CN102359847B - Method for measuring height of gravity center of object - Google Patents
Method for measuring height of gravity center of object Download PDFInfo
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- CN102359847B CN102359847B CN 201110256946 CN201110256946A CN102359847B CN 102359847 B CN102359847 B CN 102359847B CN 201110256946 CN201110256946 CN 201110256946 CN 201110256946 A CN201110256946 A CN 201110256946A CN 102359847 B CN102359847 B CN 102359847B
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Abstract
The invention discloses a method for measuring the gravity center height of an object, which comprises the following steps: forming a first plane (11) and a second plane (12) intersecting at an inflection point (A) with a conveyor belt; (b) the bottom surface of the object is in contact with the conveyor belt and moves with it, and a first vertical line (l) passing through the point of inflection is determined at a first turning moment1) And determining a second perpendicular (l) passing through the point of inflection at a second flip moment2) (ii) a (c) And obtaining the intersection point (G) of the first perpendicular line and the second perpendicular line as the gravity center. Through the technical scheme, the gravity center can be determined by utilizing a simple physical principle and the intersection point of the two perpendicular lines passing through the gravity center of the object, and non-contact measurement is realized through the measuring device with a simple structure and the measuring method with simple operation, so that not only is the operating efficiency improved, but also the precision is greatly improved.
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.
Background technology
The centre of gravity place of object has important impact for transportation and the use of object.Especially, for the large-sized object that has flat-bottom structure such as container etc., because itself volume and quality are all very large, and again can not active movement, therefore more be difficult for its center of gravity is measured.
At present, the method that is used for measuring the height of C.G. of object mainly contains weight method, suspension method, compound pendulum peace platform weight method etc.Said method is approach well known, for for simplicity, said method is not given unnecessary details herein, only describes in detail as an example of the most frequently used suspension method and ground reaction force method example.As an example of the object of flat-bottom structure example classic method is introduced among Fig. 1 and Fig. 2, but the method is not limited in the object of flat-bottom structure, all applicable for the object of various shape.
As depicted in figs. 1 and 2, at first at a side attaching rigidity marking-off plate of object; Then utilize weighbridge to measure the mass M of object; The first end of object is placed on the weighbridge, and the 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; Namely calculate horizontal range C=Rd/M between hoist cable and the object center of gravity by the moment formula; Mark the C vertical curve l that is with the hoist cable horizontal range at the marking-off plate that is fixed in object one side
1, this vertical curve l
1Be the straight line by the object center of gravity; The 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; Namely calculate horizontal range C ' between hoist cable and the object center of gravity=R ' d '/M by the moment formula; Mark C ' the vertical curve l that is with the hoist cable horizontal range at the marking-off plate that is fixed in object one side
2, this vertical curve l
2Be another straight line by the object center of gravity; Above-mentioned two vertical curve l
1And l
2Intersection point be the object center of gravity, the height of measuring centroidal distance ground when object is positioned at ground is the height of C.G. h of object.
Need to prove, above-mentioned marking-off plate should be enough large, thereby make two vertical curve l
1And l
2Can and intersect at a point in this marking-off plate prolongation.
In addition, thus earth point that can be when weighbridge is settled servicing unit limiter body overhang, and prevent that an end of object ground connection slides, and causes measurement result error to occur when hanging.
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 easily cause the object lateral tilt.
Secondly, the determination efficiency of said method is low.The equipment that needs in the mensuration process is more, and process is complicated, comprising main equipments such as weighbridge and cranes, measures process duration long.
In addition, the most important thing is the difficult control of the precision of measurement result.Because hoist cable must be perpendicular to surface level in the mensuration process, the earth point at object two ends is (such as the BB ' line among the figure) point-blank, so need repeatedly debugging, is difficult to satisfy accuracy requirement.And two vertical curve l of definite center of gravity
1And l
2All be artificial drafting, therefore have human error.Above-mentioned these errors all will directly affect 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 usually want recuperation many such as the weight of the object of the large-scale flat-bottom structure such as container or large-scale workpiece, therefore, the method for the height of some traditional mensuration object center of gravity even can't use.And although 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 by simple non-contactly operation.
To achieve these goals, the invention provides a kind of assay method of height of C.G. of object, wherein, described assay method may further comprise the steps:
(a) form the first plane and the second plane with travelling belt, intersect in described flex point on described the first plane and the second plane;
(b) bottom surface of described object contacts with described travelling belt and along with described conveyer belt, constantly determine the first vertical line of the described flex point of process at described object from described the first plane to described the second plane motion through the first upset of described flex point, and constantly determine the second vertical line of the described flex point of process at described object from described the second plane to described the first plane motion through the second upset of described flex point;
(c) intersection point that obtains described the first vertical line and described the second vertical line is center of gravity.
Preferably, described the first plane and horizontal plane angle are θ
1, described the second plane and horizontal plane angle are θ
2, wherein, θ
1＜45 °, θ
2＜45 °.
Preferably, the described first upset moment and the second upset are the zero hour of described object overturning process constantly.
Preferably, in step (b), make described object on the base along the vertical cross-section of described travelling belt direction, this base is positioned on the described travelling belt, and the length on this base is L; Determine that described object is at the first overturn point on described the first upset described base constantly and the second overturn point on described the second upset described base constantly; Did described the first overturn point and with the vertical direction angle be θ
1The first straight line, and cross described the second overturn point and with the vertical direction angle be θ
2The second straight line, described the first straight line is corresponding with described the first vertical line and the second vertical line respectively with the second straight line.
Preferably, described the first overturn point and described the second overturn point are respectively the point that overlaps with described flex point on the described first upset moment and described the second upset moment described object base.
Preferably, at the first initial time, described object is positioned at first start bit to be put, and at the second initial time, described object is positioned at the second reference position; Record described object with First Speed v
1Put the very first time t that moves to described flex point and upset occurs from described first start bit
1, and described object is with second speed v
2Move to the second time t of described flex point and generation upset from described the second reference position
2
Preferably, at described the first initial time, described object with described travelling belt from described the first plane towards described the second plane motion; At described the second initial time, described object with described travelling belt from described the second plane towards described the first plane motion.
Preferably, put in described first start bit, described base be L away from the first end points of described flex point and the distance of described flex point
1In described the second reference position, described base be L away from the second end points of described flex point and the distance of described flex point
2
Preferably, described first end points on the base of described object and the distance D between described the first overturn point
1=L
1-v
1* t
1Described second end points on the base of described object and the distance D between described the second overturn point
2=L
2-v
2* t
2
Preferably, described height of C.G. H=(L-D
1-D
2)/(tan θ
1+ tan θ
2).
Preferably, described First Speed v
1Equal described second speed v
2
Preferably, below the travelling belt at described flex point place, pressure transducer is set, undergos mutation to determine described the first upset constantly and the second upset moment according to the detected value of this pressure transducer.
Preferably, described pressure transducer links to each other to control the described very first time t of this timer record with timer
1With the second time t
2
Preferably, utilize image capturing device to obtain the vertical cross-section of described object, measure again the length on the base of this vertical cross-section.
Preferably, described image capturing device comprises video camera and camera.
Pass through technique scheme, utilize simple physical principle, the intersection point of the vertical line of the center of gravity of two mistake objects can be determined center of gravity, realizes non-contact measurement by determinator simple in structure and assay method simple to operate, not only improve operating efficiency, and greatly improved precision.
Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and consists of the part of instructions, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the measurement object height of C.G. method of prior art;
Fig. 2 is the vertical view according to the described measurement object of Fig. 1 height of C.G. method;
Fig. 3 is the first upset schematic diagram constantly according to the object of preferred implementation of the present invention;
Fig. 4 is the second upset schematic diagram constantly according to the object of preferred implementation of the present invention;
Fig. 5 is the schematic diagram according to preferred implementation of the present invention.
Description of reference numerals
12 second planes, 11 first planes
2 pressure transducer l
1The first vertical line
l
2The second vertical line A flex point
O
1The first overturn point O
2The second overturn point
n
1The first straight line n
2The second straight line
θ
1The first plane and horizontal plane angle θ
2The second plane and horizontal plane angle
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only is used for description and interpretation 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, namely the direction of motion of object.
In the present invention, in order to be described with the succinct language of trying one's best, be convenient to simultaneously those skilled in the art's understanding, therefore need to carry out brief description to some terms herein, but explanation herein 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 processed, therefore " flex point " namely 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, namely the center of gravity of object is crossed " flex point ", and " upset constantly " refers to that namely the center of gravity of object crosses the moment of " flex point ".
Before technical scheme of the present invention is described in detail, the physics principle of paper institute of the present invention foundation.According to static principle as can be known, when object when moving along domatic 2, 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 make 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 contacts with a face, the part of contact all produces object and supports, therefore do not 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 is subject to the effect of gravity and acting force and is in equilibrium state, if know the position of center of gravity, we just can know action direction and the size of acting force, the present invention is this principle of reverse application just, when object only is subject to 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 on the vertical straight line of crossing this strong point, so only need to find two vertical straight lines of crossing the strong point that meet above-mentioned condition just can determine centre of gravity place by their intersection point so.
The invention provides a kind of assay method of height of C.G. of object, wherein, described assay method may further comprise the steps:
(a) form the first plane 11 and the second plane 12 with travelling belt, intersect at described flex point A on described the first plane 11 and the second plane 12;
(b) bottom surface of described object contacts with described travelling belt and along with described conveyer belt, constantly determines first vertical line l through described flex point A from described the first plane 11 to described the second plane 12 motions through the first upset of described flex point A at described object
1, and constantly determine second vertical line l through described flex point A from described the second plane 12 to the motion of described the first plane 11 through the second upset of described flex point A at described object
2
(c) obtain described the first vertical line l
1With described the 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 the first plane 11 and the second plane 12, the like this operation by travelling belt, the object that just can drive on the travelling belt moves along the first plane 11 and the second plane 12, at first determine twice vertical line through the upset mistake center of gravity constantly of flex point A of object, 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 greatly improved degree of accuracy.Pass through technique scheme, utilize simple physical principle, the intersection point of the vertical line of the center of gravity of two mistake objects can be determined center of gravity, realizes non-contact measurement by determinator simple in structure and assay method simple to operate, not only improve operating efficiency, and greatly improved precision.
Preferably, described the first plane 11 is θ with horizontal plane angle
1, described the 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 the first plane 11 and the second plane 12 and horizontal plane angle.In theory, angle between the first plane 11 and the second plane 12 is larger, measuring accuracy is higher, 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 in domatic motion 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 affects measurement result of rotary movement.Therefore the angle of inclination that need to reasonably select the first plane 11 and/or the second plane 12 therefore the angle of two planes and surface level preferably all less than 45 °, more preferably, such as Fig. 3 θ shown in Figure 5 extremely
1=15 °, θ
2=5 °.
Preferably, the described first upset moment and the second upset are the zero hour of described object overturning process constantly.
When object with conveyer belt to flex point A and begin when flex point A rotates, seem to only have 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 object overturning, although 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, only have flex point A as the strong point of domatic 2 pairs of objects, and object do not begin also to rotatablely move, 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), make described object on the base along the vertical cross-section of described travelling belt direction, this base is positioned on the described travelling belt, and the length on this base is L; Determine the first overturn point O of described object on described the first upset described base constantly
1With the second overturn point O on described the second upset described base constantly
2Made described the first overturn point O
1And with the vertical direction angle be θ
1The first straight line n
1, and cross described the second overturn point O
2And with the vertical direction angle be θ
2The second straight line n
2, described the first straight line n
1With the second straight line n
2Respectively with described the 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, for the ease of realizing purpose of the present invention, at first need to do a vertical cross-section of object, 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 at 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
2Described the first vertical line l
1With the second vertical line l
2On.Particularly, for example in the first upset constantly, the first vertical line l
1Should cross the first overturn point O
1, and relevant with the angle of surface level with the first plane 11 with angle between the bottom surface of object, identical with above-mentioned situation and principle in the second upset moment, repeat no more herein.
Because the first vertical line l
1With the second vertical line l
2Position relationship with respect to object can pass through the first overturn point O
1With the second overturn point O
2, and the first plane 11 and the second plane 12 are determined with horizontal plane angle.Therefore, for above-mentioned the 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 first corresponding 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, described the first overturn point O
1With described the second overturn point O
2Be respectively the point that on the described first upset moment and described the second upset moment described object base, overlaps with described flex point A.
To the first overturn point O
1With described the second overturn point O
2Carry out further clear and definite definition.But in actual measurement, because the first plane 11 and the second plane 12 might not form at flex point A place outstanding corner angle, perhaps owing to measuring error etc., the first overturn point O
1With described the second overturn point O
2May not be an independent point, but the point on a bit of line segment scope, but tiny error can't have too large impact to final measured value.
Preferably, at the first initial time, described object is positioned at first start bit to be put, and at the second initial time, described object is positioned at the second reference position;
Record described object with First Speed v
1Put the very first time t that moves to described flex point A and upset occurs from described first start bit
1, and described object is with second speed v
2Move to the second time t of described flex point A and generation upset from described the second reference position
2
Preferably, described object moves from described the first plane 11 towards described the second plane 12 with described travelling belt,
At described the second initial time, described object moves from described the second plane 12 towards described the first plane 11 with described travelling belt.
Preferably, put in described first start bit, described base be L away from the first end points of described flex point A and the distance of described flex point A
1,
In described the second reference position, described base be L away from the second end points of described flex point A and the distance of described flex point A
2
In this preferred implementation, the first initial time and the second initial time have been defined, be respectively object moment towards flex point A motion on the first plane 11 and the second plane 12, namely very first time t1 and the second time t2 starting point that begins to calculate constantly.Also define in addition first start bit and put and the second reference position, referred to the distance at the first end points and the second end-point distances flex point A of the first initial time and the second initial time object.That is to say, take a certain moment as the timing initial time, calculate object from this constantly setting in motion to the time that upset occurs, the movement velocity of object, and the object initial time is away from the distance of the end-point distances flex point A of flex point A.
Preferably, described first end points on the base of described object and described the first overturn point O
1Between distance D
1=L
1-v
1* t
1,
Described second end points on the base of described object and described the second overturn point O
2Between distance D
2=L
2-v
2* t
2
In Fig. 5, with the first end points and the first overturn point O
1Between distance D
1Be example, pass through v
1* t
1Can calculate the 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 occured upset, and this moment, the first end points was positioned at still on the first plane 11, so L
1-v
1* t
1Can obtain the first end points and the first overturn point O
1Between distance.The second end points and described the second overturn point (O
2) between distance D
2Calculating in like manner, repeat no more.
Preferably, described height of C.G. H=(L-D
1-D
2)/(tan θ
1+ tan θ
2).
According to shown in Figure 5, according to geometrical principle as can be known, the first straight line n
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
2The length of institute's transversal section on the object base, namely the first overturn point O
1With the second overturn point O
2Between distance L-D
1-D
2, can draw above-mentioned computing formula by the equation distortion.
Preferably, described First Speed v
1Equal described second speed v
2
Above-mentioned First Speed v
1With second speed v
2Only need to arrange by the travelling speed of control travelling belt, so not only can make the first overturn point O of object
1With the second overturn point O
2The condition of measurement identical, improve accuracy and the precision measured, and be convenient to calculate.
Preferably, pressure transducer 2 is set below the travelling belt at described flex point A place, undergos mutation to determine described the first upset constantly and the second upset moment according to the detected value of this pressure transducer 2.
In the first upset constantly and the second upset moment, object only is subjected to the acting force of gravity and flex point A, so sudden change has occured at this moment for flex point A place stressed.In order to determine better upset constantly, present embodiment arranges pressure transducer 2 below the sensor 2 at flex point A place, when object this pressure transducer 2 when flex point A occurs to overturn can detect the sudden change of force value.
Preferably, described pressure transducer 2 links to each other to control the described very first time t of this timer record with timer
1With the second time t
2The purpose of the setting of pressure transducer 2 is exactly in order to detect better upset constantly in the present embodiment, the mensuration that therefore this pressure transducer 2 can be connected the direct control time with timer, perhaps be connected with controller, be connected minute by this controller with timer again.
Preferably, utilize image capturing device to obtain the vertical cross-section of described object, measure again the length on the base of this vertical cross-section.For cross sectional shape rule or consistent object, such as cuboid or cube etc., its side view is cross sectional shape, and for the irregular object of cross sectional shape, especially the larger object of volume and weight usually is difficult to determine the shape and size in its cross section.In the present embodiment, utilize image capturing device to obtain the cross section, its principle just as projection, faces from the side testee and takes, captured like this object edge profile is the cross section of the maximum of this object, measures the length on the base in this cross section at image again.Can also directly carry out mapping processing procedure mentioned above on the image of taking and obtain center of gravity, the proportionate relationship that recycles at last picture size and physical size is determined physical size.Utilize this method not only comparatively simple to operation, and degree of accuracy is higher.
Preferably, described image capturing device comprises video camera and camera.The preferred implementation of above-mentioned image capturing device.
In addition, also above-mentioned each preferred implementation can be carried out arbitrarily Combination application.For example, utilize the unlatching of pressure transducer 2 control image capturing devices, so just can directly constantly photograph cross section and the overturn point of object in upset, directly like this measure overturn point at image and get final product apart from the distance of corresponding endpoint, do not calculate again from time and movement velocity that the first/the second reference position moves to the upset moment and do not need to measure object.
Need to prove, in said method of the present invention, its key is to obtain the length on the base of vertical cross-section, and the shape of this vertical cross-section etc. are unimportant.For the irregular object of this vertical cross-section, can obtain vertical cross-section by 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 be directly utilizes assay method of the present invention to obtain height of C.G. at the image of this vertical cross-section.
In addition, the present invention also provides a kind of determinator of height of C.G. of object, and wherein, described determinator comprises travelling belt, and this travelling belt forms the first plane 11 and the second plane 12, and intersect at described flex point A on described the first plane 11 and the second plane 12.
Extremely shown in Figure 5 such as Fig. 3, determinator of the present invention can be used for realizing assay method of the present invention, utilize travelling belt to form simply the first plane 11 and the second plane 12, when measuring, object is placed on the travelling belt, object has the bottom surface that contacts with travelling belt and with conveyer belt, utilize physical principle (above to be described in detail, repeat no more herein) come the height of C.G. of the object of flat-bottom structure is measured, can obtain the higher measurement result of precision by simple structure and operation.And this measurement mechanism is measured by above-mentioned measuring method, repeats no more herein.
Preferably, described the first plane 11 is θ with horizontal plane angle
1, described the 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 the first plane 11 and the 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 the first plane 11 and the second plane 12 is larger, measuring accuracy is higher, 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 in domatic motion 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 affects measurement result of rotary movement.Therefore the angle of inclination that need to reasonably select the first plane 11 and/or the second plane 12 therefore the angle of two planes and surface level preferably all less than 45 °, more preferably, such as Fig. 3 θ shown in Figure 5 extremely
1=15 °, θ
2=5 °.
Preferably, described determinator also comprises image capturing device, and this image capturing device is used for obtaining described object at the vertical cross-section along described travelling belt direction, measures the length on the base of this vertical cross-section again.
For cross sectional shape rule or consistent object, such as cuboid or cube etc., its side view is cross sectional shape, and for the irregular object of cross sectional shape, especially the larger object of volume and weight usually is difficult to determine the shape and size in its cross section.In the present embodiment, utilize image capturing device to obtain the cross section, its principle just as projection, faces from the side testee 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 directly carry out mapping processing procedure mentioned above on the image of taking and obtain center of gravity, the proportionate relationship that recycles at last picture size and physical size is determined physical size.Utilize this method not only comparatively simple to operation, and degree of accuracy is higher.
Preferably, described determinator also comprises pressure transducer 2, and this pressure transducer 2 is arranged on the travelling belt below at described flex point A place.
The applied measuring principle of measurement mechanism according to the present invention, in the first upset constantly and the second upset moment, object only is subjected to the acting force of gravity and flex point A, so sudden change has occured at this moment for flex point A place stressed.In order to determine better upset constantly, present embodiment arranges pressure transducer 2 below the sensor 2 at flex point A place, when object this pressure transducer 2 when flex point A occurs 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 described 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 medium such as paper, also can be treated to digital picture file, therefore the not only applicable artificial treatment of preferred implementation of the present invention but also be 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 by reference to the accompanying drawings a kind of preferred implementation of the present invention is carried out exemplary introduction, and do not limit the invention.
By said determination device and assay method, can realize simply that operating efficiency is high to the non-contact measurement of the height of C.G. of object, the measurement result precision is higher.The below is when obtaining the base of this vertical cross-section with image capturing device, and the error range of measurement result is analyzed, and following error analysis is only in order to illustrate.
Travelling belt is with certain speed v running, and shooting time interval or the interframe of image capturing device 1 are divided into △ 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 * △ t, according to geometric relationship as can be known, height of C.G. is at the first vertical line l
1On maximum offset △ h
1=v * △ t/tg θ=v * △ t/tg(θ
1+ θ
2), height of C.G. is at the maximum offset △ of the second vertical line l2 h
2=v * △ t/sin θ=v * △ t/sin(θ
1+ θ
2), therefore, the maximum offset △ h=△ h of the height of C.G. of final measurement result
1+ △ h
2=v * △ t * (1/tg(θ
1+ θ
2)+1/sin(θ
1+ θ
2)).
When object along with travelling belt take the speed of v=15m/s with horizontal plane angle as θ
1The first plane 11 of=15 ° and with horizontal plane angle be θ
2When motion is tested on the second plane 12 of=5 °, 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 take the speed of v=15m/s with horizontal plane angle as θ
1The first plane 11 of=15 ° and with horizontal plane angle be θ
2When motion is tested on the second plane 12 of=5 °, 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 take the speed of v=15m/s with horizontal plane angle as θ
1The first plane 11 of=15 ° and with horizontal plane angle be θ
2When motion is tested on the second plane 12 of=5 °, 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.
Below describe by reference to the accompanying drawings 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 in reconcilable situation, can make up by any suitable mode, for fear of unnecessary repetition, the present invention is to the no longer separately explanation 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 considered as content disclosed in this invention equally.
Claims (15)
1. the assay method of the height of C.G. of an object is characterized in that, described assay method may further comprise the steps:
(a) form the first plane (11) and the second plane (12) with travelling belt, intersect in flex point (A) described the first plane (11) and the second plane (12);
(b) bottom surface of described object contacts with described travelling belt and along with described conveyer belt, constantly determines first vertical line (l through described flex point (A) from described the first plane (11) to described the second plane (12) motion through the first upset of described flex point (A) at described object
1), and constantly determine second vertical line (l through described flex point (A) from described the second plane (12) to described the first plane (11) motion through the second upset of described flex point (A) at described object
2);
(c) obtain described the first vertical line (l
1) and described the second vertical line (l
2) intersection point (G) be center of gravity.
2. assay method according to claim 1 is characterized in that, described the first plane (11) is θ with horizontal plane angle
1, described the 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 described first upset moment and the second upset are the zero hour of described object overturning process constantly.
4. assay method according to claim 1 is characterized in that, in step (b),
Make described object on the base along the vertical cross-section of described travelling belt direction, this base is positioned on the described travelling belt, and the length on this base is L,
Determine the first overturn point (O of described object on described the first upset described base constantly
1) and the second overturn point (O on described the second upset described base constantly
2),
Made described the first overturn point (O
1) and with the vertical direction angle be θ
1The first straight line (n
1), and cross described the second overturn point (O
2) and with the vertical direction angle be θ
2The second straight line (n
2), described the first straight line (n
1) and the second straight line (n
2) respectively with described the first vertical line (l
1) and the second vertical line (l
2) corresponding.
5. assay method according to claim 4 is characterized in that, described the first overturn point (O
1) and described the second overturn point (O
2) be respectively in described the first upset constantly and the point that overlaps with described flex point (A) on described the second upset moment described object base.
6. assay method according to claim 4 is characterized in that,
At the first initial time, described object is positioned at first start bit to be put, and at the second initial time, described object is positioned at the second reference position;
Record described object with First Speed v
1Put the very first time t that moves to described flex point (A) and upset occurs from described first start bit
1, and described object is with second speed v
2Move to the second time t of described flex point (A) and generation upset from described the second reference position
2
7. assay method according to claim 6 is characterized in that,
At described the first initial time, described object moves from described the first plane (11) towards described the second plane (12) with described travelling belt,
At described the second initial time, described object moves from described the second plane (12) towards described the first plane (11) with described travelling belt.
8. assay method according to claim 6 is characterized in that,
Put in described first start bit, described base be L away from the first end points of described flex point (A) and the distance of described flex point (A)
1,
In described the second reference position, described base be L away from the second end points of described flex point (A) and the distance of described flex point (A)
2
9. assay method according to claim 8 is characterized in that,
Described first end points on the base of described object and described the first overturn point (O
1) between distance D
1=L
1-v
1* t
1,
Described second end points on the base of described object and described the second overturn point (O
2) between distance D
2=L
2-v
2* t
2
10. assay method according to claim 9 is characterized in that,
Described 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, described First Speed v
1Equal described second speed v
2
12. assay method according to claim 6, it is characterized in that, the travelling belt below of locating in described flex point (A) arranges pressure transducer (2), undergos mutation to determine described the first upset constantly and the second upset moment according to the detected value of this pressure transducer (2).
13. assay method according to claim 12 is characterized in that, described pressure transducer (2) links to each other to control the described very first time t of this timer record with timer
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 described object, measures the length on the base of this vertical cross-section again.
15. assay method according to claim 14 is characterized in that, described image capturing device comprises video camera and camera.
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| CN102359846B (en) * | 2011-09-01 | 2013-09-04 | 中联重科股份有限公司 | Method for measuring height of gravity center of object |
| CN108982012B (en) * | 2018-09-25 | 2020-02-07 | 国网新疆电力有限公司电力科学研究院 | Vertical pump dynamic balance test method based on virtual sensor |
| CN109902397B (en) * | 2019-03-05 | 2023-04-07 | 中国第二重型机械集团德阳万航模锻有限责任公司 | Method for quickly and safely turning large-scale die |
| CN110533681B (en) * | 2019-08-26 | 2023-01-06 | 广东弓叶科技有限公司 | Article grabbing method, device and 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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