CN113340332B - Photoelectric sensor calibration device and method - Google Patents
Photoelectric sensor calibration device and method Download PDFInfo
- Publication number
- CN113340332B CN113340332B CN202110583008.5A CN202110583008A CN113340332B CN 113340332 B CN113340332 B CN 113340332B CN 202110583008 A CN202110583008 A CN 202110583008A CN 113340332 B CN113340332 B CN 113340332B
- Authority
- CN
- China
- Prior art keywords
- clamping mechanism
- photoelectric sensor
- sliding table
- stepping motor
- calibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/16—Elements for restraining, or preventing the movement of, parts, e.g. for zeroising
Abstract
The application discloses a photoelectric sensor calibration device and method, and relates to the technical field of sensors. The calibration device comprises a controller, a calibration mechanism, a data acquisition module and a data processing module; the calibration mechanism comprises a stepping motor linear sliding table, a traction rope, a support, a rotating part, a first clamping mechanism and a second clamping mechanism; the support is fixedly connected to the linear sliding table of the stepping motor, the rotating piece is rotatably connected to the support, and the second clamping mechanism is fixedly connected to the rotating piece; two ends of the traction rope are respectively connected with the linear sliding table of the stepping motor and the rotating piece; the first clamping mechanism is used for clamping the first mounting part, and the second clamping mechanism is used for clamping the second mounting part; the data processing module is used for receiving displacement of the sliding table, converting the displacement of the sliding table into a standard angle input value, processing the standard angle input value and an output signal of the photoelectric sensor, and outputting a transfer function and a static characteristic index of the photoelectric sensor. The application also provides a calibration method based on the calibration device.
Description
Technical Field
The application relates to the technical field of sensors, in particular to a photoelectric sensor calibration device and method.
Background
After any sensor is assembled, the overall strict performance identification of the sensor must be carried out according to design indexes. After a period of use or after repair, calibration tests must also be performed on the main technical indicators in order to ensure that the performance indicators of the sensor meet the requirements. The sensor calibration is a process of calibrating the sensor by using a standard instrument with higher precision, so that the corresponding relation between the output quantity and the input quantity of the sensor is established, and meanwhile, the error relation under different use conditions is also determined.
Along with the requirement on detection accuracy is higher and higher, photoelectric sensors are more and more appeared in life, and photoelectric sensors include reflection of light piece and photoelectric element, and reflection of light piece and photoelectric element set up respectively on mounting and measured piece, and photoelectric element is used for launching and receiving the light beam, and reflection of light piece is used for the reflected light beam. However, the existing photoelectric sensor calibration device can only calibrate the photoelectric sensor in which the reflecting piece and the photoelectric element can be placed in parallel, and the application range is narrow.
Disclosure of Invention
The embodiment of the application provides a photoelectric sensor calibration device and method, which can realize calibration of a photoelectric sensor which needs relative rotation of a light reflecting piece and a photoelectric element and is inconvenient to disassemble during working, and has the advantages of very convenient operation and high detection precision.
In order to achieve the above object, in one aspect, the light reflecting member of the photoelectric sensor is disposed on a first mounting member, and the photoelectric element of the photoelectric sensor is disposed on a second mounting member, the second mounting member being rotatable with respect to the first mounting member; the calibration device comprises a controller, a calibration mechanism, a data acquisition module and a data processing module; the calibration mechanism comprises a stepping motor linear sliding table, a traction rope, a support, a rotating part, a first clamping mechanism and a second clamping mechanism; the support is fixedly connected to the linear sliding table of the stepping motor, the rotating part is rotatably connected to the support, the first clamping mechanism is fixedly connected to the support, and the second clamping mechanism is fixedly connected to the rotating part; the first end of the traction rope is connected to the linear sliding table of the stepping motor, and the second end of the traction rope is connected to the rotating piece; the first clamping mechanism is used for clamping the first mounting part, and the second clamping mechanism is used for clamping the second mounting part; the controller is used for controlling the start and stop of the stepping motor; the data acquisition module is used for acquiring the output signal of the photoelectric sensor; the data processing module is used for receiving sliding table displacement corresponding to each sampling point, converting the sliding table displacement into a standard angle input value, processing the standard angle input value and an output signal of the photoelectric sensor, and outputting a transfer function and a static characteristic index of the photoelectric sensor.
Further, step motor straight line slip table includes ball, slip table and slide rail, be equipped with first fixed column on the slip table, the first end of haulage rope is binded on the outer face of cylinder of first fixed column, the slide rail is kept away from step motor's one end links firmly the support.
Further, the rotating part comprises a connecting part and a moving part, the connecting part is hinged to the support, the moving part is a sector plate, a second fixing column is arranged on a straight line section of the sector plate, a rope guide groove is arranged on an arc section of the sector plate, a limiting hole is formed in the support, and a second end of the traction rope sequentially penetrates through the limiting hole and the rope guide groove and then is bound to the outer cylindrical surface of the second fixing column.
Furthermore, the end face of the support is vertically provided with a limiting block, a limiting hole is formed in the limiting block, the support is further provided with a first rope guide wheel and a second rope guide wheel, the first rope guide wheel and the second rope guide wheel are located between the limiting block and the sector plate, the first rope guide wheel is higher than the second rope guide wheel, and the second rope guide wheel is lower than the highest point of the rope guide groove and higher than the lowest point of the rope guide groove.
Further, the first clamping mechanism comprises a first top wall, a first bottom wall and two first side walls which are oppositely arranged, the first top wall, the first bottom wall and the two first side walls together form a first mounting cavity, and the first mounting cavity is used for accommodating the first mounting piece; the first mounting piece is fastened on the first top wall through a second bolt; the second clamping mechanism comprises a second top wall, a second bottom wall and two second side walls which are oppositely arranged, the second top wall, the second bottom wall and the two second side walls jointly form a second mounting cavity, and the second mounting cavity is used for accommodating the second mounting piece; the second mounting piece is fastened on the second top wall through a third bolt; and the two first side walls are provided with first connecting shafts, and the two first connecting shafts are erected on the corresponding second side walls respectively and can rotate relative to the second side walls.
Further, the first clamping mechanism and the second clamping mechanism are elastically connected through a resetting piece, and the resetting piece can provide force for the second clamping mechanism to rotate in the direction close to the first clamping mechanism.
Further, be equipped with on the support along the thickness direction through dodge the groove, second clamping mechanism is close to be equipped with the second connecting axle on the lateral wall of support, the second connecting axle passes after dodging the groove with rotate the piece and link firmly.
Furthermore, a mounting hole is formed in the support, a third connecting shaft is arranged on the side wall, close to the support, of the first clamping mechanism, and the third connecting shaft extends into the mounting hole and is fixedly connected with the support.
On the other hand, an embodiment of the present application further provides a calibration method based on the above calibration apparatus for a photoelectric sensor, including the following steps: respectively fastening a first mounting piece for fixing a reflecting piece in the photoelectric sensor to be calibrated with a first clamping mechanism, and fastening a second mounting piece for fixing a photoelectric element in the photoelectric sensor to be calibrated with a second clamping mechanism; adjusting the linear sliding table of the stepping motor to an initial position to ensure that an included angle between the first clamping mechanism and the second clamping mechanism is an initial angle of the photoelectric sensor to be calibrated, and the traction rope is in a tightened state; setting the stroke of the stepping motor, ensuring that the rotation angle of the second clamping mechanism is the maximum measurement angle of the photoelectric sensor to be calibrated when the stepping motor is in a full range, and setting the displacement of the sliding table corresponding to each sampling point according to the calibration resolution; controlling the stepping motor to rotate, driving the second clamping mechanism to rotate at a constant speed to a maximum angle and then returning to an initial position, and collecting the output voltage of the photoelectric sensor to be calibrated; repeatedly driving the stepping motor to a preset number of times, and collecting corresponding output voltage; and converting the displacement of the sliding table corresponding to each sampling point into a standard angle input value, processing and analyzing the standard angle input value and the corresponding output voltage, and outputting a transfer function and a static characteristic index of the photoelectric sensor to be calibrated.
Further, a first clamping mechanism in the calibration apparatus for a photoelectric sensor includes a first mounting cavity, a second clamping mechanism includes a second mounting cavity, and after the step of outputting the transfer function and the static characteristic index of the photoelectric sensor to be calibrated, the calibration apparatus further includes the steps of: and loosening the first clamping mechanism and the second clamping mechanism, drawing the multi-section continuous structure, enabling a first installation part for installing the reflecting part of the next photoelectric sensor to be calibrated to be positioned in the first clamping mechanism, enabling a second installation part for installing the photoelectric element of the next photoelectric sensor to be calibrated to be positioned in the second installation cavity, and repeating the steps until the calibration of all the photoelectric sensors is completed.
Compared with the prior art, the application has the following beneficial effects:
1. the embodiment of the application combines the controller, the calibration mechanism, the data acquisition module and the data processing module, and the displacement amount which can be accurately controlled is converted into the standard angle input amount, so that the photoelectric sensor which is inconvenient to detach and needs to rotate relatively for the light reflecting piece and the photoelectric element in the working process is calibrated, the operation is very convenient, and the detection precision is high.
2. First clamping mechanism in the embodiment of this application is including the first installation cavity that link up from beginning to end, and second clamping mechanism is including the second installation cavity that link up from beginning to end, can realize the demarcation to a plurality of photoelectric sensor in the multistage continuous structure, and need not frequently to remove calibration device in the operation process, only need with the installation remain the calibration photoelectric sensor's multistage continuous structure clamp tightly in calibration mechanism can, it is very convenient to operate.
3. The calibration mechanism in the embodiment of the application is connected with the photoelectric sensor to be calibrated through the bolt, the fastening performance is good, the disassembly and the assembly are convenient, and the calibration efficiency is high.
4. The sampling signal in the embodiment of the application is a continuous signal, and sufficient data can be provided for the accurate calculation of the transfer function and the static characteristic of the photoelectric sensor to be calibrated, so that the characteristics of the sensor can be better reflected.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic perspective view of a calibration mechanism in a calibration device for a photoelectric sensor according to an embodiment of the present application;
FIG. 2 is a schematic exploded view of a calibration mechanism in the calibration device of the photoelectric sensor according to the embodiment of the present application (with a pulling rope removed);
fig. 3 is a schematic view of a connection structure between a first fixing column and a connection board in the calibration apparatus of a photoelectric sensor according to the embodiment of the present application;
fig. 4 is a schematic perspective view of a rotating member in the calibration apparatus for a photoelectric sensor according to the embodiment of the present application;
FIG. 5 is a schematic perspective view of a first clamping mechanism in a calibration device for a photoelectric sensor according to an embodiment of the present disclosure;
FIG. 6 is a schematic perspective view of a second clamping mechanism in a calibration device for a photoelectric sensor according to an embodiment of the present application;
FIG. 7 is a schematic view of a multi-segment continuous structure with photosensors mounted thereon;
FIG. 8 is a schematic structural diagram of a photosensor;
fig. 9 is a schematic view of a connection structure between a calibration apparatus for a photoelectric sensor and a calibrated power-off sensor according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise indicated,
"plurality" means two or more.
Because the exoskeleton assists the patient to repeatedly perform standard correct bionic rehabilitation training, high requirements are provided for the accurate control of the hand function rehabilitation robot. Pose monitoring is one of the keys for accurate closed-loop control of the exoskeleton. In addition, the pose monitoring can also help the patient to record the state of an illness in the rehabilitation training process, evaluate the rehabilitation effect, adjust the rehabilitation scheme in time and perfect the rehabilitation training.
Referring to fig. 7, a multi-stage continuous structure 11 in the hand function rehabilitation robot will be described as an example.
The multi-segment continuous structure 11 includes a plurality of joint operating units 12, which are detected by a pose monitoring system. The pose monitoring system comprises a plurality of photoelectric sensors 13, an analog-to-digital conversion module, a data acquisition module and a data processing module. The photoelectric sensor 13 is provided on the joint operation unit 12. Referring to fig. 8, the photoelectric sensor 13 includes a light reflecting member 131 and a photoelectric element 132, the light reflecting member 131 is a light reflecting sticker, the light reflecting member 131 and the photoelectric element 132 are respectively disposed on opposite surfaces of adjacent joint operating units 12, the photoelectric element 132 includes a diode 133 and a transistor 134, the diode 133 is used for emitting a light beam, the light reflecting member 131 is used for reflecting the light beam, and the transistor 134 is used for receiving the light beam reflected by the light reflecting member 131. That is, the same joint operating unit 12 is provided with the photoelectric element 132 on the front side and the reflecting member 131 on the back side. For convenience of description, the joint operation unit for the light reflecting member of the same photoelectric sensor in fig. 7 is referred to as a first mounting member 8, and the joint operation unit for fixing the photoelectric element is referred to as a second mounting member 9.
When the motor of the hand function rehabilitation robot drives the spring piece to enable the first installation part 8 to rotate, the included angle between the first installation part 8 and the second installation part 9 changes, namely the distance between the light reflecting part 131 and the photoelectric element 132 changes, so that the light intensity received by the photoelectric element 132 changes, and further the output voltage signal is adjusted, the analog-to-digital conversion module receives the output voltage signal and performs analog-to-digital conversion on the output voltage signal, the data acquisition module acquires the converted digital signal and sends the digital signal to the data processing module, the data processing module determines the relative rotation angle between the first installation part 8 and the second installation part 9 according to the voltage difference value, wherein the voltage difference value is a value obtained by subtracting the adjacent digital signals twice; thereby carrying out pose monitoring on the patient.
As is known, a photoelectric sensor needs to be calibrated before use or after maintenance, and the conventional calibration device of the photoelectric sensor can only calibrate the photoelectric sensor in which a light reflecting piece and a photoelectric element can be arranged in parallel. The photoelectric sensor which is inconvenient to dismount and needs to rotate relatively to the photoelectric element in work cannot be calibrated.
Therefore, the embodiment of the present application provides a calibration apparatus for a photoelectric sensor, which includes a controller (not shown), a calibration mechanism, a data acquisition module (not shown), and a data processing module (not shown). Referring to fig. 1 and 2, the calibration mechanism includes a stepping motor linear sliding table 2, a traction rope 3, a bracket 4, a rotating member 5, a first clamping mechanism 6, and a second clamping mechanism 7. Support 4 links firmly on step motor linear sliding table 2, rotates piece 5 and rotates and connect on support 4, and first clamping mechanism 6 links firmly on support 4, and second clamping mechanism 7 links firmly on rotating piece 5. The first end of haulage rope 3 is connected on step motor sharp slip table 2, and the second end connection of haulage rope 3 rotates on 5. The hauling cable 3 can be a soft steel wire rope, so that the calibration precision can be ensured, and other stresses can not be generated during continuous bending. It should be noted that: the pulling rope 3 can also be another non-stretchable and more flexible rope. The first clamping mechanism 6 is adapted to clamp a first mount 8 for mounting the reflector and the second clamping mechanism 7 is adapted to clamp a second mount 9 for mounting the optoelectronic component.
The controller is used for controlling the start and stop of the stepping motor; the data acquisition module is used for acquiring output signals of the photoelectric sensor; the data processing module is used for receiving sliding table displacement corresponding to each sampling point, converting the sliding table displacement into a standard angle input value, processing the standard angle input value and an output signal of the photoelectric sensor, and outputting a transfer function and a static characteristic index of the photoelectric sensor.
In some embodiments, the data acquisition module is an Arduino MEGA2560 development board and the data processing module is an upper computer. The motor control program is input to the Arduino MEGA2560 development board through the upper computer, and the controller controls the stepping motor to drive the sliding block to do reciprocating linear motion. Through the input serial ports of Arduino MEGA2560, the output quantity of the photoelectric sensor fixed on the multistage continuous structure is recorded, and signals are input into an upper computer through a USB.
In some embodiments, the stepping motor linear slide 2 includes a stepping motor 207, a ball screw 201, a slide 202, and a slide rail 203. Wherein, the two ends of the slide rail 203 are respectively connected with the stepping motor 207 and the bracket 4. One end of the ball screw 201 is connected to the output end of the stepping motor 1, and the other end is erected on the bracket 4. A first fixing column 204 is arranged on the sliding table 202, and a first end of the traction rope 3 is bound on an outer cylindrical surface of the first fixing column 204.
Referring to fig. 1 and 3, to facilitate assembly and disassembly, in some embodiments, the first fixing column 204 and the connecting plate 205 are a single piece, and may be formed by 3D printing, for example. Therefore, the processing is more convenient. The connection plate 205 is detachably attached to the upper surface of the slide table 202. Specifically, the connecting plate 205 may be connected to the slide table 202 by a first bolt 206.
Referring to fig. 1 and 4, in some embodiments, the rotating member 5 includes a connecting portion 501 and a movable portion 502, wherein the connecting portion 501 is hinged to the bracket 4, the movable portion 502 is a sector plate, a second fixing pillar 503 is disposed on a straight line section of the sector plate, a rope guiding groove 504 is disposed on an arc section of the sector plate, a limiting hole 401 is disposed on the bracket 4, and a second end of the traction rope 3 sequentially passes through the limiting hole 401 and the rope guiding groove 504 and then is bound to an outer cylindrical surface of the second fixing pillar 503.
With continued reference to fig. 1 and 2, in some embodiments, to facilitate processing, a limiting block 402 is vertically disposed on an end surface of the bracket 4, and a limiting hole 401 is formed on the limiting block 402. The bracket 4 is further provided with a first rope guiding wheel 403 and a second rope guiding wheel 404, the first rope guiding wheel 403 and the second rope guiding wheel 404 are both positioned between the limiting block 402 and the sector plate, the first rope guiding wheel 403 is higher than the second rope guiding wheel 404, and the second rope guiding wheel 404 is lower than the highest point of the rope guiding groove 504 and higher than the lowest point of the rope guiding groove 504. Specifically, the first sheave 403 and the second sheave 404 are first bearings having the same specifications. The bracket 4 is provided with an installation shaft 405, and the first guide sheave 403 and the second guide sheave 404 are connected to the installation shaft 405.
Referring to fig. 5, in some embodiments, the first clamping mechanism 6 includes a first top wall 601, a first bottom wall 607, and two first side walls 602 disposed opposite to each other, the first top wall 601, the first bottom wall 607, and the two first side walls 602 together form a first mounting cavity 603, and the first mounting cavity 603 is used for accommodating the first mounting member 8 for fixing the light reflector. The first top wall 601 is fixed to the first mounting member 8 for fixing the light reflecting member by a second bolt 604. An opening is provided on the first side wall 602 away from the bracket 4.
Referring to fig. 2 and 5, in some embodiments, the bracket 4 is provided with a mounting hole 407, the side wall of the first clamping mechanism 6 close to the bracket 4 is provided with a third connecting shaft 606, and the third connecting shaft 606 extends into the mounting hole 407 and is in interference fit with the mounting hole 407.
Referring to fig. 6, the second clamping mechanism 7 includes a second top wall 701, a second bottom wall 708, and two second side walls 702 disposed opposite to each other, where the second top wall 701, the two second side walls 702, and the second bottom wall 708 together form a second mounting cavity 703, and the second mounting cavity 703 is used for accommodating the second mounting member 9 for fixing the optoelectronic component. The second top wall 701 is fixed to the second mounting member 9 for fixing the photoelectric element by a third bolt 704. An opening is provided in the second side wall 702 remote from the holder 4.
Referring to fig. 2 and 6, in some embodiments, the support 4 is provided with an avoiding groove 406 penetrating in the thickness direction, the rotating member 5 is provided with a through hole 505, the side wall of the second clamping mechanism 7 close to the support 4 is provided with a second connecting shaft 707, and the second connecting shaft 707 penetrates through the avoiding groove 406, extends into the through hole 505 of the rotating member 5, and is in interference fit with the through hole 505.
Therefore, the calibration of the multiple photoelectric sensors 12 in the multi-section continuous structure 11 can be realized, the calibration device does not need to be frequently moved in the operation process, the multi-section continuous structure 11 provided with the photoelectric sensors 12 only needs to be clamped in the calibration mechanism, the operation is very convenient, and the detection precision is high.
Referring to fig. 1 and 2, the two first sidewalls 602 are each provided with a first connecting shaft 605, and the two first connecting shafts 605 are respectively mounted on the corresponding second sidewalls 702 and can rotate relative to the second sidewalls 702. Specifically, a bearing seat 705 is arranged on the second side wall 702, a second bearing 706 is arranged in the bearing seat 705, and the first connecting shaft 605 is connected with an inner ring of the second bearing 706. The bearing seat 705 comprises two halves that snap together and one half is attached to the second sidewall 702. Therefore, the friction force of the rotating pair in the rotating process can be reduced, and the influence on the calibration result is reduced.
Referring to fig. 1, in some embodiments, the first clamping mechanism 6 and the second clamping mechanism 7 are elastically connected through the reset member 1, and the reset member 1 can provide a force for the second clamping mechanism 7 to rotate in a direction approaching the first clamping mechanism 6. Specifically, the reset member 1 may be a rubber band, and the rubber band is sleeved on the second bolt 604 and the third bolt 704, so that when the second clamping mechanism 7 rotates to the limit position, the rubber band can apply elastic force to the second clamping mechanism 7 to reset the second clamping mechanism 7.
Referring to fig. 1, fig. 7 and fig. 9, in another aspect, an embodiment of the present application further provides a calibration method based on the above-mentioned calibration apparatus for a photoelectric sensor, including the following steps:
s1, respectively fastening the first mounting part 8 for fixing the light reflecting part in the photoelectric sensor to be calibrated to the first clamping mechanism 6, and fastening the second mounting part 9 for fixing the photoelectric element in the photoelectric sensor to be calibrated to the second clamping mechanism 7, where it should be noted that the photoelectric sensor to be calibrated is any one of the photoelectric sensors 12 involved in the above calibration apparatus.
S2, adjusting the sliding table 202 in the linear sliding table 2 of the stepping motor to an initial position, ensuring that the included angle between the first clamping mechanism 6 and the second clamping mechanism 7 is an initial angle of the photoelectric sensor to be calibrated, and the traction rope 3 is in a tightened state.
S4, setting the stroke of the stepping motor 207 in the stepping motor linear sliding table 2, ensuring that the rotation angle of the second clamping mechanism 7 is the maximum measurement angle of the photoelectric sensor to be calibrated when the stepping motor 1 is in full range, and setting the sliding table displacement d corresponding to each sampling point according to the calibration resolutioni(i.e., the distance from the stage start point to the position where the stage was located at the time of sampling). The stroke of the stepping motor is determined according to the maximum value of the rotation angle of the sensor to be calibrated.
And S5, controlling the step motor 207 to rotate, driving the second clamping mechanism 7 to rotate at a constant speed to a maximum angle, then returning to the initial position, and collecting the output voltage of the photoelectric sensor to be calibrated.
S6, repeatedly driving the stepping motor 207 to a preset number of times, for example, five times, and collecting corresponding output voltages.
S7, sliding table displacement d corresponding to each sampling pointiCalculating a standard angle input value delta by equation 1iAnd for the standard angle input value deltaiAnd processing and analyzing the corresponding output voltage, and outputting a transfer function and a static characteristic index of the photoelectric sensor to be calibrated.
Sliding table displacement d corresponding to each sampling pointiDelta. from the standard angle input (angle of rotation of the second clamping mechanism at a single sampling interval)iThe relationship between them is:
δi＝180*di/(pi. R) (equation 1)
Wherein R is the radius of the rotating member. As can be seen from the above formula, the target resolution of the result to be calibrated corresponds to the displacement d of the sliding table corresponding to each sampling pointiAnd the radius of the rotating member. Decrease diOr increasing R can improve the resolution of the calibration system.
S8, loosening the first clamping mechanism 6 and the second clamping mechanism 7, drawing the multi-segment continuous structure 11 to enable the first installation piece 8 used for fixing the light reflecting piece in the photoelectric sensor to be calibrated to be positioned in the first clamping mechanism 6, and the second installation piece 9 used for fixing the photoelectric element to be positioned in the second clamping mechanism 7, and repeating the steps until all the photoelectric sensors 12 on the multi-segment continuous structure 11 are calibrated.
It should be noted that: the photoelectric sensor calibration device and method are not only suitable for a multi-section continuous structure in a hand function rehabilitation robot, but also suitable for multi-section continuous structures in other robots.
The above is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A calibration device for a photoelectric sensor is characterized in that a light reflecting piece of the photoelectric sensor is arranged on a first mounting piece, a photoelectric element of the photoelectric sensor is arranged on a second mounting piece, and the second mounting piece can rotate relative to the first mounting piece;
the calibration device comprises a controller, a calibration mechanism, a data acquisition module and a data processing module;
the calibration mechanism comprises a stepping motor linear sliding table, a traction rope, a support, a rotating part, a first clamping mechanism and a second clamping mechanism;
the support is fixedly connected to the linear sliding table of the stepping motor, the rotating part is rotatably connected to the support, the first clamping mechanism is fixedly connected to the support, and the second clamping mechanism is fixedly connected to the rotating part;
the first end of the traction rope is connected to the linear sliding table of the stepping motor, and the second end of the traction rope is connected to the rotating piece;
the first clamping mechanism is used for clamping the first mounting part, and the second clamping mechanism is used for clamping the second mounting part;
the controller is used for controlling the start and stop of the stepping motor; the data acquisition module is used for acquiring the output signal of the photoelectric sensor; the data processing module is used for receiving sliding table displacement corresponding to each sampling point, converting the sliding table displacement into a standard angle input value, processing the standard angle input value and an output signal of the photoelectric sensor, and outputting a transfer function and a static characteristic index of the photoelectric sensor;
the linear sliding table of the stepping motor comprises a ball screw, a sliding table and a sliding rail, a first fixing column is arranged on the sliding table, a first end of the traction rope is bound on the outer cylindrical surface of the first fixing column, and one end, far away from the stepping motor, of the sliding rail is fixedly connected with the support;
the rotating part comprises a connecting part and a moving part, the connecting part is hinged to the support, the moving part is a fan-shaped plate, a second fixing column is arranged on a straight line section of the fan-shaped plate, a rope guide groove is arranged on an arc section of the fan-shaped plate, a limiting hole is arranged on the support, and a second end of the traction rope sequentially penetrates through the limiting hole and the rope guide groove and then is bound on an outer cylindrical surface of the second fixing column;
a limiting block is vertically arranged on the end face of the support, a limiting hole is formed in the limiting block, a first rope guide wheel and a second rope guide wheel are further arranged on the support, the first rope guide wheel and the second rope guide wheel are located between the limiting block and the sector plate, the first rope guide wheel is higher than the second rope guide wheel, and the second rope guide wheel is lower than the highest point of the rope guide groove and higher than the lowest point of the rope guide groove;
the first clamping mechanism comprises a first top wall, a first bottom wall and two first side walls which are oppositely arranged, the first top wall, the first bottom wall and the two first side walls jointly form a first mounting cavity, and the first mounting cavity is used for accommodating the first mounting piece; the first mounting piece is fastened on the first top wall through a second bolt;
the second clamping mechanism comprises a second top wall, a second bottom wall and two second side walls which are oppositely arranged, the second top wall, the second bottom wall and the two second side walls jointly form a second mounting cavity, and the second mounting cavity is used for accommodating the second mounting piece; the second mounting piece is fastened on the second top wall through a third bolt; and the two first side walls are provided with first connecting shafts, and the two first connecting shafts are erected on the corresponding second side walls respectively and can rotate relative to the second side walls.
2. The device for calibrating the photoelectric sensor according to claim 1, wherein the first clamping mechanism and the second clamping mechanism are elastically connected through a reset member, and the reset member is capable of providing a force for the second clamping mechanism to rotate in a direction approaching the first clamping mechanism.
3. The device for calibrating a photoelectric sensor according to claim 1 or 2, wherein an avoiding groove penetrating in the thickness direction is formed in the support, a second connecting shaft is arranged on a side wall of the second clamping mechanism, which is close to the support, and the second connecting shaft passes through the avoiding groove and then is fixedly connected with the rotating member.
4. The device for calibrating a photoelectric sensor according to claim 3, wherein a mounting hole is formed in the bracket, a third connecting shaft is arranged on a side wall of the first clamping mechanism, which is close to the bracket, and the third connecting shaft extends into the mounting hole and is fixedly connected with the bracket.
5. A calibration method based on the calibration device of the photoelectric sensor as claimed in any one of claims 1 to 4, comprising the following steps:
respectively fastening a first mounting piece for fixing a reflecting piece in the photoelectric sensor to be calibrated with a first clamping mechanism, and fastening a second mounting piece for fixing a photoelectric element in the photoelectric sensor to be calibrated with a second clamping mechanism;
adjusting the linear sliding table of the stepping motor to an initial position to ensure that an included angle between the first clamping mechanism and the second clamping mechanism is an initial angle of the photoelectric sensor to be calibrated, and the traction rope is in a tightened state;
setting the stroke of the stepping motor, ensuring that the rotation angle of the second clamping mechanism is the maximum measurement angle of the photoelectric sensor to be calibrated when the stepping motor is in a full range, and setting the displacement of the sliding table corresponding to each sampling point according to the calibration resolution; controlling the stepping motor to rotate, driving the second clamping mechanism to rotate at a constant speed to a maximum angle and then returning to an initial position, and collecting the output voltage of the photoelectric sensor to be calibrated;
repeatedly driving the stepping motor to a preset number of times, and collecting corresponding output voltage;
and converting the displacement of the sliding table corresponding to each sampling point into a standard angle input value, processing and analyzing the standard angle input value and the corresponding output voltage, and outputting a transfer function and a static characteristic index of the photoelectric sensor to be calibrated.
6. The calibration method according to claim 5, wherein the first clamping mechanism of the calibration device for the photoelectric sensor comprises a first mounting cavity, the second clamping mechanism comprises a second mounting cavity, and after the step of outputting the transfer function and the static characteristic index of the photoelectric sensor to be calibrated, the calibration method further comprises the steps of:
and loosening the first clamping mechanism and the second clamping mechanism, drawing the multi-section continuous structure, enabling a first installation part for installing the reflecting part of the next photoelectric sensor to be calibrated to be positioned in the first clamping mechanism, enabling a second installation part for installing the photoelectric element of the next photoelectric sensor to be calibrated to be positioned in the second installation cavity, and repeating the steps until the calibration of all the photoelectric sensors is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110583008.5A CN113340332B (en) | 2021-05-27 | 2021-05-27 | Photoelectric sensor calibration device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110583008.5A CN113340332B (en) | 2021-05-27 | 2021-05-27 | Photoelectric sensor calibration device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113340332A CN113340332A (en) | 2021-09-03 |
| CN113340332B true CN113340332B (en) | 2022-07-12 |
Family
ID=77471760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110583008.5A Active CN113340332B (en) | 2021-05-27 | 2021-05-27 | Photoelectric sensor calibration device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113340332B (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101750099A (en) * | 2009-12-24 | 2010-06-23 | 中国科学院合肥物质科学研究院 | Calibration device for inclination angle sensor |
| DE102009047324A1 (en) * | 2009-12-01 | 2011-06-09 | Robert Bosch Gmbh | Hand-held device for calibrating optical sensor e.g. fixed irradiating linear detection and ranging sensor, in vehicle at e.g. workshop, has multipixel detector, and faceplate mask arranged in optical path between sensor and detector |
| WO2012018695A1 (en) * | 2010-08-02 | 2012-02-09 | Qualcomm Incorporated | Pnd repositioning detector for better navigation accuracy in a car |
| KR20120075023A (en) * | 2010-12-28 | 2012-07-06 | 주식회사 성우하이텍 | Curvature inspecting device of roll forming beam |
| US8626257B2 (en) * | 2003-08-01 | 2014-01-07 | Dexcom, Inc. | Analyte sensor |
| CN103616128A (en) * | 2013-12-09 | 2014-03-05 | 中国航天空气动力技术研究院 | Six-dimension force sensor calibration device and loading unit thereof |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN105120737A (en) * | 2013-02-13 | 2015-12-02 | 莱曼微设备有限公司 | Personal health data collection |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN108436904A (en) * | 2018-01-24 | 2018-08-24 | 上海岭先机器人科技股份有限公司 | A kind of absolute angle measuring method of manipulator joint without encoder |
| CN109100222A (en) * | 2018-07-24 | 2018-12-28 | 大连理工大学 | A kind of clip rigidity automatic calibration device and its application method |
| EP3434221A1 (en) * | 2017-07-26 | 2019-01-30 | I.D.I. Evolution S.r.l. | System for controlling correct jawbone drilling |
| WO2019094896A1 (en) * | 2017-11-13 | 2019-05-16 | Vicarious Surgical Inc. | Virtual reality wrist assembly |
| CN208936979U (en) * | 2018-12-20 | 2019-06-04 | 西安交通大学 | A kind of optical parallel calibrating installation of universal face formula non-contact sensor |
| EP3623115A1 (en) * | 2018-09-06 | 2020-03-18 | Kabushiki Kaisha Toshiba | Hand control device |
| EP3712584A1 (en) * | 2019-03-19 | 2020-09-23 | Nvidia Corporation | Force estimation using deep learning |
| CN212363439U (en) * | 2020-06-29 | 2021-01-15 | 上海奕枫仪器设备有限公司 | Calibration device of adjustable infrared sensor |
| CN112284438A (en) * | 2020-10-27 | 2021-01-29 | 上海宇航系统工程研究所 | Multifunctional finger sensor calibration tool |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7641614B2 (en) * | 2005-08-22 | 2010-01-05 | Massachusetts Institute Of Technology | Wearable blood pressure sensor and method of calibration |
| US20110312567A1 (en) * | 2010-06-17 | 2011-12-22 | Geneasys Pty Ltd | Loc device for electrochemiluminescent detection of target nucleic acid sequences using hybridization chamber array and negative control chamber without probes |
| FR3056360B1 (en) * | 2016-09-22 | 2019-07-12 | Valeo Systemes D'essuyage | MOTOR-REDUCER, WIPING SYSTEM AND CONTROL METHOD THEREOF |
| CN112004695A (en) * | 2018-02-21 | 2020-11-27 | 奥特莱德科技公司 | System and method for automated handling and processing of automotive trucks and tractor-trailers |
-
2021
- 2021-05-27 CN CN202110583008.5A patent/CN113340332B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8626257B2 (en) * | 2003-08-01 | 2014-01-07 | Dexcom, Inc. | Analyte sensor |
| DE102009047324A1 (en) * | 2009-12-01 | 2011-06-09 | Robert Bosch Gmbh | Hand-held device for calibrating optical sensor e.g. fixed irradiating linear detection and ranging sensor, in vehicle at e.g. workshop, has multipixel detector, and faceplate mask arranged in optical path between sensor and detector |
| CN101750099A (en) * | 2009-12-24 | 2010-06-23 | 中国科学院合肥物质科学研究院 | Calibration device for inclination angle sensor |
| WO2012018695A1 (en) * | 2010-08-02 | 2012-02-09 | Qualcomm Incorporated | Pnd repositioning detector for better navigation accuracy in a car |
| KR20120075023A (en) * | 2010-12-28 | 2012-07-06 | 주식회사 성우하이텍 | Curvature inspecting device of roll forming beam |
| CN105120737A (en) * | 2013-02-13 | 2015-12-02 | 莱曼微设备有限公司 | Personal health data collection |
| CN103616128A (en) * | 2013-12-09 | 2014-03-05 | 中国航天空气动力技术研究院 | Six-dimension force sensor calibration device and loading unit thereof |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| EP3434221A1 (en) * | 2017-07-26 | 2019-01-30 | I.D.I. Evolution S.r.l. | System for controlling correct jawbone drilling |
| WO2019094896A1 (en) * | 2017-11-13 | 2019-05-16 | Vicarious Surgical Inc. | Virtual reality wrist assembly |
| CN108436904A (en) * | 2018-01-24 | 2018-08-24 | 上海岭先机器人科技股份有限公司 | A kind of absolute angle measuring method of manipulator joint without encoder |
| CN109100222A (en) * | 2018-07-24 | 2018-12-28 | 大连理工大学 | A kind of clip rigidity automatic calibration device and its application method |
| EP3623115A1 (en) * | 2018-09-06 | 2020-03-18 | Kabushiki Kaisha Toshiba | Hand control device |
| CN208936979U (en) * | 2018-12-20 | 2019-06-04 | 西安交通大学 | A kind of optical parallel calibrating installation of universal face formula non-contact sensor |
| EP3712584A1 (en) * | 2019-03-19 | 2020-09-23 | Nvidia Corporation | Force estimation using deep learning |
| CN212363439U (en) * | 2020-06-29 | 2021-01-15 | 上海奕枫仪器设备有限公司 | Calibration device of adjustable infrared sensor |
| CN112284438A (en) * | 2020-10-27 | 2021-01-29 | 上海宇航系统工程研究所 | Multifunctional finger sensor calibration tool |
Non-Patent Citations (5)
| Title |
|---|
| A flexible wearable sensor for monitoring angles of wrist motion;Li Min等;《Journal of Xi"an Jiaotong University》;20191107;第52卷(第12期);全文 * |
| A Novel Flexible Wearable Sensor for Estimating Joint-Angles;Lee, SI等;《13th IEEE International Conference on Wearable and Implantable Body Sensor Networks (BSN)》;20160617;全文 * |
| Optoelectronic Sensor-based Shape Sensing Approach for Flexible Manipulators;Koh, JHB等;《41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)》;20190727;全文 * |
| 全柔性机构在并联微动机器人中的应用;杨启志等;《机械设计与研究》;20051031;第21卷(第5期);全文 * |
| 柔性可穿戴的腕关节运动角度传感器;李敏等;《西安交通大学学报》;20181231;第52卷(第12期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113340332A (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3735129B2 (en) | 3D coordinate measuring device | |
| CN107478178B (en) | Bidirectional alignment laser centering adjustment device and centering method | |
| CN115267803A (en) | Engineering quality inspection and acceptance management system | |
| CN113340332B (en) | Photoelectric sensor calibration device and method | |
| CN113790690B (en) | Clamping posture adjusting system and adjusting method for linear displacement sensor for calibration | |
| JP5531423B2 (en) | Friction torque measuring device | |
| US7373844B1 (en) | Switch feel measurement apparatus | |
| CN216621060U (en) | Automatic calibration device for linear displacement sensor | |
| CN110595359A (en) | Online precision detection equipment for ball hinge | |
| CN213515551U (en) | Automatic calibration device for contact type displacement sensor | |
| CN115673837A (en) | Control equipment for adjusting position and posture deviation of ball screw in high-precision displacement platform | |
| CN210070852U (en) | Grating ruler service life tester | |
| CN210108734U (en) | Wiper blade clearance angle test system | |
| CN110595412A (en) | Automatic detection device of traction machine | |
| CN2553338Y (en) | Dial gage automatic detector | |
| CN208270145U (en) | A kind of calibrating installation of torque tester | |
| CN110274569A (en) | A kind of sensor calibration system | |
| CN210071200U (en) | Thrust device is surveyed to display rubber housing | |
| CN219944424U (en) | Building site construction steel bar bending machine | |
| CN114413827B (en) | Long tube inner wall roughness measuring device and measuring method thereof | |
| CN117516394B (en) | Device for measuring thickness of pipe by utilizing laser | |
| CN108931370A (en) | A kind of detection device of slot and glass slides resistance | |
| CN211262168U (en) | Calibration device for detecting space pose of flexible body sensor | |
| CN211877300U (en) | Torque wrench calibrating device | |
| CN109596083B (en) | Guide tool for field calibration line displacement sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |