CN107063082A - A kind of balance loading head apparatus for detecting position and posture - Google Patents
A kind of balance loading head apparatus for detecting position and posture Download PDFInfo
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- CN107063082A CN107063082A CN201610910346.4A CN201610910346A CN107063082A CN 107063082 A CN107063082 A CN 107063082A CN 201610910346 A CN201610910346 A CN 201610910346A CN 107063082 A CN107063082 A CN 107063082A
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- loading head
- hot spot
- target surface
- balance loading
- photodetector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
Abstract
The invention discloses a kind of balance loading head apparatus for detecting position and posture, described device includes：Light source, position sensing structure are indicated, the instruction light source is arranged on balance loading head upper surface to be detected, and the position sensing structure includes：Indicate hot spot irradiation target surface, optical imaging system, position sensor, the instruction hot spot irradiation target surface offers centre bore, the end face of the position sensor is provided with opening, the opening center line is overlapped with the center centerline hole, the position sensor is fixed on the back side that the instruction hot spot irradiates target surface, the optical imaging system is located at the front front of the instruction hot spot irradiation target surface, realizing can be while carries out with the high-accuracy detection near reset position posture using the wide variation monitoring of the device loading head position and attitude in the application, and meet a wide range of of loading head position and attitude detection, high-acruracy survey requirement.
Description
Technical field
System regions are corrected the present invention relates to balance used in wind tunnel test, in particular it relates to a kind of balance loading head pose
Detection means.
Background technology
Mechanics balance is a kind of important measurement for being used for measuring object stressing conditions and deformation in wind-tunnel in wind tunnel experiment
Instrument, generally requires before experiment and it is corrected to obtain the relation between its output signal and stressing conditions and deformation, from
And study air dynamic behaviour of the object in wind-tunnel.Various structures and system form are corrected to balance, wherein one
Plant is to reset correction system.The characteristics of this correction system is that loading head first is placed in into a kind of poised state（Or original state）,
Apply various power on the stressing device of balance again to imitate the possible stressing conditions of object, and require now by the position of balance
Posture returns to initial poised state with high-precision requirement, then the various power being finally applied on balance represent stress
State, and the various output signals of balance are corrected with this.In this process, also require that the reset work not to loading head produces volume
Outer influence, preferably with cordless.In this process, due to power application and reseting procedure is a complicated change
Process, and reseting procedure is dynamic attitude measurement, a feedback control procedure, there is not enough, control error of regulating power etc.
May, this changes the posture for causing balance or even very big change, and transnormal measurement range, therefore balance
How the position and attitude of loading head is detected and reaches that higher accuracy of detection requirement etc. turns into one in the larger context
Important the problem of.
In summary, present inventor has found above-mentioned technology extremely during the present application technical scheme is realized
There is following technical problem less：
In the prior art, existing flat loading head apparatus for detecting position and posture, existing can not be while carries out loading head position and attitude
Wide variation monitors the technical problem with the high-accuracy detection near reset position posture.
The content of the invention
The invention provides a kind of balance loading head apparatus for detecting position and posture, existing balance loading head pose detection is solved
Can not be carried out simultaneously present in device loading head position and attitude wide variation monitoring with it is high-precision near reset position posture
The technical problem of close detection, realize wide variation monitoring using the balance unit loading head position and attitude in the application with
High-accuracy detection near reset position posture can be carried out simultaneously, and meet loading head position and attitude detection it is a wide range of,
High-acruracy survey requirement.
In order to solve the above technical problems, this application provides a kind of balance loading head apparatus for detecting position and posture, described device bag
Include：
Light source, position sensing structure are indicated, the instruction light source is arranged on balance loading head upper surface to be detected, the position
Detecting structure includes：Hot spot irradiation target surface, optical imaging system, position sensor are indicated, the instruction hot spot irradiation target surface is opened
Provided with centre bore, the end face of the position sensor is provided with opening, and the opening center line is overlapped with the center centerline hole,
The position sensor is fixed on the back side that the instruction hot spot irradiates target surface, and the optical imaging system is located at the instruction light
The front front of spot irradiation target surface.
Wherein, instruction hot spot irradiation target is radiated at after light when the instruction light source on balance loading head to be detected is sent
On face, when being radiated at the decentralised hole region for indicating hot spot irradiation target surface, optical imaging system is using light on target surface
Reflected light is imaged, and the wide variation for completing loading head position and attitude by the processing to light spot image is measured and monitored；
When light passes through centre bore, then directly it can be imaged on position sensor, due to the high resolution of detector, so that sharp
The requirement that high-accuracy detection is carried out to reset position posture can be realized with position sensor.
The observing and controlling of balance loading head in the application proposes such a measurement and required with control：When balance loading head position
When putting posture away from equilbrium position, the measurement accuracy requirement to position and attitude can be greatly reduced, it may be desirable to controlling organization
Quickly it can be reset near equilbrium position；When balance loading head position and attitude is near equilbrium position, then require
Measurement accuracy to position and attitude reaches higher level, and it is desirable that controlling organization is step by step loaded balance with higher precision
The position and attitude of head resets to poised state.In order to which a wide range of, the high-precision reset for meeting balance loading head attitude detection is this
It is required that, it is proposed that a kind of solution：When balance loading head pose deviation poised state is very big, using a kind of coarse tuning system,
Including large-scale displacement measurement（± 30cm or some larger measurement range can be up to）And reset control technology；Work as balance
When loading head pose deviation equilbrium position is smaller, detection and the regulator control system of precision are enabled, including the accurate displacement of small range is surveyed
Amount system and high-precision feedback control system.This is big based on measurement range, then measurement accuracy requires low, resets Principles of Regulation
It can simplify and control process can be with rapid thinking, low essence when this mode can meet loading head posture coarse adjustment completely
Degree, the requirement of fast speed；When coarse adjustment state enters the state finely resetted, Precision measurement and reset mode are enabled, then
Loading head poised state can progressively be approached at leisure with very high measurement accuracy and reseting precision, answering for loading head is finally completed
Position.The form that such a different metering systems in the range of two kinds are merged solves a wide range of, high-precision comprehensive
Close measurement request.
Due to the limitation of existing position sensor, if directly carrying out the technology path of position sensing from detector, such as
Using area array CCD or other 2-d position measurement devices, then high-precision position can only be realized in about 20mm × 20mm area
Put measurement, it is impossible to take into account the requirement of above-mentioned large-range measuring.But if passing through the positional information in will be a wide range of in the application
It is transformed into a less rational scope of comparison to measure, although measurement accuracy may be reduced, but can meets big
In the range of the requirement that can measure.
The application utilizes a kind of side of large-scale position detecting system and Image Information Processing based on imaging optical system
Method constructs a kind of detection means for meeting balance loading head posture, can meet in interior progress position measurement but essence in a big way
Degree requires relatively low requirement.The image for the instruction light source being radiated on target surface is obtained using CCD camera and imaging optical system, by
In the relation of imaging scale, this mode is easily accomplished the information imaging on a large scale in a less CCD chip
On, so as to obtain the relevant information in a wide range of；In view of the characteristics of measurement accuracy requires low on a large scale, can be simply to light
The characteristics of image of source hot spot carries out image real time transfer（Such as maximum value process）To obtain the positional information for indicating light source, so as to obtain
The result of loading head posture preliminary surveying.The application utilizes a kind of small range position directly detected based on position sensor
Detection and image processing method construct a kind of detection means for meeting balance loading head posture, meet in smaller range
Carry out the high-acruracy survey requirement of position.When the position and attitude of balance loading head enters fine measurement and adjustable range, now,
Indicate that light source direct irradiation, in the CCD chip for finely measuring, hot spot can be obtained using accurate hot spot treatment technology
Exact position on CCD, so that obtaining attitude data of the loading head in fine reset is used for feedback control.By indicating light
Structure design and detector, the design of optical imaging system layout of source irradiation target surface so that the instruction light formed on target surface
Source can be shared by the metering system under two states, and obtain location measurement information through different processing modes, improve position
Put the compactedness of detection system.
Wherein, the optical imaging system includes：CCD camera and camera lens；The position sensing structure is fixed on installation branch
On frame；Described device specifically includes 4 position sensing structures, and 4 position sensing even structures are distributed in balance to be detected
Loading head surrounding is simultaneously installed in orthogonal mode in the horizontal plane, a kind of form of coordinate system is presented, so as to measurement result
It is easy to obtain the spatial attitude of balance for position-based routing.
Wherein, described device also includes connecting bracket, and described connecting bracket one end is connected with the optical imaging system, institute
The connecting bracket other end is stated to be connected with the position sensor；The position sensor is specifically included：Shell, photodetector,
Photodetector installing plate, signal processor, the photodetector, the photodetector installing plate, the signal transacting
Device is installed in shell, the photoelectric detector chip be arranged on photodetector installing plate on, the photodetector with
The signal processor connection, the photodetector center line is overlapped with the opening center line；The photodetector
Measure the area that area is more than centre bore；The photodetector includes：Area array CCD, Two-dimensional PSD；The photodetector peace
Dress plate is fixed on shell by trip bolt.
This patent solves the technical scheme that its technical problem used：The measurement required during according to balance loading head coarse adjustment
Scope, design one has the target surface for indicating light source irradiation of maximum usable area（Housing is circular or square）, shine
The target surface for penetrating face side uses the surface texture with diffusing reflection function, and is preferably provided with characteristic white.The target surface is placed in
Or it is bonded in position sensor surface, in center position perforate and state only to cover CCD chip edge very small part
Reserve position sensor need to window, form the irradiation target surface of final instruction light source.Position sensor is main by area array CCD
Chip is constituted, preferably with area try one's best greatly, Pixel Dimensions try one's best small CCD chip, but to meet position and attitude accurate measurement
Area requirement, it is not necessary to require large area too much；In order to meet high-accuracy measurement request, preferably by CCD chip with table
The mode of face welding, which is arranged on one, can be stabilized on the panel of a fixed rack, and as far as possible away from pyrotoxin（As on circuit board
Power module etc.）, reduce the influence expanded with heat and contract with cold；When indicating that hot spot is radiated in the CCD chip, it can be obtained at once
Light spot image, by carrying out certain image real time transfer to hot spot（Such as facula mass center processing）, hot spot can be obtained in CCD cores
Exact position on piece surface, it is that there is no problem to commonly reach pixel scale, you can to reach a few micrometers of measurement accuracy, because
This this metering system is sufficient for the high-acruracy survey of loading head position and attitude.But it is limited to CCD chip area and Pixel Dimensions
Limitation, the scope that this mode can be measured is relatively small, typically within 15mm；This mode is used for loading head position appearance
Small range, the high-acruracy survey of state.When needing large-range measuring, then realized using CCD camera imaging system.Pass through selection
The suitable imaging lens of focal length, can constitute a kind of photographic system together with CCD camera, can complete to corresponding imaging area
（Indicate the irradiation target surface of light source）Imaging, obtain imaging region in relevant information.With it to indicating the target surface that light source irradiates
It is imaged, then the image for the instruction light source for containing balance loading head position and attitude information can be obtained, due to measurement accuracy
It is required that be greatly reduced, can be to indicating the processing that positional information of the light source on target is simplified（Such as use maximum value process）,
It then can rapidly obtain the information of balance loading head position and attitude.The scope that may be changed according to balance loading head posture, choosing
Lens focus is selected, the measurement in excursion can be met.This metering system is used for the rough of balance loading head position and attitude
Measurement, with measurement range is big and the characteristics of convenient regulation, itself is less demanding due to measurement accuracy, processing can simplify,
Quickly, the requirement now measured with regulation is met.
One or more technical schemes that the application is provided, have at least the following technical effects or advantages：
The beneficial effects of the invention are as follows being combined into one kind using the imaging lens of CCD camera and proper focal length can be to larger face
The measuring system that long-pending region is imaged, by the way that to the specific image procossing for indicating light source in imaging region, phase can be obtained
The position and attitude information answered, so as to obtain a kind of a wide range of interior measurement effect, simplifies answering for large-scale position measuring system
Polygamy., directly can be with to indicating that the locus of hot spot is measured by the use of the position sensor based on CCD chip type
The space position solution information for indicating hot spot is obtained, small range, high-precision position and attitude measurement request is met.It is big taking into account
The feature of hot spot irradiation is indicated when scope is measured, carries out indicating the design that hot spot irradiates target surface, can be effectively by two kinds of measurements
It is required that guidance light irradiation target face structure be merged, and meet two kinds of position measuring systems to a wide range of, lower accuracy
And the common prescription of small range, high-acruracy survey, finally two kinds of measuring systems are merged well and form a kind of day
The detecting system of flat loading head position and attitude, meets a wide range of, the high-precision detection requirement of balance loading head position and attitude,
Solving in the past a wide range of, high accuracy can not be while the test problems carried out.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention；
Fig. 1 is balance loading head apparatus for detecting position and posture structural representation；
Fig. 2 is the schematic diagram that attitude measuring is constituted all the way；
Fig. 3 is the detector composition schematic diagram that position large-range measuring and accurate measurement function are merged；
Fig. 4 is the structural representation that target surface is merged with the position sensor based on area array CCD chip；
Fig. 5 is the position sensor schematic layout pattern based on area array CCD chip；
Fig. 6 a- Fig. 6 c are several situation schematic diagrames for indicating hot spot in position detector surface；
Fig. 7 is a kind of position and attitude measurement strategies schematic flow sheet；
Wherein, 1- position and attitudes loading head and balance to be measured, 2- indicates light source, 3- position sensing structures, 4- position sensing knots
Structure mounting bracket, 5- indicates hot spot irradiation target surface, and 6- centre bores, 7-CCD cameras, 8- camera lenses, 9- guidance light beams, 10- is based on
The position sensor of area array CCD chip, 11- openings, 12- connecting brackets, 13-CCD chips, 14- trip bolts, 15- installing plates,
16- wiring boards, 17- electronic components, 18- default center point coordinates.
Embodiment
The invention provides a kind of balance loading head apparatus for detecting position and posture, existing balance loading head pose detection is solved
Can not be carried out simultaneously present in device loading head position and attitude wide variation monitoring with it is high-precision near reset position posture
The technical problem of close detection, realize wide variation monitoring using the balance unit loading head position and attitude in the application with
High-accuracy detection near reset position posture can be carried out simultaneously, and meet loading head position and attitude detection it is a wide range of,
High-acruracy survey requirement.
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting mutually, the application's
Feature in embodiment and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with the other modes in the range of being different from being described herein using other, therefore, protection scope of the present invention is not by under
The limitation of specific embodiment disclosed in face.
In Fig. 1,1 is position and attitude loading head and balance to be measured, and 2 indicate light source, and 3 be position sensing structure, and 4 be position
Put detecting structure mounting bracket.
In figure 3,5 be indicate hot spot irradiation target surface, its profile be not limited to it is circular, square etc., by indicate hot spot irradiation one
The surface in face uses diffusing reflection face structure, is easy to collection and the image real time transfer of hot spot, centre bore 6 is opened in target surface center.
7th, 8 be CCD camera and camera lens, constitutes optical imaging system.10 be the position sensor based on area array CCD chip, and its profile is not
It is limited to circular, square etc., correspondence center opening 11.12 be the connection being fixed on optical imaging system on position sensor
Support, its form is not limited to be fixed on position sensor, can be fixed in other supporting supports.
In Fig. 4,5 be to indicate hot spot irradiation target surface.10 be the position sensor based on area array CCD chip.Between 5 and 10
Riveted and fixed by bonding or screw, but need to indicate on the centre bore 6 and position sensor on hot spot irradiation target surface 5
Thang-kng opening 11 aligns to ensure that guidance light being capable of photodetector CCD chip 13 of the normal illumination inside position sensor
On, and CCD chip 13 needs aligned openings 11, effective measurement area of CCD chip 13 should ensure surveying slightly larger than centre bore 6
In amount face when indicate hot spot irradiation position from be transitioned on a large scale small range measurement when can obtain indicate hot spot effective image.
15 be the installing plate of CCD chip, can also be used in conjunction with as the driving and signal processing circuit board of CCD chip, but is existed as far as possible
Electronic component is installed less thereon especially to generate heat heavier power module etc., installing plate 15 is fixed on 10 by trip bolt 14 etc.
Shell on（As on end plates）, the step is higher to installation requirement, it is necessary to which careful handled.16 be the circuit of signal transacting
Plate, 17 be the electronic component on wiring board 16.
In Figure 5, this is the position sensor structural representation based on area array CCD chip, it is usually required mainly for ensure CCD chip 13
Effective test surface align its end face opening 11, and require that the area of opening 11 is slightly smaller than the useful detection area of CCD chip 13.
Photodetector in detector includes but is not limited to area array CCD, and Two-dimensional PSD is also a kind of good sensitive detection parts, due to
Effective test surface of most two-dimensional type PSDs be it is circular, therefore, opening thereon be not limited to it is square, also including circle；But use
After Two-dimensional PSD detector, it indicates that the related processing mode of the positional information of hot spot will change, and will mainly depend on electronics
Circuit is directly handled the current signal that PSD is exported, but processing speed is very fast and directly obtains result.
Structure and the composition signal of balance loading head attitude detection system overall picture：Attitude detection system is main in Fig. 1
The position sensing structure 3 for indicate light source 2, having merged a wide range of and precision measurement function is constituted, wherein position sensing structure 3
It is made up of again three parts：By CCD camera 7 and camera lens 8 constitute be used for large-scale position measure Optical imaging measurement system,
Position sensor 10 based on CCD chip, instruction hot spot 5 groups of the target surface of irradiation for being available for a wide range of and precision measurement is merged
Into as shown in Fig. 2 and Fig. 3 compositions.Position sensing structure 3 has four tunnels, in position sensing structure mounting bracket 4, point
It is distributed on orthogonal four direction, as shown in Figure 1.
The instruction of balance loading head posture：Installed on balance loading head and indicate light source 2, it is ensured that indicate light source 2 and loading
It is fixed between first 1.Indicate light source 2 in approximately the same plane（Horizontal plane）On four direction（Preferably strict phase
It is mutually vertical, it is easy to inverse position to resolve）Guidance light beam 9 is produced, the diameter of guidance light beam 9 is as far as possible small, as shown in Figure 1.By
Determined in the mutual alignment relation of these guidance light interfasciculars, can as standard reference direction, and due to indicate light source with
It is fixed between loading head, position and attitude change of the position and attitude change of loading head with indicating light source is consistent, therefore, is referred to
Show that the sensing of light shafts represents the posture of loading head, asking for posture is measured and carried out to the position of these guidance light beams
Solution is equivalent to measure the posture of loading head.In the loading head balance correction system of restoration type, without further entering
Row posture is solved, it is only necessary to accurate measurement is carried out to guidance light beam position, and ensures that correction system can be with according to measurement result
Carry out the precision reset of posture.Based on high-acruracy survey requirement, the sensing of these light shafts needs have higher stabilization
Degree.
The large-range measuring of guidance light beam position：The optical imagery system that this function is made up of CCD camera 7 and camera lens 8
System is completed, and indicates that the shape and area of hot spot irradiation target surface 5 are determined according to the possible excursion of loading head posture, by selecting
The whole situation for indicating hot spot irradiation target surface 5 can be imaged in CCD camera by the suitable camera lens of focal length, so as to be contained
The whole instruction hot spot of location measurement information irradiates the image of target surface 5., it is necessary to avoid blocking when optical imaging system is fixed
The guidance light beam 9 firmly irradiated.Guidance light beam 9 is radiated on the surface of target 5, forms the image of a speck, this speck
Position be exactly for large-scale position measure main information.Optical imaging system alignment target surface 5 is imaged, bag is obtained
The speck image of the information containing measurement position, by using the figure including but not limited to methods such as image maximization, centroid algorithms
Centroid position coordinate as handling and extracting speck, the speck centroid position coordinate is to indicate that light beam 9 is indicating hot spot photograph
The positional information shot at the target on face 5, as shown in the left figure in Fig. 6.By speck centroid position coordinate with indicating hot spot irradiation target surface 5
Default center point coordinates 18 is compared, you can is obtained the deviation value for indicating BEAM SQUINT central axis, is provided it to control
System carries out respective feedback control.In order to reduce the influence of speck background image and improve the precise degrees of speck detection,
The filter plate of certain bandwidth can be installed additional on camera lens, other light in addition to guidance light wavelength, the figure of prominent speck are filtered out
As quality.This mode can meet the position detection of ± 30cm and range above, and precision is easily attained 0.1mm-0.2mm,
The position detection for being sufficient for a wide range of, certain precision is required.
The small range accurate measurement of guidance light beam position：This detection function is based primarily upon the position sensing of CCD chip
Device 10 is completed.When indicating that light beam enters the i.e. thang-kng window center hole 6 of setting range of Precision measurement, i.e. guidance light beam 9
When can preferably be radiated at effective thang-kng window of position sensor 10, as shown in the middle graph in Fig. 6.One can then be obtained
Width contains the image of hot spot direct irradiation, by using including but not limited to methods such as image maximization, centroid algorithms
Image procossing and the centroid position coordinate for extracting speck, the speck centroid position coordinate are to indicate that light beam 9 is indicating hot spot
The positional information irradiated on target surface 5.By speck centroid position coordinate with indicating that hot spot irradiates the default center point coordinates 18 of target surface 5
It is compared, you can obtain the deviation value for indicating BEAM SQUINT central axis, provides it to control system and carry out respective feedback
Control.Under this metering system, the image for irradiating hot spot is obtained because CCD chip is directly used in, its resolution ratio reaches
The level of CCD pixel, the measurement accuracy of centroid position of the light spot image after image procossing is general in pixel or sub-pix
Level, namely several mmm level can be reached；But effective detection area is also limited in the areal extent of CCD chip.Typically
For, CCD chip size is less than 15mm, therefore this mode can meet the Precision positioning in the range of 15mm, measurement essence
Degree can reach below 10mmm, meet the Precision positioning requirement of small range., can in order to reduce the influence of ambient diffusing light
To install narrow band pass filter in opening 11 or centre bore 6 to eliminate the influence of the light in addition to light source is indicated, obtain more dry
Net light spot image is used for image procossing, finally obtains high-precision centroid position coordinate.
The indicating positions measurement of transition stage：When instruction hot spot falls from large-range measuring region to accurate measurement region
, it is necessary to carry out a kind of selection of measurement strategies when on transition boundary.Because it doesn't matter on this region, accurate measurement is required（Can
It is relatively low with precision, can also be higher.）, can treat to simplify data processing in bigness scale mode.Now, two kinds of metering systems are equal
The light spot image of certain brightness can be obtained, it is perhaps sufficiently complete, but the side for judging maximum value position in light spot image can be used
Method obtains its coordinate, and using it as the position for indicating light beam.
A kind of measurement strategies on indicating positions are as shown in Figure 7.
The posture of balance loading head can be completed by measuring organically blending for function by the above-mentioned two of position sensor
A wide range of rough measure and accurate measurement, the posture of loading head is regulated and controled further according to control strategy, it is accurate until meeting
Reset requirement.
In the position sensor based on CCD chip, in view of some superiority that two-dimensional type PSD has, such as speed are fast, real
When property is good, direct output represents voltage signal of coordinate position etc., and two-dimensional type PSD can also be used to be constituted instead of CCD chip
Position sensor, simply corresponding light spot image processing method need to be changed and replaced in the form of process circuit, adapt to
This data processing change.
Technical scheme in above-mentioned the embodiment of the present application, at least has the following technical effect that or advantage：
The beneficial effects of the invention are as follows being combined into one kind using the imaging lens of CCD camera and proper focal length can be to larger face
The measuring system that long-pending region is imaged, by the way that to the specific image procossing for indicating light source in imaging region, phase can be obtained
The position and attitude information answered, so as to obtain a kind of a wide range of interior measurement effect, simplifies answering for large-scale position measuring system
Polygamy., directly can be with to indicating that the locus of hot spot is measured by the use of the position sensor based on CCD chip type
The space position solution information for indicating hot spot is obtained, small range, high-precision position and attitude measurement request is met.It is big taking into account
The feature of hot spot irradiation is indicated when scope is measured, carries out indicating the design that hot spot irradiates target surface, can be effectively by two kinds of measurements
It is required that guidance light irradiation target face structure be merged, and meet two kinds of position measuring systems to a wide range of, lower accuracy
And the common prescription of small range, high-acruracy survey, finally two kinds of measuring systems are merged well and form a kind of day
The detecting system of flat loading head position and attitude, meets a wide range of, the high-precision detection requirement of balance loading head position and attitude,
Solving in the past a wide range of, high accuracy can not be while the test problems carried out.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
1. a kind of balance loading head apparatus for detecting position and posture, it is characterised in that described device includes：
Light source, position sensing structure are indicated, the instruction light source is arranged on balance loading head upper surface to be detected, the position
Detecting structure includes：Hot spot irradiation target surface, optical imaging system, position sensor are indicated, the instruction hot spot irradiation target surface is opened
Provided with centre bore, the end face of the position sensor is provided with opening, and the opening center line is overlapped with the center centerline hole,
The position sensor is fixed on the back side that the instruction hot spot irradiates target surface, and the optical imaging system is located at the instruction light
The front front of spot irradiation target surface.
2. balance loading head apparatus for detecting position and posture according to claim 1, it is characterised in that the optical imaging system bag
Include：CCD camera and camera lens.
3. balance loading head apparatus for detecting position and posture according to claim 1, it is characterised in that the position sensing structure is consolidated
It is scheduled in mounting bracket.
4. balance loading head apparatus for detecting position and posture according to claim 1, it is characterised in that described device specifically includes 4
Individual position sensing structure, 4 position sensing even structures are distributed in balance loading head surrounding to be detected.
5. balance loading head apparatus for detecting position and posture according to claim 1, it is characterised in that described device also includes connection
Support, described connecting bracket one end is connected with the optical imaging system, the connecting bracket other end and the position sensing
Device is connected.
6. balance loading head apparatus for detecting position and posture according to claim 1, it is characterised in that the position sensing implement body
Including：Shell, photodetector, photodetector installing plate, signal processor, the photodetector, the photodetection
Device installing plate, the signal processor are installed in shell, and the photoelectric detector chip is installed installed in photodetector
On plate, the photodetector is connected with the signal processor, the photodetector center line and the opening center line
Overlap.
7. balance loading head apparatus for detecting position and posture according to claim 6, it is characterised in that the survey of the photodetector
Measure the area that area is more than centre bore.
8. balance loading head apparatus for detecting position and posture according to claim 6, it is characterised in that the photodetector bag
Include：Area array CCD, Two-dimensional PSD.
9. balance loading head apparatus for detecting position and posture according to claim 6, it is characterised in that the photodetector is installed
Plate is fixed on shell by trip bolt.
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| CN107063082B (en) | 2019-09-20 |
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