CN102980551B - A kind of wireless location planeness detection system merging scanning based on laser-ultrasound - Google Patents
A kind of wireless location planeness detection system merging scanning based on laser-ultrasound Download PDFInfo
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Abstract
Merge a wireless location planeness detection system for scanning based on laser-ultrasound, its agent technology route is: based on ultrasonic, laser scanning integration technology, in conjunction with multipoint wireless radio frequency positioning method, realizes the accurate measurement to large flat work pieces flatness; Described ultrasonic, laser scanning integration technology can be divided into two links: utilize the altitude information that ultrasound scan method obtains within the scope of transmission path needed for laser scanning, and as the presetting reference altitude of laser target; Install laser beam emitting device in known altitude, presetting laser target height, Emission Lasers also calculates the altitude information of target position.Described multipoint wireless radio frequency positioning method selects three known coordinate points to install radio-frequency transmissions node, by the accurate coordinates of three-point positioning method determination target placement at surface of the work; In conjunction with the altitude information of target placement, final obtain survey the plane pattern of workpiece.
Description
Technical field
The present invention relates to plane monitoring-network and surface topography evaluates field, especially relate to a kind of wireless location planeness detection system design implementation method merging scanning based on laser-ultrasound.
Background technology
The flatness of large flat work pieces detects the industrial circles such as, civil engineering work shaping at machine-building, shipbuilding, iron and steel sheet and plate with surface topography assessment of levels and has very important practical significance and application prospect.Along with the development of sensor technology and infotech, the accuracy requirement of large scale plane monitoring-network and surface topography evaluation also improves day by day.Therefore, design the detection of a kind of flatness towards large scale plane to be necessary with surface topography evaluation system.
Current high-precision planeness detection system is substantially all the difference of elevation principle between laser beam emitting device and the high precision linear array photoelectric coupled device receiving target of movement of fixing based on measuring position.Although the method can record the flatness of each measuring point of tested plane accurately, the positional information of photoelectric coupling receiving target cannot be obtained when measuring.The position at every turn needing manual record difference of elevation and receiving target correspondence to lay, is unfavorable for the multimetering of large plane batch.
Along with the development of embedded system technology and technology of wireless sensing network, the wireless location technology based on radio-frequency (RF) identification is gradually ripe, and its positioning precision reaches centimetre-sized.When some among a small circle, high grid, its measuring accuracy even can arrive grade.Therefore radio-frequency (RF) identification location technology is applied on the location of receiving target in roughness measurement, the particular location of receiving target on testee surface can be gone out by quick position, simplified measurement process greatly, realizes detecting the rapid scanning formula of measured surface, forms 3 D stereo point cloud.
Based on above-mentioned analysis, the present invention by radio frequency identification location technology, wireless LAN communication technology, embedded control system technology, laser scanning and ranging technology, ultrasound emission technology is incorporated into Surface testing and plane evaluates field, propose a kind of based on laser-ultrasound merge scanning wireless location planeness detection system design implementation method.
Summary of the invention
In order to overcome many technical matterss that traditional large scale surface smoothness detection system is brought, the invention provides a kind of wireless location planeness detection system merging scanning based on laser-ultrasound.
The technical solution adopted for the present invention to solve the technical problems is:
Merge a wireless location planeness detection system for scanning based on laser-ultrasound, it is characterized in that, based on ultrasonic, laser scanning integration technology, in conjunction with multipoint wireless radio frequency positioning method, realize the accurate measurement to large flat work pieces flatness;
Described ultrasonic, laser scanning integration technology can be divided into two links: utilize the altitude information that ultrasound scan method obtains within the scope of transmission path needed for laser scanning, and as the presetting reference altitude of laser target; Install laser beam emitting device in known altitude, presetting laser target height, Emission Lasers also calculates the altitude information of target position;
Described multipoint wireless radio frequency positioning method selects three known coordinate points to install radio-frequency transmissions node, by the accurate coordinates of three-point positioning method determination target placement at surface of the work; In conjunction with the altitude information of target placement, final obtain survey the plane pattern of workpiece.
A kind of wireless location planeness detection system merging scanning based on laser-ultrasound, it is characterized in that, form primarily of following functions module: finite span ultrasonic scanner, wireless laser emitter, multi-target radio laser target, handheld portable wireless monitor instrument terminal, 3 or multiple radio-frequency (RF) identification localizing emission nodes can be tuned.
Described finite span ultrasonic scanner, is characterized in that, is made up of ultrasound wave transmitting probe, ultrasound wave receiving transducer, ultrasonic guide device.Ultrasonic guide device is connected with ultrasonic probe, limits ultrasound emission scope, prevents ultrasonic scattering; On this basis, obtain the altitude information in laser beam scan path width range, and it can be used as the presetting reference altitude of laser target, thus the laser beam avoiding laser beam emitting device to launch departs from target.
Described tuned wireless laser emitter, is characterized in that, forms by tuning laser range sensor, the compatible communication module A of wireless local, Serve Motor Control The Cloud Terrace and laser beam emitting device control module.Laser range sensor can be tuned by high frequency modulated generating laser, launch high frequency lasers bundle to measured workpiece surface, the laser beam reflected by laser target reception testee; According to Emission Lasers bundle and the reception phase difference calculating transmitter of laser beam and the distance of target, and by wireless local compatible communication module A transmission range data to hand-held portable mobile wireless monitoring instrument terminal;
Further, described tuned laser range sensor, possesses Laser emission direction, horizontal 90 degree of rotations, longitudinally 90 degree rotates Three Degree Of Freedom laser ranging; Utilize Serve Motor Control The Cloud Terrace to adjust laser head and renovate scope, and produce fan laser scanning area on measured workpiece surface;
Further, described tuned laser range sensor is arranged on driven by servomotor The Cloud Terrace; After sensor receives the scan instruction that monitoring instrument terminal sends, servomotor The Cloud Terrace is according to real needs adjustment position and attitude, and the laser beam that laser range sensor is launched rotates thereupon, and by produced fan-shaped lasing area covering laser structure target;
Further, the compatible communication module A of described wireless local, adopt the data cube computation between the foundation of antijam wireless communication agreement with handheld portable wireless monitor instrument terminal, measured point altitude information is sent to monitor terminal, transmit the steering order that monitor terminal sends simultaneously, complete corresponding control operation; Described antijam wireless communication protocol optimization method, namely according to the transmission power intensity of situ industrial interference signal intensity adjustment data-signal, adjusts communication channel in good time, and increases number of retransmissions;
Further, the insufficient DOF Steward mechanism that described Serve Motor Control The Cloud Terrace is made up of three servomotors, transmission drag-line, planar deck, fixed support, can realize the Three Degree Of Freedom pose adjustment of laser head in restriction work space;
Further, described laser beam emitting device control module adopts 16 super low-power consumption embedded controllers, and communication module A compatible with wireless local is connected by serial peripheral equipment interface bus, and adopts Timer Controlling motor servo driver.
Described multi-target radio laser target, is characterized in that, is made up of laser beam receiving sensor, less radio-frequency receiver module, the compatible communication module B of wireless local and target control module; Laser target can receive 1 road laser beam signal, 3 road radio frequency signals and 1 tunnel WLAN (wireless local area network) control signal, its major function is detect the relative height of fan laser overlay area, receive the position signalling of less radio-frequency locating module, and relevant height data are sent to handheld portable wireless monitor instrument terminal;
Further, described laser beam receiving sensor is high precision linear array photoelectric coupled device, is connected with target control module by linear array driver; When the inswept linear array photoelectric coupled device of laser beam rotation sweep, by the position of recording laser spot centers in photoelectric coupled device, calculate the height of laser spots distance bottom mounting surfaces, and send altitude information to hand-held portable mobile wireless monitoring instrument terminal by the compatible communication module B of wireless local;
Further, described less radio-frequency receiver module, be connected with target control module by Serial Peripheral Interface, the radio positioning signal that locating module around real-time reception sends, and by signal source numbering and signal intensity number carry out association process, and then after upload to handheld portable wireless monitor instrument terminal by the compatible communication module B of wireless local;
Further, described target control module adopts 16 super low-power consumption embedded controllers, inner integrated 8 Channel 12-Bit A/D converters, by controlling linear array photoelectric coupled device to the output horizontal synchronizing pulse of linear array driver and pixel synchronizing pulse, and carry out integral and calculating to sampled data; Result of calculation is delivered to the compatible communication module B of wireless local from the analog output mouth of linear array driver;
Further, the communication protocol that the compatible communication module B of described wireless local uses is identical with wireless communication module A, supports ICP/IP protocol stack, is connected by Serial Peripheral Interface with target control module, and under being operated in Master pattern.
Described radio frequency localizing emission node, is characterized in that, adopts anti-forceful electric power interference protection mechanism, is arranged on three known coordinate positions of surface of the work by magnetic base; Readiness is entered after power-on, and start up system self-check program, and then send radiofrequency signal by wireless transmit device and omnidirectional antenna continuously to laser target; Said process participates in without the need to control terminal;
Further, described anti-forceful electric power interference protection mechanism, at wireless transmit device surface coverage metallic film shell, forms electrostatic isolation layer, the forceful electric power interference that isolation is extraneous.
Described handheld portable wireless monitor instrument terminal, it is characterized in that, for possessing the personal digital assistant of WLAN (wireless local area network) fusion faculty, mainly through wireless instructions sending module to tuning wireless laser emitter and multi-target radio laser target sending controling instruction, and then complete the actions such as laser beam flying, range finding, survey are high, laser azimuth adjustment, and reference point setting and altimetric compensation are carried out to the data of each measurement point received.On this basis, by workpiece planarization pattern computing method, obtain the flatness information of whole tested plane;
Further, described plane pattern computing method, is characterized in that, mainly comprise flatness computing method and point position computing method;
Further, described flatness computing method, its known conditions is: the distance between wireless laser emitter inner laser transmitting aperture and its mounting seat face is y
1, in laser target, the distance of the end group of linear array photoelectric coupled device on schedule and between its mounting seat face is y
2; Measuring the distance obtained between wireless laser emitter and laser target is L, and the laser spots of target induction is h to the discrepancy in elevation of target reference point; It can thus be appreciated that measurement point (the tested surface position that target is fixing) relative to the difference in height of reference point (the tested surface position that laser beam emitting device is fixing) is:
H＝h+y
2-y
1(1)
The flatness of measurement point, namely the difference in height of tested every meter, plane is:
P＝H/L＝(h+y
2-y
1)/L (2)
Further, described point position computing method, adopt circumferential registration algorithm to calculate the positional information of laser target; The signal intensity of three locating modules that wireless signal is the strongest that known laser target less radio-frequency receiver module detects, the pass of signal intensity and position is:
RSSI＝-(A+10×n×lgd)-EAF (3)
In formula (3), A is radio frequency parameter, and n is signal propagation factor, and EAF is envirment factor, and d is the distance between target and this locating module; Wherein first three parameter is constant after determining hardware circuit and antenna structure; On this basis, by the position of three-point positioning method determination measuring point.
Beneficial effect of the present invention is mainly manifested in:
1) adopt ultrasonic scanning, obtain point position altitude information, provide reference for laser target is presetting, prevent laser beam from departing from target;
2) laser beam emitting device, laser target adopt Embedded System Design, and volume is little, low in energy consumption, real-time is good, stability is high;
3) support wireless LAN communication agreement and hand-held mobile intelligent terminal, improve efficiency and the degree of flexibility of testing process, can be used as the extension of industrial Internet of Things simultaneously;
4) adopt multiple spot wireless radiofrequency node to form the wireless sense network detected towards large scale planar smoothness, higher planimetric coordinates positioning precision can be realized.
Accompanying drawing explanation
Fig. 1 is ultrasonic pre-scanning process schematic diagram;
Fig. 2 can tune wireless laser emitter structural representation;
Fig. 3 is multi-target radio laser target structural representation;
Fig. 4 is measuring principle schematic diagram;
Fig. 5 is that flatness detects schematic diagram;
Fig. 6 is wireless locating module and target placement relation schematic diagram;
Fig. 7 is industry spot application scenarios schematic diagram.
Embodiment
By reference to the accompanying drawings, below, the present invention is described in detail.
1. agent technology thinking
A kind of wireless location planeness detection system merging scanning based on laser-ultrasound involved in the present invention, its main technological route is: based on ultrasonic, laser scanning integration technology, in conjunction with multipoint wireless radio frequency positioning method, realize the accurate measurement to large flat work pieces flatness.
Ultrasonic, laser scanning integration technology involved in above-mentioned technology path can be divided into two links: utilize the altitude information that ultrasound scan method obtains within the scope of transmission path needed for laser scanning, and as the presetting reference altitude of laser target; Install laser beam emitting device in known altitude, presetting laser target height, Emission Lasers also calculates the altitude information of target position.
Multipoint wireless radio frequency positioning method involved in above-mentioned technology path selects three known coordinate points to install radio-frequency transmissions node, by the accurate coordinates of three-point positioning method determination target placement at surface of the work; In conjunction with the altitude information of target placement, final obtain survey the plane pattern of workpiece.
2. concrete function structure and implementation method
A kind of wireless location planeness detection system merging scanning based on laser-ultrasound involved in the present invention, form primarily of following functions module: finite span ultrasonic scanner (Limited-wide Ultrasonic Scanner, LUS), wireless laser emitter (Wireless Laser Scanner can be tuned, WLS), multi-target radio laser target (Wireless Laser Target, WLT), handheld portable wireless monitor instrument terminal (Handheld Monitoring Terminal, HMT), 3 or multiple radio-frequency (RF) identification localizing emission node (Radio-frequency Location Monitor, RLM).
(1) finite span ultrasonic scanner (LUS)
Finite span ultrasonic scanner is made up of ultrasound wave transmitting probe, ultrasound wave receiving transducer, ultrasonic guide device, as shown in Figure 1.Ultrasonic guide device is connected with ultrasonic probe, limits ultrasound emission scope, prevents ultrasonic scattering, as shown in Figure 1; On this basis, obtain the altitude information in laser beam scan path width range, and it can be used as the presetting reference altitude of laser target, thus the laser beam avoiding laser beam emitting device to launch departs from target.
(2) wireless rotary laser emitter (WLS) can be tuned
Can tune wireless laser emitter, by can tune laser range sensor, the compatible communication of wireless local (WIFI) modules A, Serve Motor Control The Cloud Terrace form, as shown in Figure 2.Laser range sensor can be tuned by high frequency modulated generating laser, launch high frequency lasers bundle to measured workpiece surface, the laser beam reflected by laser target reception testee; According to Emission Lasers bundle and the reception phase difference calculating transmitter of laser beam and the distance of target, and by wireless local compatible communication module A transmission range data to hand-held portable mobile wireless monitoring instrument terminal (HMT).
Can laser range sensor be tuned, possess Laser emission direction, horizontal 90 degree of rotations, longitudinally 90 degree rotate Three Degree Of Freedom laser ranging; Utilize Serve Motor Control The Cloud Terrace to adjust laser head and renovate scope, and produce fan laser scanning area on measured workpiece surface, as shown in Figure 2.Can tune laser range sensor is arranged on driven by servomotor The Cloud Terrace; After sensor receives the scan instruction that monitoring instrument terminal sends, servomotor The Cloud Terrace is according to real needs adjustment position and attitude, and the laser beam that laser range sensor is launched rotates thereupon, and by produced fan-shaped lasing area covering laser structure target.The insufficient DOF Steward mechanism that Serve Motor Control The Cloud Terrace is made up of three servomotors, transmission drag-line, planar deck, fixed support, can realize the Three Degree Of Freedom pose adjustment of laser head in restriction work space.Laser beam emitting device control module adopts 16 super low-power consumption embedded controllers, with wireless WIFI module A by Serial Peripheral Interface (Serial Peripheral Interface, SPI) bus connects, and adopts Timer Controlling motor servo driver.
Wireless WIFI communication module A, adopts the data cube computation between the foundation of antijam wireless communication agreement with HMT, sends measured point altitude information to HMT, transmits the steering order that HMT sends simultaneously, completes corresponding control operation.Antijam wireless communication protocol optimization method involved by said process, namely according to the transmission power intensity of situ industrial interference signal intensity adjustment data-signal, adjusts communication channel in good time, and increases number of retransmissions.
The built-in laser range sensor of WLS selects suitable model according to the detecting distance at scene and accuracy requirement, and what the present invention adopted is LRFS-0040-1 type laser range sensor.This sensor adopts red 650nm visible laser, and measurement range is that the measuring accuracy in 0.1 ~ 50m, 10m reaches ± 1mm, is connected with control module by RS232 serial line interface.Laser beam emitting device control module adopts MSP430F149 chip, is connected, and adopts Timer-A timer by spi bus with wireless WIFI transceiver module A, controls motor servo driver by the P0 mouth of MSP430F149.Motor servo driver adopts BD6389FM chip, exports heterogeneous sequential control electric current, drives 28BYJ-48 servomotor.Servomotor motion is made up of 28BYJ-48 servomotor and a motion platform laying laser range sensor, because fan laser face during work need be completely parallel with tested plane, therefore the depth of parallelism of the base of motion platform Plane of rotation and scanner is processed and the measuring accuracy of the direct influential system of alignment error.
(3) multi-target radio laser target (WLT)
Multi-target radio laser target is made up of laser beam receiving sensor, less radio-frequency (RFID) receiver module, compatible (WIFI) the communication module B of wireless local and target control module, as shown in Figure 3.Laser target can receive 1 road laser beam signal, 3 road radio frequency signals and 1 tunnel WLAN (wireless local area network) control signal, its major function is detect the relative height of fan laser overlay area, receive the position signalling of less radio-frequency locating module, and relevant height data are sent to handheld portable wireless monitor instrument terminal (HMT).
Laser beam receiving sensor is high precision linear array photoelectric coupled device (Charge-coupled Device, CCD), is connected with target control module by linear array driver; When the inswept line array CCD of laser beam rotation sweep, by the position of recording laser spot centers in CCD, calculate the height of laser spots distance bottom mounting surfaces, and send altitude information to HMT by wireless WIFI communication module B.
Wireless RF ID receiver module involved by said process, be connected with target control module by spi bus, the radio positioning signal that locating module around real-time reception sends, and by signal source numbering and signal intensity number carry out association process, and then after upload to HMT by wireless WIFI communication module B.Target control module adopts 16 super low-power consumption embedded controllers, inner integrated 8 Channel 12-Bit A/D converters, by controlling line array CCD to the output horizontal synchronizing pulse of linear array driver and pixel synchronizing pulse, and carries out integral and calculating to sampled data; Result of calculation is delivered to wireless WIFI communication module B from the analog output mouth of linear array driver.The communication protocol that wireless WIFI communication module B uses is identical with wireless communication module A, supports ICP/IP protocol stack, is connected by SPI interface with target control module, and under being operated in Master pattern.
Target built-in high precision line array CCD adopts single raceway groove liner CCD image sensor TCD2901D, and pixel number is 10550, as quick unit size 4 μm, and overall length 42.0mm, maximum operation frequency 5MHz.TCD2901D carries out control by KXLQ2901 CCD Driver and is connected with control module.
Control module adopts MSP430F149 chip, this integrated chip sample frequency is 8 Channel 12-Bit AD of 250K, undertaken sampling and integration by carrying out control line array ccd sensor to KXLQ2901 output horizontal synchronizing pulse FC and pixel synchronizing pulse SP, result obtains from the analog output mouth UO of KXLQ2901.
Wireless WIFI transceiver module is all connected with control module with spi bus with wireless RF ID receiver module, and the SPI port of MSP430F149 end is set to Master pattern.Wireless WIFI transceiver module adopts the wireless WIFI module of RS9100-N-11-22, the embedded ICP/IP protocol stack of this module, and control chip can send AT order and transceiving data by SPI mouth to it.Wireless RF ID receiver module adopts CC2500 module, and this module possesses 2.4G multi-channel RF transmission-receiving function, can read RSSI signal strength values, therefore can meet the application of wireless location.Because wireless RF ID receiver module needs the distance judging transmitting-receiving node according to the intensity receiving wireless signal, therefore need to adopt omnidirectional antenna.
(4) RFID locating module (RLM)
Radio frequency localizing emission node adopts anti-forceful electric power interference protection mechanism, is arranged on three known coordinate positions of surface of the work by magnetic base; Readiness is entered after power-on, and start up system self-check program, and then send radiofrequency signal by wireless transmit device and omnidirectional antenna continuously to laser target; Said process participates in without the need to control terminal.
Described anti-forceful electric power interference protection mechanism, at wireless transmit device surface coverage metallic film shell, forms electrostatic isolation layer, the forceful electric power interference that isolation is extraneous.Locating module is the same with receiving target adopts CC2500 module and omnidirectional antenna.
(5) hand-held control end (HMT)
Handheld portable wireless monitor instrument terminal is personal digital assistant (the Personal Digital Assistant possessing WLAN (wireless local area network) fusion faculty, PDA), mainly through wireless instructions sending module to tuning wireless laser emitter and multi-target radio laser target sending controling instruction, and then complete the actions such as laser beam flying, range finding, survey are high, laser azimuth adjustment, and reference point setting and altimetric compensation are carried out to the data of each measurement point received.On this basis, by workpiece planarization pattern computing method, obtain the flatness information of whole tested plane.
3. measuring principle and step
(1) measuring principle
Measuring principle of the present invention is as shown in Figure 4:
1. the distance L between scanner and receiving target is recorded by the laser distance sensor in scanner;
2. the difference in height h of receiving target riding position is recorded by the line array CCD in receiving target;
3. the periphery received by the wireless RF ID in receiving target locates the RSSI information of the positioning signal sent;
4. handheld terminal calculates elevation information and the positional information of the tested plane surveying point laying receiving target after receiving above metrical information.
(2) measuring process
1. first at least three locating modules are fixed on three position known points of tested plane, as the coordinate known point of location, and open its power switch;
2. scanner, receiving target are adsorbed on reference field and measured point respectively by switching magnet.Need time fixing to ensure scanner and receiving target and the complete adhesive gapless of measured surface;
3. regulate the laser alignment receiving target on scanner, record scanner and receiving target relative distance L, and result is issued handheld terminal;
4. handheld terminal starts lateral probe movement by controlled in wireless scanner, and the laser position that now receiving target projects according to line array CCD calculates and recording laser point relative height value h, and result is issued handheld terminal;
5. receiving target receives the RF signal strength information of neighbouring locating module, and the intensity level of the strongest for intensity three RF signals and the good information of the ID of its correspondence are issued handheld terminal;
6., after handheld terminal receives the measurement result that scanner and receiving target upload, the relative position of this measured point and the flatness h/L of this point is calculated by the data analysis software that it runs;
7. measure several relative height values put, flatness and its position by same steps, just can obtain the three-dimensional measurement face of the matching of tested plane at handheld terminal.
4. plane pattern computing method
(1) flatness computing method
Flatness computing method (see accompanying drawing 5), its known conditions is: the distance between wireless laser emitter inner laser transmitting aperture and its mounting seat face is y
1, in laser target, the distance of the end group of linear array photoelectric coupled device on schedule and between its mounting seat face is y
2; Measuring the distance obtained between wireless laser emitter and laser target is L, and the laser spots of target induction is h to the discrepancy in elevation of target reference point.It can thus be appreciated that measurement point (the tested surface position that target is fixing) relative to the difference in height of reference point (the tested surface position that laser beam emitting device is fixing) is:
H＝h+y
2-y
1(1)
The flatness of measurement point, namely the difference in height of tested every meter, plane is:
P＝H/L＝(h+y
2-y
1)/L (2)
(2) point position computing method
Circumferential registration algorithm is adopted to calculate the positional information of laser target, as shown in Figure 6.The signal intensity of three locating modules that wireless signal is the strongest that known laser target less radio-frequency receiver module detects, the pass of signal intensity and position is:
RSSI＝-(A+10×n×lgd)-EAF (3)
In formula (3), A is radio frequency parameter, and n is signal propagation factor, and EAF is envirment factor, and d is the distance between target and this locating module; Wherein first three parameter is constant after determining hardware circuit and antenna structure.
Desirable distance measuring structure between three locating module RLM1 ~ RLM3 and receiving target WLT as shown in Figure 6.The position of three locating modules is known, is respectively RLM1 (x
1, y
1), RLM2 (x
2, y
2), RLM3 (x
3, y
3), the coordinate of target is set to WLT (x, y), then its distance is:
r
1 2＝(x-x
1)
2+(y-y
1)
2
r
2 2＝(x-x
2)
2+(y-y
2)
2(4)
r
3 2＝(x-x
3)
2+(y-y
3)
2
Based on the flatness detection system designed by above-mentioned example industry spot application scenarios as shown in Figure 7.Finally, it is also to be noted that what enumerate above is only example of the present invention.Obviously, the invention is not restricted to above example, many distortion can also be had.All distortion that those of ordinary skill in the art can directly derive from content disclosed by the invention or associate, all should think protection scope of the present invention.
Claims (2)
1. one kind merges the wireless location planeness detection system of scanning based on laser-ultrasound, it is characterized in that, form primarily of following functions module: finite span ultrasonic scanner, wireless laser emitter, multi-target radio laser target, handheld portable wireless monitor instrument terminal, 3 or multiple radio-frequency (RF) identification localizing emission nodes can be tuned;
Described tuned wireless laser emitter, is characterized in that, forms by tuning laser range sensor, the compatible communication module A of wireless local, Serve Motor Control The Cloud Terrace and laser beam emitting device control module; Laser range sensor can be tuned by high frequency modulated generating laser, launch high frequency lasers bundle to measured workpiece surface, the laser beam reflected by laser target reception testee; According to Emission Lasers bundle and the reception phase difference calculating transmitter of laser beam and the distance of target, and by wireless local compatible communication module A transmission range data to hand-held portable mobile wireless monitoring instrument terminal;
Further, described tuned laser range sensor, possesses Laser emission direction, horizontal 90 degree of rotations, longitudinally 90 degree rotates Three Degree Of Freedom laser ranging; Utilize Serve Motor Control The Cloud Terrace to adjust laser head and renovate scope, and produce fan laser scanning area on measured workpiece surface;
Further, described tuned laser range sensor is arranged on driven by servomotor The Cloud Terrace; After sensor receives the scan instruction that monitoring instrument terminal sends, servomotor The Cloud Terrace is according to real needs adjustment position and attitude, and the laser beam that laser range sensor is launched rotates thereupon, and by produced fan-shaped lasing area covering laser structure target;
Further, the compatible communication module A of described wireless local, adopt the data cube computation between the foundation of antijam wireless communication agreement with handheld portable wireless monitor instrument terminal, measured point altitude information is sent to monitor terminal, transmit the steering order that monitor terminal sends simultaneously, complete corresponding control operation; Described antijam wireless communication protocol optimization method, namely according to the transmission power intensity of situ industrial interference signal intensity adjustment data-signal, adjusts communication channel in good time, and increases number of retransmissions;
Further, the insufficient DOF Steward mechanism that described Serve Motor Control The Cloud Terrace is made up of three servomotors, transmission drag-line, planar deck, fixed support, can realize the Three Degree Of Freedom pose adjustment of laser head in restriction work space;
Further, described laser beam emitting device control module adopts 16 super low-power consumption embedded controllers, and communication module A compatible with wireless local is connected by serial peripheral equipment interface bus, and adopts Timer Controlling motor servo driver;
Described multi-target radio laser target, is characterized in that, is made up of laser beam receiving sensor, less radio-frequency receiver module, the compatible communication module B of wireless local and target control module; Laser target can receive 1 road laser beam signal, 3 road radio frequency signals and 1 tunnel WLAN (wireless local area network) control signal, its major function is detect the relative height of fan laser overlay area, receive the position signalling of less radio-frequency locating module, and relevant height data are sent to handheld portable wireless monitor instrument terminal;
Further, described laser beam receiving sensor is high precision linear array photoelectric coupled device, is connected with target control module by linear array driver; When the inswept linear array photoelectric coupled device of laser beam rotation sweep, by the position of recording laser spot centers in photoelectric coupled device, calculate the height of laser spots distance bottom mounting surfaces, and send altitude information to hand-held portable mobile wireless monitoring instrument terminal by the compatible communication module B of wireless local;
Further, described less radio-frequency receiver module, be connected with target control module by Serial Peripheral Interface, the radio positioning signal that locating module around real-time reception sends, and by signal source numbering and signal intensity number carry out association process, and then after upload to handheld portable wireless monitor instrument terminal by the compatible communication module B of wireless local;
Further, described target control module adopts 16 super low-power consumption embedded controllers, inner integrated 8 Channel 12-Bit A/D converters, by controlling linear array photoelectric coupled device to the output horizontal synchronizing pulse of linear array driver and pixel synchronizing pulse, and carry out the calculation of integration juice to sampled data; Result of calculation is delivered to the compatible communication module B of wireless local from the analog output mouth of linear array driver;
Further, the communication protocol that the compatible communication module B of described wireless local uses is identical with wireless communication module A, supports ICP/IP protocol stack, is connected by Serial Peripheral Interface with target control module, and under being operated in Master pattern;
Described radio frequency localizing emission node, is characterized in that, adopts anti-forceful electric power interference protection mechanism, is arranged on three known coordinate positions of surface of the work by magnetic base; Readiness is entered after power-on, and start up system self-check program, and then send radiofrequency signal by wireless transmit device and omnidirectional antenna continuously to laser target; Above-mentioned POST and the autonomous radio frequency process that sends participate in without the need to control terminal;
Further, described anti-forceful electric power interference protection mechanism, at wireless transmit device surface coverage metallic film shell, forms electrostatic isolation layer, the forceful electric power interference that isolation is extraneous;
Described handheld portable wireless monitor instrument terminal, it is characterized in that, for possessing the personal digital assistant of WLAN (wireless local area network) fusion faculty, mainly through wireless instructions sending module to tuning wireless laser emitter and multi-target radio laser target sending controling instruction, and then complete the actions such as laser beam flying, range finding, survey are high, laser azimuth adjustment, and reference point setting and altimetric compensation are carried out to the data of each measurement point received; On this basis, by workpiece planarization pattern computing method, obtain the flatness information of whole tested plane.
2. a kind of wireless location planeness detection system merging scanning based on laser-ultrasound according to claim 1, is characterized in that, mainly comprise flatness computing method and point position computing method;
Described flatness computing method, its known conditions is: the distance between wireless laser emitter inner laser transmitting aperture and its mounting seat face is y
1, in laser target, the distance of the end group of linear array photoelectric coupled device on schedule and between its mounting seat face is y
2; Measuring the distance obtained between wireless laser emitter and laser target is L, and the laser spots of target induction is h to the discrepancy in elevation of target reference point; It can thus be appreciated that measurement point (the tested surface position that target is fixing) relative to the difference in height of reference point (the tested surface position that laser beam emitting device is fixing) is:
H＝h+y
2-y
1(1)
The flatness of measurement point, namely the difference in height of tested every meter, plane is:
P＝H/L＝(h+y
2-y
1)/L (2)
Described point position computing method, adopt circumferential registration algorithm to calculate the positional information of laser target; The signal intensity of three locating modules that wireless signal is the strongest that known laser target less radio-frequency receiver module detects, the pass of signal intensity and position is:
RSSI＝-(A+10×n×lgd)-EAF (3)
In formula (3), A is radio frequency parameter, and n is signal propagation factor, and EAF is envirment factor, and d is the distance between target and this locating module; Wherein first three parameter is constant after determining hardware circuit and antenna structure; On this basis, by the position of three-point positioning method determination measuring point.
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