CN106657764A - Car-mounted adjustment platform used for tunnel image acquisition and the implementation method thereof - Google Patents
Car-mounted adjustment platform used for tunnel image acquisition and the implementation method thereof Download PDFInfo
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- CN106657764A CN106657764A CN201610898886.5A CN201610898886A CN106657764A CN 106657764 A CN106657764 A CN 106657764A CN 201610898886 A CN201610898886 A CN 201610898886A CN 106657764 A CN106657764 A CN 106657764A
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- vehicular
- posture adjustment
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
Abstract
The invention relates to a car-mounted adjustment platform used for tunnel image acquisition and the implementation method thereof. The platform comprises an installation platform, motion branches, a base and a rotary driver. There are three motion branches, two of which are in the form of an SPR structure and the rest in the form of a PRS structure. The motion branches are connected with the base; the base is connected with a vehicle luggage carrier through a rotary platform. The rotary platform is capable of rotating under the drive of a stepper motor. Compared with the prior art, the invention possesses the ability to move along the longitudinal direction of the tunnel so that what is between a digital camera and the tunnel lining surface stays within the depth-of-field of the camera and that the vertical height of the digital camera could be adjusted in real time. In addition, the application of parallel robots in the field of highway tunnel image acquisition prevents the influence of vehicle trajectory deviation on the image acquisition equipment. At the same time, the spatial position of the digital camera can be adjusted according to the tunnel structure size, therefore, solving a plurality of difficult technical problems of an existing image acquisition system used in road tunnels.
Description
Technical field
The invention belongs to highway detection technique field, it particularly relates to arrive a kind of for the vehicle-mounted of tunnel IMAQ
Formula adjusts platform and its implementation.
Background technology
Freeway tunnel can produce crack due to reasons such as geological disaster, the operation time limits, seriously threaten highway
Operation security.At present tunnel slot detection means and equipment also fall behind relatively, often using artificial or artificial instrument by height
The mode of idle job car is completing Detection task.It is this based on manual detection method efficiency is low, subjective degree big, particularly China
At present newly-built a collection of super long tunnel, by manually more cannot in a short time completing Detection task.
The core and key of machine vision technique is how high-quality collection image, and this requires that measured object is in all the time
In camera field depth.In order to ensure higher crack identification precision, the digital camera that resolution ratio need to be selected higher, this also causes
The depth of field is less, and the distance of strict guarantee camera and lining cutting surface is wanted in gatherer process.But during detection overall height speed traveling
Affected inevitably Vehicular vibration, course deviation by vehicle flowrate, pavement behavior and driver's subjective consciousness etc., reduced
Collected by camera effect, makes the picture quality of collection relatively low, has a strong impact on crack identification precision and the degree of accuracy.Meanwhile, vcehicular tunnel
Complex structure, different tunnel structure sizes have bigger difference, thus every time before detection tunnel, it is necessary to according to Tunnel Design drawing
Camera installation site and focal length are adjusted.On the one hand the intelligence degree of system is reduced, on the other hand, vehicle jolts shadow
The focus control of digital camera is rung, disturbance is produced to IMAQ.In sum, prior art condition limits machine vision skill
Application of the art in vcehicular tunnel Intelligent Measurement, its basic reason is to lack a set of image stabilization harvester, causes collection
The picture quality for arriving is poor, affects successive image to process and feature recognition.
The content of the invention
To solve above-mentioned technical problem, easy to operate, good stability adopt for tunnel image the invention provides a kind of
The vehicular of collection adjusts platform and its implementation.
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, and the vehicular adjusts platform bag
Include mounting platform, motion branch, pedestal, revolution driving and control system；The mounting platform is installed by camera prop up from top to bottom
Frame 1, gripper shoe 2, sub-truss 3 and posture adjustment platform 4 are constituted；The fixing end of the sub-truss 3 is installed in the middle of posture adjustment platform 4
At position, its telescopic end is installed on the bottom of gripper shoe 2；The motion branch has three, and two of which is SPR versions,
Including the upper rotation pair 5, branch's moving sets, servo electric jar 7 and the lower ball pivot 9 that are sequentially connected, another is RPS versions,
Including the upper ball pivot 6, branch's moving sets, servo electric jar 7 being sequentially connected and lower rotation secondary 10；Branch's moving sets are in servo
The lower stretching motion produced along the axis direction of servo electric jar 7 of the effect of electric cylinder 7；The servomotor 8 connects and drives servo
Electric cylinder 7；The upper rotation secondary 5 and upper ball pivot 6 are connected with posture adjustment platform 4；The lower ball pivot 9 and lower rotation secondary 10 and pedestal 11
Connection；The pedestal 11 is connected by revolving dial 13 with baggage carrier of vehicle 14；The revolving dial 13 drives in stepper motor 12
Can be around 0～360 ° of arbitrarily rotation of its vertical axis under action；The revolving dial 13 realizes 0～360 ° by worm gear structure
Freely rotate；The control system includes three-dimensional accelerometer, gyroscope, three-dimensional laser scanner, the number being connected with controller
According to capture card, multi-axis motion control card, servo-driver and encoder；The encoder connection servo electric jar 7 and servo electricity
Machine 8；The data collecting card connection three-dimensional accelerometer, gyroscope and three-dimensional laser scanner；The multi-axis motion control card
Connect each servomotor 8.
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, the kinematic pair of the motion branch
Central point respectively constitutes two equilateral triangles；Three groups of turns auxiliary shaft lines of the motion branch are parallel to each other；The posture adjustment platform 4
For aviation aluminum alloy material.
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, described upper to rotate secondary 5 and lower turn
Dynamic secondary 10 include multidiameter, bearing and end cap；The upper ball pivot 6 and lower ball pivot 9 are orthogonal by axis and intersect at one
Three of point rotate secondary compound composition.
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, and the profile of posture adjustment platform 4 is
Circular or rectangle, thickness is 0.1～0.2m, and upper surface is provided with threaded mounting hole, lower surface arrangement kinematic pair free bearing, and its is external
Circular diameter is 1.5～3.0m；The pedestal 11 is generally circular in shape or rectangle, and thickness is 0.1～0.2m, and upper surface is disposed with motion
Secondary free bearing, lower surface are provided with through hole, and its corresponding circumscribed circle diameter is 2 times of the circumscribed circle diameter of posture adjustment platform 4.
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, and the vehicular is adjusted at platform
When initial pose, the distance between posture adjustment platform 4 and pedestal 11 are 1.5m.
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, the energy of camera mounting bracket 1
Three groups of digital cameras are installed simultaneously, two adjacent groups camera axis angle is 60 °
A kind of vehicular for tunnel IMAQ of the present invention adjusts platform, and the sub-truss 3 is flexible
Bar version, adjustment height is 0.5～1.5m.
Vehicular for tunnel IMAQ of the present invention adjusts the implementation of platform, the implementation tool
Body step is：
A) three-dimensional vehicle linear acceleration and magnitude of angular velocity are obtained first with three-dimensional accelerometer and gyroscope, by rigid body
Motion transform formula and linear interpolation method set up the sextuple disturbance pose of vehicle and the function expression between the time；
B) tunnel internal dimensional parameters are obtained using laser 3 d scanner, by camera coordinates and directions, is converted
To in camera coordinates system；
C) vehicle disturbance parameter and tunnel structure parameter that the sensor is obtained are combined, calculates what digital camera need to be adjusted
Amount of exercise；
D) amount of exercise will be adjusted using Kinematics of Parallel Robot model and be mapped as moving the branch amount of being actively entered, and by its
Be converted to servo electric jar displacement changing value；
E) above-mentioned result of calculation is carried out by multi-axis motion control card generating output signal after reasonability judgement, by watching
Take servo electric jar operation described in driver control.
Vehicular for tunnel IMAQ of the present invention adjusts the implementation of platform, in the step d),
It is by the algorithm that regulation amount of exercise is converted to the motion branch amount of being actively entered：Posture adjustment platform, pedestal each point are made in respective coordinate system
In description be respectivelyThe adjustment amount that digital camera needs is (α y z)T, corresponding module and carriage transformation matrix is：
The each hinge point of posture adjustment platform being described as in { o } system：
In formula：Respectively hinge pointHomogeneous coordinates；
Convolution (1), (2) and multiaxis adjust platform physical dimension, and the pose solution model of set up mechanism is：
In formula：qiRespectively each motion branch drives displacement；
To digital camera adjustment amount distinguish seeking time one, second dervative, set up posture adjustment platform space 6 DOF speed, accelerate
Degree expression formula is respectively：
By parallel robot correlation theory, set up posture adjustment platform speed, acceleration mapping relations and be respectively：
In formula：G, H are respectively the one of mechanism, the second order influence coefficient；The actuating speed of respectively each motion branch
And acceleration.
Vehicular for tunnel IMAQ of the present invention adjusts the implementation of platform, in the step e),
Reasonability judges to be specially：
A) using the currently practical displacement of encoder detection servo electric jar, and posture adjustment is calculated by theory of mechanisms normal solution model
Platform attained pose parameter；
B) the distance between the currently practical pose and vehicle movement amount, digital camera and tunnel inner wall are made comparisons,
Calculate the amount of exercise for needing to compensate in the current servo cycle；
C it is) that the compensation rate is displacement superposed with next section of operation, calculate in next servo period each servo electric jar and
The amount of exercise of servomotor；
D) output signal is generated by controller, and controls the servo electric jar and servomotor operation.
Vacillate now to the left, now to the right during current detection car traveling, cause the distance between camera and lining cutting inwall to become
Change, and digital camera is larger from the tunnel structure size difference in larger distance, different of tunnel top.Compared with prior art,
Vehicular for tunnel IMAQ of the present invention adjusts platform and possesses the ability vertically moved along tunnel, can make numeral
Remain between camera and tunnel-liner surface in camera field depth；Can the vertical height of real-time adjustment digital camera.Separately
Outward, parallel robot is applied in vcehicular tunnel IMAQ field, it is to avoid track of vehicle deviates to figure in gatherer process
As the impact of collecting device, while can be realized adjusting the locus of digital camera according to tunnel structure size, solve existing
Many technical barrier of the image capturing system in vcehicular tunnel application.
Description of the drawings
Fig. 1 is that vehicular adjusts platform graphics；Fig. 2 is mounting platform graphics；Fig. 3 is the signal of motion branched structure
Figure；Fig. 4 is posture adjustment platform hinge point distribution schematic diagram；Fig. 5 is base hinge point distribution schematic diagram.Camera mounting bracket -1,
Fagging -2, sub-truss -3, posture adjustment platform -4, upper rotation pair -5, upper ball pivot -6, servo electric jar -7, servomotor -8, lower ball
Hinge -9, lower rotation pair -10, pedestal -11, stepper motor -12, revolving dial -13, baggage carrier of vehicle -14.
Specific embodiment
With reference to specific embodiment the vehicular for tunnel IMAQ of the present invention is adjusted platform and
Its implementation is described further, but protection scope of the present invention is not limited to this.
Embodiment 1
Fig. 1 is the vehicular regulation platform three-dimensional modeling for vcehicular tunnel IMAQ.Vehicular adjusts platform and uses
When three-dimensional modeling, including mounting platform, motion branch, pedestal 11, revolution driving 13 and control system.The control system bag
Include be connected with controller three-dimensional accelerometer, gyroscope, three-dimensional laser scanner, data collecting card, multi-axis motion control card,
Servo-driver and encoder；The encoder connection servo electric jar 7 and servomotor 8；The data collecting card connection three
To accelerometer, gyroscope and three-dimensional laser scanner；The multi-axis motion control card connects each servomotor 8.Three-dimensional accelerates
Degree meter, gyroscope are mainly used in obtaining the vibration parameters in vehicle operation；Three-dimensional laser scanner can obtain tunnel cross-section
Size；Encoder is used to obtain servo electric jar and motor real time kinematics amount；Data collecting card can each sensor number of Real-time Collection
Value；Multi-axis motion control card can be used for each servomotor operation of Synchronization Control.
Fig. 2 is mounting platform three-dimensional modeling, by camera mounting bracket 1, gripper shoe 2, sub-truss 3 and the structure of posture adjustment platform 4
Into.Camera mounting bracket 1 be used for install three groups of digital cameras, its physical dimension be 0.045m × 0.045m × 0.15m, adjacent two
Angle between group camera is 60 °；Posture adjustment platform 4 is aviation aluminum alloy material, and its circumscribed circle diameter is 0.700m, thickness is
0.012m；The fixing end of sub-truss 3 is installed on the middle position of posture adjustment platform 4, telescopic end and is installed on the bottom of gripper shoe 2, adjustable
Whole vertical height scope is 0.5～1.5m.
Fig. 3 is motion branched structure, and the 1st, 3 motion branched structure forms are SPR, the 2nd motion branched structure form is
RPS, is rotated secondary 5 or upper ball pivots 6 and is connected with posture adjustment platform 4 by upper, and correspondence hinge point is arranged as shown in figure 4, a in figure1～a3For
Hinge centres point, each hinge point constitutes an equilateral triangle, and corresponding circumscribed circle diameter is 1m；By lower ball pivot 9 or lower rotation
Secondary 10 are connected with pedestal 11, and correspondence hinge point is arranged as shown in figure 5, b in figure1～b3For hinge centres point, each hinge point composition one
Individual equilateral triangle, corresponding circumscribed circle diameter is 1.2m.Each turns auxiliary shaft line is parallel to each other, and branch's moving sets are by servo electricity
Dynamic cylinder 7 and servomotor 8 realize that it is 1.2m to choose model SGM7J-02AFC6S of servo electric jar 7, total kilometres；Servomotor
8 rated power are 200W, rated speed is 3000r/min, nominal torque is 0.64Nm；Supporting encoder acquisition precision is
131072pulses/rev。
Pedestal 11 is connected by revolving dial 13 with baggage carrier of vehicle 14, under the driving effect of stepper motor 12, realizes adjusting
Section platform is around 0～360 ° of arbitrarily rotation of vertical axis.Choosing model SE9-61-H-25R of revolving dial 13, bearing capacity is
260Kg, model SM3-960 of supporting stepper motor 12, rated speed are 3000r/min, nominal torque is 6Nm.Choose and adjust
The distance between appearance platform 4 and pedestal 11 for 1mm when position be the working position that adjusts platform.
Vehicular for tunnel IMAQ adjusts the implementation of platform, and the implementation is concretely comprised the following steps：
A) three-dimensional vehicle linear acceleration and magnitude of angular velocity are obtained first with three-dimensional accelerometer and gyroscope, by rigid body
Motion transform formula and linear interpolation method set up the sextuple disturbance pose of vehicle and the function expression between the time；
B) tunnel internal dimensional parameters are obtained using laser 3 d scanner, by camera coordinates and directions, is converted
To in camera coordinates system；
C) vehicle disturbance parameter and tunnel structure parameter that the sensor is obtained are combined, calculates what digital camera need to be adjusted
Amount of exercise；
D) amount of exercise will be adjusted using Kinematics of Parallel Robot model and be mapped as moving the branch amount of being actively entered, and by its
Be converted to servo electric jar displacement changing value；
E) above-mentioned result of calculation is carried out by multi-axis motion control card generating output signal after reasonability judgement, by watching
Take servo electric jar operation described in driver control.
Vehicular for tunnel IMAQ adjusts the implementation of platform, in the step d), will adjust amount of exercise
The algorithm for being converted to the motion branch amount of being actively entered is：Make the description difference of posture adjustment platform, pedestal each point in respective coordinate system
ForThe adjustment amount that digital camera needs is (α y z)T, corresponding module and carriage transformation matrix is：
The each hinge point of posture adjustment platform being described as in { o } system：
In formula：Respectively hinge pointHomogeneous coordinates；
Convolution (1), (2) and multiaxis adjust platform physical dimension, and the pose solution model of set up mechanism is：
In formula：qiRespectively each motion branch drives displacement；
To digital camera adjustment amount distinguish seeking time one, second dervative, set up posture adjustment platform space 6 DOF speed, accelerate
Degree expression formula is respectively：
By parallel robot correlation theory, set up posture adjustment platform speed, acceleration mapping relations and be respectively：
In formula：G, H are respectively the one of mechanism, the second order influence coefficient；The actuating speed of respectively each motion branch
And acceleration.
Vehicular for tunnel IMAQ adjusts the implementation of platform, and in the step e), reasonability judges tool
Body is：
A) using the currently practical displacement of encoder detection servo electric jar, and posture adjustment is calculated by theory of mechanisms normal solution model
Platform attained pose parameter；
B) the distance between the currently practical pose and vehicle movement amount, digital camera and tunnel inner wall are made comparisons,
Calculate the amount of exercise for needing to compensate in the current servo cycle；
C it is) that the compensation rate is displacement superposed with next section of operation, calculate in next servo period each servo electric jar and
The amount of exercise of motor；
D) output signal is generated by controller, and controls the servo electric jar and motor operation.
Vacillate now to the left, now to the right during current detection car traveling, cause the distance between camera and lining cutting inwall to become
Change, and digital camera is larger from the tunnel structure size difference in larger distance, different of tunnel top.Compared with prior art,
Vehicular for tunnel IMAQ of the present invention adjusts platform and possesses the ability vertically moved along tunnel, can make numeral
Remain between camera and tunnel-liner surface in camera field depth；Can the vertical height of real-time adjustment digital camera.Separately
Outward, parallel robot is applied in vcehicular tunnel IMAQ field, it is to avoid track of vehicle deviates to figure in gatherer process
As the impact of collecting device, while can be realized adjusting the locus of digital camera according to tunnel structure size, solve existing
Many technical barrier of the image capturing system in vcehicular tunnel application.
Claims (10)
1. a kind of vehicular for tunnel IMAQ adjusts platform, it is characterised in that the vehicular adjusts platform to be included
Mounting platform, motion branch, pedestal and revolution driving；The mounting platform is from top to bottom by camera mounting bracket (1), gripper shoe
(2), sub-truss (3) and posture adjustment platform (4) are constituted；Sub-truss (3) fixing end is installed on posture adjustment platform (4) interposition
Place is put, its telescopic end is installed on gripper shoe (2) bottom；The motion branch has three, and two of which is SPR versions,
Including upper rotation pair (5), branch's moving sets, servo electric jar (7) and the lower ball pivot (9) that are sequentially connected, another is RPS structures
Form, it is secondary (10) including the upper ball pivot (6), branch's moving sets, servo electric jar (7) being sequentially connected and lower rotation；The servo
Motor (8) connects and drives servo electric jar (7)；The upper rotation secondary (5) and upper ball pivot (6) are connected with posture adjustment platform (4)；Institute
State lower ball pivot (9) and the lower pair (10) that rotates is connected with pedestal (11)；The pedestal (11) is by revolving dial (13) and vehicle row
Lee's frame (14) connects；The revolving dial (13) can appoint under stepper motor (12) driving effect around 0～360 ° of its vertical axis
Meaning rotation；The revolving dial (13) realizes that 0～360 ° freely rotates by worm gear structure；The control system includes and control
The three-dimensional accelerometer of device connection processed, gyroscope, three-dimensional laser scanner, data collecting card, multi-axis motion control card, servo are driven
Dynamic device and encoder；Encoder connection servo electric jar (7) and servomotor (8)；The data collecting card connects three-dimensional
Accelerometer, gyroscope and three-dimensional laser scanner；The multi-axis motion control card connects each servomotor (8).
2. a kind of vehicular for tunnel IMAQ according to claim 1 adjusts platform, it is characterised in that described
The kinematic pair central point of motion branch respectively constitutes two equilateral triangles；Three groups of turns auxiliary shaft lines of the motion branch are mutually equal
OK；The posture adjustment platform (4) is aviation aluminum alloy material.
3. a kind of vehicular for tunnel IMAQ according to claim 1 adjusts platform, it is characterised in that described
Upper secondary (5) and the lower pair (10) that rotates of rotating include multidiameter, bearing and end cap；The upper ball pivot (6) and lower ball pivot (9) by
Axis it is orthogonal and intersect at a point three rotate secondary compound constitute.
4. a kind of vehicular for tunnel IMAQ according to claim 1 adjusts platform, it is characterised in that described
Posture adjustment platform (4) profile is circular or rectangle, and thickness is 0.1～0.2m, and upper surface is provided with threaded mounting hole, lower surface arrangement to be had
Kinematic pair free bearing, its circumscribed circle diameter is 1.5～3.0m；The pedestal (11) is generally circular in shape or rectangle, and thickness is 0.1～
0.2m, upper surface is disposed with kinematic pair free bearing, lower surface and is provided with through hole, its corresponding circumscribed circle diameter be posture adjustment platform (4) outward
Connect 2 times of circular diameter.
5. a kind of vehicular for tunnel IMAQ according to claim 1 adjusts platform, it is characterised in that described
When vehicular regulation platform is in initial pose, the distance between posture adjustment platform (4) and pedestal (11) are 1.5m.
6. a kind of vehicular for tunnel IMAQ according to claim 1 adjusts platform, it is characterised in that described
Camera mounting bracket (1) can simultaneously install three groups of digital cameras, and two adjacent groups camera axis angle is 60 °
7. a kind of vehicular for tunnel IMAQ according to claim 1 adjusts platform, it is characterised in that described
Sub-truss (3) is Telescopic rod structure form, and adjustment height is 0.5～1.5m.
8. a kind of vehicular for being used for tunnel IMAQ as claimed in claim 1 adjusts the implementation of platform, its feature
It is that the implementation is concretely comprised the following steps：
A) three-dimensional vehicle linear acceleration and magnitude of angular velocity are obtained first with three-dimensional accelerometer and gyroscope, by rigid motion
Transformation for mula and linear interpolation method set up the sextuple disturbance pose of vehicle and the function expression between the time；
B) tunnel internal dimensional parameters are obtained using laser 3 d scanner, by camera coordinates and directions, is transformed to phase
In machine coordinate system；
C) vehicle disturbance parameter and tunnel structure parameter that the sensor is obtained are combined, the motion that digital camera need to be adjusted is calculated
Amount；
D) amount of exercise will be adjusted using Kinematics of Parallel Robot model to be mapped as moving branch's amount of being actively entered, and is converted
For servo electric jar displacement changing value；
E) above-mentioned result of calculation is carried out by multi-axis motion control card generating output signal after reasonability judgement, is driven by servo
Dynamic device controls the servo electric jar operation.
9. the vehicular for tunnel IMAQ according to claim 8 adjusts the implementation of platform, and its feature exists
In in the step d), being by the algorithm for adjusting amount of exercise and being converted to the motion branch amount of being actively entered：Make posture adjustment platform, pedestal
Description of each point in respective coordinate system is respectivelyThe adjustment amount that digital camera needs is (α y z)T, corresponding position
Appearance transformation matrix is：
The each hinge point of posture adjustment platform being described as in { o } system：
In formula：Respectively hinge pointHomogeneous coordinates；
Convolution (1), (2) and multiaxis adjust platform physical dimension, and the pose solution model of set up mechanism is：
In formula：qiRespectively each motion branch drives displacement；
To digital camera adjustment amount distinguish seeking time one, second dervative, set up posture adjustment platform space 6 DOF speed, accelerometer
It is respectively up to formula：
By parallel robot correlation theory, set up posture adjustment platform speed, acceleration mapping relations and be respectively：
In formula：G, H are respectively the one of mechanism, the second order influence coefficient；The actuating speed of respectively each motion branch and acceleration
Degree.
10. the vehicular for tunnel IMAQ according to claim 8 adjusts the implementation of platform, and its feature exists
In in the step e), reasonability judges to be specially：
A) using the currently practical displacement of encoder detection servo electric jar, and posture adjustment platform is calculated by theory of mechanisms normal solution model
Attained pose parameter；
B) the distance between the currently practical pose and vehicle movement amount, digital camera and tunnel inner wall are made comparisons, is calculated
The amount of exercise for compensating is needed in the current servo cycle；
C it is) that the compensation rate is displacement superposed with next section of operation, calculate each servo electric jar and motor in next servo period
Amount of exercise；
D) output signal is generated by controller, and controls the servo electric jar and motor operation.
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| CN110242317A (en) * | 2019-06-25 | 2019-09-17 | 中铁一局集团有限公司 | A kind of shield tunnel transverse precision control method |
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| CN112361981A (en) * | 2020-10-09 | 2021-02-12 | 河海大学 | Multifunctional integrated tunnel three-dimensional laser scanning platform |
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