CN103900603B - The displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude in plane or curved surface - Google Patents
The displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude in plane or curved surface Download PDFInfo
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- CN103900603B CN103900603B CN201410160571.1A CN201410160571A CN103900603B CN 103900603 B CN103900603 B CN 103900603B CN 201410160571 A CN201410160571 A CN 201410160571A CN 103900603 B CN103900603 B CN 103900603B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Abstract
The displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude in plane or curved surface, belong to displacement and the attitude measurement method field of object moving in two dimensions. solve the problem that in existing contactless measurement, on equipment under test, erection unit is many, installation is complicated, measuring method is complicated and tracking velocity is limited. two photoelectric position sensors are fixed on surface of moving object to be measured by the present invention, in moving object to be measured when static, in relative motion plane or curved surface, set up horizontal plane rectangular coordinate system, determine the initial position of two photoelectric position sensors, make moving object to be measured carry out two dimensional motion, photoelectric position sensor is for the image information of Real-time Collection relative motion plane or curved surface, each photoelectric position sensor is all by more continuous two width or multiple image information, the variable quantity of the displacement of the acquisition to two photoelectric position sensors carries out integration, obtain again displacement and the attitude information of moving object according to initial position. it is applied in fields of measurement.
Description
Technical field
The invention belongs to displacement and the attitude measurement method field of object moving in two dimensions.
Background technology
For the feature of non-extensible guide two-dimension motion in plane or curved surface, general linear measurement instrument is as grating, code-disc etc.Have fixing direction of measurement and measurement category, be unsuitable for the interior direction of motion of plane or curved surface any, the position that range of movement is large is surveyedAmount. For the accurate measurement of the noiseless freely-movable object pose of ask for something and attitude, the instrument of contact measurement methodThe motion state that can affect moving object, is unsuitable for being applied to the measurement of this type games object. At present, non-cpntact measurement mainly containsVision camera measurement, indoor GPS, inertial navigation, laser tracker etc. Vision camera, indoor GPS and two kinds of measurements of laser trackerMeans need to, at equipment under test Installation Mark device, receiver or reflector, also need to install special outward at equipment under test simultaneouslyMeasure the measurement devices such as camera, transmitter or laser tracker. Marker, receiver or reflector can only be arranged on equipment under testSurface, volume is larger, is unfavorable for the miniaturization of equipment and integrated. Outside special measurement device has also increased measuring systemComplexity and cost. These several metering systems simultaneously, because dynamically tracking velocity is limited, are not suitable for high-speed moving objectThe measurement of position and attitude. Although adopt inertial navigation set measurement category unrestricted, this equipment can only directly be measured thingThe acceleration of body or angular speed, draw displacement and the corner of object by integration, certainty of measurement is limited,, measure essence if will ensureDegree certainly will increase cost and volume. It is relatively large that these measurement devices are arranged on partial volume in moving object, and being unsuitable for shouldFor small-sized moving object experiments of measuring.
Summary of the invention
The present invention be for solve in existing contactless measurement on equipment under test erection unit many, install complicated,Measuring method complexity and the limited problem of tracking velocity, the invention provides non-extensible guide two-dimension moving object in a kind of plane or curved surfaceThe displacement of body and the non-contact measurement method of attitude.
The displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude in plane or curved surface, the tool of the methodBody process is,
Step 1, is fixed on surface of moving object to be measured by two photoelectric position sensors, and photoelectric position sensorSignal input part and relative motion plane or curved surface are oppositely arranged, and retain certain distance with relative motion plane or curved surface, protectDemonstrate,prove vertical range between two photoelectric position sensors and relative motion plane or curved surface and be all greater than 0 and be less than 1cm, photopotentialThe signal output part of putting sensor is connected by the mode of wired or wireless transmission and the data-signal input of computer; DescribedTwo photoelectric position sensors be respectively No. 1 photoelectric position sensor and No. 2 photoelectric position sensors,
Step 2, moving object to be measured, when static, set up horizontal plane right angle and is sat in relative motion plane or curved surfaceMark system, with No. 1 photoelectric position sensor in moving object to be measured at t0Initial position (the x in moment1(t0)、y1(t0)) as in phaseTo initial point in plane of movement or curved surface, the direction of pointing to No. 2 photoelectric position sensors using No. 1 photoelectric position sensor is as in phaseTo the x direction of principal axis of the horizontal plane rectangular coordinate system of setting up in plane of movement or curved surface, set up y axle in the direction of vertical x axle, treatSurvey moving object when static, No. 2 photoelectric position sensors are at t0The initial position in moment is (x2(t0)、y2(t0)), describedRelative motion plane or curved surface are as datum level;
Step 3, makes moving object to be measured carry out two dimensional motion, and photoelectric position sensor is for Real-time Collection relative motionThe image information of plane or curved surface, each photoelectric position sensor all, by more continuous two width or multiple image information, drawsThe variable quantity △ x of the displacement of two photoelectric position sensors1(k)、△y1(k)、△x2And △ y (k)2(k), and by two photoelectricityThe variable quantity of position sensor displacement is sent to computer, and described k is positive integer,
Wherein, variable quantity △ x1(k) represent the measurement basic point of No. 1 photoelectric position sensor in datum level along x direction of principal axisDisplacement variable,
Variable quantity △ y1(k) represent the measurement basic point of No. 1 photoelectric position sensor in datum level along the axial displacement of yVariable quantity,
△x2(k) represent the measurement basic point of No. 2 photoelectric position sensors in datum level along the axial change in displacement of xAmount,
△y2(k) represent the measurement basic point of No. 2 photoelectric position sensors in datum level along the axial change in displacement of yAmount,
Step 4, computer is by formula one and the variable quantity △ x of formula two to displacement1And △ y (k)1(k) carry out respectivelyIntegral Processing, obtains No. 1 photoelectric position sensor real time position coordinate (x in datum level1、y1), described x1And y1For nothingThe displacement of extensible guide two-dimension moving object relative motion plane or curved surface, wherein,
x1=x1(t0)+∑△x1(k) (formula one),
y1=y1(t0)+∑△y1(k) (formula two);
Computer is by formula three and the variable quantity △ x of formula four to displacement2And △ y (k)2(k) carry out respectively integration placeReason, obtains No. 2 photoelectric position sensors real time position coordinate (x in datum level2、y2), wherein,
x2=x2(t0)+∑△x2(k) (formula three),
y2=y2(t0)+∑△y2(k) (formula four);
Step 5, by real time position coordinate (x1、y1) and real time position coordinate (x2、y2) 2 lines and datum level inAngle theta between horizontal plane rectangular coordinate system x axle is:
Described angle theta is the attitude of non-extensible guide two-dimension moving object in plane or curved surface.
The beneficial effect that the present invention brings is, traditional non-cpntact measurement is taking the technology such as photoelectricity, electromagnetism as basis, notIn the situation on contact testee surface, obtain the measuring method of body surface parameter information, and plane of the present invention orIn curved surface, in the displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude, described noncontact refers to measure and usesPhotoelectric position sensor and the noncontact of relative motion plane or curved surface, do not affect moving object to be measured and plane or curved surface itBetween relative motion, and this measuring method is simple, installing component is few, two photoelectric position sensors and moving object one are started shipmentMoving, tracking velocity is unaffected.
1, adopt the non-contacting metering system of the present invention, can not produce dry to the moving object of the noiseless measurement of ask for somethingDisturb power or moment.
2, metering system belongs to none guidance measurement, and measuring object can arbitrary motion or rotation in plane or curved surface.
3, measuring system power supply is simple, and volume is little, can be used for the non-extensible guide two-dimension fortune in plane or the curved surface of less targetThe measurement of moving position and attitude.
4, wireless or wired (usb bus etc.) transmission method between photoelectric position sensor and computer, transmission speed is fast,Extensibility is strong, and antijamming capability is strong, compatible strong.
5, basis and relative motion planar movement amount calculating location and attitude information, avoided other measurement device needsThe mechanisms such as target (vision measurement camera), receiver (indoor GPS), reflector (laser tracker) are installed, whole measuring systemBe integrated in moving object, and require low to the surface roughness of relative motion plane.
Brief description of the drawings
Fig. 1 is a kind of position between the photoelectric position sensor described in detailed description of the invention one and moving object to be measuredBe related to schematic diagram; Wherein, Reference numeral 1 represents moving object to be measured, and Reference numeral 2 represents relative motion plane or curved surface, attachedFigure mark 3 represents photoelectric position sensor, and Reference numeral 4 represents the signal output part of photoelectric position sensor;
Fig. 2 is the another kind of position between photoelectric position sensor and the moving object to be measured described in detailed description of the invention oneBe related to schematic diagram;
Fig. 3 is that the position relationship of two photoelectric position sensors in the rectangular coordinate system of relative motion plane or curved surface showsIntention.
Detailed description of the invention
Detailed description of the invention one: referring to Fig. 1,2 and 3 explanation present embodiments, plane or curved surface described in present embodimentThe displacement of interior non-extensible guide two-dimension moving object and the non-contact measurement method of attitude, the detailed process of the method is,
Step 1, is fixed on surface of moving object to be measured by two photoelectric position sensors, and photoelectric position sensorSignal input part and relative motion plane or curved surface are oppositely arranged, and retain certain distance with relative motion plane or curved surface, protectDemonstrate,prove vertical range between two photoelectric position sensors and relative motion plane or curved surface and be all greater than 0 and be less than 1cm, photopotentialThe signal output part of putting sensor is connected by the mode of wired or wireless transmission and the data-signal input of computer; DescribedTwo photoelectric position sensors be respectively No. 1 photoelectric position sensor and No. 2 photoelectric position sensors,
Step 2, moving object to be measured, when static, set up horizontal plane right angle and is sat in relative motion plane or curved surfaceMark system, with No. 1 photoelectric position sensor in moving object to be measured at t0Initial position (the x in moment1(t0)、y1(t0)) as in phaseTo initial point in plane of movement or curved surface, the direction of pointing to No. 2 photoelectric position sensors using No. 1 photoelectric position sensor is as in phaseTo the x direction of principal axis of the horizontal plane rectangular coordinate system of setting up in plane of movement or curved surface, set up y axle in the direction of vertical x axle, treatSurvey moving object when static, No. 2 photoelectric position sensors are at t0The initial position in moment is (x2(t0)、y2(t0)), describedRelative motion plane or curved surface are as datum level;
Step 3, makes moving object to be measured carry out two dimensional motion, and photoelectric position sensor is for Real-time Collection relative motionThe image information of plane or curved surface, each photoelectric position sensor all, by more continuous two width or multiple image information, drawsThe variable quantity △ x of the displacement of two photoelectric position sensors1(k)、△y1(k)、△x2And △ y (k)2(k), and by two photoelectricityThe variable quantity of position sensor displacement is sent to computer, and described k is positive integer,
Wherein, variable quantity △ x1(k) represent the measurement basic point of No. 1 photoelectric position sensor in datum level along x direction of principal axisDisplacement variable,
Variable quantity △ y1(k) represent the measurement basic point of No. 1 photoelectric position sensor in datum level along the axial displacement of yVariable quantity,
△x2(k) represent the measurement basic point of No. 2 photoelectric position sensors in datum level along the axial change in displacement of xAmount,
△y2(k) represent the measurement basic point of No. 2 photoelectric position sensors in datum level along the axial change in displacement of yAmount,
Step 4, computer is by formula one and the variable quantity △ x of formula two to displacement1And △ y (k)1(k) carry out respectivelyIntegral Processing, obtains No. 1 photoelectric position sensor real time position coordinate (x in datum level1、y1), described x1And y1For nothingThe displacement of extensible guide two-dimension moving object relative motion plane or curved surface, wherein,
x1=x1(t0)+∑△x1(k) (formula one),
y1=y1(t0)+∑△y1(k) (formula two);
Computer is by formula three and the variable quantity △ x of formula four to displacement2And △ y (k)2(k) carry out respectively integration placeReason, obtains No. 2 photoelectric position sensors real time position coordinate (x in datum level2、y2), wherein,
x2=x2(t0)+∑△x2(k) (formula three),
y2=y2(t0)+∑△y2(k) (formula four);
Step 5, by real time position coordinate (x1、y1) and real time position coordinate (x2、y2) 2 lines and datum level inAngle theta between horizontal plane rectangular coordinate system x axle is:
Described angle theta is the attitude of non-extensible guide two-dimension moving object in plane or curved surface. In present embodiment, two lightElectric position sensor can embeddedly be fixed on surface of moving object to be measured, and specifically referring to Fig. 2, two photoelectric position sensors alsoCan support and be arranged on surface of moving object to be measured, specifically referring to Fig. 1.
Detailed description of the invention two: non-extensible guide two-dimension in the plane described in present embodiment and detailed description of the invention one or curved surfaceThe difference of the displacement of moving object and the non-contact measurement method of attitude is, two described photoelectric position sensors are with relativeVertical range between plane of movement or curved surface is all greater than 0 and be less than 0.5cm.
Claims (2)
1. the displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude in plane or curved surface, is characterized in that,The detailed process of the method is,
Step 1, is fixed on surface of moving object to be measured by two photoelectric position sensors, and two photoelectric position sensorsSignal input part is all oppositely arranged with relative motion plane or curved surface, and retains certain distance with relative motion plane or curved surface,Ensure that vertical range between two photoelectric position sensors and relative motion plane or curved surface is all greater than 0 and be less than 1cm, twoThe signal output part of photoelectric position sensor is all by the mode of wired or wireless transmission and the data-signal input of computerConnect; Two described photoelectric position sensors are respectively No. 1 photoelectric position sensor and No. 2 photoelectric position sensors,
Step 2, moving object to be measured, when static, is set up horizontal plane rectangular coordinate system in relative motion plane or curved surface,With No. 1 photoelectric position sensor in moving object to be measured at t0Initial position (the x in moment1(t0)、y1(t0)) as in relative fortuneInitial point in moving plane or curved surface, the direction of pointing to No. 2 photoelectric position sensors using No. 1 photoelectric position sensor is as in relative fortuneThe x direction of principal axis of the horizontal plane rectangular coordinate system of setting up in moving plane or curved surface, sets up y axle, fortune to be measured in the direction of vertical x axleAnimal body is when static, and No. 2 photoelectric position sensors are at t0The initial position in moment is (x2(t0)、y2(t0)), described is relativePlane of movement or curved surface are as datum level;
Step 3, makes moving object to be measured carry out two dimensional motion, and photoelectric position sensor is for Real-time Collection relative motion planeOr the image information of curved surface, each photoelectric position sensor, all by more continuous two width or multiple image information, draws twoThe variation delta x of the displacement of photoelectric position sensor1(k)、Δy1(k)、Δx2And Δ y (k)2(k), and by two optoelectronic positionsThe variable quantity of sensor displacement is sent to computer, and described k is positive integer,
Wherein, variation delta x1(k) represent the measurement basic point of No. 1 photoelectric position sensor in datum level along the axial displacement of xVariable quantity,
Variation delta y1(k) represent the measurement basic point of No. 1 photoelectric position sensor in datum level along the axial change in displacement of yAmount,
Δx2(k) represent the measurement basic point of No. 2 photoelectric position sensors in datum level along the axial displacement variable of x,
Δy2(k) represent the measurement basic point of No. 2 photoelectric position sensors in datum level along the axial displacement variable of y,
Step 4, computer is by formula one and the variation delta x of formula two to displacement1And Δ y (k)1(k) carry out respectively integrationProcess, obtain No. 1 photoelectric position sensor real time position coordinate (x in datum level1、y1), described x1And y1For without guide railThe displacement of object moving in two dimensions relative motion plane or curved surface, wherein,
x1＝x1(t0)+∑Δx1(k) (formula one),
y1＝y1(t0)+∑Δy1(k) (formula two);
Computer is by formula three and the variation delta x of formula four to displacement2And Δ y (k)2(k) carry out respectively Integral Processing, obtainNo. 2 photoelectric position sensors real time position coordinate (x in datum level2、y2), wherein,
x2＝x2(t0)+∑Δx2(k) (formula three),
y2＝y2(t0)+∑Δy2(k) (formula four);
Step 5, by real time position coordinate (x1、y1) and real time position coordinate (x2、y2) 2 lines and datum level in horizontalAngle theta between face rectangular coordinate system x axle is:
Described angle theta is the attitude of non-extensible guide two-dimension moving object in plane or curved surface.
2. in plane according to claim 1 or curved surface, the displacement of non-extensible guide two-dimension moving object and the noncontact of attitude are surveyedMetering method, is characterized in that, the vertical range between described two photoelectric position sensors and relative motion plane or curved surfaceAll be greater than 0 and be less than 0.5cm.
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| CN110174391B (en) * | 2019-05-29 | 2022-03-29 | 深圳前海达闼云端智能科技有限公司 | Position deviation correction method, device, storage medium and electronic equipment |
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| JPS57211009A (en) * | 1981-06-22 | 1982-12-24 | Clarion Co Ltd | Position detector for moving body |
| FR2613826B1 (en) * | 1987-04-07 | 1990-10-26 | Commissariat Energie Atomique | MOTION SENSOR IN INTEGRATED OPTICS |
| JP2005041623A (en) * | 2003-07-25 | 2005-02-17 | Fuji Xerox Co Ltd | Carrying device and image forming device |
| CN201811726U (en) * | 2010-08-13 | 2011-04-27 | 北京时代之峰科技有限公司 | Non-contact type in-plane displacement measuring device |
| CN102798347A (en) * | 2012-08-28 | 2012-11-28 | 上海金玺实验室有限公司 | Measurement method of displacement and speed |
| CN103196374B (en) * | 2013-04-01 | 2016-07-06 | 哈尔滨工业大学 | Satellite air floating platform two dimensional motion attitude parameter measurement apparatus |
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Inventor after: Qi Naiming Inventor after: Xu Zheyao Inventor after: Zhou Qihang Inventor after: Qi Ji Inventor after: Sun Kang Inventor after: Huo Mingying Inventor before: Qi Naiming Inventor before: Xu Zheyao Inventor before: Huo Mingying Inventor before: Qi Ji Inventor before: Sun Kang |
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