CN114800621A - Zero calibration system and method for mechanical arm angle sensor and full-computer trolley - Google Patents
Zero calibration system and method for mechanical arm angle sensor and full-computer trolley Download PDFInfo
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- CN114800621A CN114800621A CN202210721476.9A CN202210721476A CN114800621A CN 114800621 A CN114800621 A CN 114800621A CN 202210721476 A CN202210721476 A CN 202210721476A CN 114800621 A CN114800621 A CN 114800621A
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- oil cylinder
- mechanical arm
- angle sensor
- angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0066—Means or methods for maintaining or repairing manipulators
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The application is suitable for the technical field of mining equipment, and provides a zero calibration system and method for a mechanical arm angle sensor and a full-computer trolley, wherein the system comprises: the device comprises a mechanical arm and a controller, wherein the mechanical arm comprises a first mechanical arm, a second mechanical arm, first to fourth oil cylinders, a displacement sensor and an angle sensor; the controller is used for receiving a zero calibration instruction, controlling the first oil cylinder to the fourth oil cylinder to stretch and retract, enabling a measurement value of the displacement sensor to be a preset stretching numerical value, acquiring current angle numerical values of the first mechanical arm and the second mechanical arm through the angle sensor, responding to a reset instruction, and enabling the current angle numerical values to be zero. The system that this application provided can realize the quick school zero to arm angle sensor under the condition that does not possess professional equipment and professional.
Description
Technical Field
The application belongs to the technical field of engineering mechanical equipment, and particularly relates to a zero calibration system and method for a mechanical arm angle sensor and a full-computer trolley.
Background
The mechanical arm, the angle sensor and the hydraulic oil cylinder are important components of an advanced drill boom control system, wherein zero calibration of the mechanical arm angle sensor is the most basic and important link.
In the zero calibration process of the mechanical arm sensor in the prior art, a professional often arranges a prism on each joint of the mechanical arm in advance, and after measuring required data by using a total station, the zero calibration is realized by calculating a deviation value. When the mechanical arm needs to be maintained or the angle sensor needs to be replaced in the later period, the method has the defects of complicated process, long consumed time and high requirement on operators.
Therefore, a quick and accurate zero calibration method for the mechanical arm angle sensor without special equipment and professionals is needed.
Disclosure of Invention
In order to solve the problems in the related art, embodiments of the present application provide a system and a method for zero calibration of a manipulator angle sensor, and a fully-computerized trolley, which are used for implementing quick zero calibration of the manipulator angle sensor without special equipment and professionals.
The application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides a zero calibration system for a mechanical arm angle sensor, including: a robotic arm and a controller. The mechanical arm comprises a first mechanical arm, a second mechanical arm, a first oil cylinder, a second oil cylinder, a third oil cylinder and a fourth oil cylinder, wherein the telescopic first oil cylinder and/or the telescopic second oil cylinder control the motion of the first mechanical arm, the telescopic third oil cylinder and/or the telescopic fourth oil cylinder control the motion of the second mechanical arm, the mechanical arm further comprises a displacement sensor for measuring telescopic numerical values of the first oil cylinder to the fourth oil cylinder, and an angle sensor for measuring a first mechanical arm angle and a second mechanical arm angle. The controller is used for receiving a zero calibration instruction, controlling the first oil cylinder to the fourth oil cylinder to stretch and retract, enabling a measurement value of the displacement sensor to be a preset stretching numerical value, acquiring current angle numerical values of the first mechanical arm and the second mechanical arm through the angle sensor, responding to a reset instruction, and enabling the current angle numerical values to be zero.
In a possible implementation manner of the first aspect, the first oil cylinder and the second oil cylinder are located between the connecting seat and the first mechanical arm, and the third oil cylinder and the fourth oil cylinder are located between the first mechanical arm and the second mechanical arm. The angle sensor comprises a first angle sensor, a second angle sensor, a third angle sensor and a fourth angle sensor, the first angle sensor is used for measuring a first mechanical arm pitch angle, the second angle sensor is used for measuring a first mechanical arm swing angle, the third angle sensor is used for measuring a second mechanical arm pitch angle, and the fourth angle sensor is used for measuring a second mechanical arm swing angle. The first angle sensor and the second angle sensor are located at the joint of the connecting seat and the first mechanical arm, and the third angle sensor and the fourth angle sensor are located at the joint of the first mechanical arm and the second mechanical arm. The displacement sensor is arranged in the first oil cylinder to the fourth oil cylinder.
In a second aspect, an embodiment of the present application provides a zero calibration method for a manipulator angle sensor, which is applied to a controller of a fully computerized trolley, and includes: receiving a zero calibration instruction; responding to a zero calibration instruction, and controlling the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder to stretch, so that the measurement value of the displacement sensor is a preset stretching numerical value, and the displacement sensor is used for measuring the stretching numerical values of the first oil cylinder to the fourth oil cylinder; acquiring current angle values of the first mechanical arm and the second mechanical arm through an angle sensor; and responding to a reset instruction, and zeroing the current angle numerical value.
In a possible implementation manner of the second aspect, the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder are controlled to stretch, so that a measurement value of the displacement sensor is a preset stretching numerical value, and the method includes: acquiring current telescopic numerical values of the first oil cylinder to the fourth oil cylinder; based on the current telescopic numerical value and the preset telescopic numerical value, the first oil cylinder to the fourth oil cylinder are telescopic, so that the telescopic numerical values of the first oil cylinder to the fourth oil cylinder are equal to the preset telescopic numerical value.
In one possible implementation manner of the second aspect, the expansion and contraction of the first oil cylinder to the fourth oil cylinder are controlled by an electric proportional hydraulic valve; acquiring current stretching numerical values of the first oil cylinder to the fourth oil cylinder by acquiring data of a displacement sensor, wherein the displacement sensor comprises a first displacement sensor, a second displacement sensor, a third displacement sensor and a fourth displacement sensor; the first displacement sensor is used for collecting the stretching numerical value of the first oil cylinder in real time, the second displacement sensor is used for collecting the stretching numerical value of the second oil cylinder in real time, the third displacement sensor is used for collecting the stretching numerical value of the third oil cylinder in real time, and the fourth displacement sensor is used for collecting the stretching numerical value of the fourth oil cylinder in real time.
In a possible implementation manner of the second aspect, when the expansion value of the first cylinder is equal to a first preset expansion value, and the expansion value of the second cylinder is equal to a second preset expansion value, the first angle sensor and the second angle sensor reach a reference zero position. And when the expansion numerical value of the third oil cylinder is equal to a third preset expansion numerical value, and the expansion numerical value of the fourth oil cylinder is equal to a fourth preset expansion numerical value, the third angle sensor and the fourth angle sensor reach a reference zero position.
In a possible implementation manner of the second aspect, zeroing the current angle value in response to the reset instruction includes: responding to a reset instruction of the target user, the reset instruction being determined based on the target user confirmation; and sending a reset instruction to the first angle sensor to the fourth angle sensor, and resetting the current angle numerical value to zero.
In a third aspect, an embodiment of the present application provides a fully computerized trolley, including a robot arm angle sensor zero calibration system according to any one of the possible implementations of the first aspect.
In a fourth aspect, embodiments of the present application provide a controller, including a memory and a processor, where the memory stores a computer program executable on the processor, and the processor implements the zero calibration method for the mechanical arm angle sensor according to any one of the second aspect when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the zero calibration method for the mechanical arm angle sensor according to any one of the second aspects.
In a sixth aspect, embodiments of the present application provide a computer program product, which when run on a controller, causes the controller to execute the robot arm angle sensor zero calibration method of any one of the second aspects.
Compared with the prior art, the embodiment of the application has the advantages that:
the embodiment of the application discloses arm angle sensor zero calibration system, this system receive the zero calibration instruction through the controller after, control first hydro-cylinder to fourth hydro-cylinder and stretch out and draw back for displacement sensor's measured value is the flexible numerical value of predetermineeing, and first arm angle and second arm angle at this moment are the benchmark zero-bit, and the accessible is assigned and is given controller reset instruction, returns to zero the angle sensor numerical value of arm. The zero calibration method has the advantages that zero calibration is creatively carried out on the angle of the mechanical arm through the displacement of the mechanical arm, the problem of quick zero calibration of the mechanical arm angle sensor under the environment without special equipment and professionals is solved, errors possibly occurring in artificial calibration are avoided, zero calibration time is greatly saved, and the working efficiency of constructors is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a front view of a robot arm portion provided in accordance with an embodiment of the present application;
FIG. 2 is a top view of a portion of a robot arm provided in accordance with an embodiment of the present application;
FIG. 3 is a schematic block diagram of controller functionality provided by embodiments of the present application;
FIG. 4 is a schematic flow chart illustrating a method for zeroing a robotic arm angle sensor according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a controller according to an embodiment of the present application.
In the figure: 1 a first angle sensor; 2 a second angle sensor; 3 a third angle sensor; 4 a fourth angular sensor; 5, a first oil cylinder; 6, a second oil cylinder; 7 a third oil cylinder; 8, a fourth oil cylinder; 9 a connecting seat; 10 a first robot arm; 11 second robot arm.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made with reference to the accompanying drawings.
The embodiment of the application provides a zero calibration system for a mechanical arm angle sensor, which comprises a mechanical arm and a controller. Fig. 1 illustrates a front view of a robot arm portion provided in an embodiment of the present application, and fig. 2 illustrates a top view of a robot arm portion provided in an embodiment of the present application. For convenience of explanation, only the portions related to the embodiments of the present application are shown, and the robot arm will be described with reference to fig. 1 and 2.
In some embodiments, the robotic arm may comprise: the device comprises a first oil cylinder 5, a second oil cylinder 6, a third oil cylinder 7, a fourth oil cylinder 8, a connecting seat 9, a first mechanical arm 10 and a second mechanical arm 11.
Illustratively, the first oil cylinder 5 and the second oil cylinder 6 are installed between the connecting base 9 and the first mechanical arm 10, and are used for controlling the movement of the first mechanical arm 10. For example, when the first cylinder 5 and the second cylinder 6 are simultaneously extended, the first robot arm 10 is extended; when the first oil cylinder 5 and the second oil cylinder 6 are shortened simultaneously, the first mechanical arm 10 is shortened; when the first oil cylinder 5 stretches and retracts and the second oil cylinder 6 is kept still, the first mechanical arm 10 can swing left and right; when the first oil cylinder 5 is kept still and the second oil cylinder 6 is extended, the first mechanical arm 10 can also swing left and right.
Illustratively, the third cylinder 7 and the fourth cylinder 8 are mounted between the first robot arm 10 and the second robot arm 11 for controlling the operation of the second robot arm 11. For example, when the third oil cylinder 7 and the fourth oil cylinder 8 are simultaneously extended and retracted, the second mechanical arm 11 is also extended and retracted; when the third oil cylinder 7 or the fourth oil cylinder 8 stretches, the second mechanical arm 11 can swing left and right.
In some embodiments, the robot arm further comprises a displacement sensor for measuring the extension and retraction values of the first to fourth cylinders 5 to 8.
It is noted that any type of displacement sensor is suitable for the present application and no further limitation on the type of displacement sensor is intended.
For example, the displacement sensor in the present application is built in the first to fourth cylinders 5 to 8. The first displacement sensor is arranged in the first oil cylinder 5, the second displacement sensor is arranged in the second oil cylinder 6, the third displacement sensor is arranged in the third oil cylinder 7, and the fourth displacement sensor is arranged in the fourth oil cylinder 8.
In some embodiments, the robotic arm further comprises a first angle sensor 1, a second angle sensor 2, a third angle sensor 3, a fourth angle sensor 4. The first to fourth angle sensors 1 to 4 are used to measure the angles of the first and second robot arms 10 and 11. Illustratively, the first angle sensor 1 is mounted at a connection position of the connection seat 9 and the first mechanical arm 10, and is used for measuring a pitch angle of the first mechanical arm 10. The joint is a rotatable device that rotates in response to the pitch motion of the first robot arm 10.
Illustratively, the second angle sensor 2 is mounted at a joint of the connecting base 9 and the first mechanical arm 10, and is used for measuring a swing angle of the first mechanical arm 10. The joint is also a rotatable device that rotates with the side-to-side swinging of the first robot arm 10.
Illustratively, the third angle sensor 3 is mounted at the junction of the first mechanical arm 10 and the second mechanical arm 11, and is used for measuring the pitch angle of the second mechanical arm 11. Similarly, the joint is also a rotatable device which rotates with the pitch motion of the second mechanical arm 11.
Illustratively, the fourth angle sensor 4 is mounted at a joint of the first robot arm 10 and the second robot arm 11, and is configured to measure a swing angle of the second robot arm 11. The joint is also a rotatable device that rotates with the side-to-side swinging of the second robot arm 11.
The above description is made on the mechanical arm in the zero calibration system for the mechanical arm angle sensor provided by the present application, and the following description is made on the controller in the zero calibration system for the mechanical arm angle sensor. Fig. 3 shows a schematic block diagram of controller functionality provided by an embodiment of the present application.
The controller is an execution main body of the zero calibration system, and has a plurality of functions of storing an operation program, receiving a user instruction, acquiring operation numerical values of various components, controlling the various components to act, and the like. For ease of illustration, fig. 3 shows only some of the functionality associated with embodiments of the present application.
Referring to fig. 3, the controller may be configured to receive a zero calibration instruction, control the first to fourth cylinders 5 to 8 to extend and retract, so that a measurement value of the displacement sensor is a preset extension and retraction value, acquire current angle values of the first and second arms 10 and 11 through the angle sensor, and respond to a reset instruction to zero the current angle values of the angle sensor.
The specific function of the controller is explained in detail in the following method of zero calibration of the arm angle sensor.
The embodiment of the application also provides a zero calibration method for the mechanical arm angle sensor, which is applied to a controller of a full-computer trolley. Fig. 4 is a schematic flowchart of a zero calibration method for a robot arm angle sensor according to an embodiment of the present disclosure, and referring to fig. 4, the method may include steps 101 to 104, which are detailed as follows:
in step 101, a zero calibration instruction is received.
In some embodiments, the controller may receive a zero instruction. Those skilled in the art should understand that the form of receiving the zero calibration command is various, and may be implemented by button operation of a console in the fully computerized trolley, or by click operation of a display on the console, or by button operation of a joystick in the fully computerized trolley, and the like, and the present application is not limited further.
In step 102, in response to the zero calibration formulation, the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder are controlled to stretch, so that the measurement value of the displacement sensor is a preset stretching numerical value.
In some embodiments, the controller receives the zeroing instruction and responds, and the response may be followed by the following steps:
and 1021, acquiring current expansion values of the first oil cylinder to the fourth oil cylinder.
In some embodiments, the controller may obtain the expansion and contraction values of the first to fourth cylinders through the displacement sensor.
Illustratively, the first to fourth displacement sensors are built in the first to fourth cylinders as described above. Therefore, the first displacement sensor can acquire the stretching numerical value of the first oil cylinder in real time, the second displacement sensor can acquire the stretching numerical value of the second oil cylinder in real time, the third displacement sensor can acquire the stretching numerical value of the third oil cylinder in real time, and the fourth displacement sensor can acquire the stretching numerical value of the fourth oil cylinder in real time.
Therefore, the controller can acquire the stretching numerical values of the first oil cylinder to the fourth oil cylinder by acquiring the current numerical values of the first displacement sensor to the fourth displacement sensor.
Optionally, the controller controls the first oil cylinder to the fourth oil cylinder to extend and retract through an electric proportional hydraulic valve, so that accurate control over the plurality of oil cylinders is achieved.
And 1022, stretching the first oil cylinder to the fourth oil cylinder based on the current stretching numerical value and the preset stretching numerical value, so that the stretching numerical values of the first oil cylinder to the fourth oil cylinder are equal to the preset stretching numerical value.
In some embodiments, the controller stores a reference zero position of the fully computerized trolley when the trolley leaves a factory. The reference data is the position of the first arm and the second arm, respectively, at which the angle value from the first angle sensor to the fourth angle sensor is 0, and may be understood as the position of the arm at the time when the angle data of the angle sensor is 0.
Alternatively, the reference data may be reset after the robot arm assembly is subsequently replaced.
Furthermore, the positions of the first mechanical arm and the second mechanical arm are determined by the stretching numerical values of the first oil cylinder to the fourth oil cylinder, so that zero calibration of the mechanical arm angle sensor can be realized by controlling the shrinkage of the first oil cylinder to the fourth oil cylinder.
Optionally, four preset telescopic numerical values are set in the controller of the application, and correspond to the telescopic numerical values of the first oil cylinder to the fourth oil cylinder respectively.
In some embodiments, the first cylinder has a first predetermined extension value and the second cylinder has a second predetermined extension value, the first arm is in a unique position in which the first angle sensor and the second angle sensor should be in a reference zero position.
In some embodiments, the third cylinder has a telescoping value equal to the third preset telescoping value, and the fourth cylinder has a telescoping value equal to the fourth preset telescoping value, such that the second arm is in a unique position in which the third angle sensor and the fourth angle sensor should be reference zero positions.
In the step, the displacement of the mechanical arm is determined by controlling the telescopic numerical value of the oil cylinder, and the reference zero position of the angle of the mechanical arm is found.
In step 103, current angle values of the first mechanical arm and the second mechanical arm are obtained through the angle sensor.
In some embodiments, the controller may also obtain current angle values of the first and second robotic arms via the angle sensor.
For example, as described above, the first angle sensor may acquire a pitch angle of the first robot arm, the second angle sensor may acquire a swing angle of the first robot arm, the third angle sensor may acquire a pitch angle of the second robot arm, and the fourth angle sensor may acquire a swing angle of the second robot arm.
Optionally, the controller may obtain the current angle values of the first to fourth angle sensors in real time, or may obtain the current angle values of the first to fourth angle sensors at time intervals.
Optionally, the controller may further control when to acquire the current angle value according to the expansion and contraction value of the displacement sensor. For example, when the controller acquires that the telescopic numerical value of at least one displacement sensor is 0.1m and reaches a preset telescopic numerical value, the controller starts to acquire the current angle numerical value of the angle sensor.
It should be understood by those skilled in the art that when the controller obtains the angle value does not affect the overall scheme of the present application, and therefore, no further limitation is made to the controller if obtaining the angle value of the angle sensor.
In step 104, the current angle value is zeroed in response to the reset command.
In some embodiments, the controller may also return the current angle value to zero in response to a reset instruction. For example, when the controller executes step 104, the following steps may be performed:
in step 1041, a reset instruction of the target user is received.
In some embodiments, the controller may receive a reset command issued after the target user confirms that the angle sensor display is normal.
In a real scene, the target user can see that a plurality of current angle numerical values that a plurality of angle sensors gathered change in real time through observing the display on the control cabinet, if one current angle numerical value of a plurality of current angle numerical values does not change, or the law of change is different with the change law of other current angle numerical values, can tentatively judge that certain angle sensor has a problem, needs to be changed.
It should be understood by those skilled in the art that the controller may receive the zero calibration command in various forms, which may be implemented by button operation of a console in the fully computerized dolly, click operation of a display on the console, button operation of an operating lever in the fully computerized dolly, or the like, and the present application is not limited further.
In step 1042, a reset instruction is sent to the angle sensor to zero the current angle value.
In some embodiments, the controller may control and calibrate the first to fourth angle sensors to zero current angle values of the first to fourth angle sensors.
The embodiment of the present application further provides a controller, and referring to fig. 5, the controller 300 may include: at least one processor 310, a memory 320, wherein the memory 320 stores a computer program 321 that is executable on the at least one processor 310, and the processor 310 executes the computer program 321 to implement the steps in any of the above-mentioned method embodiments, such as the steps 101 to 104 in the embodiment shown in fig. 4. Alternatively, the processor 310 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 321.
Illustratively, the computer program 321 may be divided into one or more modules/units, which are stored in the memory 320 and executed by the processor 310 to accomplish the present application. The one or more modules/units may be a series of computer program segments capable of performing certain functions, the program segments describing the execution of the computer program in the controller 300.
Those skilled in the art will appreciate that fig. 5 is merely an example of a controller and is not meant to be limiting and may include more or fewer components than those shown, or some components in combination, or different components such as input output devices, network access devices, buses, etc.
The Processor 310 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 320 may be an internal storage unit of the controller, or may be an external storage device of the controller, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The memory 320 is used to store the computer programs and other programs and data required by the controller. The memory 320 may also be used to temporarily store data that has been output or is to be output.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The zero calibration method for the mechanical arm angle sensor can be applied to a full-computer trolley, and the full-computer trolley can be a drilling trolley, an anchor rod trolley and the like.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program may implement the steps in each embodiment of the zero calibration method for the mechanical arm angle sensor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A zero calibration system for a mechanical arm angle sensor is characterized by comprising a mechanical arm and a controller;
the mechanical arm comprises a first mechanical arm, a second mechanical arm, a first oil cylinder, a second oil cylinder, a third oil cylinder and a fourth oil cylinder, the first oil cylinder and/or the second oil cylinder are/is stretched to control the movement of the first mechanical arm, the third oil cylinder and/or the fourth oil cylinder are/is stretched to control the movement of the second mechanical arm, the mechanical arm further comprises a displacement sensor for measuring the stretching numerical value of the first oil cylinder to the fourth oil cylinder, and an angle sensor for measuring the angle of the first mechanical arm and the angle of the second mechanical arm;
the controller is used for receiving a zero calibration instruction, controlling the first oil cylinder to the fourth oil cylinder to stretch, enabling the measurement value of the displacement sensor to be a preset stretching numerical value, obtaining the current angle numerical value of the first mechanical arm and the second mechanical arm through the angle sensor, and responding to a reset instruction to zero the current angle numerical value.
2. The zero calibration system for an angle sensor of a mechanical arm according to claim 1, wherein the first cylinder and the second cylinder are located between a connecting base and the first mechanical arm, and the third cylinder and the fourth cylinder are located between the first mechanical arm and the second mechanical arm;
the angle sensor comprises a first angle sensor, a second angle sensor, a third angle sensor and a fourth angle sensor, wherein the first angle sensor is used for measuring the pitching angle of the first mechanical arm, the second angle sensor is used for measuring the swinging angle of the first mechanical arm, the third angle sensor is used for measuring the pitching angle of the second mechanical arm, and the fourth angle sensor is used for measuring the swinging angle of the second mechanical arm;
the first angle sensor and the second angle sensor are positioned at the joint of the connecting seat and the first mechanical arm, and the third angle sensor and the fourth angle sensor are positioned at the joint of the first mechanical arm and the second mechanical arm;
the displacement sensor is arranged in the first oil cylinder to the fourth oil cylinder.
3. The zero calibration method of the mechanical arm angle sensor is characterized by being applied to a controller of a fully computerized trolley, and comprising the following steps of:
receiving a zero calibration instruction;
responding to the zero calibration instruction, and controlling the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder to stretch, so that the measurement value of a displacement sensor is a preset stretching numerical value, wherein the displacement sensor is used for measuring the stretching numerical values of the first oil cylinder to the fourth oil cylinder;
acquiring current angle values of the first mechanical arm and the second mechanical arm through an angle sensor;
and responding to a reset instruction, and returning the current angle value to zero.
4. The method for zero calibration of an angle sensor of a mechanical arm according to claim 3, wherein the step of controlling the first cylinder, the second cylinder, the third cylinder and the fourth cylinder to extend and retract so that the measurement value of the displacement sensor is a preset extension and retraction value comprises the steps of:
acquiring current telescopic numerical values of the first oil cylinder to the fourth oil cylinder;
based on the current telescopic numerical value and the preset telescopic numerical value, the first oil cylinder is telescopic to the fourth oil cylinder, so that the telescopic numerical value of the first oil cylinder to the fourth oil cylinder is equal to the preset telescopic numerical value.
5. The zero calibration method for the mechanical arm angle sensor, as recited in claim 4, wherein the expansion and contraction of the first oil cylinder to the fourth oil cylinder are controlled by an electro-proportional hydraulic valve;
acquiring current stretching numerical values of the first oil cylinder to the fourth oil cylinder by acquiring data of the displacement sensor, wherein the displacement sensor comprises a first displacement sensor, a second displacement sensor, a third displacement sensor and a fourth displacement sensor;
the first displacement sensor is used for collecting the telescopic numerical value of the first oil cylinder in real time, the second displacement sensor is used for collecting the telescopic numerical value of the second oil cylinder in real time, the third displacement sensor is used for collecting the telescopic numerical value of the third oil cylinder in real time, and the fourth displacement sensor is used for collecting the telescopic numerical value of the fourth oil cylinder in real time.
6. The method of zero calibration for an angle sensor of a robotic arm of claim 3, wherein the first angle sensor and the second angle sensor reach a reference zero position when the extension value of the first cylinder equals a first predetermined extension value and the extension value of the second cylinder equals a second predetermined extension value;
and when the telescopic numerical value of the third oil cylinder is equal to a fourth preset telescopic numerical value, the third angle sensor and the fourth angle sensor reach a reference zero position.
7. The method of zeroing a robotic arm angle sensor of claim 3, wherein said zeroing the current angle value in response to a reset command comprises:
receiving a reset instruction of a target user, the reset instruction being determined based on target user confirmation;
and sending the reset instruction to a first angle sensor to a fourth angle sensor, and resetting the current angle numerical value to zero.
8. A fully computerized trolley comprising a robotic arm angle sensor zeroing system according to any of claims 1-2.
9. A controller comprising a memory and a processor, the memory having stored therein a computer program operable on the processor, wherein the processor, when executing the computer program, implements a method of zero calibration of a robot arm angle sensor according to any of claims 3 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of zero calibration of a robot arm angle sensor according to any one of claims 3 to 7.
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