CN113043327A - Testing device for two-dimensional linear motion speed of robot - Google Patents
Testing device for two-dimensional linear motion speed of robot Download PDFInfo
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- CN113043327A CN113043327A CN201911401483.5A CN201911401483A CN113043327A CN 113043327 A CN113043327 A CN 113043327A CN 201911401483 A CN201911401483 A CN 201911401483A CN 113043327 A CN113043327 A CN 113043327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention is suitable for the technical field of robot speed measurement, and provides a device for testing the two-dimensional linear motion speed of a robot, which comprises two distance measuring modules and a computing module, wherein the two distance measuring modules are in communication connection with the computing module, so that the original measuring method of a graduated scale and the measuring method of a sensor of the robot are replaced, the testing precision and the testing efficiency are improved, the objectivity of a testing result is increased, and the testing cost is reduced.
Description
Technical Field
The invention belongs to the technical field of robot speed measurement, and particularly relates to a device for testing two-dimensional linear motion speed of a robot.
Background
With the progress of science and technology, mobile robots increasingly walk into the lives of people. How to accurately test the maximum linear motion speed of the mobile robot becomes a requirement. The linear motion speed of the robot is generally determined by the linear running distance and the running time of the robot at present.
The existing methods all achieve testing by manually using a graduated scale and a stopwatch or by sensor data carried by the robot itself. The former method is time-consuming and labor-consuming, and has low precision; the latter is not objective enough and is costly because it is data provided by the robot itself. With the deep use of the mobile robot, an objective and high-precision testing method is necessary.
Disclosure of Invention
The invention aims to provide a device for testing the two-dimensional linear motion speed of a robot, and aims to solve the technical problems that the accuracy of the test of the two-dimensional linear motion speed of the robot is not high and the cost is high in the prior art.
The invention provides a device for testing the two-dimensional linear motion speed of a robot, which comprises two distance measurement modules and a calculation module, wherein the two distance measurement modules are in communication connection with the calculation module.
Preferably, the two distance measuring modules are both laser distance measuring modules.
Preferably, the two distance measuring modules are connected through a connecting rod.
Preferably, the connecting rod is a telescopic connecting rod.
Preferably, the connecting rod is provided with a graduated scale.
Preferably, the signal transmitting directions of the two ranging modules are in a right-angle direction with the connecting rod.
Preferably, the length of the connecting rod is 5 meters.
The testing device for the two-dimensional linear motion speed of the robot comprises two distance measuring modules and a computing module, wherein the two distance measuring modules are in communication connection with the computing module, and the two-dimensional linear motion speed of the robot can be computed through the distance between the two distance measuring modules and the time of the robot passing through the two distance measuring modules, so that the original measuring method of a graduated scale and the measuring method of a sensor of the robot are replaced, the testing precision and the testing efficiency are improved, the objectivity of a testing result is improved, and the testing cost is reduced.
Drawings
Fig. 1 is a block diagram illustrating a structure of a device for testing a two-dimensional linear motion speed of a robot according to an embodiment of the present invention;
FIG. 2 shows a distance S between distance measuring modules A and B in a device for measuring a two-dimensional linear motion velocity of a robot according to an embodiment of the present inventionabA relation graph between the distance information S and the actual operation distance information S of the robot;
FIG. 3 is a schematic diagram illustrating a robot with a baffle added according to an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the first embodiment is as follows:
fig. 1 shows a test device for two-dimensional linear motion speed of a robot provided by the embodiment. As shown in fig. 1, the testing apparatus X for testing the two-dimensional linear motion speed of the robot provided by this embodiment includes two distance measuring modules A, B and a calculating module C.
The robot moves from the ranging module A to the ranging module B, when the robot reaches the ranging module A, the ranging module A transmits the distance information da measured at the moment to the calculating module C, and when the calculating module C receives the distance information da, the timer is started to record the current time Ta; when the robot passes through the distance measuring module B, the distance measuring module B measures the distance information d at the momentbTransmitting the distance information to a computing module C, and receiving the distance information d by the computing module CbAnd (3) stopping the timer, recording the current time Tb, and obtaining the running time T of the robot in the interval:
T＝Tb-Ta；
the included angle between the connecting line between the ranging modules A, B and the signal transmitting direction of the ranging modules is fixed in advance; the distance between the distance measuring modules A, B may be preset, or the distance between the distance measuring modules A, B may be measured by laser, infrared ray, or the like during each test.
Therefore, the movement distance of the robot between time intervals (Ta, Tb) can be calculated according to the included angle between the connecting line of the ranging modules A, B and the signal transmitting direction of the ranging modules and the distance between the ranging modules A, B, and the linear movement speed of the robot is further calculated, so that the original measuring method of the graduated scale and the measuring method of the sensor of the robot are replaced, the testing precision and the testing efficiency are improved, the objectivity of the testing result is increased, and the testing cost is reduced.
In an exemplary embodiment, the maximum movement speed of the robot can be calculated by:
(1) positioning a testing device on a flat ground;
(2) the robot is positioned at one end of the testing device, and a sufficient distance is reserved, so that the robot reaches the maximum speed when passing through the ranging module A;
(3) controlling the robot to move at the maximum speed along the direction of the ranging module A, B, and respectively passing through the ranging sensor modules A and B to obtain distance information da and db;
(4) the calculation module calculates the maximum two-dimensional linear motion speed of the robot through a preset speed calculation formula;
(5) and (5) repeating the steps (2), (3) and (4) for multiple times, and calculating the maximum speed average value of different times.
Specifically, the distance measurement module can be a laser distance measurement module, an infrared distance measurement module and other types of distance measurement modules.
Optionally, the two ranging modules are connected through a connecting rod, and the ranging modules are further fixed.
Optionally, the connecting rod is the scalability connecting rod to can adjust the distance between two range finding modules, improve this testing arrangement's adaptability, make to the robot of different speeds, adopt different test distances. In an exemplary embodiment, the length of the connecting rod may be set to 5 meters.
Optionally, the connecting rod is provided with a graduated scale. When setting up the distance between range module A, B, can carry out manual input to the distance between range module A, B according to scale on the connecting rod, also can send calculation module C after reading the distance scale of range module A, B department through devices such as the camera of range module A, B department.
Optionally, the signal transmitting directions of the two ranging modules may be in a right angle direction with the connecting rod, or in other angle directions.
In an exemplary embodiment, the signal emitting directions of the two ranging modules may be in a right angle direction with the connecting rod.
The robot moves from the ranging module A to the ranging module B, the robot reaches the maximum speed before reaching the ranging module A, when the robot reaches the point of the ranging module A, the ranging module A transmits distance information da measured at the moment to the calculating module C, and when the calculating module receives the distance information da, the timer is started to record the current time Ta; when the robot passes through the distance measuring module B, the distance measuring module B measures the distance information d at the momentbTransmitting the distance information to a computing module C, and receiving the distance information d by the computing module CbAnd (4) stopping the timer, recording the current time Tb, and obtaining the running time T ═ Tb-Ta of the robot in the interval.
Because the distance measuring module is connected with the connecting rod at a right angle, the distance information d measured by the distance measuring module AaDistance information d measured by the distance measuring module BbDistance S between modules A and BabAnd the distance information S actually traveled by the robot are shown in fig. 2.
The actual running distance information of the robot can be obtained according to the Pythagorean theorem:
and the calculation module obtains the maximum speed of the two-dimensional linear motion of the tested equipment according to the formula V-S/T.
Due to the irregularity of the robot, a baffle plate (as shown in fig. 3) is added on the side surface of the robot, and when the baffle plate is positioned at the position where the robot passes through the ranging module, the ranging module can detect the distance between the baffle plate and the ranging module; when the robot passes through the ranging module, the distance information detected by the ranging module for the first time is used as the distance information d of the robot ranging module.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The utility model provides a testing arrangement of two-dimentional linear motion speed of robot, its characterized in that, the device includes two ranging module and calculation module, two ranging module all with calculation module communication is connected.
2. The apparatus of claim 1, wherein both of the ranging modules are laser ranging modules.
3. The apparatus of claim 1, wherein two of the ranging modules are connected by a connecting rod.
4. The device of claim 3, wherein the connecting rod is a telescopic connecting rod.
5. A device according to claim 3, wherein the connecting rod is provided with a scale.
6. The apparatus of claim 3, wherein the signal transmission directions of both of the ranging modules are at right angles to the connecting rod.
7. The apparatus of claim 3, wherein the connecting rod is 5 meters in length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911401483.5A CN113043327A (en) | 2019-12-27 | 2019-12-27 | Testing device for two-dimensional linear motion speed of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911401483.5A CN113043327A (en) | 2019-12-27 | 2019-12-27 | Testing device for two-dimensional linear motion speed of robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205080152U (en) * | 2015-11-03 | 2016-03-09 | 王小波 | Measure vehicle speed's device |
| US20170160304A1 (en) * | 2015-12-04 | 2017-06-08 | Nuctech Company Limited | Method and device for monitoring state of moving object and system for fast inspecting vehicle |
| CN106980032A (en) * | 2017-05-12 | 2017-07-25 | 天津同阳科技发展有限公司 | Pickup detection means and detection method |
| CN108120849A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of measuring method and device of robot maximum speed |
-
2019
- 2019-12-27 CN CN201911401483.5A patent/CN113043327A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205080152U (en) * | 2015-11-03 | 2016-03-09 | 王小波 | Measure vehicle speed's device |
| US20170160304A1 (en) * | 2015-12-04 | 2017-06-08 | Nuctech Company Limited | Method and device for monitoring state of moving object and system for fast inspecting vehicle |
| CN108120849A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of measuring method and device of robot maximum speed |
| CN106980032A (en) * | 2017-05-12 | 2017-07-25 | 天津同阳科技发展有限公司 | Pickup detection means and detection method |
Non-Patent Citations (1)
| Title |
|---|
| 李卫国主编: "《工业机器人基础》", 31 December 2018, 北京：北京理工大学出版社 * |
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