WO2021235763A1

WO2021235763A1 - Device for measuring displacement of movable body

Info

Publication number: WO2021235763A1
Application number: PCT/KR2021/005918
Authority: WO
Inventors: 서태원; 채호병; 김화수; 박가람; 이지석; 오주현; 윤두표; 서명재; 김경민; 이영주; 최명진
Original assignee: 한양대학교 산학협력단; 경기대학교 산학협력단
Priority date: 2020-05-22
Filing date: 2021-05-12
Publication date: 2021-11-25
Also published as: KR102382454B1; KR20210144234A

Abstract

Disclosed is a device for measuring displacement of a movable body. The device, which is mounted on a movable body that can move along a wall surface of an object to measure displacement of the movable body with respect to the object, comprises: a first inner link connected to a first point of the movable body and rotatable with respect to the movable body about a first axis provided at the first point; a first outer link connected to the first inner link, rotatable with respect to the first inner link about a second axis, and having, provided at a distal end thereof, a first probe in contact with the wall surface ; a second inner link connected to a second point of the movable body and rotatable with respect to the movable body about a third axis provided at the second point; a second outer link connected to the second inner link, rotatable with respect to the second inner link about a fourth axis, and having, provided at a distal end thereof, a second probe in contact with the wall surface ; a first sensor that measures a rotation angle of the first inner link with respect to the movable body about the first axis; a second sensor that measures a rotation angle of the first outer link with respect to the first inner link about the second axis; a third sensor that measures a rotation angle of the second inner link with respect to the movable body about the third axis; a fourth sensor that measures a rotation angle of the second outer link with respect to the second inner link about the fourth axis; and a calculation unit that calculates the movement displacement of the movable body from the rotation angles measured by the first to the fourth sensors.

Description

Displacement measuring device for moving objects

The present invention relates to a displacement measuring apparatus of a moving object, and more particularly, to a moving object displacement measuring apparatus capable of calculating the moving displacement and rotational displacement of the moving object in the XY plane.

A multi-joint coordinate measuring device is a type of measuring device composed of multiple joints, and it measures the coordinates of an object by bringing a probe mounted on the end of a joint into contact with the object to be measured. It is possible to find out the coordinates of the object by performing kinematic calculations on the current state of the device by using the high rigidity beam of a specific length and the rotation angle measuring sensor of the joint part of the device.

The existing multi-joint coordinate measuring device has a wide measurement capability of 6 degrees of freedom, but it has a disadvantage in that the weight and volume of the instrument are large due to the large number of joints and high rigidity. In addition, the conventional probe has a disadvantage in that a person must hold the hand and manually maintain contact with the object to be measured. Moreover, there was no case where the principle of such a multi-joint coordinate measuring device was applied for the purpose of measuring the displacement of a moving object.

The present invention provides a moving object measuring device capable of measuring the movement displacement and rotational displacement of the movable object on the XY plane by using the rotation angle of each link measured from an angle sensor disposed on each link.

The apparatus for measuring the displacement of a moving object according to the present invention is an apparatus for measuring the displacement of the moving object with respect to the object by being mounted on a moving object that can move along a wall surface of the object, and is connected to a first point of the moving object, and the first a first inner link rotatable with respect to the movable body about a first axis provided at a point; a first outer link connected to the first inner link, rotatable with respect to the first inner link about a second axis, and having a first probe in contact with the wall surface provided at a distal end thereof; a second inner link connected to a second point of the movable body and rotatable with respect to the movable body about a third axis provided at the second point; a second outer link connected to the second inner link, rotatable with respect to the second inner link about a fourth axis, and provided with a second probe at a distal end in contact with the wall surface; a first sensor for measuring a rotation angle of the first inner link with respect to the movable body about the first axis; a second sensor for measuring a rotation angle of the first outer link with respect to the first inner link about the second axis; a third sensor for measuring a rotation angle of the second inner link with respect to the movable body about the third axis; a fourth sensor for measuring a rotation angle of the second outer link with respect to the second inner link about the fourth axis; and a calculation unit for calculating the movement displacement of the movable body from the rotation angles measured by the first to fourth sensors.

In addition, the calculating unit included in the apparatus for measuring the displacement of the movable body in the X-axis direction parallel to a straight line connecting the first probe and the second probe, and in the Y-axis direction perpendicular to the X-axis direction, the movement displacement of the movable body , and a rotational displacement by which the movable body rotates at a predetermined angle with respect to the X-axis direction may be calculated.

Also, the calculating unit included in the apparatus for measuring the displacement of a moving object may calculate the movement displacement in the Y-axis direction using Equation 1, and calculate the movement displacement in the X-axis direction using Equation 2.

[Formula 1]

[Formula 2]

here,

ego,

is the distance from the center between the first probe and the second probe to the first probe,

is the distance from the center to the second probe,

is the distance between the second probe and the movable body in the Y-axis direction,

is a distance between the first probe and the movable body in the Y-axis direction.

Also, the calculator included in the apparatus for measuring the displacement of the moving object may calculate the rotational displacement by using Equation 3.

[Equation 3]

In addition, the displacement measuring device of the movable body includes a first pulley coupled to the first shaft; and an elastic wire having an elastic body having one end connected to the first pulley and generating an elastic force as the first inner link rotates with respect to the movable body.

In addition, the displacement measuring device of the movable body includes a second pulley coupled to the second shaft; a third pulley coupled to the connecting shaft coupled to the first inner link at a point spaced apart from the second shaft by a predetermined distance; a belt connecting the second pulley and the third pulley; and an elastic wire wound around the third pulley and having an elastic body that generates an elastic force according to the rotation of the third pulley.

In addition, the elastic body of the elastic wire included in the displacement measuring device of the moving body is a first elastic body; and a second elastic body arranged in parallel with the first elastic body, wherein one of the first elastic body and the second elastic body is compressed according to the rotation of the third pulley, and the other is expandable.

Also, in the apparatus for measuring the displacement of the movable body, an angle between the first inner link and the first outer link may be maintained at an acute angle with respect to the second axis.

According to the present invention, the apparatus for measuring the displacement of a moving object can measure the rotational angle of each link from a plurality of sensors, and kinematically calculate it, to measure the movement displacement and the rotational displacement of the movable object on the XY plane.

1 is a diagram illustrating an apparatus for measuring displacement of a moving object according to an embodiment of the present invention.

FIG. 2 is a cross-sectional view taken along line A-B of FIG. 1 .

3 is a diagram illustrating an internal structure of an apparatus for measuring displacement of a moving object according to an embodiment of the present invention.

4 is a schematic diagram illustrating an apparatus for measuring displacement of a moving object according to an embodiment of the present invention.

5 is a schematic diagram illustrating an apparatus for measuring a displacement of a movable body according to occurrence of displacement of the movable body on an XY plane according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, thicknesses of films and regions are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, third, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in the present specification, 'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" are intended to designate that a feature, number, step, element, or a combination thereof described in the specification is present, and one or more other features, numbers, steps, configuration It should not be construed as excluding the possibility of the presence or addition of elements or combinations thereof. Also, in the present specification, the term “connection” is used to include both indirectly connecting a plurality of components and directly connecting a plurality of components.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a view showing a movable body to which a displacement measuring apparatus of the movable body according to an embodiment of the present invention is mounted, FIG. 2 is a cross-sectional view taken along line AB of FIG. 1 , and FIG. 3 is a displacement of the movable body according to an embodiment of the present invention. It is a figure which shows the internal structure of a measuring device.

1 to 3 , the displacement measuring apparatus 10 of the movable body measures the displacement of the movable body 30 . Specifically, the displacement measuring apparatus 10 of the movable body measures the displacement amount and rotational displacement of the movable body 30 in the X-axis direction and the Y-axis direction on the XY plane.

According to an example, the movable body 30 may be connected to a rope in the form of a gondola to move vertically along the outer wall surface of the object 20 . The object 20 may be provided as a high-rise building or a structure having an outer wall surface. The movable body 30 may be provided as a work robot that cleans, paints, or measures the outer wall surface of the object 20 , or maintains and manages the outer wall surface of the object 20 . Hereinafter, the vertical movement direction of the movable body 30 is referred to as the Z-axis direction, the arrangement direction of the movable body 30 and the object 20 is the Y-axis direction, and the Z-axis direction and the Y-axis direction are perpendicular to the direction. The direction is called the X-axis direction.

The displacement measuring apparatus 10 of the movable body includes a first inner link 100 , a second inner link 110 , a first outer link 200 , a second outer link 210 , a first probe 220 , and a first 2 probes 230, first to fourth sensors 400 to 403, first to sixth pulleys (500 to 505), first belt 600, second belt 601, first to fourth elastic wire 700 to 730), and an operation unit 800 .

The first inner link 100 has a predetermined length. The first inner link 100 is connected to the movable body 30 at a first point at which one end is located on one side of the movable body 30 . The first inner link 100 is rotatable with respect to the movable body 30 about the first axis 300 provided at the first point.

The first outer link 200 has a predetermined length. One end of the first outer link 200 is connected to the other end of the first inner link 100 . The first outer link 200 is rotatable with respect to the first inner link 100 around the second shaft 301 connected to the other end of the first inner link 100 . An angle between the first outer link 200 and the first inner link 100 is maintained at an acute angle with respect to the second axis 301 . The first probe 220 is provided at the other end of the first outer link 200 .

The second inner link 110 has the same length as the first inner link 100 . The second inner link 110 is connected to the movable body 30 at a second point at which one end is located on the other side of the movable body 30 . The second point is located on the same straight line as the first point in the X-axis direction. The second inner link 110 is rotatable with respect to the movable body 30 about the third axis 302 provided at the second point.

The second outer link 210 has the same length as the first outer link 200 . One end of the second outer link 210 is connected to the other end of the second inner link 110 . The second outer link 210 is rotatable with respect to the second inner link 110 about the fourth axis 303 connected to the other end of the second inner link 110 . An angle between the second outer link 210 and the second inner link 110 is maintained at an acute angle with respect to the fourth axis 303 . The second probe 230 is provided at the other end of the second outer link 210 .

The first probe 220 is provided at the other end of the first outer link 200 and contacts the outer wall surface of the object 20 . The second probe 230 is provided at the other end of the second outer link 210 and is in contact with the outer wall surface of the object 20 . According to an embodiment, when the object 20 is a building or a high-rise apartment, the first probe 220 and the second probe 230 may contact a window frame installed on an outer wall of the building or high-rise apartment.

The first sensor 400 measures the rotation angle of the first inner link 100 with respect to the movable body 30 about the first axis 300 . The second sensor 401 measures a rotation angle of the first outer link 200 with respect to the first inner link 100 about the second axis 301 . The third sensor 402 measures a rotation angle of the second inner link 110 with respect to the movable body 30 about the third axis 302 . The fourth sensor 403 measures a rotation angle of the second outer link 210 with respect to the second inner link 110 about the fourth axis 303 .

The first pulley 500 is coupled to the first shaft 300 . The second pulley 501 is coupled to the second shaft 301 . The third pulley 503 is coupled to the first connection shaft 304 coupled to the first inner link 100 at a point spaced apart from the second shaft 301 by a predetermined distance.

The fourth pulley 503 is coupled to the third shaft 302 . The fifth pulley 504 is coupled to the fourth shaft 303 . The sixth pulley 505 is coupled to the second connecting shaft 305 coupled to the first inner link 100 at a point spaced apart from the fourth shaft 303 by a predetermined distance.

The first belt 600 is wound around the second pulley 501 and the third pulley 502 . The second belt 601 is wound around the fifth pulley 504 and the sixth pulley 505 . The first belt 600 transmits the rotational force of the second pulley 501 to the third pulley 502 . The second belt 601 transmits the rotational force of the fifth pulley 504 to the sixth pulley 505 .

The first elastic wire 700 has a first end connected to the first pulley 500 , the other end spaced apart from the first shaft 300 by a predetermined distance, and fixedly coupled to the movable body 30 . 1 It is connected to the connection support (40). The first elastic wire 700 has a first elastic body 701 that generates an elastic force as the first inner link 100 rotates with respect to the movable body 30 . The first elastic body 701 is provided as a spring having a predetermined length.

One end of the second elastic wire 710 is fixedly coupled to the first inner link 100 , wound around the third pulley 502 , and the other end is fixedly coupled to the first inner link 100 . A second elastic body 711 is provided between the third pulley 502 and one end of the second elastic wire 710 . A third elastic body 712 is provided between the third pulley 502 and the other end of the second elastic wire 710 . The second elastic body 711 and the third elastic body 712 are arranged in parallel to each other. The second elastic body 711 and the third elastic body 712 generate elastic force according to the rotation of the third pulley 502 . The second elastic body 711 is provided as a spring having a predetermined length. The third elastic body 712 is provided as a spring having the same length as the second elastic body 711 .

When a load is applied to the first pro part 220 in the direction of the movable body 30 , the first outer link 200 rotates clockwise about the second shaft 301 , and the first The inner link 100 rotates counterclockwise around the first shaft 300 . When the first inner link 100 rotates counterclockwise, the first elastic body 701 expands to generate an elastic force. And when the first outer link 200 rotates clockwise, the second pulley 501 rotates, and the rotational force of the second pulley 501 is applied to the third pulley through the first belt 600 . forwarded to 502 . As the third pulley 502 rotates, the second elastic body 711 is compressed, and the third elastic body 712 expands.

When the load applied to the first pro part 220 is removed, the elastic force of the first elastic body 701 provides a restoring force that the first inner link 100 rotates clockwise to return to its original position, , The elastic force of the second elastic body 711 and the third elastic body 712 provides an original force that the first outer link 200 rotates counterclockwise to return to its original position.

In addition, due to the elastic force of the first elastic body 701 to the third elastic body 712 , a constant force is applied in the direction of the object 20 so that the first probe 220 and the object 20 come into contact with each other. can be maintained

The third elastic wire 720 has one end connected to the fourth pulley 503 , the other end being spaced apart from the third shaft 302 by a predetermined distance, and fixedly coupled to the movable body 30 . 2 It is connected to the connecting support (41). The third elastic wire 720 has a fourth elastic body 721 that generates an elastic force as the second inner link 110 rotates with respect to the movable body 30 . The fourth elastic body 721 is provided as a spring having a predetermined length.

One end of the fourth elastic wire 730 is fixedly coupled to the second inner link 110 , wound around the sixth pulley 505 , and the other end is fixedly coupled to the second inner link 110 . A fifth elastic body 731 is provided between the sixth pulley 505 and one end of the fourth elastic wire 730 . A sixth elastic body 732 is provided between the sixth pulley 505 and the other end of the fourth elastic wire 730 . The sixth elastic body 732 and the fifth elastic body 731 are arranged in parallel to each other. The fifth elastic body 731 and the sixth elastic body 732 generate elastic force according to the rotation of the 6 pulley 505 . The fifth elastic body 731 is provided as a spring having a predetermined length. The sixth elastic body 732 is provided as a spring having the same length as the fifth elastic body 731 .

When the fourth elastic body 730 to the sixth elastic body 732 are rotated by the load applied to the second probe 230, the second inner link 110 and the second outer link 210 are rotated. create elasticity. The elastic force is provided as a restoring force for returning the second inner link 110 and the second outer link 210 to their original positions. The fourth elastic body 730 to the sixth elastic body 732 generate an elastic force, and the process of transmitting the generated elastic force to the second inner link 110 and the second outer link 210 is the first step. Since the process of generating and transmitting the elastic force of the elastic body 701 to the third elastic body 712 is the same, a detailed description thereof will be omitted.

In addition, due to the elastic force of the fourth elastic body 730 to the sixth elastic body 732 , a constant force is applied in the direction of the object 20 , so that the second probe 230 and the object 20 come into contact with each other. can be maintained

The calculation unit 800 includes the first inner link 100, the second inner link 110, the first outer link 200, and the first inner link 100 measured by the first to fourth sensors 400 to 403. From the rotation angle of the second outer link 210, the displacement amount by which the movable body 30 moves in the X-axis and Y-axis directions and the rotational displacement by which the movable body 30 rotates at a predetermined angle with respect to the X-axis direction are calculated.

4 is a schematic diagram showing an apparatus for measuring the displacement of a moving object according to an embodiment of the present invention, and FIG. 5 is a schematic diagram showing an apparatus for measuring the displacement of a moving object according to the occurrence of displacement of the moving object on the XY plane according to an embodiment of the present invention.

4 and 5 , the calculation unit 800 calculates the displacement amount (

) is calculated.

[Formula 1]

[Formula 2]

here,

denotes a distance from the center between the first probe 220 and the second probe 230 to the first probe 220 .

denotes a distance from the center between the first probe 220 and the second probe 230 to the second probe 230 .

denotes a distance between the first probe 220 and the first axis 300 in the Y-axis direction.

denotes a distance between the second probe 230 and the third axis 302 in the Y-axis direction.

The calculation unit 800 calculates the displacement amount (

) is calculated.

[Equation 3]

Here, C denotes a distance from the centers of the first probe 220 and the second probe 230 to the centers of the first axis 300 and the third axis 302 . The calculator 800 calculates the value of C using Equation 4 above.

[Equation 4]

The calculation unit 800 uses the following Equation 5 to calculate the rotational displacement (

) is calculated.

[Equation 5]

The displacement measuring device 10 of the movable body calculates the displacement (

), the displacement moving in the Y-axis direction (

), and the rotational displacement of the movable body 30 (

) to determine the relative position of the movable object 30 with respect to the object 20 .

As mentioned above, although the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to specific embodiments and should be construed according to the appended claims. In addition, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the present invention.

The present invention can be used to measure the movement displacement and rotational displacement of a moving object moving along the wall surface of the object.

Claims

An apparatus mounted on a movable body that can move along a wall surface of an object to measure a displacement of the movable body with respect to the object, the apparatus comprising:

a first inner link connected to a first point of the movable body and rotatable with respect to the movable body about a first axis provided at the first point;

a first outer link connected to the first inner link, rotatable with respect to the first inner link about a second axis, and having a first probe in contact with the wall surface provided at a distal end thereof;

a second inner link connected to a second point of the movable body and rotatable with respect to the movable body about a third axis provided at the second point;

a second outer link connected to the second inner link, rotatable with respect to the second inner link about a fourth axis, and provided with a second probe at a distal end in contact with the wall surface;

a first sensor for measuring a rotation angle of the first inner link with respect to the movable body about the first axis;

a second sensor for measuring a rotation angle of the first outer link with respect to the first inner link about the second axis;

a third sensor for measuring a rotation angle of the second inner link with respect to the movable body about the third axis;

a fourth sensor for measuring a rotation angle of the second outer link with respect to the second inner link about the fourth axis; and

and a calculator configured to calculate the movement displacement of the movable object from the rotation angles measured by the first to fourth sensors.
The method of claim 1,

The calculation unit,

calculating the displacement of the movable body in an X-axis direction parallel to a straight line connecting the first probe and the second probe and a Y-axis direction perpendicular to the X-axis direction,

A displacement measuring device of a movable body for calculating a rotational displacement by which the movable body is rotated at a predetermined angle with respect to the X-axis direction.
3. The method of claim 2,

The calculation unit,

A displacement measuring device of a moving object that calculates displacement in the Y-axis direction by using Equation 1, and calculates displacement in the X-axis direction by using Equation 2.

[Formula 1]

[Formula 2]

here,
ego,
ego,
is the distance from the center between the first probe and the second probe to the second probe,
is the distance from the center between the first probe and the second probe to the first probe,
is the distance between the second probe and the third axis in the Y-axis direction,
is a distance between the first probe and the first axis in the Y-axis direction.
4. The method of claim 3,

The calculation unit,

A displacement measuring device of a moving object that calculates the rotational displacement using Equation 3.

[Equation 3]
The method of claim 1,

a first pulley coupled to the first shaft; and

and an elastic wire having an elastic body having one end connected to the first pulley and generating an elastic force as the first inner link rotates with respect to the movable body.
The method of claim 1,

a second pulley coupled to the second shaft;

a third pulley coupled to the connecting shaft coupled to the first inner link at a point spaced apart from the second shaft by a predetermined distance;

a belt connecting the second pulley and the third pulley; and

and an elastic wire wound around the third pulley and having an elastic body generating elastic force according to the rotation of the third pulley.
7. The method of claim 6,

The elastic body of the elastic wire is

a first elastic body; and

and a second elastic body disposed in parallel with the first elastic body,

As the third pulley rotates, any one of the first elastic body and the second elastic body is compressed and the other is expanded.
The method of claim 1,

An apparatus for measuring displacement of a movable body in which an angle between the first inner link and the first outer link is maintained at an acute angle with respect to the second axis.