CN102519354A - Scanning type touch texture detection device - Google Patents
Scanning type touch texture detection device Download PDFInfo
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- CN102519354A CN102519354A CN2011103659483A CN201110365948A CN102519354A CN 102519354 A CN102519354 A CN 102519354A CN 2011103659483 A CN2011103659483 A CN 2011103659483A CN 201110365948 A CN201110365948 A CN 201110365948A CN 102519354 A CN102519354 A CN 102519354A
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Abstract
The invention relates to a scanning detection device of an object surface texture. The device comprises a three-dimensional attitude adjusting table, wherein a pen-type texture detector is connected with the tail end of the three-dimensional attitude adjusting table and comprises a pen container and a pen cap, which are connected with each other, a circuit board fixing support is arranged in the pen container, a round sleeve is arranged above the circuit board fixing support, the round sleeve is provided with a contact force sensor support, the contact force sensor support is provided with a contact force sensor, a probe base disc is arranged on a contact of the contact force sensor, a probe is fixed on the probe base disc, a probe guide disc and a spring are sheathed on the probe, the spring is arranged between the probe base disc and the probe guide disc, the probe guide disc is arranged in the pen cap, and the probe extends to the outside of the pen cap from the inside of the pen cap and is connected with the pen cap in a sliding way.
Description
Technical field
The invention belongs to sense of touch telepresenc technical field, is a kind of article surface vein pick-up unit that is used for inspected object superficial makings situation.
Background technology
Texture is a kind of physical attribute of body surface, is the comprehensive description of the characteristics such as microcosmos geometric shape, roughness and heat conduction of body surface.In computer graphics, image texture is a bitmap, has reflected color mode and the spatial coherence on the gradation of image and the spatial characteristics of object.On computer graphics, texture is the important visual signature of image, through analysis, mapping, the reproduction to image texture.Describe actual environment, not only need visual pattern, more need the tactilely-perceptible external environment condition.Because the limitation of existing manual intelligence; In predictable significant period of time, can't satisfy the complete safely and effectively AUTONOMOUS TASK of the smart machine in the specific environment; This makes the developing direction of smart machine develop to the direction that has the people to participate in from master mode entirely from early stage; People's the intelligence autonomous performance with smart machine is organically combined, formed present remote control system.In distant field operation, the texture information of object virtual or far is reproduced and acts on operator's hand, telepresenc that not only can enhanced system, and can help the operator to discern the dummy object of different qualities.The tactile sense reproduction texture at first is exactly a texture features of wanting the extract surface.At present, to the detection of texture tactile data with reproduce and only be confined to research fields such as Digital Image Processing, computer graphics, mainly through the forward mapping of texture, oppositely mapping and regional area mapping realize.If can come out the tactile feedback information true reappearance and offer other parts of hand or health, will emerge a large amount of breathtaking application so.For example, research is illustrated in and provides real tactile sensation to help to increase work efficiency in the virtual environment.The operator can therefrom extract Useful Information through touching virtual environment, and is applied to them wherein to the knowledge of real world sensation.In general, the tactile data that obtains approaches true environment more, and the operator just can rely on the consciousness of real world more, is engaged in the task training in the virtual environment, can be similar to present virtual driving training.
Tactilely-perceptible mainly can be divided into two types, and one type is the slip tactilely-perceptible, and another kind of is flexible (or rigidity) tactilely-perceptible.Wherein, slip tactilely-perceptible is meant the perception of people to the article surface vein characteristic.The present invention adopts the slip tactilely-perceptible, is the device that is used for inspected object superficial makings characteristic.
Receive human limitation about the detection of texture information, can't set up the accurate model of texture so far, so that the progress of this respect gets is very slow texture essence understanding.It is theoretical according to image processing detecting the most general method of texture information at present, and method is a lot, comprises four kinds of statistic law, structure method, modelling and empty news/frequency field Conjoint Analysis methods etc.A series of image processing means such as utilization color image gray processing, medium filtering, image binaryzation, the texture information of the material that abstract image reflected.The method of statistics is the most basic class methods.Histogram method, difference value histogram method, co-occurrence matrix method, Laws texture energy method etc. are typically arranged.Principle is simple as these class methods, is easy to realize.For example, the probability that on each gray level, occurs of the brightness of histogram response diagram picture.What the variance of gray-scale value average was expressed is the distribution situation of gray-scale value with respect to average, has described histogrammic level and smooth relatively degree, can reflect the depth degree of texture in the image.This method not too is suitably for the superficial makings modeling, and at first, the light source condition directly influences the shooting of picture, and the texture information that picture shot is extracted under Different Light can be different; Secondly, the texture information that extracts is a black and white binary image, depth information that can not gully, reflection surface.Institute of robot of CMU proposes to set up the article surface vein model with probe in the body surface motion.As shown in Figure 1,1 is the object under test surface, and 2 is the pinpoint movement track, and 3 is probe.Probe 3 is perpendicular to object under test surface 1; And the power that applies a certain size makes probe 3 contact with object under test surface 1; And with constant motion; The degree of depth and the frequency of the superfine micro groove that the pinpoint movement track 2 of probe 3 can the reflection surface like this, indirect reflection the texture information of body surface.The present invention is based on this model and proposed a kind of device---scan-type sense of touch texture pick-up unit of novel inspected object superficial makings.
Summary of the invention
The present invention provides a kind of can detect the simple article surface vein pick-up unit of plane information.
The present invention adopts following technical scheme:
The technical scheme of article surface vein pick-up unit according to the invention:
A kind of scanning detection apparatus of article surface vein comprises: on the 3 d pose adjustment platform, the end of adjusting platform at 3 d pose is connected with pen type texture detector; Comprise the interconnected pen container and the cap for brush, in pen container, be provided with the circuit board fixed support, above the circuit board fixed support, be provided with the circle cover; Be provided with the contact force sensor stand round putting, on the contact force sensor stand, be provided with the contact force sensor, on the contact of contact force sensor, be provided with the probe chassis; Be fixed with probe on the probe chassis; On probe, be arranged with probe positioning disk and spring, and spring is between probe chassis and probe positioning disk; The probe positioning disk is positioned at the cap for brush, and probe extends to cap for brush outside and probe and the cap for brush from cap for brush inside and is slidingly connected.
Compared with prior art, the present invention has following advantage:
The present invention has utilized on the 3 d pose adjustment platform texture detection that pen type sense of touch texture detector carries out body surface has been installed.In testing process, the power that can guarantee the variation that pen type texture detector is suffered is only from the texture of survey body surface, and do not have applying of power that other factors cause.That pen type texture detector has is light, volume is little and convenient fixing characteristics, adopts the USB mode to carry out the data transmission between host computer and the microprocessor, can plug and play.When 3 d pose adjustment platform drives the texture detector when body surface slides; PC can receive and article surface vein correspondent voltage signal to be detected; Adopt mean filter that signal is handled in the upper computer software, make the data that collect more accurate.The electric signal that collects through analysis, judgment object superficial makings characteristic indirectly.This device not only can detect plane information, and does not receive environmental disturbances.That the present invention has is simple in structure, precise control and the characteristics that are easy to realize.
Description of drawings
Fig. 1 is existing superficial makings probe in detecting model.
Fig. 2 is the overall simplified structure synoptic diagram of the present invention.
Fig. 3 is a general structure block diagram of the present invention.
Fig. 4 is the explosive view of pen type texture detector.
Fig. 5 is the inner structure synoptic diagram of pen type texture detector.
Fig. 6 is the differential amplifier circuit figure that the present invention uses.
1. object under test surface, 2. pinpoint movement track, 3. probe, the DC servo motor of 4.Z axle, 5.Y axle DC servo motor; 6.X the DC servo motor of axle, the DC servo motor of 7.X axle, 8. pen type texture detector, 9. screw rod, 10. guide rod; 11. slide block, the left parallel moving mechanism of 12. first dimensions, the right parallel moving mechanism of 13. first dimensions, 14. second dimension parallel moving mechanisms, 15. third dimension parallel moving mechanisms; 16. terminal slide block, 17. 3 d poses adjustment platform is terminal, 18. pen type texture detector probes, 19. springs, 20. contact force sensors; 21. circuit board, 22. pen containers, 23. caps for brush, 24. circuit board fixed supports, 25. circle covers; 26. the contact force sensor stand, 27. probe chassis, 28. probe positioning disks, 29. pedestals.
Embodiment
A kind of scanning detection apparatus of article surface vein comprises: 3 d pose adjustment platform, and the end 17 of adjusting platform at 3 d pose is connected with pen type texture detector 8; Described pen type texture detector comprises the interconnected pen container 22 and the cap for brush 23; In pen container 22, be provided with circuit board fixed support 24, above circuit board fixed support 24, be provided with circle cover 25, on circle cover 25, be provided with contact force sensor stand 26; On contact force sensor stand 26, be provided with contact force sensor 20; On the contact of contact force sensor 20, be provided with probe chassis 27, be fixed with probe 18, on probe 18, be arranged with probe positioning disk 28 and spring 19 on probe chassis 27; And; Spring 19 is between probe chassis 27 and probe positioning disk 28, and probe positioning disk 28 is positioned at the cap for brush 23, and probe 18 extends to the cap for brush 23 outsides from the cap for brush 23 inside and probe 18 is slidingly connected with the cap for brush 23.
Described in this example 3 d pose adjustment platform comprises the right parallel moving mechanism of the left parallel moving mechanism of first dimension 12, first dimension 13, second dimension parallel moving mechanism 14 and the third dimension parallel moving mechanism 15; The right parallel moving mechanism of the left parallel moving mechanism of described first dimension 12, first dimension 13, the second dimension parallel moving mechanism 14 and third dimension parallel moving mechanism 15 are one-dimensional translation mechanism; Described one-dimensional translation mechanism comprises pedestal 29; Be provided with guide rod 10, screw rod 9 and motor 6 at pedestal 29; Screw rod 9 is rotationally connected with pedestal 29 and screw rod 9 is connected with the output shaft of motor 6; On guide rod 10, being arranged with slide block 11 and slide block 11 is threaded with screw rod 9; The slide block of the first left parallel moving mechanism 12 of dimension and the right parallel moving mechanism 13 of first dimension is connected with the pedestal of the second dimension parallel moving mechanism 14 respectively, and the slide block of the second dimension parallel moving mechanism 14 is connected with the pedestal of third dimension parallel moving mechanism 15, and the slide block of third dimension parallel moving mechanism 15 is connected with the end 17 of said 3 d pose adjustment platform.
Hereinafter combines accompanying drawing and practical implementation to describe the present invention.
Shown in Figure 2 is the overall simplified structure synoptic diagram of the present invention, and pen type texture detector is fixed on the 3 d pose adjustment platform.What mark 4 was indicated among Fig. 2 is the DC servo motor of Z axle, and what mark 5 was indicated is the DC servo motor of Y axle, mark 6 and 7 indicated be the DC servo motor of X axle, controlling the motion of pen type texture detector on three of Z, Y, X respectively.Wherein the Z axle is to be used for adjusting the probe of pen type texture detector and the distance of body surface.When pen type texture detector was done article surface vein scanning, motor 6,7 and motor 5 drove it and on X, Y direction, move.3 d pose adjustment platform is inner to adopt the ball screw transmission, linear slide block guide rail and have standard configuration computing machine communication interface.Among Fig. 28 indicated be pen type texture detector.
Shown in Figure 3 is general structure block diagram of the present invention, PC control 3 d pose adjustment platform, thus control pen type texture detector is in the detection path of body surface.The pressure of the variation that the collection article surface vein applies when pen type texture detector scanning object surface of the contact force sensor behind the probe, these pressure signals are admitted to conditioning, the filtering of carrying out signal in the signal-processing board.In signal processing circuit board, pressure signal amplifies, sends into behind the second-order low-pass filter and carry out the AD conversion in the microprocessor, through USB signal sent into PC software then through difference, and the further processing and the waveform that carry out signal show.The differential voltage signal of contact force sensor output will convert correspondent voltage corresponding to the concavo-convex variation of article surface vein into to be changed.The variation of differential voltage spread value is directly proportional with the concavo-convex size variation of texture, and promptly the big more representative texture of the amplitude of this differential electrical pressure reduction is concavo-convex obvious more.Through difference amplification, second order Butterworth low pass active power filtering, cutoff frequency is 41HZ the voltage signal of contact force sensor output.PC triggers reading of data by timer, behind the acquisition valid data, refreshes the waveform of interface display texture information.
Shown in Figure 4 is the explosive view of pen type texture detector.Shown in Figure 5 is the inner structure synoptic diagram of pen type texture detector.Pen type texture detector includes one and receives the probe 18 that the object under test superficial makings exerts pressure, spring 19, contact force sensor 20 and the force signal treatment circuit plate 21 that transmits pressure.When 3 d pose adjustment platform drive pen type texture detector moves on the object under test surface; Probe 18 receives article surface vein applied force signal; Pass to contact force sensor 20 through spring 19; Then deliver to and carry out Signal Processing on the signal processing circuit board 21, the microprocessor in the last signal-processing board 21 sends treated signal to PC through USB, and PC software realizes that the waveform of article surface vein shows.
Fig. 6 is differential amplifier circuit figure of the present invention, and the hardware circuit that the present invention adopts is known circuit.Constitute differential amplifier circuit by AD623, the difference enlargement factor is 100.Constitute second-order low-pass filter by OP07 again, cutoff frequency is 41Hz, and signal is carried out the filtering conditioning.Microprocessor C8051F410 is responsible for signal is carried out the pre-service in early stage of AD conversion, data and data are sent to PC through the USB mode.System adopts the USB power supply, through boost, circuit such as step-down, voltage stabilizing obtain the required supply voltage of each circuit module.
Claims (2)
1. the scanning detection apparatus of an article surface vein is characterized in that, comprising: 3 d pose adjustment platform, and the end (17) of adjusting platform at 3 d pose is connected with pen type texture detector (8),
Described pen type texture detector comprises the interconnected pen container (22) and the cap for brush (23); In pen container (22), be provided with circuit board fixed support (24), be provided with circle cover (25), on circle cover (25), be provided with contact force sensor stand (26) in circuit board fixed support (24) top; On contact force sensor stand (26), be provided with contact force sensor (20); On the contact of contact force sensor (20), be provided with probe chassis (27), be fixed with probe (18), on probe (18), be arranged with probe positioning disk (28) and spring (19) in probe chassis (27); And; Spring (19) is positioned between probe chassis (27) and the probe positioning disk (28), and probe positioning disk (28) is positioned at the cap for brush (23), and probe (18) extends to the cap for brush (23) outside and probe (18) and is slidingly connected with the cap for brush (23) from the cap for brush (23) inside.
2. the scanning detection apparatus of article surface vein according to claim 1; It is characterized in that; Described 3 d pose adjustment platform comprises the first dimension left parallel moving mechanism (12), the first dimension right parallel moving mechanism (13), second dimension parallel moving mechanism (14) and the third dimension parallel moving mechanism (15); The described first dimension left parallel moving mechanism (12), the first dimension right parallel moving mechanism (13), the second dimension parallel moving mechanism (14) and third dimension parallel moving mechanism (15) are one-dimensional translation mechanism
Described one-dimensional translation mechanism comprises pedestal (29); Be provided with guide rod (10), screw rod (9) and motor (6) at pedestal (29); Screw rod (9) is rotationally connected with pedestal (29) and screw rod (9) is connected with the output shaft of motor (6); On guide rod (10), being arranged with slide block (11) and slide block (11) is threaded with screw rod (9)
The slide block of the first dimension left parallel moving mechanism (12) and the first right parallel moving mechanism of dimension (13) is connected with the pedestal of the second dimension parallel moving mechanism (14) respectively; The slide block of the second dimension parallel moving mechanism (14) is connected with the pedestal of third dimension parallel moving mechanism (15), and the slide block of third dimension parallel moving mechanism (15) is connected with the end (17) of said 3 d pose adjustment platform.
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| CN2011103659483A CN102519354A (en) | 2011-11-18 | 2011-11-18 | Scanning type touch texture detection device |
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| CN2011103659483A CN102519354A (en) | 2011-11-18 | 2011-11-18 | Scanning type touch texture detection device |
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Cited By (7)
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| CN105403142A (en) * | 2015-11-25 | 2016-03-16 | 华中科技大学 | Magnetic-railing-ruler-based portable flatness measurement instrument |
| CN107628586A (en) * | 2017-10-18 | 2018-01-26 | 重庆博昂科技有限公司 | A kind of automatic refuelling machine for engine line |
| CN108042105A (en) * | 2017-10-31 | 2018-05-18 | 苏州点合医疗科技有限公司 | Probe-type human perception checks equipment |
| CN108722910A (en) * | 2018-07-12 | 2018-11-02 | 安徽唯嵩光电科技有限公司 | A kind of color selector light source controlling mechanism and its color selector |
| CN109596870A (en) * | 2019-01-03 | 2019-04-09 | 合肥微纳传感技术有限公司 | A kind of probe station |
| CN111156894A (en) * | 2020-02-25 | 2020-05-15 | 五邑大学 | Roughness measuring device and method |
| CN113483984A (en) * | 2021-09-07 | 2021-10-08 | 中国空气动力研究与发展中心低速空气动力研究所 | Icing wind tunnel test ice shape measuring device and measuring method |
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| CN113483984A (en) * | 2021-09-07 | 2021-10-08 | 中国空气动力研究与发展中心低速空气动力研究所 | Icing wind tunnel test ice shape measuring device and measuring method |
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Application publication date: 20120627 |