CN109931864B - Ball hinge space three-dimensional rotation angle measuring method based on eddy current effect - Google Patents
Ball hinge space three-dimensional rotation angle measuring method based on eddy current effect Download PDFInfo
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Abstract
The invention discloses a method for measuring a three-dimensional rotation angle of a ball hinge space based on an eddy current effect, wherein the ball hinge is a ball seat which is formed by a base and an end cover and is internally provided with a ball socket, a ball head is arranged in the concentric ball socket and can rotate, and the top of a spherical crown of the ball head is connected with a ball hinge rod; cylindrical blind holes with the same diameter and different depths are distributed on the surface of the ball head according to a set rule; a plurality of eddy current sensors are arranged in the base, and the axes of the eddy current sensors and the axes of the blind holes are in the radial direction of the ball socket; and judging the relative angular position and the relative movement direction between the ball head and the ball socket by utilizing the combination of the output signals of all the eddy current sensors. The invention trains according to the artificial neural network theory, establishes the relation between the output signal of the eddy current sensor and the spatial rotation angle value of the ball head, obtains a measurement model, and utilizes the measurement model to realize the real-time measurement of the spatial three-dimensional rotation angle of the ball hinge.
Description
Technical Field
The invention relates to a method for measuring a three-dimensional revolution angle of a spherical hinge space, in particular to a method for measuring a three-dimensional revolution angle of a spherical hinge space based on displacement measurement of an eddy current sensor.
Background
The traditional angle sensor can only be used for measuring a one-dimensional rotation angle, and cannot realize the measurement of a multi-dimensional space rotation angle;
the applicant discloses a ball hinge capable of measuring a rotation angle and a measuring method in patent application documents with the publication number of CN103527620A and the application number of Z L201310502930.2, wherein an analytic mathematical model is established by using an equivalent magnetic charge method, and the relation between a space rotation angle value of the ball hinge and the variation of a magnetic induction intensity value measured by a Hall sensor is obtained.
Disclosure of Invention
The invention aims to avoid the defects of the prior art and provides the ball hinge space three-dimensional rotation angle measuring method based on the displacement measurement of the eddy current sensor, which has high measuring precision and strong environmental interference resistance, so as to realize quick real-time measurement.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to a ball hinge space three-dimensional rotation angle measuring method based on an eddy current effect, wherein a ball hinge is a ball seat which is formed by a base and an end cover and is internally provided with a ball socket, a ball head is arranged in the ball socket, a ball crown is exposed at an opening of the end cover, the top of the ball crown of the ball head is connected with a ball hinge rod, the ball head and the ball socket are concentric, and the ball head can concentrically rotate relative to the ball socket;
the invention relates to a ball hinge space three-dimensional rotation angle measuring method based on an eddy current effect, which is characterized in that: cylindrical blind holes with the same diameter and different depths are distributed on the surface of the ball head according to a set rule; the eddy current sensors are arranged in the base in an array mode, and the axes of the eddy current sensors and the axes of the blind holes are in the radial direction of the ball socket; and judging the relative angular position and the relative movement direction between the ball head and the ball socket by utilizing the combination of the output signals of all the eddy current sensors.
The method for measuring the three-dimensional rotation angle of the spherical hinge space based on the eddy current effect is also characterized in that:
for the output signal of the eddy current sensor, the following three different forms are defined:
if the eddy current sensor and the tested blind hole are in the right opposite position, the output signal of the eddy current sensor represents the hole bottom distance S between the measuring head and the tested blind hole;
if the eddy current sensor and the tested blind hole are in completely staggered positions, the output signal of the eddy current sensor represents the clearance d between the measuring head and the surface of the ball head;
if the electric eddy current sensor and the tested blind hole form partial phase error, the output signal of the electric eddy current sensor is related to the phase error degree of the tested blind hole and the electric eddy current sensor.
The method for measuring the three-dimensional rotation angle of the spherical hinge space based on the eddy current effect is also characterized in that: the ball hinge is placed in a calibration device, training is carried out according to an artificial neural network theory, the relation between the output signal of the eddy current sensor and the spatial rotation angle value of the ball head is established, a measurement model is obtained, and real-time measurement of the spatial three-dimensional rotation angle of the ball hinge is achieved by utilizing the measurement model.
The method for measuring the three-dimensional rotation angle of the spherical hinge space based on the eddy current effect is also characterized in that: the training according to the artificial neural network theory is as follows: aiming at a ball hinge arranged in a calibration device, driving a ball head to rotate in a space according to a set direction and a set step pitch, setting a space rotation angle calibration value for the ball head, and correspondingly recording the measured value of each eddy current sensor; and the calibration values and the measured values are in one-to-one correspondence to form an array, and the array is utilized to carry out human neural network modeling.
The method for measuring the three-dimensional rotation angle of the spherical hinge space based on the eddy current effect is also characterized in that: and adjusting the step pitch so as to obtain different array quantities and obtain different measurement accuracies.
The method for measuring the three-dimensional rotation angle of the spherical hinge space based on the eddy current effect is also characterized in that: obtaining an array of one-to-one correspondence of the calibration value and the measured value according to the following steps:
step 1, defining a vertical outer frame support in a calibration device as an X-axis support for supporting a rectangular outer frame, a rectangular outer frame as a Y-axis support for supporting an inverted U-shaped inner frame, and an upright sleeve as a Z-axis, placing a ball hinge in the calibration device, sleeving a ball hinge rod in the sleeve, so that the center of a ball head coincides with the intersection point of an X axis and the Y axis, and setting a three-dimensional rectangular coordinate system O-XYZ by taking the center of the ball head as an origin;
step 2, rotating the rectangular outer frame to enable the reading of the rectangular outer frame angle detection circular grating on the vertical outer frame support on the left side to be thetax1I.e. the angle of rotation of the ball head about the X-axis is thetax1(ii) a Then the inverted U-shaped inner frame is rotated to ensure that the readings of the inverted U-shaped inner frame angle detection circular gratings arranged on the rectangular outer frame support are sequentially thetay1，θy2…θynI.e. the rotation angle of the ball head of the ball hinge around the Y-axis direction is thetay1，θy2…θynArray U for recording eddy current sensor array reading11，U12…U1nBy the angle value (theta)x1,θy1) Reading group U of eddy current sensor array11，U12…U1nArray of compositions (U)11,θx1,θy1)，(U12,θx1,θy2)…(U1n,θx1,θyn) Representing the corresponding relation between the output value of the eddy current sensor and the spatial rotation angle of the ball head;
(U21,θx2,θy1)、(U22,θx2,θy2)…(U2n,θx2,θyn)；
(U31,θx3,θy1)、(U32,θx3,θy2)…(U3n,θx3,θyn)；
(Un1,θxn,θy1)、(Un2,θxn,θy2)…(Unn,θxn,θyn)；
wherein, thetax1-θxnThe rotatable range of the rectangular outer frame is the range of the rotation angle of the ball head of the ball hinge around the X-axis direction; thetay1-θynThe ball joint is a rotatable range of an inverted U-shaped inner frame, namely a range of a rotating angle of a ball head of the ball joint around the Y-axis direction.
Compared with the prior art, the invention has the beneficial effects that:
1. in the process of ball head rotation, because the depths of all blind holes are different, the combination of output signals of all eddy current sensors has a corresponding relation with the relative angle position between the ball head and the ball socket and the direction of relative movement, and a measurement model is established by training by applying an artificial neural network technology; and the real-time measurement of the three-dimensional rotation angle of the spherical hinge space is realized by utilizing the measurement model.
2. The method selects the eddy current sensor, has high measurement precision and strong environmental interference resistance, is insensitive to lubricating grease filled between the ball head and the ball socket, and can ensure the measurement precision.
3. Compared with the traditional measuring principle and method of the angle sensor, the invention uses the artificial neural network technology for training, thereby constructing the mapping relation between the ball head space rotation angle value and the measured value of the eddy current sensor. The traditional displacement or angle measuring sensor depends on certain physical effect or principle, and has a mathematical measuring model, the measuring resolution and the measuring precision depend on the measuring model, and various structural parameter errors in the model can influence the measuring result. The method of the invention has no sensor measurement model in the common sense, so that various machining errors and assembly errors in the manufacturing process of the ball hinge have little influence on the measurement result.
4. The invention has simple structure, easy realization of algorithm, no special requirements on the material, electromagnetism and mechanical properties of the ball hinge, and great application prospect and value in the fields of robots, parallel mechanisms, parallel machine tools and the like.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the structural fit of the eddy current sensor and the ball head according to the present invention;
FIG. 3 is a schematic view of the relative position of a single aperture and an eddy current sensor in accordance with the present invention;
fig. 4 is a calibration device for neural network training of the present invention.
Reference numbers in the figures: 1, end cover; 2, a spherical hinge rod; 3, a ball head; 4, a base; 5, an eddy current sensor; 6, blind holes; 7 a base platform; 8, a chuck clamp; 9 vertical outer frame supports; 10, detecting a circular grating by the angle of the rectangular outer frame; 11 a rectangular outer frame; 12 an inverted U-shaped inner frame; 13 a sleeve; 14 ball hinges.
Detailed Description
In the present embodiment, the method for measuring the three-dimensional rotation angle of the spherical hinge space based on the eddy current effect,
referring to fig. 1, the ball hinge in this embodiment is a ball seat having a ball socket inside and formed by a base 4 and an end cover 1, a ball head 3 is placed in the ball socket, a spherical cap is exposed at an opening of the end cover 1, a ball hinge rod 2 is connected to the top of the spherical cap of the ball head 3, the ball head 3 and the ball socket are concentric, and the ball head 3 can concentrically rotate relative to the ball socket.
Referring to fig. 2, in the present embodiment, cylindrical blind holes 6 having the same diameter and different depths are distributed on the surface of the ball head 3 according to a set rule; the eddy current sensors 5 are arranged in the base 4 in an array mode, and the axial lines of the eddy current sensors 5 and the axial lines of the blind holes 6 are in the radial direction of a ball socket; and judging the relative angular position and the relative movement direction between the ball head 3 and the ball socket by using the combination of the output signals of all the eddy current sensors 5.
For the output signal of the eddy current sensor 5, different three forms are defined as follows:
if the eddy current sensor 5 and the blind hole 6 to be detected are in the right opposite position, the output signal of the eddy current sensor 5 represents the hole bottom distance S between the measuring head of the eddy current sensor and the blind hole 6 to be detected in the corresponding position;
if the eddy current sensor 5 and the blind hole 6 to be measured are in completely staggered positions, the output signal of the eddy current sensor 5 represents the clearance d between the measuring head and the surface of the ball head 3;
if the eddy current sensor 5 and the tested blind hole 6 are partially staggered, the output signal of the eddy current sensor 5 is related to the degree of the staggered relationship between the tested blind hole and the eddy current sensor.
The position a shown in fig. 3 indicates that the eddy current sensor and the blind via under test are in a right opposite position, the position B indicates that the eddy current sensor and the blind via under test are in a completely staggered position, and the position C indicates that the eddy current sensor and the blind via under test are in a partially staggered position.
In the embodiment, the ball hinge needs to be placed in a calibration device, training is carried out according to an artificial neural network theory, the relation between the output signal of the eddy current sensor 5 and the spatial rotation angle value of the ball head 3 is established, a measurement model is obtained, and real-time measurement of the spatial three-dimensional rotation angle of the ball hinge is realized by using the measurement model; training according to the artificial neural network theory means that: aiming at a ball hinge arranged in a calibration device, driving a ball head 3 to rotate in space according to a set direction and a set step pitch, setting a spatial rotation angle calibration value for the ball head 3, and correspondingly recording the measured value of each eddy current sensor 5; the calibration values and the measured values are in one-to-one correspondence to form an array, and the array is used for modeling the human neural network; and adjusting the step pitch so as to obtain different array quantities and obtain different measurement accuracy.
Fig. 4 shows a calibration apparatus for neural network training applied in this embodiment, which includes: the device comprises a base platform 7, a chuck clamp 8 fixedly arranged on the base platform 7, vertical outer frame supports 9 arranged on two sides of the base platform 7, a rectangular outer frame 11 supported by the vertical outer frame supports 9, and a rectangular outer frame angle detection circular grating 10 arranged on the vertical outer frame supports 9 and corresponding to the rectangular outer frame 11; an inverted U-shaped inner frame 12 is arranged on the other pair of side frames of the rectangular outer frame 11, an inverted U-shaped inner frame angle detection circular grating is arranged on the rectangular outer frame 11 aiming at the inverted U-shaped inner frame 12, a sleeve 13 is vertically arranged at the central position of the inverted U-shaped inner frame 12, and the spherical hinge rod 2 is sleeved in the sleeve 13.
In specific implementation, a relation between an output value of an eddy current sensor and a spatial rotation angle value of a ball head is established through learning and training aiming at a ball hinge arranged in a calibration device, and specifically, an array of calibration values and measured values in one-to-one correspondence is obtained according to the following steps:
step 1, defining a vertical outer frame support 9 in the calibration device as an X-axis support for supporting a rectangular outer frame 11, a rectangular outer frame 11 as a Y-axis support for supporting an inverted U-shaped inner frame 12, and an upright sleeve 13 with an axial direction as a Z direction, placing a ball hinge in the calibration device, sleeving a ball hinge rod 2 in the sleeve 13, so that the center of a ball 3 coincides with the intersection point of the X axis and the Y axis, and setting a three-dimensional rectangular coordinate system O-XYZ by taking the center of the ball 3 as an origin.
Step 2, rotating the rectangular outer frame 11 to enable the reading of the rectangular outer frame angle detection circular grating 10 on the vertical outer frame support 9 on the left side to be thetax1I.e. the angle of rotation of the ball 3 about the X-axis is thetax1(ii) a Then the inverted U-shaped inner frame 12 is rotated to make the readings of the inverted U-shaped inner frame angle detection circular gratings arranged on the rectangular outer frame support be theta in sequencey1，θy2…θynI.e. the rotation angle of the ball head of the ball hinge around the Y-axis direction is thetay1，θy2…θynArray U for recording eddy current sensor array reading11，U12…U1nBy the angle value (theta)x1,θy1) Reading group U of eddy current sensor array11，U12…U1nArray of compositions (U)11,θx1,θy1)，(U12,θx1,θy2)…(U1n,θx1,θyn) And expressing the corresponding relation between the output value of the eddy current sensor and the spatial rotation angle of the ball head.
(U21,θx2,θy1)、(U22,θx2,θy2)…(U2n,θx2,θyn)；
(U31,θx3,θy1)、(U32,θx3,θy2)…(U3n,θx3,θyn)；
(Un1,θxn,θy1)、(Un2,θxn,θy2)…(Unn,θxn,θyn)。
According to different measurement precision requirements, the size of the step pitch and the data volume for training are reasonably determined. And further establishing a relation between the ball head space rotation angle value and the induction output signal of the eddy current sensor by using an artificial neural network to complete the establishment of the measurement model.
After calibration training, the ball hinge has the functions of realizing rotation direction identification and angle measurement: when the ball joint rotates in any direction and rotates for a certain angle in actual work, the eddy current sensor array can detect a group of data; the space rotation direction and rotation angle of the ball head can be calculated by using the established measurement model.
The inventor of the application finds in research that: the precise ball hinge is widely applied, and has great significance and value in acquiring the spatial corner information of the ball hinge and the pose of the ball hinge in real time. The invention realizes the further intellectualization of the ball hinge, has simple structure, easy realization of algorithm and good robustness, and can realize the real-time measurement of the space angle in the fields of robots, parallel mechanisms and the like.
Claims (5)
1. A ball hinge space three-dimensional rotation angle measuring method based on an eddy current effect is characterized in that a ball seat with a ball socket inside is formed by a base (4) and an end cover (1), a ball head (3) is placed in the ball socket, a ball crown is exposed at an opening of the end cover (1), a ball hinge rod (2) is connected to the top of the ball crown of the ball head (3), the ball head (3) and the ball socket are concentric, and the ball head (3) can concentrically rotate relative to the ball socket; the method is characterized in that: cylindrical blind holes (6) with the same diameter and different depths are distributed on the surface of the ball head (3) according to a set rule; the eddy current sensors (5) are arranged in the base (4) in an array mode, and the axial lines of the eddy current sensors (5) and the axial lines of the blind holes (6) are in the radial direction of a ball socket; judging the relative angle position and the relative movement direction between the ball head (3) and the ball socket by utilizing the combination of the output signals of all the eddy current sensors (5);
for the output signal of the eddy current sensor (5), the following three different forms are defined:
if the eddy current sensor (5) and the blind hole (6) to be detected are in the position opposite to each other, the output signal of the eddy current sensor (5) represents the hole bottom distance S between the measuring head and the blind hole (6) to be detected;
if the eddy current sensor (5) and the tested blind hole (6) are in completely staggered positions, the output signal of the eddy current sensor (5) represents the clearance d between the measuring head and the surface of the ball head (3);
if the electric eddy current sensor (5) and the tested blind hole (6) form partial phase error, the output signal of the electric eddy current sensor (5) is related to the phase error degree of the tested blind hole and the electric eddy current sensor.
2. The method for measuring the three-dimensional revolution angle of the spherical hinge space based on the eddy current effect as claimed in claim 1, wherein: the ball hinge is placed in a calibration device, training is carried out according to an artificial neural network theory, the relation between the output signal of the eddy current sensor (5) and the spatial rotation angle value of the ball head (3) is established, a measurement model is obtained, and real-time measurement of the spatial three-dimensional rotation angle of the ball hinge is realized by utilizing the measurement model.
3. The method for measuring the three-dimensional revolution angle of the spherical hinge space based on the eddy current effect as claimed in claim 2, wherein: the training according to the artificial neural network theory is as follows: aiming at a ball hinge arranged in a calibration device, a ball head (3) is driven to rotate in space according to a set direction and a set step pitch, a spatial rotation angle calibration value is set for the ball head (3), and the measured value of each eddy current sensor (5) is correspondingly recorded; and the calibration values and the measured values are in one-to-one correspondence to form an array, and the array is utilized to carry out human neural network modeling.
4. The method for measuring the three-dimensional revolution angle of the spherical hinge space based on the eddy current effect as claimed in claim 3, wherein: and adjusting the step pitch so as to obtain different array quantities and obtain different measurement accuracies.
5. The method for measuring the three-dimensional revolution angle of the spherical hinge space based on the eddy current effect as claimed in claim 3, wherein: obtaining an array of one-to-one correspondence of the calibration value and the measured value according to the following steps:
step 1, defining a vertical outer frame support (9) in a calibration device as an X-axis support for supporting a rectangular outer frame (11), a rectangular outer frame (11) as a Y-axis support for supporting an inverted U-shaped inner frame (12), and an upright sleeve (13) with an axial direction as a Z direction, placing a ball hinge in the calibration device, sleeving a ball hinge rod (2) in the sleeve (13), so that the center of a ball head (3) coincides with an intersection point of an X axis and the Y axis, and setting a three-dimensional rectangular coordinate system O-XYZ by taking the center of the ball head (3) as an origin;
step 2, rotating the rectangular outer frame (11) to enable the reading of the rectangular outer frame angle detection circular grating (10) on the vertical outer frame support (9) on the left side to be thetax1I.e. the rotation angle of the ball head (3) around the X axis is thetax1(ii) a Then the inverted U-shaped inner frame (12) is rotated to lead the readings of the inverted U-shaped inner frame angle detection circular gratings arranged on the rectangular outer frame bracket to be theta in sequencey1，θy2...θynI.e. the rotation angle of the ball head of the ball hinge around the Y-axis direction is thetay1，θy2...θynArray U for recording eddy current sensor array reading11，U12...U1nBy the angle value (theta)x1,θy1) Reading group U of eddy current sensor array11，U12...U1nArray of compositions (U)11,θx1,θy1)，(U12,θx1,θy2)...(U1n,θx1,θyn) Representing the corresponding relation between the output value of the eddy current sensor and the spatial rotation angle of the ball head;
step 3, rotating the rectangular outer frame (11) to enable the readings of the rectangular outer frame angle detection circular gratings (10) on the vertical outer frame support (9) on the left side to be theta in sequencex2...θxn(ii) a An array is obtained in the same way as step 2:
(U21,θx2,θy1)、(U22,θx2,θy2)...(U2n,θx2,θyn)；
(U31,θx3,θy1)、(U32,θx3,θy2)...(U3n,θx3,θyn)；
(Un1,θxn,θy1)、(Un2,θxn,θy2)...(Unn,θxn,θyn)；
step 4, training and modeling the artificial neural network by using the arrays obtained in the step 2 and the step 3;
wherein, thetax1-θxnThe rotatable range of the rectangular outer frame is the range of the rotation angle of the ball head of the ball hinge around the X-axis direction; thetay1-θynThe ball joint is a rotatable range of an inverted U-shaped inner frame, namely a range of a rotating angle of a ball head of the ball joint around the Y-axis direction.
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