CN113686239B - Method for detecting probe sleeving/pulling-out of automatic temperature measuring gun based on photoelectric sensor - Google Patents
Method for detecting probe sleeving/pulling-out of automatic temperature measuring gun based on photoelectric sensor Download PDFInfo
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- CN113686239B CN113686239B CN202010424861.8A CN202010424861A CN113686239B CN 113686239 B CN113686239 B CN 113686239B CN 202010424861 A CN202010424861 A CN 202010424861A CN 113686239 B CN113686239 B CN 113686239B
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- 239000000523 sample Substances 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims description 23
- 238000001514 detection method Methods 0.000 claims abstract description 109
- 230000003044 adaptive effect Effects 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 2
- 238000009529 body temperature measurement Methods 0.000 claims 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000010408 sweeping Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000630 rising effect Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007586 pull-out test Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a probe sleeving/removing detection method of an automatic temperature measuring gun based on a photoelectric sensor, wherein the photoelectric sensor is arranged on an actuating mechanism of a driving device, the driving device drives the photoelectric sensor to sweep the automatic temperature measuring gun and/or the probe, the position and the gesture information of the automatic temperature measuring gun and/or the probe are calculated through a calculation unit, and the sleeving/removing operation of the probe is implemented on the automatic temperature measuring gun and/or the probe through a paw on the actuating mechanism according to the position and the gesture information of the automatic temperature measuring gun and/or the probe; the detection method comprises adapting probe sleeving detection and adapting probe pulling detection. The invention utilizes the external sensor measurement technology to carry out the sleeving/pulling detection of the adaptive probe, so that the sleeving/pulling operation is accurately carried out.
Description
Technical Field
The invention relates to an automatic temperature measuring gun technology in the metallurgical industry, in particular to a probe sleeving/pulling-out detection method of an automatic temperature measuring gun based on a photoelectric sensor.
Background
There are a large number of automatic temperature measuring guns in the metallurgical area, but the sleeving operation and the pulling operation of the probe which are adapted to the automatic temperature measuring guns are still mainly finished manually.
The metallurgical area has a severe working environment and has the characteristics of high temperature and multiple dust, and the manual operation has large labor intensity and risk.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a probe sleeving/removing detection method of an automatic temperature measuring gun based on a photoelectric sensor, which utilizes an external sensor measurement technology to perform sleeving/removing detection of an adaptive probe so that sleeving/removing operation is accurately performed.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The method comprises the steps that a photoelectric sensor is arranged on an actuating mechanism of a driving device, the driving device drives the photoelectric sensor to scan the automatic temperature measuring gun and/or the probe, position and posture information of the automatic temperature measuring gun and/or the probe are calculated through a calculating unit, and sleeving/pulling operation of the probe is carried out on the automatic temperature measuring gun and/or the probe through a paw on the actuating mechanism according to the position and posture information of the automatic temperature measuring gun and/or the probe;
The detection method comprises adapting probe sleeving detection and adapting probe pulling detection.
Preferably, the adapting probe sleeving detection comprises the following steps:
1) A sleeving area is arranged at the periphery of the automatic temperature measuring gun, the bottom of the sleeving area is a sleeving detection set height III, the top of the sleeving area is a sleeving detection set height II, a sleeving detection set height I is arranged above the sleeving detection set height II, and the tail end of the automatic temperature measuring gun is positioned in the sleeving area;
2) The driving device drives the executing mechanism to enable the electro-optical distance measuring sensor to reciprocate on the sleeving detection set height I and the sleeving detection set height II along the Y direction of a world coordinate system O-XYZ to scan the automatic temperature measuring gun, so as to respectively obtain the center points of the automatic temperature measuring gun on the sleeving detection set height I and the sleeving detection set height II, and the calculating unit calculates and obtains the position and gesture information of the bus of the automatic temperature measuring gun, which is composed of the two center points;
3) The driving device drives the executing mechanism to enable the position and posture information of the bus of the automatic temperature measuring gun obtained in the step 2) to move and scan to the sleeving detection set height III to obtain the height information of the central point of the tail end of the axis of the automatic temperature measuring gun, the executing mechanism is moved and scanned to the tail end of the automatic temperature measuring gun in a reciprocating mode along the Y direction of the world coordinate system O-XYZ at the obtained height, and after the executing mechanism rotates by an angle around the +Z direction, the end of the automatic temperature measuring gun is moved and scanned again, and the position information of the central point of the tail end of the automatic temperature measuring gun can be obtained through calculation of the calculating unit;
4) According to the position information of the central point of the tail end of the axis of the automatic temperature measuring gun, the driving device drives the executing mechanism to enable the paw to grasp the probe, and the probe is sleeved at the tail end of the automatic temperature measuring gun in the sleeving area.
Preferably, the adaptive probe pull-out detection comprises the following steps:
a) A pulling-out area is arranged on the periphery of the automatic temperature measuring gun, the bottom of the pulling-out area is a pulling-out detection set height III, the top of the pulling-out area is a pulling-out detection set height II, a pulling-out detection set height I is arranged above the pulling-out detection set height II, and a probe on the automatic temperature measuring gun is positioned in the pulling-out area;
b) The driving device drives the executing mechanism to enable the electro-optical distance measuring sensor to reciprocate on the pulling-out detection set height I and the pulling-out detection set height II along the Y direction of a world coordinate system O-XYZ, the automatic temperature measuring gun sleeved with the probe is scanned, the executing mechanism is rotated around the +Z direction, then the automatic temperature measuring gun sleeved with the probe is scanned again, the central points of the probe on the pulling-out detection set height I and the pulling-out detection set height II are respectively obtained through calculation of the calculating unit, and therefore the position and posture information of the axis of the probe formed by the two central points is calculated;
c) The driving device drives the executing mechanism to enable the electro-optical distance measuring sensor to move and scan along the axis of the probe obtained in the step b) to the set pulling-out detection height III, so that the position information of the lower end face of the probe is obtained;
d) According to the position and posture information of the axis of the probe and the position information of the lower end face, the driving device drives the actuating mechanism to enable the paw to grasp the probe, and the probe is pulled out from the automatic temperature measuring gun in the pulling-out area.
Preferably, the position of the set height III of the sleeving detection is lower than the end position of the automatic temperature measuring gun.
Preferably, in the step 4), after the gripper grasping the probe is driven by the driving device to connect the probe to a small section of the automatic temperature measuring gun, the automatic temperature measuring gun is pulled back to a sleeving position where the axis of the automatic temperature measuring gun is parallel to the Z axis of the world coordinate system O-XYZ, and then sleeving is performed.
Preferably, the position of the pulling-out detection set height III is lower than the position of the lower end face of the probe on the automatic temperature measuring gun.
Preferably, in the step d), the gripper gripping the probe is driven by the driving device to feed along the position and the posture of the axis of the probe, so as to realize the pulling-out of the probe.
Preferably, in the step d), the gripper gripping the probe pulls the probe back to a pulling-out position where the axis of the probe is parallel to the Z axis of the world coordinate system O-XYZ under the drive of the driving device, and then the probe is pulled out.
Preferably, the driving device is a six-degree-of-freedom industrial robot.
Preferably, the opening degree of the paw is larger than the outer diameter of the probe on the automatic temperature measuring gun.
In the technical scheme, the probe sleeving/pulling-out detection method of the automatic temperature measuring gun based on the photoelectric sensor is mainly characterized in that when the scheme is implemented in a metallurgical area, no additional improvement is needed to be carried out on the existing automatic temperature measuring gun, and meanwhile, the method can increase the stability of automatic sleeving/pulling-out operation of the probe.
Drawings
FIG. 1 is an isometric view of a method embodiment of the invention adapted for probe socket detection;
FIG. 2 is an isometric view of a probe pull-out test adapted for use with an embodiment of the method of the present invention;
FIG. 3 is a schematic diagram of the structure of an actuator according to an embodiment of the method of the present invention;
FIG. 4 is a top view of an actuator of an embodiment of the method of the present invention;
FIG. 5 is a cross-sectional top view of an electro-optical ranging sensor reciprocally moving a scanning automatic temperature measuring gun and/or probe along the Y-direction in an embodiment of the method of the present invention;
FIG. 6 is a schematic diagram of a center position point of an actuator obtained by reciprocally moving and sweeping an electro-optical ranging sensor along a Y direction in an embodiment of the method of the present invention;
FIG. 7 is a schematic diagram A of an electro-optical distance measurement sensor rotated by an angle θ around the +Z direction (where θ is negative) in an embodiment of the method of the present invention;
FIG. 8 is a schematic view B of an electro-optical ranging sensor rotated by an angle θ around the +Z direction in an embodiment of the method of the present invention;
FIG. 9 is a cross-sectional top view of an electro-optical ranging sensor sweeping an automatic temperature measuring gun and/or probe along the +Z rotation θ direction in an embodiment of the method of the present invention;
FIG. 10 is a schematic diagram of an electro-optical ranging sensor sweeping the center point of the resulting actuator along the +Z rotation θ direction in an embodiment of the method of the present invention;
FIG. 11 is a schematic illustration of a cross-sectional center point positioning method in an embodiment of the method of the present invention;
FIG. 12 is a schematic diagram A of an adapted probe pull-out detection step b) according to an embodiment of the method of the present invention;
Fig. 13 is a schematic diagram B of an adapted probe pull-out detection step B) according to an embodiment of the method of the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 13, in the probe sleeving/removing detection method for an automatic temperature measuring gun based on a photoelectric sensor provided by the invention, the photoelectric sensor 3 is installed on an actuating mechanism 2 of a driving device 1, the driving device 1 drives the photoelectric sensor 3 to sweep an automatic temperature measuring gun 5 and/or a probe 6, position and posture information of the automatic temperature measuring gun 5 and/or the probe 6 are obtained through calculation of a calculation unit, and sleeving/removing operation of the probe 6 is carried out on the automatic temperature measuring gun 5 and/or the probe 6 through a paw 4 on the actuating mechanism 2 according to the position and posture information of the automatic temperature measuring gun 5 and/or the probe 6.
The method comprises the steps of adapting probe sleeving detection and adapting probe pulling detection.
The adapting probe sleeving detection comprises the following steps:
1) A sleeving area 7 is arranged on the periphery of the automatic temperature measuring gun 5, the bottom surface of the sleeving area 7 is set to be a sleeving detection set height III 10, the top surface of the sleeving area 7 is set to be a sleeving detection set height II 9, a sleeving detection set height I8 is further arranged above the sleeving detection set height II 9, and the tail end of the automatic temperature measuring gun 5 is positioned in the sleeving set area 7;
2) The driving device 1 drives the executing mechanism 2 to enable the electro-optical distance measuring sensor 3 to reciprocate on the sleeving detection set height I8 along the Y direction of the world coordinate system O-XYZ to sweep the automatic temperature measuring gun 5, the position value of the executing mechanism 2 on the world coordinate system O-XYZ when the electro-optical distance measuring sensor 3 obtains the rising edge during sweeping is recorded, and the position value I (X ⅠC,YⅠC,ZⅠ) of the executing mechanism 2 when the sleeving detection set height I8 is positioned at the central point of the cross section +Y direction of the automatic temperature measuring gun 5 can be calculated according to the position value of the executing mechanism 2 obtained by the rising edge; the driving device 1 drives the executing mechanism 2 to enable the electro-optical distance measuring sensor 3 to reciprocate on the sleeving detection set height II 9 along the Y direction of the world coordinate system O-XYZ to sweep the automatic temperature measuring gun 5, the position value of the executing mechanism 2 on the world coordinate system O-XYZ when the electro-optical distance measuring sensor 3 obtains the rising edge during sweeping is recorded, and the position value II (X ⅡC,YⅡC,ZⅡ) of the executing mechanism 2 on the sleeving detection set height II 9 positioned at the central point of the cross section +Y direction of the automatic temperature measuring gun 5 can be calculated according to the position value of the executing mechanism 2 obtained by the rising edge. Through the position value I (X ⅠC,YⅠC,ZⅠ) and the position value II (X ⅡC,YⅡC,ZⅡ), the expression of one bus of the automatic temperature measuring gun 5 can be obtained, and the coordinate of the sleeving detection set height III 10 can be obtained;
3) The driving device 1 drives the actuating mechanism 2 to enable the electro-optical distance measuring sensor 3 to move towards the sleeving detection set height III 10 along the bus of the automatic temperature measuring gun 5 determined by the position value I and the position value II, and the position value III' (X Ⅲ'C,YⅢ'C,ZⅢ) of the actuating mechanism 2 at the center point of the +Y direction of the tail end section of the automatic temperature measuring gun 5 can be obtained by recording the position value of the actuating mechanism 2 in the world coordinate system O-XYZ when the electro-optical distance measuring sensor 3 obtains the falling edge; after the actuating mechanism 2 rotates by an angle theta around the +Z direction, the tail end of the automatic temperature measuring gun 5 is moved again, so that the position value III "(X Ⅲ"C,YⅢ"C,ZⅢ) of the actuating mechanism 2 at the central point of the tail end section of the automatic temperature measuring gun 5 in the rotating direction can be obtained, and the central position III (X ⅢC,YⅢC,ZⅢ) of the tail end section of the automatic temperature measuring gun 5 is calculated;
4) The driving device 1 drives the executing mechanism 2 to enable the paw 4 to grasp the probe 6, the position of the end face of the probe 6 is adjusted to be the same as the position of the tail end of the automatic temperature measuring gun 5 calculated in the step 3), and the probe 6 is sleeved on the automatic temperature measuring gun 5 in the sleeving area 7;
The sleeving mode is as follows: after the claw 4 of the grabbing probe 2 is driven by the driving device 1 to sleeve the probe 6 on the automatic temperature measuring gun 5 for a small period, the automatic temperature measuring gun 5 is pulled back to a sleeve position where the axis of the automatic temperature measuring gun 5 is parallel to the Z axis of the world coordinate system O-XYZ, and then sleeve is carried out.
The adaptive probe pull-out detection comprises the following steps:
a) A plucking area 11 is arranged on the periphery of the automatic temperature measuring gun 5, the top surface of the plucking area 11 is set to be a plucking detection set height II 13, the bottom surface of the plucking area 11 is set to be a plucking detection set height III 14, a plucking detection set height I12 is arranged above the plucking detection set height II 13, and a probe 6 on the automatic temperature measuring gun 5 is positioned in the plucking area 11;
b) The driving device 1 drives the executing mechanism 2 to enable the electro-optical distance measuring sensor 3 to reciprocate on the pulling-out detection set height I12 along the Y direction of the world coordinate system O-XYZ to sweep the automatic temperature measuring gun 5, the position value of the executing mechanism 2 on the world coordinate system O-XYZ when the electro-optical distance measuring sensor 3 gets the rising edge is recorded during sweeping, and the position value IV' (X Ⅳ'C,YⅣ'C,ZⅣ') of the executing mechanism 2 when the pulling-out detection set height I12 is positioned at the central point of the cross section +Y direction of the automatic temperature measuring gun 5 can be calculated according to the position value of the executing mechanism 2 obtained by the rising edge; after the actuating mechanism 2 rotates by an angle theta around the +Z direction, the sweeping automatic temperature measuring gun 5 is moved back and forth again, so that a position value IV "(X Ⅳ"C,YⅣ"C,ZⅣ") of the actuating mechanism 2 at the central point of the section of the automatic temperature measuring gun 5 at the set height I12 in the rear direction of the rotation angle theta can be obtained, and the central point IV (X Ⅳ,YⅣ,ZⅣ) of the section of the automatic temperature measuring gun 5 at the set height I12 is calculated. The same method can calculate the center point V (X Ⅴ,YⅤ,ZⅤ) of the cross section of the automatic temperature measuring gun 5 at the pulling-out detection set height II 13. The vector directed from (X Ⅳ,YⅣ,ZⅣ) to (X Ⅴ,YⅤ,ZⅤ) is referred to as vector d= (X Ⅳ-XⅤ,YⅣ-YⅤ,ZⅣ-ZⅤ), abbreviated as vector d= (D 1,d2,d3). Then the rotation axis R and the rotation angle are found by finding a vector c= (C 1,c2,c3) that can obtain the vector D See fig. 11 and 12;
wherein the rotation angle The method comprises the following steps:
the rotation axis R is:
The unit vector R 0 corresponding to the rotation axis R is:
The rotation matrix T rotated from vector C to vector D is obtained by the Rodrign rotation equation (Rodr igues' rotat ion formu l a) as:
further, according to the selected Euler angle sequence, a corresponding Euler angle can be obtained, so that the positioning of the axis of the probe 6 is realized;
c) The driving device 1 drives the executing mechanism 2 to enable the electro-optical distance measuring sensor 3 to move towards the pulling-out detection set height III 14 along the axis of the probe 6 determined by the center point IV and the center point V, and the lower end face height Z Ⅵ of the probe 6 on the automatic temperature measuring gun 5 can be obtained by recording the position value of the executing mechanism 2 in the world coordinate system O-XYZ when the measured value of the electro-optical distance measuring sensor 3 obtains the falling edge;
d) According to the end face height value Z Ⅵ of the probe 6 obtained in the step c), the driving device 1 drives the actuating mechanism 2 to enable the gripper 4 to adjust the proper height, the position and the posture of the gripper 4 are adjusted to be the same as the position and the posture of the probe 6 calculated in the steps b) and c), the gripper 4 is used for grabbing the probe 6, and the probe 6 is pulled out from the automatic temperature measuring gun 5 in the pulling-out area 11;
Pulling out mode one: the gripper 4 of the grabbing probe 6 is driven by the driving device 1 to feed along the position and the gesture of the axis of the probe 6, so that the pulling-out is realized;
And the second pulling mode is as follows: the gripper 4 gripping the probe 6 is driven by the driving device 1 to pull the probe 6 back to the pulling-out position where the axis of the probe 6 is parallel to the Z axis of the world coordinate system, and then pulling out is carried out.
The sleeving area 7 can cover the range of the position and the gesture of the automatic temperature measuring gun 5, and the executing mechanism 2 needs to be performed in the area outside the sleeving area 7 or along the envelope curve of the sleeving area 7 when performing the steps 2) and 3). In a preferred embodiment, the sleeving area 7 is arranged as a cuboid, and its three sides are parallel to three coordinate axes of the world coordinate system O-XYZ.
The socket set height in the socket area 7 should have the following requirements:
1) The set sleeving detection height I8 and the set sleeving detection height II 9 are positioned in the area with larger section diameter of the automatic temperature measuring gun 5 and are not overlapped;
2) The position of the sleeving detection set height III 10 is lower than the tail end position of the automatic temperature measuring gun 5;
3) The set socket detection height I8, the set socket detection height II 9 and the set socket detection height III 10 can be arranged at equal intervals from high to low in the Z direction.
The plucking area 11 may cover the range of variation of the position and posture of the automatic temperature measuring gun 5 after the probe 6 is sleeved, and the actuator 2 needs to be performed in an area other than the plucking area 11 or along the envelope of the plucking area 11 when performing steps b) and c). In a preferred embodiment, the plucking area 11 is provided as a cuboid, and its three sides are parallel to the three coordinate axes of the world coordinate system O-XYZ.
The socket set height in the plucking zone 11 should have the following requirements:
1) The pulling-out detection set height I12 and the pulling-out detection set height II 13 are positioned near the area to be grasped of the paw 4 of the probe 6 sleeved on the automatic temperature measuring gun 5 and are not overlapped;
2) The position of the pulling-out detection set height III 14 is higher than the position of the upper end face of the probe 6 sleeved on the automatic temperature measuring gun 5;
3) The plucking detection set height I12 may be lower than the plucking detection set height II 13.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (9)
1. A probe sleeving/pulling-out detection method of an automatic temperature measuring gun based on a photoelectric sensor is characterized by comprising the following steps of: the photoelectric sensor is arranged on an actuating mechanism of a driving device, the driving device drives the photoelectric sensor to scan the automatic temperature measuring gun and/or the probe, the position and the gesture information of the automatic temperature measuring gun and/or the probe are calculated through a calculation unit, and the sleeving/pulling operation of the probe is carried out on the automatic temperature measuring gun and/or the probe through a paw on the actuating mechanism according to the position and the gesture information of the automatic temperature measuring gun and/or the probe;
the detection method comprises adapting probe sleeve joint detection and adapting probe pull-out detection,
The adapting probe sleeving detection comprises the following steps:
1) A sleeving area is arranged at the periphery of the automatic temperature measuring gun, the bottom of the sleeving area is a sleeving detection set height III, the top of the sleeving area is a sleeving detection set height II, a sleeving detection set height I is arranged above the sleeving detection set height II, and the tail end of the automatic temperature measuring gun is positioned in the sleeving area;
2) The driving device drives the executing mechanism to enable the electro-optical distance measuring sensor to carry out reciprocating movement on the sleeving detection set height I and the sleeving detection set height II along the Y direction of a world coordinate system O-XYZ to scan the automatic temperature measuring gun to respectively obtain the center points of the automatic temperature measuring gun on the sleeving detection set height I and the sleeving detection set height II, and the calculating unit calculates and obtains the position and gesture information of a bus of the automatic temperature measuring gun, which is formed by the two center points;
3) The driving device drives the executing mechanism to enable the position and posture information of the bus of the automatic temperature measuring gun obtained in the step 2) to move and scan to the sleeving detection set height III to obtain the height information of the central point of the tail end of the axis of the automatic temperature measuring gun, the executing mechanism is moved and scanned to the tail end of the automatic temperature measuring gun in a reciprocating mode along the Y direction of the world coordinate system O-XYZ at the obtained height, and after the executing mechanism rotates by an angle around the +Z direction, the end of the automatic temperature measuring gun is moved and scanned again, and the position information of the central point of the tail end of the automatic temperature measuring gun can be obtained through calculation of the calculating unit;
4) According to the position information of the central point of the tail end of the axis of the automatic temperature measuring gun, the driving device drives the executing mechanism to enable the paw to grasp the probe, and the probe is sleeved at the tail end of the automatic temperature measuring gun in the sleeving area.
2. The probe sleeving/unplugging detection method of the automatic temperature measurement gun based on the photoelectric sensor as claimed in claim 1, wherein the probe sleeving/unplugging detection method comprises the following steps of: the adaptive probe pull-out detection comprises the following steps:
a) A pulling-out area is arranged on the periphery of the automatic temperature measuring gun, the bottom of the pulling-out area is a pulling-out detection set height III, the top of the pulling-out area is a pulling-out detection set height II, a pulling-out detection set height I is arranged above the pulling-out detection set height II, and a probe on the automatic temperature measuring gun is positioned in the pulling-out area;
b) The driving device drives the executing mechanism to enable the electro-optical distance measuring sensor to reciprocate on the pulling-out detection set height I and the pulling-out detection set height II along the Y direction of a world coordinate system O-XYZ, the automatic temperature measuring gun sleeved with the probe is scanned, the executing mechanism is rotated around the +Z direction, then the automatic temperature measuring gun sleeved with the probe is scanned again, the central points of the probe on the pulling-out detection set height I and the pulling-out detection set height II are respectively obtained through calculation of the calculating unit, and therefore the position and posture information of the axis of the probe formed by the two central points is calculated;
c) The driving device drives the executing mechanism to enable the electro-optical distance measuring sensor to move and scan along the axis of the probe obtained in the step b) to the set pulling-out detection height III, so that the position information of the lower end face of the probe is obtained;
d) According to the position and posture information of the axis of the probe and the position information of the lower end face, the driving device drives the actuating mechanism to enable the paw to grasp the probe, and the probe is pulled out from the automatic temperature measuring gun in the pulling-out area.
3. The probe sleeving/unplugging detection method of the automatic temperature measurement gun based on the photoelectric sensor as claimed in claim 1, wherein the probe sleeving/unplugging detection method comprises the following steps of: and the position of the set height III of the sleeve joint detection is lower than the tail end position of the automatic temperature measuring gun.
4. The probe sleeving/unplugging detection method of the automatic temperature measurement gun based on the photoelectric sensor as claimed in claim 1, wherein the probe sleeving/unplugging detection method comprises the following steps of: in the step 4), after the claws grabbing the probe are driven by the driving device to connect the probe to a small section of the automatic temperature measuring gun, the automatic temperature measuring gun is pulled back to a sleeving position where the axis of the automatic temperature measuring gun is parallel to the Z axis of the world coordinate system O-XYZ, and then sleeving is carried out.
5. The probe sleeving/unplugging detection method of the automatic temperature measurement gun based on the photoelectric sensor as claimed in claim 2, wherein the probe sleeving/unplugging detection method is characterized in that: and the position of the pulling-out detection set height III is lower than the position of the lower end face of the probe on the automatic temperature measuring gun.
6. The probe sleeving/unplugging detection method of the automatic temperature measurement gun based on the photoelectric sensor as claimed in claim 2, wherein the probe sleeving/unplugging detection method is characterized in that: in the step d), the gripper grabbing the probe is driven by the driving device to feed along the position and the posture of the axis of the probe, so that the probe is pulled out.
7. The probe sleeving/unplugging detection method of the automatic temperature measurement gun based on the photoelectric sensor as claimed in claim 2, wherein the probe sleeving/unplugging detection method is characterized in that: in the step d), the paw grabbing the probe is driven by the driving device to pull the probe back to a pulling-out position where the axis of the probe is parallel to the Z axis of the world coordinate system O-XYZ, and then the probe is pulled out.
8. The method for detecting probe sleeving/unplugging of a photoelectric sensor-based automatic temperature measuring gun according to any one of claims 1 to 7, wherein: the driving device is a six-degree-of-freedom industrial robot.
9. The method for detecting probe sleeving/unplugging of a photoelectric sensor-based automatic temperature measuring gun according to any one of claims 1 to 7, wherein: the opening degree of the paw is larger than the outer diameter of the probe on the automatic temperature measuring gun.
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|---|---|---|---|
| CN202010424861.8A CN113686239B (en) | 2020-05-19 | 2020-05-19 | Method for detecting probe sleeving/pulling-out of automatic temperature measuring gun based on photoelectric sensor |
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| CN202010424861.8A CN113686239B (en) | 2020-05-19 | 2020-05-19 | Method for detecting probe sleeving/pulling-out of automatic temperature measuring gun based on photoelectric sensor |
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| CN113686239A CN113686239A (en) | 2021-11-23 |
| CN113686239B true CN113686239B (en) | 2024-06-04 |
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