CN106625690A - Absolute positioning method for assisting robot - Google Patents
Absolute positioning method for assisting robot Download PDFInfo
- Publication number
- CN106625690A CN106625690A CN201611172564.9A CN201611172564A CN106625690A CN 106625690 A CN106625690 A CN 106625690A CN 201611172564 A CN201611172564 A CN 201611172564A CN 106625690 A CN106625690 A CN 106625690A
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- Prior art keywords
- phases
- disc
- pulses
- absolute fix
- code
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an absolute positioning method for assisting a robot. Absolute positioning is conducted through a coded disc. The method comprises the following steps that (1) the circumference of the coded disc is divided into 16 Z phases, the 16 Z phases are the Z phases 0-9 and the Z phases A-F, and every two Z phases differ from each other by two pulses in order; and (2) when each Z phase is transformed for one position to another position, the pulse number of the interval can be automatically recorded by a counter so as to confirm the current interval, a recording and storing device can be covered 16 times after the whole circle of Z phases are rotated, coded disc positioning can be completed, and absolute positioning by the robot is assisted. According to the absolute positioning method for assisting the robot, machining is easy, cheap and high in accuracy and resolution ratio; and the absolute positioning method is high in precision, absolute positioning of moving objects can be achieved, the positioning difficulty is lowered, and the cost of a positioning system is lowered.
Description
Technical field
The present invention relates to a kind of construction applications of robot equipment, more particularly to a kind of association with six direction rotational angles
Help robot structure.
Background technology
At present, in the equipment using robot operation, need to carry out absolute positioning to manipulator.And existing machinery people
The use of alignment system is a kind of radio position finding radio directional bearing means based on signal, Main Patterns have active and passive induction type.Its
In active be divided into AOA（Angle of arrival is positioned）、TDOA（Reaching time-difference is positioned）、TOA（Arrival time）、TW-TOF（It is two-way
Flight time）、NFER（Near field electromagnetic positioning）Deng, such as UWB positioning, this technological means the characteristics of be that positioning precision is high, no
Easily it is disturbed；Passive induction type carries out position resolving, predominantly RSSI using the method based on signal strength signal intensity（Signal strength）
Deng such as WIFI, RFID, Zigbee etc., this mode is easily subject to water, the impact of the barrier such as metal object, so as to occur partially
Difference, precision is relatively low.
The content of the invention
The invention aims to overcome the shortcoming of above-mentioned prior art, there is provided a kind of absolute fix of assistance robot
Method, the processing of the absolute fix method of the assistance robot is simple, cheap, high accuracy, high-resolution, with high accuracy definitely
Localization method, it is possible to achieve the absolute fix of the object in motion, simplify positioning difficulty also reduce alignment system into
This.
The technical solution adopted for the present invention to solve the technical problems is：A kind of absolute fix method of assistance robot,
Absolute fix is carried out using code-disc, its step includes：
（1）Code-disc is divided into 16 Z phases, respectively Z phases 0-9 and Z phases A-F for one week, and each Z phases sequentially differ 2 pulses；
（2）When Z phases are from an evolution to another position, counter can automatically count record this interval fat and rush number really
Recognize current interval, revolving the register of the Z phases that turn around can cover 16 times, then can complete the positioning of code-disc, reach assistance robot
Absolute fix.
Further, described step（1）In Z phases 0 and Z phases 1 between contain 110 pulses；Contain between Z phases 1 and Z phases 2
112 pulses；Contain 140 pulses between Z phases F ~ Z phases 0.
When code-disc is turned to have a power failure suddenly between Z phases 1 ~ 2, register then writes down the umber of pulse of Z phases 1 and Z phase A, Z phases B,
Register has reserve battery, there is power-down protection, next time automatically returns to the position before having a power failure when starting.
In sum, the processing of the absolute fix method of assistance robot of the invention is simple, cheap, high accuracy, high score
Resolution, with high accuracy absolute fix method, it is possible to achieve the absolute fix of the object in motion, simplifies the difficulty of positioning
Reduce the cost of alignment system.
Description of the drawings
Fig. 1 is the schematic diagram of the code-disc that the absolute fix method of the assistance robot of the embodiment of the present invention 1 is adopted；
Fig. 2 is the striped schematic diagram of Z phases in code-disc.
Specific embodiment
Embodiment 1
A kind of absolute fix method of the assistance robot described by the present embodiment 1, as depicted in figs. 1 and 2, is carried out using code-disc
Absolute fix, its step includes：
（1）Code-disc is divided into 16 Z phases, respectively Z phases 0-9 and Z phases A-F for one week, and each Z phases sequentially differ 2 pulses；
（2）When Z phases are from an evolution to another position, counter can automatically count record this interval fat and rush number really
Recognize current interval, revolving the register of the Z phases that turn around can cover 16 times, then can complete the positioning of code-disc, reach assistance robot
Absolute fix.
The step（1）In Z phases 0 and Z phases 1 between contain 110 pulses；Contain 112 pulses between Z phases 1 and Z phases 2；Z phases
Contain 140 pulses between F ~ Z phases 0.
When code-disc is turned to have a power failure suddenly between Z phases 1 ~ 2, register then writes down the umber of pulse of Z phases 1 and Z phase A, Z phases B,
Register has reserve battery, there is power-down protection, next time automatically returns to the position before having a power failure when starting.
The above, is only presently preferred embodiments of the present invention, not makees any pro forma to the structure of the present invention
Limit.Any simple modification, equivalent variations and modification that every technical spirit according to the present invention is made to above example,
Still fall within the range of technical scheme.
Claims (3)
1. it is a kind of assist robot absolute fix method, it is characterised in that absolute fix is carried out using code-disc, its step bag
Include：
（1）Code-disc is divided into 16 Z phases, respectively Z phases 0-9 and Z phases A-F for one week, and each Z phases sequentially differ 2 pulses；
（2）When Z phases are from an evolution to another position, counter can automatically count record this interval fat and rush number really
Recognize current interval, revolving the register of the Z phases that turn around can cover 16 times, then can complete the positioning of code-disc, reach assistance robot
Absolute fix.
2. it is according to claim 1 it is a kind of assist robot absolute fix method, it is characterised in that described step
（1）In Z phases 0 and Z phases 1 between contain 110 pulses；Contain 112 pulses between Z phases 1 and Z phases 2；Contain between Z phases F ~ Z phases 0
140 pulses.
3. it is according to claim 2 it is a kind of assist robot absolute fix method, it is characterised in that when code-disc is turned to
When having a power failure suddenly between Z phases 1 ~ 2, register then writes down the umber of pulse of Z phases 1 and Z phase A, Z phases B, and register has reserve battery, has
Power-down protection, next time automatically returns to the position before having a power failure when starting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611172564.9A CN106625690A (en) | 2016-12-17 | 2016-12-17 | Absolute positioning method for assisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611172564.9A CN106625690A (en) | 2016-12-17 | 2016-12-17 | Absolute positioning method for assisting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625690A true CN106625690A (en) | 2017-05-10 |
Family
ID=58823113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611172564.9A Pending CN106625690A (en) | 2016-12-17 | 2016-12-17 | Absolute positioning method for assisting robot |
Country Status (1)
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1059402A (en) * | 1990-08-25 | 1992-03-11 | 中国科学院长春光学精密机械研究所 | Absolute type shaft-position encoder method for designing and scrambler |
| CN101984328A (en) * | 2010-08-20 | 2011-03-09 | 西南交通大学 | Single-code channel photoelectric coder |
| CN201780116U (en) * | 2010-08-20 | 2011-03-30 | 西南交通大学 | Photoelectric encoder for detecting rotation speed and rotation angle of rotating objects |
| CN102507970A (en) * | 2011-10-31 | 2012-06-20 | 宁波杜亚机电技术有限公司 | Photoelectric type coder for measuring rotating direction and rotating speed of electric motor |
| US20130020475A1 (en) * | 2011-07-21 | 2013-01-24 | Sun Szu Cheng | Optical wheel, rotary encoder, linear encoder and method for generating a zeroing signal of a rotary encoder |
| CN203132565U (en) * | 2013-02-07 | 2013-08-14 | 大连民族学院 | Novel encoder |
| CN106052724A (en) * | 2016-05-19 | 2016-10-26 | 深圳市越疆科技有限公司 | Robot, and rotation measuring device and method |
-
2016
- 2016-12-17 CN CN201611172564.9A patent/CN106625690A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1059402A (en) * | 1990-08-25 | 1992-03-11 | 中国科学院长春光学精密机械研究所 | Absolute type shaft-position encoder method for designing and scrambler |
| CN101984328A (en) * | 2010-08-20 | 2011-03-09 | 西南交通大学 | Single-code channel photoelectric coder |
| CN201780116U (en) * | 2010-08-20 | 2011-03-30 | 西南交通大学 | Photoelectric encoder for detecting rotation speed and rotation angle of rotating objects |
| US20130020475A1 (en) * | 2011-07-21 | 2013-01-24 | Sun Szu Cheng | Optical wheel, rotary encoder, linear encoder and method for generating a zeroing signal of a rotary encoder |
| CN102507970A (en) * | 2011-10-31 | 2012-06-20 | 宁波杜亚机电技术有限公司 | Photoelectric type coder for measuring rotating direction and rotating speed of electric motor |
| CN203132565U (en) * | 2013-02-07 | 2013-08-14 | 大连民族学院 | Novel encoder |
| CN106052724A (en) * | 2016-05-19 | 2016-10-26 | 深圳市越疆科技有限公司 | Robot, and rotation measuring device and method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |
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| RJ01 | Rejection of invention patent application after publication |