CN115597488A - Pose detection method for mechanical equipment, pose detection system and actuator - Google Patents

Abstract

The invention discloses a mechanical device, a pose detection system and a pose detection method of an actuating mechanism, wherein the pose detection system comprises a laser emitter, a detection camera and an image processing system, the laser emitter can emit grid-shaped light spots to a detection plane, the grid-shaped light spots comprise m transverse light spots and n longitudinal light spots, the m transverse light spots and the n longitudinal light spots are arranged in a staggered mode to form (m-1) (n-1) rectangular light grids, and m and n are positive integers larger than or equal to 2; the detection camera is used for acquiring a light spot image of the grid-shaped light spot irradiated on a detection plane; the image processing system is in signal connection with the detection camera so as to obtain the pose of the laser emitter according to the light spot image; wherein the laser transmitter is movable relative to the detection camera. The pose detection system provided by the embodiment of the invention can realize automatic detection of the pose of the actuating mechanism.

Description

Pose detection method for mechanical equipment, pose detection system and actuator

technical field

The invention relates to the technical field of mechanical equipment, in particular to a mechanical equipment, a posture detection system and a posture detection method of an actuator.

Background technique

In industrial production and processing and manufacturing technology, there are a large number of situations where actuators operate relative to planes, such as flat plate welding, flat plate cutting, and manipulator plane grabbing and manipulator plane handling. At this time, it is necessary to obtain the pose of the actuator relative to the plane in order to realize the automatic control of the actuator.

Contents of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

For this reason, an embodiment of the present invention proposes a pose detection system to realize automatic detection of the pose of the actuator.

The pose detection system of the embodiment of the present invention includes a laser emitter, a detection camera and an image processing system. The laser emitter can emit grid-shaped light spots to the detection plane, and the grid-shaped light spots include m transverse light spots and n The vertical light spots, the m horizontal light spots and the n vertical light spots are staggered to form (m-1)(n-1) rectangular light grids, wherein m and n are both positive integers greater than or equal to 2; The detection camera is used to obtain the spot image of the grid-shaped spot irradiated on the detection plane; the image processing system is connected to the detection camera signal to obtain the pose of the laser emitter according to the spot image; Wherein, the laser emitter can move relative to the detection camera.

In some embodiments, the detection camera includes a lens, and an optical filter is provided on the object side of the lens, and the optical filter allows light having a wavelength equal to that emitted by the laser emitter to pass through.

In some embodiments, the posture detection system further includes a protective casing, the protective casing has a protective cavity, and the detection camera is arranged in the protective cavity.

In some embodiments, the protective housing includes a metal cover and a light-transmitting plate, the metal cover has a light-transmitting hole, the light-transmitting plate blocks the light-transmitting hole, the metal cover and the light-transmitting plate The light-transmitting plate forms a closed protective cavity, and the detection camera is arranged corresponding to the light-transmitting plate.

An embodiment of the present invention also provides a mechanical device having the above pose detection system.

The mechanical equipment in the embodiment of the present invention includes a frame and the pose detection system described in any of the above embodiments, the frame is provided with an actuator, and the actuator is movable relative to the frame; the laser emits The detector is arranged on the actuator, and the detection camera is arranged on the frame.

The embodiment of the present invention also provides a pose detection method with an actuator.

The pose detection method of the executive mechanism of the embodiment of the present invention comprises:

using the laser emitter to emit grid-shaped light spots to the detection plane;

Using the detection camera to acquire a spot image on the detection plane;

Using the image processing system to process the spot image to obtain the pose of the actuator;

Wherein, the pose of the actuator includes the distance between the actuator and the detection plane, and the angle between the actuator and the detection plane.

In some embodiments, the step of obtaining the pose of the actuator includes:

The laser transmitter is calibrated in advance, and the calibration data is stored in the database, wherein the calibration of the laser transmitter includes: the grid-shaped light spots emitted by the laser transmitter are irradiated on the calibration plane, so that A calibration spot appears on the calibration plane, and the image information including the calibration spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser transmitter and the calibration plane are acquired. said calibration data;

Processing the spot image to obtain image information of the spot image;

Comparing the acquired image information of the spot image with the calibration data in the database to obtain the pose of the laser emitter.

In some embodiments, the calibration light spots include m horizontal light shapes formed by m horizontal light spots and n vertical light shapes formed by n vertical light spots, and obtaining the calibration data includes:

Acquiring at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two of the vertical light shapes, and the vertical distance is the distance between any two of the horizontal light shapes;

The spot image includes m horizontal light stripes formed by m horizontal light spots and n vertical light stripes formed by n vertical light spots, and acquiring image information of the spot image includes:

Acquiring at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any two vertical light bars, and the vertical distance is the distance between any two horizontal light bars;

Wherein, the two vertical light shapes and the two vertical light bars are formed by the same two vertical light spots, and the two horizontal light shapes and the two horizontal light bars are formed by the same two vertical light spots. The light bars are all formed by the same two transverse light spots.

In some embodiments, both m and n are positive integers greater than or equal to 3;

Acquiring the calibration data includes: obtaining at least two of the horizontal intervals and at least two of the longitudinal intervals, obtaining a ratio of the at least two lateral intervals and a ratio of the at least two longitudinal intervals;

Acquiring the image information of the spot image includes:

Obtaining at least two lateral distances and at least two longitudinal distances, obtaining a ratio of the at least two lateral distances and a ratio of the at least two longitudinal distances.

In some embodiments, the at least two transverse distances include the distance between the outermost longitudinal light shape and at least one of the remaining longitudinal light shapes, and the distance between the middle longitudinal light shape and the remaining at least one vertical light shape. The distance between the longitudinal light shapes; the at least two vertical distances include the distance between the outermost horizontal light shape and the remaining at least one horizontal light shape, and the middle horizontal light shape spacing from the remaining at least one of said transverse light shapes;

The at least two transverse distances include the distance between the outermost longitudinal light bar and the remaining at least one longitudinal light bar, and the distance between the middle longitudinal light bar and the remaining at least one longitudinal light bar. The distance between; the at least two longitudinal distances include the distance between the outermost horizontal light bar and the remaining at least one horizontal light bar, and the distance between the middle horizontal light bar and the remaining at least one horizontal light bar Distance between horizontal light bars.

When the mechanical equipment in the embodiment of the present invention is working, the laser emitter can be used to emit grid-shaped light spots to the detection plane, and the detection camera can be used to obtain the light spot images on the detection plane; the image processing system can be used to process the acquired light spot images, and then the The pose of the actuator is obtained so as to realize the automatic adjustment of the pose of the actuator, which is beneficial to improve the automation of mechanical equipment. Therefore, the mechanical equipment of the embodiment of the present invention has the advantages of a high degree of automation.

Description of drawings

Fig. 1 is a schematic diagram of a partial structure of a mechanical device according to an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a first viewing angle of the detection camera in FIG. 1 .

FIG. 3 is a schematic structural diagram of a second viewing angle of the detection camera in FIG. 1 .

Fig. 4 is a flow chart of a pose detection method of an actuator according to an embodiment of the present invention.

Fig. 5 is a partial structural schematic diagram of the actuator, the field of view of the detection camera and the detection plane when the mechanical equipment is in the first use state according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of the spot image in FIG. 5 .

Fig. 7 is a partial structural schematic diagram of the actuator, the field of view of the detection camera and the detection plane when the mechanical equipment is in the second use state according to an embodiment of the present invention.

FIG. 8 is a schematic diagram of the spot image in FIG. 7 .

Fig. 9 is a partial structural schematic diagram of the actuator, the field of view of the detection camera and the detection plane when the mechanical equipment is in the third use state according to an embodiment of the present invention.

FIG. 10 is a schematic diagram of the spot image in FIG. 9 .

Fig. 11 is a partial structural schematic diagram of the actuator, the field of view of the detection camera and the detection plane when the mechanical equipment is in the fourth use state according to an embodiment of the present invention.

FIG. 12 is a schematic diagram of the spot image in FIG. 11 .

Reference signs:

mechanical equipment 100;

Rack 1;

executive body 2;

Laser emitter 3;

Detection camera 4; protective shell 401; metal cover 4011; light-transmitting plate 4012; lens 402; optical filter 403;

Detection plane 10;

field of view 20;

Spot image30.

detailed description

Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

As shown in Figures 1 to 12, the mechanical equipment 100 of the embodiment of the present invention includes a frame 1 and a pose detection system, the frame 1 is provided with an actuator 2, and the actuator 2 is movable relative to the frame 1, so that the actuator 2 moves relative to the detection plane 10. The pose detection system includes a laser transmitter 3, a detection camera 4, and an image processing system (not shown in the figure). The laser transmitter 3 can emit grid-shaped light spots to the detection plane 10, and the grid-shaped light spots include m transverse light spots. and n vertical light spots, m horizontal light spots and n vertical light spots are arranged alternately to form (m-1)(n-1) rectangular light grids, where m and n are both positive integers greater than or equal to 2. The detection camera 4 is used to acquire the spot image 30 of the grid-shaped spot irradiated on the detection plane 10 , and the image processing system is connected with the detection camera 4 to obtain the pose of the laser emitter 3 according to the spot image 30 . Wherein, the laser emitter 3 is arranged on the actuator 2 , and the detection camera 4 is arranged on the frame 1 .

Those skilled in the art know that the grid-shaped spot emitted by the laser emitter 3 is fixed, when the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10, and the distance between the laser emitter 3 and the detection plane 10 When the distance becomes farther, when the grid-shaped spot emitted by the laser emitter 3 is irradiated on the detection plane 10, the size of the rectangular frame spot formed by the rectangular light grid in the grid-shaped spot will become larger; otherwise, when the laser emits When the distance between the detector 3 and the detection plane 10 becomes shorter, when the grid-shaped light spot emitted by the laser emitter 3 is irradiated on the detection plane 10, the size of the rectangular frame light spot formed by the rectangular light lattice in the grid-shaped light spot will get smaller.

When the angle between the laser emitting direction of the laser emitter 3 and the detection plane 10 is an acute angle, and the angle between the laser emitter 3 and the detection plane 10 changes, the grid-shaped spot emitted by the laser emitter 3 When irradiated on the detection plane 10, the shape and size of the rectangular frame light spot formed by the rectangular light grid in the grid-shaped light spot will change. For example, the rectangular light grid in the grid-shaped light spot emitted by the laser emitter 3 is If the light grid is square, the rectangular frame light spot formed by the rectangular light grid on the detection plane 10 is a rectangle including long sides and short sides. And, when the distance between the laser emitter 3 and the detection plane 10 is constant, and the angle between the laser emitting direction of the laser emitter 3 and the detection plane 10 changes, at least one of the long and short sides of the above-mentioned rectangle will change.

In addition, it can be understood that when the distance between the same laser emitter 3 and the detection plane 10 is equal, and the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 is the same, the multi-directional detection When the plane 10 is irradiated, the shape and size of the spot formed on the detection plane 10 each time are the same. Wherein, the size of the light spot includes the area and side length of the rectangular frame light spot formed by irradiating the rectangular light lattice in the grid-shaped light spot on the detection plane 10 . Wherein, the shape and size of the light spot are the image information of the light spot.

In summary, the distance between the laser emitter 3 and the detection plane 10, the angle between the laser emission direction of the laser emitter 3 and the detection plane 10, the shape of the spot formed on the detection plane 10, and the There is a unique and definite correspondence between the sizes of the formed light spots. For the convenience of description, the distance between the laser transmitter 3 and the detection plane 10 is used as the calibration distance, the angle between the laser emission direction of the laser transmitter 3 and the detection plane 10 is the calibration angle, and the detection plane 10 The shape of the formed light spot is the calibration shape, and the size of the light spot formed on the detection plane 10 is the calibration size, so there is a unique and definite correspondence between the calibration distance, calibration angle, calibration shape and calibration size. That is, when the calibration distance and calibration angle are determined, the calibration shape and calibration size are also uniquely determined; conversely, when the calibration shape and calibration size are determined, the calibration distance and calibration angle are also uniquely determined.

For convenience of description, the shape of the light spot formed on the detection plane 10 is the detection shape, the size of the light spot formed on the detection plane 10 is the detection size, the distance between the laser emitter 3 and the detection plane 10 is the detection distance, and the laser emission The angle between the laser emission direction of the device 3 and the detection plane 10 is the detection angle. Wherein, the spot image 30 acquired by the detection camera 4 is the image of the spot formed on the detection plane 10 , and the detected shape and size are the image information of the spot image 30 . In the case where the calibration distance, calibration angle, calibration shape and calibration size are known, if the detection shape and detection size are obtained at the working site of the mechanical equipment 100, the detection distance and detection angle can be obtained. Among them, the corresponding relationship between calibration distance, calibration angle, calibration shape and calibration size forms a database. At least one of the calibrated distance and the calibrated included angle is different.

Specifically, compare the detected shape and detected size with the above-mentioned database, and find a data group whose calibration shape is equal to the detected shape and whose calibration size is equal to the detection size on the database, then the corresponding calibration distance in the data group is the detection distance. The distance and the calibration angle are the detection angle. Therefore, when using the mechanical device 100, only the detection shape and the detection size need to be obtained, and the distance between the laser emitter 3 and the detection plane 10, and the distance between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained. horn.

Since the laser emitter 3 is fixed on the actuator 2, the relative position between the laser emitter 3 and the actuator 2 is fixed, the pose of the laser emitter 3 changes with the pose of the actuator 2, and the laser emitter 3 can be obtained according to The distance between the transmitter 3 and the detection plane 10 and the angle between the laser emission direction of the laser transmitter 3 and the detection plane 10 are used to obtain the pose of the actuator 2 .

The laser emitter 3 can be used in advance to irradiate the calibration plane (the detection plane 10 or other surface is a plane surface) at different distances and different angles, and obtain the image information (including shape and size) of the spot formed on the calibration plane during each irradiation. ), thereby obtaining the distance between the laser transmitter 3 and the calibration plane, the angle between the laser emission direction of the laser transmitter 3 and the calibration plane, the shape of the spot formed on the calibration plane and the size of the spot formed on the calibration plane multiple sets of data sets, and store the data sets as calibration data in the database. When the mechanical equipment 100 is actually used, the laser emitter 3 is used to irradiate the detection plane 10, and the detection camera 4 is used to obtain the spot image 30 on the detection plane 10. By combining the image information of the acquired spot image 30 with the data set in the database By comparison, the distance between the laser emitter 3 and the detection plane 10 and the angle between the laser emitting direction of the laser emitter 3 and the detection plane 10 can be obtained. According to the positional relationship between the laser transmitter 3 and the actuator 2, the distance between the actuator 2 and the detection plane 10 and the angle between the actuator 2 and the detection plane 10 can be obtained by further calculation, that is, the distance between the actuator 2 and the detection plane 10 can be obtained. pose.

When the mechanical equipment 100 of the embodiment of the present invention is operating, the laser emitter 3 can be used to emit grid-shaped light spots to the detection plane 10, and the detection camera 4 can be used to obtain the light spot image 30 on the detection plane 10; the image processing system can be used to process the acquired light spots After the image 30 is processed, the pose of the actuator 2 can be obtained, so as to realize the automatic adjustment of the pose of the actuator 2, which is beneficial to improve the automation of the mechanical equipment 100 .

Therefore, the mechanical equipment 100 of the embodiment of the present invention has advantages such as a high degree of automation.

Optionally, the mechanical equipment 100 can be a rock bolter, the frame 1 can be the body of the rocker, and the actuator 2 can be the rockbolter of the rocker. For example, the actuator 2 includes a drill frame and a drill The drilling box is movably arranged on the drilling frame, and the laser emission direction of the laser emitter 3 is parallel to the moving direction of the drilling box. The optical axis of the detection camera 4 is perpendicular to the coal wall, and the coal wall forms the above-mentioned detection plane 10 . Among them, the drilling frame is connected with the body of the drilling truck through the mechanical arm, and the drilling box is used for installing anchor rods or anchor cables.

For example, a slide rail is provided on the drill frame, and a slide block is provided on the drill box, and the slide block is movable along the extending direction of the slide rail, and the drill box moves relative to the drill frame along a preset direction by utilizing the cooperation between the slide block and the slide rail. The laser emitting direction of the laser emitter 3 is parallel to the extending direction of the slide rail. When the laser emitter 3 emits grid-shaped light spots to the detection plane, the optical axis of the detection camera 4 is perpendicular to the coal wall, so that the detection camera 4 can obtain the light spot image 30 of the grid-shaped light spots irradiated on the coal wall.

By setting the laser emission direction of the laser emitter 3 parallel to the moving direction of the drilling box, the angle between the laser emission direction of the laser emitter 3 and the coal wall is equal to the angle between the rock bolter and the coal wall, Thus, the angle between the laser emission direction of the laser transmitter 3 and the coal wall is obtained, that is, the angle between the rock bolter and the coal wall is obtained. By setting the optical axis of the detection camera 4 perpendicular to the coal wall, the light spot image 30 acquired by the detection camera 4 is consistent with the light spot formed on the coal wall. Therefore, the processing process of the image processing system is simpler, the processing time can be shortened, and it is beneficial to further improve the efficiency of the adjustment of the pose of the rock bolter, and improve the accuracy of the pose adjustment of the rocker drill.

Optionally, the actuator 2 can be a manipulator.

Optionally, the laser emitter 3 and the actuator 2 may be bonded or connected by a fastener, and the fastener may be a bolt, a screw or the like.

In some embodiments, as shown in FIG. 2 and FIG. 3 , the pose detection system further includes a protective housing 401 having a protective cavity, and the detection camera 4 is disposed in the protective cavity.

Wherein, the protective housing 401 and the frame 1 may be welded or connected by fasteners, and the detection camera 4 and the protective housing 401 may be connected by bonding or fasteners, and the fasteners may be bolts, screws and the like.

By arranging the detection camera 4 in the protective cavity formed by the protective housing 401 , it is possible to prevent external dust and liquid from affecting the operation of the detection camera 4 .

Optionally, the protective housing 401 includes a metal cover 4011 and a light-transmitting plate 4012 , and the metal cover 4011 has a light-transmitting hole for light to enter the detection camera 4 . The detection camera 4 is connected to the metal cover 4011, the light-transmitting plate 4012 blocks the light-transmitting hole, and the metal cover 4011 and the light-transmitting plate 4012 define a closed protective chamber. Wherein, the light-transmitting plate 4012 can be made of other light-transmitting materials such as acrylic material and tempered glass material.

Through the above-mentioned design of the protective shell 401 , the protective cavity is a closed protective cavity, which can more effectively prevent external dust and liquid from affecting the work of the detection camera 4 .

Optionally, a wire hole is provided on the metal cover 4011 , and the wire hole allows the power line and signal line of the detection camera 4 to pass through.

Optionally, the metal cover 4011 is made of metal.

Optionally, as shown in FIG. 2 and FIG. 3 , the detection camera 4 includes a lens 402 , and an optical filter 403 is provided on the object side of the lens 402 , and the optical filter 403 allows the light of the wavelength equal to that emitted by the laser transmitter 3 to pass through.

By setting the optical filter 403 on the object side of the lens 402, the interfering light can be filtered by the optical filter 403, and only the light emitted by the laser transmitter 3 can pass through the optical filter 403 and enter the lens 402 of the detection camera 4, thereby making use of The light spot image 30 acquired by the detection camera 4 has higher precision, which is beneficial to improve the pose adjustment accuracy of the pose detection system.

Optionally, the optical filter 403 is sheathed with a connecting cylinder, and the optical filter 403 is connected to the lens 402 of the detection camera 4 through the connecting cylinder.

As shown in Figures 4 to 12, the pose detection method of the actuator in the embodiment of the present invention includes:

S01, using the laser transmitter 3 to emit a grid-shaped spot to the detection plane 10;

S02, using the detection camera 4 to acquire the spot image 30 on the detection plane 10;

S03, using the image processing system to process the spot image 30 to obtain the pose of the laser emitter 3;

Wherein, the pose of the laser emitter 3 includes the distance between the laser emitter 3 and the detection plane 10 , and the angle between the laser emitter 3 and the detection plane 10 .

Thus, the method for detecting the pose of the actuator in the embodiment of the present invention can realize automatic detection of the pose of the actuator 2, thereby facilitating automatic control of the actuator 2.

Optionally, the pose of the laser emitter 3 is the same as that of the actuator 2 .

In some embodiments, the step of obtaining the pose of the laser transmitter 3 includes:

Calibrate the laser transmitter 3 in advance, and store the calibration data in the database, wherein, the calibration of the laser transmitter 3 includes: the grid-shaped spot emitted by the laser transmitter 3 is irradiated on the calibration plane, so that the calibration plane Presenting the calibration spot, acquiring calibration data including the image information of the calibration spot, the distance between the laser emitter and the calibration plane, and the angle between the laser emission direction of the laser transmitter and the calibration plane;

Processing the spot image 30 to obtain image information of the spot image 30;

Comparing the image information of the acquired spot image 30 with the calibration data in the database to obtain the pose of the laser emitter 3;

According to the relative position of the laser emitter 3 and the actuator 2, the pose of the actuator 2 is obtained.

By pre-calibrating the laser emitter 3, a database including calibration data is obtained, and the image information of the acquired spot image 30 is compared with the calibration data in the database during actual use, so as to obtain the pose of the laser emitter 3 conveniently.

Wherein, the calibration light spots include m horizontal light shapes formed by m horizontal light spots and n vertical light shapes formed by n vertical light spots. The light spot image 30 includes m horizontal light stripes 3001 formed by m horizontal light spots and n vertical light stripes 3002 formed by n vertical light spots.

Acquiring the calibration data includes: obtaining at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any "two vertical light shapes", and the vertical distance is the distance between any "two horizontal light shapes".

Obtaining the image information of the spot image 30 includes: acquiring at least one horizontal distance and at least one vertical distance, wherein the horizontal distance is the distance between any "two vertical light bars 3002", and the vertical distance is the distance between any "two horizontal light bars 3001". "the distance between.

Wherein, the above-mentioned "two vertical light shapes" and the above-mentioned "two vertical light bars 3002" are formed by the same two vertical light spots, and the above-mentioned "two horizontal light shapes" and the above-mentioned "two horizontal light bars 3001" are formed by The same while two lateral spots are formed.

It can be understood that when m and n are both equal to 2, the horizontal distance is the distance between two adjacent vertical light shapes; the vertical distance is the distance between two adjacent horizontal light shapes; the horizontal distance is The distance between two adjacent vertical light bars 3002; the vertical distance is the distance between two adjacent horizontal light bars 3001. The upper two vertical light shapes and the two vertical light bars 3002 are formed by the same two vertical light spots, and the upper two horizontal light shapes and the two horizontal light bars 3001 are formed by the same two horizontal light spots.

When m is a positive integer greater than or equal to 3, the vertical distance can be the distance between two adjacent horizontal light shapes, or the distance between two horizontal light shapes separated by p horizontal light shapes; the vertical distance It may be the distance between two adjacent horizontal light bars 3001 , or the distance between two horizontal light bars 3001 separated by p horizontal light bars 3001 . Wherein, p is a positive integer less than or equal to (m-2). It should be noted that the longitudinal distance corresponds to the longitudinal distance. Specifically, at least two horizontal light spots in the grid-shaped light spots are horizontal calibration light spots. The distance between the horizontal light shapes formed on the calibration plane, and the longitudinal distance refer to the distance between the horizontal light bars 3001 formed by the horizontal calibration light spots on the detection plane 10 when the grid-shaped light spots are irradiated on the detection plane 10 .

For example, m is equal to 15, that is, the grid-shaped light spots include fifteen horizontal light spots, and the fifteen horizontal light spots are evenly spaced along the vertical direction. There are six horizontal calibration spots along the bottom-up direction, and the six horizontal calibration spots are the first, third, ninth, eleventh, thirteenth and fifteenth horizontal spots respectively. When the grid-shaped light spot including the above six horizontal calibration spots is irradiated on the calibration plane, the distance between the horizontal light shape formed by the first horizontal calibration light spot and the horizontal light shape formed by the third horizontal calibration light spot is A vertical spacing Y ₀₁ ; the distance between the horizontal light shape formed by the thirteenth horizontal calibration spot and the horizontal light shape formed by the fifteenth horizontal calibration spot is the second vertical spacing Y ₀₂ ; by the ninth The distance between the horizontal light shape formed by the horizontal calibration light spots and the horizontal light shape formed by the eleventh horizontal calibration light spot is the third vertical distance Y ₀₃ . As shown in Figure 6, when the grid-shaped light spot including the above-mentioned six horizontal marking spots is irradiated on the detection plane 10, the horizontal light strip 3001 formed by the first horizontal marking light spot and the horizontal light strip 3001 formed by the third horizontal marking light spot The distance between the light bars 3001 is the first longitudinal distance _Y1 ; the distance between the horizontal light bars 3001 formed by the thirteenth horizontal marked light spot and the horizontal light bar 3001 formed by the fifteenth horizontal marked light spot is The second longitudinal distance Y ₂ ; the distance between the horizontal light bar 3001 formed by the ninth horizontal marked light spot and the horizontal light bar 3001 formed by the eleventh horizontal marked light spot is the third longitudinal distance Y ₃ . The above-mentioned first longitudinal distance Y ₀₁ corresponds to the first longitudinal distance Y ₁ , the above-mentioned second longitudinal distance Y ₀₂ corresponds to the second longitudinal distance Y ₂ , and the above-mentioned third longitudinal distance Y ₀₃ corresponds to the third The longitudinal distance _Y3 corresponds. The calibration data in the database includes the first longitudinal distance Y ₀₁ , the second longitudinal distance Y ₀₂ and the third longitudinal distance Y ₀₃ ; the acquired image information of the spot image 30 includes the first longitudinal distance Y ₁ , the second longitudinal distance Y 03 A second longitudinal distance Y ₂ and a third longitudinal distance Y ₃ . When actually performing the pose detection of the actuator 2, the first longitudinal distance Y ₁ and the first longitudinal distance Y ₀₁ , the second longitudinal distance Y ₂ and the second longitudinal distance Y ₀₂ , the third longitudinal distance Y 02 The distance Y ₃ is compared with the third longitudinal distance Y ₀₃ .

When n is a positive integer greater than or equal to 3, the horizontal distance can be the distance between two adjacent vertical light shapes, or the distance between two vertical light shapes separated by q vertical light shapes; the horizontal distance is the distance between two adjacent vertical light bars 3002, or the distance between two vertical light bars 3002 separated by q vertical light bars 3002; wherein, q is a positive value less than or equal to (n-2) integer.

When n is a positive integer greater than or equal to 3, the horizontal distance can be the distance between two adjacent vertical light shapes, or the distance between two vertical light shapes separated by q vertical light shapes; the horizontal distance It may be the distance between two adjacent vertical light bars 3002 , or the distance between two vertical light bars 3002 separated by p vertical light bars 3002 . Wherein, q is a positive integer less than or equal to (n-2). It should be noted that the horizontal distance corresponds to the horizontal distance. Specifically, at least two vertical light spots in the grid-shaped light spots are longitudinal calibration light spots. The distance between the vertical light shapes formed on the calibration plane, and the horizontal distance refer to the distance between the vertical light bars 3002 formed by the vertical calibration light spots on the detection plane 10 when the grid-shaped light spots irradiate on the detection plane 10 .

For example, n is equal to 21, that is, the grid-shaped light spots include 21 vertical light spots, and the 21 vertical light spots are evenly spaced along the left and right directions. There are six vertical calibration spots along the direction from left to right, and the six vertical calibration spots are respectively the first, third, tenth, twelfth, nineteenth and twenty-first longitudinal spots. When the grid-shaped light spot including the above-mentioned six longitudinal calibration spots is irradiated on the calibration plane, the distance between the longitudinal light shape formed by the first vertical calibration light spot and the longitudinal light shape formed by the third vertical calibration light spot is One horizontal spacing X ₀₁ ; the spacing between the longitudinal light shape formed by the nineteenth vertical calibration spot and the longitudinal light shape formed by the twenty-first vertical calibration spot is the second horizontal spacing X ₀₂ ; The distance between the longitudinal light shape formed by the ten vertical calibration light spots and the longitudinal light shape formed by the twelfth vertical calibration light spot is the third horizontal distance X ₀₃ . As shown in Figure 6, when the grid-shaped light spot including the above-mentioned six vertical marking spots is irradiated on the detection plane 10, the vertical light strip 3002 formed by the first vertical marking light spot and the longitudinal light strip 3002 formed by the third vertical marking light spot The distance between the light bars 3002 is the first horizontal distance X ₁ ; the distance between the longitudinal light bars 3002 formed by the nineteenth vertical marked light spot and the longitudinal light bar 3002 formed by the twenty-first vertical marked light spot is the second horizontal distance X ₂ ; the distance between the vertical light bar 3002 formed by the tenth vertical marked light spot and the vertical light bar 3002 formed by the twelfth vertical marked light spot is the third horizontal distance X ₃ . The above-mentioned first transverse distance X ₀₁ corresponds to the first transverse distance X ₁ , the above-mentioned second transverse distance X ₀₂ corresponds to the second transverse distance X ₂ , and the above-mentioned third transverse distance X ₀₃ corresponds to the third The lateral distance X ₃ corresponds. The calibration data in the database includes the above-mentioned first horizontal distance X ₀₁ , the second horizontal distance X ₀₂ and the third horizontal distance X ₀₃ ; the acquired image information of the spot image 30 includes the above-mentioned first horizontal distance X ₁ , the second horizontal distance X 03 A second lateral distance X ₂ and a third lateral distance X ₃ . When actually performing the pose detection of the actuator 2, the first lateral distance X ₁ and the first lateral distance X ₀₁ , the second lateral distance X ₂ and the second lateral distance X ₀₂ , and the third lateral distance X 02 can be compared. The distance X ₃ is compared with the third horizontal distance X ₀₃ .

It can be understood that when the laser emission direction of the laser transmitter 3 is perpendicular to the detection plane 10, when the grid-shaped light spot emitted by the laser transmitter 3 is irradiated on the detection plane 10, the light spot formed on the detection plane 10 is equivalent to a grid-shaped light spot. The enlarged version of the light spot, that is, the shape of the light spot formed on the detection plane 10 is the same as that of the grid-shaped light spot, and the size of the light spot formed on the detection plane 10 is larger than the size of the grid-shaped light spot. And when the distance between the laser emitter 3 and the detection plane 10 is different, the length of the horizontal light strip 3001 and the length of the vertical light strip 3002 formed on the detection plane 10 are different, and the corresponding horizontal distance, vertical distance, and each rectangular frame light spot The side lengths are also different, and the distance between the laser emitter 3 and the detection plane 10 can be obtained by comparing one of the obtained horizontal distance, vertical distance and the area of the rectangular frame spot with the calibration data in the database d.

When the laser emission direction of the laser emitter 3 is perpendicular to the detection plane 10 , the side length of the rectangular frame spot formed on the detection plane 10 is the initial side length. As shown in FIGS. 7 and 8 , when the detection plane 10 is a vertical plane, a plane parallel to the vertical direction and perpendicular to the detection plane 10 is taken as the vertical reference plane. When the distance between the laser emitter 3 and the detection plane 10 remains constant, the laser emission direction of the laser emitter 3 is parallel to the above-mentioned vertical reference plane, and the horizontal spot emitted by the laser emitter 3 is parallel to the horizontal direction, the laser emitter 3 The emitted longitudinal spot is parallel to the vertical direction, and the laser emission direction of the laser emitter 3 is inclined along the vertical direction, so that the laser emission direction of the laser emitter 3 forms an acute angle with the detection plane 10 . The length of the longitudinal light strip 3002 formed by the longitudinal spot on the detection plane 10 will vary with the angle between the laser emitting direction of the laser emitter 3 and the detection plane 10, and the transverse light strip 3002 formed by the transverse spot on the detection plane 10 The length of the bar 3001 is always constant. Therefore, the length of the side parallel to the horizontal direction of the rectangular frame spot formed by the rectangular light grid remains unchanged; while the side length of the rectangular frame spot formed by the rectangular light grid parallel to the vertical direction will vary with the laser emitter. The included angle between the laser emission direction of 3 and the detection plane 10 changes, and the side lengths of the rectangular frame spots with different positions in the vertical direction vary in different amounts.

To obtain the angle between the laser emitting direction of the laser emitter 3 and the detection plane 10 by comparing the longitudinal distance with the longitudinal distance, it is necessary to compare multiple longitudinal distances with the corresponding longitudinal distance. Moreover, even if the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 is the same, but when the distance between the laser emitter 3 and the detection plane 10 is different, the longitudinal distance and the longitudinal spacing will also change. Therefore, if one wants to obtain the angle between the laser emission direction of the laser emitter 3 and the detection plane 10 only by comparing the longitudinal distance with the longitudinal distance, multiple sets of longitudinal distance data need to be calibrated in advance. It can be understood that when the angle between the laser emitting direction of the laser emitter 3 and the detection plane 10 is the same, but when the distances between the laser emitter 3 and the detection plane 10 are different, the ratio of the two longitudinal distances is the same. Therefore, the ratio of at least two longitudinal distances can be obtained in advance, and at the same time when the spot image 30 is processed, the ratio of at least two longitudinal distances can be obtained, by comparing the ratio of at least two longitudinal distances with the ratio of at least two longitudinal distances Yes, the angle α between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained. In addition, by comparing the obtained lateral distance with the calibration data in the database, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

Similarly, as shown in FIGS. 9 and 10 , when the detection plane 10 is a vertical plane, a plane parallel to the horizontal direction and perpendicular to the detection plane 10 is used as a horizontal reference plane. When the distance between the laser emitter 3 and the detection plane 10 remains constant, the laser emission direction of the laser emitter 3 is parallel to the above-mentioned horizontal reference plane, the transverse spot emitted by the laser emitter 3 is parallel to the horizontal direction, and the laser emitter 3 emits The longitudinal spot of the laser emitter is parallel to the vertical direction, and the laser emission direction of the laser emitter 3 is inclined along the horizontal direction, so that the laser emission direction of the laser emitter 3 forms an acute angle with the detection plane 10. The length of the side parallel to the vertical direction of the rectangular frame spot formed by the rectangular light grid remains unchanged, while the side length of the rectangular frame spot formed by the rectangular light grid and parallel to the horizontal direction will vary with the laser transmitter 3. The included angle between the laser emission direction and the detection plane 10 changes, and the side lengths of the rectangular frame spots with different positions in the horizontal direction vary in different amounts.

The ratio of at least two lateral distances can be obtained in advance, and at the same time, when processing the spot image 30, the ratio of at least two lateral distances can be obtained, by comparing the ratio of at least two lateral distances with the ratio of at least two lateral distances, Then the angle β between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained. In addition, by comparing the acquired longitudinal distance with the calibration data in the database, the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

Optionally, both m and n are positive integers greater than or equal to 3. Acquiring calibration data includes: obtaining at least two horizontal intervals and at least two longitudinal intervals, obtaining a ratio of at least two horizontal intervals and a ratio of at least two longitudinal intervals. Acquiring the image information of the spot image 30 includes: acquiring at least two lateral distances and at least two longitudinal distances, and obtaining a ratio of at least two lateral distances and a ratio of at least two longitudinal distances.

For example, the calibration data includes three horizontal intervals, three vertical intervals and the ratio of at least two horizontal intervals, the ratio of at least two longitudinal intervals, the three horizontal intervals are X ₀₁ , X ₀₂ and X ₀₃ , and the three vertical intervals They are Y ₀₁ , Y ₀₂ and Y ₀₃ respectively. As shown in Fig. 6, Fig. 8, Fig. 10 and Fig. 12, the image information of the spot image 30 includes three transverse distances, three longitudinal distances and a ratio of at least two transverse distances, a ratio of at least two longitudinal distances, three The horizontal distances are respectively X ₁ , X ₂ and X ₃ , and the three longitudinal distances are respectively Y ₁ , Y ₂ and Y ₃ . Among them, X ₁ , X ₂ and X ₃ correspond to X ₀₁ , X ₀₂ and X ₀₃ respectively; Y ₁ , Y ₂ and Y ₃ correspond to Y ₀₁ , Y ₀₂ and Y ₀₃ respectively, and the ratio of the lateral spacing can include The ratio of X ₀₂ to X ₀₁ , the ratio of X ₀₃ to X ₀₂ , the ratio of vertical distance can include the ratio of Y ₀₂ to Y ₀₁ , the ratio of Y ₀₃ to Y ₀₂ ; the ratio of horizontal distance can include the ratio of X ₂ to X _{1 The} ratio, the ratio of _X3 to X2, the ratio of the longitudinal distance may include the ratio of _Y2 to _Y1 , the ratio of _Y3 to _Y2 .

As shown in Figure 5 and Figure 6, by comparing the ratio of X ₂ to X ₁ with the ratio of X ₀₂ to X ₀₁ , or comparing the ratio of X ₃ to X ₂ with the ratio of X ₀₃ to X ₀₂ , and comparing Y The ratio of ₂ to Y ₁ is the same as the ratio of Y ₀₂ to Y ₀₁ , or the ratio of Y ₃ to Y ₂ is compared with the ratio of Y ₀₃ to Y ₀₂ , the distance between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained The angle between them is 90°. By comparing the ratio of X ₂ to X ₁ to the ratio of X ₀₂ to X ₀₁ , or the ratio of X ₃ to X ₂ to the ratio of X ₀₃ to X ₀₂ , or the ratio of Y ₂ to Y ₁ to the ratio of Y ₀₂ to Y ₀₁ , or comparing the ratio of Y ₃ to Y ₂ with the ratio of Y ₀₃ to Y ₀₂ , the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

Similarly, as shown in Figure 7 and Figure 8, by comparing the ratio of X ₂ to X ₁ with the ratio of X ₀₂ to X ₀₁ , or comparing the ratio of X ₃ to X ₂ with the ratio of X ₀₃ to X ₀₂ , And the ratio of Y ₂ and Y ₁ is the same as the ratio of Y ₀₂ and Y ₀₁ , or the ratio of Y ₃ and Y ₂ is compared with the ratio of Y ₀₃ and Y ₀₂ , the laser emission direction and detection of the laser emitter 3 can be obtained The angle α between the planes 10. By comparing X1 with _X01 , or comparing X2 with _X02 , or comparing _X3 with _X03 , the distance d between the laser emitter ₃ and the detection plane ₁₀ can be obtained. As shown in Figure 9 and Figure 10, by comparing the ratio of X ₂ to X ₁ with the ratio of X ₀₂ to X ₀₁ , or comparing the ratio of X ₃ to X ₂ with the ratio of X ₀₃ to X ₀₂ , and comparing Y The ratio of ₂ to Y ₁ is the same as the ratio of Y ₀₂ to Y ₀₁ , or the ratio of Y ₃ to Y ₂ is compared with the ratio of Y ₀₃ to Y ₀₂ , the distance between the laser emission direction of the laser emitter 3 and the detection plane 10 can be obtained The angle β between them. By comparing _Y1 with _Y01 , or comparing _Y2 with _Y02 , or comparing _Y3 with _Y03 , the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

Similarly, as shown in Figure 11 and Figure 12, by comparing the ratio of X ₂ to X ₁ with the ratio of X ₀₂ to X ₀₁ , or comparing the ratio of X ₃ to X ₂ with the ratio of X ₀₃ to X ₀₂ , And the ratio of Y ₂ and Y ₁ is the same as the ratio of Y ₀₂ and Y ₀₁ , or the ratio of Y ₃ and Y ₂ is compared with the ratio of Y ₀₃ and Y ₀₂ , the laser emission direction and detection of the laser emitter 3 can be obtained Between the planes 10, the angle α in the vertical direction and the angle β in the horizontal direction. Afterwards, the actuator 2 can be moved along one of the vertical direction and the horizontal direction, so that one of α and β is equal to 90°, and then the spot image 30 is acquired, and the laser beam is obtained according to the image information of the acquired spot image 30. Distance d between emitter 3 and detection plane 10 . For example, the actuator 2 is moved vertically so that α is equal to 90°, and then the image information of the spot image 30 is obtained, by comparing Y ₁ with Y ₀₁ , or by comparing Y ₂ with Y ₀₂ , or by Y ₃ is compared with Y ₀₃ , the distance d between the laser emitter 3 and the detection plane 10 can be obtained.

Optionally, the plurality of rectangular cells in the grid-shaped light spot are all square cells with equal side lengths.

Optionally, the at least two horizontal distances include a distance between the outermost vertical light shape and the remaining at least one vertical light shape, and a distance between the middle vertical light shape and the remaining at least one vertical light shape. The at least two longitudinal distances include the distance between the outermost horizontal light shape and the remaining at least one horizontal light shape, and the distance between the middle horizontal light shape and the remaining at least one horizontal light shape.

Wherein, the outermost vertical light shape can be understood as: the vertical light shape close to both sides in the horizontal direction, and the vertical light shape in the middle can be understood as: the vertical light shape close to the center in the horizontal direction. The outermost horizontal light shape can be understood as: the horizontal light shape near the two sides in the longitudinal direction, and the horizontal light shape in the middle can be understood as: the horizontal light shape near the center in the longitudinal direction.

For example, when n is equal to 21, twenty-one longitudinal light spots are evenly spaced along the left and right directions. The first vertical light spot and the twenty-first vertical light spot in the left and right directions are the outermost vertical light spots, and the eleventh vertical light spot is the middle longitudinal light spot. Correspondingly, when the grid-shaped spot is irradiated on the calibration plane, the first longitudinal light shape and the twenty-first longitudinal light shape formed on the calibration plane are the outermost longitudinal light shapes, and the The eleventh vertical light shape is the vertical light shape in the middle. The horizontal distance can include the difference between the first vertical light shape and the third vertical light shape, the twenty-first vertical light shape and the nineteenth vertical light shape, and the tenth vertical light shape and the twelfth vertical light shape. spacing between. Among them, the 3rd, 19th, 10th and 12th vertical light shapes are respectively the 3rd, 19th, 10th and 12th longitudinal light spots formed on the calibration plane light shape.

When m is equal to 15, fifteen horizontal light spots are evenly spaced along the vertical direction. The first horizontal light spot and the fifteenth horizontal light spot in the up and down direction are the outermost horizontal light spots, and the tenth horizontal light spot is the middle longitudinal light spot. Correspondingly, when the grid-shaped spot is irradiated on the calibration plane, the first horizontal light shape and the fifteenth horizontal light shape formed on the calibration plane are the outermost horizontal light shapes, and the first horizontal light shape formed on the calibration plane The ten horizontal light shapes are the horizontal light shapes in the middle. The vertical distance can include between the first horizontal light shape and the third horizontal light shape, between the fifteenth horizontal light shape and the thirteenth horizontal light shape, between the ninth horizontal light shape and the eleventh horizontal light shape Pitch. Among them, the third, thirteenth, ninth and eleventh horizontal light shapes are respectively the third, thirteenth, ninth and eleventh horizontal light spots formed on the calibration plane light shape.

The at least two horizontal distances include the distance between the outermost vertical light bar 3002 and the remaining at least one vertical light bar 3002 , and the distance between the central vertical light bar 3002 and the remaining at least one vertical light bar 3002 . The at least two longitudinal distances include the distance between the outermost horizontal light bar 3001 and the remaining at least one horizontal light bar 3001 , and the distance between the middle vertical light bar 3002 and the remaining at least one horizontal light bar 3001 .

Wherein, the outermost vertical light bar 3002 can be understood as: the vertical light bar 3002 close to both sides in the horizontal direction, and the vertical light bar in the middle can be understood as: the vertical light bar 3002 close to the central position in the horizontal direction. The outermost horizontal light bar 3001 can be understood as: the horizontal light bar 3001 near the two sides in the longitudinal direction, and the horizontal light bar 3001 in the middle can be understood as: the horizontal light bar 3001 near the center in the longitudinal direction.

For example, when n is equal to 21, twenty-one longitudinal light spots are evenly spaced along the left and right directions. The first vertical light spot and the twenty-first vertical light spot in the left and right directions are the outermost vertical light spots, and the eleventh vertical light spot is the middle longitudinal light spot. Correspondingly, when the grid-shaped light spot is irradiated on the detection plane 10, the first vertical light stripe 3002 and the twenty-first vertical light stripe 3002 formed on the detection plane 10 are the outermost vertical light stripes 3002, The eleventh vertical light strip 3002 formed on the detection plane 10 is the middle vertical light strip 3002 . The horizontal distance can include the first vertical light bar 3002 and the third vertical light bar 3002, the twenty-first vertical light bar 3002 and the nineteenth vertical light bar 3002, the tenth vertical light bar 3002 and the twelfth vertical light bar 3002 The distance between vertical light bars 3002. Among them, the third, nineteenth, tenth and twelfth vertical light strips 3002 are respectively the third, nineteenth, tenth and twelfth vertical light spots on the detection plane 10 formed light shape.

When m is equal to 15, fifteen horizontal light spots are evenly spaced along the vertical direction. The first horizontal light spot and the fifteenth horizontal light spot in the up and down direction are the outermost horizontal light spots, and the tenth horizontal light spot is the middle longitudinal light spot. Correspondingly, when the grid-shaped spot is irradiated on the detection plane 10, the first horizontal light stripe 3001 and the fifteenth horizontal light stripe 3001 formed on the detection plane 10 are the outermost horizontal light stripes 3001, and the detection The tenth horizontal light bar 3001 formed on the plane 10 is the middle horizontal light bar 3001 . The longitudinal distance may include the first horizontal light bar 3001 and the third horizontal light bar 3001, the fifteenth horizontal light bar 3001 and the thirteenth horizontal light bar 3001, the ninth horizontal light bar 3001 and the eleventh horizontal light bar The distance between horizontal light bars 3001. Among them, the third, thirteenth, ninth and eleventh horizontal light strips 3001 are respectively the third, thirteenth, ninth and eleventh horizontal light spots on the detection plane 10 formed light shape.

The horizontal spacing, vertical spacing, horizontal distance and longitudinal distance obtained in the above manner are more representative, and the obtained actuator 2 has a higher pose accuracy, which is beneficial to improving the reliability of the mechanical device 100 .

The pose detection method of the actuator in the embodiment of the present invention, through the laser transmitter 3, the detection camera 4 and the image processing system, realizes the pose detection of the actuator 2 in the operation of the actuator 2, and facilitates the automatic adjustment of the actuator 2 pose , which is conducive to improving the degree of automation of the mechanical equipment 100 .

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, be constructed in a particular orientation, and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; can be mechanically connected, can also be electrically connected or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components, Unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

As used herein, the terms "one embodiment," "some embodiments," "example," "specific examples," or "some examples" mean specific features, structures, materials, or features described in connection with the embodiment or example. A feature is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. Those skilled in the art can make changes, modifications, and changes to the above embodiments. Alternatives and modifications are within the protection scope of the present invention.

Claims (10)

1. A pose detection system, comprising:

the laser emitter can emit grid-shaped light spots to a detection plane, the grid-shaped light spots comprise m transverse light spots and n longitudinal light spots, the m transverse light spots and the n longitudinal light spots are arranged in a staggered mode to form (m-1) (n-1) rectangular light grids, and m and n are positive integers greater than or equal to 2;

the detection camera is used for acquiring a light spot image of the grid-shaped light spot irradiated on a detection plane; and

the image processing system is in signal connection with the detection camera so as to obtain the pose of the laser emitter according to the light spot image;

wherein the laser transmitter is movable relative to the detection camera.

2. A pose detection system according to claim 1, wherein the detection camera comprises a lens, an object side of the lens is provided with a filter for light having the same wavelength as that emitted by the laser emitter to pass through.

3. The pose detection system according to claim 2, further comprising a shield case having a shield cavity, the detection camera being provided within the shield cavity.

4. A pose detection system according to claim 3, wherein the protective casing comprises a metal cover body and a light transmission plate, the metal cover body is provided with a light transmission hole, the light transmission plate blocks the light transmission hole, the metal cover body and the light transmission plate form a closed protective cavity, and the detection camera is arranged corresponding to the light transmission plate.

5. A mechanical device, comprising:

the device comprises a rack, wherein an executing mechanism is arranged on the rack and can move relative to the rack; and

the pose detection system of any one of claims 1 to 4, the laser emitter being provided on the actuator and the detection camera being provided on the frame.

6. A pose detection method of an actuator, implemented using the mechanical apparatus of claim 5, comprising:

transmitting a grid-shaped light spot to a detection plane by using the laser transmitter;

acquiring a light spot image on the detection plane by using the detection camera;

processing the light spot image by using the image processing system to obtain the pose of the actuating mechanism;

the pose of the actuating mechanism comprises the distance between the actuating mechanism and the detection plane and the included angle between the actuating mechanism and the detection plane.

7. The pose detection method of an actuator according to claim 6, wherein the step of obtaining the pose of the actuator comprises:

calibrating the laser transmitter in advance, and storing calibration data in a database, wherein calibrating the laser transmitter comprises: the grid-shaped light spots emitted by the laser emitter are irradiated on a calibration plane, so that the calibration plane presents calibration light spots, and the calibration data comprising the image information of the calibration light spots, the distance between the laser emitter and the calibration plane and the included angle between the laser emitting direction of the laser emitter and the calibration plane are obtained;

processing the light spot image to acquire image information of the light spot image;

and comparing the acquired image information of the light spot image with the calibration data in the database to obtain the pose of the laser emitter.

8. The pose detection method of the actuator according to claim 7, wherein the calibration light spots include m lateral light shapes formed by m lateral light spots and n longitudinal light shapes formed by n longitudinal light spots, and acquiring the calibration data includes:

acquiring at least one transverse interval and at least one longitudinal interval, wherein the transverse interval is the interval between any two longitudinal light shapes, and the longitudinal interval is the interval between any two transverse light shapes;

the light spot image comprises m transverse light bars formed by m transverse light spots and n longitudinal light bars formed by n longitudinal light spots, and acquiring the image information of the light spot image comprises:

acquiring at least one transverse distance and at least one longitudinal distance, wherein the transverse distance is the distance between any two longitudinal light bars, and the longitudinal distance is the distance between any two transverse light bars;

wherein the two longitudinal light shapes and the two longitudinal light bars are both formed by the same two longitudinal light spots, and the two transverse light shapes and the two transverse light bars are both formed by the same two transverse light spots.

9. The pose detection method of an actuator according to claim 8, wherein m and n are both positive integers equal to or greater than 3;

acquiring the calibration data comprises: acquiring at least two of said transverse pitches and at least two of said longitudinal pitches,

obtaining the ratio of the at least two transverse pitches and the ratio of the at least two longitudinal pitches;

acquiring image information of the light spot image comprises the following steps:

at least two lateral distances and at least two longitudinal distances are acquired,

and acquiring the ratio of the at least two transverse distances and the ratio of the at least two longitudinal distances.

10. The pose detection method of an actuator according to claim 9, wherein the at least two lateral spacings comprise a spacing between the longitudinal light shape located at the outermost side and at least one of the remaining longitudinal light shapes, and a spacing between the longitudinal light shape located at the middle side and at least one of the remaining longitudinal light shapes; the at least two longitudinal spacings include a spacing between the lateral light shape at an outermost side and at least one remaining lateral light shape, and a spacing between the lateral light shape at a middle side and at least one remaining lateral light shape;

the at least two lateral distances comprise a distance between the outermost one of the longitudinal light bars and at least one of the remaining longitudinal light bars, and a distance between the middle one of the longitudinal light bars and at least one of the remaining longitudinal light bars; the at least two longitudinal distances comprise a distance between the lateral light bar located outermost and the remaining at least one of the lateral light bars, and a distance between the lateral light bar located in a middle and the remaining at least one of the lateral light bars.

Images