CN108120400A - A kind of object center deflection angle detection method and device - Google Patents
A kind of object center deflection angle detection method and device Download PDFInfo
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- CN108120400A CN108120400A CN201611070282.8A CN201611070282A CN108120400A CN 108120400 A CN108120400 A CN 108120400A CN 201611070282 A CN201611070282 A CN 201611070282A CN 108120400 A CN108120400 A CN 108120400A
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- position data
- sensor
- initial position
- deflection angle
- real time
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
Method and apparatus provided by the invention carry out deflection angle detection using dual sensor, by comparing the distance between dual sensor known to the displacement recycling between real time position and initial position deflection angle can be drawn with reference to arctan function, it is easy to operate, acquisition is accurate, in addition, by the use of displacement lasers sensor as ranging instrument, measurement accuracy can effectively be improved, improve measurement efficiency, for manual measurement, the error that manual measurement is brought can be effectively reduced, can guarantee the uniformity repeatedly measured.
Description
Technical field
The present invention relates to fields of measurement, more particularly to a kind of object center deflection angle detection method and device.
Background technology
Traditional change in displacement detection method is generally all using directly measuring, i.e., people uses board foot or the manual measurement of tape measure
Method.Initial coordinate point has been demarcated first, and object stops after initial coordinate point back and forth movement, at this time with board foot or tape measure
The change in displacement of moving object, then object stop after new starting point back and forth movement, again measure moving object displacement
Variation, is repeated several times above-mentioned measurement process, draws the change in displacement situation of object repeating motion.The measurement of this measuring method is accurate
True property is difficult to ensure that, and measurement efficiency is relatively low, and the uniformity repeatedly measured is bad.
The content of the invention
In view of this, an embodiment of the present invention provides a kind of object center deflection angle detection method and device.
It is an object of the present invention to provide a kind of object center deflection angle detection methods, are pre-configured with first sensor
The first distance between second sensor, the first sensor is identical with the direction of the launch of the second sensor, including：
Obtain the initial position data at the first moment；
Obtain the real time position data at the second moment；
Displacement data is determined according to the initial position data and the real time position data；
Object center deflection angle is determined according to displacement data and first distance.
Optionally, initial position data of the acquisition at the first moment, including：
Obtain first initial position data of the first sensor at the first moment；
Second initial position data of the second sensor at the first moment is obtained, wherein the first initial position number
According to equal to second initial position data.
Optionally, real time position data of the acquisition at the second moment, including：
Obtain first real time position data of the first sensor at the second moment；
Obtain second real time position data of the second sensor at the second moment.
Optionally, it is described that displacement data is determined according to the initial position data and the real time position data, including：
Determine that the first sensor corresponds to according to first initial position data and first real time position data
The first displacement data；
Determine that the second sensor corresponds to according to second initial position data and second real time position data
Second displacement data.
Optionally, it is described according to displacement data and it is described first distance determine object center deflection angle, including：
It is determined using first displacement data, the second displacement data and the first distance combination arctan function
Object center deflection angle.
Optionally, the first sensor and the second sensor are laser sensor.
It is a further object to provide a kind of object center deflection angle detection devices, are pre-configured with the first sensing
The first distance between device and second sensor, the first sensor is identical with the direction of the launch of the second sensor, bag
It includes：
Acquiring unit, for obtaining the initial position data at the first moment；
Acquiring unit is additionally operable to obtain the real time position data at the second moment；
Determination unit, for determining displacement data according to the initial position data and the real time position data；
Determination unit is additionally operable to determine object center deflection angle according to displacement data and first distance.
Optionally, the acquiring unit is used for：
Obtain first initial position data of the first sensor at the first moment；
Second initial position data of the second sensor at the first moment is obtained, wherein the first initial position number
According to equal to second initial position data.
Optionally, the acquiring unit is additionally operable to：
Obtain first real time position data of the first sensor at the second moment；
Obtain second real time position data of the second sensor at the second moment.
Optionally, the determination unit is used for：
Determine that the first sensor corresponds to according to first initial position data and first real time position data
The first displacement data；
Determine that the second sensor corresponds to according to second initial position data and second real time position data
Second displacement data.
Optionally, the determination unit is additionally operable to：
It is determined using first displacement data, the second displacement data and the first distance combination arctan function
Object center deflection angle.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
Method and apparatus provided by the invention using dual sensor carry out deflection angle detection, by comparing real time position with
The distance between dual sensor can draw deflection angle with reference to arctan function known to displacement recycling between initial position
Degree, easy to operate, acquisition is accurate, in addition, by the use of displacement lasers sensor as ranging instrument, it is accurate can effectively to improve measurement
True property improves measurement efficiency, for manual measurement, can effectively reduce the error that manual measurement is brought, and can guarantee repeatedly
The uniformity of measurement.
Description of the drawings
Fig. 1 is a kind of flow chart of object center deflection angle detection method in the embodiment of the present invention；
Fig. 2 is the operating diagram of a kind of object center deflection angle detection method when detecting in the embodiment of the present invention；
Fig. 3 is a kind of structure chart of object center deflection angle detection device in the embodiment of the present invention.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned attached drawing, "
Four " etc. be the object for distinguishing similar, without being used to describe specific order or precedence.It should be appreciated that it so uses
Data can exchange in the appropriate case, so that the embodiments described herein can be in except illustrating or describing herein
Order beyond appearance is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that covering is non-exclusive
Include, be not necessarily limited to clearly arrange for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit gone out, but may include not list clearly or consolidate for these processes, method, product or equipment
The other steps or unit having.
With reference to shown in Fig. 1, the present invention provides a kind of embodiment of object center deflection angle detection method, is pre-configured with the
The direction of the launch phase of the first distance between one sensor and second sensor, the first sensor and the second sensor
Together, including：
S101, obtain the first moment initial position data.
Here first time refers to that object is in the initial position corresponding time in measurement, and initial position can be object
The detection faces of reason are parallel with reference axis so that the detection data of dual sensor are identical.
S102, obtain the second moment real time position data.
Second moment was the position where after object is moved, and the purpose of detection seeks to be produced after determining object of which movement
Raw deflection angle, dual sensor by that can obtain different real time position datas, i.e., the reality that first sensor detects respectively
When position data and second sensor detection real time position data.
S103, displacement data is determined according to the initial position data and the real time position data.
The initial position data and real time position data gathered by first sensor can draw object in the first sensing
Displacement data on device direction, the initial position data and real time position data that can be similarly gathered by second sensor can be with
Obtain displacement data of the object on second sensor direction.
S104, object center deflection angle is determined according to displacement data and first distance.
A side of right angled triangle can be obtained by being subtracted each other using two displacement datas, two sensings known to recycling
The angle of deflection can be calculated in fixed range and arctan function between device.
First sensor is identical with the direction of the launch of second sensor, i.e., is arranged in parallel using dual sensor, selects displacement
Laser sensor after object stops from initial position back and forth movement, generates position and angle change, object as ranging instrument
The change in displacement of body can be detected by laser sensor.The angle change of object is realized by building right-angled trapezium,
Height in right-angled trapezium is the placement spacing of two laser sensors, is fixed value, and upper bottom and bottom are laser sensor measurements
Obtain, i.e. the change in displacement of object, thus can according to the tangent angle calculation formula of triangle (tanA=(bottom-upper bottom)/
It is high) draw the angle change after object of which movement.
With reference to shown in Fig. 2, two straight arrows establish initial coordinate system in figure, and dotted line frame represents the initial bit of moving object
It puts, solid box represents the position stopped after object back and forth movement.S1 and S2 represents two laser sensors.Two laser sensors
Placement spacing be c.Object at the initial zero position of mounting distance X expression laser sensors, the i.e. X of laser sensor measurement at this time
Distance is zero.Detection range+Y and detecting distance-Y represents the detection range of laser sensor, i.e. object is moved from zero-bit X to+Y
When, laser sensor measured value is positive value, and when object is moved from zero-bit X to-Y, laser sensor measured value is negative value, no matter
It is positive value or negative value, what is finally recorded is absolute value.
Measuring method as shown in Figure 2, when object stops at solid box after dotted line frame (initial position) back and forth movement, generates
Position and angle change, the change in displacement of object can be detected as schemed a and the size of b, a and b by laser sensor, no
Manual measurement is needed again, ensure that the accuracy of measurement.The angle change of object is by building the reality of the right-angled trapezium in attached drawing
Existing, upper bottom and bottom in right-angled trapezium are that laser sensor measurement obtains, i.e. change in displacement a and b, the height of right-angled trapezium
It is fixed value, i.e., the placement spacing c of two laser sensors can thus draw the angle change A after object of which movement, tangent value
TanA=(b-a)/c, angle A=arctan (b-a)/c.The movement of object so repeatedly, it can be deduced that object is in different position
Change in displacement and angle change namely the change in displacement and angle change of object repeating motion.
The present invention provides a kind of another embodiment of object center deflection angle detection method, including：
S1, first initial position data of the first sensor at the first moment is obtained.
S2, second initial position data of the second sensor at the first moment is obtained, wherein first initial bit
Data are put equal to second initial position data.
S3, first real time position data of the first sensor at the second moment is obtained.
S4, second real time position data of the second sensor at the second moment is obtained.
S5, the first sensor pair is determined according to first initial position data and first real time position data
The first displacement data answered.
S6, the second sensor pair is determined according to second initial position data and second real time position data
The second displacement data answered.
S7, arctan function is combined using first displacement data, the second displacement data and first distance
Determine object center deflection angle.
Optionally, the first sensor and the second sensor are laser sensor, utilize displacement lasers sensor
As ranging instrument, measurement accuracy can be effectively improved, improves measurement efficiency.
With reference to shown in Fig. 3, the present invention provides a kind of object center deflection angle detection device, is pre-configured with first sensor
The first distance between second sensor, the first sensor is identical with the direction of the launch of the second sensor, including：
Acquiring unit 301, for obtaining the initial position data at the first moment；
Acquiring unit 301 is additionally operable to obtain the real time position data at the second moment；
Determination unit 302, for determining displacement data according to the initial position data and the real time position data；
Determination unit 302 is additionally operable to determine object center deflection angle according to displacement data and first distance.
Optionally, the acquiring unit 301 is used for：
Obtain first initial position data of the first sensor at the first moment；
Second initial position data of the second sensor at the first moment is obtained, wherein the first initial position number
According to equal to second initial position data.
Optionally, the acquiring unit 301 is additionally operable to：
Obtain first real time position data of the first sensor at the second moment；
Obtain second real time position data of the second sensor at the second moment.
Optionally, the determination unit 302 is used for：
Determine that the first sensor corresponds to according to first initial position data and first real time position data
The first displacement data；
Determine that the second sensor corresponds to according to second initial position data and second real time position data
Second displacement data.
Optionally, the determination unit 302 is additionally operable to：
It is determined using first displacement data, the second displacement data and the first distance combination arctan function
Object center deflection angle.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
By the use of displacement lasers sensor as ranging instrument, measurement accuracy can be effectively improved, improves measurement efficiency,
For manual measurement, the error that manual measurement is brought can be effectively reduced, can guarantee the uniformity repeatedly measured.It selects
When, moreover it is possible to according to the change in displacement of object, the angle variation of object is calculated, achievees the effect that get twice the result with half the effort.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
Division is only a kind of division of logic function, can there is other dividing mode, such as multiple units or component in actual implementation
It may be combined or can be integrated into another system or some features can be ignored or does not perform.It is another, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be employed in member is realized, can also be realized in the form of SFU software functional unit.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Relevant hardware to be instructed to complete by program, which can be stored in a computer readable storage medium, storage
Medium can include：Read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
A kind of object center deflection angle detection method and device provided by the present invention are described in detail above,
For those of ordinary skill in the art, according to the thought of the embodiment of the present invention, in specific embodiments and applications
It will change, in conclusion this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of object center deflection angle detection method, which is characterized in that be pre-configured with first sensor and second sensor
Between the first distance, the first sensor is identical with the direction of the launch of the second sensor, including：
Obtain the initial position data at the first moment；
Obtain the real time position data at the second moment；
Displacement data is determined according to the initial position data and the real time position data；
Object center deflection angle is determined according to displacement data and first distance.
2. object center deflection angle detection method according to claim 1, which is characterized in that the acquisition is at first
The initial position data at quarter, including：
Obtain first initial position data of the first sensor at the first moment；
Second initial position data of the second sensor at the first moment is obtained, wherein described first initial position data etc.
In second initial position data.
3. object center deflection angle detection method according to claim 2, which is characterized in that the acquisition is at second
The real time position data at quarter, including：
Obtain first real time position data of the first sensor at the second moment；
Obtain second real time position data of the second sensor at the second moment.
4. object center deflection angle detection method according to claim 3, which is characterized in that described according to described initial
Position data and the real time position data determine displacement data, including：
The first sensor corresponding is determined according to first initial position data and first real time position data
One displacement data；
The second sensor corresponding is determined according to second initial position data and second real time position data
Two displacement datas.
5. object center deflection angle detection method according to claim 4, which is characterized in that described according to displacement data
Object center deflection angle is determined with the described first distance, including：
Using first displacement data, the second displacement data and first distance object is determined with reference to arctan function
Center deflection angle.
6. a kind of object center deflection angle detection device, which is characterized in that be pre-configured with first sensor and second sensor
Between the first distance, the first sensor is identical with the direction of the launch of the second sensor, including：
Acquiring unit, for obtaining the initial position data at the first moment；
Acquiring unit is additionally operable to obtain the real time position data at the second moment；
Determination unit, for determining displacement data according to the initial position data and the real time position data；
Determination unit is additionally operable to determine object center deflection angle according to displacement data and first distance.
7. object center deflection angle detection device according to claim 6, which is characterized in that the acquiring unit is used
In：
Obtain first initial position data of the first sensor at the first moment；
Second initial position data of the second sensor at the first moment is obtained, wherein described first initial position data etc.
In second initial position data.
8. object center deflection angle detection device according to claim 7, which is characterized in that the acquiring unit is also used
In：
Obtain first real time position data of the first sensor at the second moment；
Obtain second real time position data of the second sensor at the second moment.
9. object center deflection angle detection device according to claim 8, which is characterized in that the determination unit is used
In：
The first sensor corresponding is determined according to first initial position data and first real time position data
One displacement data；
The second sensor corresponding is determined according to second initial position data and second real time position data
Two displacement datas.
10. object center deflection angle detection device according to claim 9, which is characterized in that the determination unit is also
For：
Using first displacement data, the second displacement data and first distance object is determined with reference to arctan function
Center deflection angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611070282.8A CN108120400A (en) | 2016-11-29 | 2016-11-29 | A kind of object center deflection angle detection method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611070282.8A CN108120400A (en) | 2016-11-29 | 2016-11-29 | A kind of object center deflection angle detection method and device |
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| CN108120400A true CN108120400A (en) | 2018-06-05 |
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| CN201611070282.8A Pending CN108120400A (en) | 2016-11-29 | 2016-11-29 | A kind of object center deflection angle detection method and device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030932A (en) * | 2019-05-24 | 2019-07-19 | 广东嘉腾机器人自动化有限公司 | AGV displacement measuring method and AGV offset measuring device |
| CN111141744A (en) * | 2019-12-31 | 2020-05-12 | 广州维思车用部件有限公司 | Lens detection device |
| CN112705686A (en) * | 2020-12-22 | 2021-04-27 | 天能电池(芜湖)有限公司 | Cast joint press from both sides shell transmission |
| CN113799172A (en) * | 2020-06-16 | 2021-12-17 | Skc索密思株式会社 | Displacement measuring method and device of end effector |
| CN113829153A (en) * | 2021-08-31 | 2021-12-24 | 郑州旭飞光电科技有限公司 | Polishing apparatus and method |
| CN115112013A (en) * | 2021-05-07 | 2022-09-27 | 沈阳新松机器人自动化股份有限公司 | Sensor-based FPD manipulator dynamic glass deviation rectifying method |
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| CN104931018A (en) * | 2015-06-26 | 2015-09-23 | 上海砺晟光电技术有限公司 | One-dimensional inclination noncontact measurement method and one-dimensional inclination noncontact measurement system based on absolute distance measurement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104931018A (en) * | 2015-06-26 | 2015-09-23 | 上海砺晟光电技术有限公司 | One-dimensional inclination noncontact measurement method and one-dimensional inclination noncontact measurement system based on absolute distance measurement |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030932A (en) * | 2019-05-24 | 2019-07-19 | 广东嘉腾机器人自动化有限公司 | AGV displacement measuring method and AGV offset measuring device |
| CN111141744A (en) * | 2019-12-31 | 2020-05-12 | 广州维思车用部件有限公司 | Lens detection device |
| CN113799172A (en) * | 2020-06-16 | 2021-12-17 | Skc索密思株式会社 | Displacement measuring method and device of end effector |
| CN112705686A (en) * | 2020-12-22 | 2021-04-27 | 天能电池(芜湖)有限公司 | Cast joint press from both sides shell transmission |
| CN115112013A (en) * | 2021-05-07 | 2022-09-27 | 沈阳新松机器人自动化股份有限公司 | Sensor-based FPD manipulator dynamic glass deviation rectifying method |
| CN113829153A (en) * | 2021-08-31 | 2021-12-24 | 郑州旭飞光电科技有限公司 | Polishing apparatus and method |
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