (0, x2), (y1, 0), and (y2, 0), respectively. The absolute value of the difference between x2 and x1 is the diameter of the circular portion, and the absolute value of the difference between y2 and y1 is the diameter of the circular portion.

[0029] When the light spot image includes the elliptical portion, the crosshair portion and the elliptical portion form four intersection points. In the first rectangular coordinate system, the four intersection points are (0, x1), (0, x2), (y1, 0), and (y2, 0). The larger of the absolute values ​​of the differences between x2 and x1 and between y2 and y1 is the length of the major axis, and the smaller of the absolute values ​​of the differences between x2 and x1 and between y2 and y1 is the length of the minor axis.

[0030] In some embodiments, when the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, the laser emitter is first moved so that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, and / or the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide, and then the detection camera is used to acquire the light spot image on the detection plane.

[0031] In some embodiments, the step of obtaining the pose of the laser emitter further includes:

[0032] When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the X2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side in the first direction.

[0033] When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the X2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the first direction.

[0034] When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the Y2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side in the second direction.

[0035] When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the Y2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the second direction.

[0036] When the origin O1 of the first rectangular coordinate system is located in the first quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side of the first direction and one side of the second direction at the same time.

[0037] When the origin O1 of the first rectangular coordinate system is located in the second quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the first direction and to one side of the second direction.

[0038] When the origin O1 of the first rectangular coordinate system is located in the third quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the first direction and the other side of the second direction.

[0039] When the origin O1 of the first rectangular coordinate system is located in the fourth quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side of the first direction and the other side of the second direction.

[0040] Wherein, the first direction is parallel to the X1 axis of the first rectangular coordinate system, and the second direction is parallel to the Y1 axis of the first rectangular coordinate system.

[0041] In this embodiment of the pose detection system, the laser emitter is fixed to the actuator of a mechanical device, and the detection camera is fixed to the frame of the mechanical device. The laser emitter emits a cross-shaped circular light spot onto the detection plane, and the detection camera acquires an image of the light spot on the detection plane. An image processing system processes the acquired light spot image to obtain the pose of the laser emitter. Because the laser emitter is fixed to the actuator of the mechanical device, the laser emitter and the actuator are relatively stationary. Therefore, by obtaining the pose of the laser emitter, the pose of the actuator can be obtained, thereby achieving automatic detection of the actuator's pose. Attached Figure Description

[0042] Figure 1 This is a partial structural schematic diagram of a mechanical device according to an embodiment of the present invention.

[0043] Figure 2 yes Figure 1 A schematic diagram of the first-view structure of the detection camera.

[0044] Figure 3 yes Figure 1 A schematic diagram of the second-view structure of the detection camera.

[0045] Figure 4 This is a flowchart of the pose detection method according to an embodiment of the present invention.

[0046] Figure 5 This is a partial structural diagram of the actuator, the field of view of the detection camera, and the detection plane when the pose detection system of an embodiment of the present invention is in its first use state.

[0047] Figure 6 yes Figure 5 A diagram showing the relationship between the spot image and the field of view of the detection camera.

[0048] Figure 7 This is a partial structural diagram of the actuator, the field of view of the detection camera, and the detection plane of the pose detection system in a second use state according to an embodiment of the present invention.

[0049] Figure 8 yes Figure 7 A diagram showing the relationship between the spot image and the field of view of the detection camera.

[0050] Figure 9 This is a partial structural diagram of the actuator, the field of view of the detection camera, and the detection plane of the pose detection system in a third usage state according to an embodiment of the present invention.

[0051] Figure 10 yes Figure 9 A diagram showing the relationship between the spot image and the field of view of the detection camera.

[0052] Figure 11 This is a partial structural diagram of the actuator, the field of view of the detection camera, and the detection plane of the pose detection system in a fourth usage state according to an embodiment of the present invention.

[0053] Figure 12 yes Figure 11 A diagram showing the relationship between the spot image and the field of view of the detection camera.

[0054] Figure label:

[0055] 100 mechanical equipment;

[0056] Rack 1;

[0057] Executing agency 2;

[0058] Laser emitter 3;

[0059] Detection camera 4; housing 401; cover 4011; light-transmitting plate 4012; lens 402; filter 403;

[0060] Detection plane 10;

[0061] Field of view 20;

[0062] Image 30 of the light spot. Detailed Implementation

[0063] 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.

[0064] like Figures 1 to 12As shown, the pose detection system of this embodiment includes a laser emitter 3, a detection camera 4, and an image processing system (not shown in the figure). The laser emitter 3 can emit a cross-shaped circular light spot towards the detection plane 10. The cross-shaped circular light spot includes a circular light spot with the center points overlapping and a cross-shaped light spot. The detection camera 4 is used to acquire a light spot image 30 of the cross-shaped circular 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 movable relative to the detection camera 4.

[0065] As is known to those skilled in the art, the cross-shaped circular 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 is different, the size of the light spot formed on the detection plane 10 when the cross-shaped circular light spot emitted by the laser emitter 3 illuminates the detection plane 10 will change compared with the cross-shaped circular light spot emitted by the laser emitter 3. 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 spot formed on the detection plane 10 when the cross-shaped circular light spot emitted by the laser emitter 3 illuminates the detection plane 10 will change. For example, the spot formed on the detection plane 10 may be a cross-shaped elliptical light spot, wherein the cross-shaped elliptical light spot includes an elliptical part with the center overlapping and a cross-shaped part, and the circular light spot of the cross-shaped circular light spot illuminates the detection plane 10 to form the elliptical part of the cross-shaped elliptical light spot, and the cross-shaped light spot of the cross-shaped circular light spot illuminates the detection plane 10 to form the cross-shaped part of the cross-shaped elliptical light spot.

[0066] 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 the same each time it is irradiated. The size of the light spot includes the area and diameter (or major axis and minor axis) of the light spot formed by the circular light spot (consisting of a cross-shaped light spot) irradiating the detection plane 10. The shape and size of the light spot constitute the image information of the light spot.

[0067] 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.

[0068] For ease of description, the shape of the light spot formed on the detection plane 10 is defined as the detection shape, the size of the light spot formed on the detection plane 10 as the detection size, the distance between the laser emitter 3 and the detection plane 10 as the detection distance, and the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 as 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, the detection distance and detection angle can be obtained if the detection shape and detection size are known. 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. 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 the actuator 2 is operating, 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.

[0069] In practical use, such as Figure 1As shown, the detection camera 4 is fixed on the frame 1 of the mechanical equipment 100, and the laser emitter 3 is fixed on the actuator 2 of the mechanical equipment 100, so that 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 obtaining the distance between the laser emitter 3 and the detection plane 10, and the angle between the laser emission direction of the laser emitter 3 and the detection plane 10. The pose of the actuator 2 includes the distance between the actuator 2 and the detection plane 10, and the angle between the actuator 2 and the detection plane 10.

[0070] 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 pose detection system, 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.

[0071] When the pose detection system of this embodiment detects the pose of the actuator 2, it can use a laser emitter 3 to emit a cross-shaped circular light spot onto the detection plane 10 and use a detection camera 4 to acquire the light spot image 30 on the detection plane 10. By processing the acquired light spot image 30 with an image processing system, the pose of the laser emitter 3 can be obtained, and then the pose of the actuator 2 can be obtained, thereby realizing the automatic detection of the pose of the actuator 2 so as to realize the automatic control of the pose of the actuator 2.

[0072] Therefore, the pose detection system of this invention can realize the automatic detection of the pose of the actuator.

[0073] Optionally, the mechanical equipment 100 can be a rock bolting rig, the frame can be the body of the rock bolting rig, and the actuator 2 can be the rock bolting machine on the rock bolting 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 rock bolting rig via a robotic arm, and the drill box is used to install rock bolts or anchor cables.

[0074] For example, the drill frame is equipped with a guide rail, and the drill box is equipped with a guide block. The guide block can move along the extension direction of the guide rail. By utilizing the cooperation between the guide block and the guide 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 guide rail. When the laser emitter 3 emits a cross-shaped circular light spot towards the coal wall, 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 cross-shaped circular light spot illuminating the coal wall.

[0075] 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.

[0076] Of course, in other embodiments, the actuator 2 may also be a robotic arm.

[0077] Optionally, the laser emitter 3 and the actuator 2 can be bonded together or connected by fasteners, such as bolts, screws, etc.

[0078] In some embodiments, such as Figure 2 and Figure 3 As shown, the detection camera 4 includes a housing 401 and a camera body. The housing 401 has a mounting cavity, and the camera body is disposed in the mounting cavity.

[0079] The housing 401 can be welded to the frame 1 or connected by fasteners. The camera body and the housing 401 can be connected by adhesive or fasteners, such as bolts or screws.

[0080] By placing the camera body inside the mounting cavity formed by the housing 401, external dust and liquids can be prevented from affecting the operation of the camera body.

[0081] Optionally, the housing 401 includes a cover 4011 and a light-transmitting plate 4012. The cover 4011 has a light-transmitting hole for light to enter the camera body. The camera body is connected to the cover 4011, and the light-transmitting plate 4012 blocks the light-transmitting hole. The cover 4011 and the light-transmitting plate 4012 define a closed mounting cavity. The light-transmitting plate 4012 can be made of acrylic, tempered glass, or other light-transmitting materials.

[0082] By designing the housing 401 as described above, the mounting cavity is made into a closed mounting cavity, which can more effectively prevent external dust and liquids from affecting the operation of the camera body.

[0083] Optionally, the housing 4011 is provided with a cable pass-through hole for the power cable and signal cable of the camera body to pass through.

[0084] Optionally, the cover 4011 is made of metal.

[0085] Optionally, such as Figure 2 and Figure 3 As shown, the camera body includes a lens 402 and a filter 403. The filter 403 is disposed on the object side of the lens 402 and allows light with the same wavelength as that emitted by the laser emitter 3 to pass through.

[0086] 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 camera body. This makes the spot image 30 obtained by the detection camera 4 more accurate, which is beneficial to improving the pose adjustment accuracy of the pose detection system.

[0087] 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 camera body through the connecting tube.

[0088] like Figures 4 to 12 As shown, the pose detection method of this invention is implemented using the pose detection system described in any of the above embodiments. The pose detection method includes:

[0089] S01, a cross-shaped light spot is emitted from the laser emitter 3 towards the detection plane 10;

[0090] S02, use the detection camera 4 to acquire the light spot image 30 on the detection plane 10;

[0091] S03, the image processing system is used to process the light spot image 30 to obtain the pose of the laser emitter 3;

[0092] 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.

[0093] In practical use, the detection camera 4 can be fixed on the frame 1 of the mechanical equipment 100, and the laser emitter 3 can be fixed on the actuator 2 of the mechanical equipment 100, so that 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, and the pose of the actuator 2 can be obtained from the pose of the laser emitter 3. The pose of the actuator 2 includes the distance between the actuator 2 and the detection plane 10, and the angle between the actuator 2 and the detection plane 10.

[0094] Therefore, the pose detection method of this invention can realize the automatic detection of the pose of the actuator 2, thereby facilitating the automatic control of the actuator 2.

[0095] Optionally, the pose of the laser emitter 3 is the same as the pose of the actuator 2.

[0096] In some embodiments, the step of obtaining the pose of the laser emitter 3 includes:

[0097] 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 cross-shaped circular 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 image information (including shape and size) of the calibration light spot, the distance between the laser emitter 3 and the calibration plane, and the angle between the laser emission direction of the laser emitter 3 and the calibration plane are acquired.

[0098] The light spot image 30 is processed to obtain the image information of the light spot image 30;

[0099] The image information of the acquired spot image 30 is compared with the calibration data to obtain the pose of the laser emitter 3;

[0100] Specifically, when the calibration spot includes a circular portion, the image information of the calibration spot includes its diameter or area; when the calibration spot includes an elliptical portion, the image information of the calibration spot includes its major axis length and minor axis length. When the spot image 30 includes a circular portion formed by a circular spot, the image information of the spot image 30 includes the diameter or area of ​​the circular portion; when the spot image 30 includes an elliptical portion formed by a circular spot, the image information of the spot image 30 includes the major axis length and minor axis length of the elliptical portion.

[0101] like Figure 5 and Figure 6As shown, when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, the circular spot of the cross-shaped laser beam will form a circular portion when it illuminates the detection plane 10. By comparing the diameter or area of ​​the circular portion with the calibration data in the database, the distance L between the laser emitter 3 and the detection plane 10 can be obtained. Figure 7 and Figure 8 As 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 taken as the vertical reference plane. When the laser emission direction of the laser emitter 3 is parallel to the vertical reference plane and the laser emission direction of the laser emitter 3 forms an acute angle with the detection plane 10, the circular spot of the cross-shaped laser beam will form an elliptical portion when it illuminates the detection plane 10. At this time, by comparing the length of the minor axis of the elliptical portion with the calibration data in the database, the distance L between the laser emitter 3 and the detection plane 10 can be obtained; by comparing the length of the major axis of the elliptical portion with the calibration data in the database, the included angle α between the laser emitter 3 and the detection plane 10 can be obtained. Figure 9 and Figure 10 As shown, when the detection plane 10 is a vertical plane, the horizontal reference plane is a plane parallel to the first horizontal direction and perpendicular to the detection plane 10. When the laser emission direction of the laser emitter 3 is parallel to the horizontal reference plane and forms an acute angle with the detection plane 10, the circular spot of the cross-shaped laser beam will form an elliptical portion when it illuminates the detection plane 10. At this time, by comparing the length of the minor axis of the elliptical portion with the calibration data in the database, the distance L between the laser emitter 3 and the detection plane 10 can be obtained; by comparing the length of the major axis of the elliptical portion with the calibration data in the database, the included angle b between the laser emitter 3 and the detection plane 10 can be obtained. The distance L between the laser emitter 3 and the detection plane 10 refers to the distance between the laser emitter 3 and the detection plane 10 along the laser emission direction of the laser emitter 3.

[0102] It is understandable that when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, the circular spot of the cross-shaped laser beam illuminates the detection plane 10. Therefore, the spot formed on the detection plane 10 is essentially an enlarged version of this circular spot. Thus, the spot formed on the detection plane 10 includes the circular portion formed by the circular spot of the cross-shaped laser beam. Furthermore, when the distance between the laser emitter 3 and the detection plane 10 is different, the diameter of the spot formed on the detection plane 10 is different from the diameter of the circular spot of the cross-shaped laser beam.

[0103] Furthermore, when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, the diameter of the circular portion formed on the detection plane 10 is the initial diameter. 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, and the laser emission direction of the laser emitter 3 is tilted in the vertical direction, making the laser emission direction of the laser emitter 3 form an acute angle with the detection plane 10, the circular portion formed on the detection plane 10 will elongate in the vertical direction to become an elliptical portion, and the minor axis length of the elliptical portion is always equal to the aforementioned initial diameter, while the major axis length changes with the change of a. Similarly, 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, and the laser emission direction of the laser emitter 3 is tilted along the second horizontal direction, making the laser emission direction of the laser emitter 3 form an acute angle with the detection plane 10, the circular portion formed on the detection plane 10 will elongate along the second horizontal direction to become an elliptical portion, and the minor axis length of the elliptical portion is always equal to the aforementioned initial diameter, while the major axis length varies with the change of b. The second horizontal direction is perpendicular to the first horizontal direction. Therefore, by comparing the minor axis length of the elliptical portion with the calibration data in the database, the distance L between the laser emitter 3 and the detection plane 10 can be obtained; by comparing the major axis length of the elliptical portion with the calibration data in the database, the included angle α or b between the laser emitter 3 and the detection plane 10 can be obtained.

[0104] Optionally, such as Figures 5 to 12 As shown, the steps for acquiring image information of the light spot image 30 include:

[0105] The crosshair-shaped light spot includes two mutually perpendicular straight-line light spots. A two-dimensional first rectangular coordinate system is established with the point in the light spot image 30 corresponding to the center of the crosshair-shaped light spot as the origin O1, the line in the light spot image 30 corresponding to one of the straight-line light spots as the X1 axis, and the line in the light spot image 30 corresponding to the other straight-line light spot as the Y1 axis.

[0106] The detection camera 4 has a field of view 20. A two-dimensional second rectangular coordinate system is established with the center of the field of view 20 as the origin O2, the axis of symmetry of the field of view 20 parallel to the X1 axis as the X2 axis, and the axis of symmetry of the field of view 20 parallel to the Y1 axis as the Y2 axis.

[0107] The origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system. The spot image 30 includes a circular part formed by a circular spot. The diameter or area of ​​the circular part is obtained as the image information of the spot image 30.

[0108] When the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are offset, or when the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are offset, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide, the spot image 30 includes an elliptical portion formed by a circular spot, and the length of the major axis and the length of the minor axis of the elliptical portion are obtained as image information of the spot image 30.

[0109] It is understandable that, such as Figure 5 and Figure 6 As shown, when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system. At this time, when the circular spot of the cross-shaped light spot illuminates the detection plane 10, a circular portion will be formed, that is, the light spot image 30 includes the circular portion. Taking an example where the X1 axis extends along the second horizontal direction and the Y1 axis extends along the vertical direction. Figure 7 and Figure 8 As shown, when the laser emission direction of the laser emitter 3 is parallel to the vertical reference plane, and the laser emission direction of the laser emitter 3 forms an acute angle with the detection plane 10, the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are offset. At this time, when the circular spot of the cross-shaped light spot illuminates the detection plane 10, it will form an elliptical part, that is, the light spot image 30 includes an elliptical part, and the major axis of the elliptical part extends in the vertical direction. Figure 9 and Figure 10 As shown, when the laser emission direction of the laser emitter 3 is parallel to the horizontal reference plane and the laser emission direction of the laser emitter 3 forms an acute angle with the detection plane 10, the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide. At this time, when the circular spot of the cross-shaped light spot illuminates the detection plane 10, it will form an elliptical part, that is, the light spot image 30 includes an elliptical part, and the major axis of the elliptical part extends along the second horizontal direction.

[0110] To facilitate the processing of the light spot image, when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, the two straight light spots are perpendicular to each other, and one of the two straight light spots is parallel to the first horizontal direction, while the other of the two straight light spots is parallel to the vertical direction.

[0111] Optionally, the spot image 30 includes a cross-shaped portion formed by the cross-shaped spot;

[0112] When the light spot image 30 includes a circular portion, the crosshair portion and the circular portion form four intersection points. In the first rectangular coordinate system, the four intersection points are (0, x1), (0, x2), (y1, 0), and (y2, 0). The absolute value of the difference between x2 and x1 is the diameter of the circular portion, and the absolute value of the difference between y2 and y1 is the diameter of the circular portion.

[0113] When the light spot image 30 includes an elliptical portion, the crosshair portion and the elliptical portion form four intersection points. In the first rectangular coordinate system, the four intersection points are (0, x1), (0, x2), (y1, 0), and (y2, 0). The larger of the absolute values ​​of the differences between x2 and x1 and between y2 and y1 is the length of the major axis, and the smaller of the absolute values ​​of the differences between x2 and x1 and between y2 and y1 is the length of the minor axis.

[0114] For example, such as Figure 5 and Figure 6 As shown, when the light spot image 30 includes a circular portion, the absolute value of the difference between x2 and x1 is equal to the absolute value of the difference between y2 and y1, and is also equal to the diameter of the circular portion. Figure 7 and Figure 8 As shown, when the light spot image 30 includes an elliptical portion, and the absolute value of the difference between x2 and x1 is less than the absolute value of the difference between y2 and y1, the absolute value of the difference between x2 and x1 is equal to the length of the minor axis of the elliptical portion, and the absolute value of the difference between y2 and y1 is equal to the length of the major axis of the elliptical portion. Figure 9 and Figure 10 As shown, when the light spot image 30 includes an elliptical portion, and the absolute value of the difference between x2 and x1 is greater than the absolute value of the difference between y2 and y1, the absolute value of the difference between x2 and x1 is equal to the length of the major axis of the elliptical portion, and the absolute value of the difference between y2 and y1 is equal to the length of the minor axis of the elliptical portion.

[0115] Optionally, such as Figure 11 and Figure 12 As shown, when the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, the actuator 2 is first controlled to move so that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, and / or the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide. Then, the detection camera 4 is used to acquire the light spot image 30 on the detection plane 10.

[0116] When the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, and the actuator 2 moves in a direction parallel to the X1 axis, such that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, the spot image 30 includes an elliptical portion formed by a circular spot. The length of the major axis and the length of the minor axis of the elliptical portion are obtained as the image information of the spot image 30. The image information of the spot image 30 is compared with the calibration data in the database to obtain the distance L and the included angle between the laser emitter 3 and the detection plane 10.

[0117] When the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, and the actuator 2 moves in a direction parallel to the Y1 axis, so that the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide, the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, the spot image 30 includes an elliptical portion formed by a circular spot. The length of the major axis and the length of the minor axis of the elliptical portion are obtained as the image information of the spot image 30. The image information of the spot image 30 is compared with the calibration data in the database to obtain the distance L and the included angle between the laser emitter 3 and the detection plane 10.

[0118] When the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, and the actuator 2 moves in a direction parallel to the X1 axis and in a direction parallel to the Y1 axis, such that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide, the spot image 30 includes a circular portion formed by a circular spot. The diameter or area of ​​the circular portion is obtained as the image information of the spot image 30. The image information of the spot image 30 is compared with the calibration data in the database to obtain the distance L between the laser emitter 3 and the detection plane 10.

[0119] In other words, when the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, the actuator 2 is first controlled to move so that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, and / or the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide; then, the image information of the spot image 30 at this time is acquired; after that, the image information of the acquired spot image 30 is compared with the calibration data to obtain the pose of the laser emitter 3 at this time.

[0120] Optionally, the step of obtaining the pose of the laser emitter 3 further includes:

[0121] When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the X2 axis of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to one side of the first direction.

[0122] When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the X2 axis of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to the other side of the first direction.

[0123] When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the Y2 axis of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to one side of the second direction.

[0124] When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the Y2 axis of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to the other side of the second direction.

[0125] When the origin O1 of the first rectangular coordinate system is located in the first quadrant of the second rectangular coordinate system, the laser emitter 3 is tilted to one side of the first direction and one side of the second direction at the same time.

[0126] When the origin O1 of the first rectangular coordinate system is located in the second quadrant of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to the other side of the first direction and to one side of the second direction.

[0127] When the origin O1 of the first rectangular coordinate system is located in the third quadrant of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to the other side of the first direction and the other side of the second direction.

[0128] When the origin O1 of the first rectangular coordinate system is located in the fourth quadrant of the second rectangular coordinate system, it is determined that the laser emitter 3 is tilted to one side of the first direction and the other side of the second direction.

[0129] The first direction is parallel to the X1 axis of the first rectangular coordinate system, and the second direction is parallel to the Y1 axis of the first rectangular coordinate system.

[0130] For example, the first direction can be forward and backward, and the second direction can be up and down. Figure 7 and Figure 8 As shown, when the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the Y2 axis of the second rectangular coordinate system, the laser emitter 3 tilts upward; similarly, when the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the Y2 axis of the second rectangular coordinate system, the laser emitter 3 tilts downward. Figure 9 and Figure 10 As shown, when the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the X2 axis of the second rectangular coordinate system, the laser emitter 3 tilts forward; similarly, when the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the X2 axis of the second rectangular coordinate system, the laser emitter 3 tilts backward. Figure 11 and Figure 12 As shown, when the origin O1 of the first rectangular coordinate system is located in the first quadrant of the second rectangular coordinate system, the laser emitter 3 tilts upward and forward simultaneously; similarly, when the origin O1 of the first rectangular coordinate system is located in the second quadrant of the second rectangular coordinate system, the laser emitter 3 tilts upward and backward simultaneously; when the origin O1 of the first rectangular coordinate system is located in the third quadrant of the second rectangular coordinate system, the laser emitter 3 tilts downward and backward simultaneously; and when the origin O1 of the first rectangular coordinate system is located in the fourth quadrant of the second rectangular coordinate system, the laser emitter 3 tilts downward and forward simultaneously.

[0131] The pose detection method of this invention realizes the pose detection of the actuator 2 during operation through the laser emitter 3, the detection camera 4 and the 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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 pose detection method, characterized in that, The pose detection method employs a pose detection system including: A laser emitter capable of emitting a cross-shaped circular light spot toward a detection plane, the cross-shaped circular light spot comprising a circular light spot with its center overlapping and a cross-shaped light spot; A detection camera is used to acquire an image of the light spot illuminating the detection plane by the cross-shaped circular light spot; and An image processing system, which is connected to the detection camera signal, is used to obtain the pose of the laser emitter based on the light spot image; The laser emitter is movable relative to the detection camera; Pose detection methods include: The laser emitter emits a cross-shaped light spot toward 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 laser emitter; The pose of the laser emitter includes the distance between the laser emitter and the detection plane, and the angle between the laser emitter and the detection plane; The steps for obtaining the pose of the laser emitter include: The laser emitter is pre-calibrated, and the calibration data is stored in a database. The calibration of the laser emitter includes: the cross-shaped circular 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; Wherein, when the calibration spot includes a circular portion, the image information of the calibration spot includes the diameter or area of ​​the calibration spot; when the calibration spot includes an elliptical portion, the image information of the calibration spot includes the major axis length and the minor axis length of the calibration spot; When the light spot image includes a circular portion formed by the circular light spot, the image information of the light spot image includes the diameter or area of ​​the circular portion; when the light spot image includes an elliptical portion formed by the circular light spot, the image information of the light spot image includes the major axis length and minor axis length of the elliptical portion.

2. The pose detection method according to claim 1, characterized in that, The detection camera includes a housing and a camera body. The housing has a mounting cavity, and the camera body is disposed within the mounting cavity.

3. The pose detection method according to claim 2, characterized in that, The camera body includes a lens and a filter. The filter is disposed on the object side of the lens and allows light of the same wavelength as that emitted by the laser emitter to pass through.

4. The pose detection method according to claim 1, characterized in that, The step of acquiring the image information of the light spot image includes: The crosshair-shaped light spot includes two mutually perpendicular straight-line light spots. A two-dimensional first rectangular coordinate system is established with the point in the light spot image corresponding to the center of the crosshair-shaped light spot as the origin O1, the line in the light spot image corresponding to one of the straight-line light spots as the X1 axis, and the line in the light spot image corresponding to the other of the two straight-line light spots as the Y1 axis. The detection camera has a field of view, and a two-dimensional second rectangular coordinate system is established with the center of the field of view as the origin O2, the axis of symmetry of the field of view parallel to the X1 axis as the X2 axis, and the axis of symmetry of the field of view parallel to the Y1 axis as the Y2 axis. When the origin O1 of the first rectangular coordinate system coincides with the origin O2 of the second rectangular coordinate system, the light spot image includes a circular portion formed by the circular light spot, and the diameter or area of ​​the circular portion is obtained as the image information of the light spot image. When the X1 axis of the first rectangular coordinate system coincides with the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system is offset from the Y2 axis of the second rectangular coordinate system, or when the X1 axis of the first rectangular coordinate system is offset from the X2 axis of the second rectangular coordinate system, and the Y1 axis of the first rectangular coordinate system coincides with the Y2 axis of the second rectangular coordinate system, the light spot image includes an elliptical portion formed by the circular light spot, and the major axis length and minor axis length of the elliptical portion are obtained as image information of the light spot image.

5. The pose detection method according to claim 4, characterized in that, The light spot image includes the crosshair portion formed by the crosshair-shaped light spot; When the light spot image includes the circular portion, the crosshair portion and the circular portion form four intersection points. In the first rectangular coordinate system, the four intersection points are (0, x1), (0, x2), (y1, 0), and (y2, 0), respectively. The absolute value of the difference between x2 and x1 is the diameter of the circular portion, and the absolute value of the difference between y2 and y1 is the diameter of the circular portion. When the light spot image includes the elliptical portion, the crosshair portion and the elliptical portion form four intersection points. In the first rectangular coordinate system, the four intersection points are (0, x1), (0, x2), (y1, 0), and (y2, 0). The larger of the absolute values ​​of the differences between x2 and x1 and between y2 and y1 is the length of the major axis, and the smaller of the absolute values ​​of the differences between x2 and x1 and between y2 and y1 is the length of the minor axis.

6. The pose detection method according to claim 4, characterized in that, When the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system are misaligned, and the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system are misaligned, the laser emitter is first moved so that the X1 axis of the first rectangular coordinate system and the X2 axis of the second rectangular coordinate system coincide, and / or the Y1 axis of the first rectangular coordinate system and the Y2 axis of the second rectangular coordinate system coincide, and then the detection camera is used to acquire the light spot image on the detection plane.

7. The pose detection method according to claim 4, characterized in that, The step of obtaining the pose of the laser emitter further includes: When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the X2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side in the first direction. When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the X2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the first direction. When the origin O1 of the first rectangular coordinate system is located on the positive half-axis of the Y2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side in the second direction. When the origin O1 of the first rectangular coordinate system is located on the negative half-axis of the Y2 axis of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the second direction. When the origin O1 of the first rectangular coordinate system is located in the first quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side of the first direction and one side of the second direction at the same time. When the origin O1 of the first rectangular coordinate system is located in the second quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the first direction and to one side of the second direction. When the origin O1 of the first rectangular coordinate system is located in the third quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to the other side of the first direction and the other side of the second direction. When the origin O1 of the first rectangular coordinate system is located in the fourth quadrant of the second rectangular coordinate system, it is determined that the laser emitter is tilted to one side of the first direction and the other side of the second direction. Wherein, the first direction is parallel to the X1 axis of the first rectangular coordinate system, and the second direction is parallel to the Y1 axis of the first rectangular coordinate system.

8. A mechanical device, characterized in that, include: frame; An actuator is movably mounted on a frame so that the actuator can move relative to the detection plane; and The pose detection system is the pose detection system used in the pose detection method according to any one of claims 1 to 7, wherein the laser emitter is mounted on the actuator and the detection camera is mounted on the frame.

Images