CN104931018A - One-dimensional inclination noncontact measurement method and one-dimensional inclination noncontact measurement system based on absolute distance measurement - Google Patents
One-dimensional inclination noncontact measurement method and one-dimensional inclination noncontact measurement system based on absolute distance measurement Download PDFInfo
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- CN104931018A CN104931018A CN201510364020.1A CN201510364020A CN104931018A CN 104931018 A CN104931018 A CN 104931018A CN 201510364020 A CN201510364020 A CN 201510364020A CN 104931018 A CN104931018 A CN 104931018A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a one-dimensional inclination noncontact measurement method and a one-dimensional inclination noncontact measurement system. A plurality of noncontact displacement sensors with absolute distance measurement functions are adopted, a measuring plate arranged on a to-be-measured target is measured, and finally, a one-dimensional inclination measurement result can be acquired directly through data processing of displacement values of the displacement sensors. The displacement sensors are arranged on the same straight line, and the straight line and the rotation center line of the to-be-measured target are orthogonal. Wide-range inclination measurement is achieved by sectional measurement and automatic switching technologies. A double-sensor gradient algorithm, a multi-sensor mean value method and a weighted average method can be adopted for data processing. By the one-dimensional inclination noncontact measurement method, the defect that inclination sensors are directly mounted on the to-be-measured target can be overcome, and the measurement result is independent of the eccentric distance between the measuring plate and the rotation axis of the to-be-measured target.
Description
Technical field
What the present invention relates to is a kind of method and system of geometric measurement technical field, specifically a kind of one dimension inclination angle non-contact measurement method based on Models of Absolute Distance Measurement Based and system.
Background technology
Inclination angle refers to the angle of a plane relative to reference plane (being generally worth surface level).The instrument measuring inclination angle is called inclinator or level meter.Inclination angle is one of the common measure the item in geometric sense field.At present, in national economy various fields, there is various measurement of dip angle demand.Conventional inclination angle measurement method, mainly measures body with magnetoresistive transducer and realizes measurement of dip angle relative to the orientation of terrestrial magnetic field.The advantage of this method is simple to operate, easy to use, can measure one dimension or two-dimentional inclination angle.
But this method exists some obvious problems and shortcomings, particularly traditional obliquity sensor/inclinator must be directly installed on the workplace of measured target, and rotates with measured target, and metering system belongs to contact type measurement.Its problem brought is: obliquity sensor is placed on measured target and will likely produces serious influence to the exercise performance of measured target by (1).Particularly when measured target volume is less, lighter in weight when, this impact can be particularly serious, cannot realize measuring even at all.(2) installed by obliquity sensor and on measured target, certainly will require that thread mill drilling is for fixed angle sensor on measured target body, this will destroy primary characteristic and the damage of measured target.(3) traditional obliquity sensor generally adopts cable that measurement result is transferred to host computer, and inevitably will produce cable traction phenomena in measured target rotation process, obviously unreasonable.These problems above-mentioned are also the common faults of the obliquity sensor/inclinator of the overwhelming majority at present.
Summary of the invention
The object of the invention is to the contact measurement problem for existing obliquity sensor/inclinator, propose a kind of method and system that can realize one dimension inclination angle non-cpntact measurement.The method adopts several non-contact displacement sensors with Models of Absolute Distance Measurement Based function, the measurement flat board being placed in measured target workplace is measured simultaneously, by processing the data of all displacement transducer shift values, finally one dimension tilt angle measurement can be obtained.The contactless high-precision that this method can realize inclination angle is measured, and frivolous measurement flat board does not affect substantially on the kinetic characteristic of measured target.The measurement result of the method has nothing to do with the eccentric throw measuring dull and stereotyped and measured target axis of rotation, therefore without the need to measuring this eccentric throw, facilitates practical application.
The present invention is achieved by the following technical solutions:
Inclination angle of the present invention non-contact measurement system mainly comprises: some displacement transducers, a measurement flat board, measurement support, a control system and a cable.Measuring flat board is placed on measured target, can be parallel with the workplace of measured target, also can be not parallel.Displacement transducer is placed in be measured on support, and the slotted line of each sensor is parallel to each other, and all slotted lines are all dull and stereotyped to locating tab assembly, the measured value of each displacement transducer by cable transfer to control system.Control system is generally placed near measured target.When measured target is in arbitrary spatial attitude position, under the unified control of control system, all the sensors synchronously obtains and measures the distance value between flat board, and carries out data processing, by calculating the one dimension inclination value measuring flat board and measured target by cable feeding control system.
The special character of displacement transducer of the present invention is, displacement transducer of the present invention is the non-contact displacement sensor with Models of Absolute Distance Measurement Based function, such as laser displacement sensor, laser range sensor, eddy current displacement sensor, capacitance displacement sensor etc.The selection of concrete displacement transducer, depends on the spacing between measurement of dip angle scope and sensor.The occasion comparatively large for inclination angle scope, transducer spacing is larger, should adopt the absolute displacement transducer that measurement range is larger, such as laser displacement sensor, laser range sensor etc.The occasion less for inclination angle scope, transducer spacing is less, should adopt the absolute displacement transducer that measurement range is less, such as eddy current displacement sensor, capacitance displacement sensor etc.
The minimum number of displacement transducer of the present invention is 2, and all displacement transducers all should be arranged on same straight line, and this straight line is orthogonal with the centre of gyration line of measured target.
The Main Function of measurement support of the present invention, is support each sensor, makes it the direction that keeps determining and position.The special character of measurement support of the present invention is, measures support itself and has positioning function, can ensure that the spacing between each displacement transducer is in ideal position, can exempt calibration process for general precision.
Effect of measuring flat board of the present invention, is to provide the measurement plane of enough sizes and precision, ensures the Measurement accuracy at inclination angle.The shape measuring flat board of the present invention can be rectangle or other shapes.Measurement of the present invention dull and stereotyped place plane can be parallel with the workplace of measured target, also can be not parallel, do not have particular/special requirement and restriction.
The size measuring flat board of the present invention depends on change of pitch angle scope, transducer spacing and measures eccentric throw that is dull and stereotyped and measured target axis of rotation, change of pitch angle scope is larger, transducer spacing is larger, it is dull and stereotyped larger with the eccentric throw of measured target axis of rotation to measure, and the size of required measurement flat board is also larger.
For the occasion of limited space value, can not adopt the measurement plane of large-size, measurement flat board of the present invention can adopt light material and less thickness, thus ensures substantially not affect the kinetic characteristic of measured target.For example reduces to measure dull and stereotyped distortion, some reinforcements can be installed additional measuring the dull and stereotyped back side.According to the difference of the displacement transducer adopted, the present invention needs to select the measurement with different surfaces characteristic dull and stereotyped.According to different measurement of dip angle accuracy requirements, measurement flat board of the present invention needs to have different planarity requirements.
For some special occasions, due to space limit the measurement that cannot use large-size dull and stereotyped.For this situation, it is dull and stereotyped that the present invention adopts multiple displacement transducer and small size to measure, and realizes the measurement of dip angle compared with wide-measuring range by areal survey and automatic switchover technology.
The present invention proposes the data processing method being used for above-mentioned inclination angle non-contact measurement system.When the displacement transducer quantity adopted is different, corresponding data processing method is also different.
For the situation at employing 2 displacement sensor one dimension inclination angles, data processing method of the present invention is: directly utilize the ratio of two displacement transducer displacement difference and two transducer spacings to calculate inclination angle.
For the situation at employing 3 and above displacement sensor one dimension inclination angle, data processing method of the present invention is: utilize any two displacement transducer displacement difference to calculate an inclination value with the ratio of two transducer spacings respectively, then all inclination value are averaged, using mean value as last tilt angle measurement.Especially, the present invention adopts the weighted arithmetic average of all inclination value as final tilt angle measurement, and the power of each inclination value is exactly the spacing of two displacement transducers corresponding to this inclination value.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is two-dimentional inclination angle of the present invention non-contact measurement system composition schematic diagram;
Fig. 2 is dual sensor one dimension inclination measuring system theory of constitution schematic diagram of the present invention;
Fig. 3 is four-sensor one dimension inclination measuring system theory of constitution schematic diagram of the present invention;
Fig. 4 is that four-sensor of the present invention and small size measure dull and stereotyped one dimension inclination measuring system theory of constitution schematic diagram;
Fig. 5 is the measurement slab construction schematic diagram with reinforcement of the present invention;
In figure, 1 is displacement transducer, and 2 for measuring support, and 3 is control system, and 4 is dull and stereotyped for measuring, and 5 is measured target, and 6 is transmission cable, and 7 is reinforcement.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The composition of inclination angle of the present invention non-contact measurement system as shown in Figure 1.Measuring system mainly comprises: some displacement transducers 1, measure dull and stereotyped 4, measurement support, 2, control system 3 and transmission cable 6.Measure dull and stereotyped 4 to be placed on measured target 5.Displacement transducer 1 is placed in be measured on support 2, and the slotted line between each displacement transducer 1 is parallel to each other, and all slotted lines are all to locating tab assembly flat board 4, and the output of each displacement transducer 1 is transported to control system 3 by cable 6.Control system is generally placed near measured target 5.When measured target 5 is in any spatial attitude position, under the unified control of control system 3, the distance value that all the sensors 1 synchronously obtains displacement transducer 1 and measures between dull and stereotyped 4, and sent in control system 3 by cable 6 and carry out data processing, by calculating the inclination value measuring dull and stereotyped 4 i.e. measured targets 5.
The method can realize the non-cpntact measurement at inclination angle, does not substantially affect the performance of measured target 5, and the measurement result of the method has nothing to do with the eccentric throw measuring dull and stereotyped 4 and measured target 5 axis of rotation, therefore without the need to measuring this eccentric throw, facilitates practical application.
The special character of displacement transducer 1 of the present invention is, displacement transducer 1 is the non-contact displacement sensor with Models of Absolute Distance Measurement Based function, such as laser displacement sensor, laser range sensor, eddy current displacement sensor, capacitance displacement sensor etc.The selection of concrete displacement transducer 1, depends on the spacing between measurement of dip angle scope and sensor.The occasion comparatively large for inclination angle scope, transducer spacing is larger, should adopt the absolute displacement transducer that measurement range is larger, such as laser displacement sensor, laser range sensor etc., it is even larger to hundreds of mm that its range of displacement measurement can reach tens mm.The occasion less for inclination angle scope, transducer spacing is less, should adopt the absolute displacement transducer that measurement range is less, such as eddy current displacement sensor, capacitance displacement sensor etc., and its range of displacement measurement can reach a few mm to tens mm.
The minimum number of displacement transducer 1 of the present invention is 2.All displacement transducers 1 all should be arranged on same straight line, and this straight line is orthogonal with the centre of gyration line of measured target 5.Figure 2 shows that the one dimension inclination measuring system composition schematic diagram of employing 2 displacement transducers, two displacement transducer Sensor1 and Sensor2 are on same straight line M-Line, and this straight line M-Line is orthogonal with the centre of gyration line y of measured target 5.Figure 3 shows that the one dimension inclination measuring system composition schematic diagram of employing 4 displacement transducers, 4 displacement transducers Sensor1, Sensor2, Sensor3 and Sensor4 are on same straight line M-Line, and this straight line M-Line is orthogonal with the centre of gyration line y of measured target 5.
The Main Function of measurement support 2 of the present invention, is support each displacement transducer 1, makes it the direction that keeps determining and position.The special character of measurement support 2 of the present invention is, measure support 2 and itself there is positioning function, such as groove, step, circular hole etc., can ensure that the spacing between each displacement transducer 1 is in ideal position, can exempt calibration process for general precision.
Effect of measuring flat board 4 of the present invention, is to provide the measurement plane of enough sizes and precision, ensures the Measurement accuracy at inclination angle.The shape measuring flat board 4 of the present invention can be rectangle or other shapes.The dull and stereotyped 4 place planes of measurement of the present invention can be parallel with the workplace of measured target 5, also can be not parallel, do not have particular/special requirement and restriction.
The size measuring flat board 4 of the present invention, depends primarily on change of pitch angle range Theta, transducer spacing L and measures the eccentric distance e of dull and stereotyped 4 and measured target 5 axis of rotation.For the amount one dimension of Measured by Twin Displacement Transducer shown in Fig. 2 inclination angle, the full-size of required measurement flat board 4 is:
D_max=(L+2esinθ)/cosθ
Obviously, change of pitch angle range Theta is larger, transducer spacing L is larger, it is larger with the eccentric distance e of measured target 5 axis of rotation to measure flat board 4, and the size of required measurement flat board 4 is also larger.
For example ensures substantially not affect the kinetic characteristic of measured target, measurement of the present invention dull and stereotyped 4 adopts light material, the such as material such as aluminium alloy, organic glass.
Flat board 4 of measuring of the present invention adopts less thickness, is the distortion that example reduces to measure dull and stereotyped 4, can install some reinforcements 7 additional at the back side of measurement dull and stereotyped 4.As shown in Figure 5, measure dull and stereotyped 4, be provided with 4 reinforcements overleaf for rectangle, wherein two long reinforcements are arranged in the long side direction measuring dull and stereotyped 4, and two short reinforcements are arranged in the short side direction measuring dull and stereotyped 4.
The present invention is different according to the kind of the displacement transducer 1 adopted, and needs to select the measurement flat board 4 with different surfaces characteristic.Such as, for laser displacement sensor, need to adopt the measurement flat board 4 with diffuse reflection or matt surface characteristic.
Measurement of the present invention dull and stereotyped 4 needs to have certain flatness accuracy requirement.According to different measurement of dip angle accuracy requirements, measuring dull and stereotyped 4 needs to have different planarity requirements.Measurement of dip angle accuracy requirement is higher, also higher to the planarity requirements measuring dull and stereotyped 4.Suppose that measurement of dip angle precision is for ± Δ θ, two sensors be spaced apart L, then measure dull and stereotyped planarity requirements and should be:
Δ=±LtanΔθ
For some special occasions, due to space limit the measurement flat board 4 that cannot use large-size.For this situation, the present invention adopts multiple displacement transducer 1 and small size to measure dull and stereotyped 4, realizes the measurement of dip angle compared with wide-measuring range by areal survey and automatic switchover technology.Fig. 4 is that four-sensor of the present invention and small size measure dull and stereotyped one dimension inclination measuring system theory of constitution schematic diagram.When inclination angle is the range within-10 ~+10 degree, 4 displacement transducers Sensor1, Sensor2, Sensor3 and Sensor4 can be adopted to measure; When within inclination angle is 10 ~ 45 degree during range, 3 displacement transducers Sensor2, Sensor3 and Sensor4 can be adopted to measure; When inclination angle is for beyond more than 45 degree during range, 2 displacement transducer Sensor3 and Sensor4 can be adopted to measure.
The present invention proposes the data processing method being used for above-mentioned one dimension inclination angle non-contact measurement system.When the quantity of the displacement transducer 1 adopted is different, corresponding data processing method is also different.
For the situation at employing 2 displacement sensor one dimension inclination angles, data processing method of the present invention is: directly utilize the ratio of two displacement transducer displacement difference and two displacement transducer spacing to calculate inclination angle, i.e. gradient algorithm.For the one dimension of dual sensor shown in Fig. 2 inclination measuring system, the displacement of two displacement transducer Sensor1 and Sensor2 is respectively s1 and s2, and two displacement transducer spacing are L, then Dip countion formula is:
θ=arctan[(S1-S2)/L]
Employing 3 and above displacement transducer 1 are measured to the situation at one dimension inclination angle, data processing method of the present invention is: utilize any two displacement transducer displacement difference to calculate an inclination value with the ratio of two transducer spacings respectively, then all inclination value are averaged, using mean value as last tilt angle measurement.For 4 sensor one dimension inclination measuring systems shown in Fig. 3, the displacement of 4 displacement transducers Sensor1, Sensor2, Sensor3 and Sensor4 is respectively s1, s2, s3 and s4, adjacent two displacement transducer spacing are L, then can obtain 6 inclination value to be:
θ12=arctan[(S1-S2)/L]
θ23=arctan[(S2-S3)/L]
θ34=arctan[(S3-S4)/L]
θ13=arctan[(S1-S3)/2L]
θ24=arctan[(S2-S4)/2L]
θ14=arctan[(S1-S4)/3L]
The tilt angle measurement of then final measured target 5 can be taken as the mean value of above-mentioned all inclination value:
θ=(θ12+θ23+θ34+θ13+θ24+θ14)/6
Especially, the present invention also proposes a kind of weighted average calculation method, namely adopts the weighted arithmetic average of all inclination value as final tilt angle measurement, and the power of each inclination value is exactly the spacing of two displacement transducers 1 corresponding to this inclination value.For 4 sensor one dimension inclination measuring systems shown in Fig. 3, the spacing of 6 inclination value θ 12, θ 23 that said process obtains, θ 34, θ 13, θ 24 and two displacement transducers corresponding to θ 14 is L, L, L, 2L, 2L and 3L respectively, therefore the power of these 6 inclination value is respectively 1,1,1,2,2 and 3, and total weights sum is 10.The inclination angle weighted arithmetic average that can obtain thus is finally:
θ=(θ12+θ23+θ34+2θ13+2θ24+3θ14)/10
The invention has the beneficial effects as follows, compared with existing obliquity sensor/inclinator, the present invention utilizes several to have the displacement transducer of Models of Absolute Distance Measurement Based function, is obtained the two-dimentional inclination angle of measured target by data processing, and the contactless high-precision achieving inclination angle is measured.The method can exempt the drawback that obliquity sensor is directly installed on measured target, and the eccentric throw of measurement result and measurement flat board and measured target axis of rotation has nothing to do, and measure and safeguard flexibly convenient, usable range is more extensive.
Claims (15)
1. an one dimension inclination angle non-contact measurement system, is characterized in that: this measuring system is made up of some displacement transducers, measurement flat board, measurement support, a control system and a cable.
2. measure flat board to be placed on measured target.
3. displacement transducer is placed in and measures on support, and the slotted line of each sensor is parallel to each other, and all slotted lines are all dull and stereotyped to locating tab assembly, the output that each open position moves sensor by cable transfer to control system.
4. when measured target is in any spatial attitude position, under the unified control of control system, all the sensors synchronously obtains and measures the distance value between flat board, and sends into control system and carry out data processing, by calculating the one dimension inclination value measuring flat board and measured target.
5. one dimension inclination angle according to claim 1 non-contact measurement system, is characterized in that: described displacement transducer is the non-contact displacement sensor with Models of Absolute Distance Measurement Based function.
6. displacement transducer according to claim 5, is characterized in that: the minimum number of displacement transducer is 2, and all displacement transducers all should be arranged on same straight line, and this straight line is orthogonal with the centre of gyration line of measured target.
7. measurement according to claim 1 is dull and stereotyped, it is characterized in that: the shape of described measurement flat board can be rectangle or other shapes, and its place plane can be parallel with the workplace of measured target, also can be not parallel, is not particularly limited.
8. measurement according to claim 7 is dull and stereotyped, it is characterized in that: the size of described measurement flat board depends on change of pitch angle scope, transducer spacing and measures eccentric throw that is dull and stereotyped and measured target axis of rotation.
9. change of pitch angle scope is larger, transducer spacing is larger, it is dull and stereotyped larger with the eccentric throw of measured target axis of rotation to measure, and the size of required measurement flat board is also larger.
10. measurement according to claim 7 is dull and stereotyped, it is characterized in that: described measurement flat board adopts light material, farthest to alleviate the impact on measured target dynamic perfromance.
11. measurements according to claim 7 are dull and stereotyped, it is characterized in that: the dull and stereotyped back side of described measurement arranges some reinforcements, to reduce to measure dull and stereotyped distortion.
12. measuring systems according to claim 1, it is characterized in that: for limited space, the occasion that can not adopt large-size measurement plane, it is dull and stereotyped that described measuring system can adopt more displacement transducer and small size to measure, by areal survey and automatic switchover technology realization measurement of dip angle in a big way.
13. 1 kinds of measurement of dip angle data processing methods for above-mentioned measuring system, it is characterized in that: for the situation at employing 2 displacement sensor one dimension inclination angles, described data processing method directly utilizes the ratio of two displacement transducer displacement difference and two displacement transducer spacing to calculate the gradient algorithm at inclination angle.
14. data processing methods according to claim 13, it is characterized in that: for the situation at employing 3 and above displacement sensor one dimension inclination angle, described data processing method is: utilize any two displacement transducer displacement difference to calculate an inclination value with the ratio of two transducer spacings respectively, then all inclination value are averaged, and using mean value as last tilt angle measurement.
15. multi-sensor data disposal routes according to claim 13, it is characterized in that: described mean value adopts the weighted arithmetic average of all inclination value as final tilt angle measurement, the power of each inclination value is exactly the spacing of two sensors corresponding to this inclination value, and entitlement sum is all the sensors spacing sum.
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Cited By (6)
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| CN106840095A (en) * | 2016-12-23 | 2017-06-13 | 江西飞尚科技有限公司 | A kind of method that parallel multiple obliquity sensor chips improve inclinator certainty of measurement |
| CN106855715A (en) * | 2017-01-09 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Unmanned vehicle and its controller, indoor progress control method, device and system |
| CN108120400A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of object center deflection angle detection method and device |
| CN108286958A (en) * | 2018-02-06 | 2018-07-17 | 北京优尔博特创新科技有限公司 | A kind of distance measuring method and range-measurement system |
| CN111486818A (en) * | 2020-04-24 | 2020-08-04 | 青岛智腾科技有限公司 | Three-dimensional tilt angle sensor |
| CN111504238A (en) * | 2020-04-29 | 2020-08-07 | 河南柴油机重工有限责任公司 | Micro-amplitude displacement testing method and device for vibration isolation device in diesel engine running state |
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| CN111486818A (en) * | 2020-04-24 | 2020-08-04 | 青岛智腾科技有限公司 | Three-dimensional tilt angle sensor |
| CN111504238A (en) * | 2020-04-29 | 2020-08-07 | 河南柴油机重工有限责任公司 | Micro-amplitude displacement testing method and device for vibration isolation device in diesel engine running state |
| CN111504238B (en) * | 2020-04-29 | 2021-12-03 | 河南柴油机重工有限责任公司 | Micro-amplitude displacement testing method and device for vibration isolation device in diesel engine running state |
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