CN108555422A - More infrared sensor three-dimensional coordinate posture acquiring technologies - Google Patents
More infrared sensor three-dimensional coordinate posture acquiring technologies Download PDFInfo
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- CN108555422A CN108555422A CN201810173163.8A CN201810173163A CN108555422A CN 108555422 A CN108555422 A CN 108555422A CN 201810173163 A CN201810173163 A CN 201810173163A CN 108555422 A CN108555422 A CN 108555422A
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- rifle
- dimensional coordinate
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- infrared
- model
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses more infrared sensor three-dimensional coordinate posture acquiring technologies, utilize more infrared sensors, infrared sensor position data is set, establish introduction rifle model, base station is with 7,500 turns of speed transmitting in one minute at the infrared beam of 120 degree of fan-shaped range, object placement location range is demarcated using determining, demarcating on object has infrared receiver transmitter；Introduction gun trigger is pulled, the infrared remote receiver feedback reception signal of rifle, receiver is instructed to return to the sensor industrial personal computer for receiving light beam by existing introduction rifle model, base station model, calculate the deviation post of current introduction rifle and base station, calculate three-dimensional coordinate；It using the three-dimensional coordinate of acquisition, is compared by threedimensional model, calculates current introduction rifle posture, the three-dimensional coordinate of acquisition and posture are stored to database.The developing of the technology must can bring huge impact to Intelligent welding industry, can save a large amount of labour and increase the safety index of mechanical processing.
Description
Technical field
The present invention relates to infrared sensing application technologies, and skill is obtained more particularly to more infrared sensor three-dimensional coordinate postures
Art.
Background technology
From the point of view of domestic and international present Research, Technology of Welding Robot research is concentrated mainly on THE WELD SEAM TRACKING TECHNOLOGY, offline volume
Journey emulates skill with Path Planning Technique, multi-robot coordination control technology, special Arc Welding Power technology, welding robot system
Art, robot welding technique, remote welding, TCP automatic zero adjustments technology and specialized robot welding technique nine
Aspect, there are certain drawbacks for existing welding processing robot, it may be said that is bottleneck stage, the developing of infrared three-dimensional measurement must
Huge impact surely is brought to Intelligent welding industry, a large amount of labour can be saved and referred to the safety for increasing mechanical processing
Number, and vision automatic welding machine people is exactly the important technology for breaking through this bottleneck, what is lacked currently on the market is exactly such
Technological break-through, and this direction of warp-wise steps a vital step for our Visual intelligent robot.
Invention content
(1) the technical issues of solving
The present invention is operated for the problem that industrial robot, and the operator of profession is needed to go operation robot.Using how red
Outer sensor obtains 3 d space coordinate and posture, and introduction rifle coordinate is combined with the coordinate of robot.Pass through more infrared sensings
Device can calculate the 3 d space coordinate and posture of introduction rifle, and be associated with robot coordinate.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs：More infrared sensor three-dimensional coordinate appearances
Infrared sensor position data is arranged using more infrared sensors in state acquiring technology, establishes introduction rifle model；Base station is with one point
The speed that 500 turns of Zhong Qiqian emits the infrared beam at 120 degree of fan-shaped range；Determine that calibration object is put using step S2
Seated position range, demarcating on object has infrared receiver transmitter；The introduction gun trigger of step S1 is pulled, the infrared receiver of rifle is instructed
Device feedback reception signal；Receiver, which returns, receives the sensor industrial personal computer of light beam by existing introduction rifle model, base station model,
The deviation post for calculating current introduction rifle and base station, calculates three-dimensional coordinate；The three-dimensional coordinate obtained using step S6, passes through three-dimensional
Model compares, and calculates current introduction rifle posture；The three-dimensional coordinate that step S7 is obtained and posture storage to database.
Preferably, the introduction rifle is equipped with battery, trigger and three press key lamps, and it is wireless to instruct rifle.
Preferably, the receiver is infrared remote receiver, and receiver be fixedly mounted on three meters of height of workbench, five meters it is remote
The quantity of position, the receiver is two groups.
Preferably, the information acquired by infrared sensor passes to industrial personal computer, and industrial personal computer handles information
Obtain introduction rifle model, base station model.
Preferably, described according to introduction rifle model, base station model calculates three-dimensional coordinate, is compared by threedimensional model, calculates
Current introduction rifle posture.
(3) advantageous effect
The present invention provides more infrared sensor three-dimensional coordinate posture acquiring technologies, have following advantageous effect：
(1), the technology has used infrared sensor, and infrared sensor is it may be said that for the same journey of sensor with existing structure
The high-precision sensor of degree, and can more effectively to utilize the sensor of substrate space compared with existing, instruct on rifle
Infrared sensor can be faster, more accurately launches signal and receives signal.
(2), the technology uses infrared remote receiver, can quickly and effectively monitor the signal of infrared sensor, pass through two
A infrared remote receiver can cross more accurate reception and communicate information to engineering machine.
(3), the technology, which is applied to Intelligent welding industry, will bring huge impact, can save a large amount of labour
With increase mechanical processing safety index, solve machine operation difficulty it is big the problems such as.
Description of the drawings
Fig. 1 is the integrated operation functional block diagram of the more infrared sensor three-dimensional coordinate posture acquiring technologies of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：More infrared sensor three-dimensional coordinate posture acquiring technologies, profit
With more infrared sensors, infrared sensor position data is set, establishes introduction rifle model；Base station with one minute 7,500 turns
Speed transmitting, being capable of more acurrate quick transmitting light beam at the infrared beam of 120 degree of fan-shaped range；Utilize step S2
Determine calibration object placement location range, demarcating on object has infrared receiver transmitter；The introduction gun trigger of step S1 is pulled, is instructed
The infrared remote receiver feedback reception signal of rifle；Receiver returns to the sensor for receiving light beam；Industrial personal computer passes through existing introduction rifle
Model, base station model calculate the deviation post of current introduction rifle and base station, calculate three-dimensional coordinate；Three obtained using step S6
Dimension coordinate is compared by threedimensional model, calculates current introduction rifle posture；The three-dimensional coordinate that step S7 is obtained is arrived with posture storage
Database, it is more preferable to the storage and processing of information.
Rifle is instructed to be equipped with battery, trigger and three press key lamps, and it is wireless to instruct rifle, is conveniently operated, securely and reliably；It connects
It is infrared remote receiver to receive device, and receiver is fixedly mounted on three meters of height of workbench, five meters of remote positions, and the quantity of receiver is two
It is detectable preferably to carry out signal reception for group；The information acquired by infrared sensor passes to industrial personal computer, and industrial personal computer is to information
It is handled to obtain introduction rifle model, base station model, information processing is fast；According to introduction rifle model, base station model calculates three-dimensional sit
Mark, is compared by threedimensional model, calculates current introduction rifle posture, calculating is fast, and precision is high, saves the time.
In conclusion multiple sensors are assembled on introduction rifle, and the parts such as assembly battery, chip on introduction rifle,
Then infrared remote receiver is fixed to operation console fixed position, and above the server of data connection to engineering machine, grasped at this time
Author will need the product welded to be put on operation console, using introduction rifle, pull introduction gun trigger, demarcate at this time infrared on object
Generator emits light beam, and the receiver feedback reception light beam of rifle, receiver is instructed to return to the sensor of the light beam received, pass through
Infrared remote receiver receives infrared beam, and is transmitted to server, and industrial personal computer is by existing introduction rifle model, base station model, working as
Before the distance of infrared beam that receives and number carry out operation, and compared by threedimensional model, calculate current introduction rifle
Position and posture store three-dimensional coordinate and posture to industrial computer server database, industrial personal computer motion transmission to robot,
Robot executes welding and acts, and there are three buttons above introduction rifle, are switch key respectively, match button and tentative button, temporarily
Whether it is composite-key to stop button, welded for Manipulation of the machine people, that is, clicks pause button and start robot manipulation, then
It clicks pause button and just stops robot manipulation, on industrial personal computer software, pairing button is the button of termination machine people operation
It determines that the signal pairing of introduction rifle and infrared receiver, switch key are the buttons for starting and closing introduction rifle, determines current introduction
When the position of rifle needs welding, the pause button of introduction rifle is pressed, starts robot and soldering is carried out to the position, work as welding
At the end of, then the pause button of introduction rifle is pressed, stop robot manipulation, the welding processing to product can be completed in this way,
Very quick, precision is high, and process velocity is fast.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " including one ... the element limited, it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ", the electricity occurred in this article
Device element is electrically connected with extraneous main controller and 220V alternating currents, and main controller can be that computer etc. has played the routine of control
Know equipment.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
- The three-dimensional coordinate posture acquiring technology of infrared sensor more than 1., it is characterised in that：Include the following steps：S1：Using more infrared sensors, infrared sensor position data is set, establishes introduction rifle model；S2：Base station is with 7,500 turns of speed transmitting in one minute at the infrared beam of 120 degree of fan-shaped range；S3：Calibration object placement location range is determined using step S2, and demarcating on object has infrared receiver transmitter；S4：The introduction gun trigger of step S1 is pulled, the infrared remote receiver feedback reception signal of rifle is instructed；S5：Receiver returns to the sensor for receiving light beam；S6：Industrial personal computer is calculated the deviation post of current introduction rifle and base station, is calculated by existing introduction rifle model, base station model Three-dimensional coordinate；S7：The three-dimensional coordinate obtained using step S6, is compared by threedimensional model, calculates current introduction rifle posture；S8：The three-dimensional coordinate that step S7 is obtained and posture storage to database.
- 2. more infrared sensor three-dimensional coordinate posture acquiring technologies according to claim 1, it is characterised in that：The introduction Rifle is equipped with battery, trigger and three press key lamps, and it is wireless to instruct rifle.
- 3. more infrared sensor three-dimensional coordinate posture acquiring technologies according to claim 1, it is characterised in that：The reception Device is infrared remote receiver, and receiver is fixedly mounted on three meters of height of workbench, five meters of remote positions, and the quantity of the receiver is Two groups.
- 4. more infrared sensor three-dimensional coordinate posture acquiring technologies according to claim 1, it is characterised in that：It is described to pass through The information of infrared sensor acquisition passes to industrial personal computer, and industrial personal computer handles information to obtain introduction rifle model, base station model.
- 5. more infrared sensor three-dimensional coordinate posture acquiring technologies according to claim 1, it is characterised in that：The basis It instructs rifle model, base station model to calculate three-dimensional coordinate, compared by threedimensional model, calculates current introduction rifle posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173163.8A CN108555422A (en) | 2018-03-02 | 2018-03-02 | More infrared sensor three-dimensional coordinate posture acquiring technologies |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173163.8A CN108555422A (en) | 2018-03-02 | 2018-03-02 | More infrared sensor three-dimensional coordinate posture acquiring technologies |
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| CN108555422A true CN108555422A (en) | 2018-09-21 |
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| CN201810173163.8A Pending CN108555422A (en) | 2018-03-02 | 2018-03-02 | More infrared sensor three-dimensional coordinate posture acquiring technologies |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4815006A (en) * | 1986-09-29 | 1989-03-21 | Asea Aktiebolag | Method and device for calibrating a sensor on an industrial robot |
| US5532452A (en) * | 1993-08-05 | 1996-07-02 | Lechner; Manfred | Welding robot |
| CN106970709A (en) * | 2017-03-30 | 2017-07-21 | 宁波万维显示科技有限公司 | A kind of 3D exchange methods and device based on holographic imaging |
| CN107303673A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Robot |
| CN107450885A (en) * | 2017-07-21 | 2017-12-08 | 上海交通大学 | A kind of coordinate transform method for solving of industrial robot and three-dimension sensor |
-
2018
- 2018-03-02 CN CN201810173163.8A patent/CN108555422A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4815006A (en) * | 1986-09-29 | 1989-03-21 | Asea Aktiebolag | Method and device for calibrating a sensor on an industrial robot |
| US5532452A (en) * | 1993-08-05 | 1996-07-02 | Lechner; Manfred | Welding robot |
| CN107303673A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Robot |
| CN106970709A (en) * | 2017-03-30 | 2017-07-21 | 宁波万维显示科技有限公司 | A kind of 3D exchange methods and device based on holographic imaging |
| CN107450885A (en) * | 2017-07-21 | 2017-12-08 | 上海交通大学 | A kind of coordinate transform method for solving of industrial robot and three-dimension sensor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201201 Address after: 528437 Zhongshan, Guangdong Torch Development Zone, 6 Xiang Hao Road, South Korea, 4 tower, 402 cards. Applicant after: ZHONGSHAN PANGU ROBOT TECHNOLOGY Co.,Ltd. Address before: 510000 Guangdong two Guangzhou 902 Tianhe District East Sports Road 122 Applicant before: GUANGZHOU PANGU ROBOT TECHNOLOGY Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180921 |