Source: https://patents.google.com/patent/CN106584463B/en
Timestamp: 2020-07-13 23:34:34
Document Index: 536886141

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CN106584463B - Assembly system and assembly method based on inertia measurement - Google Patents
Assembly system and assembly method based on inertia measurement Download PDF
CN106584463B
CN106584463B CN201611241576.2A CN201611241576A CN106584463B CN 106584463 B CN106584463 B CN 106584463B CN 201611241576 A CN201611241576 A CN 201611241576A CN 106584463 B CN106584463 B CN 106584463B
CN106584463A (en
滕承武
The present invention relates to measuring device technical fields, and in particular to a kind of assembly system and assembly method based on inertia measurement.Present invention seek to address that in the case where pose measuring apparatus placement space is insufficient or can not fix, the problem of manual assembly low precision, low efficiency.Assembly system based on inertia measurement of the invention includes acquisition portion, data processing unit and executing agency.Acquisition portion is used for the first posture information, the second posture information of interfacing part and the third posture information of executing agency according to setting acquisition order accessory to be installed, data processing unit is used to calculate result posture information based on the first posture information, the second posture information and third posture information, executing agency is used to be based on result posture information, by accessory Matching installation to be installed to interfacing part.It is handled by the information that data processing unit obtains acquisition portion, executing agency is based on processing result and installs accessory to be installed to interfacing part, can complete the high-precision assembly of accessory and interfacing part to be installed.
The present invention relates to measuring device technical fields, and in particular to a kind of based on the assembly system of inertia measurement and assembly side Method.
During modern production, it is very universal that auxiliary assembling work is carried out by robot.Common robot is auxiliary Assembly is helped, by taking mechanical arm auxiliary assembly as an example, measurement mechanical arm initial pose in the initial state and mechanical arm exist first Assembly pose when assembly is completed, and according to the motion profile of initial pose and assembly pose setting mechanical arm, it is then mechanical The dynamic accessory to be installed placed at its end of armband is moved according to the motion profile set, finally realizes accessory and interfacing part to be installed Accurate connection.As it can be seen that accurately measuring initial pose and assembling pose is the important prerequisite for setting manipulator motion track, assembly The accuracy of pose measurement directly affects assembly yield and assembly precision.
Currently, most production lines are assembled by the way of fixed pose.Still by taking mechanical arm assembles as an example, in this side Under formula, accessory to be installed and interfacing part are constrained on fixed position, and the initial pose and assembly pose of mechanical arm are all relatively solid Fixed, mechanical arm can be completed to assemble at this time with fixed motion profile.When accessory to be installed or interfacing part wherein the position of a side or When posture is not known, that is to say, that when the initial pose or uncertain assembly pose of mechanical arm, usually first filled using pose measurement It sets the uncertain pose of measurement and pose measuring apparatus (such as binocular vision camera) is fixed on pose phase in this case To a determining side, the image that pose does not know a side is obtained, and calculates accessory to be installed by modes such as characteristics of image identifications With the determination position orientation relation of interfacing part, ultimately generates motion profile guidance mechanical arm and complete assembling work.
But to be only applicable to assembly space enough for above situation, and the case where pose measuring apparatus easily fixes.When out Existing relative pose initial between accessory and interfacing part to be installed can not determine, and between the two between narrow space, except assembly point In the case that surface in addition cannot contact or add label, it is typically only capable to be filled by the way of manual operation mechanical arm Match.In this case, operator needs the moment to observe the pose of accessory or interfacing part to be installed, by constantly adjusting mechanical arm The direction of motion and movement angle, to realize final assembly.This assembly method fills not only to the high operation requirements of operator With low precision, low efficiency.
Correspondingly, this field needs a kind of new assembly system and assembly method to solve the above problems.
In order to solve the above problem in the prior art, in order to solve in pose measuring apparatus placement space deficiency or nothing In the case that method is fixed, using manual assembly, the problem of assembly precision is poor, low efficiency, the present invention provides a kind of based on inertia The assembly system of measurement, for by accessory Matching installation to be installed to interfacing part, which to include acquisition portion, data processing list Member and executing agency.Wherein, first pose letter of the acquisition portion for accessory to be installed described in the acquisition order according to setting Breath, the second posture information of the interfacing part and the third posture information of the executing agency；Wherein, the data processing list Member is for calculating result pose based on first posture information, second posture information and the third posture information Information；Wherein, the executing agency is used to be based on the result posture information, by the accessory Matching installation to be installed to described right Fitting.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, the acquisition portion includes shell and sets At least one mounting structure being placed on the shell, the acquisition portion can by least one described mounting structure with it is described Accessory, the interfacing part and the executing agency to be installed are separately connected, and then successively acquire described according to the sequence of setting One posture information, second posture information and the third posture information.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, measurement core is additionally provided on the shell Piece at least has gyroscope and accelerometer on the measurement chip, wherein the gyroscope can at least obtain the acquisition The angle information in portion；Wherein, the accelerometer can at least obtain the velocity information in the acquisition portion；The angle of acquisition Information and velocity information form first posture information, second posture information and the third posture information.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, bottom is provided in the executing agency Seat, the acquisition portion can match connection with the pedestal by least one described mounting structure.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, it is provided on the accessory to be installed several A first assembly features are provided with the second assembly features corresponding with several described first assembly features on the interfacing part, And it is filled at least provided with the first mounting structure corresponding with first assembly features on the shell and with described second With corresponding second mounting structure of feature, wherein the acquisition portion can be fixed on described by first mounting structure One assembly features；Wherein, second assembly features can be fixed on by second mounting structure in the acquisition portion.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, the shell includes first shell and Two shells, wherein the first mounting structure corresponding with first assembly features is provided in the first shell；Wherein, institute It states and is provided with the second mounting structure corresponding with second assembly features in second shell.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, third peace is additionally provided on the shell Assembling structure, the acquisition portion can be matched by the third mounting structure with the pedestal.
In the optimal technical scheme of the above-mentioned assembly system based on inertia measurement, it is provided on the third mounting structure Infrared switch transmitting terminal is provided with infrared switch corresponding with the infrared switch transmitting terminal on the pedestal Receiving end, and in the case of the acquisition portion matches connection with the pedestal by the third mounting structure, it is described red It is outer to receive the signal that the infrared switch transmitting terminal is sent in a contact fashion close to switch receiving end.
The present invention also provides a kind of assembly methods based on inertia measurement, for extremely docking accessory Matching installation to be installed Part, the assembly method include the following steps:
The first posture information, the second posture information of the interfacing part of accessory to be installed described in acquisition order according to setting And the third posture information of the executing agency；
Based on first posture information, second posture information and the third posture information, knot is calculated in real time Fruit posture information；
In the optimal technical scheme of the above-mentioned assembly method based on inertia measurement, described " is based on first pose Information, the second posture information and third posture information, real-time calculated result posture information " further comprises:
Described in being calculated in real time based on first posture information, second posture information and the third posture information Accessory to be installed and the interfacing part are respectively relative to the relative pose relationship of the executing agency；
Based on the relative pose relationship, calculated result posture information.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, the dress based on inertia measurement Match system includes acquisition portion, data processing unit and executing agency.Wherein, acquisition portion.Wherein, acquisition portion include shell and At least one mounting structure being set on shell, acquisition portion can by least one mounting structure and accessory to be installed, dock Part and executing agency are separately connected, and then acquire the first posture information, the docking of part to be installed respectively according to the sequence of setting Second posture information of part and the third posture information of executing agency.In addition, a kind of assembly method based on inertia measurement, leads to Acquisition portion is crossed according to the first posture information of acquisition order part to be installed, the second posture information of interfacing part and execution of setting The third posture information of mechanism, and calculate the mode of result posture information can assist executing agency fast and accurately will be to Assembly parts Matching installation is to interfacing part.By assembly system and assembly method based on inertia measurement, can not only greatly improve The assembly efficiency and assembly precision that pose measuring apparatus placement space is insufficient or is assembled in the case where can not fixing, and adopt Collection portion compact structure uses simple, stability height.Furthermore, it is possible to which the actual application scenarios of foundation, flexibly set different shells Body, to improve the applicability of acquisition portion part and interfacing part relatively to be installed.
Fig. 1 is the assembling process schematic diagram of the assembly system of the invention based on inertia measurement；
Fig. 2 is the structural schematic diagram in the acquisition portion of the assembly system of the invention based on inertia measurement；
Fig. 3 A is the main view orientation structural schematic diagram in the acquisition portion of the assembly system of the invention based on inertia measurement；
Fig. 3 B is the vertical view orientation structural schematic diagram in the acquisition portion of the assembly system of the invention based on inertia measurement；
Fig. 4 is the structural schematic diagram of the pedestal of the assembly system of the invention based on inertia measurement；
Fig. 5 is the structural schematic diagram of the I/O equipment of the assembly system of the invention based on inertia measurement；
Fig. 6 is a kind of flow diagram of the assembly method of the invention based on inertia measurement；
Fig. 7 is the processing flow schematic diagram of the data processing system of the assembly method of the invention based on inertia measurement.
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.Although for example, The first assembly features in attached drawing are the substantially rectangular protrusions of profile, but this structure is non-unalterable, art technology Personnel, which can according to need, makes adjustment to it, to adapt to specific application.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical", The direction of the instructions such as "horizontal", "inner", "outside" or the term of positional relationship are direction based on the figure or positional relationship, this It is intended merely to facilitate description, rather than indication or suggestion described device or element must have a particular orientation, with specific Orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used In description purpose, it is not understood to indicate or imply relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be Concrete meaning in the present invention.
It is an object of the present invention to due to pose measuring apparatus placement space is insufficient or can not fix feelings when overcoming assembly Under condition, using manual assembly, the problems such as assembly precision is poor, low efficiency.
As depicted in figs. 1 and 2, to solve the above problems, the present invention provides one kind in a kind of possible embodiment Assembly system based on inertia measurement, the system mainly include acquisition portion 1, data processing unit (not marking in figure) and execute Mechanism 2, the system can be analyzed and be handled by the information that data processing unit obtains acquisition portion 1,2 base of executing agency It can be by 3 Matching installation of accessory to be installed to interfacing part 4 in the result of analysis and processing.Wherein, acquisition portion 1 is mainly used for according to setting The first posture information, the second posture information of interfacing part 4 and the third of executing agency 2 of fixed acquisition order accessory 3 to be installed Posture information；Data processing unit is mainly used for calculating based on the first posture information, the second posture information and third posture information Result posture information out；Executing agency 2 is then mainly used for based on result posture information, if data processing unit is according to result pose Information sends corresponding instruction to executing agency 2, and executing agency 2 is by 3 Matching installation of accessory to be installed to interfacing part 4.
It should be noted that data processing unit can be reception, storage and handle the operation of 1 output data of acquisition portion and set It is standby, it such as can be host computer, industrial personal computer, be also possible to PC machine etc..Executing agency 2 can be mechanical arm etc. and may be implemented to fill automatically The device matched.
As shown in Fig. 2, main at least one mounting structure for including shell and being set on shell in acquisition portion 1, and Acquisition portion 1 can be separately connected by least one mounting structure and accessory 3 to be installed, interfacing part 4 and executing agency 2, in turn The first posture information, the second posture information and third posture information are acquired respectively according to the sequence of setting.Preferably, shell can To be divided into first shell 11 and second shell 12.With continued reference to Fig. 2, acquisition portion 1 further includes the survey for being set to the enclosure interior Chip 13 is measured, acquisition portion 1 can acquire respectively the first posture information, the second posture information and third position by measuring chip 13 Appearance information.Measuring at least has gyroscope (not marking in figure) and accelerometer (not marking in figure) on chip 13.Wherein, gyro The angle information (such as angle and angular speed parameter) in at least available acquisition portion 1 of instrument, accelerometer is at least available to be adopted The velocity information (such as acceleration parameter) in collection portion 1.Preferably, gyroscope can be the angle letter that can measure three axis directions The three-axis gyroscope of breath, accelerometer can be the three axis accelerometer that can measure the velocity information in three directions.This field Technical staff it is envisioned that the model of gyroscope and accelerometer is not unalterable, can also using other models or The gyroscope and accelerometer of form, as long as the gyroscope and accelerometer can accurately obtain accessory 3 and interfacing part 4 to be installed Posture information.
It should be noted that setting ground sequence can be acquisition portion 1 and acquire posture information in this preferred embodiment Sequence, such as acquire the first posture information first, secondly acquire second posture information, finally acquire third posture information, certainly, It can also acquire in other orders, such as acquire third posture information first, then acquire the second posture information, finally acquire the One posture information etc..In addition, the first posture information, the second posture information and third posture information can be gyroscope acquisition The parameters such as such as angle and angular speed parameter and the acceleration of accelerometer acquisition.As a result posture information can be based on to above-mentioned What the parameter of acquisition obtained after being analyzed and processed can be directly by the ginseng of the executing agency 2 of accessory 3 to be installed installation to interfacing part 4 Number, such as each link angle or motion profile of mechanical arm.
With continued reference to Fig. 1, pedestal 21 is additionally provided in executing agency 2, acquisition portion 1 can pass through at least one mounting structure Connection is matched with pedestal 21.Several the first assembly features 31 (substantially rectangular convex of such as profile is provided on accessory 3 to be installed Rise), be provided on interfacing part 4 can corresponding with the first assembly features 31 several the second assembly features 41 (such as with it is above-mentioned The corresponding groove of protrusion), accessory 3 to be installed and interfacing part 4 can matching by the first assembly features 31 and the second assembly features 41 It closes connection (such as plugging together connection) and realizes assembly.Preferably, shown in referring to Fig.1, the first assembly features 31, which can be, to be arranged to be installed Two rectangular preiections on accessory 3, it is corresponding with rectangular preiection that the second assembly features 41 can be two be arranged on interfacing part 4 Rectangular recess.Certainly, the structure and number of the first assembly features 31 and the second assembly features 41 be not unique, art technology Personnel can be adjusted according to the actual situation.
Referring further to Figure 2, first mounting structure corresponding with the first assembly features 31 can be set on shell 111, and corresponding second mounting structure 121 of the second assembly features 41 and third mounting structure corresponding with pedestal 21.Wherein, Acquisition portion 1 can be fixed on the first assembly features 31 by the first mounting structure 111, is fixed on by the second mounting structure 121 Second assembly features 41 and pedestal 21 is fixed on by third mounting structure.Preferably, the first mounting structure 111 setting exists In first shell 11, the second mounting structure 121 is arranged in second shell 12, and third mounting structure can be the first mounting structure 111 or second mounting structure 121, that is to say, that third mounting structure can be with the first mounting structure 111 or the second mounting structure 121 share, and in present embodiment, third mounting structure and the first mounting structure 111 are shared, and are arranged on pedestal 21 at this time There are protruding features 211 corresponding with the first mounting structure 111, such as can be structure identical with the first assembly features 31.Then Acquisition portion 1 can be fixed on pedestal 21 by the first mounting structure 111.Certainly it may occur to persons skilled in the art that, Third mounting structure is not unalterable, can also be using the modes such as being provided separately on shell.
To obtain better applicability, first shell 11 can be set to removably with second shell 12 and connect, and lead to Cross replacement first shell 11 and second shell 12 mode, acquisition portion 1 can be adapted for the different accessory to be installed 3 of assembly features and The assembly of interfacing part 4.
As shown in Fig. 3 A, Fig. 3 B and Fig. 4, in order to preferably detect the connection status in acquisition portion 1 Yu pedestal 21, the first installation It is also provided with infrared switch transmitting terminal 112 in structure 111, can be set on corresponding pedestal 21 and infrared proximity Switch the corresponding infrared switch receiving end 212 of transmitting terminal 112.Preferably, infrared switch transmitting terminal 112, which can be, sets The circular groove inside the first mounting structure 111 is set, infrared switch receiving end 212 can be set at 21 top of pedestal Circular protrusions.In the state that acquisition portion 1 is cooperatively connected by the first mounting structure 111 with pedestal 21, by circular protrusions with The contact of circular groove, infrared switch receiving end 212 can receive 112 signal of infrared switch transmitting terminal.Certainly, Infrared switch transmitting terminal 112 and the setting position of infrared switch receiving end 212 are not unalterable, art technology Personnel can be adjusted as the case may be, as long as infrared switch connects after guaranteeing that acquisition portion 1 and pedestal 21 are cooperatively connected Receiving end 212 can receive 112 signal of infrared switch transmitting terminal.
With continued reference to Fig. 2, measures and be also provided with processor (not marking in figure) and communication module (in figure on chip 13 It does not mark).Wherein, the velocity information for angle information and the accelerometer acquisition that gyroscope acquires can be passed through communication by processor Module is exported to data processing unit, and the collected each angle change value of gyroscope is such as transferred to data processing through communication module Unit etc..Preferably, communication module can be bluetooth, serial ports turns USB communication interface and CAN bus communication interface, such to set The mode of setting can make the communication of acquisition portion 1 and data processing unit diversification, can be applied to different use environments.Certainly, originally Field technical staff is it is envisioned that the setting of communication module is not a kind of above-mentioned form, as long as by gyroscope and can accelerate The posture information of degree meter acquisition is transferred to the mode of data processing unit.
Referring further to Figure 2, in order to preferably control and observe the state in acquisition portion 1 in collection process, acquisition portion 1 is also It can be further provided with indicating module, indicating module further includes several first indicator lights 14 and the first ACK button 15, and pore structure corresponding with several the first indicator lights 14 and the first ACK button 15 is offered in first shell 11 16, the first indicator light 14 and the first ACK button 15 can pass through the pore structure 16 and be exposed to outside acquisition portion 1.Wherein, first refers to Show that lamp 14 is used to indicate the work step and state in acquisition portion 1, can indicate that the first pose is believed when such as the first indicator light 14 lights Breath acquisition completion etc..First ACK button 15 is completed for confirmation operation step, such as can be used to confirm that acquisition portion 1 by first Mounting structure 111 is fixed on operating procedure completion of the first assembly features 31 etc..Preferably, the first indicator light 14 may include one A malfunction indicator lamp (color can be red) and three run indicator (color can be green).Wherein, malfunction indicator lamp It can be used for lighting when program runs error or operation error, run indicator can serve to indicate that operating procedure or operation shape State, such as orientation as shown in Figure 2 can indicate that first step operation is completed when first run indicator lights from top to bottom, second A run indicator, which lights, can indicate that second step operation is completed.
As shown in Figure 1 and Figure 5, in addition, data processing unit can be with external one in order to more easily operate acquisition portion 1 A I/O equipment 6 at least provides, function identical operation button corresponding with indicating module and shows the finger of 1 state of acquisition portion Show lamp.Data processing unit can show more status informations with externally connected with display screen 5, can not also externally connected with display screen 5, only according to I/ Operation is completed in the indicator light prompt of O device 6.Preferably, as shown in figure 5, I/O equipment 6 can be set and the first indicator light 14 Corresponding the second indicator light 61 including a malfunction indicator lamp and three run indicator, it is corresponding with the first ACK button 15 The second ACK button 62, for cooperating the buzzer 63 of malfunction indicator lamp, in emergency circumstances scram button 64 and For restarting the reset button 65 of measuring system software and hardware, clearing systems operational process data information.Certainly, this field skill For art personnel it is envisioned that I/O equipment 6 is not unalterable, those skilled in the art can be according to specifically used environment pair It is adjusted.
As previously mentioned, the assembly system of the invention based on inertia measurement mainly include acquisition portion 1, data processing unit with And executing agency 2, acquisition portion 1 mainly include shell and measurement chip 13, measure and are provided with gyroscope and acceleration on chip 13 Meter.Shell includes first shell 11 and second shell 12 again, and the first mounting structure 111, second shell are provided in first shell 11 The second mounting structure 121 is provided on body 12.Acquisition portion 1 can pass through the first dress of the first mounting structure 111 and accessory 3 to be installed It is fixed respectively with feature 31 and with pedestal 21, the second assembly features 41 by the second mounting structure 121 and interfacing part 4 are solid It is fixed, and acquisition portion 1 can be acquired by gyroscope and accelerometer the first posture information of accessory 3 to be installed, interfacing part 4 the Two posture informations and the third posture information of executing agency 2.It is the compact structure in acquisition portion 1, easy to carry, easy to operate, more The scene that can not be fixed suitable for small space and traditional acquisition device.Furthermore, it is possible to the actual application scenarios of foundation, neatly The first shell 11 and second shell 12 for replacing acquisition portion 1, to improve 1 applicability of acquisition portion.Also, in acquisition portion 1 also It is provided with diversified communication module and indicating module, provides more convenient and fast operation and more intuitively observation for measurement process.
As shown in fig. 6, the present invention in possible embodiment, additionally provides a kind of assembly based on inertia measurement in one The assembly method of system is mainly based upon acquisition portion 1 above-mentioned and acquires posture information, by data processing system to posture information It is calculated, the assembling process of accessory 3 and interfacing part 4 to be installed is finally completed by executing agency 2.This method mainly includes following step It is rapid:
S100, acquisition portion 1 is placed in pedestal 21, and acquisition portion 1 is initialized.Such as initialization can complete number According to the reset etc. of processing unit restarted with the initial pose in acquisition portion 1.
S200, during acquisition portion 1 to be fixed on to the first assembly features 31 of accessory 3 to be installed, accessory 3 to be installed is acquired First posture information.During the second assembly features 41 that acquisition portion 1 is fixed on to interfacing part 4, the second of acquisition interfacing part 4 Posture information.During the protruding features 211 that acquisition portion 1 is fixed on to pedestal 21, the third pose letter of acquisition executing agency 2 Breath.
S300, it is counted in real time based on first posture information, the second posture information and third posture information, data processing unit Calculate result posture information.Such as calculating can such as count directly by the information of the executing agency 2 of accessory 3 to be installed installation to interfacing part 4 Calculate each link angle or motion profile etc. of the mechanical arm by accessory 3 to be installed installation to interfacing part 4 when.
S400, it is based on result posture information, executing agency 2 installs accessory 3 to be installed to interfacing part 4.That is, holding Under the confirmable situation of positional relationship between row mechanism 2, accessory to be installed 3 and interfacing part 4, data processing unit pass through to Executing agency 2 sends corresponding instruction, and then matches executing agency 2 reliably the first assembly features 31 of accessory 3 to be installed To the second assembly features 41 of interfacing part 4.
It should be noted that describing for aspect, coordinate system can be defined as follows:
Gyroscope and the inertial coodinate system where accelerometer in acquisition portion 1, the world coordinate system where pedestal 21 and Basis coordinates system where executing agency 2.
In the step s 100, acquisition portion 1 is fixed on pedestal 21 by the first mounting structure 111, at this time infrared proximity The circular groove of the circular protrusions and infrared switch receiving end 212 that switch transmitting terminal 112 is cooperatively connected, infrared switch Receiving end 212 is detected and receives 112 signal of infrared switch transmitting terminal, and restarting and acquisition portion for data processing unit is completed The reset of 1 initial pose.
When reset, acquisition portion 1 constantly sends the current pose information in acquisition portion 1 to data processing unit, completes wait reset Afterwards, first run indicator in three run indicator individually lights, and indicates to reset and complete.
After the completion of acquisition portion 1 resets, it is preferable that step S200 may further include:
S210, acquisition portion 1 acquire the first posture information that accessory 3 to be installed is moved to from pedestal 21.
Acquisition portion 1 is moved to accessory 3 to be installed from pedestal 21, and the first assembly is fixed on by the first mounting structure 111 Feature 31.The first ACK button 15 (or press the second ACK button 62) in I/O equipment 6 in acquisition portion 1 is pressed, acquisition is used Property coordinate system under acquisition portion 1 is mobile from pedestal 21 and the first pose letter for being fixed in the motion process of the first assembly features 31 Breath, and real-time Transmission carries out data processing to data processing unit.Gyroscope and accelerometer are restarted after acquisition, are removed tired Product error.At this point, second run indicator in three run indicator individually lights, indicate that the first posture information has acquired At.
S220, acquisition portion 1 acquire the second posture information that interfacing part 4 is moved to from accessory 3 to be installed.
Acquisition portion 1 is moved to interfacing part 4 from accessory 3 to be installed, and the second assembly is fixed on by the second mounting structure 121 Feature 41.The first ACK button 15 (or press the second ACK button 62) in I/O equipment 6 in acquisition portion 1 is pressed, acquisition is used Property coordinate system under acquisition portion 1 it is mobile from the first assembly features 31 and be fixed in the motion process of the second assembly features 41 second Posture information, and real-time Transmission carries out data processing to data processing unit.Gyroscope and accelerometer are restarted after acquisition, Remove accumulated error.At this point, the third run indicator in three run indicator individually lights, the second posture information is indicated Acquisition is completed.
S230, acquisition portion 1 acquire the third posture information that pedestal 21 is moved back to from interfacing part 4.
Acquisition portion 1 is moved back into pedestal 21 from interfacing part 4, and the convex of pedestal 21 is fixed on by the first mounting structure 111 Play feature 211.The circular protrusions of infrared switch transmitting terminal 112 and the circle of infrared switch receiving end 212 are recessed at this time The mating connection of slot, infrared switch receiving end 212 are detected and receive 112 signal of infrared switch transmitting terminal, that is, examine It measures acquisition portion 1 and returns to pedestal 21, it is mobile and fixed from the second assembly features 41 to start acquisition acquisition portion 1 under inertial coodinate system To the third posture information in the motion process of protruding features 211, and real-time Transmission carries out data processing to data processing unit. Gyroscope and accelerometer are closed after acquisition, stop the acquisition of posture information.
Certainly, it may occur to persons skilled in the art that, acquisition portion 1 acquire posture information sequence be not one one-tenth not Become, can be adjusted according to the actual situation, as long as guaranteeing that the sequence of acquisition constitutes the path of a closure.It such as acquires suitable Sequence can be with are as follows: acquisition portion 1 first passes through the second mounting structure 121 and be fixed on the second assembly spy after pedestal 21 completes initialization Sign 41, and posture information is acquired, the first assembly features 31 are then fixed on by the first mounting structure 111, and acquire pose letter Breath is fixed on its native feature 211 finally by the first mounting structure 111, and acquires posture information.Also, acquisition portion 1 can lead to It crosses corresponding to the angle and angular speed and the posture information of acceleration parameter judgement acquisition of gyroscope and accelerometer acquisition It is characterized in the first assembly features 31 or the second assembly features 41.
In addition, having multiple situations in the first assembly features 31 of accessory 3 to be installed and the second assembly features 41 of interfacing part 4 Under, it only need to acquire wherein one group of first assembly features 31 and accessory 3 to be installed can be realized in the second corresponding assembly features 41 With the assembly of interfacing part 4, and acquisition portion 1 can according to angle that gyroscope and accelerometer acquire in inertial coodinate system and Angular speed and acceleration parameter judge the specific assembly features that acquisition portion 1 is fixed relative to the position of world coordinate system.
As shown in fig. 7, after acquisition portion 1 acquires the first posture information, the second posture information and third posture information, data Processing unit can in real time be handled the posture information received, such as before receiving the second posture information, data processing Unit can complete the processing to the first posture information.
Step S300 may further include:
S310, it is counted in real time based on the first posture information, the second posture information and third posture information, data processing unit Calculate the relative pose relationship that accessory 3 to be installed is respectively relative to executing agency 2 with interfacing part 4.It should be noted that of the invention is excellent It selects in embodiment, relative pose relationship can be the pose that accessory 3 to be installed is respectively relative to world coordinate system with interfacing part 4 and become Change matrix.
Data processing unit exports collected posture information to gyroscope and accelerometer, such as collected relative to used Angle, angular speed and the acceleration parameter of each axis under property coordinate system, are merged using Kalman filtering.As fusion process can To be: each axis after being standardized according to acceleration at two moment of t-1 and t exports, and calculates that the Shaft angle changes, utilizes top Spiral shell instrument is modified the acceleration after standardization in the average value for the angle variable rate that two moment of t-1 and t export, and obtains The estimated value of t moment acceleration.The effect handled in this way are as follows: influenced by disturbance with noise through Kalman filtering post-acceleration meter It is effectively reduced.
To the fused data of Kalman filtering, quaternary number is calculated using quaternion differential equation, after standardization Quaternary number generates posture transfer matrix, i.e. formula (1).And according to the available gyroscope of posture transfer matrix and accelerometer The angle of each axis, angular speed and acceleration in world coordinate system.Wherein, angle and angular speed are it is to be understood that posture turns Moving matrix can be the square that the posture information of the gyroscope acquisition in acquisition portion 1 is transformed into world coordinate system from inertial coodinate system Battle array.
Gravity is filtered out by high-pass filter to the acceleration value of each axis of the obtained accelerometer in world coordinate system Acceleration and fixed bias integrally integrate the filtered acceleration of each axis, in conjunction with after integral rate curve with it is original Acceleration information judges motion state and divides moving region.Such as there is no fluctuation, speed based on acceleration near 0 and do not have There are two features of fluctuation that rate curve is divided into moving region and stagnant zone.According to initial position in operating process and Final position be in the moving region of stationary state, that is, have since static to the feature of static end (speed since 0 to 0 terminates).Stagnant zone is individually integrated, the error accumulated under stationary state and drift are obtained.Moving region is individually integrated, Error model, the acceleration degree in correction motion region are established in conjunction with the acceleration information and moving region speed end value of stagnant zone According to.There are the moving region of stagnant zone, velocity amplitude should terminate since 0 to 0 for front and back, if then moving region end speed not It is 0, should be considered as causing due to the deviation accumulation of moving region.In conjunction with front and back stagnant zone as a result, providing repairing for cumulative departure Positive model.Using moving region division result, revised moving region acceleration information is stitched together, to its Global integration After obtain movement velocity, integrate the move distance for obtaining acquisition portion 1 on each axis of world coordinate system again to movement velocity, i.e., In the location information of world coordinate system.
According to the relationship of the angle in the three of gyroscope directions and posture transfer matrix, i.e. course angle, pitch angle, roll angle Relationship between three attitude angles and posture transfer matrix can obtain formula (2):
In formula (2), θ indicates that the pitch angle that gyroscope measures, ψ indicate the course angle that gyroscope measures, and γ indicates top The roll angle that spiral shell instrument measures, the domain of each angle are as follows:
Simultaneous formula (1) and formula (2), can calculate pitching angle theta, course angle ψ and roll angle γ, i.e. acquisition portion 1 exists The posture information of world coordinate system:
Any point can be obtained in the curve movement in acquisition portion 1 in world coordinate system by location information and posture information jointly In posture information, the second assembly features 41 that also can be obtained by the first assembly features 31 and interfacing part 4 of accessory 3 to be installed exist Posture information in world coordinate system.And integrated location information and posture information primary Calculation obtain the first assembly features 31 with Module and carriage transformation matrix of second assembly features 41 relative to world coordinate system.
S320, module and carriage transformation matrix, error in judgement size are based on.
The characteristics of constituting closed curve according to the acquisition trajectories in acquisition portion 1, i.e., eventually pass back to pedestal 21 from pedestal 21s The closed curve that constitutes of process, then collection process is divided into two parts route, as route can be special for the protrusion from pedestal 21 The second assembly that sign 211 reaches the first assembly features 31 of accessory 3 to be installed and reaches interfacing part 4 from the first assembly features 31 is special First route of sign 41, and the second route of the protruding features 211 from the second assembly features 41 return pedestal 21.With acquisition portion The range error of two parts route of 1 the second assembly features 41 from the protruding features 211 of pedestal 21 to interfacing part 4 is less than setting Range is principle, and dynamic adjusts the weight coefficient of Kalman filter and high-pass filter.Such as since pedestal 21 is fixedly mounted on In executing agency 2, and executing agency 2 and the link position of accessory 3 to be installed are fixed, therefore protruding features 211 and the first assembly are special The distance of sign 31 is regarded as fixed value (this distance can labor measurement or setting etc.).It is assembled using protruding features 211 to the first The distance of feature 31 is this characteristic of fixed value, and the parameter for adjusting filter makes above-mentioned calculated result in allowable range of error, And according to the range difference of the first route and the second route, dynamic adjusts movement of the acquisition portion 1 on the first route and the second route The weight coefficient of filter employed in process, so that the first route and the second route after adjusting weight coefficient and recalculating Distance value it is equal.
After the completion of data processing and dynamic adjust, dynamic the first assembly features 31 adjusted and the second assembly are recalculated Module and carriage transformation matrix of the feature 41 relative to world coordinate system, and export dynamic the first assembly features 31 adjusted and the second dress With feature 41 respectively relative to the module and carriage transformation matrix of world coordinate system.At this point, first in three run indicator runs Indicator light lights simultaneously with second run indicator, indicates that data processing and dynamic adjustment are completed.
Model is established according to the parameter of executing agency 2, such as in the case of executing agency 2 is mechanical arm, according to mechanical arm Each joint connection relationship and dimensional parameters establish DH model, with the matrixing between basis coordinates system describe each connecting rod of mechanical arm it Between connection relationship, and obtain basis coordinates system of the world coordinate system for the pedestal 21 for being mounted on mechanical arm tail end relative to mechanical arm Module and carriage transformation matrix.
Pose is assembled in the expectation for obtaining executing agency 2.Still by taking mechanical arm as an example, method can be with are as follows: data processing unit Each joint angle angle value of mechanical arm is obtained, kinematics model is established using known robot linkage size and joint parameter, calculates The pose transition matrix of world coordinate system from the basis coordinates system of mechanical arm to pedestal 21.It is approximate as mechanical arm using pedestal 21 End (since pedestal 21 and mechanical arm tail end are closely located to), the movement starting point of mechanical arm tail end is acquisition portion 1 in assembling process Position when acquiring third posture information where pedestal 21, that is, the starting pose for it is expected assembly of mechanical arm.Mechanical arm end When the exercise end at end is the second assembly features 41 mating connection of the first assembly features 31 and connector 4 of accessory 3 to be installed (such as Plug together connection) position where pedestal 21, which can be by the position of the world coordinate system of mechanical arm basis coordinates system to pedestal 21 Appearance transition matrix multiplied by interfacing part 4 the second assembly features 41 relative to world coordinate system module and carriage transformation matrix multiplied by be installed First assembly features 31 of accessory 3 are obtained relative to the inverse matrix that world coordinate system pose converts, that is, the expectation of mechanical arm The termination pose of assembly.Corresponding each joint angles when obtaining exercise end according to the inverse kinematics of mechanical arm, such as foundation Pieper rule inverts to pose decoupling, it can be deduced that each joint rotation angle of assembly mechanical arm corresponding when completing.Wherein, it rises Beginning pose terminates pose and resolves the desired value for obtaining each joint rotation angle, meet each joint motions model through detection for checking inverse solution After enclosing, export to the control unit of mechanical arm, posture information instructs each joint motions as a result.
At this point, three run indicator all light, indicate that measurement process is completed.
Further, if in measurement, there is mistake in program operation error or either step, and buzzer 63 will pipe simultaneously And be located at malfunction indicator lamp and the malfunction indicator lamp in I/O equipment 6 in acquisition portion 1 and light simultaneously, survey crew at this time Situation judgement error link can be lighted in conjunction with run indicator, and acquisition portion 1 is returned to pedestal 21, press reset button 65 restart to measure.
In step S400, executing agency 2 is based on the above results posture information, by accessory 3 to be installed installation to interfacing part 4. It such as can be, mechanical arm is based on each joint angles information, drives the end effector for being connected with accessory 3 to be installed, is moved to docking At part 4, and make the first assembly features 31 and the second assembly features 41 mating connection (company of plugging together of such as rectangular preiection and rectangular recess Connect), to realize the assembly of accessory 3 and interfacing part 4 to be installed.
In conclusion the assembly system of the invention based on inertia measurement mainly include acquisition portion 1, data processing unit with And executing agency 2.Wherein, acquisition portion 1 measures mainly including shell and measurement chip 13 and is provided with gyroscope on chip 13 and adds Speedometer.Acquisition portion 1 can acquire pose letter by way of fixing respectively with pedestal 21, accessory to be installed 3 and interfacing part 4 Breath.The compact structure in acquisition portion 1, easy to carry, easy to operate, being more suitable for small space and traditional acquisition device can not fix Scene.Also, it is additionally provided with diversified communication module and indicating module in acquisition portion 1, is provided more just for measurement process Prompt operation and more intuitively observation.Furthermore, it is possible to which the actual application scenarios of foundation, neatly replace the first shell in acquisition portion 1 Body 11 and second shell 12, can also improve 1 applicability of acquisition portion.
In addition, acquiring accessory 3 to be installed by acquisition portion 1 using the assembly method of this assembly system based on inertia measurement The first posture information, the third posture information of the second posture information of interfacing part 4 and device pedestal 21, and based on these letters Breath calculates result posture information (each joint angles of such as mechanical arm) of the executing agency 2 (such as mechanical arm) under basis coordinates system, It is final to realize that executing agency 2 installs accessory 3 to be installed to interfacing part 4.By assembling pose assembly method, can not only mention in height Assembly efficiency and assembly precision when the scene that small space or traditional acquisition device can not be fixed is assembled, and utilize survey Amount track is the feature of space inner sealing curve, and using the range difference of the first route and the second route as evaluation criterion, dynamic is adjusted The weight coefficient of Kalman filtering and high-pass filter improves the precision of measuring system.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these Technical solution after change or replacement will fall within the scope of protection of the present invention.
1. a kind of assembly system based on inertia measurement is used for accessory Matching installation to be installed to interfacing part, which is characterized in that institute Stating assembly system includes acquisition portion, data processing unit and executing agency, wherein the acquisition portion is used for according to the suitable of setting Sequence acquires the of the first posture information of the accessory to be installed, the second posture information of the interfacing part and the executing agency Three posture informations；
Wherein, the executing agency is used to be based on the result posture information, by the accessory Matching installation to be installed to described right Fitting；
The acquisition portion includes shell and at least one mounting structure being set on the shell, and the acquisition portion can lead to It crosses at least one described mounting structure to be separately connected with accessory, the interfacing part and the executing agency to be installed, in turn First posture information, second posture information and the third posture information are successively acquired according to the sequence of setting；
Several first assembly features are provided on the accessory to be installed, be provided on the interfacing part with it is described several first Assembly features corresponding second assembly features are provided with the first installation knot corresponding with first assembly features on the shell Structure, the second mounting structure corresponding with second assembly features, the acquisition portion can be solid by first mounting structure Due to first assembly features, second assembly features are fixed on by second mounting structure.
2. the assembly system according to claim 1 based on inertia measurement, which is characterized in that be additionally provided on the shell Chip is measured, at least there is gyroscope and accelerometer on the measurement chip,
Wherein, the gyroscope can at least obtain the angle information in the acquisition portion；
Wherein, the accelerometer can at least obtain the velocity information in the acquisition portion；
The angle information and velocity information of acquisition form first posture information, second posture information and described the Three posture informations.
3. the assembly system according to claim 2 based on inertia measurement, which is characterized in that be arranged in the executing agency There is pedestal, the acquisition portion can match connection with the pedestal by least one described mounting structure.
4. the assembly system according to claim 3 based on inertia measurement, which is characterized in that the shell includes first shell Body and second shell,
Wherein, the first mounting structure corresponding with first assembly features is provided in the first shell；
Wherein, the second mounting structure corresponding with second assembly features is provided in the second shell.
5. the assembly system according to claim 4 based on inertia measurement, which is characterized in that be additionally provided on the shell Third mounting structure, the acquisition portion can be matched by the third mounting structure with the pedestal.
6. the assembly system according to claim 5 based on inertia measurement, which is characterized in that on the third mounting structure It is provided with infrared switch transmitting terminal, infrared connect corresponding with the infrared switch transmitting terminal is provided on the pedestal Nearly switch receiving end, and
In the case of the acquisition portion matches connection with the pedestal by the third mounting structure, the infrared proximity is opened The signal that the infrared switch transmitting terminal is sent can be received in a contact fashion by closing receiving end.
7. a kind of assembly method of the assembly system described in any one of claims 1 to 6 based on inertia measurement, for will be to Assembly parts Matching installation is to interfacing part, which is characterized in that the assembly method includes the following steps:
First posture information of accessory to be installed described in the acquisition order according to setting, the second posture information of the interfacing part and The third posture information of the executing agency；
Based on first posture information, second posture information and the third posture information, real-time calculated result position Appearance information；
8. the assembly method of the assembly system according to claim 7 based on inertia measurement, which is characterized in that described " be based on first posture information, the second posture information and third posture information, real-time calculated result posture information " is into one Step includes:
It is calculated in real time based on first posture information, second posture information and the third posture information described to be installed Accessory and the interfacing part are respectively relative to the relative pose relationship of the executing agency；
CN106584463A CN106584463A (en) 2017-04-26
CN106584463B true CN106584463B (en) 2019-09-24
CN106584463A (en) 2017-04-26