CN102445172A - Measurement method used for space object position relationship - Google Patents

Measurement method used for space object position relationship Download PDF

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Publication number
CN102445172A
CN102445172A CN 201110323560 CN201110323560A CN102445172A CN 102445172 A CN102445172 A CN 102445172A CN 201110323560 CN201110323560 CN 201110323560 CN 201110323560 A CN201110323560 A CN 201110323560A CN 102445172 A CN102445172 A CN 102445172A
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angular transducer
ii
sensor
stay cord
measurement
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CN 201110323560
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Chinese (zh)
Inventor
严铿
叶友利
许祥平
邹家生
高飞
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江苏阳明船舶装备制造技术有限公司
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Abstract

The invention specifically relates to a spherical coordinate system measurement scheme for precisely measuring the relative position of a space object. On the basis of a spherical coordinate system principle, the invention provides a space measurement method with a big measurement range and high precision. In the method, an angular transducer I, an angular transducer II and a length sensor are adopted, wherein the axis of the angular transducer I and the axis of the angular transducer II are mutually vertical, and the length sensor is provided with a stay cord. The measurement method comprises the following steps of: pulling the stay cord on the length sensor; regulating the rotation angel of the axle of the angular transducer I and the rotation angle of the axle of the angular transducer II to cause the stay cord to be under the linear state; respectively reading the rotation angle of the axle of the angular transducer I, the rotation angle of the axle of the angular transducer II and the length of the stay cord; according to a counting principle, directly calculating the coordinates of a stay cord tail end point; repeating the above steps to measure the coordinates of different points on different space objects; and calculating the space position characteristics of the measured object with the methods that points construct a line, points construct a surface and surfaces intersect to construct a line.

Description

一种用于空间物体位置关系的测量方法 A method for measuring a positional relationship between the object space

技术领域 FIELD

[0001] 本发明属于自动化测量技术领域。 [0001] The present invention belongs to the field of automation technology measurement. 涉及一种用于测量空间位置点坐标的方法,尤其涉及一种用于空间物体相对位置关系的测量方法,更具体是涉及精确测量空间物体相对位置的球面坐标系测量方案。 A method for measuring the spatial position coordinates, and particularly to a method for measuring the spatial object for the relative positional relationship, more particularly, is directed to a spherical coordinate system relative position measuring accurate measurement object space.

背景技术 Background technique

[0002] 测量技术在工业生产和科研各环节中,为产品的设计、模拟、测量、放样、仿制、仿真、产品质量控制、产品运动状态提供技术支撑。 [0002] measurement technology in industrial production and in all sectors of research, product design, simulation, measurements, loft, imitation, simulation, quality control, product motion state to provide technical support. 在某些需要三维测量的技术领域,为了获得空间物体的相对位置关系,可以选择的工业测量手段和仪器设备名目繁多,除三维的测量设备之外,一些一维和二维的测量手段通过一定的测量方案也可以达到相同的目的。 In certain three-dimensional measurement need in the art, in order to obtain relative positional relationship between the object space, can be selected industrial equipment and numerous means of measurement, in addition to the three-dimensional measuring apparatus, a number of one and two dimensional measurements by means of certain measurement scheme may achieve the same purpose.

[0003] 三维测量技术主要是借助于长度、角度、光学、影像、磁场等技术的相互结合来实现,常见的三坐标测量机和三坐标测量臂的测量原理就是利用长度和角度的结合来实现测量。 [0003] by means of a three-dimensional measurement technology is primarily length, angle, optical, video, field technology combined with each other to achieve common CMM and CMM measurement principle is to use the binding arm lengths and angles to achieve measuring. 三坐标测量机设备结构复杂,体积较大,不便于现场测量;三坐标测量臂具有体积小、携带方便测量精度高等优点,但是其测量范围却受测量臂臂长的限制,测量范围有限。 CMM apparatus structure complex, bulky, inconvenient site measurements; coordinate measuring arm with a small, portable high precision measurement, but the measurement range by the measurement arm, but the arm length limitations, limited measurement range. 因此测量范围大、测量精度高的空间测量方法也是工业应用中比较期待的。 Thus a large measurement range, high measurement accuracy of the method of measuring the spatial comparison is expected in industrial applications.

发明内容 SUMMARY

[0004] 针对目前三维测量设备测量范围有限、不便于现场测量的问题,本发明基于基于球面坐标系原理用于空间物体位置关系的测量方法。 [0004] for the current three-dimensional measuring device for measuring a limited range, the problem is not easy to field measurements, the measurement method of the present invention is based on the spatial positional relationship of the object based on the principle of a spherical coordinate system. 借助两个轴线相互垂直的角度传感器I和角度传感器II,一个长度传感器,长度传感器中有一拉绳,角度传感器I围绕垂直的角度传感器I轴旋转,角度传感器II围绕水平的角度传感器II轴旋转,长度传感器和角度传感器II轴相连,拉绳通过拉绳头和长度传感器相连。 Two mutually perpendicular axes by means of an angle sensor I and II the angle sensor, a length sensor, a rope length sensor, the rotation angle sensor I I about the vertical axis of the angle sensor, the angle sensor II II of the angle sensor around a horizontal axis, length sensor and the angle sensor connected to the shaft II, and a drawstring connected to the head by a rope length sensor.

[0005] 一种用于空间物体位置关系的测量方法,拉动长度传感器上的拉绳,调整角度传感器I轴和角度传感器II轴的旋转角度,使拉绳处于直线状态,分别读取角度传感器I轴和角度传感器II轴的旋转角度以及拉绳的长度,根据计算原理可以直接计算出拉绳末端点的坐标,重复以上步骤测量不同空间物体上的不同点的坐标,则可以根据点构造线、点构造面、面面相交构造线的方法计算出被测物体的空间位置特征。 [0005] A method for measuring a positional relationship between the object space, pulling on the rope length sensor, adjusting the angle sensors and the rotation angle of the I-axis angle sensor axis II the cord in a linear state, the angle sensor are read I rotation angle and the length of the rope and the angle sensor shaft axis II, based on the calculation principle can be directly calculated coordinates of the point end of the rope, repeating the above steps of measuring the coordinates of different points on the different spatial objects can be constructed based on the dot line, point structure surface, construction lines intersecting things to a method of calculating the spatial position of the characteristic of the object.

具体实施方式 detailed description

[0006] 下面详细说明,首先球面坐标系原理:球坐标是一种三维坐标,分别有原点、方位角、仰角、距离构成。 [0006] The following detailed description, first the principle of the spherical coordinate system: three-dimensional coordinates of a spherical coordinate, respectively origin, azimuth, elevation, distance configuration. 设P (X,y,Z)为空间内一点,则点P也可用这样三个有次序的数r,Φ, θ来确定,其中r为原点0与点P间的距离,θ为有向线段与ζ轴正向所夹的角,Φ为从正ζ轴来看自χ轴按逆时针方向转到有向线段的角,这里M为点P在xOy面上的投影。 Set P (X, y, Z) as little space, so that the point P can also be used with a sequence number of three r, Φ, θ is determined, where r is the distance between the origin 0 and the point P, [theta] is directed angle ζ-axis positive direction and the line segment sandwiched, since [Phi] is positive ζ axis χ axis from the point of view to have a counterclockwise angular segments, where M is the projection of point P xOy plane. 这样的三个数r,Φ, θ叫做点P的球面坐标,这里r,Φ, θ的变化范围为re [0, + -), φ e [0,2π], θ e [0,π ]. r=常数,即以原点为心的球面;θ =常数,即以原点为顶点、ζ轴为轴的圆锥面;Φ=常数,即过ζ轴的半平面。 Such three numbers r, Φ, θ is called spherical coordinates of the point P, where r, Φ, is the variation range [theta] re [0, + -), φ e [0,2π], θ e [0, π] . r = constant, i.e., the origin of the spherical core; θ = constant, i.e., the vertex at the origin, the axis of the conical surface the axis [zeta]; Φ = constant, i.e. half-plane through the axis [zeta]. 其中^rsinecoscjj、y=rsin θ sin Φ、z=rcos θ 0 Wherein ^ rsinecoscjj, y = rsin θ sin Φ, z = rcos θ 0

[0007] 根据此原理,将角度传感器I轴和角度传感器II轴和长度传感器出绳头的轴心线相互垂直且相交点点A定义为原点,角度传感器I绕其轴旋转的角度定义为Φ,将角度传感器II绕其轴旋转的角度定义为θ,将拉绳传感器的长度定义为r,则角度传感器I、角度传感器II和长度传感器可以构成一个标准的球面坐标系。 [0007] According to this principle, the I-axis angle sensor and the angle sensor axis II and a rope length sensor of the axis perpendicular to and intersecting each other bit A is defined as an origin, an angle sensor I about its axis of rotation is defined as the angle [Phi], II the angle sensor around its axis of rotation is defined as an angle θ, the rope length sensor is defined as r, the angle sensor I, II and length sensor angle sensor may constitute a standard spherical coordinate system. 测量是只要测量出角度传感器I、角度传感器II的旋转角度和长度传感器的长度,通过上述的简单三角变换即可以确定拉绳传感器拉绳末端点的空间坐标。 Measuring the length of the angle sensor I, II rotational angle sensor and the angle sensor as long as the length measured by the above-described simple triangular transforming rope which can determine spatial coordinates of the end point sensor cord. 若测量不同空间物体上的不同点的坐标,则可以根据点构造线、点构造面、面面相交构造线的方法计算出被测物体的空间位置特征。 If the method of the coordinates of different points on different space object measurement, may be constructed based on the dot lines, dots structure surface, all things intersects construction line characteristics calculated spatial position of the object.

[0008] 由此可以得到一种用于空间物体位置关系的测量方法,包括以下步骤 [0008] can be obtained by a method of measuring spatial relationships for object location, comprising the steps of

(1) 拉动长度传感器上的拉绳,调整角度传感器I轴和角度传感器II轴的旋转角度, 使拉绳处于直线状态, (1) pulls on the rope length sensor, the rotation angle adjustment axis angle sensor and the angle sensor I II shaft, so that the rope in a straight line state,

(2)分别读取角度传感器I轴和角度传感器II轴的旋转角度以及拉绳传感器拉绳的长度, (2) the angle of the rotation angle sensor are read and the I-axis and the angle sensor axis II rope rope length sensor,

(3 )根据计算原理可以直接计算出拉绳末端点的坐标, (3) The calculation principle may be directly calculated from the coordinates of the ending point of the rope,

(4)重复(1)- (3)的步骤,测量出不同空间物体上的不同点的坐标, (4) repeating (1) - (3) a step of measuring the coordinates of different points on different space objects,

(5)根据点构造线、点构造面、面面相交构造线的方法计算出被测物体的空间位置特征。 (5) based on the dot construction line, point structure surface, all things intersection line calculating method of constructing the spatial position of the characteristic of the object.

Claims (1)

  1. 1. 一种用于空间物体位置关系的测量方法,包括以下步骤:(1)拉动长度传感器上的拉绳,调整角度传感器I轴和角度传感器II轴的旋转角度,使拉绳处于直线状态,(2)分别读取角度传感器I轴和角度传感器II轴的旋转角度以及长度传感器上拉绳的长度,(3)根据计算原理可以直接计算出长度传感器上拉绳末端点的坐标,(4)重复(1)- (3)的步骤,测量出不同空间物体上的不同点的坐标,(5)根据点构造线、点构造面、面面相交构造线的方法计算出被测物体的空间位置特征。 1. A method for measuring a positional relationship between the object space, comprising the steps of: (1) pulls on the rope length sensor, angular adjustment shaft rotational angle sensor and the angle sensor I II shaft, so that the rope in a straight line state, (2) the angle of rotation angle sensors are read and the I-axis angle sensor and the length of the shaft II of the rope length sensor, (3) can be calculated directly from the rope length sensor end point coordinates from the calculation principle, (4) repeating (a) - step (3), the measurement of the coordinates of different points on the different spatial objects, (5) based on the dot construction line, point structure surface, all things intersection line calculating method of constructing the spatial position of the object to be measured feature.
CN 201110323560 2011-10-23 2011-10-23 Measurement method used for space object position relationship CN102445172A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105203056A (en) * 2015-10-09 2015-12-30 中国电子科技集团公司第三十八研究所 Three-coordinate measurement device and measurement method thereof

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07229703A (en) * 1994-02-15 1995-08-29 Aatsu:Kk Position measuring equipment
JP2005517908A (en) * 2002-02-14 2005-06-16 ファロ テクノロジーズ インコーポレーテッド Articulated arm portable coordinate measurement dexterity
JP2009258018A (en) * 2008-04-18 2009-11-05 Plus One Techno:Kk Position measuring apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07229703A (en) * 1994-02-15 1995-08-29 Aatsu:Kk Position measuring equipment
JP2005517908A (en) * 2002-02-14 2005-06-16 ファロ テクノロジーズ インコーポレーテッド Articulated arm portable coordinate measurement dexterity
JP2009258018A (en) * 2008-04-18 2009-11-05 Plus One Techno:Kk Position measuring apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105203056A (en) * 2015-10-09 2015-12-30 中国电子科技集团公司第三十八研究所 Three-coordinate measurement device and measurement method thereof

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