CN106199507A - Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system - Google Patents
Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system Download PDFInfo
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- CN106199507A CN106199507A CN201610424486.0A CN201610424486A CN106199507A CN 106199507 A CN106199507 A CN 106199507A CN 201610424486 A CN201610424486 A CN 201610424486A CN 106199507 A CN106199507 A CN 106199507A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system, and this measurement system is become 9 groups of diastimeters by 3 frequency modulation Electromagnetic Continuous ripple transmitting terminals and 3 frequency modulation Electromagnetic Continuous ripple receiving terminal configurations.3 electromagnetic radiation ends are fixedly mounted on a rigid body, 3 electromagnetic wave receiving terminals are then fixedly mounted on another rigid body, by measuring the distance obtaining each receiving terminal with each transmitting terminal in real time, thus obtain each receiving terminal space three-dimensional position coordinate in transmitting terminal coordinate system, and then obtain the spatial pose information relative to rigid body belonging to transmitting terminal of the rigid body belonging to receiving terminal.Signal amplitude of the present invention is strong, it is low to decay, signal to noise ratio is high, instrument cost is low, due to electromagenetic wave radiation amplitude broad, this measurement system need not the alignment procedures as laser, mounting and adjusting is very convenient, do not affected by smog dust, dependable performance, extremely suitable need measure space of components posture information all kinds of electromechanical automatic control systems used.
Description
Technical field
The present invention relates to a kind of utilize frequency modulation Electromagnetic Continuous ripple that Rigid Body In Space position and attitude are carried out high-acruracy survey
Instrument system, belongs to Mechanical Manufacture and Automation field, is particularly applied to the measurement of machinery position and attitude.
Background technology
Along with economic globalization and the universalness of information network, the competition in the international market that manufacturing industry faces comes into
The perfervid stage.Manufacturing industry must by a high speed, efficiently, in high precision, intelligentized technological means and high-performance, high-quality
Product fast responding market, just can win competition.
Digit Control Machine Tool machining accuracy Lu Bang Control Sampled-Data technology is to improve the core technology of Digit Control Machine Tool machining accuracy, owing to adding
Work process can be affected by heat in metal cutting, power change and the factor such as ambient temperature, foundation deformation, Digit Control Machine Tool machining accuracy
Lu Bang Control Sampled-Data problem never makes a breakthrough, if the space bit of main shaft of numerical control machine tool cutter can directly be measured
Put and attitude, it is possible to by the full closed loop control approach of cutter path, solve the Lu Bang Control Sampled-Data of Digit Control Machine Tool machining accuracy
Problem.Additionally, in the research work that NC Machine Error compensates, one of which important content is NC Machine Error source dates
Identification, this identification technique to be front can accurately measure the position of Digit Control Machine Tool moving component and attitude information equally
Carry.
Rigid Body In Space is total summary of rigid element any to space, hands measured directly to Rigid Body In Space position and attitude
Section and method, either for Digit Control Machine Tool machining accuracy Lu Bang Control Sampled-Data, NC Machine Error compensation technique still to space
Storehouse space articulation etc. is all highly important technology premise.In the past, people measured Digit Control Machine Tool fortune by two-frequency laser interferometer
The displacement of dynamic component, this measuring method needs in the whole stroke of Digit Control Machine Tool moving component, builds one and swashs accurately
Photo measure reflected light path, this light path builds the needs substantial amounts of debugging time.Particularly at two moving components of Digit Control Machine Tool
In coordinated testing, need to build the Laser emission light path comprising refracting telescope, the extremely difficult adjustment of the most this light path, and due to
There is interference problem in refracting telescope and one of them linkage part, it is necessary to is split into two halves by measurement stroke, measures one by one.Additionally,
Current two-frequency laser interferometer once can only realize the measurement of a displacement yardstick of machine tool motion component, also cannot realize logarithm
Three-dimensional position and the attitude of control machine tool motion component are measured simultaneously.Therefore, research and develop that a kind of precision is high, easily operation, sky that efficiency is high
Between rigid body position and attitude direct measuring instrument system just become a kind of of people and thirst for and dream.
Summary of the invention
It is an object of the invention to solve mechanical part locus and attitude measurement problem real-time, direct, high-precision, propose
A kind of Rigid Body In Space direct measuring instrument system worked under one way Continuous Wave with frequency modulation system.
Rigid Body In Space position and attitude that the present invention proposes directly measure system, find range with high accuracy frequency modulation Electromagnetic Continuous ripple
Instrument is building block, by the space layout of diastimeter and measure configuration, uses geometry of space computational methods, real
Now to Rigid Body In Space position and the directly measurement of attitude data.
Fig. 1 is the Rigid Body In Space pose measurement implementation process figure that the present invention proposes.One way frequency modulation Electromagnetic Continuous ripple space is firm
Body position and attitude high precision measuring system include frequency modulation Electromagnetic Continuous ripple transmitting terminal group and frequency modulation Electromagnetic Continuous ripple receiving terminal group；
Frequency modulation Electromagnetic Continuous ripple transmitting terminal group includes that transmitting terminal 1, transmitting terminal 2, transmitting terminal 3, frequency modulation Electromagnetic Continuous ripple receiving terminal group include
Receiving terminal 1, receiving terminal 2, receiving terminal 3；Frequency modulation Electromagnetic Continuous ripple transmitting terminal group and frequency modulation Electromagnetic Continuous ripple receiving terminal group group successively
State constitutes this measurement system.In Fig. 1, three frequency modulation Electromagnetic Continuous ripple transmitting terminals are fixedly mounted in a coordinate system, three tune
Frequently during Electromagnetic Continuous ripple receiving terminal is fixedly mounted on another coordinate system being connected with rigid body.
In this measurement system, arbitrary transmitting terminal and arbitrary receiving terminal all can form a frequency modulation Electromagnetic Continuous ripple high precision position
Shift measurement instrument.Therefore 3 transmitting terminals and 3 receiving terminal configurations, can form nine groups of detector for displacement measuring altogether.Wherein, sent out by three
Penetrate three groups of detector for displacement measuring of end and a receiving terminal configuration, constitute the receiving terminal point position in space relative to transmitting terminal
Coordinate measuring apparatus.So obtaining three receiving terminals connected on the rigid body locus seat relative to transmitting terminal coordinate system successively
After mark, the most directly calculate locus and the attitude of rigid body.
Fig. 2 is the base that in the Rigid Body In Space position that proposes of the present invention and attitude directly measurement system, space position coordinate is measured
Present principles figure.
According to geometry principle, when recording the dynamic some distance relative to a fixing point in one, space by detector for displacement measuring
Amount r1Time, only can determine that the dynamic point in this space relative to fixed point in one with fixing point as the centre of sphere, radius is r1Sphere
In.When recording dynamic some distance measurements r relative to two fixing points in one, space successively1And r2Time, determine this space dynamic some phase
For the two fixed point on a space annulus track with the line between two fixing points as axis of rotation, at this moment depend on
So cannot determine that space is moved a little relative to the three dimensional space coordinate of fixing point.When recording the dynamic point in one, space successively relative to not existing
Distance measurements r of three fixing points on same straight line1、r2And r3Time, it becomes possible to accurately calculate the dynamic point in this space relative to
Two groups of three dimensional space coordinate values of these three fixing point, one of which puppet coordinate figure is in the reverse side of measured zone, can hold very much
Easy eliminating, thus can accurately record space and move some the three dimensional space coordinate relative to coordinate system residing for three fixing points
Value.After the three dimensional space coordinate value obtaining the dynamic point of three be connected on space motion rigid body successively, it is possible to calculate space
The position coordinates of rigid body and attitude coordinate, here it is the Rigid Body In Space position of present invention proposition and attitude directly measure system
Ultimate principle.
Below in conjunction with said apparatus, the present invention detailed process to Rigid Body In Space pose measurement is described:
If transmitting terminal 1, transmitting terminal 2, the transmitting terminal 3 coordinate in the coordinate system residing for transmitting terminal are followed successively by: (X1,Y1,
Z1)、(X2,Y2,Z2)、(X3,Y3,Z3), receiving terminal 1, receiving terminal 2, the receiving terminal 3 coordinate in the coordinate system residing for transmitting terminal depend on
Secondary it is: (x1, y1, z1)、(x2, y2, z2)、(x3, y3, z3)；Wherein, being calculated as follows of the spatial three-dimensional position coordinate of receiving terminal 1,
Illustrate that the present invention obtains the Computing Principle of space moving coordinates.
First pass through and transmitting terminal 1, transmitting terminal 2, transmitting terminal 3 are carried out configuration with receiving terminal 1, construct three displacement measurements
Instrument.Sending frequency modulation Electromagnetic Continuous ripple successively according to precedence transmitting terminal 1, transmitting terminal 2, transmitting terminal 3, receiving terminal 1 is first fortune
First receive and calculate the distance obtained between itself and transmitting terminal 1 in line period, then obtain its with transmitting terminal 2, transmitting terminal 3 it
Between distance.If these three distance measurements is followed successively by: (r1,r2,r3).So, receiving terminal 1 is just derived in launching coordinate system
It is as follows that coordinate expresses equation:
In above equation group, there are three equations and three unknown number (x1,y1,z1), solve above three by three equations
Unknown number, gets rid of x1For one group of solution of negative value, just obtain the receiving terminal 1 three-dimensional space position in transmitting terminal coordinate system and sit
Mark.In like manner, it is thus achieved that receiving terminal 2, the receiving terminal 3 three-dimensional space position coordinate in transmitting terminal coordinate system.Make receiving terminal 2 for space
The initial point of rigid body coordinate system, makes receiving terminal 2 represent the X-axis of rigid body coordinate system to the line of receiving terminal 3, makes receiving terminal 2 to receiving
The line of end 1 represents the Y-axis of rigid body coordinate system, by space vector computing, just can obtain Rigid Body In Space coordinate system relative to sending out
Penetrate position and the Eulerian angles information of end coordinate system.This completes Rigid Body In Space position and the perfect measurement of attitude and numerical value
Expression process.
Compared with prior art, the present invention is based on continuous frequency modulation electromagnetic wave high precision distance detector, several in conjunction with space
What learns principle and the configuration model of diastimeter, thus defines a kind of Rigid Body In Space position and attitude high precision measuring instrument system
System；It is capable of mechanical part locus and attitude measurement real-time, direct, high-precision by this system.
Accompanying drawing explanation
The Rigid Body In Space pose measurement implementation process figure that Fig. 1 present invention proposes.
The point position in space three-dimensional coordinate measurement implementation process figure that Fig. 2 present invention proposes.
In figure: 1, transmitting terminal 1,2, transmitting terminal 2,3, transmitting terminal 3,4, receiving terminal 1,5, receiving terminal 2,6, receiving terminal 3.
Detailed description of the invention
Implement figure according to Rigid Body In Space pose measurement described in Fig. 1, three electromagnetic wave launchers are arranged on Digit Control Machine Tool
The side of workbench, it is ensured that these three transmitting terminal can not be arranged on same straight line.Three electromagnetic receiving devices are installed
In the side of machine tool chief axis, guarantee that these three receiving terminal can not be arranged on same straight line simultaneously.
The cycle of operation of transmitting terminal is divided into three clock sections, and first clock section transmitting terminal 1 launches frequency modulation Electromagnetic Continuous
Ripple, second clock section transmitting terminal 2 launch frequency modulation Electromagnetic Continuous ripple, and the 3rd clock section transmitting terminal 3 launches frequency modulation Electromagnetic Continuous
Ripple, in each clock section, receiving terminal 1, receiving terminal 2, receiving terminal 3 receive the frequency modulation launched from same transmitting terminal simultaneously and connect
Continuous electromagnetic wave signal, and each calculate the distance between itself and current transmitting terminal.When each receiving terminal obtains itself and three successively
After distance between transmitting terminal, calculate the point position in space information in its each comfortable launching coordinate system immediately.Then, these spaces
Point position information unification is carried out calculation process by the data processor of receiving terminal 1, it is thus achieved that main shaft of numerical control machine tool cutter is sat at workbench
Spatial positional information in mark system and attitude information.
Rigid space position and attitude that the present invention proposes directly are measured system and are had low cost, not by smog, dust shadow
The feature rung, can be used for substituting existing Digit Control Machine Tool and relies on grating scale to obtain the working mechanism of machine tool position, support numerical control
System realizes the full closed loop control to cutting tool for CNC machine locus, and thoroughly eliminating machine tool guideway deformation, lathe bed deformation, heat become
The impact that numerical control machine finish is caused by shape etc., is remarkably improved the machining accuracy of Digit Control Machine Tool.
Meanwhile, the system that the present invention proposes, it may also be used for transport storehouse in the docking of space station and run relative position between storehouse
And the real-time measurement of attitude information, the closed loop contributing to achieving a butt joint controls in real time.
Claims (5)
1. rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system, it is characterised in that: this measurement system
Including frequency modulation Electromagnetic Continuous ripple transmitting terminal group and frequency modulation Electromagnetic Continuous ripple receiving terminal group；Frequency modulation Electromagnetic Continuous ripple transmitting terminal group includes
Transmitting terminal 1, transmitting terminal 2, transmitting terminal 3, frequency modulation Electromagnetic Continuous ripple receiving terminal group includes receiving terminal 1, receiving terminal 2, receiving terminal 3；Adjust
Frequently Electromagnetic Continuous ripple transmitting terminal group and frequency modulation Electromagnetic Continuous ripple receiving terminal group configuration successively constitute this measurement system；Three frequency modulation are even
Continuous electromagnetic radiation end is fixedly mounted in a coordinate system, and three frequency modulation Electromagnetic Continuous ripple receiving terminals are fixedly mounted on and rigid body
In another coordinate system being connected；
In this measurement system, arbitrary transmitting terminal and arbitrary receiving terminal all can form a frequency modulation Electromagnetic Continuous wave height Accuracy Displacement survey
Amount instrument；Therefore 3 transmitting terminals and 3 receiving terminal configurations, can form nine groups of detector for displacement measuring altogether；Wherein, by three transmitting terminals
With three groups of detector for displacement measuring of a receiving terminal configuration, constitute the receiving terminal point position in space coordinate relative to transmitting terminal
Measuring instrument；So obtaining three receiving terminals connected on the rigid body locus coordinate relative to transmitting terminal coordinate system successively
After, the most directly calculate locus and the attitude of rigid body.
Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple the most according to claim 1 directly measures system, its
It is characterised by:
According to geometry principle, when recording dynamic some distance measurements r relative to a fixing point in one, space by detector for displacement measuring1
Time, only can determine that the dynamic point in this space relative to fixed point in one with fixing point as the centre of sphere, radius is r1Sphere in；When
Record dynamic some distance measurements r relative to two fixing points in one, space successively1And r2Time, determine the dynamic point in this space relative to
The two fixed point on a space annulus track with the line between two fixing points as axis of rotation, the most still without
Method determines that space is moved a little relative to the three dimensional space coordinate of fixing point；When recording the dynamic point in one, space successively relative to not same
Distance measurements r of three fixing points on bar straight line1、r2And r3Time, it becomes possible to accurately calculate the dynamic point in this space relative to this three
Two groups of three dimensional space coordinate values of individual fixing point, one of which puppet coordinate figure is in the reverse side of measured zone, can be easily
Get rid of, thus can accurately record space and move some the three dimensional space coordinate value relative to coordinate system residing for three fixing points；?
After obtaining the three dimensional space coordinate value of the dynamic point of three be connected on space motion rigid body successively, it is possible to calculate Rigid Body In Space
Position coordinates and attitude coordinate, here it is the Rigid Body In Space position of present invention proposition and attitude directly measure the most former of system
Reason.
Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple the most according to claim 2 directly measures system, its
It is characterised by: as follows to the detailed process of Rigid Body In Space pose measurement,
If transmitting terminal 1, transmitting terminal 2, the transmitting terminal 3 coordinate in the coordinate system residing for transmitting terminal are followed successively by: (X1,Y1,Z1)、(X2,
Y2,Z2)、(X3,Y3,Z3), receiving terminal 1, receiving terminal 2, the receiving terminal 3 coordinate in the coordinate system residing for transmitting terminal are followed successively by:
(x1, y1, z1)、(x2, y2, z2)、(x3, y3, z3)；Wherein, being calculated as follows of the spatial three-dimensional position coordinate of receiving terminal 1:
First pass through and transmitting terminal 1, transmitting terminal 2, transmitting terminal 3 are carried out configuration with receiving terminal 1, construct three detector for displacement measuring；
Sending frequency modulation Electromagnetic Continuous ripple successively according to precedence transmitting terminal 1, transmitting terminal 2, transmitting terminal 3, receiving terminal 1 runs week at first
First receive and calculate the distance obtained between itself and transmitting terminal 1 in phase, then obtain between itself and transmitting terminal 2, transmitting terminal 3
Distance；If these three distance measurements is followed successively by: (r1,r2,r3)；So, the receiving terminal 1 coordinate in launching coordinate system is just derived
Expression equation is as follows:
(x1-X1)2+(y1-Y1)2+(z1-Z1)2=r1 2
In above equation group, there are three equations and three unknown number (x1, y1, z1), solve above three by three equations unknown
Number, gets rid of x1For one group of solution of negative value, just obtain the receiving terminal 1 three-dimensional space position coordinate in transmitting terminal coordinate system；With
Reason, it is thus achieved that receiving terminal 2, the receiving terminal 3 three-dimensional space position coordinate in transmitting terminal coordinate system；Make receiving terminal 2 for Rigid Body In Space
The initial point of coordinate system, makes receiving terminal 2 represent the X-axis of rigid body coordinate system to the line of receiving terminal 3, makes receiving terminal 2 to receiving terminal 1
Line represents the Y-axis of rigid body coordinate system, by space vector computing, just can obtain Rigid Body In Space coordinate system and sit up straight relative to transmitting
The position of mark system and Eulerian angles information；This completes Rigid Body In Space position and the perfect measurement of attitude and numerical expression mistake
Journey.
Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple the most according to claim 1 directly measures system, its
It is characterised by:
Three electromagnetic wave launchers are arranged on the side of numerically controlled machine, it is ensured that these three transmitting terminal can not be arranged on
On same straight line；Three electromagnetic receiving devices are arranged on the side of machine tool chief axis, guarantee these three receiving terminal not simultaneously
Can be arranged on same straight line；
The cycle of operation of transmitting terminal is divided into three clock sections, and first clock section transmitting terminal 1 launches frequency modulation Electromagnetic Continuous ripple, the
Two clock section transmitting terminals 2 launch frequency modulation Electromagnetic Continuous ripple, and the 3rd clock section transmitting terminal 3 launches frequency modulation Electromagnetic Continuous ripple,
In each clock section, receiving terminal 1, receiving terminal 2, that receiving terminal 3 receives the frequency modulation launched from same transmitting terminal simultaneously is the most electric
Magnetostatic wave signal, and each calculate the distance between itself and current transmitting terminal；When each receiving terminal obtains itself and three transmittings successively
After distance between end, calculate the point position in space information in its each comfortable launching coordinate system immediately；Then, these point position in spaces
Information unification is carried out calculation process by the data processor of receiving terminal 1, it is thus achieved that main shaft of numerical control machine tool cutter is in stage coordinates system
Interior spatial positional information and attitude information.
Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple the most according to claim 1 directly measures system, its
It is characterised by: it is real-time with run between storehouse relative to position and attitude information that native system can be used for transporting storehouse in the docking of space station
Measuring, the closed loop contributing to achieving a butt joint controls in real time.
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| CN201610424486.0A CN106199507A (en) | 2016-06-15 | 2016-06-15 | Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system |
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| CN201610424486.0A CN106199507A (en) | 2016-06-15 | 2016-06-15 | Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system |
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Citations (4)
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| US20050185195A1 (en) * | 2004-02-20 | 2005-08-25 | Fuji Xerox Co., Ltd. | Positional measurement system and lens for positional measurement |
| CN2790669Y (en) * | 2003-03-13 | 2006-06-28 | Jobs股份公司 | A device for checking the position of a spindle in a machine tool |
| CN104207801A (en) * | 2013-06-05 | 2014-12-17 | 上海工程技术大学 | Ultrasonic detection image three-dimensional calibration method |
| CN104251702A (en) * | 2014-09-18 | 2014-12-31 | 重庆大学 | Pedestrian navigation method based on relative pose measurement |
-
2016
- 2016-06-15 CN CN201610424486.0A patent/CN106199507A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2790669Y (en) * | 2003-03-13 | 2006-06-28 | Jobs股份公司 | A device for checking the position of a spindle in a machine tool |
| US20050185195A1 (en) * | 2004-02-20 | 2005-08-25 | Fuji Xerox Co., Ltd. | Positional measurement system and lens for positional measurement |
| CN104207801A (en) * | 2013-06-05 | 2014-12-17 | 上海工程技术大学 | Ultrasonic detection image three-dimensional calibration method |
| CN104251702A (en) * | 2014-09-18 | 2014-12-31 | 重庆大学 | Pedestrian navigation method based on relative pose measurement |
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Application publication date: 20161207 |
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