CN115077831A - Posture measuring system, posture measuring method and vibration testing system - Google Patents
Posture measuring system, posture measuring method and vibration testing system Download PDFInfo
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- CN115077831A CN115077831A CN202210768677.4A CN202210768677A CN115077831A CN 115077831 A CN115077831 A CN 115077831A CN 202210768677 A CN202210768677 A CN 202210768677A CN 115077831 A CN115077831 A CN 115077831A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/027—Specimen mounting arrangements, e.g. table head adapters
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Abstract
The invention belongs to the technical field of vibration detection, and particularly discloses a posture measuring system, a posture measuring method and a vibration testing system. The posture measuring system comprises: the mounting bracket is used for connecting the robot; the distance sensors are arranged on the mounting bracket and at least two distance sensors are arranged at intervals, and the distance sensors can send out detection signals; and the data calculation module is in communication connection with the distance sensor and can calculate and acquire the pose parameters of the robot according to the measurement value of the distance sensor. The attitude measurement method adopts the attitude measurement system to detect the attitude of the robot, and the vibration test system comprises the attitude measurement system. The posture measuring system, the posture measuring method and the vibration testing system disclosed by the invention can improve the posture detection precision and reduce the detection cost.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a posture measuring system, a posture measuring method and a vibration testing system.
Background
With the progress of science and technology and the continuous development of robot technology, the robot is widely applied to various fields such as logistics, catering, pavement cleaning, buildings and the like so as to assist or replace human beings to execute various kinds of work, improve the working efficiency and reduce the artificial fatigue degree and the artificial labor cost.
The robot usually has vibration in operation or handling process, and its anti vibration performance need be considered in the design manufacturing process to the robot, and need carry out the vibration performance test after finishing making to solve the robot and easily topple over or the great problem of vibration range under the external impact effect when using.
In an existing vibration test system for a robot, a gyroscope or an inertial sensor is generally adopted to detect the posture of the robot in a vibration process, so that the requirement of detecting the vibration characteristic of the robot is met. However, the gyroscope or the inertial sensor is generally large in attitude measurement error caused by acceleration interference, so that the accuracy of the robot attitude detection result is low, and the accuracy of the vibration test is influenced.
Disclosure of Invention
The invention aims to provide a posture measuring system, a posture measuring method and a vibration testing system, which are used for improving the precision of robot vibration testing and reducing the vibration testing cost.
In order to achieve the purpose, the invention adopts the following technical scheme:
a posture measurement system comprising:
the mounting bracket is used for being connected with the robot;
the distance sensors are arranged on the mounting bracket and at least two distance sensors are arranged at intervals, and the distance sensors can send out detection signals;
and the data calculation module is in communication connection with the distance sensor and can calculate and acquire the pose parameters of the robot according to the measurement value of the distance sensor.
As an optional technical solution of the attitude determination system, at least two distance sensors are arranged at intervals along a first direction, the first direction can be overlapped with the front-back direction of the robot, and detection signals of the two distance sensors in the first direction are parallel;
and/or two distance sensors are arranged at intervals along a second direction, the second direction can be coincided with the left direction and the right direction of the robot, and detection signals of the two distance sensors in the second direction are parallel.
As an optional technical solution of the posture measuring system, four distance sensors are provided, the four distance sensors are distributed in a rectangular shape, and the rectangular shape has a side extending along the first direction.
As an optional technical scheme of the posture measuring system, the mounting bracket comprises two cross frames which are arranged oppositely and at intervals and a connecting frame connected between the two cross frames, and the distance sensors are arranged at two ends of each cross frame;
and/or the distance sensor is hinged with the mounting bracket, so that light rays emitted by the distance sensor are always vertically downward.
As an optional technical scheme of the posture measuring system, the transverse frame is of an inverted U-shaped structure, the connecting frame is connected with the transverse edge of the inverted U-shaped structure, and the two lower ends of the inverted U-shaped structure are respectively provided with the distance sensors.
As an optional technical solution of the attitude measurement system, the attitude measurement system further includes a reflection plate, the reflection plate is disposed below the distance sensor at an interval, and the reflection plate is configured to reflect a detection signal of the distance sensor.
A posture measuring method for detecting the posture of a robot by adopting the posture measuring system comprises the following steps:
before the robot is tested, the mounting bracket is fixed on the robot, and detection signals of the distance sensors are all arranged downwards;
in the testing process, the distance sensor detects the measured value from the detection surface in real time;
and the data calculation module calculates the pose parameters of the robot in real time according to the measured values.
As an optional technical solution of the attitude measurement method, the attitude parameter includes a pitch attitude angle, and the attitude measurement method further includes: calculating the pitch attitude angle according to a pair of the distance sensors arranged at intervals along the front-back direction of the robot, wherein the pitch attitude angle is as follows:
wherein alpha is a pitch attitude angle, d 11 And d 12 Respectively measured values of two of said distance sensors, L 10 Is the spacing between two of said distance sensors;
and/or the pose parameters comprise left and right inclination angles, and the pose measurement method further comprises the following steps: calculating the left-right inclination angle from a pair of the distance sensors arranged in the left-right direction of the robot, the left-right inclination angle being:
wherein beta is a pitch attitude angle, d 21 And d 22 Respectively measured values of two of said distance sensors, L 20 Is the distance between two of said distance sensors.
As an optional technical solution of the attitude determination method, the distance sensor has n pairs of distance sensors arranged at intervals in the left-right direction, and each pair of distance sensors includes two distance sensors arranged at intervals in the front-back direction;
the attitude measurement method comprises the following steps:
calculating a corresponding pitching attitude angle according to each pair of distance sensors;
and calculating the average pitch attitude angle of all the pitch attitude angles, and taking the average pitch attitude angle as the pitch attitude angle of the whole robot.
As an optional technical solution of the posture measuring method, the distance sensor has m pairs of distance sensors arranged at intervals along the front-back direction, and each pair of distance sensors includes two distance sensors arranged at intervals along the left-right direction;
the attitude measurement method further comprises the following steps:
calculating a corresponding left-right inclination angle according to each pair of the distance sensors;
an average left-right inclination angle of all the left-right inclination angles is calculated, and the average left-right inclination angle is used as the left-right inclination angle of the whole robot.
As an optional technical solution of the attitude determination method, the attitude determination method further includes: before the robot is subjected to vibration test, the distance sensors are adjusted so that all the distance sensors are located at the same height and/or the detection signals of the distance sensors are vertically downward.
A vibration test system comprises a vibration test table and the posture measurement system, or the posture of a robot can be detected by the posture measurement method.
The invention has the beneficial effects that:
according to the attitude measurement system provided by the invention, the attitude parameters of the robot are detected by arranging at least one pair of distance sensors, so that the attitude measurement algorithm of the robot can be simplified; meanwhile, as the distance sensor is arranged on the robot through the mounting bracket, the posture change of the robot is reflected on the change of the measuring value of the distance sensor in real time, so that the posture of the robot can be acquired in real time, and the detection precision of the posture of the robot is improved; meanwhile, compared with a gyroscope or an inertial sensor for detecting the position, the distance sensor is low in cost, high in anti-interference capability and small in detection error, so that the detection precision is effectively improved, and the detection cost is reduced.
According to the attitude measurement method provided by the invention, the attitude parameters of the robot are calculated through the measurement values detected by the distance sensor, the accuracy of the calculation result is high, and the attitude change of the robot can be effectively reflected in real time, so that the vibration detection effect is improved.
According to the vibration testing system provided by the invention, the posture of the robot in the vibration testing process is detected by adopting the posture detecting system, so that the detection precision is high, the testing effect is good, and the testing cost is low.
Drawings
FIG. 1 is a schematic structural diagram of a vibration testing system provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot and a posture measuring system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a posture measuring system according to an embodiment of the present invention.
The figures are labeled as follows:
100. a vibration test bench; 101. a support surface; 200. a posture measuring system; 201. mounting a bracket; 2011. a cross frame; 2012. a connecting frame; 202. a distance sensor; 203. a reflective plate; 300. a control cabinet; 301. a display screen; 302. a control switch; 303. a cabinet body; 400. a robot; 401. moving the chassis; 402. a rack; 4021. a suspension; 4022. a tray.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1, the present embodiment provides a vibration test system that may be used to perform a vibration test on a robot 400 to detect the vibration performance of the robot 400.
As shown in fig. 1, the vibration testing system includes a vibration testing table 100, a control system and a posture measuring system 200, the vibration testing table 100 includes a supporting table and a vibration applying mechanism, the supporting table has a supporting surface 101 horizontally arranged, the robot 400 is carried on the supporting surface 101, and the vibration applying mechanism is used for applying vibration to the robot 400; the control system is in communication connection with the vibration applying mechanism to control the frequency and/or amplitude of the vibration applied by the vibration applying mechanism; the posture measuring system 200 is used for detecting the posture of the robot 400 during the vibration test to obtain the vibration performance of the robot 400.
The vibration testing table 100 may be any existing testing table capable of applying vibration to an object to be tested, which is not the main point of improvement of the present invention, and the present invention does not specifically limit the structure of the vibration testing table 100.
As shown in fig. 1, the control system can control the amplitude and/or frequency of the vibration applied to the robot 400 by the vibration testing table 100, thereby simulating various vibrations. The control system may be configured with reference to an existing configuration, which is not the focus of the present invention and will not be described herein.
As shown in fig. 1 to 3, the pose detection system 200 is used to detect the pose of the robot 400 during the vibration test, so as to obtain the stability of the robot 400 during the vibration test. In this embodiment, the posture measuring system 200 includes a mounting bracket 201 and at least two distance sensors 202, the distance sensors 202 are mounted on the mounting bracket 201, the distance sensors 202 are arranged at intervals along a first direction and/or a second direction, the mounting bracket 201 is used for being connected with the robot 400, and the distance sensors 202 can send out detection signals.
In the vibration test, the detection head of the distance sensor 202 faces vertically downward toward the supporting surface 101, and the detection surface is parallel to the supporting surface 101. If the robot 400 is provided with two distance sensors 202 at intervals in the front-rear direction (i.e., the second direction), the pitch attitude angle of the robot 400 can be calculated and obtained from the distance values detected by the two distance sensors 202 arranged in the front-rear direction during the vibration test; if the robot 400 is provided with two distance sensors 202 spaced apart in the left-right direction (i.e., the first direction), the left-right tilt attitude angle of the robot 400 can be acquired by arranging the distance values of the two distance sensors 202 left and right.
That is, the posture measuring system 200 provided in this embodiment can simplify the posture measuring algorithm of the robot 400 by providing at least one pair of distance sensors 202 to detect the posture parameters of the robot 400; meanwhile, as the distance sensor 202 is mounted on the robot 400 through the mounting bracket 201, the posture change of the robot 400 is reflected on the change of the measurement value of the distance sensor 202 in real time, so that the posture of the robot 400 can be acquired in real time, and the detection precision of the posture of the robot 400 is improved; meanwhile, compared with a gyroscope or an inertial sensor for detecting the position, the distance sensor 202 is low in cost, high in anti-interference capability and small in detection error, so that the detection precision is effectively improved, and the detection cost is reduced.
It should be noted that the pose parameters are position and attitude parameters of the robot, and include at least a pitch attitude angle or a left-right tilt angle. The detection signal may be a light signal, i.e. detecting light, or a wave signal, e.g. detecting sound wave.
In the present embodiment, the distance sensor 202 emits a detection signal toward the lower and lower detection surface. The distance between a pair of distance sensors 202 arranged at intervals in the front-rear direction is set to L 10 During the vibration test, the distance detected by one of the distance sensors 202A value of d 11 The distance value detected by the other distance sensor 202 is d 12 Then the pitch attitude angle α of the robot 400 is:
let L be the distance between a pair of distance sensors 202 spaced in the left-right direction of the robot 400 20 During the vibration test, one of the distance sensors 202 detects a distance value d 21 The distance detected by the other distance sensor 202 is d 22 Then, the left-right tilt angle β of the robot 400 is:
in order to improve the detection accuracy and to achieve simultaneous detection of the pitch attitude angle α and the bank angle β by the robot 400, in the present embodiment, it is preferable that the distance sensors 202 are provided in four, at least two distance sensors 202 are provided at intervals in the first direction, and at least two distance sensors 202 are provided at intervals in the second direction, whereby detection of the pitch attitude angle α and the bank angle β can be achieved simultaneously.
Preferably, two pairs of distance sensors 202 are spaced apart along the first direction, and each pair of distance sensors 202 includes two distance sensors 202 spaced apart along the second direction. In this arrangement, there are two pairs of the distance sensors 202 provided in the front-rear direction of the robot 400, and there are also two pairs of the distance sensors 202 provided in the left-right direction of the robot 400, so that the accuracy of detection of the pitch attitude angle α and the left-right inclination angle β can be improved.
For convenience of description, the four distance sensors 202 are respectively a first distance sensor, a second distance sensor, a third distance sensor and a fourth distance sensor, wherein the first distance sensor and the second distance sensor are arranged at intervals along a first direction, and the third distance sensor and the fourth distance sensor are arranged at intervals along the first direction; first distance sensor and fourth distanceThe distance sensor is arranged along the second direction at intervals, and the second distance sensor and the third distance sensor are arranged along the second direction at intervals. The distance between the first distance sensor and the second distance sensor and the distance between the third distance sensor and the fourth distance sensor are both L 1 The distance between the first distance sensor and the fourth distance sensor and the distance between the second distance sensor and the third distance sensor are both L 2 。
In the vibration detection process, the distance value detected by the first distance sensor is d 1 The distance value detected by the second distance sensor is d 2 The third distance sensor detects a distance value d 3 The fourth distance sensor detects a distance value d 4 . Then pass d 1 And d 4 A pitch tilt angle can be calculated:
by d 2 And d 3 Another pitch tilt angle can be calculated:
the pitch tilt angle of the robot 400 as a whole may be the average of two pitch tilt angles:
by d 1 And d 2 One left-right tilt angle can be calculated:
by d 3 And d 4 Another left-right tilt angle can be calculated:
the left-right tilt angle of the robot 400 as a whole is an average of two left-right tilt angles:
that is, the four distance sensors 202 can calculate and acquire the average pitch angle and the average right-left tilt angle of the robot 400, so that the problem of detection accuracy reduction caused by both pitch tilt and right-left tilt of the robot 400 is avoided, and the pose detection accuracy is improved.
In another embodiment, the distance sensors 202 may also have n pairs of distance sensors 202 spaced apart in the left-right direction, each pair of distance sensors 202 including two distance sensors 202 spaced apart in the front-rear direction, where n is a positive integer greater than or equal to 2. When the pitch inclination angle of the robot 400 is calculated, a corresponding pitch attitude angle is calculated from each pair of the distance sensors 202, and then an average pitch attitude angle of all the pitch attitude angles is calculated, and the average pitch attitude angle is used as the pitch attitude angle of the entire robot 400.
In yet another embodiment, the distance sensors 202 have m pairs of distance sensors 202 spaced apart in the front-rear direction, each pair of distance sensors 202 including two distance sensors 202 spaced apart in the left-right direction, where m is a positive integer greater than or equal to 2. When calculating the left-right inclination angle of the robot 400, a corresponding left-right inclination angle is calculated from each pair of the distance sensors 202, and then an average left-right inclination angle of all the left-right inclination angles is calculated, and the average left-right inclination angle is used as the left-right inclination angle of the entire robot 400.
To further improve the detection accuracy, the orthogonal projection of the center of gravity of the robot 400 on the supporting surface 101 is located at the center of the rectangle formed by the orthogonal projections of the four distance sensors 202 on the supporting surface 101 before the vibration test. That is, two distance sensors 202 disposed opposite to each other in the first direction are symmetrically disposed with respect to a first longitudinal plane passing through the center of gravity of the robot 400, and two distance sensors 202 disposed opposite to each other in the second direction are symmetrically disposed with respect to a second longitudinal plane passing through the center of gravity of the robot 400. This arrangement enables the average pitch angle and the average yaw angle obtained by averaging to reflect the entire pitch angle and the entire yaw angle of the robot 400 more.
In this embodiment, the mounting bracket 201 includes two cross bars 2011 opposite to each other along the second direction and spaced from each other, and a connecting frame 2012 connected between the two cross bars 2011, where two ends of each cross bar 2011 are provided with the distance sensor 202, and the connecting frame 2012 is erected on the robot 400. The structure of the mounting bracket 201 is simple, and the interference between the mounting bracket and the robot 400 can be reduced.
In this embodiment, the robot 400 is a meal delivery robot, and includes a moving chassis 401 and a shelf 402, the moving chassis 401 has a self-driving function, and the bottom of the moving chassis 401 is provided with a driving wheel 4011 and a driven wheel 4012; supporter 402 is connected with removal chassis 401 including being the suspension 4021 of the setting of the type of falling U, two lower extremes of suspension 4021, is provided with tray 4022 between two cantilevers of suspension 4021, and tray 4022 is provided with a plurality of along the direction of height interval.
The connecting rack 2012 is erected on one of the trays 4022 and detachably connected to the tray 4022 or the suspension 4021, and the two cross frames 2011 are respectively located on two sides of the suspension 4021 in the front-back direction, so that the connecting rack 201 and the robot 400 can be conveniently connected, and interference can be effectively avoided.
It is understood that the specific structure of the mounting bracket 201 may be adaptively designed according to the type and specific structure of the robot 400 to be inspected, as long as the mounting of the distance sensor 202 on the mounting bracket 201, the fixing of the mounting bracket 201 on the robot 400, and the prevention of the interference of the mounting bracket 201 with the robot 400 are achieved.
In this embodiment, the cross bar 2011 has an inverted U-shaped plate structure, the connecting frame 2012 is connected to the lateral edges of the two cross bars 2011, and the two lower ends of the cross bars 2011 are respectively connected to the distance sensors 202. The connecting frame 2012 is preferably a U-shaped structure, and two ends of the U-shaped structure are connected with the transverse edges of the two transverse frames 2011 respectively to increase the connecting area and improve the connection reliability. The connecting brackets 2012 are preferably spaced apart in two or more directions along the first direction to improve the overall structural strength and rigidity of the mounting bracket 201.
In this embodiment, the distance sensor 202 is fixedly mounted on the cross frame 2011 and detachably connected to the cross frame 2011, so as to improve the stability of the distance sensor 202. In the initial installation state (i.e., before the vibration test), at least one pair of distance sensors 202 spaced apart in the first direction is located at the same installation height, and at least each pair of distance sensors 202 spaced apart in the second direction is located at the same installation height. That is, a first line of a pair of distance sensors 202 arranged at intervals in the left-right direction of the robot 400 is parallel to the supporting surface 101, and a second line of a pair of distance sensors 202 arranged at intervals in the front-rear direction is parallel to the supporting surface 101. Thus, the pitch and tilt of the robot 400 during vibration directly reflect the degree of tilt of the second link with respect to the supporting surface 101, and the left-right tilt of the robot 400 during vibration directly reflects the degree of tilt of the first link with respect to the supporting surface 101. Therefore, even if the light emitted by the distance sensor 202 is inclined in the vertical direction during the vibration process, the detection result is not affected.
Preferably, in the initial installation state, all the distance sensors 202 are located at the same height, i.e. the plane in which all the distance sensors 202 are located is parallel to the support surface 101.
In the initial installation state, the detection signals from the two distance sensors 202 arranged at an interval in the first direction are parallel, and preferably the detection signals are vertically arranged. The detection signals from the two distance sensors 202 spaced apart in the second direction are parallel, and preferably the detection signals are arranged vertically. So as to simplify the calculation method and improve the detection precision. In the present embodiment, in the initial installation state, the detection signals of all the distance sensors 202 are vertically arranged.
In other embodiments, the distance sensor 202 may also be hinged to the cross bar 2011, so that the distance sensor 202 keeps the detection signal 202 vertically downward all the time under the action of gravity.
In order to further improve the accuracy of the posture detection, the posture measuring system 200 further includes a reflective plate 203, the reflective plate 203 is laid on the supporting surface 101 to reflect the light emitted from the distance sensor 202, so as to improve the detection accuracy, the upper surface of the reflective plate 203 forms the detection surface, and the reflective plate 203 is made of a material which is easy to reflect light. In other embodiments, the support surface 101 may also form the detection surface.
Preferably, the reflecting plate 203 is provided with two reflecting plates 203 at intervals along the first direction or the second direction, and the two distance sensors 202 are arranged right opposite to the same reflecting plate 203, so that the cost is reduced, the structure is simplified, and the problem that light rays emitted by the distance sensors 202 cannot irradiate on the reflecting plate 203 due to the inclination of the robot 400 can be avoided. In the present embodiment, the reflective plate 203 extends in the second direction, two distance sensors 202 are disposed at intervals in the first direction, and the two distance sensors 202 facing each other and disposed at intervals in the second direction share the same reflective plate 203.
The distance sensor 202 is preferably a laser distance measuring sensor, the distance measuring precision of the laser distance measuring sensor is high, and the data updating frequency can be as high as 500hz, so that the detection precision of the robot 400 during rapid movement can be ensured, and the detection effect is improved.
The posture measuring system 200 further comprises a data acquisition module and a data calculation module, wherein the data acquisition module is used for receiving the distance value detected by the distance sensor 202, the data calculation module is in communication connection with the data acquisition module, and the data calculation module is used for calculating the pitch angle value and/or the left-right inclination angle according to the detected distance value. The data acquisition module, the data calculation module and the distance sensor 202 are electrically connected with the controller.
The embodiment of the application also provides a posture measuring method, so that the posture measuring system provided by the embodiment one is used for detecting the posture of the robot in the vibration test process. The structure of the posture measuring system is not described in detail in this embodiment.
In this embodiment, the attitude determination method includes:
step S1, before the vibration test of the robot 400, the mounting bracket 201 is fixed to the robot 400, and the detection signals of the distance sensors 202 are all set downward;
step S2, in the vibration test process, the distance sensor 202 detects the measurement value of the distance detection surface in real time;
step S3, the data calculation module calculates the pitch attitude angle and/or the right-left tilt angle of the robot 400 in real time according to the measured values.
According to the attitude measurement method provided by the embodiment, the pitch attitude angle and the left-right inclination angle of the robot 400 are calculated through the measurement value detected by the distance sensor 202, the accuracy of the calculation result is high, and the attitude change of the robot 400 can be effectively reflected in real time, so that the vibration detection effect is improved.
In step S3, the pitch-tilt angle of the robot 400 is calculated as follows:
a pitch attitude angle is calculated from a pair of distance sensors 202 arranged at intervals in the front-rear direction of the robot 400, the pitch attitude angle being:
wherein alpha is a pitch attitude angle, d 11 And d 12 Respectively, measured values of two distance sensors 202, L 10 Is the spacing between two distance sensors 202;
further, the distance sensor 202 has n pairs of distance sensors 202 arranged at intervals in the left-right direction, each pair of distance sensors 202 including two distance sensors 202 arranged at intervals in the front-rear direction;
the attitude measurement method comprises the following steps:
calculating a corresponding pitch attitude angle according to each pair of distance sensors 202;
the average pitch attitude angle of all the pitch attitude angles is calculated, and the average pitch attitude angle is used as the pitch attitude angle of the entire robot 400.
In step S3, the right and left tilt angles of the robot 400 are calculated as follows:
the left-right inclination angle is calculated from a pair of distance sensors 202 arranged in the left-right direction of the robot 400, and is:
wherein beta is a pitch attitude angle, d 21 And d 22 Respectively, measured values of two distance sensors 202, L 20 Is the spacing between the two distance sensors 202.
The distance sensor 202 has m pairs of distance sensors 202 disposed at intervals in the front-rear direction, each pair of distance sensors 202 including two distance sensors 202 arranged at intervals in the left-right direction;
the attitude measurement method further comprises the following steps:
calculating a corresponding left-right inclination angle according to each pair of distance sensors 202;
the average left-right tilt angle of all the left-right tilt angles is calculated, and the average left-right tilt angle is defined as the left-right tilt angle of the entire robot 400.
Preferably, before the step S1, the method further comprises the step S0: before the vibration test of the robot 400, the distance sensors 202 are adjusted so that all the distance sensors 202 are located at the same height and/or the detection signals of the distance sensors 200 are directed vertically downward.
The setting of step S0 can optimize the initial detection condition before the vibration test, thereby simplifying the calculation steps and improving the calculation accuracy.
The adjustment mode of the distance sensor 202 can adjust the installation position of the mounting bracket 201 on the robot 400, thereby realizing the adjustment of the installation position of the distance sensor 202, and also can adjust the installation position of the distance sensor 202 on the mounting bracket 201.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A posture measurement system, comprising:
a mounting bracket (201) for connection with a robot (400);
the distance sensors (202) are arranged on the mounting bracket (201) at intervals, and the distance sensors (202) can send out detection signals;
and the data calculation module is in communication connection with the distance sensor (202) and can calculate and acquire the pose parameters of the robot (400) according to the measured value of the distance sensor (202).
2. The attitude determination system according to claim 1, wherein the distance sensors (202) are provided at intervals in at least two in a first direction, the first direction being capable of coinciding with a front-rear direction of the robot (400), detection signals of the two distance sensors (202) in the first direction being parallel;
and/or two distance sensors (202) are arranged at intervals along a second direction, the second direction can be overlapped with the left and right direction of the robot (400), and detection signals of the two distance sensors (202) in the second direction are parallel.
3. The attitude sensing system according to claim 2, wherein there are four distance sensors (202), four distance sensors (202) being arranged in a rectangle having sides extending in the first direction.
4. A posture measuring system according to any one of claims 1-3, characterized in that the mounting bracket (201) comprises two cross frames (2011) arranged oppositely and at a distance, and a connecting frame (2012) connected between the two cross frames (2011), and the distance sensor (202) is arranged at each end of the cross frames (2011);
and/or the distance sensor (202) is hinged with the mounting bracket (201) so that the light emitted by the distance sensor (202) always vertically faces downwards.
5. The posture measuring system as claimed in claim 4, wherein the cross frame (2011) is of an inverted U-shaped structure, the connecting frame (2012) is connected with the lateral edge of the inverted U-shaped structure, and the distance sensors (202) are respectively mounted at two lower ends of the inverted U-shaped structure.
6. The attitude sensing system according to any one of claims 1 to 3, further comprising a reflective plate (203), wherein the reflective plate (203) is arranged below the distance sensor (202) at a distance, and the reflective plate (203) is used for reflecting a detection signal of the distance sensor (202).
7. A method of pose detection for a robot (400) using a pose detection system according to any of claims 1-6, the method comprising:
before the robot (400) is subjected to a vibration test, fixing the mounting bracket (201) on the robot (400), and enabling detection signals of the distance sensors (202) to be downwards arranged;
during the test, the distance sensor (202) detects the measured value from the detection surface in real time;
the data calculation module calculates the pose parameters of the robot (400) in real time according to the measured values.
8. The method of pose measurement according to claim 7, wherein the pose parameters comprise pitch pose angles, the method further comprising: calculating the pitch attitude angle from a pair of the distance sensors (202) arranged at intervals in a front-rear direction of the robot (400), the pitch attitude angle being:
wherein alpha is a pitch attitude angle, d 11 And d 12 Respectively measured values, L, of two of said distance sensors (202) 10 Is the spacing between two of said distance sensors (202);
and/or the pose parameters comprise left and right inclination angles, and the pose measurement method further comprises the following steps: calculating the left-right tilt angle from a pair of the distance sensors (202) arranged in the left-right direction of the robot (400), the left-right tilt angle being:
wherein beta is a pitch attitude angle, d 21 And d 22 Respectively measured values, L, of two of said distance sensors (202) 20 Is the spacing between two of said distance sensors (202).
9. The attitude determination method according to claim 8, wherein said distance sensors (202) have n pairs of distance sensors (202) arranged at intervals in said left-right direction, each pair of said distance sensors (202) including two said distance sensors (202) arranged at intervals in said front-rear direction;
the attitude measurement method comprises the following steps:
calculating a corresponding pitch attitude angle from each pair of said distance sensors (202);
and calculating an average pitch attitude angle of all the pitch attitude angles, and setting the average pitch attitude angle as the pitch attitude angle of the whole robot (400).
10. The attitude determination method according to claim 8, wherein said distance sensors (202) have m pairs of distance sensors (202) spaced apart in said front-rear direction, each pair of said distance sensors (202) including two said distance sensors (202) spaced apart in said left-right direction;
the attitude measurement method further comprises the following steps:
calculating a corresponding left-right inclination angle according to each pair of the distance sensors (202);
an average left-right inclination angle of all the left-right inclination angles is calculated, and the average left-right inclination angle is used as the left-right inclination angle of the whole robot (400).
11. The attitude determination method according to any one of claims 7 to 10, further comprising: before testing the robot (400), the distance sensors (202) are adjusted so that all the distance sensors (202) are located at the same height and/or the detection signals of the distance sensors (202) are directed vertically downwards.
12. A vibration testing system comprising a vibration testing table (100), characterized by further comprising a pose measuring system according to any of claims 1-6, or by being able to detect the pose of a robot by a pose measuring method according to any of claims 7-11.
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| CN202210768677.4A CN115077831A (en) | 2022-06-30 | 2022-06-30 | Posture measuring system, posture measuring method and vibration testing system |
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| CN202210768677.4A CN115077831A (en) | 2022-06-30 | 2022-06-30 | Posture measuring system, posture measuring method and vibration testing system |
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