CN109596110A - A kind of mechanical equipment position detecting device - Google Patents
A kind of mechanical equipment position detecting device Download PDFInfo
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- CN109596110A CN109596110A CN201811437737.4A CN201811437737A CN109596110A CN 109596110 A CN109596110 A CN 109596110A CN 201811437737 A CN201811437737 A CN 201811437737A CN 109596110 A CN109596110 A CN 109596110A
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- mechanical equipment
- coordinate system
- prism
- activation part
- vector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of mechanical equipment position detecting devices, including photoelectric auto-collimator, the 3-dimensional digital compass for being mounted on benchmark prism on mechanical equipment and being mounted on mechanical equipment activation part, the photoelectric auto-collimator is used to measure the angle of two orthogonal normal vectors of benchmark prism, prism unit vector is obtained in the mathematical description of preset coordinate system, the vector variation relation of benchmark prism is obtained by rotating vector algorithm again, and then mechanical equipment is resolved in the coordinate position of preset coordinate system, relative attitude relationship between attitude angle and each mechanical equipment, the relative attitude relationship of each activation part and mechanical equipment is resolved by the testing result of 3-dimensional digital compass simultaneously.The present invention is while may be implemented the positioning of mechanical equipment position, the posture information of the available each activation part for arriving mechanical equipment ontology and mechanical equipment.
Description
Technical field
The present invention relates to mechanical equipment positioning fields, and in particular to a kind of mechanical equipment position detecting device.
Background technique
Existing mechanical equipment positioning mostly uses mechanical equipment to operate greatly, encoder rotation is driven, then by collecting
Encoder generates the number or positional number of pulse, by calculating, just can know that encoder rotates several circles, to obtain measured object
The mode of the position of body.On the one hand which can not get the posture information of mechanical equipment, on the other hand can not also get
The posture information of each activation part on mechanical equipment.
Summary of the invention
To solve the above problems, being set the present invention provides a kind of mechanical equipment position detecting device machinery may be implemented
While standby position positioning, the posture information of the available each activation part for arriving mechanical equipment ontology and mechanical equipment.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of mechanical equipment position detecting device, which is characterized in that including photoelectric auto-collimator, be mounted on mechanical equipment
Benchmark prism and the 3-dimensional digital compass being mounted on mechanical equipment activation part, the photoelectric auto-collimator are used for benchmark
The angle of two orthogonal normal vectors of prism measures, and obtains prism unit vector in the mathematical description of preset coordinate system,
The vector variation relation of benchmark prism is obtained by rotating vector algorithm again, and then resolves mechanical equipment in preset coordinate system
Relative attitude relationship between coordinate position, attitude angle and each mechanical equipment, while passing through the detection of 3-dimensional digital compass
As a result the relative attitude relationship of each activation part and mechanical equipment is resolved.
Preferably, the photoelectric auto-collimator is used for the pitch angle and deflection angle of measuring basis prism normal vector.
Preferably, the coordinate system of the benchmark prism is consistent with mechanical equipment local coordinate system, 3-dimensional digital compass
Coordinate system is consistent with corresponding activation part coordinate system.
Preferably, the prism unit vector is to first pass through mathematic(al) representation description in the mathematical description of preset coordinate system
Three normal direction vectors of prism are in the expression of the corresponding local coordinate system of mechanical equipment out, recycle local coordinate system and pre-
If the relationship of coordinate system, expression of the benchmark prism unit vector under preset coordinate system is derived.
Preferably, the rotating vector algorithm be according to mechanical equipment local coordinate tie up to it is opposite under preset coordinate system
Relationship immobilizes, and under the premise of measurement coordinate system is constant, rotates preset coordinate system, and the vector for obtaining benchmark prism, which changes, to close
System resolves relative attitude relationship of the mechanical equipment between the attitude angle and each mechanical equipment of preset coordinate system.
Preferably, each activation part is obtained in the coordinate of activation part coordinate system by three-dimensional data compass, then foundation
Above-mentioned coordinate is converted into each activation part in the seat of preset coordinate system by the relationship of activation part coordinate system and preset coordinate system
Then mark carries out each activation part in the coordinate position of preset coordinate system according to resulting coordinate after conversion and mechanical equipment
With the relative attitude relationship of mechanical equipment.
The invention has the following advantages:
It is available to mechanical equipment ontology and mechanical equipment while mechanical equipment position may be implemented positioning
The posture information of each activation part.
Detailed description of the invention
Fig. 1 is a kind of system block diagram of mechanical equipment position detecting device of the embodiment of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, a kind of mechanical equipment position detecting device of the embodiment of the present invention, including photoelectric auto-collimator, peace
Mounted in benchmark prism on mechanical equipment and the 3-dimensional digital compass being mounted on mechanical equipment activation part, the photoelectric auto
The pitch angle of the benchmark prism normal vector measured and deflection angular data are input to central processing unit by straight instrument；Three dimension
The location information of the activation part measured is input to central processing unit by word compass, and central processing unit is according to the pitch angle
Prism unit vector, which is obtained, with deflection angular data obtains benchmark in the mathematical description of preset coordinate system, then by rotating vector algorithm
The vector variation relation of prism, and then mechanical equipment is resolved in the coordinate position of preset coordinate system, attitude angle and each machine
Relative attitude relationship between tool equipment, while the relationship according to activation part coordinate system and preset coordinate system, by above-mentioned position
Information is converted into each activation part in the coordinate of preset coordinate system, then exists according to resulting coordinate after conversion and mechanical equipment
The coordinate position of preset coordinate system carries out the relative attitude relationship of each activation part and mechanical equipment, and the result of resolving is sent out
Display screen is sent to be shown.
Wherein, the prism unit vector is to first pass through mathematic(al) representation to be depicted in the mathematical description of preset coordinate system
Three normal direction vectors of prism recycle local coordinate system and preset in the expression of the corresponding local coordinate system of mechanical equipment
The relationship of coordinate system derives expression of the benchmark prism unit vector under preset coordinate system.
Wherein, the rotating vector algorithm is that the opposite pass under preset coordinate system is tied up to according to mechanical equipment local coordinate
System immobilizes, and under the premise of measurement coordinate system is constant, rotates preset coordinate system, and the vector for obtaining benchmark prism, which changes, to close
System resolves relative attitude relationship of the mechanical equipment between the attitude angle and each mechanical equipment of preset coordinate system.
In the present embodiment, the photoelectric auto-collimator is mounted on walking robot, or passes through the cunning with servomechanism installation
Block is mounted on computer room on the sliding rail of top surface.
In the present embodiment, the 3-dimensional digital compass is fastened by bolts on each activation part.
It is worth noting that, the coordinate system of the benchmark prism is consistent with mechanical equipment local coordinate system, 3-dimensional digital
The coordinate system of compass is consistent with corresponding activation part coordinate system.
This specific implementation can be complete to the measurement of two normal vectors of benchmark prism of mechanical equipment using photoelectric auto-collimator
The whole vector characteristic being depicted in preset coordinate system, and the vector variation relation of benchmark prism is established by rotating vector algorithm,
All calculating are algebraic manipulation, and most complicated solution procedure is the feature vector for finding a three rank real symmetric matrixes, should
Method makes full use of the advantage of autocollimator High-precision angle measurement and algebraic solution, has measurement accuracy height, calculates quick, behaviour
Make the advantages that simple.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (6)
1. a kind of mechanical equipment position detecting device, which is characterized in that including photoelectric auto-collimator, be mounted on base on mechanical equipment
Quasi- prism and the 3-dimensional digital compass being mounted on mechanical equipment activation part, the photoelectric auto-collimator are used for benchmark rib
The angle of two orthogonal normal vectors of mirror measures, and obtains prism unit vector in the mathematical description of preset coordinate system, then
The vector variation relation of benchmark prism is obtained by rotating vector algorithm, and then resolves mechanical equipment in the seat of preset coordinate system
Relative attitude relationship between cursor position, attitude angle and each mechanical equipment, while passing through the detection knot of 3-dimensional digital compass
Fruit resolves the relative attitude relationship of each activation part and mechanical equipment.
2. a kind of mechanical equipment position detecting device as described in claim 1, which is characterized in that the photoelectric auto-collimator
Pitch angle and deflection angle for measuring basis prism normal vector.
3. a kind of mechanical equipment position detecting device as described in claim 1, which is characterized in that the seat of the benchmark prism
Mark system is consistent with mechanical equipment local coordinate system, and the coordinate system of 3-dimensional digital compass is consistent with corresponding activation part coordinate system.
4. a kind of mechanical equipment position detecting device as described in claim 1, which is characterized in that the prism unit vector
It is to first pass through mathematic(al) representation three normal direction vectors of prism are depicted to set in machinery in the mathematical description of preset coordinate system
The expression of standby corresponding local coordinate system, recycles the relationship of local coordinate system and preset coordinate system, derives benchmark prism list
Expression of the bit vector under preset coordinate system.
5. a kind of mechanical equipment position detecting device as described in claim 1, which is characterized in that the rotating vector algorithm
It is that the relativeness tied up under preset coordinate system according to mechanical equipment local coordinate immobilizes, before measurement coordinate system is constant
It puts, rotates preset coordinate system, obtain the vector variation relation of benchmark prism, resolve mechanical equipment in the posture of preset coordinate system
Relative attitude relationship between angle and each mechanical equipment.
6. a kind of mechanical equipment position detecting device as described in claim 1, which is characterized in that obtained by three-dimensional data compass
Take each activation part in the coordinate of activation part coordinate system, then the relationship according to activation part coordinate system and preset coordinate system,
Above-mentioned coordinate is converted into each activation part in the coordinate of preset coordinate system, then according to resulting coordinate and machinery after conversion
Equipment carries out the relative attitude relationship of each activation part and mechanical equipment in the coordinate position of preset coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437737.4A CN109596110A (en) | 2018-11-22 | 2018-11-22 | A kind of mechanical equipment position detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437737.4A CN109596110A (en) | 2018-11-22 | 2018-11-22 | A kind of mechanical equipment position detecting device |
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| Publication Number | Publication Date |
|---|---|
| CN109596110A true CN109596110A (en) | 2019-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811437737.4A Pending CN109596110A (en) | 2018-11-22 | 2018-11-22 | A kind of mechanical equipment position detecting device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7218384B2 (en) * | 2002-02-27 | 2007-05-15 | Pentax Corporation | Surveying system |
| CN105818145A (en) * | 2016-03-31 | 2016-08-03 | 张锐 | Distributed control system and method for humanoid robot |
| CN108319268A (en) * | 2018-02-08 | 2018-07-24 | 衢州职业技术学院 | A kind of robot navigation of view-based access control model moves into one's husband's household upon marriage method |
| CN108759798A (en) * | 2018-06-20 | 2018-11-06 | 上海卫星工程研究所 | A kind of implementation method of high-precision spacecraft precision measure |
-
2018
- 2018-11-22 CN CN201811437737.4A patent/CN109596110A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7218384B2 (en) * | 2002-02-27 | 2007-05-15 | Pentax Corporation | Surveying system |
| CN105818145A (en) * | 2016-03-31 | 2016-08-03 | 张锐 | Distributed control system and method for humanoid robot |
| CN108319268A (en) * | 2018-02-08 | 2018-07-24 | 衢州职业技术学院 | A kind of robot navigation of view-based access control model moves into one's husband's household upon marriage method |
| CN108759798A (en) * | 2018-06-20 | 2018-11-06 | 上海卫星工程研究所 | A kind of implementation method of high-precision spacecraft precision measure |
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Application publication date: 20190409 |
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