CN107414831B - System and method for calculating coordinates of joints of mechanical arm - Google Patents
System and method for calculating coordinates of joints of mechanical arm Download PDFInfo
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- CN107414831B CN107414831B CN201710647339.4A CN201710647339A CN107414831B CN 107414831 B CN107414831 B CN 107414831B CN 201710647339 A CN201710647339 A CN 201710647339A CN 107414831 B CN107414831 B CN 107414831B
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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Abstract
The invention discloses a method for calculating coordinates of a joint of a mechanical arm, which comprises the following steps: sequentially acquiring energy signals transmitted by any at least two energy transmitters arranged at the non-mechanical arm joint; and calculating the three-dimensional space coordinate of the mechanical arm joint according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint and the space coordinate of the at least two energy emitters. The invention also discloses a system for calculating the coordinates of the joints of the mechanical arm. The coordinate calculation method can reduce the number of signal receivers, reduce the area of the energy receiver array, reduce the difficulty of measurement and analysis and improve the measurement efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical arm joint coordinate calculation, in particular to a system and a method for calculating a mechanical arm joint coordinate.
Background
With the increasing maturity and the increasing flexibility of the control technology of the mechanical arm, the mechanical arm replaces the hands to play an increasingly important role in industrial production, and the production efficiency is greatly improved. The estimation of the current posture of the mechanical arm is not separated from the control of the mechanical arm, and only if the posture of the current mechanical arm is obtained, a control signal can be further sent to the mechanical arm. Therefore, in the control process of the mechanical arm, the current posture of the mechanical arm is estimated by acquiring the coordinates of the mechanical arm joint, and the method is an important link in the control process of the mechanical arm.
The main method for measuring the spatial coordinates of an object at present is to estimate the spatial coordinates of the object by installing an energy transmitter (such as a laser transmitter, an electromagnetic wave transmitter, etc.) on the object in space and an energy receiver beside the object to be measured, measuring the change of property values (such as resistance, current) caused by the action of the energy signal at the energy receiver, and combining the position of the receiver and the change of the measured value. For example, a laser beam is emitted outwards from an object to be measured, the laser beam strikes a certain photoresistor to cause the resistance value of the photoresistor to be reduced, and the coordinates of the object to be measured are estimated by combining the coordinates of the photoresistor.
The existing scheme for realizing the coordinate measurement of the mechanical arm joint is to arrange an energy receiver array on a plane, install an energy transmitter on the mechanical arm joint, determine the position relationship between the receiver and the transmitter by measuring a certain specific attribute value of each energy receiver, and further estimate the position of the current transmitter, wherein the coordinate of the current transmitter is the space coordinate of the mechanical arm joint.
Disclosure of Invention
The invention aims to provide a system and a method for calculating joint coordinates of a mechanical arm, which can reduce the number of signal receivers, reduce the area of an energy receiver array, reduce the difficulty of measurement and analysis and improve the measurement efficiency.
In order to achieve the above object, the present invention provides a method for calculating joint coordinates of a robot arm, including:
sequentially acquiring energy signals transmitted by any at least two energy transmitters arranged at the non-mechanical arm joint;
and calculating the three-dimensional space coordinate of the mechanical arm joint according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint and the space coordinate of the at least two energy emitters.
Compared with the background technology, the method for calculating the coordinates of the mechanical arm joint provided by the invention abandons the method for directly arranging the energy transmitters at the joints of the mechanical arm in the prior art, but arranges a plurality of energy transmitters at the joints of the non-mechanical arm, numbers all the transmitters from small to large according to the distance between the installation position on the mechanical arm and the joints of the mechanical arm, the installation directions of all the transmitters are consistent, each transmitter can simultaneously transmit signals in the horizontal and vertical directions, all the transmitters are controlled by one microcontroller, and the transmitters can be controlled by the microcontroller to sequentially transmit the energy signals according to a certain frequency; calculating three-dimensional space coordinates of the mechanical arm joint according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint and the space coordinates of the at least two energy emitters; with the arrangement, the problems that the measuring range of the measuring device required by the measuring method in the prior art needs to cover the moving area of the whole mechanical arm, the signal receiver arrays with large areas need to be arranged on two planes, and a large amount of measured attribute values need to be processed due to the large moving area of the mechanical arm are avoided, so that the calculation efficiency is improved, the energy loss is reduced, and the resources are saved.
Preferably, the step of sequentially acquiring the energy signals emitted by any at least two energy emitters installed at the non-mechanical arm joint specifically includes:
sequentially acquiring energy signals transmitted by any two energy transmitters arranged at the non-mechanical arm joint;
obtaining three-dimensional coordinates A (x) of two energy emitters according to the two energy signals1，y1，z1) And B (x)2，y2，z2)。
Preferably, the step of obtaining the three-dimensional space coordinate of the mechanical arm joint by calculating according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint, and the space coordinate of the at least two energy emitters specifically comprises:
according to two of said three-dimensional coordinates A (x)1，y1，z1) And B (x)2，y2，z2) Calculating the distance AZ of the point A relative to the mechanical arm joint point Z and the distance BZ of the point B relative to the mechanical arm joint point Z by the following three formulas to obtain the three-dimensional coordinates (x, y, Z) of the mechanical arm joint point Z; wherein:
preferably, the step of sequentially acquiring the energy signals emitted by any at least two energy emitters installed at the non-mechanical arm joint specifically includes:
sequentially acquiring energy signals transmitted by any three energy transmitters arranged at non-mechanical arm joints;
obtaining three-dimensional coordinates C (x) of three energy emitters each containing an unknown parameter according to the three energy signals3，m，z3)、D(x4，n，z4) And E (x)5，y5O); wherein m, n and o are unknown parameters.
Preferably, the step of obtaining the three-dimensional space coordinate of the mechanical arm joint by calculating according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint, and the space coordinate of the at least two energy emitters specifically comprises:
according to three of said three-dimensional coordinates C (x)3，m，z3)、D(x4，n，z4) And E (x)5，y5O), and the distance CD between the point C and the point D, the distance CE between the point C and the point E, and the distance DE between the point D and the point E are calculated by the following three formulas to obtain unknown parameters m, n and o; wherein:
by three said three-dimensional coordinates C (x)3，m，z3)、D(x4，n，z4) And E (x)5，y5And o) calculating the distance between any two points in the robot joint point Z and the straight line between any two points and the robot joint point Z by using a formula to obtain the coordinate of the robot joint point Z.
Preferably, the step of sequentially acquiring the energy signals emitted by any at least two energy emitters installed at the non-mechanical arm joint specifically includes:
sequentially acquiring energy signals transmitted by any two energy transmitters arranged at the non-mechanical arm joint;
judging whether the coordinates of the energy emitters corresponding to the energy signals sequentially emitted by any two energy emitters are two-dimensional coordinates or not; if so, acquiring the energy signal transmitted by the third energy transmitter again; and calculating to obtain the three-dimensional space coordinates of the mechanical arm joint according to the distances among the three energy emitters, the distances of the three energy emitters relative to the mechanical arm joint and the space coordinates of the three energy emitters.
Preferably, when the coordinates of the energy emitters corresponding to the energy signals sequentially emitted by any two of the energy emitters are both two-dimensional coordinates, the method further includes:
when the obtained coordinates of the two energy transmitters corresponding to the energy signals sequentially transmitted by any two energy transmitters are specifically two three-dimensional coordinates or one three-dimensional coordinate and one two-dimensional coordinate, a step of calculating the three-dimensional space coordinates of the mechanical arm joint according to the distance between the two energy transmitters, the distance between the two energy transmitters relative to the mechanical arm joint and the space coordinates of the two energy transmitters is executed.
Preferably, the specific step of judging whether the coordinates of the two energy emitters corresponding to the energy signals sequentially emitted by any two energy emitters are two-dimensional coordinates or not is as follows:
respectively receiving energy signals emitted towards two mutually vertical directions by an energy emitter according to two energy receiving arrays which are arranged vertically to each other and of which the spatial position coordinate of each energy receiver is known;
judging whether the intensity of the energy signals received by the energy receivers in the two energy receiver arrays can reach an intensity threshold value; if yes, executing the next step;
combining the spatial position coordinates of the two energy receivers corresponding to the energy signals to obtain the three-dimensional coordinates of the energy transmitter;
if the intensity of the energy signal in only one direction can reach the intensity threshold, the two-dimensional coordinates of the corresponding energy transmitter are obtained by combining the spatial position coordinates of the energy receiver corresponding to the energy signal reaching the intensity threshold.
The invention provides a robot joint coordinate calculation system, comprising:
the energy signal receiving module: the energy signal acquisition device is used for sequentially acquiring energy signals transmitted by any at least two energy transmitters arranged at the non-mechanical arm joints;
a joint coordinate calculation module: and the three-dimensional space coordinate of the mechanical arm joint is obtained by calculation according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint and the space coordinate of the at least two energy emitters.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a coordinate calculation method for a mechanical articulated arm according to an embodiment of the present invention;
FIG. 2 is a block diagram of a coordinate calculation system of a mechanical articulated arm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a coordinate calculation device of a mechanical articulated arm according to an embodiment of the present invention;
fig. 4 is a flowchart of an algorithm of an embodiment of fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 4, fig. 1 is a flowchart illustrating a method for calculating coordinates of a mechanical joint arm according to an embodiment of the present invention; FIG. 2 is a block diagram of a coordinate calculation system of a mechanical articulated arm according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a coordinate calculation device of a mechanical articulated arm according to an embodiment of the present invention; fig. 4 is a flowchart of an algorithm of an embodiment of fig. 1.
The invention provides a method for calculating the coordinates of a joint of a mechanical arm, which is shown in the attached figure 1 of the specification and mainly comprises the following steps:
s1, sequentially acquiring energy signals emitted by at least two adjacent energy emitters installed at the non-mechanical arm joint;
and S2, calculating the three-dimensional space coordinates of the mechanical arm joint according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint and the space coordinates of the at least two energy emitters.
In step S1, a plurality of energy emitters are mounted on the robot arm, the plurality of energy emitters are distributed on each arm of the robot arm at equal intervals in a linear manner, all the energy emitters are numbered from small to large according to the distance between the mounting position on the robot arm and the joint of the robot arm, the mounting directions of all the emitters are the same, each emitter can emit signals in two vertical and horizontal directions simultaneously, all the energy emitters can be controlled by a microcontroller, the emitters can be controlled by the microcontroller to sequentially emit energy signals according to a certain frequency, and the energy emitters constitute the energy emitting device of the system. It can be seen that the distance between each energy emitter is known, and the distance of each energy emitter relative to the robotic arm joint 11 is also known. In addition to this, the energy receiving means may consist of two energy receiver arrays in the horizontal and vertical planes, respectively a horizontal energy receiver array 31 and a vertical energy receiver array 32; a plurality of energy receivers arranged in a criss-cross manner are uniformly distributed on each receiver array, the energy receivers have a specific attribute which generates corresponding attribute value change after receiving signals of the energy transmitters, and the world coordinate of each energy receiver is known, as shown in the specification and figure 3.
The signal measuring device is connected with the energy receiving device and used for measuring a specific attribute value of the energy receiver after an energy signal falls on the energy receiving array, so that the energy receiver with the maximum attribute value change in the receiver array is extracted and used for estimating the joint coordinates of the mechanical arm at the back.
In summary, the energy receiving device can be used to sequentially acquire the energy signals emitted by any at least two energy emitters installed at the non-mechanical arm joint.
In step S2, three-dimensional space coordinates of the mechanical arm joint are calculated according to a distance between any at least two energy emitters, a distance between at least two energy emitters and the mechanical arm joint, and space coordinates of at least two energy emitters. The specific process is as follows:
for the energy emission process:
under the control of the microcontroller, energy emitters in the energy emitting device sequentially emit energy signals according to a numbering sequence, each energy emitter simultaneously emits signals in the horizontal direction and the vertical direction at each time, the time interval of emitting the signals by every two adjacent emitters is 40ms, namely the time length of emitting the energy signals by each energy emitter is also 40 ms.
For the energy reception process:
at any moment, an energy signal falls in an energy receiver array, an energy receiver receives the energy signal, the energy receiver receiving the energy signal generates corresponding attribute value change, and other receivers not receiving the energy signal have unchanged attribute values or have small change.
For the attribute measurement process:
the energy receiver receiving the energy signal can generate the change of the attribute value, the energy receiver with the largest attribute value change amount caused by the signal can be extracted from the energy receiver array through the measuring circuit, the receiver is the projection of the transmitter on the plane where the receiver array is located, and therefore the two-dimensional coordinate of the energy transmitter can be estimated by using the signal in one direction. The spatial coordinate of the signal receiver with the largest change in the determined attribute value is assumed to be (a)1，b1，c1) If the signal is from the vertical direction, the coordinates of the signal transmitter are (a)1，y，c1) (ii) a If the signal is from the horizontal direction, the coordinates of the signal transmitter are (a)1，b1Z), where the values of y, z are unknown parameters.
For the joint coordinate estimation process:
if an energy signal in one direction of an energy transmitter falls on an energy receiver array, an energy receiver with the maximum attribute value change amount can be extracted according to the attribute value change caused by the signal, the receiver is the projection of the transmitter on the energy receiver array, the two-dimensional coordinates of the transmitter can be obtained according to the coordinates of the receiver, and the three-dimensional coordinates of the mechanical arm joint can be estimated by obtaining three two-dimensional coordinates; if energy signals in two directions of one energy transmitter fall on the two energy receiver arrays, two-dimensional coordinates on two projection surfaces can be obtained, then three-dimensional coordinates of the transmitter are determined, and the three-dimensional coordinates of the mechanical arm node can be estimated by obtaining the two three-dimensional coordinates.
Specifically, if energy signals emitted by any two energy emitters installed at non-mechanical arm joints are acquired in sequence; and two three-dimensional coordinates A (x) can be obtained according to the two energy signals1，y1，z1) And B (x)2，y2，z2) According to two of said three-dimensional coordinates A (x)1，y1，z1) And B (x)2，y2，z2) Calculating the distance AZ of the point A relative to the mechanical arm joint point Z and the distance BZ of the point B relative to the mechanical arm joint point Z by the following three formulas to obtain the three-dimensional coordinates (x, y, Z) of the mechanical arm joint point Z; wherein:
if energy signals transmitted by any three energy transmitters arranged at the non-mechanical arm joints are acquired in sequence, three-dimensional coordinates C (x) of three energy receivers each containing an unknown parameter are acquired according to the three energy signals3，m，z3)、D(x4，n，z4) And E (x)5，y5O); wherein m, n and o are unknown parameters, based on three said three-dimensional coordinates C (x)3，m，z3)、D(x4，n，z4) And E (x)5，y5O), and point C phasesCalculating unknown parameters m, n and o according to the following three formulas for the distance CD between the points D, the distance CE between the points C and E and the distance DE between the points D and E; wherein:
by three said three-dimensional coordinates C (x)3，m，z3)、D(x4，n，z4) And E (x)5，y5And o) calculating the distance between any two points in the robot joint point Z and the straight line between any two points and the robot joint point Z by using a formula to obtain the coordinate of the robot joint point Z. Of course, if three-dimensional coordinates of three transmitters are obtained, two of the three transmitters can be arbitrarily selected to calculate a linear equation, so as to solve the coordinate of the joint point Z of the mechanical arm.
Taking the attached figure 4 as an example in the specification: i is the number of the energy emitters with the number i, f is the number of the energy emitters with the determined two-dimensional coordinates, h is the number of the energy emitters with the determined three-dimensional coordinates, and m is the total number of the energy emitters on the mechanical arm;
in step S10, the calculation process is started;
in step S20, setting an attribute value change threshold, that is, setting the sensitivity of the energy receiving device to determine its accurate coordinates;
in step S30, i is set to 0, f is set to 0, and h is set to 0;
in step S40, the energy emitter with the i-th time number i emits an energy signal, as described above;
in step S50, it is determined whether the change amount of the attribute value of the energy receiver exceeds a threshold, that is, whether an energy signal falls into the energy receiver array, so as to determine whether the position coordinate of the current energy transmitter can be accurately obtained;
if yes, go to step S60, otherwise go to step S51;
in step S51, if there is no change in the attribute value of the energy receiver exceeding the threshold, that is, the energy signal transmitted by the current energy transmitter does not fall into the energy receiver array, that is, the position coordinate of the current energy transmitter cannot be obtained, then repeat step S40 with i +1, that is, the next energy transmitter transmits a signal;
in step S60, it is determined whether the variation of the attribute value of the energy receiver in each signal receiver array exceeds a threshold, that is, whether the horizontal energy receiver array 31 and the vertical energy receiver array 32 can receive the energy signal from the vertical direction, that is, whether the position (three-dimensional coordinate) of the energy transmitter can be accurately known, if yes, step S61 is executed, and if no, step S62 is executed;
in step S61, two receivers having the largest attribute value change amount in each receiver array are determined and the coordinates of transmitter a at the i-th time are estimated by combining their coordinates; i.e. the three-dimensional coordinates of the current transmitter a can be determined; at this time, h is h +1 (step S610), indicating that the number of energy emitters for which three-dimensional coordinates have been determined is increased by one; in step S611, it is determined whether h is 2, that is, whether the number of energy emitters with the determined three-dimensional coordinates is two, and if yes, the joint coordinates can be calculated through step S70, such as the formula described above.
In step S62, only the attribute value of the energy receiver in the horizontal energy receiver array 31 or the vertical energy receiver array 32 changes to exceed the threshold, that is, the three-dimensional coordinate of the current energy transmitter cannot be obtained, and the coordinate of the receiver exceeding the threshold is used to obtain the two-dimensional plane coordinate of the transmitter i at the i-th time, where f is f +1 (step S620), which indicates that the number of the energy transmitters with the determined two-dimensional coordinates is increased by one; in step S621, it is determined whether f is 3, that is, whether the number of energy emitters with the determined two-dimensional coordinates is three, if so, the joint coordinates of the mechanical arm can be calculated through step S70, such as the formula described above. That is, each energy receiver array has a plurality of energy receivers, and the coordinates of each energy receiver are known, and the energy receiver whose change amount of the attribute value reaches the threshold value can be determined by measuring the attribute value by the measurement circuit, and the coordinates of the receiver are used for the calculation of the joint coordinates.
The specific calculation method of step S70 is as described above, and the three-dimensional coordinates of the mechanical arm joint 11 in the current state can be obtained;
in step S80, h is set to 0 and f is set to 0; in step S90, it is determined whether all energy emitters have emitted energy, and if yes, step S100 is performed; if not, i is changed to i +1, and step S40 is repeated.
In steps S611 and S621, if the number of the energy emitters having determined the three-dimensional coordinate is less than two and the number of the energy emitters having determined the two-dimensional coordinate is less than three, the three-dimensional coordinate of the mechanical arm joint 11 cannot be obtained, so step S90 needs to be executed, and on the premise that all the energy emitters have not transmitted the energy signal, the next energy emitter continues to transmit the energy signal, so as to obtain the two-dimensional or three-dimensional coordinate of the next energy signal.
According to the method for calculating the coordinates of the joints of the mechanical arm, the plurality of energy emitting devices sequentially emit energy signals according to preset numbers, and the energy receiver can determine the source of the signals according to the time for receiving the energy signals; if an energy signal in one direction of the energy transmitter falls on an energy receiver array, a two-dimensional coordinate of the transmitter can be obtained, and a three-dimensional coordinate of the mechanical arm joint can be calculated by dynamically acquiring three such two-dimensional coordinates; if energy signals in two directions of an energy transmitter fall on the two energy receiver arrays, three-dimensional coordinates of the transmitter can be obtained, and the three-dimensional coordinates of the mechanical arm node can be calculated by dynamically acquiring two three-dimensional coordinates.
The invention provides a coordinate calculation system of a mechanical joint arm, as shown in the attached figure 2 of the specification, comprising:
the energy signal receiving module 101: the energy signal acquisition device is used for sequentially acquiring energy signals transmitted by any at least two energy transmitters arranged at the non-mechanical arm joints;
the joint coordinate calculation module 102: the three-dimensional space coordinate of the mechanical arm joint is obtained through calculation according to the distance between any adjacent at least two energy emitters, the distance between the at least two energy emitters and the mechanical arm joint and the space coordinate of the at least two energy emitters.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The system and method for calculating the coordinates of the joints of the mechanical arm provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. A method for calculating joint coordinates of a mechanical arm is characterized by comprising the following steps:
sequentially acquiring energy signals transmitted by any at least two energy transmitters arranged at the non-mechanical arm joint;
calculating to obtain three-dimensional space coordinates of the mechanical arm joint according to the distance between any at least two energy emitters, the distance between the at least two energy emitters and the mechanical arm joint and the space coordinates of the at least two energy emitters;
the step of sequentially acquiring the energy signals transmitted by any at least two energy transmitters installed at the non-mechanical arm joint specifically comprises the following steps:
sequentially acquiring energy signals transmitted by any two energy transmitters arranged at the non-mechanical arm joint;
judging whether the coordinates of two energy emitters corresponding to the energy signals sequentially emitted by any two energy emitters are two-dimensional coordinates or not; if so, acquiring the energy signal transmitted by the third energy transmitter again; calculating to obtain three-dimensional space coordinates of the mechanical arm joint according to the distances among the three energy emitters, the distances of the three energy emitters relative to the mechanical arm joint and the space coordinates of the three energy emitters;
when judging two energy emitter's that the energy signal that arbitrary two energy emitters of acquireing sent in proper order corresponds coordinates whether be two-dimensional coordinate, still include:
when the obtained coordinates of the two energy transmitters corresponding to the energy signals sequentially transmitted by any two energy transmitters are specifically two three-dimensional coordinates or one three-dimensional coordinate and one two-dimensional coordinate, a step of calculating the three-dimensional space coordinates of the mechanical arm joint according to the distance between the two energy transmitters, the distance between the two energy transmitters relative to the mechanical arm joint and the space coordinates of the two energy transmitters is executed.
2. The coordinate calculation method according to claim 1, wherein the step of sequentially acquiring the energy signals emitted by any at least two energy emitters installed at the non-mechanical arm joint comprises:
sequentially acquiring energy signals transmitted by any two energy transmitters arranged at the non-mechanical arm joint;
obtaining three-dimensional coordinates A (x) of two energy emitters according to the two energy signals1，y1，z1) And B (x)2，y2，z2)。
3. The coordinate calculation method according to claim 2, wherein the step of calculating the three-dimensional space coordinates of the mechanical arm joint according to the distance between any at least two energy emitters, the distance between at least two energy emitters respectively relative to the mechanical arm joint, and the space coordinates of at least two energy emitters is specifically:
according to the three-dimensional coordinates A (x) of two of said energy emitters1，y1，z1) And B (x)2，y2，z2) Calculating the distance AZ of the point A relative to the mechanical arm joint point Z and the distance BZ of the point B relative to the mechanical arm joint point Z by the following three formulas to obtain the three-dimensional coordinates (x, y, Z) of the mechanical arm joint point Z; wherein:
4. the coordinate calculation method according to claim 1, wherein the specific step of determining whether the coordinates of the two energy emitters corresponding to the energy signals sequentially emitted by any two of the energy emitters are two-dimensional coordinates is:
respectively receiving energy signals emitted towards two mutually vertical directions by an energy emitter according to two energy receiving arrays which are arranged vertically to each other and of which the spatial position coordinate of each energy receiver is known;
judging whether the intensity of the energy signals received by the energy receivers in the two energy receiver arrays can reach an intensity threshold value; if yes, executing the next step;
combining the spatial position coordinates of the two energy receivers corresponding to the energy signals to obtain the three-dimensional coordinates of the corresponding energy transmitters;
if the intensity of the energy signal in only one direction can reach the intensity threshold, the spatial position coordinate of the energy receiver corresponding to the energy signal reaching the intensity threshold is combined to obtain the two-dimensional coordinate of the corresponding energy transmitter.
5. A robot joint coordinate calculation system applied to the robot joint coordinate calculation method according to any one of claims 1 to 4, comprising:
the energy signal receiving module: the energy signal acquisition device is used for sequentially acquiring energy signals transmitted by any at least two energy transmitters arranged at the non-mechanical arm joints;
a joint coordinate calculation module: and the three-dimensional space coordinate of the mechanical arm joint is obtained by calculation according to the distance between any at least two energy emitters, the distance between the at least two energy emitters relative to the mechanical arm joint and the space coordinate of the at least two energy emitters.
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| TWI563437B (en) * | 2011-09-26 | 2016-12-21 | Egalax Empia Technology Inc | Apparatus for detecting position by infrared rays and touch panel using the same |
| CN104763151B (en) * | 2015-04-21 | 2017-05-03 | 徐晓冰 | 3D printing system for building engineering construction and positioning method of 3D printing system |
| CN106326983B (en) * | 2015-06-25 | 2020-01-07 | 江苏灵云数据科技有限公司 | Photoelectric conversion implementation method and device for artificial neural network connection |
| CN105607033B (en) * | 2016-03-07 | 2019-01-18 | 华南理工大学 | Underwater Wave arrival direction estimating method and system based on qaudrature-homogeneous linear array |
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