CN104764404A - Rotation table carrier position measuring method based on CCD - Google Patents
Rotation table carrier position measuring method based on CCD Download PDFInfo
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- CN104764404A CN104764404A CN201510187938.3A CN201510187938A CN104764404A CN 104764404 A CN104764404 A CN 104764404A CN 201510187938 A CN201510187938 A CN 201510187938A CN 104764404 A CN104764404 A CN 104764404A
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Abstract
The invention relates to a carrier position information measuring method, in particular to a rotation table carrier position measuring method based on a CCD. The problem that an existing triangular measuring method is adopted for performing carrier position information positioning on a carrier in a two-dimensional plane, so that measuring precision is low is solved. A triangle ABC is constructed, the three vertexes of the triangle ABC are in ligature with the position where the carrier is located, then a round angle alpha, a round angle beta and a round angle gamma are formed around the position where the carrier is located, and the lengths of the three sides of the triangle ABC are obtained according to detailed coordinates, in a right-angle coordinate system, of three CCD sensors forming the triangle ABC. The three round angles alpha, beta and gamma are combined in pairs to obtain three sets of distances a, b and c between the carrier and the corresponding vertexes of the triangle ABC through calculation, then average values are obtained, and final values of a, b and c are obtained and combined in pairs to be calculated, so that three pairs of position coordinates of the carrier, average values of the three pairs of position coordinates of the carrier are obtained, and finally detailed coordinates of the carrier are obtained. The rotation table carrier position measuring method is mainly used for positioning the carrier in the two-dimensional plane.
Description
Technical field
The present invention relates to a kind of measuring method of carrier positions information.
Background technology
In society, positioning carrier positional information in two dimensional surface used by frequent needs, such as in Multi-shaft support turret systems, time carrier moves in described turntable plane, the whole barycenter of system can be made to offset, this interference can cause very large impact to whole plateform system, we carry out positional information location with regard to needing to the carrier on platform for this reason, thus obtain the positional information of carrier, then by resolving the barycenter of the system of obtaining, carry out compensate for disturbances by topworks.
Triangulation location is in GPS positioning system, and the positioning action on extensive area, but be unsuitable for measuring among a small circle, measuring accuracy has much room for improvement.
CCD, English full name: Charge-coupled Device, Chinese full name: charge coupled cell.Can ccd image sensor be called, also be image controller.CCD is a kind of semiconductor devices, optical image can be converted into digital signal.
Summary of the invention
The present invention be in order to solve existing in two dimensional surface positioning carrier positional information adopt triangulation method, the problem that measuring accuracy is low, the invention provides a kind of turntable platform carrier positions measuring method based on CCD.
Based on the turntable platform carrier positions measuring method of CCD, described turntable platform there are 4 ccd sensors, electric rotating machine and lasing light emitters, electric rotating machine is arranged on carrier, lasing light emitter is arranged on electric rotating machine, electric rotating machine rotates for driving lasing light emitter, the surrounding of carrier is installed with 4 ccd sensors, and carrier is arranged in the quadrilateral that 4 ccd sensors surround
The detailed process of this measuring method is:
Step one, after installation 4 ccd sensors, gathers the concrete coordinate of acquisition 4 ccd sensors in rectangular coordinate system, makes electric rotating machine drive lasing light emitter to rotate, makes laser instrument send laser simultaneously;
Step 2, the position line choosing 3 ccd sensor places in 4 ccd sensors forms triangle ABC, and carrier position is inner at triangle ABC, three summits of triangle ABC all with carrier position line after, around carrier position, form 3 round angles, and 3 round angles are defined as α, β respectively, γ
Carrier center position is defined as an O,
Wherein, α represents, the angle between straight line OB and OC;
β represents, the angle between straight line OA and OC;
γ represents, the angle between straight line OB and OA;
Step 3, obtains the length on triangle ABC tri-limit according to the concrete coordinate of 3 ccd sensors in rectangular coordinate system forming triangle ABC;
Step 4, chooses round angle α and β respectively, β and γ, α and γ, by cosine law computing, obtain distance a, b and c of 3 groups of carriers to triangle ABC tri-summits, and to the 3 groups of data obtained averaged respectively, obtains the end value of a, b and c;
Step 5, calculates the end value combination of two of a, b and c of obtaining in step 4, obtains the position coordinates of 3 pairs of carriers, and the position coordinates averaged to 3 pairs of carriers, the final concrete coordinate obtaining carrier.
Round angle α and β is chosen respectively in described step 4, β and γ, α and γ, by cosine law computing, obtain distance a, b and c of 3 groups of carriers to triangle ABC tri-summits, and to the 3 groups of data obtained averaged respectively, the detailed process obtaining the end value of a, b and c is:
Step 4 one, by the value of round angle α and β, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 1 to formula 3,
b
2+c
2-BC
2-2bccosα＝0 (1),
c
2+a
2-AC
2-2accosβ＝0 (2),
a
2+b
2-AB
2-2abcos(2π-α-β)＝0 (3),
Wherein, a represents the length between carrier position to some A, b represents the length between carrier position to some B, c represents the length between carrier position to some C, BC represents the length of the line between triangle ABC mid point B and some C, AC represents the length of the line between triangle ABC mid point A and some C, and AB represents the length of the line between triangle ABC mid point A and some B
Step 4 two, by the value of round angle α and γ, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 4 to formula 6,
b
2+c
2-BC
2-2bccosα＝0 (4),
c
2+a
2-AC
2-2accos(2π-α-γ)＝0 (5),
a
2+b
2-AB
2-2abcosγ＝0 (6),
Step 4 three, by the value of round angle β and γ, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 7 to 9,
b
2+c
2-BC
2-2bccos(2π-β-γ)＝0 (7),
c
2+a
2-AC
2-2accosβ＝0 (8),
a
2+b
2-AB
2-2abcosγ＝0 (9)，
Step 4 four, to a, b and c of obtaining in step 4 one to step 4 three averaged respectively, as the end value of a, b and c.In described step 5, the end value combination of two of a, b and c of obtaining in step 4 is calculated, obtain the position coordinates of 3 pairs of carriers, and the position coordinates averaged to 3 pairs of carriers, the final detailed process obtaining the concrete coordinate of carrier is:
End value according to a and c obtained in step 4 four calculates the first pair of position coordinates obtaining carrier,
End value according to b and c obtained in step 4 four calculates the second pair of position coordinates obtaining carrier,
End value according to b and a obtained in step 4 four calculates the 3rd pair of position coordinates obtaining carrier,
And three pairs of position coordinateses of described carrier are averaged, obtain the final concrete coordinate of carrier, complete and carrier positions is measured.
The beneficial effect that the present invention brings is, the inventive method and prior art intermediate cam measuring method unlike, this method is applicable to locate among a small circle, and precision is higher, does not need to arrange more supplemental measurement tool, convenient, and measuring accuracy improves more than 5%.
Accompanying drawing explanation
Fig. 1 is the position relationship schematic diagram of carrier and 4 ccd sensors on embodiment one intermediate station platform;
Fig. 2 is the principle schematic of the position line formation triangle ABC at certain 3 ccd sensor place in 4 ccd sensors in embodiment one.
Embodiment
Embodiment one: present embodiment is described see Fig. 1 and 2, the turntable platform carrier positions measuring method based on CCD described in present embodiment, described turntable platform there are 4 ccd sensors, electric rotating machine and lasing light emitters, electric rotating machine is arranged on carrier, lasing light emitter is arranged on electric rotating machine, electric rotating machine rotates for driving lasing light emitter, the surrounding of carrier is installed with 4 ccd sensors, and carrier is arranged in the quadrilateral that 4 ccd sensors surround, the detailed process of this measuring method is:
Step one, after installation 4 ccd sensors, gathers the concrete coordinate of acquisition 4 ccd sensors in rectangular coordinate system, makes electric rotating machine drive lasing light emitter to rotate, makes laser instrument send laser simultaneously;
Step 2, the position line choosing 3 ccd sensor places in 4 ccd sensors forms triangle ABC, and carrier position is inner at triangle ABC, three summits of triangle ABC all with carrier position line after, around carrier position, form 3 round angles, and 3 round angles are defined as α, β respectively, γ
Carrier center position is defined as an O,
Wherein, α represents, the angle between straight line OB and OC;
β represents, the angle between straight line OA and OC;
γ represents, the angle between straight line OB and OA;
Step 3, obtains the length on triangle ABC tri-limit according to the concrete coordinate of 3 ccd sensors in rectangular coordinate system forming triangle ABC;
Step 4, chooses round angle α and β respectively, β and γ, α and γ, by cosine law computing, obtain distance a, b and c of 3 groups of carriers to triangle ABC tri-summits, and to the 3 groups of data obtained averaged respectively, obtains the end value of a, b and c;
Step 5, calculates the end value combination of two of a, b and c of obtaining in step 4, obtains the position coordinates of 3 pairs of carriers, and the position coordinates averaged to 3 pairs of carriers, the final concrete coordinate obtaining carrier.
Present embodiment, α, beta, gamma derives from reception lasing light emitter mistiming and the motor angular velocity of rotation of CCD, and the quadrilateral that 4 ccd sensors surround is arbitrary quadrilateral, and quadrilateral inside is all the measurement range of tested carrier.
Embodiment two: the difference of present embodiment and the turntable platform carrier positions measuring method based on CCD described in embodiment one is, round angle α and β is chosen respectively in described step 4, β and γ, α and γ is by cosine law computing, obtain distance a, b and c of 3 groups of carriers to triangle ABC tri-summits, and to the 3 groups of data obtained averaged respectively, the detailed process obtaining the end value of a, b and c is:
Step 4 one, by the value of round angle α and β, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 1 to formula 3,
b
2+c
2-BC
2-2bccosα＝0 (1),
c
2+a
2-AC
2-2accosβ＝0 (2),
a
2+b
2-AB
2-2abcos(2π-α-β)＝0 (3),
Wherein, a represents the length between carrier position to some A, b represents the length between carrier position to some B, c represents the length between carrier position to some C, BC represents the length of the line between triangle ABC mid point B and some C, AC represents the length of the line between triangle ABC mid point A and some C, and AB represents the length of the line between triangle ABC mid point A and some B
Step 4 two, by the value of round angle α and γ, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 4 to formula 6,
b
2+c
2-BC
2-2bccosα＝0 (4),
c
2+a
2-AC
2-2accos(2π-α-γ)＝0 (5),
a
2+b
2-AB
2-2abcosγ＝0 (6),
Step 4 three, by the value of round angle β and γ, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 7 to 9,
b
2+c
2-BC
2-2bccos(2π-β-γ)＝0 (7),
c
2+a
2-AC
2-2accosβ＝0 (8),
a
2+b
2-AB
2-2abcosγ＝0 (9)，
Step 4 four, to a, b and c of obtaining in step 4 one to step 4 three averaged respectively, as the end value of a, b and c.
In present embodiment, in step 4 one, known by the value of round angle α and β, then the value of γ is 360 °-alpha-beta; In step 4 two, known by the value of round angle α and γ, then the value of β is 360 ° of-α-γ; In step 4 three, known by the value of round angle β and γ, then the value of α is 360 °-alpha-beta;
Add up generally be not equal to 360 owing to measuring three angles of circumference obtaining, can fluctuate, only use two angles in the calculation for this reason, another angle is got 360 and is deducted two angle sums, then we choose 2 angles again and again calculate, altogether calculate 3 times, the result obtained is carried out average and asks for as last result.
Embodiment three: the difference of present embodiment and the turntable platform carrier positions measuring method based on CCD described in embodiment two is, in described step 5, the end value combination of two of a, b and c of obtaining in step 4 is calculated, obtain the position coordinates of 3 pairs of carriers, and the position coordinates averaged to 3 pairs of carriers, the final detailed process obtaining the concrete coordinate of carrier is:
End value according to a and c obtained in step 4 four calculates the first pair of position coordinates obtaining carrier,
End value according to b and c obtained in step 4 four calculates the second pair of position coordinates obtaining carrier,
End value according to b and a obtained in step 4 four calculates the 3rd pair of position coordinates obtaining carrier,
And three pairs of position coordinateses of described carrier are averaged, obtain the final concrete coordinate of carrier, complete and carrier positions is measured.
Claims (3)
1. based on the turntable platform carrier positions measuring method of CCD, described turntable platform there are 4 ccd sensors, electric rotating machine and lasing light emitters, electric rotating machine is arranged on carrier, lasing light emitter is arranged on electric rotating machine, electric rotating machine rotates for driving lasing light emitter, it is characterized in that, the surrounding of carrier is installed with 4 ccd sensors, and carrier is arranged in the quadrilateral that 4 ccd sensors surround, the detailed process of this measuring method is:
Step one, after installation 4 ccd sensors, gathers the concrete coordinate of acquisition 4 ccd sensors in rectangular coordinate system, makes electric rotating machine drive lasing light emitter to rotate, makes laser instrument send laser simultaneously;
Step 2, the position line choosing 3 ccd sensor places in 4 ccd sensors forms triangle ABC, and carrier position is inner at triangle ABC, three summits of triangle ABC all with carrier position line after, around carrier position, form 3 round angles, and 3 round angles are defined as α, β respectively, γ
Carrier center position is defined as an O,
Wherein, α represents, the angle between straight line OB and OC;
β represents, the angle between straight line OA and OC;
γ represents, the angle between straight line OB and OA;
Step 3, obtains the length on triangle ABC tri-limit according to the concrete coordinate of 3 ccd sensors in rectangular coordinate system forming triangle ABC;
Step 4, chooses round angle α and β respectively, β and γ, α and γ, by cosine law computing, obtain distance a, b and c of 3 groups of carriers to triangle ABC tri-summits, and to the 3 groups of data obtained averaged respectively, obtains the end value of a, b and c;
Step 5, calculates the end value combination of two of a, b and c of obtaining in step 4, obtains the position coordinates of 3 pairs of carriers, and the position coordinates averaged to 3 pairs of carriers, the final concrete coordinate obtaining carrier.
2. the turntable platform carrier positions measuring method based on CCD according to claim 1, it is characterized in that, round angle α and β is chosen respectively in described step 4, β and γ, α and γ is by cosine law computing, obtain distance a, b and c of 3 groups of carriers to triangle ABC tri-summits, and to the 3 groups of data obtained averaged respectively, the detailed process obtaining the end value of a, b and c is:
Step 4 one, by the value of round angle α and β, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 1 to formula 3,
b
2+c
2-BC
2-2bccosα＝0(1),
c
2+a
2-AC
2-2accosβ＝0(2),
a
2+b
2-AB
2-2abcos(2π-α-β)＝0(3),
Wherein, a represents the length between carrier position to some A, b represents the length between carrier position to some B, c represents the length between carrier position to some C, BC represents the length of the line between triangle ABC mid point B and some C, AC represents the length of the line between triangle ABC mid point A and some C, and AB represents the length of the line between triangle ABC mid point A and some B
Step 4 two, by the value of round angle α and γ, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 4 to formula 6,
b
2+c
2-BC
2-2bccosα＝0(4),
c
2+a
2-AC
2-2accos(2π-α-γ)＝0(5),
a
2+b
2-AB
2-2abcosγ＝0(6),
Step 4 three, by the value of round angle β and γ, tries to achieve distance a, b and c of carrier to triangle ABC tri-summits by formula 7 to 9,
b
2+c
2-BC
2-2bccos(2π-β-γ)＝0(7),
c
2+a
2-AC
2-2accosβ＝0(8),
a
2+b
2-AB
2-2abcosγ＝0(9)，
Step 4 four, to a, b and c of obtaining in step 4 one to step 4 three averaged respectively, as the end value of a, b and c.
3. the turntable platform carrier positions measuring method based on CCD according to claim 2, it is characterized in that, in described step 5, the end value combination of two of a, b and c of obtaining in step 4 is calculated, obtain the position coordinates of 3 pairs of carriers, and the position coordinates averaged to 3 pairs of carriers, the final detailed process obtaining the concrete coordinate of carrier is:
End value according to a and c obtained in step 4 four calculates the first pair of position coordinates obtaining carrier,
End value according to b and c obtained in step 4 four calculates the second pair of position coordinates obtaining carrier,
End value according to b and a obtained in step 4 four calculates the 3rd pair of position coordinates obtaining carrier,
And three pairs of position coordinateses of described carrier are averaged, obtain the final concrete coordinate of carrier, complete and carrier positions is measured.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112461130A (en) * | 2020-11-16 | 2021-03-09 | 北京平恒智能科技有限公司 | Positioning method for visual inspection tool frame of adhesive product |
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