CN102359847A - Determining method of height of gravity center of object and determining device - Google Patents
Determining method of height of gravity center of object and determining device Download PDFInfo
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- CN102359847A CN102359847A CN2011102569460A CN201110256946A CN102359847A CN 102359847 A CN102359847 A CN 102359847A CN 2011102569460 A CN2011102569460 A CN 2011102569460A CN 201110256946 A CN201110256946 A CN 201110256946A CN 102359847 A CN102359847 A CN 102359847A
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Abstract
The invention discloses a determining method of the height of the gravity center of an object and a determining device. The determining method comprises the following steps: (1) a conveyer belt is used for forming a first plane (11) and a second plane (12) which are intersected at an inflection point; (b) the bottom surface of the object is in contact with the conveyer belt and moves thereupon, a first vertical line (11) which passes the inflection point is determined at the moment of first turning, and a second vertical line (12) which passes the inflection point is determined at the moment of second turning; and (c) an obtained intersection point (G) of the first vertical line and the second vertical line is the gravity center. The invention also provides the determining device adopting the determining method. According to the technical scheme, by using the simple physical principle, the gravity center can be determined by the intersection point of the two vehicle lines which pass the gravity center of the object, and the non-contact type measurement is realized by the determining device with a simple structure and the determining method which is simple to operate, thereby not only improving the operational efficiency and but also greatly increasing the accuracy.
Description
Technical field
The present invention relates to the assay method of the height of C.G. of object, particularly, relate to a kind of non-contacting assay method of height of C.G. of object.The invention still further relates to a kind of determinator of using the said determination method.
Background technology
The centre of gravity place of object is for the transportation of object and use all important influence.Especially, have the large-sized object of flat-bottom structure, because itself volume and quality are all very big, and again can not active movement, therefore difficult more its center of gravity be measured for for example container etc.
At present, the method that is used for measuring the height of C.G. of object mainly contains weight method, suspension method, physical pendulum method peace platform weight method etc.Said method is an approach well known, for for simplicity, said method do not given unnecessary details here, and be that example describes in detail only with the most frequently used suspension method and ground reaction force method.Object with flat-bottom structure among Fig. 1 and Fig. 2 is that example is introduced classic method, but this method is not limited in the object of flat-bottom structure, and is all suitable for the object of multiple shape.
As depicted in figs. 1 and 2, at first attach dress rigidity marking-off plate in a side of object; Utilize weighbridge to measure the mass M of object then; First end of object is placed on the weighbridge, and second end is sling with hoist cable, and this hoist cable is perpendicular to surface level, and the earth point of object is all on BB ' line; Measure the reacting force R of earth point on weighbridge this moment; Measure the horizontal range d between hoist cable and the object earth point; Promptly calculate the horizontal range C=Rd/M between hoist cable and the object center of gravity through the moment formula; On the marking-off plate that is fixed in object one side, mark the C vertical curve l that is with the hoist cable horizontal range
1, this vertical curve l
1Be straight line through the object center of gravity; Second end with object is placed on the weighbridge again, and first end is sling with hoist cable, and this hoist cable is perpendicular to surface level, and the earth point of object earth terminal is all on BB ' line; Measure the reacting force R ' of earth point on weighbridge this moment; Measure the horizontal range d ' between hoist cable and the object earth point; Promptly calculate horizontal range C '=R ' the d '/M between hoist cable and the object center of gravity through the moment formula; On the marking-off plate that is fixed in object one side, mark C ' the vertical curve l that is with the hoist cable horizontal range
2, this vertical curve l
2Be another straight line through the object center of gravity; Above-mentioned two vertical curve l
1And l
2Intersection point be the object center of gravity, the height of when object is positioned at ground, measuring centroidal distance ground is the height of C.G. h of object.
Need to prove that above-mentioned marking-off plate should be enough big, thereby make two vertical curve l
1And l
2Can on this marking-off plate, prolong and intersect at a point.
In addition, thus the earth point can on weighbridge, settle servicing unit limiter body overhang the time, and prevent that one end of object ground connection slides, and causes measuring the result and error occurs when suspension.
There are a lot of problems in the height that utilizes said method to measure the object center of gravity.
At first, the said determination method has certain danger.Because the said determination process need is sling an end of object with hoist cable, therefore cause the object lateral tilt easily.
Secondly, the determination efficiency of said method is low.The equipment that needs in the mensuration process is more, and process is complicated, and comprising main equipments such as weighbridge and cranes, it is long to measure process duration.
In addition, the most important thing is, measure result's the difficult control of precision.Because hoist cable must be perpendicular to surface level in the mensuration process, the earth point at object two ends is (like the BB ' line among the figure) point-blank, so need debugging repeatedly, is difficult to satisfy accuracy requirement.And two vertical curve l of definite center of gravity
1And l
2All be artificial the drafting, therefore have human error.Above-mentioned these errors all will directly influence measurement result.
And; Be not only the assay method of above detailed introduction; The whole bag of tricks of the prior art is applicable to the object of lighter weight mostly; And for example the weight of the object of large-scale flat-bottom structure such as container or large-scale workpiece wants recuperation many usually, therefore, and the method for the height of the mensuration object center of gravity that some is traditional even can't use.And though utilize assay method mentioned above can measure the height of C.G. of the object of large-scale flat-bottom structure, its existing problems can be more outstanding.
Summary of the invention
The assay method that the purpose of this invention is to provide a kind of height of C.G. of object, this assay method just can comparatively accurately find the center of gravity of object through simple operation non-contactly.
To achieve these goals, the present invention provides a kind of assay method of height of C.G. of object, and wherein, said assay method may further comprise the steps:
(a) form first plane and second plane with travelling belt, intersect in said flex point on said first plane and second plane;
(b) bottom surface of said object contacts with said travelling belt and along with said conveyer belt; Confirm constantly to confirm second vertical line from said second plane to said first plane motion constantly through second upset through first upset of said flex point from said first plane to said second plane motion at said object through said flex point through first vertical line of said flex point with at said object;
(c) intersection point that obtains said first vertical line and said second vertical line is center of gravity.
Preferably, said first plane and horizontal plane angle are θ
1, said second plane and horizontal plane angle are θ
2, wherein, θ
1＜45 °, θ
2＜45 °.
Preferably, the said first upset moment and second upset are the zero hour of said object switching process constantly.
Preferably, in step (b), do the base of said object vertical cross-section of said travelling belt direction on the edge, this base is positioned on the said travelling belt, and the length on this base is L; Confirm that said object is at first overturn point on the said first upset said base constantly and second overturn point on the said second upset said base constantly; Did said first overturn point and with the vertical direction angle be θ
1First straight line and cross said second overturn point and with the vertical direction angle be θ
2Second straight line, said first straight line is corresponding with said first vertical line and second vertical line respectively with second straight line.
Preferably, said first overturn point and said second overturn point are respectively the point that on the said first upset moment and the said second upset moment said object base, overlaps with said flex point.
Preferably, in the first initial moment, said object is positioned at first reference position, and in the second initial moment, said object is positioned at second reference position; Write down said object with first speed v
1Move to the very first time t of said flex point and generation upset from said first reference position
1And said object is with second speed v
2Move to the second time t of said flex point and generation upset from said second reference position
2
Preferably, in the said first initial moment, said object with said travelling belt from said first plane towards said second plane motion; In the said second initial moment, said object with said travelling belt from said second plane towards said first plane motion.
Preferably, in said first reference position, said base be L away from first end points of said flex point and the distance of said flex point
1In said second reference position, said base be L away from second end points of said flex point and the distance of said flex point
2
Preferably, said first end points on the base of said object and the distance B between said first overturn point
1=L-v
1* t
1Said second end points on the base of said object and the distance B between said second overturn point
2=L-v
2* t
3
Preferably, said height of C.G. H=(L-D
1-D
2)/(tan θ
1+ tan θ
2).
Preferably, said first speed v
1Equal said second speed v
2
Preferably, below the conveyer belt at said flex point place, pressure sensor is set, undergos mutation to confirm the said first upset moment and second upset constantly based on the detected value of this pressure sensor.
Preferably, said pressure transducer links to each other with timer to control the said very first time t of this timer record
1With the second time t
2
Preferably, utilize image capturing device to obtain the vertical cross-section of said object, measure the length on the base of this vertical cross-section again.
Preferably, said image capturing device comprises video camera and camera.
In addition, the present invention provides a kind of determinator of height of C.G. of object, and wherein, said determinator comprises travelling belt, and this travelling belt forms first plane and second plane, and intersect in said flex point on said first plane and second plane.
Preferably, said first plane and horizontal plane angle are θ
1, said second plane and horizontal plane angle are θ
2, wherein, θ
1＜45 °, θ
2＜45 °.
Preferably, said determinator also comprises image capturing device, and this image capturing device is used to obtain said object in the cross section along said travelling belt direction.
Preferably, said determinator also comprises pressure transducer, and this pressure transducer is arranged on the travelling belt below at said flex point place.
Pass through technique scheme; Utilize the simple physics principle, the intersection point of the vertical line of the center of gravity of two mistake objects can be confirmed center of gravity, realizes non-contact measurement through determinator simple in structure and assay method simple to operate; Not only improve operating efficiency, and improved precision greatly.
Other features and advantages of the present invention will partly specify in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of instructions, is used to explain the present invention with following embodiment, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the synoptic diagram of the Measuring Object height of C.G. method of prior art;
Fig. 2 is the vertical view according to the described Measuring Object height of C.G. of Fig. 1 method;
Fig. 3 is first upset synoptic diagram constantly according to the object of preferred implementation of the present invention;
Fig. 4 is second upset synoptic diagram constantly according to the object of preferred implementation of the present invention;
Fig. 5 is the synoptic diagram according to preferred implementation of the present invention.
Description of reference numerals
12 second planes, 11 first planes
2 pressure transducer l
1First vertical line
l
2The second vertical line A flex point
O
1The first overturn point O
2Second overturn point
n
1The first straight line n
2Second straight line
θ
1First plane and horizontal plane angle θ
2Second plane and horizontal plane angle
Embodiment
Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.Should be understood that embodiment described herein only is used for explanation and explains the present invention, is not limited to the present invention.
In accompanying drawing of the present invention, the direction shown in the arrow is the direction of motion of travelling belt, just the direction of motion of object.
In the present invention; In order to describe with the succinct language of trying one's best; Be convenient to those skilled in the art's understanding simultaneously; Therefore need carry out brief description to some terms among this paper, but explanation here and explanation and this term this compare in common implication in the art and can't produce contradiction and ambiguity.Domatic " flex point " in this article refers to the limit of intersecting on two planes that formed by travelling belt, because technical scheme of the present invention is that image is handled, therefore " flex point " promptly refers to be simplified to a bit on this limit from the captured image of a domatic side; " upset " refers to that the center of gravity of object moves to another face from a domatic face; The bottom surface of object is from touching the process that contacts with another face with a face; Just the center of gravity of object is crossed " flex point ", and " upset constantly " refers to that promptly the center of gravity of object crosses the moment of " flex point ".
Before technical scheme of the present invention is described in detail, at first introduce the physics principle of institute of the present invention foundation.Can know according to static principle; When object along domatic 2 when moving, the size and Orientation of the acting force of domatic 2 pairs of objects (comprising perpendicular to the anchorage force of domatic 2 pressure with along domatic 2 friction force) is opposite with the gravity direction of object, thereby makes the object receiving force balance; That is to say that domatic 2 acting force should be on the vertical straight line of the strong point of crossing domatic 2 pairs of objects; When the bottom surface of object contacted with a face, the part of contact all produced object and supports, and does not therefore have unique strong point; In any case but the action direction of this acting force all should be crossed the center of gravity of object.When we know that object only receives the effect of gravity and acting force and is in equilibrium state; If know the position of center of gravity; We just can know the action direction and the size of acting force; Reverse just this principle of application of the present invention, when object only receives the effect of gravity and acting force and is in equilibrium state, and acting force application point and action direction are known; Center of gravity just should so only need find two vertical straight lines of crossing the strong point that meet above-mentioned condition just can confirm centre of gravity place through their intersection point on the vertical straight line of crossing this strong point so.
The present invention provides a kind of assay method of height of C.G. of object, and wherein, said assay method may further comprise the steps:
(a) form first plane 11 and second plane 12 with travelling belt, intersect at said flex point A on said first plane 11 and second plane 12;
(b) bottom surface of said object contacts with said travelling belt and along with said conveyer belt, constantly confirms first vertical line l through said flex point A from said first plane 11 to said second plane, 12 motions through first upset of said flex point A at said object
1And confirm the second vertical line l from said second plane 12 to the motion of said first plane 11 constantly through second upset through said flex point A at said object
2
(c) obtain the said first vertical line l
1With the said second vertical line l
2Intersection point G be center of gravity.
According to Fig. 3 to Fig. 5; Technique scheme utilizes travelling belt to form first plane 11 and second plane 12; Operation through travelling belt like this; The object that just can drive on the travelling belt moves along first plane 11 and second plane 12, at first confirms twice vertical line through the upset mistake center of gravity constantly of flex point A of object, and the intersection point of two vertical lines is the center of gravity of object.
The said determination method is simple to operate, has not only reduced the complicacy of assay method and institute's operative installations, and has improved degree of accuracy greatly.Pass through technique scheme; Utilize the simple physics principle, the intersection point of the vertical line of the center of gravity of two mistake objects can be confirmed center of gravity, realizes non-contact measurement through determinator simple in structure and assay method simple to operate; Not only improve operating efficiency, and improved precision greatly.
Preferably, said first plane 11 is θ with horizontal plane angle
1, said second plane 12 is θ with horizontal plane angle
2, wherein, θ
1＜45 °, θ
2＜45 °.
The above-mentioned preferable range that has provided first plane 11 and second plane 12 and horizontal plane angle.In theory; Angle between first plane 11 and second plane 12 is big more; Measuring accuracy is high more, if but the excessive object that will make of the gradient on plane reduces along the friction force of travelling belt direction, and object is along the weight component increase of travelling belt direction; Thereby bring difficulty with travelling belt motion on domatic for object. and two planes cross the violent rotary movement that conference causes object at the angle at flex point A place, probably owing to the too violent precision that influences measurement result of rotary movement.Therefore the angle of inclination that need reasonably select first plane 11 and/or second plane 12 therefore the angle of two planes and surface level preferably all less than 45 °, more preferably, like Fig. 3 θ shown in Figure 5 extremely
1=15 °, θ
2=5 °.
Preferably, the said first upset moment and second upset are the zero hour of said object switching process constantly.
When object with conveyer belt to flex point A and begin when flex point A rotates; Seem to have only flex point A supporting object, but center of gravity is not on the vertical straight line of crossing flex point A at this moment, this situation belongs to the research category of sport dynamics; And not meeting above-mentioned physical principle, we here do not discuss.And before the object upset, though by domatic 2 supports, can't find unique strong point, in the process that object begins turning, center of gravity is not again on the vertical straight line of crossing the strong point.When object just begins turning, have only the strong point of flex point A, and object do not begin also to rotatablely move as domatic 2 pairs of objects, this moment, center of gravity also on the vertical straight line of crossing the strong point, conformed to the condition of above-mentioned physical principle; Thereby cross the moment that flex point A finishes upset at object, this moment, the bottom surface part of crossing flex point A of object all was pressed on another plane, and therefore this moment, object was not to be supported by a strong point.Therefore, the upset of indication comprises zero hour of switching process constantly in the technical scheme of the present invention.
Preferably, in step (b), do the base of said object vertical cross-section of said travelling belt direction on the edge, this base is positioned on the said travelling belt, and the length on this base is L; Confirm the first overturn point O of said object on the said first upset said base constantly
1With the second overturn point O on the said second upset said base constantly
2Made the said first overturn point O
1And with the vertical direction angle be θ
1The first straight line n
1And the said second overturn point O of mistake
2And with the vertical direction angle be θ
2The second straight line n
2, the said first straight line n
1With the second straight line n
2Respectively with the said first vertical line l
1With the second vertical line l
2Corresponding.
As shown in Figure 5; In above-mentioned preferred implementation of the present invention,, at first need make a vertical cross-section of object for the ease of realizing the object of the invention; And measure the length on the base of this vertical cross-section, mapping hereinafter described all is based on the basis on this base to be carried out.But what need explanation a bit is exactly, as long as the choosing of base of this vertical cross-section is arbitrarily, the base that only need meet this vertical cross-section gets final product on travelling belt, and this is because the first required overturn point O
1With the second overturn point O
2All be to intersect with flex point on the object.And the shape of this vertical cross-section etc. are unimportant, the needed just length on the base of this vertical cross-section of measuring method of the present invention.
In the corresponding first upset moment and the second upset moment, center of gravity was positioned at the first overturn point O
1With the second overturn point O
2The said first vertical line l
1With the second vertical line l
2On.Particularly, for example constantly in first upset, the first vertical line l
1Should cross the first overturn point O
1, and relevant with the angle of surface level with angle between the bottom surface of object with first plane 11, identical in the second upset moment with above-mentioned situation and principle, repeat no more here.
Because the first vertical line l
1With the second vertical line l
2Position relation with respect to object can be passed through the first overturn point O
1With the second overturn point O
2, and first plane 11 and second plane 12 are confirmed with horizontal plane angle.Therefore, for the above-mentioned first vertical line l
1With the second vertical line l
2Projection is made and the first vertical line l with respect to the base of the vertical cross-section of the above-mentioned object of doing to same plane
1With the second vertical line l
2The corresponding first straight line n
1With the second straight line n
2, this first straight line n
1With the second straight line n
2The intersection point that intersects gained is center of gravity.
Preferably, the said first overturn point O
1With the said second overturn point O
2Be respectively the point that on the said first upset moment and the said second upset moment said object base, overlaps with said flex point A.
To the first overturn point O
1With the said second overturn point O
2Carry out further clear and definite definition.But in actual measurement, because first plane 11 and second plane 12 might not form the corner angle of giving prominence at flex point A place, perhaps owing to measuring error etc., the first overturn point O
1With the said second overturn point O
2Possibly not be an independent point, but the point on a bit of line segment scope, but tiny error can't have too big influence to final measured value.
Preferably, in the first initial moment, said object is positioned at first reference position, and in the second initial moment, said object is positioned at second reference position;
Write down said object with first speed v
1Move to the very first time t of said flex point A and generation upset from said first reference position
1And said object is with second speed v
2Move to the second time t of said flex point A and generation upset from said second reference position
2
Preferably, said object moves from said first plane 11 towards said second plane 12 with said travelling belt,
In the said second initial moment, said object moves from said second plane 12 towards said first plane 11 with said travelling belt.
Preferably, in said first reference position, said base be L away from first end points of said flex point A and the distance of said flex point A
1,
In said second reference position, said base be L away from second end points of said flex point A and the distance of said flex point A
2
In this preferred implementation, defined the first initial moment and the second initial moment, be respectively object moment towards flex point A motion on first plane 11 and second plane 12, just very first time t
1With the second time t
2The starting point that begins to calculate constantly.Also defined first reference position and second reference position in addition, referred to distance at first end points and the second end-point distances flex point A of the first initial moment and the second initial moment object.That is to say, with a certain moment be the initial moment of timing, computing object from this constantly setting in motion to the time that upset takes place, the movement velocity of object, and the initial moment of object is away from the distance of the end-point distances flex point A of flex point A.
Preferably, said first end points on the base of said object and the said first overturn point O
1Between distance B
1=L-v
1* t
1,
Said second end points on the base of said object and the said second overturn point O
2Between distance B
2=L-v
2* t
2T2?
In Fig. 5, with first end points and the first overturn point O
1Between distance B
1Be example, through v
1* t
1Can calculate first end points at very first time t
1The distance of interior motion is to the t of the very first time
1Stop constantly having taken place upset, and this moment, first end points was positioned at still on first plane 11, so L-v
1* t
1Can obtain first end points and the first overturn point O
1Between distance.Second end points and the said second overturn point (O
2) between distance B
2Calculating in like manner, repeat no more.
Preferably, said height of C.G. H=(L-D
1-D
2)/(tan θ
1+ tan θ
2).
According to shown in Figure 5, can know the first straight line n according to geometrical principle
1With the angle of vertical direction be θ
1, the second straight line n
2With the angle of vertical direction be θ
2, so height of C.G. H * (tan θ
1+ tan θ
2) just can obtain the first straight line n
1With the second straight line n
2Attend the length of institute's transversal section on the object base, just the first overturn point O
1With the second overturn point O
2Between distance L-D
1-D
2, can draw the aforementioned calculation formula through the equality distortion.
Preferably, said first speed v
1Equal said second speed v
2
Above-mentioned first speed v
1With second speed v
2Only need to be provided with, so not only can make the first overturn point O of object through the travelling speed of control travelling belt
1With the second overturn point O
2The condition of measurement identical, improve accuracy and the precision measured, and be convenient to calculate.
Preferably, pressure sensor 2 is set below the conveyer belt at said flex point A place, undergos mutation to confirm the said first upset moment and second upset constantly based on the detected value of this pressure sensor 2.
First upset constantly with the second upset moment, object only receives the acting force of gravity and flex point A, so sudden change has taken place at this moment for flex point A place stressed.In order to confirm upset better constantly, this embodiment is provided with pressure transducer 2 below the sensor 2 at flex point A place, when object this pressure transducer 2 when flex point A takes place to overturn can detect the sudden change of force value.
Preferably, said pressure transducer 2 links to each other with timer to control the said very first time t of this timer record
1With the second time t
2The purpose of the setting of pressure transducer 2 is exactly in order to detect upset better constantly in this embodiment; The mensuration that therefore can this pressure transducer 2 be connected the direct control time with timer; Perhaps be connected, be connected minute through this controller with timer again with controller.
Preferably, utilize image capturing device to obtain the vertical cross-section of said object, measure the length on the base of this vertical cross-section again.For cross sectional shape rule or consistent object; For example cuboid or cube etc., its side view is cross sectional shape, and for the irregular object of cross sectional shape; Especially the bigger object of volume and weight usually is difficult to confirm the shape and size in its cross section.In this embodiment; Utilize image capturing device to obtain the cross section, its principle is just the same as projection, faces testee from the side and takes; Captured like this object edge profile is the cross section of the maximum of this object, on image, measures the length on the base in this cross section again.Can also on the image of taking, directly carry out mapping processing procedure mentioned above and obtain center of gravity, utilize the proportionate relationship of picture size and physical size to confirm physical size more at last.Utilize this method not only comparatively simple to operation, and degree of accuracy is higher.
Preferably, said image capturing device comprises video camera and camera.The preferred implementation of above-mentioned image capturing device.
In addition, also can above-mentioned each preferred implementation be carried out Combination application arbitrarily.For example; Utilize the unlatching of pressure transducer 2 control image capturing devices; So just can directly constantly photograph the cross section and the overturn point of object in upset; The direct like this overturn point of on image, measuring get final product apart from the distance of corresponding endpoint, and does not need Measuring Object not calculate from time and movement velocity that the first/the second reference position moves to the upset moment again.
Need to prove that in said method of the present invention, its key is to obtain the length on the base of vertical cross-section, the shape of this vertical cross-section etc. are unimportant.For the irregular object of this vertical cross-section; Can obtain vertical cross-section through above-mentioned preferred implementation; Thereby the length that both can measure the base of this vertical cross-section is utilized assay method of the present invention, also can directly on the image of this vertical cross-section, utilize assay method of the present invention to obtain height of C.G..
In addition, the present invention also provides a kind of determinator of height of C.G. of object, and wherein, said determinator comprises travelling belt, and this travelling belt forms first plane 11 and second plane 12, and intersect at said flex point A on said first plane 11 and second plane 12.
Extremely shown in Figure 5 like Fig. 3; Determinator of the present invention can be used for realizing assay method of the present invention; Utilize travelling belt to form first plane 11 and second plane 12 simply; When measuring, object is placed on the travelling belt, object has the bottom surface that contacts with travelling belt and with conveyer belt, utilizes physical principle (to carry out detailed introduction in the preceding text; Repeat no more here) come the height of C.G. of the object of flat-bottom structure is measured, can obtain the higher measurement result of precision through simple structure and operation.And this measurement mechanism is measured through above-mentioned measuring method, repeats no more here.
Preferably, said first plane 11 is θ with horizontal plane angle
1, said second plane 12 is θ with horizontal plane angle
2, wherein, θ
1＜45 °, θ
2＜45 °.
The above-mentioned preferable range that has provided first plane 11 and second plane 12 and horizontal plane angle.Principle according to the applied measuring method of measurement mechanism of the present invention; In theory; Angle between first plane 11 and second plane 12 is big more; Measuring accuracy is high more, if but the excessive object that will make of the gradient on plane reduces along the friction force of travelling belt direction, and object is along the weight component increase of travelling belt direction; Thereby bring difficulty with travelling belt motion on domatic for object. and two planes cross the violent rotary movement that conference causes object at the angle at flex point A place, probably owing to the too violent precision that influences measurement result of rotary movement.Therefore the angle of inclination that need reasonably select first plane 11 and/or second plane 12 therefore the angle of two planes and surface level preferably all less than 45 °, more preferably, like Fig. 3 θ shown in Figure 5 extremely
1=15 °, θ
2=5 °.
Preferably, said determinator also comprises image capturing device, and this image capturing device is used to obtain said object at the vertical cross-section along said travelling belt direction, measures the length on the base of this vertical cross-section again.
For cross sectional shape rule or consistent object; For example cuboid or cube etc., its side view is cross sectional shape, and for the irregular object of cross sectional shape; Especially the bigger object of volume and weight usually is difficult to confirm the shape and size in its cross section.In this embodiment; Utilize image capturing device to obtain the cross section, its principle is just the same as projection, faces testee from the side and takes; Captured like this object edge profile is the cross section of the maximum of this object, and the base length of measuring this cross section is required base length.Can also on the image of taking, directly carry out mapping processing procedure mentioned above and obtain center of gravity, utilize the proportionate relationship of picture size and physical size to confirm physical size more at last.Utilize this method not only comparatively simple to operation, and degree of accuracy is higher.
Preferably, said determinator also comprises pressure transducer 2, and this pressure transducer 2 is arranged on the travelling belt below at said flex point A place.
The applied measuring principle of measurement mechanism according to the present invention, first upset constantly with the second upset moment, object only receives the acting force of gravity and flex point A, so sudden change has taken place at this moment for flex point A place stressed.In order to confirm upset better constantly, this embodiment is provided with pressure transducer 2 below the sensor 2 at flex point A place, when object this pressure transducer 2 when flex point A takes place to overturn can detect the sudden change of force value.
According to assay method of the present invention, the situation for the out-of-shape of the vertical cross-section of said object causes base length to be difficult to measure need at first obtain this vertical cross-section usually.This vertical cross-section both may be plotted on the media such as paper, also can be treated to digital picture file, and therefore preferred implementation of the present invention not only is suitable for artificial treatment but also is convenient to Computer Image Processing.After obtaining this suitable vertical cross-section, mapping and calculate according to preferred implementation of the present invention gets final product.
Below only combine accompanying drawing that a kind of preferred implementation of the present invention is carried out exemplary introduction, and do not limit the invention.
Through said determination device and assay method, can realize non-contact measurement simply to the height of C.G. of object, operating efficiency is high, and precision is higher as a result for mensuration.Down when obtaining the base of this vertical cross-section with image capturing device, measure result's error range and analyze, following error analysis has been merely explanation.
Travelling belt is with certain speed v running, and the shooting time interval or the interframe of image capturing device 1 are divided into Δ t, the first vertical line l
1With the second vertical line l
2Between angle theta=θ
1+ θ
2, the first vertical line l
1Or the second vertical line l
2Peak excursion be v * Δ t, can know that according to geometric relationship height of C.G. is at the first vertical line l
1On maximum offset Δ h
1=v * Δ t/tg θ=v * Δ t/tg (θ
1+ θ
2), height of C.G. is at the second vertical line l
2Maximum offset Δ h
2=v * Δ t/sin θ=v * Δ t/sin (θ
1+ θ
2), therefore, finally measure the maximum offset Δ h=Δ h of result's height of C.G.
1+ Δ h
2=v * Δ t * (1/tg (θ
1+ θ
2)+1/sin (θ
1+ θ
2)).
When object along with travelling belt with the speed of v=15m/s with horizontal plane angle be θ
1=15 ° first plane 11 and with horizontal plane angle be θ
2When motion makes an experiment on=5 ° second plane 12, use 1,420 ten thousand pixels, per second can be taken the camera process of the test of 15 photos (being shutter speed 1/15s), and recording the height of C.G. peak excursion is 6.076mm.
When object along with travelling belt with the speed of v=15m/s with horizontal plane angle be θ
1=15 ° first plane 11 and with horizontal plane angle be θ
2When motion makes an experiment on=5 ° second plane 12, use resolution 1920 * 1080, the video camera of per second 20 frames is taken process of the test, and recording the height of C.G. peak excursion is 4.477mm.
When object along with travelling belt with the speed of v=15m/s with horizontal plane angle be θ
1=15 ° first plane 11 and with horizontal plane angle be θ
2When motion makes an experiment on=5 ° second plane 12, use resolution 1624 * 1124, the video camera of per second 30 frames is taken process of the test, and recording the height of C.G. peak excursion is 2.933mm.
More than combine accompanying drawing to describe preferred implementation of the present invention in detail; But; The present invention is not limited to the detail in the above-mentioned embodiment; In technical conceive scope of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition; Each concrete technical characterictic described in above-mentioned embodiment under reconcilable situation, can make up through any suitable manner; For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be regarded as the disclosed content of the present invention equally.
Claims (19)
1. the assay method of the height of C.G. of an object is characterized in that, said assay method may further comprise the steps:
(a) form first plane (11) and second plane (12) with travelling belt, intersect in said flex point (A) said first plane (11) and second plane (12);
(b) bottom surface of said object contacts with said travelling belt and along with said conveyer belt, constantly confirms first vertical line (l through said flex point (A) from said first plane (11) to said second plane (12) motion through first upset of said flex point (A) at said object
1) and constantly confirm second vertical line (l through said flex point (A) from said second plane (12) to said first plane (11) motion through second upset at said object
2);
(c) obtain the said first vertical line (l
1) and the said second vertical line (l
2) intersection point (G) be center of gravity.
2. assay method according to claim 1 is characterized in that, said first plane (11) is θ with horizontal plane angle
1, said second plane (12) is θ with horizontal plane angle
2, wherein, θ
1＜45 °, θ
2＜45 °.
3. assay method according to claim 1 is characterized in that, the said first upset moment and second upset are the zero hour of said object switching process constantly.
4. assay method according to claim 1 is characterized in that, in step (b),
Make said object on the base along the vertical cross-section of said travelling belt direction, this base is positioned on the said travelling belt, and the length on this base is L,
Confirm the first overturn point (O of said object on the said first upset said base constantly
1) and the second overturn point (O on the said second upset said base constantly
2),
Made the said first overturn point (O
1) and with the vertical direction angle be θ
1The first straight line (n
1) and cross the said second overturn point (O
2) and with the vertical direction angle be θ
2The second straight line (n
2), the said first straight line (n
1) and the second straight line (n
2) respectively with the said first vertical line (l
1) and the second vertical line (l
2) corresponding.
5. assay method according to claim 4 is characterized in that, the said first overturn point (O
1) and the said second overturn point (O
2) be respectively said first upset constantly with the said second upset moment said object base on the point that overlaps with said flex point (A).
6. assay method according to claim 4 is characterized in that,
In the first initial moment, said object is positioned at first reference position, and in the second initial moment, said object is positioned at second reference position;
Write down said object with first speed v
1Move to the very first time t of said flex point (A) and generation upset from said first reference position
1And said object is with second speed v
2Move to the second time t of said flex point (A) and generation upset from said second reference position
2
7. assay method according to claim 6 is characterized in that,
In the said first initial moment, said object moves from said first plane (11) towards said second plane (12) with said travelling belt,
In the said second initial moment, said object moves from said second plane (12) towards said first plane (11) with said travelling belt.
8. assay method according to claim 6 is characterized in that,
In said first reference position, said base be L away from first end points of said flex point (A) and the distance of said flex point (A)
1,
In said second reference position, said base be L away from second end points of said flex point (A) and the distance of said flex point (A)
2
9. assay method according to claim 8 is characterized in that,
Said first end points on the base of said object and the said first overturn point (O
1) between distance B
1=L-v
1* t
1,
Said second end points on the base of said object and the said second overturn point (O
2) between distance B
2=L-v
2* t
3
10. assay method according to claim 9 is characterized in that,
Said height of C.G. H=(L-D
1-D
2)/(tan θ
1+ tan θ
2).
11. assay method according to claim 6 is characterized in that, said first speed v
1Equal said second speed v
2
12. assay method according to claim 6; It is characterized in that; The travelling belt below of locating in said flex point (A) is provided with pressure transducer (2), undergos mutation to confirm the said first upset moment and second upset constantly according to the detected value of this pressure transducer (2).
13. assay method according to claim 12 is characterized in that, said pressure transducer (2) links to each other with timer to control the said very first time t of this timer record
1With the second time t
2
14. assay method according to claim 4 is characterized in that, utilizes image capturing device to obtain the vertical cross-section of said object, measures the length on the base of this vertical cross-section again.
15. assay method according to claim 14 is characterized in that, said image capturing device comprises video camera and camera.
16. the determinator of the height of C.G. of an object is characterized in that, said determinator comprises travelling belt, and this travelling belt forms first plane (11) and second plane (12), and intersect in said flex point (A) said first plane (11) and second plane (12).
17. determinator according to claim 16 is characterized in that, said first plane (11) is θ with horizontal plane angle
1, said second plane (12) is θ with horizontal plane angle
2, wherein, θ
1＜45 °, θ
2＜45 °.
18. determinator according to claim 16 is characterized in that, said determinator also comprises image capturing device, and this image capturing device is used to obtain said object at the vertical cross-section along said travelling belt direction.
19. determinator according to claim 16 is characterized in that, said determinator also comprises pressure transducer (2), and this pressure transducer (2) is arranged on the travelling belt below that said flex point (A) is located.
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| CN108982012A (en) * | 2018-09-25 | 2018-12-11 | 国网新疆电力有限公司电力科学研究院 | Vertical pump dynamic balance running method based on virtual-sensor |
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| CN110533681A (en) * | 2019-08-26 | 2019-12-03 | 东莞弓叶互联科技有限公司 | Article grasping means, device, equipment and computer readable storage medium |
| CN113049184A (en) * | 2021-04-06 | 2021-06-29 | 中国人民解放军63853部队 | Method, device and storage medium for measuring mass center |
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