CN101393007B - Data acquisition system for flexible articulated arm measuring set - Google Patents
Data acquisition system for flexible articulated arm measuring set Download PDFInfo
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- CN101393007B CN101393007B CN2008101972819A CN200810197281A CN101393007B CN 101393007 B CN101393007 B CN 101393007B CN 2008101972819 A CN2008101972819 A CN 2008101972819A CN 200810197281 A CN200810197281 A CN 200810197281A CN 101393007 B CN101393007 B CN 101393007B
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Abstract
The invention provides a data acquisition system for a flexible articulated arm measuring device, which comprises angle encoders which are positioned on rotary joints, wireless submodules which are positioned on the rotary joints and probes, and wireless main modules which are connected with the wireless submodules, wherein the probes contact an object and generate pulse signals; after the wireless submodules of various rotary joints are triggered, data acquired by the angle encoders is read and is wirelessly transmitted to the wireless main modules within respective channel time-slots; and after the wireless main modules are triggered, the wireless main modules distribute the channel time-slots to various wireless submodules, receive the data and the pulse signals which are transmitted by the various wireless submodules and transmit the data and the pulse signal to external data processors. The data acquisition system for the flexible articulated arm measuring device realizes effective positioning measurement, avoids synchronous process, and has low power consumption, high speed and low cost.
Description
Technical field
The present invention relates to the wider flexible articulated arm of range of application in fields of measurement, particularly relate to data acquisition and transmission system in the flexible articulated arm.
Background technology
Flexible articulated arm is a kind of measuring equipment that is widely used in fields of measurement, the brachium parameter of its angle information by being distributed in six angular encoder collections in the joint arm and joint arm can position the coordinate of the probe of probe, thereby reaches the purpose of accurate measurement.
Traditional flexible articulated arm is transferred to the angular encoder that is distributed in each joint for the trigger pip with probe, and the data of these angular encoders are sent to computing machine, need arrange the mass data line in joint arm.And,, see the 5th, 829, No. 148 patents of the U.S. so adopted the slip ring structure at each joint for fear of the knotting situation that occurs at joint producing because of rotation.Adopt this to design not only complex structure in joint arm, cost is higher, and safeguards very inconvenient.
Wang Wenfang and Liu Yu from the Central China University of Science and Technology have proposed a kind of uninterrupted acquisition scheme based on the poll strategy in document " based on the angle synchronous acquisition transmission system design of ZigBee technology ", adopt the wireless economize on electricity of the common composition of PIC18LF4620 microcontroller and CC2420 radio frequency chip, place in each joint of joint-arm type measuring, realize reading and wireless transmission of angle, this scheme has following shortcoming: need before gather (1) synchronously, higher to clock request, increased requirement to hardware; (2) do not consider the trigger pip of probe, can't the location survey point; (3) system does not stop acquired signal, and has only probe trigger data constantly to be only valid data, thereby wherein has a large amount of gibberishes, has increased the waste of extra power consumption simultaneously; (4) because boss's module interactive information is more, and the time-delay of this scheme image data of actual test shows is bigger, picking rate is slower.
Summary of the invention
The object of the present invention is to provide a kind of data acquisition system (DAS) that is used for flexible articulated arm measuring set, realize effective location survey, avoid synchronizing process, low in energy consumption, the speed height, cost is low.
A kind of data acquisition system (DAS) that is used for flexible articulated arm measuring set, the data collection point that relates to comprises six rotary joints and a probe, the place is provided with angular encoder at rotary joint, it is characterized in that, also be provided with wireless submodule, the wireless primary module that other being and not being line submodule is connected at rotary joint and probe place;
Probe produces pulse signal after touching object, and the wireless submodule of probe correspondence is with wireless other wireless submodule and the wireless primary module of sending to of pulse signal, to trigger each module work;
After the wireless submodule of rotary joint correspondence is triggered, read the data that the corresponding angle scrambler is gathered, and in channel time slot separately, wirelessly send it to wireless primary module;
After wireless primary module is triggered, channel time slot is distributed to each wireless submodule, receive data and pulse signal that each wireless submodule transmits, and send the external data processor to.
As improvement of the present invention, described wireless submodule comprises interface modular converter, first microprocessor and first radio-frequency module of serial connection successively.
As a further improvement on the present invention, described wireless primary module comprises serial port module, second microprocessor and second radio-frequency module of serial connection successively.
Technique effect of the present invention is embodied in the following aspects:
1, removed the cabling of joint arm inside and the inner structure of sliding ring type in the prior art, data need be by the data line transmission in joint arm, thereby uses a kind of simple structure just can realize the function of electrodeless rotation; New structure needs the new data acquisition and the support of transmission plan, in new data acquisition and transmission plan, the data of six angular encoders and a probe directly are transferred to by wireless channel in the wireless primary module that links to each other with computing machine by wireless submodule, by designing a cover has guaranteed data based on the time-multiplexed communication protocol of poll strategy reliable real-time Transmission.
2, the physical construction of data acquisition and transmission system and Flexible Three-coordinate Measuring Machine is separate, just data acquisition and transmission system be can change easily as long as guarantee the interface unanimity when using this programme, the design of mechanical part and the independence of design of Data Acquisition System improved so greatly.
3, adopted a kind of transparent transmission pattern of light work amount, the processing of Frame, assembling and buffer memory be can't help transmission system and are done, do and transfer to the extremely strong external computing machine of processing power, so greatly simplified hardware design, reduced cost, simultaneously also improve processing speed, strengthened the real-time of system.
4, probe pulse signal to wireless submodule, has guaranteed the simultaneity of image data by radio transmission, does not need synchronizing process; On the other hand, total system also only need be worked when probe trigger, realizes effective location survey, can not produce a large amount of gibberishes, thereby greatly save the energy.Boss's module interactive information is few, and this scheme picking rate of actual test shows is fast, and time-delay is few.
Description of drawings
Fig. 1 is the flexible articulated arm structural representation;
Fig. 2 is a radio sensing network topological structure synoptic diagram of the present invention;
Fig. 3 is a structural representation of the present invention;
Fig. 4 is a time division multiplex frame format synoptic diagram;
Fig. 5 is wireless submodule hardware configuration synoptic diagram;
Fig. 6 is wireless primary module hardware configuration synoptic diagram;
Embodiment
Below in conjunction with drawings and Examples to the detailed description of the invention.
As shown in Figure 1, the physical construction of flexible articulated arm comprises a base 5, three joint arms 1～3 and probes 4; A rotary joint 91,93 and 95 is respectively arranged on three joint arms; First joint arm 1 is connected by rotary joint 92 with second joint arm 2; Second joint arm 2 is connected by rotary joint 94 with the 3rd joint arm 3; The 3rd joint arm 3 is connected by rotary joint 96 with probe 4.Therefore whole physical construction has seven data collection points that need image data: six rotary joints 91～96 and probe 4.
In order to gather the data of these data collection points, laid a data harvester at each data collection point, be specially: 1. at rotary joint 91～96 an angular encoder 8A～8F (angular encoder 8A～8F is referred to as angular encoder 8) is installed respectively, is responsible for gathering corresponding rotation joint present located angle; 2. probe 4 itself is a data harvester, when probe 11 contact objects, can produce a pulse signal.
In order to transmit the data that seven data harvesters are gathered, the present invention has abolished the inside cabling of legacy system, the substitute is wireless transmitting system, be specially: a wireless submodule 7A～7G (wireless submodule 7A～7G is referred to as wireless submodule 7) is installed at each data collection point, be responsible for the data transmission of its place data collection point is arrived wireless primary module 10, wireless primary module 10 is handled data transmission by serial ports again to computing machine 6.
Seven data harvesters described above (angular encoder 8A～8F and probe 4) have constituted data acquisition of the present invention and transmission system with wireless transmitting system (wireless submodule 7A～7G and wireless primary module 10), and its structured flowchart is seen Fig. 3.
The data transmission system that wireless submodule 7A～7G and wireless primary module 10 constitute is a core of the present invention.When using, seven wireless submodules have constituted a radio sensing network with wireless primary module, and its network topology structure is a star structure, as shown in Figure 2.
When measuring, control probe 4 by the people, after touching object, probe 11 can produce a pulse signal, this pulse signal is gathered by the 7th wireless submodule 7G, the 7th wireless submodule can send broadcasting to other six wireless submodule 7A～7F and wireless primary module 10 then, to notify each module image data, each module will be done following response:
1. be installed in the angular encoder 8A～8F sense data of the wireless submodule 7A～7F at six rotary joint 91～96 places, wait to be transmitted then from correspondence.The corresponding relation of wireless submodule and angular encoder is seen Fig. 3.
2. wireless primary module 10 is given wireless submodule 7A～7G with channel time slot.
3. wireless submodule 7A～7G arrives wireless primary module 10 with data transmission in time slot separately.
4. wireless primary module 10 is transferred to computing machine 6 with data by serial ports and handles.
5. computing machine is recombinated to data according to the frame structure of Fig. 4 after receiving data, the coordinate when calculating probe 11 contact objects by mathematical operation then.
In Fig. 4 frame assumption diagram, Packet0～Packet4 represents the 0th group to the 4th group packet respectively, and a packet is the elementary cell of Computer Processing; Wherein each packet is made up of pulse label, Frame and check bit three parts; Tag indicating impulse label, be the data that the wireless submodule at probe place is beamed back, comprised some information of probe contact object, DF1～DF6 represents the data of rotary joint 91 to rotary joint 96 respectively, and whether check bit is used for the data of each packet of verification and makes mistakes; The Frame at rotary joint place is made up of time tag (T-tag), code-wheel label (P-tag), angle information (Data) three parts respectively; Time tag is represented the numbering of these data on time series, and this value is identical with the temporal information of pulse label Tag the inside, and the code-wheel label represents to obtain the code-wheel numbering of these data, and angle information then is the angle-data that corresponding code-wheel collected.
Above-mentioned collection and transmission show that the signal of probe does not need by wire transmission to six angular encoder, and the data of seven data collection points are directly by wireless submodule 7 transmission, thereby all do not have lead to pass at six rotary joint places 91～96, do not need complex mechanical construction just can realize electrodeless rotation.
On the other hand, above-mentioned data transmission procedure shows that wireless submodule 7 and 10 pairs of data of wireless primary module only do transparent transmission, do not process, and buffer memory is little, thereby less demanding to wireless submodule 7 with the hardware composition of wireless primary module 10, common single-chip microcomputer just can be satisfied the demand.
Fig. 5 and Fig. 6 are respectively the hardware block diagram of wireless submodule 7 of the present invention and wireless primary module 10.Microcontroller processor (MCU) among the figure is the PIC18F4620 single-chip microcomputer of Microchip company development, and what radio-frequency module adopted is the CC1100 radio frequency chip of TI, works in 433MHz, adopts the GFSK modulation; Interface modular converter among Fig. 5 mainly carries out the conversion of single-chip microcomputer CMOS level and angular encoder differential level.Serial port module among Fig. 6 is responsible for carrying out the bi-directional conversion of EIA level and Transistor-Transistor Logic level, makes the single-chip microcomputer can be by itself and external compunication.
As shown in Figure 3, adopt the solution of the present invention can make data acquisition system (DAS) (angular encoder 8A～8F and probe 4) and data transmission system (wireless submodule 7A～7G and wireless primary module 10) separate, thereby realized the independence of wireless transmitting system and mechanical realization, only needed unified interface each other.Such benefit is not only to have simplified design, and Machine Design is carried out with making to separate with making with the design of wireless transmitting system, maintenance, upgrade, upgrade all very convenient.
The present invention realized with radio sensing network be used for Flexible Three-coordinate Measuring Machine data acquisition and the transmission in the middle of, and adopt time division multiplexing mode to realize channel multiplexing based on the poll strategy, realized the separate of measuring machine and wireless collection, transmission system simultaneously.
Claims (5)
1. data acquisition system (DAS) that is used for flexible articulated arm measuring set, the data collection point that relates to comprises six rotary joints and a probe, the place is provided with angular encoder at rotary joint, it is characterized in that, also be provided with wireless submodule, the wireless primary module that other being and not being line submodule is connected at rotary joint and probe place;
Probe produces pulse signal after touching object, and the wireless submodule of probe correspondence is with wireless other wireless submodule and the wireless primary module of sending to of pulse signal, to trigger each module work;
After the wireless submodule of rotary joint correspondence is triggered, read the data that the corresponding angle scrambler is gathered, and in channel time slot separately, wirelessly send it to wireless primary module;
After wireless primary module is triggered, channel time slot is distributed to each wireless submodule, receive data and pulse signal that each wireless submodule transmits, and send the external data processor to.
2. data acquisition system (DAS) according to claim 1 is characterized in that, described wireless submodule comprises interface modular converter, first microprocessor and first radio-frequency module of serial connection successively.
3. data acquisition system (DAS) according to claim 2 is characterized in that, described wireless primary module comprises serial port module, second microprocessor and second radio-frequency module of serial connection successively.
4. according to claim 2 or 3 described data acquisition system (DAS)s, it is characterized in that described first and second microprocessors adopt the PIC18F4620 single-chip microcomputer.
5. according to claim 2 or 3 described data acquisition system (DAS)s, it is characterized in that described first and second radio-frequency modules adopt the CC1100 radio frequency chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2008101972819A CN101393007B (en) | 2008-10-17 | 2008-10-17 | Data acquisition system for flexible articulated arm measuring set |
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| CN2008101972819A CN101393007B (en) | 2008-10-17 | 2008-10-17 | Data acquisition system for flexible articulated arm measuring set |
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| CN101393007A CN101393007A (en) | 2009-03-25 |
| CN101393007B true CN101393007B (en) | 2011-01-26 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8082673B2 (en) * | 2009-11-06 | 2011-12-27 | Hexagon Metrology Ab | Systems and methods for control and calibration of a CMM |
| CN101806574B (en) * | 2010-04-23 | 2012-05-30 | 浙江大学 | Restructurable joint arm type coordinate measurer |
| CN101871774A (en) * | 2010-06-08 | 2010-10-27 | 浙江大学 | Variable rod length articulated arm type coordinate measuring machine |
| CN104771175B (en) * | 2015-03-04 | 2017-08-01 | 上海交通大学 | Catch the wearable intelligent ring of human limb three-dimensional attitude |
| CN109631813B (en) * | 2019-01-22 | 2020-11-03 | 安徽工业大学 | Calibration method of large-size articulated arm type coordinate measuring machine |
| CN113945162A (en) * | 2021-10-14 | 2022-01-18 | 上海隧道工程有限公司 | Contact type shield tail clearance measuring system and measuring method thereof |
| CN114523336B (en) * | 2022-03-03 | 2023-02-24 | 西安理工大学 | Tool setting and rolling depth measuring mechanism of multi-joint vertical cold rolling machine tool |
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