CN106945029A - A kind of method, apparatus and system for being used to catch three-dimensional movement locus of object - Google Patents

A kind of method, apparatus and system for being used to catch three-dimensional movement locus of object Download PDF

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Publication number
CN106945029A
CN106945029A CN201710235476.7A CN201710235476A CN106945029A CN 106945029 A CN106945029 A CN 106945029A CN 201710235476 A CN201710235476 A CN 201710235476A CN 106945029 A CN106945029 A CN 106945029A
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CN
China
Prior art keywords
draw
wire
bracing wire
dimensional
data
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Application number
CN201710235476.7A
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Chinese (zh)
Inventor
黄智成
代慧
张钟
路湘平
周华
廖永
陈荣东
陈永波
谢原祥
梁炳华
罗旭能
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广州番禺职业技术学院
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Priority to CN201710235476.7A priority Critical patent/CN106945029A/en
Publication of CN106945029A publication Critical patent/CN106945029A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control

Abstract

The invention discloses a kind of method for catching three-dimensional movement locus of object, it comprises the following steps:The bracing wire for obtaining three draw-wire displacement sensors exports the respective coordinate data in the three-dimensional system of coordinate pre-established;Obtain by default data acquisition device three draw-wire displacement sensors for not collecting and sending in the same time respective bracing wire length data;And, three-dimensional coordinate data of the moving object at the correspondence moment is calculated according to the coordinate data of bracing wire outlet and the not length data of the bracing wire in the same time, to form the 3 D motion trace of the moving object.The invention also discloses a kind of apparatus and system for being used to catch three-dimensional movement locus of object.The process of the 3 D motion trace of layout target object of the present invention is simple and quick, and the high working efficiency of layout.

Description

A kind of method, apparatus and system for being used to catch three-dimensional movement locus of object
Technical field
The present invention relates to robotics, more particularly to it is a kind of be used to catching the method for three-dimensional movement locus of object, Apparatus and system.
Background technology
Articulated robot is high because of the flexibility ratio that it is moved, and is just widely used in industry and services.Wherein may be used End effector (such as mechanical paw, spray gun or welding gun) by robot of the demand according to user arranges corresponding three Tie up movement locus.The method of combination of the 3 D motion trace of end effector of robot at this stage mainly has following several:One It is to program each joint motor transmission instruction of the box to robot by teaching to plant, and end effector is run into specified location The action, it is necessary to which robot stops afterwards, teaching programs the numerical value of each joint position sensor of box read machine people, and then this is counted Value is preserved.This method causes process cumbersome, so that operating efficiency is low due to needing a large amount of measuring points.Another method The movement locus that needs end effector of robot according to the target object for needing operation shape in three-dimensional mapping software In generate graphics, then pass through certain rule extraction and calculate the 3 D motion trace that end effector of robot needs. This method is a method for obtaining motor point indirectly due to it, then when carrying out trajectory reproducing with robot, it is necessary to root Verified repeatedly according to actual conditions, cause process cumbersome, so that operating efficiency is low.
From upper analysis, the method for combination process of the 3 D motion trace of existing end effector of robot is cumbersome, Operating efficiency is low.
The content of the invention
Regarding to the issue above, object of the present invention is to provide a kind of side for being used to catch three-dimensional movement locus of object Method, the process of the 3 D motion trace of its layout target object is simple and quick, so as to improve the operating efficiency of layout.
The present invention also aims to there is provided a kind of device for being used to catch three-dimensional movement locus of object, it can be applied to The above-mentioned method for catching three-dimensional movement locus of object.
The present invention also aims to there is provided a kind of system for catching three-dimensional movement locus of object, it can be applied to The above-mentioned method for catching three-dimensional movement locus of object.
To achieve these goals, the invention provides a kind of method for catching three-dimensional movement locus of object, it is wrapped Include following steps:
The bracing wire for obtaining three draw-wire displacement sensors exports the respective coordinate in the three-dimensional system of coordinate pre-established Data;Wherein, the end of the bracing wire of three draw-wire displacement sensors is both connected to movement locus moving object to be captured On body;
Obtain by default data acquisition device in the three dragline types position for not collecting and sending in the same time The respective bracing wire length data of displacement sensor;Wherein, the bracing wire length data is by the corresponding dragline type displacement sensing Device detects and is sent to the default data acquisition device;And,
The coordinate data that is exported according to the bracing wire and described in the length data of the bracing wire in the same time is not calculated Three-dimensional coordinate data of the moving object at the correspondence moment, to form the 3 D motion trace of the moving object.
The method for catching three-dimensional movement locus of object that the present invention is provided, by by three dragline types position The respective end of the bracing wire of displacement sensor is fixed in the moving object, when moving object in object space according to machine The operation track of the end effector of people (can be pulled during the motion of corresponding track by people), three dragline type displacements The bracing wire of sensor also can moving object campaign described in follower and produce different degrees of stretching, now, first according in advance The bracing wire that the three-dimensional system of coordinate of foundation obtains three draw-wire displacement sensors exports the number of coordinates in the three-dimensional system of coordinate According to the respective bracing wire length data of three draw-wire displacement sensors not in the same time then being obtained, finally according to institute State coordinate data and the bracing wire length data in the same time does not obtain three-dimensional coordinate of the moving object at the correspondence moment Data, to form the 3 D motion trace of the moving object, so as to the whole work for the end effector for obtaining robot Industry track.As can be seen here, the method for catching three-dimensional movement locus of object that the present invention is provided, it is described by causing Moving object do corresponding track motion can just calculate in real time robot end effector required operation rail The three-dimensional coordinate data of mark, therefore relative to prior art, the 3 D motion trace of layout end effector of robot of the present invention Process it is simple and quick, so as to the operating efficiency for the 3 D motion trace for improving layout end effector of robot.
Further, the bracing wire outlet of three draw-wire displacement sensors is equally distributed on same circle each other Zhou Shang, the origin of coordinates of the three-dimensional system of coordinate is the center of circle of the circumference;The bracing wire of three draw-wire displacement sensors End convergence for a bit.
Further, the three-dimensional system of coordinate is three-dimensional Dikal coordinate system, and the X/Y plane of the three-dimensional system of coordinate is located at In plane where the bracing wire outlet of three draw-wire displacement sensors;The Z axis of the three-dimensional system of coordinate is vertical described flat Face
Yet further, three draw-wire displacement sensors are respectively the first draw-wire displacement sensor, the second drawing Rope type displacement transducer and the 3rd draw-wire displacement sensor, wherein, the bracing wire of first draw-wire displacement sensor goes out What mouth, the bracing wire outlet of second draw-wire displacement sensor and the bracing wire of the 3rd draw-wire displacement sensor were exported Coordinate is set as a (A, B, C), b (D, E, F), c (G, H, I) successively, and first draw-wire displacement sensor, described second are drawn The numerical value of the bracing wire length of rope type displacement transducer and the 3rd draw-wire displacement sensor is followed successively by L1, L2, L3.
Further, step " coordinate data exported according to the bracing wire and the not bracing wire in the same time Length data calculate the moving object correspondence the moment three-dimensional coordinate data, to form the three-dimensional of the moving object Movement locus " is specially:
Coordinate data a (A, B, C), the b (D, E, F) and the c (G, H, I) that are exported according to the bracing wire and not in the same time described Bracing wire length data L1, L2 is calculated with L3 and is obtained three-dimensional coordinate data (X, Y, Z) of the moving object at the corresponding moment;Its In,:
X=(J/N-K/Q)/(M/N-P/Q),
Y=(J/M-K/P)/(N/M/-Q/Q),
Z=SQRT (L12-(X-A)2-(Y-B)2);
Wherein, M=(D-A), N=(E-B), P=(G-D), Q=(H-E), J=M*X+N*Y, K=P*X+Q*Y;In addition, If the radius of the circumference is R, then A=R*sin (π/3), B=R*cos (π/3), C=0;D=0, E=R, F=0;G=-R* Sin (π/3), H=-R*cos (π/3), I=0.
The invention provides a kind of device for being used to catch three-dimensional movement locus of object, it includes base, support frame, installation Portion and three draw-wire displacement sensors, the bottom of support frame as described above are fixed on the base, the top of support frame as described above The installation portion is fixed with, three draw-wire displacement sensors are separately mounted on the diverse location of the installation portion.
The device for being used to catch three-dimensional movement locus of object that the present invention is provided is used for catch applied to above-mentioned The method of body 3 D motion trace, and the device is during the 3 D motion trace of layout end effector of robot, can By the way that the respective end of pulling of three draw-wire displacement sensors is fixed in target moving object, then to allow institute The respective bracing wire for stating three draw-wire displacement sensors follows the moving object campaign, by three dragline types position Displacement sensor can be obtained by the motion rail of the moving object in the calculating for the respective bracing wire length not detected in the same time Mark (operation track required for i.e. described end effector).So being used to catch object described in of the invention provide by applying The device of 3 D motion trace, can make it that the process of the 3 D motion trace of layout end effector of robot is simple and quick, So as to the operating efficiency for the 3 D motion trace for improving layout end effector of robot.
Further, support frame as described above includes first support bar and second support bar, the bottom of the first support bar It is fixed on the base, the top of the first support bar and the first end of the second support bar are connected, described Second end of two support bars is away from described first and is fixed with the installation portion.
Further, the installation portion is disc-shaped structure, and the first card of the installation portion is fixed on described second Three draw-wire displacement sensors, and institute are provided with the bottom at the second end of strut, the second card of the installation portion The bracing wire outlet for stating three draw-wire displacement sensors is equally distributed on same circumference each other.
Further, the end convergence of the bracing wire of three draw-wire displacement sensors is a bit.
Still further aspect of the present invention additionally provides a kind of system for catching three-dimensional movement locus of object, and it is included as above It is described that to be used to catching the device of three-dimensional movement locus of object, the bracing wire for gathering three draw-wire displacement sensors long The data acquisition device of degrees of data and the data processing equipment for receiving the bracing wire length data, wherein, described three The connection corresponding with the input of the data acquisition device of the signal output part of draw-wire displacement sensor, the data acquisition The output end of device is connected with the input of the data processing equipment.
The system for being used to catch three-dimensional movement locus of object that the present invention is provided is used for catch applied to above-mentioned The method of body 3 D motion trace, and the device is during the 3 D motion trace of layout end effector of robot, can By the way that the respective end of pulling of three draw-wire displacement sensors is fixed in target moving object, then to allow institute The respective bracing wire for stating three draw-wire displacement sensors follows the moving object campaign, by three dragline types position Displacement sensor can be obtained by the motion rail of the moving object in the calculating for the respective bracing wire length not detected in the same time Mark (operation track required for i.e. described end effector).So being used to catch object described in of the invention provide by applying The device of 3 D motion trace, can make it that the process of the 3 D motion trace of layout end effector of robot is simple and quick, So as to the operating efficiency for the 3 D motion trace for improving layout end effector of robot.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, the accompanying drawing to be used needed for embodiment will be made below Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, general for this area For logical technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of flow signal for being used to catch the method for three-dimensional movement locus of object provided in an embodiment of the present invention Figure;
Fig. 2 is a kind of structural representation for being used to catch the device of three-dimensional movement locus of object provided in an embodiment of the present invention Figure;
Fig. 3 is a kind of three-dimensional coordinate schematic diagram provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to, the embodiments of the invention provide a kind of method for catching three-dimensional movement locus of object, it includes Step S1 to step S3:
S1, the bracing wire outlet for obtaining three draw-wire displacement sensors 4 is respective in the three-dimensional system of coordinate pre-established Coordinate data;Wherein, the end of the bracing wire of three draw-wire displacement sensors 4 is both connected to movement locus fortune to be captured On animal body.
When needing that the operation track of the end effector (such as mechanical paw, spray gun or welding gun) of robot is compiled During row, Fig. 2 is referred to, the respective end by the bracing wire of three draw-wire displacement sensors 4 first is fixed on the fortune On animal body, then allow the moving object in object space according to the operation track required for the end effector of robot The motion (can be pulled by people) of corresponding track is carried out, such as when the moving object and the end effector of the robot When being spray gun, operator can with the hand-held spray gun on the surface of manipulating object (such as automobile) according to required operation rail Mark is moved.When the moving object starts to move by certain track, with the drawing of three draw-wire displacement sensors 4 The default coordinate points in plane where line outlet set up a three-dimensional system of coordinate for origin (0,0,0), then operator The coordinate data that the bracing wire of three draw-wire displacement sensors 4 set is exported is input at default data Manage in equipment (such as computer) so that the data processing equipment obtains the bracing wire of three draw-wire displacement sensors 4 The respective coordinate data of outlet.Certainly, when the number of coordinates of the bracing wire outlet of three draw-wire displacement sensors 4 described in user input According to rear, the data processing equipment can also be set up according to the coordinate data a new three-dimensional system of coordinate (can with it is above Three-dimensional system of coordinate is identical, can also be different from three-dimensional system of coordinate above), then the data processing equipment can be according to new three Dimension coordinate system assign three draw-wire displacement sensors 4 bracing wire export new coordinate data (can with it is above respective Coordinate data is identical, can also be different from respective coordinate data above).
Wherein, it is preferred that the bracing wire outlet of three draw-wire displacement sensors 4 is not conllinear, institute can so be caused The bracing wire for stating three draw-wire displacement sensors 4 is exported on same circumference, so as in subsequent step with the circumference On three draw-wire displacement sensors 4 bracing wire outlet coordinate data based on set up rectangular coordinate system in space spheroid Equation;And because the bracing wire of three draw-wire displacement sensors 4 exports the different places on same circumference, so The bracing wire of three draw-wire displacement sensors 4 can be caused can form a three-dimensional measurement range each other, because This is relative to because the plane that bracing wire outlet is conllinear and causes the bracing wire of three draw-wire displacement sensors 4 to be formed Measured zone, the bracing wire outlet of three draw-wire displacement sensors 4 can collinearly not have higher accuracy of measurement.Need It is noted that the moving object can be end effector (such as mechanical paw, spray gun or the weldering in robot Rifle etc.), the substitute (the end effector model of such as teaching) of the end effector that unloads or end effector Deng being not specifically limited herein.
In addition, Fig. 3 is referred to, three draw-wire displacement sensors 4 respectively the first draw-wire displacement sensor 4, Second draw-wire displacement sensor 4 and the 3rd draw-wire displacement sensor 4, wherein, first draw-wire displacement sensor 4 Bracing wire outlet, the bracing wire of second draw-wire displacement sensor 4 outlet and the 3rd draw-wire displacement sensor 4 The coordinate of bracing wire outlet is set as a (A, B, C), b (D, E, F), c (G, H, I) successively.
S2, is obtained by default data acquisition device in three dragline types for not collecting and sending in the same time The respective bracing wire length data of displacement transducer 4;Wherein, the bracing wire length data is passed by the corresponding dragline type displacement Sensor 4 detects and is sent to the default data acquisition device.
In the motion process of the moving object, the bracing wire of three draw-wire displacement sensors 4 can also follow institute State moving object campaign and produce different degrees of stretching, thus in the motion process of the moving object not in the same time, Three draw-wire displacement sensors 4 can constantly detect the bracing wire length data (data signal of the bracing wire of respective bracing wire Form or analog signal form), correspondence is then sent to by the default data acquisition device (such as data collecting card) Data processing equipment (such as computer), it is then long to the bracing wire got by the processor of the data processing equipment Degrees of data is analyzed.Wherein, first draw-wire displacement sensor 4, second draw-wire displacement sensor 4 and institute The data for stating the bracing wire length of the 3rd draw-wire displacement sensor 4 are represented sequentially as L1, L2, L3.
S3, according to the bracing wire export coordinate data and the length data of the bracing wire in the same time does not calculate institute Three-dimensional coordinate data of the moving object at the correspondence moment is stated, to form the 3 D motion trace of the moving object.
Coordinate data and get that i.e. the bracing wire for three draw-wire displacement sensors 4 that basis is set is exported Three draw-wire displacement sensors 4 not in the same time bracing wire length data, to calculate the moving object In the three-dimensional coordinate data at correspondence moment, i.e. the whole movement locus for obtaining the moving object is calculated, so as to obtain machine The whole operation track of the execution end of device people.
Wherein it is preferred to, refer to Fig. 2 and Fig. 3, the bracing wire outlets of three draw-wire displacement sensors 4 mutually it Between be equally distributed on same circumference, the origin of coordinates of the three-dimensional system of coordinate is the center of circle of the circumference;Three drawings The end convergence of the bracing wire of rope type displacement transducer 4 is a bit, i.e. the three-dimensional coordinate of the point of the end convergence of bracing wire is described The three-dimensional coordinate of moving object, then the step S3 be specially:
S30, coordinate data a (A, B, C), b (D, E, F) and the c (G, H, I) exported according to the bracing wire and not in the same time Described bracing wire length data L1, L2 is calculated with L3 and is obtained three-dimensional coordinate data (X, Y, Z) of the moving object at the corresponding moment.
In this step, specifically, the three-dimensional system of coordinate is three-dimensional Dikal coordinate system, the XY of the three-dimensional system of coordinate Plane is located in the plane where the bracing wire outlet of three draw-wire displacement sensors 4;The Z axis of the three-dimensional system of coordinate hangs down The straight plane.That is, three-dimensional system of coordinate is set to the plane where the bracing wire outlet of three draw-wire displacement sensors 4 X/Y plane.Wherein, the coordinate bracing wire of second draw-wire displacement sensor 4 exported is arranged on the Y-axis of three-dimensional system of coordinate On, if the coordinate in the motor point portion is (X, Y, Z), and the radius of the circumference is set as R, due to three dragline type displacements The bracing wire outlet of sensor 4 is equally distributed on same circumference each other, therefore understands A=R*sin according to geometrical relationship (π/3), B=R*cos (π/3), C=0;D=0, E=R, F=0;G=-R*sin (π/3), H=-R*cos (π/3), I=0.
Further, since bracing wire length data L1, L2 and L3 of the bracing wire of three draw-wire displacement sensors 4 have been tested Go out, therefore rectangular coordinate system in space spheroid equation can be set up:
Equation 1:L12=(A-X)2+(B-Y)2+(C-Z)2
Equation 2:L22=(D-X)2+(E-Y)2+(F-Z)2
Equation 3:L32=(G-X)2+(H-Y)2+(I-Z)2
Above equation simultaneous is obtained:
Equation 4:(L12-L22-A2+D2-B2+E2-C2+F2)/2=(D-A) X+ (E-B) Y+ (F-C) Z
Equation 5:(L22-L32-D2+G2-E2+H2-F2+I2)/2=(G-D) X+ (H-E) Y+ (I-F) Z
Equation 6:(L12-L32-A2+G2-B2+H2-C2+I2)/2=(G-A) X+ (H-B) Y+ (I-C) Z
To simplify formula, following variable and its correspondence formula are introduced:
J=(L12-L22-A2+D2-B2+E2-C2+F2)/2
K=(L22-L32-D2+G2-E2+H2-F2+I2)/2
J=M*X+N*Y
K=P*X+Q*Y
M=(D-A)
N=(E-B)
P=(G-D)
Q=(H-E)
Above formula simultaneous is obtained into below equation:
X=J/M-N/M*Y
X=K/P-Q/P*Y
Y=J/N-M/N*X
Y=K/Q-P/Q*X
Above formula simultaneous is obtained into X, formula final Y again:
X=(J/N-K/Q)/(M/N-P/Q)
Y=(J/M-K/P)/(N/M/-Q/Q)
The Z values in the motor point portion are in X, in the case that Y value has been obtained, and similarly obtained with rectangular coordinate system in space spheroid equation To below equation, Z values can be then calculated.
Z=SQRT (L12- (X-A) 2- (Y-B) 2), wherein " SQRT " is expressed as sqrt computing.
Above-mentioned formula is arranged, you can obtain the default computing formula as follows:
X=(J/N-K/Q)/(M/N-P/Q),
Y=(J/M-K/P)/(N/M/-Q/Q),
Z=SQRT (L12-(X-A)2-(Y-B)2);
Wherein, M=(D-A), N=(E-B), P=(G-D), Q=(H-E), J=M*X+N*Y, K=P*X+Q*Y;In addition, If the radius of the circumference is R, then A=R*sin (π/3), B=R*cos (π/3), C=0;D=0, E=R, F=0;G=-R* Sin (π/3), H=-R*cos (π/3), I=0.
It is understood that the three-dimensional system of coordinate can also be set as that cylindrical-coordinate system or spheroid are sat according to actual needs Mark system etc., is not specifically limited herein.In addition, the end of the bracing wire of three draw-wire displacement sensors 4 is both connected to fortune In a certain plane in the moving object to be captured of dynamic rail mark, and it can not collect for a bit.
It should be noted that after the moving object is calculated in the three-dimensional coordinate data at correspondence moment, can be by institute Three-dimensional coordinate data is stated to be preserved;Or, the three-dimensional coordinate data can be sent to robot, then the robot The movement locus of the moving object can be just reappeared according to the three-dimensional coordinate data, i.e., described robot can be according to described Three-dimensional coordinate data completes corresponding operation track.It is understood that referring to Fig. 2, the three-dimensional coordinate data is with data The form of array is preserved, and the three-dimensional coordinate data is entered according to the sequencing of the run duration of the moving object What row was preserved, the data array of the three-dimensional coordinate data after preservation is the movement locus of the moving object.In addition, needing It is noted that the three-dimensional coordinate data is sent to the robot in the form of data array, or whenever calculating The robot is transmitted to during one three-dimensional coordinate data, then the robot according to three-dimensional coordinate data the calculating time Sequencing preserved.
In embodiments of the present invention, by the way that the respective end of the bracing wire of three draw-wire displacement sensors is fixed In a certain plane of the moving object, when moving object in object space according to robot end effector operation Track (can be pulled during the motion of corresponding track by people), and the bracing wire of three draw-wire displacement sensors can also be followed The moving object campaign and produce different degrees of stretching, now, set up described three first with the default coordinate points Dimension coordinate system, then sets the coordinate data of the bracing wire outlet of three draw-wire displacement sensors and obtains described three The respective bracing wire length value of draw-wire displacement sensor, finally according to the coordinate data and the not drawing in the same time Line length numerical value obtains three-dimensional coordinate data of the moving object at the correspondence moment, i.e. obtain the whole of the moving object Movement locus, so as to the whole operation track for the end effector for obtaining robot.As can be seen here, the institute that the present invention is provided The method for catching three-dimensional movement locus of object is stated, it just can be with by make it that the motion of corresponding track is done in the moving object The three-dimensional coordinate data of the required operation track of the end effector of robot is calculated in real time, therefore relative to existing Technology, the process of the 3 D motion trace of layout end effector of robot of the present invention is simple and quick, so as to improve layout The operating efficiency of the 3 D motion trace of end effector of robot.
The embodiment of the present invention additionally provides a kind of system for catching three-dimensional movement locus of object, and it includes being used to catch The data of the device of three-dimensional movement locus of object, bracing wire length data for gathering three draw-wire displacement sensors 4 Harvester and the data processing equipment for receiving the bracing wire length data, wherein, three dragline type displacements are passed The connection corresponding with the input of the data acquisition device of the signal output part of sensor 4, the output of the data acquisition device End is connected with the input of the data processing equipment.Wherein, Fig. 2 is referred to, it is described to be used to catch three-dimensional movement locus of object Device include base 1, support frame 2, installation portion 3 and three draw-wire displacement sensors 4, the bottom of support frame as described above 2 is consolidated It is scheduled on the base 1, the top of support frame as described above 2 is fixed with the installation portion 3, three draw-wire displacement sensors 4 On the diverse location for being separately mounted to the installation portion 3.
When needing that the operation track of the end effector (such as mechanical paw, spray gun or welding gun) of robot is compiled During row, the respective end first by the bracing wire of three draw-wire displacement sensors 4 is fixed in the moving object, so Moving object described in relief carries out corresponding rail in object space according to the operation track required for the end effector of robot The motion (can be pulled by people) of mark, such as when the end effector of the moving object and the robot is spray gun When, operator can be transported with the hand-held spray gun on the surface of manipulating object (such as automobile) according to required operation track It is dynamic.When the moving object starts to move by certain track, then the bracing wire of three draw-wire displacement sensors 4 can be with Different degrees of stretching is produced with the moving object campaign, during motion, three dragline type displacement sensings Device 4 can constantly gather respective bracing wire length data (data can be analog signal form or digital signal form) and by institute State the data acquisition device and be sent to the data processing equipment, the data processing equipment can be according to the bracing wire length number According to the three-dimensional coordinate data for calculating the moving object, i.e. the whole movement locus for obtaining the moving object can be calculated, So as to the whole operation track for the end effector for obtaining robot.
In embodiments of the present invention, it is preferred that referring to Fig. 2, the base 1 includes being in conplane three foundation bar 10, the first end of the three foundation bar 10 is equidistantly located on the bottom of support frame as described above 2, and the second end of the three foundation bar 10 Bottom away from support frame as described above 2.It is understood that the base 1 can also be halfpace shape mechanism or round table-like structure etc., It is not specifically limited herein.
Further, Fig. 1 is referred to, support frame as described above 2 includes first support bar 20 and second support bar 21, described the The bottom of one support bar 20 is fixed on the base 1, the top of the first support bar 20 and the second support bar 21 First end is connected, the second support bar 21 the second end is away from the first support bar 20 and is fixed with the installation portion 3.Because the first support bar 20 is arranged on the base 1, therefore when the base 1 is on the ground, it is arranged on described The remote ground of the meeting of the second support bar 21 on the top of first support bar 20, and due to the second of the second support bar 21 End is away from the first support bar 20, therefore the installation portion 3 is so arranged on the peace also away from the first support bar 20 Three draw-wire displacement sensors 4 in dress portion 3 can have larger activity space.It is preferred that first support Bar 20 is interconnected to form the support frame as described above 2 of inverted L shape with the second support bar 21.It should be noted that first support Bar can also form the support frame as described above 2 of cross-shaped configuration or T word font structures with the second support bar 21, do not do have herein Body is limited.Further, it is to be appreciated that support frame as described above 2 can also be other structures, for example, connected and composed by three support bars Tripod either rectangle rack for being connected and composed by four support bars etc., be not specifically limited herein.
Above-mentioned technical proposal is further improved, Fig. 2 is referred to, the installation portion 3 is disc-shaped structure, the installation First card in portion 3 is fixed in the bottom at the second end of the second support bar 21, the second card of the installation portion 3 and set There are three draw-wire displacement sensors 4.Wherein, the installation portion 3 is that disc-shaped structure can be three dragline types Displacement transducer 4 provides the installation card of larger area.It should be noted that the installation portion 3 can also be square structure Either (three draw-wire displacement sensors 4 are separately mounted on three angles of the tripod structure tripod structure Or on three sides) etc., it is not specifically limited herein.
In foregoing invention embodiment, it is preferable that refer to Fig. 2, the dress for being used to catch three-dimensional movement locus of object To put also include and be used to adjust the height adjusting equipment 5 of the height of the second support bar 21, the height adjusting equipment 5 includes rotation Tight part 50 and the sliding part 51 being fixedly connected with the first end of the second support bar 21, the sliding part 51, which is offered, supplies institute The sliding eye (not shown) that first support bar 20 is passed through is stated, the side wall of the sliding part 51 is further opened with connecting with the sliding eye Threaded hole (not shown);The part 50 that screws has the spire (not shown) coordinated with the threaded hole.When need regulation During the height of the second support bar 21, can by back-out it is described screw part 50, with cause it is described screw part 50 be located at institute The spire stated in threaded hole departs from the first support bar 20 being located in the sliding eye, and now, the sliding part 51 can Slided with relatively described first supporting part.When the sliding part 51 slides into required height, described screw can be tightened Part 50, make it that the spire being located in the threaded hole for screwing part 50 presses described the in the sliding eye One support bar 20, so that the sliding part 51 is fixed.Therefore, by that provided with the height adjusting equipment 5, can allow operation Member adjusts the height of the second support bar 21 according to actual needs, so as to adjust described three according to use occasion The height of draw-wire displacement sensor 4.Wherein, it is preferred that the sliding part 51 is sleeve-like configuration.It should be noted that institute It can also be square structure meeting cone shape structure etc. to state sliding part 51, be not specifically limited herein.In addition, described screw part 50 spire is screw structural.
In foregoing invention embodiment, it is preferable that refer to Fig. 2, the bracing wire of three draw-wire displacement sensors 4 goes out Mouth is equally distributed on same circumference each other.In addition, being fixed by the bracing wire of three draw-wire displacement sensors 4 When in the moving object, if the direction of the bracing wire outlet of three draw-wire displacement sensors 4 is different, then have Bracing wire and its bracing wire outlet edge of the draw-wire displacement sensor 4 of a part exist more serious extruding phenomenon (can produce compared with Big frictional force), so as to cause corresponding bracing wire not stretch normally, therefore, it is preferable that three dragline type displacements are passed The bracing wire outlet of sensor 4 towards same direction, so can in order to the bracing wire of three draw-wire displacement sensors 4 can Swimmingly stretched in corresponding bracing wire exit.
In foregoing invention embodiment, it is preferable that refer to Fig. 2, the bracing wire of three draw-wire displacement sensors 4 End collection is combined into a bit, i.e. the movement locus in the motor point portion is the movement locus for being expressed as the moving object.Need Bright, the end of the bracing wire of three draw-wire displacement sensors 4 can also be fixed on the motion according to actual needs Diverse location on object.
In foregoing invention embodiment, it is preferable that refer to Fig. 2, the dress for being used to catch three-dimensional movement locus of object Putting also includes at least three castors 6, and at least three castor 6 is respectively arranged on the diverse location of the bottom of the base 1, And at least three castor 6 (is not so on the same line in order to avoid the castor 6 is formed not on the same line Effective support to the base 1).In the present embodiment, by setting at least three pin in the bottom of the base 1 Wheel 6, can so facilitate to the movement for being used to catch the device of three-dimensional movement locus of object.Wherein, the castor 6 can be with For movable castor 6 or rigid castors 6, it is not specifically limited herein.
In embodiments of the present invention, the device i.e. system for being used to catch three-dimensional movement locus of object is applied to above-mentioned Method for catching three-dimensional movement locus of object, and the device for being used to catch three-dimensional movement locus of object is in layout machine , can be by by the respective of three draw-wire displacement sensors 4 during the 3 D motion trace of people's end effector End of pulling be fixed in target moving object, then allow three draw-wire displacement sensors 4 respective bracing wire with With the moving object campaign, by three draw-wire displacement sensors 4 in the respective drawing not detected in the same time The calculating of line length can be obtained by movement locus (the operation rail required for i.e. described end effector of the moving object Mark).So by the application device i.e. system for being used to catch three-dimensional movement locus of object provided in an embodiment of the present invention, can The process of 3 D motion trace to cause bundling machine device people's end effector is simple and quick, so as to improve layout robot The operating efficiency of the 3 D motion trace of end effector.
Above disclosed is only some preferred embodiments of the invention, can not limit the power of the present invention with this certainly Sharp scope, one of ordinary skill in the art will appreciate that all or part of flow of above-described embodiment is realized, and according to present invention power Profit requires made equivalent variations, still falls within and invents covered scope.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (RandomAccess Memory, RAM) etc..

Claims (10)

1. a kind of method for catching three-dimensional movement locus of object, it is characterised in that comprise the following steps:
The bracing wire for obtaining three draw-wire displacement sensors exports the respective coordinate data in the three-dimensional system of coordinate pre-established; Wherein, the end of the bracing wire of three draw-wire displacement sensors is both connected in movement locus moving object to be captured;
Obtain and passed by default data acquisition device in the three dragline type displacements for not collecting and sending in the same time The respective bracing wire length data of sensor;Wherein, the bracing wire length data is examined by the corresponding draw-wire displacement sensor Measure and carry out and be sent to the default data acquisition device;And,
According to the bracing wire export coordinate data and the length data of the bracing wire in the same time does not calculate the motion Three-dimensional coordinate data of the object at the correspondence moment, to form the 3 D motion trace of the moving object.
2. the method according to claim 1 for catching three-dimensional movement locus of object, it is characterised in that three drawings The bracing wire outlet of rope type displacement transducer is equally distributed on same circumference each other, and the coordinate of the three-dimensional system of coordinate is former Point is the center of circle of the circumference;The end convergence of the bracing wire of three draw-wire displacement sensors is a bit.
3. the method according to claim 2 for catching three-dimensional movement locus of object, it is characterised in that the three-dimensional seat Mark system is three-dimensional Dikal coordinate system, and the X/Y plane of the three-dimensional system of coordinate is located at the drawing of three draw-wire displacement sensors In plane where line outlet;The vertical plane of the Z axis of the three-dimensional system of coordinate.
4. the method according to claim 3 for catching three-dimensional movement locus of object, it is characterised in that three drawings Rope type displacement transducer is respectively the first draw-wire displacement sensor, the second draw-wire displacement sensor and the 3rd dragline type position Displacement sensor, wherein, the bracing wire outlet of first draw-wire displacement sensor, the drawing of second draw-wire displacement sensor Line export and the 3rd draw-wire displacement sensor bracing wire outlet coordinate be set as successively a (A, B, C), b (D, E, F), c (G, H, I), first draw-wire displacement sensor, second draw-wire displacement sensor and the 3rd drawstring The numerical value of the bracing wire length of formula displacement transducer is followed successively by L1, L2, L3.
5. the method according to claim 4 for catching three-dimensional movement locus of object, it is characterised in that the step " according to the bracing wire export coordinate data and the length data of the bracing wire in the same time does not calculate the moving object In the three-dimensional coordinate data at correspondence moment, to form the 3 D motion trace of the moving object " be specially:
The coordinate data a (A, B, C), the b (D, E, F) that are exported according to the bracing wire and c (G, H, I) and the not bracing wire in the same time Length data L1, L2 are calculated with L3 and are obtained three-dimensional coordinate data (X, Y, Z) of the moving object at the corresponding moment;Wherein,
X=(J/N-K/Q)/(M/N-P/Q),
Y=(J/M-K/P)/(N/M/-Q/Q),
Z=SQRT (L12-(X-A)2-(Y-B)2);
Wherein, M=(D-A), N=(E-B), P=(G-D), Q=(H-E), J=M*X+N*Y, K=P*X+Q*Y;In addition, setting institute The radius for stating circumference is R, then A=R*sin (π/3), B=R*cos (π/3), C=0;D=0, E=R, F=0;G=-R*sin (π/3), H=-R*cos (π/3), I=0.
6. a kind of be used to catch the device of three-dimensional movement locus of object, it is characterised in that including base, support frame, installation portion with And three draw-wire displacement sensors, the bottom of support frame as described above is fixed on the base, and the top of support frame as described above is fixed There is the installation portion, three draw-wire displacement sensors are separately mounted on the diverse location of the installation portion.
7. the device according to claim 6 for being used to catch three-dimensional movement locus of object, it is characterised in that support frame as described above Including first support bar and second support bar, the bottom of the first support bar is fixed on the base, described first The top of strut and the first end of the second support bar are connected, and the second end of the second support bar is away from described first Prop up and be fixed with the installation portion.
8. the device according to claim 7 for being used to catch three-dimensional movement locus of object, it is characterised in that the installation portion For disc-shaped structure, the first card of the installation portion is fixed on the bottom at the second end of the second support bar, the installation Three draw-wire displacement sensors, and the bracing wire of three draw-wire displacement sensors are provided with second card in portion Outlet is equally distributed on same circumference each other.
9. being used for according to claim 6 to 8 any one catches the device of three-dimensional movement locus of object, its feature exists In the end convergence of the bracing wire of three draw-wire displacement sensors is a bit.
10. a kind of system for catching three-dimensional movement locus of object, it is characterised in that any one including such as claim 5 to 9 Being used for described in catches the device of three-dimensional movement locus of object, the bracing wire for gathering three draw-wire displacement sensors The data acquisition device of length data and the data processing equipment for receiving the bracing wire length data, wherein, described three The signal output part of individual draw-wire displacement sensor connection corresponding with the input of the data acquisition device, the data are adopted The output end of acquisition means is connected with the input of the data processing equipment.
CN201710235476.7A 2017-04-12 2017-04-12 A kind of method, apparatus and system for being used to catch three-dimensional movement locus of object CN106945029A (en)

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