CN105547120A - Plane robot position detection method and system based on capacitive touch screen - Google Patents
Plane robot position detection method and system based on capacitive touch screen Download PDFInfo
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- CN105547120A CN105547120A CN201510933230.8A CN201510933230A CN105547120A CN 105547120 A CN105547120 A CN 105547120A CN 201510933230 A CN201510933230 A CN 201510933230A CN 105547120 A CN105547120 A CN 105547120A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention provides a plane robot position detection method and system based on a capacitive touch screen, belonging to a plane robot position detection method and system. The method and system are used for accurately detecting a plane robot end position coordinate. The system comprises a capacitive screen triggering device, a capacitive touch screen support device, a display screen, a computer, and an auxiliary fixing device, wherein the capacitive screen triggering device comprises a fixed magnet, a spring control board, a magnetic shield material, a reset spring, an electromagnet, a capacitive screen trigger, and an electromagnet connection wire. The capacitive touch screen support device comprises a support device base, an adjustment platform, an adjustment knob, anti-skid support legs, a rotation bearing, a capacitive touch screen, and a touch screen fixed pad. The auxiliary fixing device comprises a clamping base, a clamping plate and a clamping screw. The invention provides the plane robot position detection method and system based on a capacitive touch screen, and the problems of a complex measurement process, a long measurement time, limited measurement range and serious damage of a measuring instrument of an existing method are solved.
Description
Technical field
The present invention relates to a kind of planar robot's method for detecting position and system, particularly a kind of planar robot's method for detecting position based on capacitance touch screen and system.
Background technology
At present, detect about planar robot's terminal position and have a variety of method, such as laser interferometer measurement method, ball bar mensuration, laser driven shock wave method, plane grating mensuration etc., but these methods have a lot of shortcoming, the such as laser interferometer direct method of measurement, although measuring accuracy is higher, but its measuring process too complex, measure consuming time more, and the error recorded is separated, the position global error measured like this is larger.Although ball bar can Quick Measurement, its measurement range is subject to the restriction of ballbar length, and precision is subject to the restriction of LVDT sensor accuracy.As for laser driven shock wave mensuration and plane grating mensuration, though precision is high, instrument cost is too high, is difficult to processing and promotes.Therefore, be badly in need of exploring a kind of measuring accuracy high, measure efficiency high, planar robot's terminal position detection method that measurement range is large.
Summary of the invention
For existing method for detecting position Problems existing, the invention provides a kind of planar robot's method for detecting position based on capacitance touch screen and system, solve the problem that existing method measuring process is complicated, Measuring Time is longer, measurement range is restricted and instrument involves great expense.
Technical scheme: the object of the present invention is achieved like this, a kind of method for detecting position based on capacitance touch screen planar robot, comprises the following steps:
1), by fixed magnet capacitance plate flip flop equipment is fixed on planar robot's terminal position, capacitance touch screen bracing or strutting arrangement is put into below capacitance plate flip flop equipment;
2), by adjustment knob adjust the initial position of capacitance touch screen, make it corresponding with the initial position in computer system software;
3), be energized to electromagnet, the effect that capacitance plate trigger is subject to electromagnet arrives and can form the position of coupling capacitance with capacitance touch screen, when capacitor trigger moves along with detected planar robot's terminal position, a very little electric current is walked in absorption, this electric current flows out respectively from the electrode four of touch-screen angles or four edges, after capacitance controller passes through the precision calculating to these four current ratios, carry out A/D conversion, and by the magnitude of voltage that obtains compared with setting voltage value the concrete coordinate of touch point, after computer disposal, concrete track shows on a display screen.
Described fixed magnet, is for when planar robot's terminal position is magnetic material, directly utilizes fixed magnet that capacitance plate flip flop equipment is fixed on planar robot's terminal position.
Described auxiliary clamping device, is for when planar robot's terminal position is nonmagnetic substance, utilizes auxiliary clamping device to fix capacitance plate flip flop equipment.
Described capacitance plate bracing or strutting arrangement is used for initial position and aims at, and puts into below capacitance plate flip flop equipment by bracing or strutting arrangement base entirety, is then finely tuned by the adjustment position of knob to capacitance touch screen, completes its initial position and aims at.
After described capacitance plate flip flop equipment fixedly completes and capacitive touch screen architecture initial alignment completes, to electromagnet energising, now capacitance plate trigger arrives assigned address with spring control panel and contacts with capacitance touch screen.
Described electromagnet auto-breaking after position has been detected, capacitance plate trigger gets back to initial position under the effect of back-moving spring.
The power on/off of described electromagnet controls by computing machine.
The present invention realizes the capacitance touch screen planar robot position detecting system of said method, comprises capacitance plate flip flop equipment, capacitance touch screen bracing or strutting arrangement, display screen, computing machine and auxiliary fixing device; Wherein capacitance plate flip flop equipment is fixedly connected with detected robot end topworks, control it by computing machine whether to work simultaneously, capacitance touch screen bracing or strutting arrangement is all connected with computing machine with display screen, auxiliary fixing device is when detected robot end position topworks is nonmagnetic substance, for fixed capacity flip flop equipment.
Described capacitance plate flip flop equipment comprises fixed magnet, spring control panel, NULL, back-moving spring, electromagnet and capacitance plate trigger, electromagnet connecting line; The bottom surface of fixed magnet has been linked in sequence NULL, spring control panel, back-moving spring and electromagnet, and capacitance plate trigger is connected with spring control panel with electromagnet center through back-moving spring.
Described capacitance touch screen bracing or strutting arrangement comprises bracing or strutting arrangement base, adjustment platform, adjustment knob, anti-skidding supporting leg, swivel bearing, capacitance touch screen and touch-screen setting-up piece; Bracing or strutting arrangement base is box-like, and box has capacitance touch screen; Adjustment platform is connected in box by adjustment knob, and there is anti-skidding supporting leg the bottom surface of box, is equipped with swivel bearing at the centre bit of box, touch-screen setting-up piece is positioned on the wall of box.
Described auxiliary fixing device comprises grip base, clamping plate and clamping screw; Clamping plate is connected on grip base by clamping screw.
Beneficial effect, owing to have employed such scheme, simple in method, easy to operate, solve the problems such as existing method measuring process is complicated, Measuring Time is longer, measurement range is restricted; System upper sensor adopts good economy performance, and it is convenient to obtain, the electric resistance touch screen tactility apparatus that precision is higher, and a whole set of measuring system is easy to assembly, the display on a display screen that measurement result can be real-time, and it is convenient to read.
Advantage: this detection method and system consider the real-time of detection, detection that can be real-time display device robot end topworks's position coordinates and run trace, for subsequent control provides foundation.
Accompanying drawing illustrates:
Fig. 1 is detection system composition diagram of the present invention.
Fig. 2 is signal processor theory diagram of the present invention.
Fig. 3 is capacitance touch device figure of the present invention.
Fig. 4 is capacitance touch screen bracing or strutting arrangement vertical view of the present invention.
Fig. 5 is capacitance touch screen bracing or strutting arrangement front view of the present invention.
Fig. 6 is auxiliary fixing device vertical view of the present invention.
Fig. 7 is auxiliary fixing device front view of the present invention.
In figure: 1, capacitance plate flip flop equipment; 1-1, fixed magnet; 1-2, spring control panel; 1-3, NULL; 1-4, back-moving spring; 1-5, electromagnet; 1-6, capacitance plate trigger; 2, capacitance touch screen bracing or strutting arrangement; 2-1, bracing or strutting arrangement base; 2-2, adjustment platform; 2-3, adjustment knob; 2-4, anti-skidding supporting leg; 2-5, swivel bearing; 2-6, capacitance touch screen; 2-7, touch-screen setting-up piece; 3, display screen; 4, computing machine; 5, auxiliary fixing device; 5-1, grip base; 5-2, clamping plate; 5-3, clamping screw.
Embodiment
Below in conjunction with the embodiment in accompanying drawing, the invention will be further described:
Shown in embodiment 1: Fig. 1, the planar robot's position detecting system that the present invention is based on capacitance touch screen comprises capacitance plate flip flop equipment 1, capacitance touch screen bracing or strutting arrangement 2, display screen 3, computing machine 4 and auxiliary fixing device 5; Wherein capacitance plate flip flop equipment 1 is fixedly connected with detected robot end topworks, control it by computing machine 4 whether to work simultaneously, capacitance touch screen bracing or strutting arrangement 2 is all connected with computing machine 4 with display screen 3, auxiliary fixing device 5 is when detected robot end position topworks is nonmagnetic substance, for fixed capacity flip flop equipment 1.
Shown in Fig. 3: capacitance plate flip flop equipment 1 comprises fixed magnet 1-1, spring control panel 1-2, NULL 1-3, back-moving spring 1-4, electromagnet 1-5 and capacitance plate trigger 1-6, electromagnet connecting line 1-7; The bottom surface of fixed magnet 1-1 has been linked in sequence NULL 1-3, spring control panel 1-2, back-moving spring 1-4 and electromagnet 1-5, and capacitance plate trigger 1-6 is connected with spring control panel 1-2 with electromagnet 1-5 center through back-moving spring 1-4.
Shown in Fig. 4 and Fig. 5: capacitance touch screen bracing or strutting arrangement 2 comprises bracing or strutting arrangement base 2-1, adjustment platform 2-2, adjustment knob 2-3, anti-skidding supporting leg 2-4, swivel bearing 2-5, capacitance touch screen 2-6 and touch-screen setting-up piece 2-7; Bracing or strutting arrangement base 2-1 is box-like, and box has capacitance touch screen 2-6; Adjustment platform 2-2 is connected in box by adjustment knob 2-3, and the bottom surface of box has anti-skidding supporting leg 2-4, is equipped with swivel bearing 2-5 at the centre bit of box, touch-screen setting-up piece 2-7 is positioned on the wall of box.
Shown in Fig. 6 and Fig. 7: auxiliary fixing device 5 comprises grip base 5-1, clamping plate 5-2 and clamping screw 5-3; Clamping plate 5-2 is connected on grip base 5-1 by clamping screw 5-3.
Described NULL mainly avoids fixed magnet to the absorption of spring control panel, affects the control of electromagnet to capacitance plate trigger.
Described capacitance touch screen flip flop equipment 1 is the capacitance plate trigger 1-6 that can form current field that can form the principle design of coupling capacitance according to capacitance touch screen 2-6.
Described computing machine 4 built-in capacitance screen controller, for the treatment of the current signal that capacitance touch screen 2-6 detects, display screen 3 shows.
Described touch-screen setting-up piece mainly auxiliary capacitor touch-screen is better fixed.
The present invention is based on planar robot's method for detecting position of capacitance touch screen:
1), by fixed magnet 1-1 capacitance plate flip flop equipment 1 is fixed on planar robot's terminal position, capacitance touch screen bracing or strutting arrangement 2 is put into below capacitance plate flip flop equipment 1.
2) initial position, by adjustment knob 2-3 adjusting capacitance touch screen 2-6, makes it corresponding with the initial position in computing machine 4 system software.
3), be energized to electromagnet 1-5, capacitance plate trigger 1-6 reaches assigned address and capacitance touch screen 2-6 forms coupling capacitance, a very little electric current is walked in absorption, this electric current divides and flows out from the electrode touch-screen four angles or four edges, capacitance controller, by after calculating the precision of these four current ratios, carries out A/D conversion, and the voltage value magnitude of voltage obtained is compared to obtain the concrete coordinate of touch point, after computing machine 4 processes, concrete track shows on display screen 3.
Described fixed magnet 1-1, is when being magnetic material for planar robot's terminal position, directly utilizes fixed magnet 1-1 that capacitance plate flip flop equipment 1 is fixed on planar robot's terminal position.
Described auxiliary clamping device 5, is when being nonmagnetic substance for planar robot's terminal position, utilizes auxiliary clamping device 5 to fix capacitance plate flip flop equipment 1.
Described capacitance plate bracing or strutting arrangement 2 is mainly used in initial position and aims at, and puts into below capacitance plate flip flop equipment 1 by bracing or strutting arrangement base 2-1 entirety, is then finely tuned by the adjustment position of knob 2-3 to capacitance touch screen 2-6, completes its initial position and aims at.
After described capacitance plate flip flop equipment 1 fixedly completes and capacitive touch screen architecture 2 initial alignment completes, be energized to electromagnet 1-5, now capacitance plate trigger 1-6 arrives assigned address with spring control panel 1-2 and contacts with capacitance touch screen 2-6.
Described electromagnet 1-5 auto-breaking after position has been detected, capacitance plate trigger 1-6 gets back to initial position under the effect of back-moving spring 1-4.
The power on/off of described electromagnet 1-5 controls by computing machine 3.
Described NULL 1-3 mainly avoids fixed magnet 1-1 to adsorb spring control panel 1-2, affects the control of electromagnet 1-5 to capacitance plate trigger 1-6.
Described touch-screen setting-up piece 2-7 mainly auxiliary capacitor touch-screen 2-6 better fixes.
Provide the detailed step based on electric resistance touch screen planar robot method for detecting position below:
When planar robot's terminal position material is magnetic material, by fixed magnet 1-1, capacitance plate flip flop equipment 1 is fixed on planar robot's terminal position, then finely tuned by the position of adjustment knob 2-3 to capacitance touch screen 2-6 of capacitance touch screen bracing or strutting arrangement 2, complete its initial position and aim at.The initial position that itself and computing machine 4 software system are shown on display screen 3 is consistent, now, computing machine 4 is allowed to control electromagnet 1-5 charged, spring control panel 1-2 is subject to the suction-operated of electromagnet 1-5, capacitance plate trigger 1-6 arrival assigned address and capacitance touch screen 2-6 is made to form coupling capacitance, when planar robot moves, capacitance plate flip flop equipment 1 will move with planar robot's terminal position, form the part of coupling capacitance and will absorb a very little electric current, this electric current divides and flows out from the electrode touch-screen four angles or four edges, after capacitance controller passes through the precision calculating to these four current ratios, carry out A/D conversion, and the voltage value magnitude of voltage obtained is compared to obtain the concrete coordinate of touch point, after computing machine 4 processes, concrete track shows on display screen 3, after completing collection, electromagnet 1-5 auto-breaking, capacitance plate trigger 1-6 resets by back-moving spring 1-4, complete detection.
When planar robot's terminal position material is nonmagnetic substance, fixed by auxiliary clamping device 5 and planar robot's terminal position, grip base 5-1 contacts with upper surface respectively at the lower surface of planar robot's terminal position with clamping plate 5-2, it is made to clamp by clamping screw 5-3, then capacitance plate flip flop equipment 1 is fixed on grip base 5-1 fixed magnet 1-1, subsequent step is the same.
Claims (10)
1., based on planar robot's method for detecting position of capacitance touch screen, it is characterized in that: method for detecting position, comprise the following steps:
1), by fixed magnet capacitance plate flip flop equipment is fixed on planar robot's terminal position, capacitance touch screen bracing or strutting arrangement is put into below capacitance plate flip flop equipment;
2), by adjustment knob adjust the initial position of capacitance touch screen, make it corresponding with the initial position in computer system software;
3), be energized to electromagnet, the effect that capacitance plate trigger is subject to electromagnet arrives and can form the position of coupling capacitance with capacitance touch screen, when capacitor trigger moves along with detected planar robot's terminal position, a very little electric current is walked in absorption, this electric current flows out respectively from the electrode four of touch-screen angles or four edges, after capacitance controller passes through the precision calculating to these four current ratios, carry out A/D conversion, and by the magnitude of voltage that obtains compared with setting voltage value the concrete coordinate of touch point, after computer disposal, concrete track shows on a display screen.
2. a kind of planar robot's method for detecting position based on capacitance touch screen according to claim 1, it is characterized in that: described fixed magnet, be for when planar robot's terminal position is magnetic material, directly utilize fixed magnet that capacitance plate flip flop equipment is fixed on planar robot's terminal position.
3. a kind of planar robot's method for detecting position based on capacitance touch screen according to claim 1, it is characterized in that: described auxiliary clamping device, be for when planar robot's terminal position is nonmagnetic substance, utilize auxiliary clamping device to fix capacitance plate flip flop equipment.
4. a kind of planar robot's method for detecting position based on capacitance touch screen according to claim 1, it is characterized in that: described capacitance plate bracing or strutting arrangement is used for initial position and aims at, bracing or strutting arrangement base entirety is put into below capacitance plate flip flop equipment, then finely tuned by the adjustment position of knob to capacitance touch screen, complete its initial position and aim at.
5. a kind of planar robot's method for detecting position based on capacitance touch screen according to claim 1, it is characterized in that: after described capacitance plate flip flop equipment fixedly completes and capacitive touch screen architecture initial alignment completes, to electromagnet energising, now capacitance plate trigger contacts with capacitance touch screen with spring control panel arrival assigned address.
6. a kind of planar robot's method for detecting position based on capacitance touch screen according to claim 1, it is characterized in that: described electromagnet auto-breaking after position has been detected, capacitance plate trigger gets back to initial position under the effect of back-moving spring; The power on/off of described electromagnet controls by computing machine.
7. the detection system of a kind of planar robot's method for detecting position based on capacitance touch screen according to claim 1, it is characterized in that: detection system, comprise capacitance plate flip flop equipment (1), capacitance touch screen bracing or strutting arrangement (2), display screen (3), computing machine (4) and auxiliary fixing device (5); Wherein capacitance plate flip flop equipment (1) is fixedly connected with detected robot end topworks, control it by computing machine (4) whether to work simultaneously, capacitance touch screen bracing or strutting arrangement (2) is all connected with computing machine (4) with display screen (3), auxiliary fixing device (5) is when detected robot end position topworks is nonmagnetic substance, for fixed capacity flip flop equipment (1).
8. a kind of planar robot's position detecting system based on capacitance touch screen according to claim 7, is characterized in that: described capacitance plate flip flop equipment (1) comprises fixed magnet (1-1), spring control panel (1-2), NULL (1-3), back-moving spring (1-4), electromagnet (1-5) and capacitance plate trigger (1-6), electromagnet connecting line (1-7); The bottom surface of fixed magnet (1-1) has been linked in sequence NULL (1-3), spring control panel (1-2), back-moving spring (1-4) and electromagnet (1-5), and capacitance plate trigger (1-6) is connected with spring control panel (1-2) with electromagnet (1-5) center through back-moving spring (1-4).
9. a kind of planar robot's position detecting system based on capacitance touch screen according to claim 7, is characterized in that: described capacitance touch screen bracing or strutting arrangement (2) comprises bracing or strutting arrangement base (2-1), adjustment platform (2-2), adjustment knob (2-3), anti-skidding supporting leg (2-4), swivel bearing (2-5), capacitance touch screen (2-6) and touch-screen setting-up piece (2-7); Bracing or strutting arrangement base (2-1), for box-like, box has capacitance touch screen (2-6); Adjustment platform (2-2) is connected in box by adjustment knob (2-3), and the bottom surface of box has anti-skidding supporting leg (2-4), is equipped with swivel bearing (2-5) at the centre bit of box, touch-screen setting-up piece (2-7) is positioned on the wall of box.
10. a kind of planar robot's position detecting system based on capacitance touch screen according to claim 7, is characterized in that: described auxiliary fixing device (5) comprises grip base (5-1), clamping plate (5-2) and clamping screw (5-3); Clamping plate (5-2) is connected on grip base (5-1) by clamping screw (5-3).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108305815A (en) * | 2018-03-05 | 2018-07-20 | 厦门大学嘉庚学院 | Auxiliary timing trigger device and application method |
| CN109476014A (en) * | 2016-07-12 | 2019-03-15 | T移动美国公司 | For engaging the testing touch screen platform of the target signature of dynamic positioning |
| CN110488124A (en) * | 2019-08-24 | 2019-11-22 | 深圳市欧雷玛科技有限公司 | A kind of capacitive touch screen multipoint detection device and its detection method |
| US11724402B2 (en) | 2010-12-09 | 2023-08-15 | T-Mobile Usa, Inc. | Touch screen testing platform for engaging a dynamically positioned target feature |
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