CN105223569A - A kind of spherical radargrammetry coordinate machine for gathering pipe and measuring method - Google Patents
A kind of spherical radargrammetry coordinate machine for gathering pipe and measuring method Download PDFInfo
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- CN105223569A CN105223569A CN201510674106.4A CN201510674106A CN105223569A CN 105223569 A CN105223569 A CN 105223569A CN 201510674106 A CN201510674106 A CN 201510674106A CN 105223569 A CN105223569 A CN 105223569A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of spherical radargrammetry coordinate machine for gathering pipe and measuring method, this coordinate machine comprises the first flange, second flange, radar sensor and mainboard processor, the sealing surface of described first flange and the second flange, inward flange, in outward flange and bolt hole, each at least 3 places are provided with induction of signal sheet, radar sensor is arranged on the top of cabinet, mainboard processor is positioned at cabinet, mainboard processor is connected with industrial PDA machine by data line, levelling device is provided with bottom cabinet, radar sensor passes through transponder pulse carrier wave to induction of signal sheet, induction of signal sheet by signal reflex in radar sensor, calculate the position of induction of signal sheet.The present invention can realize efficient, accurate, durable in use and just to carry, and is measured the accurate coordinates of gathering pipe by radar signal and various sensor composition measuring machine.
Description
Technical field
The present invention relates to the spherical radargrammetry coordinate machine for gathering pipe and measuring method, belong to forming materials technical field of automation.
Background technology
Be paved with pipeline everywhere inside boats and ships, a series of operations such as the design of these pipe fittings, manufacture and the inspection after in board installing are referred to as " pipeline laying ".Usual boats and ships are sectional constructions, and the pipeline intersegmental in the segment folding time-division just needs gathering pipe to connect, but rely on pipeline design drawing to produce gathering pipe miscellaneous, and the making of gathering pipe adopts usually gets type method and site welding connection.
The most difficult in pipeline makes is " ensureing the precision that finished product is good ".But it is incorrect to adopt two kinds of methods above often to there will be the gathering pipe flange bolt empty position produced, situation about cannot install is caused to occur.There is the shortcomings that efficiency is low, waste of material serious and machining precision is not high in these two kinds of methods.At present, the states such as Japan and Korea S develop closed tube reproduction system for the problems referred to above, the locus feature of the flange of gathering pipe is treated by tactful machine in-site measurement two, then this locus feature is simulated by special fitting software, and export controling parameters, coordinate special three-dimensional positioner can reproduce the position feature of two flanges, the gathering pipe manufactured is lifted on reproduction machine and can produces free from error gathering pipe with flange welding.What wherein measuring equipment adopted is single stay cord measuring machine with two angular transducers and a linear transducer, and its cardinal principle uniquely can determine a point in spheric coordinate system two angles specified and a length.Therefore, the position mark of unique point in the coordinate system of specifying on flange can be measured by this measuring machine.But the weak point of this kind of measuring method needs repeatedly to adjust the position of rope outlet when being and measuring, to ensure that stay cord is linear state, this operating process is loaded down with trivial details.For solving this kind of present situation, develop closed tube reproduction system 201110309478.9, the locus feature of the flange of gathering pipe is treated by measuring machine in-site measurement two, then this locus feature is simulated by special fitting software, and export controling parameters, coordinate special three-dimensional positioner can reproduce the position feature of two flanges, the gathering pipe manufactured is lifted on reproduction machine and can produces free from error gathering pipe with flange welding.For obtaining the characteristic parameter treating the flange of gathering pipe, Three-Coordinate Measuring Arm is adopted also to be feasible scheme, this gage beam is connected in series by 6 rotary joints by 6 arms rotated and 1 measuring head, in each joint, angled scrambler is installed, one section of gage beam is fixed on pedestal, irremovable in measuring process, and measuring head can move at space free, form one and close spherical measurement space, each joint rotation angle and component corner is obtained by the optoelectronic angle scrambler being arranged on each joint and rod member inside, at the brachium in conjunction with each joint arm, interarticular angle etc., apply coordinate model thus the three-dimensional coordinate position of acquisition measured point.Use the characteristic parameter of gage beam measurement flange very convenient, only need to get a little at feature locations, then namely required characteristic parameter is calculated by software, and these characteristic parameters need not be known in advance, but the limited length of this gage beam and the expensive of gage beam, each joint of external pelivimetry arm is all weak link, if in use collide, very easily damages.The ultimate principle of the gathering pipe measuring machine in 201110323558.X adopts three pulling rope length sensors in triangle distribution as measuring original paper, under Descartes's rectangular coordinate system, go out fag end as spherical equation using three pulling rope length sensors, treated the spherical co-ordinate of the locus of gathering pipe flange by high-precision measuring equipment subsidiary.Owing to there is certain gap between stay cord and stay cord head, ensure that stay cord can pull out smoothly, thus cause stay cord head to produce small deviation as the axial centerline of the centre of sphere, make the locus of gathering pipe to be measured produce deviation; And due to the permanent stay cord effect of stay cord, the elastic telescopic of stay cord causes the precision of closing up greatly to reduce, and stay cord generation wearing and tearing cause the damage of stay cord, the performance that impact is measured and work efficiency and increase the input of cost, for this reason a kind of more simple, measuring accuracy is higher and the portable gathering pipe measuring method that is not easily disturbed is that device fabrication business equipment uses enterprise to be happy to expectation.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of spherical radargrammetry coordinate machine for gathering pipe and measuring method, can realize efficient, accurate, durable in use and just to carry, be measured the accurate coordinates of gathering pipe by radar signal and various sensor composition measuring machine.
Technical scheme: for solving the problems of the technologies described above, a kind of spherical radargrammetry coordinate machine for gathering pipe of the present invention, comprise the first flange, second flange, radar sensor and mainboard processor, the sealing surface of described first flange and the second flange, inward flange, in outward flange and bolt hole, each at least 3 places are provided with induction of signal sheet, radar sensor is arranged on the top of cabinet, mainboard processor is positioned at cabinet, mainboard processor is connected with industrial PDA machine by data line, levelling device is provided with bottom cabinet, radar sensor passes through transponder pulse carrier wave to induction of signal sheet, induction of signal sheet by signal reflex in radar sensor, calculate the position of induction of signal sheet.
As preferably, described levelling device comprises horizontal and vertical chi and support foot rest adjusting knob, and described horizontal and vertical chi is positioned at the side of cabinet, is provided with support foot rest bottom described cabinet, and support foot rest adjusting knob is arranged on support foot rest.
As preferably, described radar sensor is one-piece construction, comprises transmitter, emitting antenna, receiver, accepts antenna and jamproof system equipment, utilizes the pulse carrier of frequency 40 ~ 60GHz to measure gathering pipe coordinate position.
A kind of measuring method of the above-mentioned spherical radargrammetry coordinate machine for gathering pipe, its principle of work and cartesian coordinate system principle of utilizing radar Doppler of measuring, utilize three-dimensional coordinate, respectively by initial point, deflection, the elevation angle, distance is formed, P (x, y, z) in space a bit, then P point utilizes r, Ф, θ determines successively, wherein r is the distance that initial point O and some P are shown in, Ф is the angle forwarding directed line segment from positive z-axis from x-axis by counter clockwise direction to, θ is for directed line segment is in the angle folded by z-axis forward, be 0 point with radar signal point, with the central shaft of vertical position vertically upward of equipment for z-axis positive dirction, with battery main switch direction for x-axis positive dirction, according to right-hand rule, then obtain the direction of y-axis, comprise the following steps:
(1) be installed on by cabinet on on-the-spot suitable smooth position, fine setting support foot rest adjusting knob, is as the criterion with horizontal and vertical chi, keeps cabinet horizontal and vertical;
(2) by data line, cabinet is connected with industrial PDA machine;
(3) induction of signal sheet is affixed on respectively each at least 3 places of the sealing surface of the first flange and the second flange, inward flange, outward flange and bolt hole;
(4) power-on master switch and PDA machine, regulates and determines coordinate at zero point;
(5) by the operation work of PDA machine control radar sensor, the spatial relation data of gathering pipe first flange to be measured and the second flange are automatically collected, and automatic manipulate measurement data, calculate relative tertiary location;
(6) measurement data of PDA machine is imported PC computer after terminating by measurement, and become gathering pipe to process drawing Measurement and Data Processing by data processing software, this drawing exports with PDF, directly prints or preserves.
Beneficial effect: compared with prior art, the present invention has the following advantages:
(1) measurement range is large, and the measurement range of spherical radargrammetry coordinate machine of the present invention is only in relevant in the acknowledge(ment) signal intensity of radar sensor at induction of signal sheet, and the frequencies of propagation of the pulse carrier selected can enlarge measurement range;
(2) measuring accuracy is high, utilizes that pulse carrier antijamming capability is strong and precision is high, and the coordinate method of calculation level is simple triangular transformation, not by Enlarging-Errors;
(3) measure ultrahigh in efficiency, subsides induction chip on flange to be measured, launched by signal and accept Quick Measurement signal space position, and directly by data processing software Fast Drawing processing drawing;
(4) adopt PDA machine as Mersure Controler and data processing terminal portable convenient, safe and reliable;
(5) equipment processing and manufacturing is simple, is convenient to large-scale production in application.
Accompanying drawing explanation
Fig. 1 is measuring principle structural drawing of the present invention.
Fig. 2 is data processing software principle assumption diagram of the present invention.
Embodiment
As depicted in figs. 1 and 2, for the spherical radargrammetry coordinate machine that gathering pipe is measured, be made up of the first flange 1, induction of signal sheet 2, radar sensor 3, second flange 4, mainboard processor 5, cabinet 6, USB interface 7, charging connector 8, accumulator 9, data line 10, PDA machine 11, support foot rest 12, support foot rest adjusting knob 13, pedestal 14, pilot lamp 15, total power switch 16, horizontal and vertical chi 17, computer 18, processing drawing 19.
In the present invention, in the sealing surface of described first flange 1 and the second flange 4, inward flange, outward flange and bolt hole, each at least 3 places are provided with induction of signal sheet 2, radar sensor 3 is arranged on the top of cabinet 6, mainboard processor 6 is positioned at cabinet 6, mainboard processor 5 is connected with industrial PDA machine 11 by data line, levelling device is provided with bottom cabinet 6, radar sensor 3 passes through transponder pulse carrier wave to induction of signal sheet 2, signal reflex in radar sensor 3, is calculated the position of induction of signal sheet 2 by induction of signal sheet 2.
In the present invention, support foot rest 12 and support foot rest adjusting knob 13 are connected to pedestal by tooth axle, mainboard processor 5 is installed in cabinet 6, accumulator 9 is installed on bottom pedestal 14, accumulator 9 and mainboard processor 5 is connected by wire, battery main switch 16, pilot lamp 15, horizontal and vertical chi 17 and USB interface 7 are installed on outside cabinet 6, and radar sensor 3 is installed on the top of cabinet 6, by wire and chip and mainboard processor 5 compact siro spinning technology.The pilot lamp 15 of described spherical radargrammetry coordinate machine comprises: the full pilot lamp of storage battery, storage battery under-voltage pilot lamp, accumulator positive are filling a pilot lamp and surving coordinate machine relay indicating light.
In the present invention, support foot rest is provided with magnetic, and magnetic supporting foot rack is 4 altogether, is distributed in below pedestal; Pedestal is square structure, and it is rectangular configuration that cabinet is installed on above pedestal; Radar sensor is one-piece construction, comprise 1 transmitter, 1 emitting antenna, 1 receiver, 1 accept antenna and 1 jamproof system equipment, utilize the pulse carrier of frequency 50GHz to measure gathering pipe coordinate position
In the present invention, described induction of signal sheet 2 is affixed on the first flange 1 to be measured and the second flange 4, and industrial PDA machine 11 is connected to USB interface 7 by data line 10, reads radar sensor 3 and records the spatial coordinate location of measured signal induction paster 2 at gathering pipe.The support foot rest 12 of described spherical radargrammetry coordinate machine is provided with magnetic, and magnetic supporting foot rack is 4 altogether, is distributed in below pedestal.Described pedestal is square structure, and it is rectangular configuration that cabinet is installed on above pedestal.Described radar sensor is one-piece construction, comprises transmitter, emitting antenna, receiver, accepts antenna and jamproof system equipment, utilizes the pulse carrier of frequency 40 ~ 60GHz to measure gathering pipe coordinate position.The radar sensor transmitting and the acknowledge(ment) signal source point that carry out school zero before radargrammetry coordinate measuring machine are coordinate position at zero point.In a coordinate system, be 0 point with radar signal point, with the central shaft of vertical position vertically upward of equipment for z-axis positive dirction, with battery main switch direction for x-axis positive dirction, according to right-hand rule, then obtain the direction of y-axis, the spatial coordinate location of the main measuring-signal sensing chip of radar sensor; R, Ф, θ are the data that radar sensor measures automatically, and this is the principle according to radar itself, utilize polar coordinate system (r, Ф, θ) to be converted to three-dimensional system of coordinate (x, y, z), obtain the locus of gathering pipe; In a coordinate system, be 0 point with radar signal point, with the central shaft of vertical position vertically upward of equipment for z-axis positive dirction, with battery main switch direction for x-axis positive dirction, according to right-hand rule, then obtain the direction of y-axis.
A kind of using method of the spherical radargrammetry coordinate machine for gathering pipe:
(1) be installed on by the surving coordinate machine that magnetic support corner bracket is housed on on-the-spot suitable smooth position, fine setting support foot rest adjusting knob, is as the criterion with horizontal and vertical chi, keeps coordinate machine horizontal and vertical;
(2) by data line, the USB interface of surving coordinate machine is connected with industrial PDA machine;
(3) optional position on sealing surface induction of signal sheet being affixed on respectively flange I and flange II, diametric plane optional position inside and outside flange, and in any 3 bolts hole;
(4) power-on master switch and PDA machine, regulates and determines coordinate at zero point;
(5) by the operation work of PDA machine control radar sensor, the spatial relation data of gathering pipe flange I to be measured and flange II are automatically collected, and automatic manipulate measurement data, calculate relative tertiary location;
(6) measurement data of PDA machine is imported PC computer after terminating by measurement, and become gathering pipe to process drawing 19 Measurement and Data Processing by data processing software, this drawing exports with PDF, directly prints or preserves, as shown in Figure 2.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. the spherical radargrammetry coordinate machine for gathering pipe, it is characterized in that: comprise the first flange, second flange, radar sensor and mainboard processor, the sealing surface of described first flange and the second flange, inward flange, in outward flange and bolt hole, each at least 3 places are provided with induction of signal sheet, radar sensor is arranged on the top of cabinet, mainboard processor is positioned at cabinet, mainboard processor is connected with industrial PDA machine by data line, levelling device is provided with bottom cabinet, radar sensor passes through transponder pulse carrier wave to induction of signal sheet, induction of signal sheet by signal reflex in radar sensor, calculate the position of induction of signal sheet.
2. the spherical radargrammetry coordinate machine for gathering pipe according to claim 1, it is characterized in that: described levelling device comprises horizontal and vertical chi and support foot rest adjusting knob, described horizontal and vertical chi is positioned at the side of cabinet, be provided with support foot rest bottom described cabinet, support foot rest adjusting knob is arranged on support foot rest.
3. the spherical radargrammetry coordinate machine for gathering pipe according to claim 1, it is characterized in that: described radar sensor is one-piece construction, comprise transmitter, emitting antenna, receiver, accept antenna and jamproof system equipment, utilize the pulse carrier of frequency 40 ~ 60GHz to measure gathering pipe coordinate position.
4. the measuring method of the spherical radargrammetry coordinate machine for gathering pipe as described in any one of claims 1 to 3, it is characterized in that, its principle of work and cartesian coordinate system principle of utilizing radar Doppler of measuring, utilize three-dimensional coordinate, respectively by initial point, deflection, the elevation angle, distance is formed, P (x, y, z) in space a bit, then P point utilizes r, Φ, θ determines successively, wherein r is the distance that initial point O and some P are shown in, Φ is the angle forwarding directed line segment from positive z-axis from x-axis by counter clockwise direction to, θ is for directed line segment is in the angle folded by z-axis forward, be 0 point with radar signal point, with the central shaft of vertical position vertically upward of equipment for z-axis positive dirction, with battery main switch direction for x-axis positive dirction, according to right-hand rule, then obtain the direction of y-axis, comprise the following steps:
(1) be installed on by cabinet on on-the-spot suitable smooth position, fine setting support foot rest adjusting knob, is as the criterion with horizontal and vertical chi, keeps cabinet horizontal and vertical;
(2) by data line, cabinet is connected with industrial PDA machine;
(3) induction of signal sheet is affixed on respectively each at least 3 places of the sealing surface of the first flange and the second flange, inward flange, outward flange and bolt hole;
(4) power-on master switch and PDA machine, regulates and determines coordinate at zero point;
(5) by the operation work of PDA machine control radar sensor, the spatial relation data of gathering pipe first flange to be measured and the second flange are automatically collected, and automatic manipulate measurement data, calculate relative tertiary location;
(6) measurement data of PDA machine is imported PC computer after terminating by measurement, and become gathering pipe to process drawing Measurement and Data Processing by data processing software, this drawing exports with PDF, directly prints or preserves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510674106.4A CN105223569A (en) | 2015-10-16 | 2015-10-16 | A kind of spherical radargrammetry coordinate machine for gathering pipe and measuring method |
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| CN201510674106.4A CN105223569A (en) | 2015-10-16 | 2015-10-16 | A kind of spherical radargrammetry coordinate machine for gathering pipe and measuring method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767579A (en) * | 2016-12-22 | 2017-05-31 | 江苏阳明船舶装备制造技术有限公司 | It is a kind of that cell measurement apparatus and measuring method are closed up based on ultrasonic measuring distance technology |
| CN109458927A (en) * | 2018-10-18 | 2019-03-12 | 上海船舶工艺研究所(中国船舶工业集团公司第十研究所) | A method of showing the measurement of school pipe for ship |
| CN110429369A (en) * | 2019-09-11 | 2019-11-08 | 成都菲斯洛克电子技术有限公司 | A kind of air-cooled spherical array antenna |
| CN110690546A (en) * | 2019-10-18 | 2020-01-14 | 成都菲斯洛克电子技术有限公司 | Spliced spherical array antenna |
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| KR101039354B1 (en) * | 2009-01-29 | 2011-06-08 | 한국표준과학연구원 | rotatable pipe connector |
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| CN102506646A (en) * | 2011-10-23 | 2012-06-20 | 江苏阳明船舶装备制造技术有限公司 | Field rapid measurement method of closed pipe |
| CN205067738U (en) * | 2015-10-16 | 2016-03-02 | 江苏阳明船舶装备制造技术有限公司 | A it is quick -witted that coordinate is measured to spherical radar for closing up pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE20107321U1 (en) * | 2001-04-27 | 2002-09-05 | Roehrig Werner | line arrangement |
| KR101039354B1 (en) * | 2009-01-29 | 2011-06-08 | 한국표준과학연구원 | rotatable pipe connector |
| CN102435118A (en) * | 2011-09-06 | 2012-05-02 | 江苏阳明船舶装备制造技术有限公司 | Device for measuring fold pipes in piping system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767579A (en) * | 2016-12-22 | 2017-05-31 | 江苏阳明船舶装备制造技术有限公司 | It is a kind of that cell measurement apparatus and measuring method are closed up based on ultrasonic measuring distance technology |
| CN109458927A (en) * | 2018-10-18 | 2019-03-12 | 上海船舶工艺研究所(中国船舶工业集团公司第十研究所) | A method of showing the measurement of school pipe for ship |
| CN110429369A (en) * | 2019-09-11 | 2019-11-08 | 成都菲斯洛克电子技术有限公司 | A kind of air-cooled spherical array antenna |
| CN110429369B (en) * | 2019-09-11 | 2024-05-28 | 成都菲斯洛克电子技术有限公司 | Air-cooled spherical array antenna |
| CN110690546A (en) * | 2019-10-18 | 2020-01-14 | 成都菲斯洛克电子技术有限公司 | Spliced spherical array antenna |
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Application publication date: 20160106 |