CN105136434B - A kind of plane mechanism two dimensional motion rule test device - Google Patents
A kind of plane mechanism two dimensional motion rule test device Download PDFInfo
- Publication number
- CN105136434B CN105136434B CN201510509541.1A CN201510509541A CN105136434B CN 105136434 B CN105136434 B CN 105136434B CN 201510509541 A CN201510509541 A CN 201510509541A CN 105136434 B CN105136434 B CN 105136434B
- Authority
- CN
- China
- Prior art keywords
- laser
- image
- plane
- high speed
- plane mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of plane mechanism two dimensional motion rule test devices, expand to form laser lighting light curtain covering mechanism stroke range using a wordline laser mould group；The plane of movement of plane mechanism is fitted in using retroreflector screen and is moved synchronously with it, reflection laser luminous point improves illumination efficiency, guarantees that target has enough brightness；Using high speed optoelectronic image sensing quick pick-up image sequence, and improve output；The acquisition and storage of image is realized using industrial computer cooperation high speed image acquisition board；The compression that great amount of images data are carried out using the method for image point position anticipation, improves image processing efficiency.The present invention can not only meet the plane mechanism characteristics of motion test generally required, and have good applicability to the on-the-spot test of wide range, high speed, high-precision, high reliability, non-contacting plane mechanism transient motion characteristic.
Description
Technical field
The invention belongs to photoelectric detection technology fields, and in particular to a kind of test dress of plane mechanism two dimensional motion rule
It sets.
Background technique
With the development of science and technology, the severe traditional equipment of operating condition is gradually sent out to directions such as reliability, long-life, energy conservation and environmental protections
Exhibition, the anticipation and diagnosis of mechanical breakdown, the non-contact real-time monitoring of mechanical performance become research contents important in industrial production.Tool
Statistics both at home and abroad, the analysis precision of key parameter is every to improve 1%, and test number (TN) will reduce about 20~30%.
Plane mechanism is the common core component of mechanical system, in system design, production, verification and the stages such as accident analysis,
What many important indicators will be obtained by the analysis of plane mechanism kinetic characteristic.In civilian machinery field, such as crank block machine
Structure obtains that the higher accuracy of manufacture is relatively easy because its geometry is simple, in all kinds of machinery including coal mine machinery
It is widely used, such as automatic feed mechanism, punching machine, combustion air compressor.In addition, by revolute pair and prismatic pair
Combination two-degree-of-freedoparallel parallel translational robot, have input shaft is parallel with output shaft, transmission speed is high, dynamic property is good, calmly
The parallel indexing cam mechanism for the features such as position precision is high, the high rigidity plane-parallel type of the Singularity based on 3-UPU parallel institution
Its core institution motion process such as parallel moving mechanism is two-dimensional surface movement.For another example, in weapons national defence, automatic machine is all
The most important critical component of automatic weapon, 70% or more weaponry failure be because of automatic machine caused by, and its motion path
It is mostly planar reciprocating.The characteristics of these mechanism kinematics, there is the period of motion instantaneously to complete, and motion process is non-stationary shape
State and it is frequently accompanied by strong impact vibration.These features become the technical problem tested it and analyzed.
Currently, graphical method, the method for mathematical modeling are still the Main Analysis hand tested the plane mechanism characteristics of motion
Section, these methods ignore many On-the-spot factors, and it is even more impossible to characterize the internal factors such as system fatigue, aging, there is an urgent need to find
The new method of on-the-spot test.
A kind of existing characteristics of motion test macro technical solution uses PSD (Position Sensitive
Detector, photoelectrical position sensor) core devices as test macro, it is by one or two with uniform impedance table
The PIN photodiode of face composition, it is quick to energy central position of the luminous point or blackening being incident on photosurface on photosurface
Sense, and without dead zone high resolution, the optical signal that can be emitted onto continuous moving on PSD is converted into the electricity of corresponding consecutive variations
Signal.Therefore, by converting, it can be used to detect the irradiation position of incident luminous point.PSD device principle is as shown in Figure 1.
If a length of L in effective coverage, center are zero point, when hot spot is irradiated to as shown in Figure 1, distance center xAPlace, Ke Yifen
Not from obtaining output light current signal I1And I2, hot spot irradiation position can pass through formula:
Based on the above, test macro uses semiconductor laser, as the light source of photoelectric test system, the laser beam of generation
It is collimated, expand after invest at the motion profile of plane mechanism, form strip light spots, adjustment laser and tested plane mechanism
Distance covers movement travel by hot spot completely, then reflector is pasted on plane mechanism, and reflected light passes through camera lens
It images on PSD device, the reflected optical signal of reflector will be received by lens PSD, then turn through Current Voltage
Corresponding electric signal is generated after changing amplifying circuit, electric signal is acquired through data collecting card, computer analysis obtains plane mechanism
Characteristics of motion curve.Test macro schematic diagram is as shown in Figure 2.The technical solution can only carry out the movement of plane mechanism one-dimensional square
Rule test；But PSD device be it is nonlinear, closer to edge, position detection error is bigger, and it is limited that there are measurement ranges
The shortcomings that, the plane mechanism characteristics of motion testing precision of big stroke is poor, can only carry out to one-dimensional plane mechanism kinematic rule
Test.
Another prior art uses core devices of the line array CCD laser displacement sensor as test macro, line
Property CCD laser displacement sensor the moving displacement of plane mechanism, sensor hair are detected using laser triangulation principle
Outgoing laser beam is projected along the direction of motion of plane mechanism its surface by optical system, adjusts the position of laser sensor
It sets, makes the movement travel of tested mechanism completely within its measurement range, laser beam passes through mirror through plane mechanism surface reflection again
Head is assembled and is imaged in CCD device, carries out high-speed figure to the signal from CCD by the digital signal processor of sensor internal
Then processing passes through cable for collected digital data transmission to data acquisition controller, computer is according to collected number
According to the characteristics of motion for obtaining plane mechanism.Test macro scheme of installation is as shown in Figure 3.The technical solution can only carry out plane machine
The characteristics of motion of structure one-dimensional square is tested；In test process, it need to guarantee that plane mechanism is reflected in entire circulation action
Laser can be by the reception window reception of sensor, and test macro installation and debugging tool acquires a certain degree of difficulty, complicated for operation.
Summary of the invention
To solve the above problems, the present invention provides a kind of test devices of plane mechanism two dimensional motion rule, it is not only full
The plane mechanism characteristics of motion test that foot generally requires, and to high-precision, high reliability, wide range, non-contacting plane machine
The on-the-spot test of structure transient motion characteristic has good applicability.
To achieve the above object, the technical scheme adopted by the invention is as follows: device includes retroreflector screen, laser light curtain, height
Fast imaging system, optical lens, mode of laser group, industrial computer and image pick-up card.Optical lens is mounted on high speed imaging system
Unified end, mode of laser group is fixed with right above optical lens, cylindrical lens is equipped with before mode of laser group, is posted on plane mechanism
Retroreflector screen is used for retroreflector laser, and moves synchronously with mechanism to be measured, and high speed imaging system passes through external trigger mode
Control, and be connected by data transmission link with industrial computer, processing software and Image Acquisition are installed in industrial computer
Card, original reflection screen surfaces are the glass microballoon that refractive index is equal to 2.
Wherein, the mode of laser group uses uniform light intensity, the wordline semiconductor laser mould group that the angle of divergence is 45 °.
Wherein, the high speed imaging system, including image sensing and image procossing two parts, image sensing part is using high
Fast face array CMOS image sensor.
Wherein, the cylindrical mirror uses cylinder plano-convex lens, and cylindrical mirror is placed in the front of light hole.
Wherein, retroreflector screen uses the plane of movement in plane mechanism, can be by original to anti-under natural illumination environment
It penetrates screen and regards new light source as, guarantee the sensitivity of camera.
The invention has the following advantages:
1) core of the high speed imaging system as test device, high-speed area array cmos sensor conduct therein are used
Two-dimensional image sensor, so that test macro can not only meet plane mechanism one-dimensional square test request, moreover it is possible to solve mechanism
The test problem of two dimensional motion rule, is suitble to more test objects, is able to satisfy the plane of high speed under adverse circumstances and intense impact
Mechanism kinematic rule test request.
2) according to retroreflector screen it is special to and light path principle improved using laser light curtain and retroreflector screen
The sensitivity of system is used cooperatively optical imaging system, the present apparatus is made to can satisfy big stroke, fast speed, high-precision movement
Regular test request.
3) next frame image object point position is prejudged using theory analysis this method, reduces processing region.Final image number
According to compression ratio up to 10: 1, to improve the efficiency of data processing.
Detailed description of the invention
Fig. 1 is PSD device principle schematic diagram in the prior art one.
Fig. 2 is test macro schematic diagram in the prior art one.
Fig. 3 is test macro scheme of installation in the prior art two.
Fig. 4 is a kind of schematic diagram of the test macro of plane mechanism two dimensional motion rule of the embodiment of the present invention；
In figure, 1- retroreflector screen；2- laser light curtain；3- high speed imaging system；4- optical lens；5- mode of laser group；6-
Image pick-up card；7- cylindrical lens；8- industrial computer.
Fig. 5 is high speed imaging system in a kind of test device of plane mechanism two dimensional motion rule of the embodiment of the present invention
Imaging schematic diagram.
Fig. 6 is that light source expands schematic diagram in the embodiment of the present invention.
Fig. 7 is that mode of laser group expands schematic diagram in the embodiment of the present invention.
Specific embodiment
In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
It is described in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
A kind of plane mechanism two dimensional motion rule test device, which is characterized in that including retroreflector screen 1, laser light curtain
2, high speed imaging system 3, optical lens 4, mode of laser group 5, image pick-up card 6, cylindrical lens 7 and industrial computer 8.F mouthfuls of light
It learns camera lens 4 and is mounted on 3 one end of high speed imaging system, mode of laser group 5 is fixed with right above optical lens 4, is pacified before mode of laser group 5
Equipped with cylindrical lens 7, retroreflector screen 1 is posted on plane mechanism, is used for retroreflector laser, and do synchronous fortune with mechanism to be measured
Dynamic, high speed imaging system 3 is controlled by external trigger mode, and is connected by data transmission link with industrial computer 8, industry meter
Processing software and image pick-up card 6 are installed, the mode of laser group 5 uses uniform light intensity, and the angle of divergence is the one of 45 ° in calculation machine 8
Wordline semiconductor laser mould group.
As shown in figure 5, high speed imaging system 3 includes image sensing and image control two parts, image sensing part is used
High-speed area array cmos image sensor.Image sensing part is cmos image sensor.If the physical length for shooting image A is S,
It is A ' in cmos image sensor planar imaging, since cmos image sensor is to save image by basic unit of pixel,
Shared number of pixels n can be used in the length of image A ' captured by reality1It indicates, n1With the physical length S of shooting image A at approximate
It is linear.Therefore, n can be determined by a proportionality coefficient k1With the relationship of S:
S=n1×k (2)
Plane where standard target is first placed in mechanism to be measured when system works completes the two fixing points in range
Test, obtains proportionality coefficient k, proportionality coefficient k can be expressed as S/n1, wherein S is the actual (tube) length of standard target two fixing points
Degree, n1For the physical length number of pixels that imaging occupies on the image sensor of standard target two fixing points.
After the completion of the acquisition of plane mechanism moving image, the weight of proportion of utilization coefficient k and hot spot in the data processing in later period
Heart coordinate can obtain the moving displacement of plane mechanism at various moments, and abscissa can be used for handling plane mechanism horizontal direction
The characteristics of motion, ordinate can be used for handling the characteristics of motion of plane mechanism vertical direction, then can be put down by differential process
The two-dimension speed information of face mechanism kinematic.If plane mechanism is S (t) in the horizontal movement displacement of t moment, horizontal movement speed is
V (t), the number of pixels that flare moves in the horizontal direction in image are n1, the frequency acquisition of proportionality coefficient k, camera is
F, then horizontal movement displacement S (t) and horizontal movement speed v (t) are calculated by following formula:
S (t)=k × n1；
The cylindrical lens 7 uses cylinder plano-convex lens, carries out the one-dimensional of laser using cylinder plano-convex lens and expands, makes
The entire movement travel for obtaining the emergent light overlay planes mechanism of mode of laser group 5, ensure that two of plane mechanism to be measured planar
The needs of characteristics of motion test are tieed up, light source beam-expanding system schematic diagram is as shown in Figure 6.
The angle of divergence of the mode of laser group 5 is 45 °, and cylindrical lens 7 is placed in the front of 5 light hole of mode of laser group, if swashing
Optical mode group 5 and the vertical range of plane mechanism plane of movement are S, and mode of laser group 5 projects flat after cylinder plano-convex lens expand
The length of the horizontal direction of the light curtain cross section of face mechanism kinematic plane is Sx, the length of vertical direction is Sy.As shown in fig. 7, swashing
The line width that optical mode group 5 emits laser is w, and width is S after the expanding of cylindrical lens 7 that focal length is fy, parameters it is several
What relational expression are as follows:
Sy/ w=(S-f)/f (4)
Retroreflector screen 1 is in the plane of movement of plane mechanism, and the illuminance environment of high speed imaging can be by retroreflector screen 1
As new light source.The plane mechanism characteristics of motion test macro of this programme belongs to the active electrooptical device with cooperation target, former
Cooperation target is served as to radiation shield, most light in the radiant power of acquisition can be returned according to original route, be improved
The reliability of adverse circumstances and the test of intense impact lower plane mechanism kinematic rule.
Using the principle of high speed acquisition image, access data volume is larger, and directly measurement displacement must be in the back of high-frequency noise
Speed-time curve is obtained by being displaced micro--time graph differential process under scape.By working principle it is found that only being wrapped in every frame image
Containing a hot spot corresponding with displacement, consider that jumping phenomenon is not present in mechanism kinematic, under 100 × 100 pixel space anticipation
One frame image image point position reduces processing region, and final image data compression ratio is up to 10: 1.
The mode of laser group that this specific implementation issues expands generation survey by cylindrical convex lens by being mounted on right above camera lens
Light curtain is tried, is projected on plane of movement to be measured；A fritter retroreflector screen is posted on plane mechanism is used for retroreflector laser,
And it is moved synchronously with mechanism to be measured；When plane mechanism moves, by external trigger mode control the tracking of high speed imaging system it is former to
The movement travel of radiation shield flare is transmitted to industrial computer eventually by data transmission link, is handled using image software
Obtain the two dimensional motion rule of plane mechanism.
This specific implementation uses high-speed imaging technology, non-contactly picks up the motor message of target point cutting light curtain, thus
Overcome that current system frequency response is low, deficiency of low precision.Using active laser veiling luminance combination retroreflector technology, it is
System can use under low-light (level) environment, while reliable use under vibration；Based on the target characteristics of motion, to the hot spot of magnanimity
Motion image data takes areal prediction, quickly reads, the method for storage, improves holding for data processing significantly
Scanning frequency degree.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (1)
1. a kind of plane mechanism two dimensional motion rule test device, which is characterized in that including retroreflector screen (1), laser light curtain
(2), high speed imaging system (3), optical lens (4), mode of laser group (5), industrial computer (8) and image pick-up card (6), optics
Camera lens (4) is mounted on the end face of the Interface Matching of high speed imaging system (3), is fixed with mode of laser right above optical lens (4)
Group (5) is equipped with cylindrical lens (7) before mode of laser group (5), retroreflector screen (1) is posted on plane mechanism, is used for retroreflector
Laser, and moved synchronously with mechanism to be measured, high speed imaging system (3) is controlled by external trigger mode, and is transmitted by data
Route is connected with industrial computer (8), is equipped with processing software and image pick-up card (6), the laser in industrial computer (8)
Mould group (5) uses uniform wordline shape semiconductor laser mould group, and high speed imaging system (3) includes image sensing and image control two
Part, image sensing part use high-speed area array cmos image sensor, and retroreflector screen (1) surface is equal to for refractive index
2 glass microballoon；
The cylindrical lens (7) uses cylinder plano-convex lens；
The mode of laser group (5) uses uniform light intensity, the wordline semiconductor laser mould group that the angle of divergence is 45 °, cylindrical lens (7)
It is placed in the front of mode of laser group (5) light hole diameter, forms rectangle light curtain illumination zone covering mechanism stroke；
Retroreflector screen (1) is in the plane of movement of plane mechanism, can regard retroreflector screen (1) newly as in natural illumination environment
Light source, guarantee high speed imaging system (3) sensitivity；
Plane where standard target is first placed in mechanism to be measured when system works is completed to survey for the two fixing points in range
Examination, obtains proportionality coefficient k, proportionality coefficient k can be expressed as S/n1, wherein S is the physical length of standard target two fixing points,
n1For the physical length number of pixels that imaging occupies on the image sensor of standard target two fixing points, actual test
When can be predicted next possible range of width image picture point, reduce processing region, improve processing speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510509541.1A CN105136434B (en) | 2015-08-12 | 2015-08-12 | A kind of plane mechanism two dimensional motion rule test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510509541.1A CN105136434B (en) | 2015-08-12 | 2015-08-12 | A kind of plane mechanism two dimensional motion rule test device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105136434A CN105136434A (en) | 2015-12-09 |
| CN105136434B true CN105136434B (en) | 2019-09-20 |
Family
ID=54721865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510509541.1A Active CN105136434B (en) | 2015-08-12 | 2015-08-12 | A kind of plane mechanism two dimensional motion rule test device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105136434B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486492A (en) * | 2016-01-12 | 2016-04-13 | 佛山市南海盐步康士柏机电有限公司 | Detection box and detection method for measuring deflection angle of LED headlamp of automobile by using images |
| CN109313822B (en) * | 2017-12-13 | 2020-04-10 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device based on machine vision, map construction method and movable electronic equipment |
| CN110444098A (en) * | 2018-05-04 | 2019-11-12 | 南京农业大学 | Plane mechanism innovation overlap joint and motion analysis experimental bench |
| CN108572068A (en) * | 2018-06-26 | 2018-09-25 | 广东广航科技有限公司 | A kind of indexing mechanism fatigue test frock and fatigue test method |
| CN109030868A (en) * | 2018-07-06 | 2018-12-18 | 江西洪都航空工业集团有限责任公司 | Plane motion object angular acceleration measurement method in drop-test |
| TWI756811B (en) * | 2019-09-03 | 2022-03-01 | 日商新川股份有限公司 | Vibration detection system |
| CN111336939B (en) * | 2020-03-13 | 2021-08-13 | 安标国家矿用产品安全标志中心有限公司 | Machine vision-based online detection method and device for gap between explosion-proof joint surfaces |
| CN117538290A (en) * | 2023-11-08 | 2024-02-09 | 埃尔法(山东)仪器有限公司 | Vehicle-mounted and cradle head laser gas detection device, system and method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1467114A (en) * | 2003-06-03 | 2004-01-14 | 戴世铮 | Method for locating and distinguishing car pass |
| US7138620B2 (en) * | 2004-10-29 | 2006-11-21 | Silicon Light Machines Corporation | Two-dimensional motion sensor |
| CN101922895A (en) * | 2010-08-10 | 2010-12-22 | 西安工业大学 | Small-target surface vertical target dispersion photoelectric measurement device |
| CN102135393A (en) * | 2010-12-20 | 2011-07-27 | 中北大学 | Measurement system for motion parameters of high-speed motion object |
| CN103234529B (en) * | 2013-03-26 | 2015-09-02 | 深圳市朗诚实业有限公司 | A kind of motion trajectory test method and equipment |
| 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 |
| CN104713546A (en) * | 2015-03-12 | 2015-06-17 | 大连理工大学 | Novel non-contact photoelectric detection method for high-speed two-dimensioned motion tracks |
-
2015
- 2015-08-12 CN CN201510509541.1A patent/CN105136434B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105136434A (en) | 2015-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105136434B (en) | A kind of plane mechanism two dimensional motion rule test device | |
| CN101403650B (en) | Differential confocal combination ultra-long focal length measuring method and apparatus | |
| CN104483676B (en) | A kind of 3D/2D scannerless laser radars complex imaging device | |
| CN104034263A (en) | Non-contact measurement method for sizes of forged pieces | |
| CN106017312B (en) | Structured light triangulation automatic calibration system and calibration method | |
| CN105571983A (en) | Method and system for measuring geometric density of nuclear fuel pellet | |
| CN203443741U (en) | Laser synchronous scanning imaging detection system | |
| CN104101580A (en) | BRDF quick measuring device based on hemisphere array detection | |
| CN105652280A (en) | Laser radar triangulation ranging method | |
| CN102540638B (en) | Detection device for focal position and detection method thereof | |
| CN109807471A (en) | A kind of laser mark printing device and method | |
| CN110672035A (en) | Vision measurement method and device | |
| CN201673113U (en) | Rock core scanner | |
| CN209156612U (en) | A kind of remote auto laser cleaning system | |
| CN103267495A (en) | Detecting method and detecting system for unit mirror surface shape used for tower-type solar thermal power generation | |
| CN103674453A (en) | Thermal wave imaging gas leakage detecting device and method | |
| CN112595236A (en) | Measuring device for underwater laser three-dimensional scanning and real-time distance measurement | |
| CN202533040U (en) | Image obtaining apparatus for ore-rock fragment-size 2.5 fractal dimension | |
| CN201740513U (en) | Modularized displacement measuring device with low cost | |
| CN113624158B (en) | Visual dimension detection system and method | |
| CN102980534B (en) | The non-contact measurement method of a kind of hidden rotating shaft and end face squareness and system | |
| CN211717753U (en) | External field performance testing device for photoelectric instrument | |
| Shu et al. | Multi-channel photon counting three-dimensional imaging laser radar system using fiber array coupled Geiger-mode avalanche photodiode | |
| CN211205211U (en) | Hunting bullet outline defect detection device based on laser triangulation method | |
| CN104792732A (en) | Refractometer for self-reference of light source distribution |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |