CN103185545A - Space vector object three-dimensional rotational coordinate measuring method - Google Patents
Space vector object three-dimensional rotational coordinate measuring method Download PDFInfo
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- CN103185545A CN103185545A CN2013100902222A CN201310090222A CN103185545A CN 103185545 A CN103185545 A CN 103185545A CN 2013100902222 A CN2013100902222 A CN 2013100902222A CN 201310090222 A CN201310090222 A CN 201310090222A CN 103185545 A CN103185545 A CN 103185545A
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Abstract
The invention discloses a space vector object three-dimensional rotational coordinate measuring method. The space vector object three-dimensional rotational coordinate measuring method comprises the following steps of: 1) mounting a laser on a measured vector object, placing a reflecting prism at one side of the measured vector object, placing a lens at the other side of the measured vector object, and placing photoelectric probing arrays behind the lens; 2) when the measured vector object is not changed, storing image points on a first photoelectric probing array into a computer; 3) when a rotation angle of the measure vector object is changed, causing light rays to be reflected onto a second photoelectric probing array as an incidence position of laser light on a reflecting prism is changed; 4) transmitting the acquired data into the computer by the photoelectric probing array to obtain two image point coordinates; and 5) analyzing and calculating by virtue of the computer to obtain information of a three-dimensional rotation angle of the vector object, and then controlling a numerical control rotary table to rotate the measured vector object to the original position by virtue of a singlechip. A measuring device used in the space vector object three-dimensional rotational coordinate measuring method has the advantages that structure is reasonable and simple, anti-jamming performance is strong and a small angle variation of the measured space vector object can be timely and accurately determined.
Description
Technical field
The present invention relates to a kind of high-acruracy survey and application technology of space vector, the acting in conjunction that relates in particular to a kind of measuring system by precision and deviation-rectifying system reaches the technology of high precision location correction.
Background technology
About complex environment, as the measurement of the space vector under various weather conditions, the movement environment, countries in the world are dropped into a large amount of man power and materials and are studied, but never have the equipment appearance of special highly effective.Traditional space measurement mainly contains: the laser interferometer method; The laser three-dimensional scanning method; Laser speckle photography method etc.Wherein, though laser interferometer method precision is higher, environmental suitability is poor, and measuring accuracy is directly affected by environment; The laser three-dimensional scanning method has the instrument price high, and shortcoming such as equipment calibration method is single, and accuracy assessment is bad; The laser speckle fado is used for measuring body surface internal modification (displacement) and processing procedure more complicated, is vulnerable to disturb.It is lower that classic method is measured efficient, and practicality is relatively poor.Countries such as virtue have developed the three-dimensional positioning deviation correcting technology at outdoor complex environment, compared to classic method, this technology has been broken the limitation of conventional two-dimensional location technology, have efficient, precisely, fast, advantages such as intellectuality, but it is comparatively huge to measure light path, and the measuring element number that needs is more.This field of China also still is in developing state at present.
Summary of the invention
At above shortcomings in the prior art, the invention provides a kind of simple, efficient height, the space vector thing three-dimensional rotation coordinate measuring method that precision is high.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
Space vector thing three-dimensional rotation coordinate measuring method has adopted a kind of measurement mechanism in the method, and this measurement mechanism comprises laser instrument, reflecting prism, the first photoelectricity probing array, the second photoelectricity probing array, first lens, second lens and computing machine;
This method comprises the steps:
1), in the test point of tested vector thing laser instrument is installed, be sidelong on one of tested vector thing next door and put reflecting prism, and the opposite side by tested vector thing is placed first lens and second lens, and behind first lens, place the first photoelectricity probing array, place the second photoelectricity probing array behind second lens, the first photoelectricity probing array and the second photoelectricity probing array are used for carrying out the reception of reflected light signal;
2), when any space angle does not take place and changes in tested vector thing, the laser that laser instrument sends is after the reflecting prism reflection, after first lens focus on, carried out reception and the input computing machine of reflected light signal again by the first photoelectricity probing array, by computer stored in computing machine;
3), when tested vector thing spatially has angle to change, the incoming position of the laser that laser instrument is launched on reflecting prism also can change thereupon, thereby causes the light on the reflecting prism to reflex on the second photoelectricity probing array;
4), the first photoelectricity probing array and the second photoelectricity probing array change light signal into electric signal by the photoelectric coding machine, and this electrical signal data that will collect is sent into computing machine, carry out following steps by computing machine and carry out analytical calculation, obtain the angle information that tested vector thing spatially changes;
4.1), the coordinate of incident light on reflecting prism be:
In the following formula,
Be the volume coordinate of light source,
Be the luminous point coordinate of incident light on reflecting prism,
Be the angle of the projection line of light beam of light source on x-z and y-z face with respect to the z axle;
4.2), incident light picpointed coordinate on the first photoelectricity probing array after reflecting prism reflection is:
In the following formula,
Be the luminous point coordinate on the first photoelectricity probing array,
It is the focal length of first lens and second lens;
4.3), incident light picpointed coordinate on the second photoelectricity probing array after reflecting prism reflection is:
In the following formula,
Be the picpointed coordinate on the second photoelectricity probing array,
It is the luminous point coordinate on second lens;
4.4), with above various simultaneous, can get:
5), the space angle of tested vector thing changes and can realize by the picture point difference that compares on two photoelectricity probing arrays, after obtaining the information of tested vector thing deviation angle, to depart from coordinate information by serial communication is sent in the single-chip microcomputer, by the rotation of Single-chip Controlling numerical control rotating platform on three-dimensional, control tested vector thing and go back to the original position, thereby realize reset function.
Compared with prior art, space vector thing three-dimensional rotation coordinate measuring method of the present invention has following advantage:
1, utilize laser instrument, photoelectricity probing array, computing machine and resetting system (numerical control rotating platform) to finish monitoring and the recovery work of tested vector thing minute angle change, tested vector thing is under the multiple physical environment, can both work effectively.
2, on measuring method, in conjunction with measurement thought and the principle of traditional laser triangulation range finding, and adopt reverse thinking, laser instrument is placed on the tested vector thing, the trivector rotation angle of the tested vector thing in space is measured.In the processing procedure of measuring, the three-dimensional rotation angle information of tested vector thing is to realize by the picture point difference on two photoelectricity probing arrays relatively, thereby has simple in structurely, and reaction velocity is fast, the characteristics that degree of accuracy is high are in real time dynamic location correction provides accurate controlled quentity controlled variable.
3, reflecting prism is placed on the object plane of classic method, make the angular range of emergent ray to change by regulating prism parameters, solved the problem that photoelectricity probing array position is laid in the practical application, thereby measurement mechanism is comparatively simple and be easy to install.
4, the measurement mechanism that uses in the inventive method have rational in infrastructure simple, strong interference immunity, advantages such as the small rotation angle change of the tested vector thing of decision space timely and accurately are improvement and the innovations to traditional measurement method and equipment.
Description of drawings
Fig. 1 is the structural representation of measurement mechanism;
Fig. 2 is the schematic diagram of space vector thing three-dimensional rotation coordinate measuring method.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail.
Space vector thing three-dimensional rotation coordinate measuring method, adopted a kind of measurement mechanism in the method, as illustrated in fig. 1 and 2, this measurement mechanism comprises laser instrument, reflecting prism, the first photoelectricity probing array, the second photoelectricity probing array, first lens, second lens and computing machine.Computing machine (PC) connects display and controls the single-chip microcomputer that numerical control rotating platform rotates at three-dimensional, and display is used for showing the rotation angle numerical value of tested vector thing.
This space vector thing three-dimensional rotation coordinate measuring method comprises the steps:
1), in the test point of tested vector thing laser instrument is installed, be sidelong on one of tested vector thing next door and put reflecting prism, and the opposite side by tested vector thing is placed first lens and second lens, and behind first lens, place the first photoelectricity probing array, place the second photoelectricity probing array behind second lens, the first photoelectricity probing array and the second photoelectricity probing array are used for carrying out the reception of reflected light signal.
2), when any change does not take place in tested vector thing, the laser that laser instrument sends after first lens focus on, is carried out reception and the input computing machine of reflected light signal again by the first photoelectricity probing array after reflecting prism reflection.
3), when tested vector thing spatially has angle to change, the incoming position of the laser that laser instrument is launched on reflecting prism also can change thereupon, thereby causes the reflecting prism glazed thread to reflex on the second photoelectricity probing array.
4), the first photoelectricity probing array and the second photoelectricity probing array change light signal into electric signal by the photoelectric coding machine, and this electrical signal data that will collect is sent into computing machine, carry out following steps by computing machine and carry out analytical calculation, obtain the angle information that tested vector thing spatially changes.
4.1), the coordinate of incident light on reflecting prism be:
In the following formula
Be the volume coordinate of light source,
Be the luminous point coordinate of incident light on reflecting prism,
Be the angle of the projection line of light beam of light source on reference coordinate x-z and y-z face with respect to the z axle;
4.2), incident light picpointed coordinate on the first photoelectricity probing array after reflecting prism reflection is:
In the following formula,
Be the luminous point coordinate on the first photoelectricity probing array,
It is the focal length of first lens and second lens;
4.3), incident light picpointed coordinate on the second photoelectricity probing array after reflecting prism reflection is:
In the following formula,
Be the picpointed coordinate on the second photoelectricity probing array,
It is the luminous point coordinate on second lens;
4.4), with above various simultaneous, can get:
5), the space angle of tested vector thing changes and can realize by the picture point difference that compares on two photoelectricity probing arrays, after obtaining tested vector object angle degree runout information, to depart from coordinate information by serial communication is sent in the single-chip microcomputer, by the rotation of Single-chip Controlling numerical control rotating platform on three-dimensional, control tested vector thing and go back to the original position, thereby realize reset function.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (1)
1. space vector thing three-dimensional rotation coordinate measuring method, it is characterized in that: adopted a kind of measurement mechanism in the method, this measurement mechanism comprises laser instrument, reflecting prism, the first photoelectricity probing array, the second photoelectricity probing array, first lens, second lens and computing machine;
This method comprises the steps:
1), in the test point of tested vector thing laser instrument is installed, be sidelong on one of tested vector thing next door and put reflecting prism, and the opposite side by tested vector thing is placed first lens and second lens, and behind first lens, place the first photoelectricity probing array, place the second photoelectricity probing array behind second lens, the first photoelectricity probing array and the second photoelectricity probing array are used for carrying out the reception of reflected light signal;
2), when any space angle does not take place and changes in tested vector thing, the laser that laser instrument sends is after the reflecting prism reflection, after first lens focus on, carried out reception and the input computing machine of reflected light signal again by the first photoelectricity probing array, be stored in the database of computer processing system as standard by computing machine;
3), when tested vector thing spatially has angle to change, the incoming position of the laser that laser instrument is launched on reflecting prism also can change thereupon, thereby causes the reflecting prism glazed thread to reflex on the second photoelectricity probing array;
4), the first photoelectricity probing array and the second photoelectricity probing array change light signal into electric signal by the photoelectric coding machine, and this electrical signal data that will collect is sent into computing machine, carry out following steps by computing machine and carry out analytical calculation, obtain the angle information that tested vector thing spatially changes;
4.1), the coordinate of incident light on reflecting prism be:
In the following formula,
Be the volume coordinate of light source,
Be the luminous point coordinate of incident light on reflecting prism,
Be the angle of the projection line of light beam of light source on setting coordinate x-z and y-z face with respect to the z axle;
4.2), incident light through the picpointed coordinate on the first photoelectricity probing array behind the prismatic reflection is:
In the following formula,
Be the luminous point coordinate on the first photoelectricity probing array,
It is the focal length of first lens and second lens;
4.3), incident light through the picpointed coordinate on the second photoelectricity probing array behind the prismatic reflection is:
In the following formula,
Be the picpointed coordinate on the second photoelectricity probing array,
It is the luminous point coordinate on second lens;
4.4), with above various simultaneous, can get:
；
5), the space angle of tested vector thing changes and can realize by the picture point difference that compares on two photoelectricity probing arrays, after obtaining the information of tested vector thing deviation angle, by serial communication runout information is sent in the single-chip microcomputer, by the rotation of Single-chip Controlling numerical control rotating platform on three-dimensional, control tested vector thing and go back to the original position, thereby realize reset function.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103471561A (en) * | 2013-09-05 | 2013-12-25 | 中国人民解放军63680部队 | Three-dimensional small-angle measuring device and three-dimensional small-angle measuring method |
| CN105547673A (en) * | 2015-12-21 | 2016-05-04 | 江苏科技大学 | Dynamic characteristic tracking device and method of anchor chain |
| CN108257137A (en) * | 2017-11-27 | 2018-07-06 | 南京浩梁景信息科技有限公司 | A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot |
| CN109211174A (en) * | 2017-07-06 | 2019-01-15 | 中国航空制造技术研究院 | A kind of space vector guy-rope measuring method and device |
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| EP1447644A1 (en) * | 2003-02-14 | 2004-08-18 | Metronor ASA | Measurement of spatial coordinates |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103471561A (en) * | 2013-09-05 | 2013-12-25 | 中国人民解放军63680部队 | Three-dimensional small-angle measuring device and three-dimensional small-angle measuring method |
| CN105547673A (en) * | 2015-12-21 | 2016-05-04 | 江苏科技大学 | Dynamic characteristic tracking device and method of anchor chain |
| CN109211174A (en) * | 2017-07-06 | 2019-01-15 | 中国航空制造技术研究院 | A kind of space vector guy-rope measuring method and device |
| CN109211174B (en) * | 2017-07-06 | 2020-12-01 | 中国航空制造技术研究院 | Space vector pull rope measuring method and device |
| CN108257137A (en) * | 2017-11-27 | 2018-07-06 | 南京浩梁景信息科技有限公司 | A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot |
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