CN107063082A - Balance loading head pose detection device - Google Patents

Balance loading head pose detection device Download PDF

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CN107063082A
CN107063082A CN201610910346.4A CN201610910346A CN107063082A CN 107063082 A CN107063082 A CN 107063082A CN 201610910346 A CN201610910346 A CN 201610910346A CN 107063082 A CN107063082 A CN 107063082A
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position
balance
photodetector
head pose
detection
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CN201610910346.4A
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Chinese (zh)
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江孝国
李洪
杨兴林
王远
杨国君
龙全红
张小丁
李丁
李一丁
蒋薇
李伟峰
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中国工程物理研究院流体物理研究所
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Priority to CN201610910346.4A priority Critical patent/CN107063082A/en
Publication of CN107063082A publication Critical patent/CN107063082A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/20Image acquisition
    • G06K9/32Aligning or centering of the image pick-up or image-field
    • G06K9/3233Determination of region of interest
    • G06K9/3241Recognising objects as potential recognition candidates based on visual cues, e.g. shape
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62Methods or arrangements for recognition using electronic means
    • G06K9/6201Matching; Proximity measures
    • G06K9/6202Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20024Filtering details

Abstract

The invention discloses a balance loading head pose detection device, which comprises an indication light source and position detection structures, wherein the indication light source is arranged on the upper surface of a to-be-detected balance loading head; each position detection structure comprises an indication spot irradiation target surface, an optical imaging system and a position detector; indication spot irradiation target surface is provided with a center hole; the end surface of the position detector is provided with an opening; the center line of the opening coincides with the center line of the center hole; the position detector is fixed on the back surface of the indication spot irradiation target surface; and the optical imaging system is located in front of the front surface of the indication spot irradiation target surface. Large range change monitoring and high precision reset position pose detection can be carried out at the same time on the loading head pose, and large range and high precision measurement requirements for loading head pose detection can be met.

Description

一种天平加载头位姿检测装置 One kind of balance loading head pose detection device

技术领域 FIELD

[0001]本发明涉及风洞试验所用天平校正系统领域,具体地,涉及一种天平加载头位姿检测装置。 [0001] The present invention relates to a wind tunnel with the balance correction system field, particularly, to a head loading position and orientation of the balance detecting means.

背景技术 Background technique

[0002]力学天平是风洞实验中用来测量物体在风洞中受力情况及形变的一种重要测量仪器,在实验前一般需要对其进行校正以获得其输出信号与受力情况及形变间的关系,从而研究物体在风洞中的空气动力学特性。 [0002] The mechanical balance is used to measure the wind tunnel test object and the forces an important deformation measuring instrument, generally need to be corrected prior to the experiment in a wind tunnel to obtain an output signal with the forces and deformation the relationship between, so that the aerodynamic characteristics of the object in the study of the wind tunnel. 对天平进行校正有多种结构及系统形式,其中一种是复位校正系统。 Correcting the balance of a variety of structures and form systems, one of which is the reset correction system. 这种校正系统的特点是先将加载头置于一种平衡状态(或初始状态), 再在天平的受力装置上施加各种力来模仿物体可能的受力情况,并要求此时将天平的位置姿态以高精度的要求恢复到初始的平衡状态,则最终施加在天平上的各种力代表了受力的状态,并以此校正天平各种输出信号。 Features of this correction system is first placed in a state of equilibrium loading head (or initial state), and then applied to the various forces on the force balance means possible to simulate the forces an object, and the balance required at this time the position and orientation with high precision requirements restored to the original state of equilibrium, the various forces exerted on the ultimate balance represents the state of the force, and thus various output signals to adjust the balance. 在这个过程中,还要求不对加载头的复位工作产生额外影响,最好采用非接触方式。 In this process, also called the working head does not charge return generate additional impact, preferably in a non-contact manner. 在这个过程中,由于力的施加及复位过程是一个复杂的变化过程,而复位过程是一个动态的姿态测量、反馈控制过程,存在调节能力不足、控制失误等可能,这将导致天平的姿态发生变化甚至非常大的变化,并超出常规的测量范围,因此天平加载头的位置姿态如何在较大的范围内进行检测及达到较高的检测精度要求等成为一个重要的问题。 In this process, due to the application and the reset process is a complex process of change, and the reset process is a dynamic attitude measurement, feedback control process, there is a lack of regulation, control failures and other possible, which will cause the balance of the postures of the force change even very large changes, and beyond the normal measurement range, so the balance of the head loading position and orientation detection and how to achieve higher detection accuracy and the like in a wide range becomes an important issue.

[0003] 综上所述,本申请发明人在实现本申请发明技术方案的过程中,发现上述技术至少存在如下技术问题: 在现有技术中,现有的平加载头位姿检测装置,存在无法同时进行加载头位置姿态的大范围变化监测与复位位置姿态附近的高精密检测的技术问题。 [0003] In summary, the present inventors achieved the present application in process aspect of the invention, at least the following techniques found that the above technical problems: In the prior art, the conventional flat head loading position and orientation detecting device, the presence of It can not be loaded at the same time a wide range of changes in head position and orientation of technical problems and monitor the position and orientation of the reset nearby high-precision detection.

发明内容 SUMMARY

[0004] 本发明提供了一种天平加载头位姿检测装置,解决了现有的天平加载头位姿检测装置所存在无法同时进行加载头位置姿态的大范围变化监测与复位位置姿态附近的高精密检测的技术问题,实现了利用本申请中的天平装置加载头位置姿态的大范围变化监测与复位位置姿态附近的高精密检测可以同时进行,并满足了加载头位置姿态检测的大范围、 高精度测量要求。 [0004] The present invention offers smart balance loading head pose detection device, solves balance loading head pose detection device can not be present in a wide range of monitoring changes in the vicinity of the reset head loading position and orientation of the position and posture while problem sophisticated detection achieved using a large range of scale means loading head position and orientation of the present application to monitor changes in the reset position near the posture of the high-precision detection can be performed simultaneously, and satisfying a wide range of head position and orientation detection of the load, high measurement accuracy requirements.

[0005] 为解决上述技术问题,本申请提供了一种天平加载头位姿检测装置,所述装置包括: 指示光源、位置探测结构,所述指示光源安装在待检测天平加载头上表面,所述位置探测结构包括:指示光斑照射靶面、光学成像系统、位置探测器,所述指示光斑照射靶面开设有中心孔,所述位置探测器的端面设有开口,所述开口中心线与所述中心孔中心线重合, 所述位置探测器固定在所述指示光斑照射靶面的背面,所述光学成像系统位于所述指示光斑照射靶面的正面前方。 [0005] In order to solve the above problems, the present application provides a balance head loading position and orientation detecting device, the apparatus comprising: a light source indicated, the position detection mechanism, the light source is mounted to be indicative of the detection surface of the head loading balance, the said position detection structure comprising: a target surface irradiated spot indicates, the optical imaging system, position detector, the light spot irradiating the target surface indication defines a central bore, the end face of the position detector is provided with an opening and the center line said center hole coincides with the center line, the position detector fixed on the back surface of the spot indicates the irradiation target surface, the optical imaging system positioned in front of the front indicates the spot irradiating the target surface.

[0006] 其中,当安装在待检测天平加载头上的指示光源发出光后照射在指示光斑照射耙面上,当照射在指示光斑照射靶面的非中心孔区域时,光学成像系统利用光线在靶面上的反射光进行成像,通过对光斑图像的处理完成加载头位置姿态的大范围变化测量及监测; 当光线穿过中心孔时,则会直接在位置探测器上进行成像,由于探测器的高分辨力,从而'利用位置探测器可以实现对复位位置姿态进行高精密检测的要求。 [0006] wherein, when the balance in the head loading indication light source emits light to be detected after the irradiation spot indicating the irradiation rake face, as indicated at the non-irradiated region of the central hole of the spot irradiating the target surface, the use of light in the optical imaging system reflected light is imaged on the target surface, by the processing of the spot image has finished loading head position and posture of the wide variations in measurement and monitoring; when light passes through the central aperture will be imaged directly on the position detector, since the detector high resolution, so that 'the use of the position detector is reset can be achieved for the position and orientation required high-precision detection.

[0007] 本申请中的天平加载头的测控提出了这样一种测量与控制要求:当天平加载头位置姿态远离平衡位置时,对位置姿态的测量精度要求可以大幅度地降低,但希望控制机构可以快速将其复位到平衡位置附近;当天平加载头位置姿态处于平衡位置附近时,则要求对位置姿态的测量精度达到较高的水平,并希望控制机构逐步地以较高的精度将天平加载头的位置姿态复位到平衡状态。 [0007] Control head load balance in the present application proposes a measurement and control requirements: the balance is loaded away from the equilibrium position, the measurement accuracy of the position and orientation of the head can be significantly reduced position and orientation, but want control means can be reset quickly to near the equilibrium position; when the balance position posture of the head loading position in the vicinity of the equilibrium, the required accuracy of the position and orientation of the measurement reaches a higher level, and the control means stepwise desired with high accuracy will load balance position and orientation of the head is reset to an equilibrium state. 为了满足天平加载头姿态检测的大范围、高精度复位这种要求,提出了一种解决措施:当天平加载头姿态偏离平衡状态很大时,采用一种粗调系统, 包括大范围的位移测量(可以高达±30cm或更大一些的测量范围)及复位控制技术;当天平加载头姿态偏离平衡位置较小时,启用精密的检测及调控系统,包括小范围的精密位移测量系统及高精度的反馈控制系统。 In order to meet a wide range of load balance head pose detection, reset this requirement accurately, proposed solutions: day flat head posture deviate greatly when loading balance, use a coarse adjustment, a large range of displacement measurement including (up to ± 30cm or larger measuring range) and the reset control techniques; when the balance head load balanced position posture departing from the smaller, to enable sophisticated detection and regulation systems, including small-scale precision and high-precision displacement measuring system feedback Control System. 这是基于测量范围大,则测量精度要求低、复位调节原理可以简单化及控制过程可以快速化的思路,这种方式完全可以满足加载头姿态粗调时低精度、快速度的要求;当粗调状态进入到精细复位的状态时,启用精密检测及复位方式,然后以很高的测量精度及复位精度可以逐步慢慢地逼近加载头平衡状态,最终完成加载头的复位。 This is based on the measurement range, the measurement accuracy is low, the reset adjustment principle can be simplified and the control process of thinking quickly, in this way can meet the low-precision attitude coarse head loading, and rapid requirements; when crude when the fine adjust state into a reset state, and the reset mode enable precise detection, with high accuracy and repetition accuracy can be gradually and slowly approaching the head loading state of equilibrium, the final reset is completed loading head. 这样一种把两种范围内的不同测量方式融合在一起的形式解决了大范围、高精度的综合测量要求。 Together to form a different measurement within two ranges to solve large-scale, high-precision integrated measurement requirements.

[0008] 由于现有位置探测器的限制,如果选用探测器直接进行位置探测的技术路线,如利用面阵CCD或其它二维位置测量器件,则只能在约20mmX 20mm的面积内实现高精度的位置测量,无法兼顾上述大范围测量的要求。 [0008] due to limitations of the conventional position detector, if the choice of route position detector directly detecting the art, such as using a CCD area array, or other two-dimensional position measuring means, the high precision only in the area of ​​about 20mmX 20mm position measurement, not taking into account the requirements of a wide range of measurement as described above. 但如果通过本申请中的将大范围内的位置信息转换到一个较小的比较合理的范围内来进行测量,虽然测量精度可能降低,但可以满足大范围内可以进行测量的要求。 However, if the transition to be measured within a small reasonable scope of this application the location information by a wide range, although measurement accuracy may be reduced, but may be performed within a wide range to meet the measurement requirements.

[0009] 本申请利用一种基于成像光学系统的大范围位置检测系统及图像信息处理的方法构建了一种满足天平加载头姿态的检测装置,可以满足在较大范围内进行位置测量但精度要求较低的要求。 [0009] The present application constructs balance load detecting device meet head pose detection system and method using image processing of a wide range of information based on the position of the imaging optical system, to meet a wide range in the position measurement accuracy requirements but lower requirements. 利用CCD相机及成像光学系统获取照射在靶面上的指示光源的图像,由于成像比例的关系,这种方式很容易地做到将大范围内的信息成像在一个较小的CCD芯片上,从而获得大范围内的相关信息;鉴于大范围的测量精度要求低的特点,可以简单地对光源光斑的图像特征进行图像数据处理(如最大值法)以获得指示光源的位置信息,从而获取加载头姿态初步测量的结果。 Using a CCD camera and an imaging optical system in the acquired image irradiation light source indicates the target surface, the relationship between the imaging scale, this approach is most easily done on the image information smaller CCD chip within a wide range, so that obtain a wide range of information; view of the low accuracy requirements of a wide range of characteristics, may simply light spot on the image feature data of the image processing (e.g., maximum method) to obtain location information indicating the light source, so that the head gets loaded the results of the preliminary measurement posture. 本申请利用一种基于位置探测器直接进行探测的小范围位置检测及图像数据处理方法构建了一种满足天平加载头姿态的检测装置,满足在较小范围内进行位置的高精度测量要求。 This application constructs a balance head load detecting means satisfies the posture to meet the requirements of high-precision measurement of the position within the smaller range with a small range of the position detector and an image data processing method based on direct detection of the position detector. 当天平加载头的位置姿态进入精细测量及调节范围时,此时, 指示光源直接照射在用于精细测量的CCD芯片上,采用精密的光斑处理技术可以获取光斑在CCD上的精确位置,从而获得加载头在精细复位时的姿态数据用于反馈控制。 When the balance of the head loading position and attitude measurement and enter the fine adjustment range, at this time, indicating the source is directly irradiated onto the CCD chip for fine measurement, using precision processing techniques can obtain accurate spot position of the spot on the CCD, thereby obtaining when loading fine head pose data reset for feedback control. 通过指示光源照射靶面的结构设计及探测器、光学成像系统布局的设计,使得在靶面上形成的指示光源可以被两种状态下的测量方式共用,并经不同的处理方式获得位置测量信息,提高了位置探测系统的紧凑性。 By indicating structure design and probe light irradiating the target plane, the design of the layout of the optical imaging system, so as to indicate the target surface light source may be formed on a common measurement in the two states, and the position measurement information obtained by the different treatment improves the compactness of the position detection system.

[0010] 其中,所述光学成像系统包括:CCD相机和镜头;所述位置探测结构固定在安装支架上;所述装置具体包括4个位置探测结构,所述4个位置探测结构均匀分布在待检测天平加载头四周并在水平面内以相互垂直的方式安装,呈现一种坐标系的形式,以便测量结果便于用于位置逆解而获得天平的空间姿态。 [0010] wherein the optical imaging system comprising: CCD cameras and lenses; the position detection structure fixed to the mounting bracket; said means comprises a position detection mechanism 4, the four position detection to be evenly distributed in detecting balance loading head about and mounted perpendicular to each other in a horizontal plane, presented in the form of a coordinate system in order to facilitate the measurement results obtained by inverse kinematics for the spatial attitude of the balance.

[0011]其中,所述装置还包括连接支架,所述连接支架一端与所述光学成像系统连接,所述连接支架另一端与所述位置探测器连接;所述位置探测器具体包括:外壳、光电探测器、 光电探测器安装板、信号处理器,所述光电探测器、所述光电探测器安装板、所述信号处理器均安装在外壳内,所述光电探测器芯片安装在光电探测器安装板上,所述光电探测器与所述信号处理器连接,所述光电探测器中心线与所述开口中心线重合;所述光电探测器的测量面积大于中心孔的面积;所述光电探测器包括:面阵CCD、二维PSD;所述光电探测器安装板通过紧固螺钉固定在外壳上。 [0011] wherein the apparatus further comprises a connecting bracket, the connecting bracket is connected to one end of the optical imaging system, the bracket and the other end connected to the position detector; position detector comprises: a housing, a photodetector, the photodetector mounting board, a signal processor, said photodetector, said photodetector mounting board, the signal processor are mounted within the housing, said photodetector chip is mounted on the photodetector mounting plate, said photodetector and connected to said signal processor, said photodetector line coinciding with the opening centerline; measured area of ​​the photodetector is larger than the area of ​​the central bore; said photodetection comprises: area array CCD, a two-dimensional the PSD; said photodetector mounting plate secured to the housing by fastening screws.

[0012]本专利解决其技术问题所采用的技术方案是:根据天平加载头粗调时要求的测量范围,设计一个具有最大可用面积的供指示光源照射的靶面(外框为圆形或方形均可),照射面一侧的靶表面采用具有漫反射功能的表面结构,并最好具有白色特性。 [0012] The technical solution of this patent to solve the technical problem is that: when the required load balance according to the first coarse measurement range, a target design surface for indicating the irradiation light source having a maximum available area (square or circular frame available), the target irradiation surface side surface by surface structure function having a diffuse reflectivity, and preferably having white characteristics. 将该靶面置于或粘接在位置探测器表面,在中心位置处开孔并以仅覆盖CCD芯片边沿很小一部分的状态留出位置探测器需用的窗口,形成最终的指示光源的照射靶面。 The target surface is placed or adhered to the surface of the position detector, and the center position at the openings so as to cover only a small portion of the CCD chip edge position detector is required to leave the window, indicating the final irradiation source the target surface. 位置探测器主要由面阵CCD 芯片构成,最好采用面积尽量大、像素尺寸尽量小的CCD芯片,但以满足位置姿态精密测量范围要求即可,不必过多地要求大面积;为了满足高精密的测量要求,最好将CCD芯片以表面焊接的方式安装在一个可以稳固在一定支架的面板上,并尽量远离发热源(如电路板上的电源模块等),减少热胀冷缩的影响;当指示光斑照射在该CCD芯片上时,即刻可以获得其光斑图像,通过对光斑进行一定的图像数据处理(如光斑质心处理),可以获得光斑在CCD芯片表面上的精确位置,一般达到像素级别是不存在问题,即可以达到数微米的测量精度,因此这种测量方式足以满足加载头位置姿态的高精度测量。 Mainly composed of the position detector area array CCD chip, preferably using an area as large as possible, the pixel size of the CCD chip as small as possible, but the position and posture to meet the requirements to precision measurement range, do not require excessive large area; in order to satisfy high-precision measurement requirements, preferably a CCD chip mounted on the surface of the welding manner can be stabilized in a certain panel holder, and as far from the heat source (power module board and the like), to reduce the influence of thermal expansion and contraction; when the indicator light spot is irradiated onto the CCD chip, can instantly obtain its spot image, by spot certain image data processing (e.g., spot centroid processing), can obtain an accurate position of the spot on the CCD chip surface, typically reaches a pixel level is no problem, i.e., can achieve measurement accuracy of a few microns, so that sufficient measurement precision measurement head loading position and posture. 但限于CCD芯片面积及像素尺寸的限制,这种方式可以测量的范围相对较小,一般在15mm以内;这种方式用于加载头位置姿态的小范围、高精度测量。 But limited chip area and limiting CCD pixel size, the range can be measured in this way is relatively small, typically less than 15mm; in this manner for a small range of the head loading position and orientation of high precision measurement. 在需要大范围测量时,则采用CCD相机成像系统来实现。 In the large measurement range, an imaging CCD camera system is used to achieve. 通过选择焦距合适的成像镜头,与CCD相机一起可以组成一种照相系统,能够完成对相应成像面积(指示光源的照射靶面)的成像,获取成像区域内的相关信息。 By selecting an appropriate focal length of the imaging lens and the CCD camera may be composed of a photographic system together, we can complete the imaging of the respective image area (illumination target surface light source indicated), and access to relevant information within the imaging area. 用其对指示光源照射的靶面进行成像,则可以获得包含了天平加载头位置姿态信息的指示光源的图像,由于测量精度要求大幅降低,可以对指示光源在靶上的位置信息进行简单化的处理(如采用最大值法), 则可以快速地获得天平加载头位置姿态的信息。 Indicating which image the light source with a target surface, comprising an image can be obtained indicating the source of load balance position posture header information, since the measurement accuracy significantly reduce, the light source may indicate information on the position of the target is simplified processing (e.g., using the maximum method), load balance information can be obtained quickly head position and orientation. 根据天平加载头姿态可能变化的范围,选择镜头焦距,可以满足变化范围内的测量。 The balance loading head pose range may vary, lens focal length selected to meet the variation range of the measurement. 这种测量方式用于天平加载头位置姿态的粗略测量,具有测量范围大且方便调节的特点,本身由于测量精度要求不高,处理可以简单化、 快速,满足此时测量与调节的要求。 This crude measurement modes for measuring the position and orientation of the head loading balance having a large measurement range and easy to adjust the characteristics, since the measurement accuracy is not itself, the process can be simplified, rapid, this time to meet the requirements of measurement and regulation.

[0013]本申请提供的一个或多个技术方案,至少具有如下技术效果或优点: 本发明的有益效果是,利用CCD相机与合适焦距的成像镜头组合成一种可以对较大面积的区域进行成像的测量系统,通过对成像区域内特定指示光源的图像处理,可以获得相应的位置姿态信息,从而获得一种大范围内的测量效果,简化了大范围位置测量系统的复杂性。 [0013] One or more of the technical solution provided herein, having at least the following technical effects or advantages: Advantageous effect of the invention is the use of a CCD camera with a suitable focal length of the imaging lens combinations may be imaged into a region of a larger area measuring system, indicated by the specific image processing on the light source within the imaging region, position and orientation can be obtained corresponding information, so as to obtain an in measuring the effect of a wide range, simplifies the complexity of large-scale position measurement system. 通过基于CCD芯片型的位置探测器的使用,直接对指示光斑的空间位置进行测量可以获得指示光斑的空间位置姿态信息,满足了小范围、高精度的位置姿态测量要求。 , Directly on the spatial position indicated by the spot position detector based on the use of the CCD chip can obtain measurements indicative of the spatial position and orientation information of the spot, to meet the small-scale, high-precision measurement of the position and orientation requirements. 在兼顾大范围测量时指示光斑照射的特征,进行指示光斑照射靶面的设计,可以有效地将两种测量要求的指示光线照射靶面结构融合在一起,并满足两种位置测量系统对大范围、较低精度及小范围、高精度测量的共同要求,最终很好地将两种测量系统融合在一起形成了一种天平加载头位置姿态的检测系统,满足了天平加载头位置姿态的大范围、高精度的检测要求, 解决了以往大范围、高精度不能同时进行的检测问题。 Indicating light irradiating the target plane configuration indicated at the spot irradiated with both a wide range measurement feature, designed for indicating the target surface irradiated with the light spot, it can be efficiently together two measurement requirements, and to meet the two positions on a wide range of measuring system , low precision and small common requirements, high-precision measurements, eventually the two measurement systems is well fused together to form a balance head loading position and orientation of the detection system, to meet the wide range of loading balance position posture of the head precision testing requirements, to solve the problems of the conventional large detection range, high accuracy can not be performed simultaneously.

附图说明 BRIEF DESCRIPTION

[0014]此处所说明的附图用来提供对本发明实施例的进一步理解,构成本申请的一部分,并不构成对本发明实施例的限定; 图1是天平加载头位姿检测装置结构示意图; 图2是一路姿态测量装置构成的示意图; 图3是位置大范围测量及精密测量功能融合在一起的探测器组成示意图; 图4是靶面与基于面阵CCD芯片的位置探测器融合在一起的结构示意图; 图5是基于面阵CCD芯片的位置探测器布局示意图; 图6a-图6c是指示光斑在位置探测器表面的几种位置情况示意图; 图7是一种位置姿态测量策略流程示意图; 其中,1-位置姿态待测的加载头及天平,2-指示光源,3-位置探测结构,4-位置探测结构安装支架,5-指示光斑照射靶面,6-中心孔,7-(XD相机,8-镜头,9-指示光线束,10-基于面阵(XD芯片的位置探测器,11-开口,12-连接支架,13-CCD芯片,14-紧固螺钉,15-安装板 [0014] The drawings described herein are provided for further understanding of embodiments of the present invention, part of the application is not intended to limit embodiments of the present invention; FIG. 1 is a schematic view of the structure of the head posture detecting means loading balance; FIG. 2 is a schematic diagram of the way the attitude measuring unit; FIG. 3 is a large-scale position measurement and precise measurements together schematic diagram illustrating a detector; FIG. 4 is a target surface of the structure is based on the position detector area array CCD chip fused together schematic; FIG. 5 is a schematic view of the layout based on the position detector array CCD chip; Fig 6a- 6c is a schematic diagram indicating the light spot position detector in the case where several surface position; FIG. 7 is a schematic flow diagram of the position and orientation measurement method; wherein 1-position and orientation of the test head load balance and, 2 indicates a light source, the 3-position detection mechanism, the 4-position detection mechanism mounting bracket, 5 indicates the spot irradiating the target surface, the center hole 6-, 7- (XD camera , 8 lens, the light beam indicated 9-, 10- based planar array (chip position detector XD, 11 opening, 12 connecting bracket, 13-CCD chip, 14- tightening screws, the mounting plate 15 , 16-线路板,17-电子元件,18-预设中心点坐标。 , 16 circuit boards, electronic components 17-, 18- predetermined center coordinates.

具体实施方式 Detailed ways

[0015]本发明提供了一种天平加载头位姿检测装置,解决了现有的天平加载头位姿检测装置所存在无法同时进行加载头位置姿态的大范围变化监测与复位位置姿态附近的高精密检测的技术问题,实现了利用本申请中的天平装置加载头位置姿态的大范围变化监测与复位位置姿态附近的高精密检测可以同时进行,并满足了加载头位置姿态检测的大范围、 高精度测量要求。 [0015] The present invention offers smart balance loading head pose detection device, solves balance loading head pose detection device can not be present in a wide range of monitoring changes in the vicinity of the reset head loading position and orientation of the position and posture while problem sophisticated detection achieved using a large range of scale means loading head position and orientation of the present application to monitor changes in the reset position near the posture of the high-precision detection can be performed simultaneously, and satisfying a wide range of head position and orientation detection of the load, high measurement accuracy requirements.

[0016] 为了能够更清楚地理解本发明的上述目的、特征和优点,下面结合附图和具体实施方式对本发明进行进一步的详细描述。 [0016] In order to more clearly understand the present invention the above object, features and advantages, the following specific embodiments and accompanying drawings further detailed description of the invention. 需要说明的是,在相互不冲突的情况下,本申请的实施例及实施例中的特征可以相互组合。 Incidentally, in the case where no conflict with each other, embodiments of the present application and features in the embodiment may be combined with each other.

[0017] 在下面的描述中阐述了很多具体细节以便于充分理解本发明,但是,本发明还可以采用其他不同于在此描述范围内的其他方式来实施,因此,本发明的保护范围并不受下面公开的具体实施例的限制。 [0017] numerous specific details are set forth in the following description in order to provide a thorough understanding of the present invention, however, the present invention may also be in other ways different from the other in the range described herein employed to implement, and therefore, the scope of the present invention is not limiting embodiment by the specific embodiments disclosed below.

[0018]在图丨中,丨是位置姿态待测的加载头及天平,2指示光源,3是位置探测结构,4是位置探测结构安装支架。 [0018] In the FIG. Shu, Shu is a loading position and orientation of the test head and scales, 2 indicates a light source, 3 is a position detection mechanism, the position of the probe 4 is the structure of the mounting bracket.

[0019] 在图3中,5是指示光斑照射靶面,其外形不限于圆形、方形等,受指示光斑照射一面的表面采用漫反射面结构,便于光斑的采集及图像数据处理,靶面中心位置开中心孔6。 [0019] In FIG. 3, is an indication of the spot 5 irradiated target surface, its shape is not limited to circular, square, etc., indicate the spot irradiated by the side surface with diffuse reflective surface structure, easy to collect data, and image processing spot, the target surface open center position of the center hole 6. 7、8是CCD相机及镜头,构成光学成像系统。 7-8 is a CCD camera and lens constituting the optical imaging system. 10是基于面阵CCD芯片的位置探测器,其外形不限于圆形、方形等,对应中心位置开口11。12是将光学成像系统固定在位置探测器上的连接支架,其形式不限于固定在位置探测器上,可以固定于其它支撑支架上。 10 is based on the position detector area array CCD chip, whose outer shape is not limited to circular, square, etc., corresponding to the central position of the opening on the connecting bracket 11.12 is the optical imaging system is fixed in a position detector, which is limited to a fixed form in the position sensor can be fixed on another support bracket.

[0020] 在图4中,5是指示光斑照射靶面。 [0020] In FIG. 4, 5 indicating the spot irradiating the target surface. 10是基于面阵CCD芯片的位置探测器。 10 is based on the position detector area array CCD chip. 5与10之间通过粘接或螺钉铆接固定均可,但需要将指示光斑照射耙面5上的中心孔6与位置探测器上通光开口11对齐以确保指示光线能够正常照射在位置探测器内部的光电探测器CCD芯片13 上,而CCD芯片13需要对齐开口11,CCD芯片13的有效测量面积应稍大于中心孔6以确保在测量面内当指示光斑照射位置从大范围过渡到小范围测量时总能获得指示光斑的有效图像。 Between 5 and 10 by adhesive or screws can be fixed by caulking, but it is necessary to indicate the spot on the central hole 56 and the irradiation position of the rake face of the light detector through aligned openings 11 to ensure the normal light irradiated indicate the position detector 13, and the CCD chip photodetector need to be aligned inside the opening 11 of the CCD chip 13, the effective measurement area of ​​the CCD chip 13 to be slightly larger than the central bore 6 to ensure that the measurement plane when the irradiation position of the spot indicates the transition from small to large scale the total effective image can be obtained indicating the measurement spot. 15是CCD芯片的安装板,也可以作为CCD芯片的驱动及信号处理电路板共同使用,但尽量在其上少安装电子元件尤其是发热较重的电源模块等,安装板15通过紧固螺钉14等固定在10 的外壳上(如端面板上),这个步骤对安装要求较高,需要谨慎处理。 15 is a CCD chip mounting board, the chip may be a CCD drive circuit board and the signal processing used in common, but as little as possible the electronic components mounted thereon, especially heavy heat generating power module, the mounting plate 15 by fastening screws 14 are fixed to the housing 10 (e.g., the end plate), the higher the step of installation requirements, require careful handling. 16是信号处理的线路板,17是线路板16上的电子元件。 16 is a signal processing circuit board, electronic components 17 on the circuit board 16.

[0021]在图5中,这是基于面阵CCD芯片的位置探测器结构示意,主要需要保证CCD芯片13 的有效探测面对齐其端面开口11,并要求开口11的面积稍小于CCD芯片13的有效探测面积。 [0021] In FIG. 5, which is based on the position detector area array CCD chip structure schematically, mainly the need to ensure effective detection CCD chip 13 aligned to face the end face opening 11, and claim 11 is slightly smaller than the opening area of ​​the CCD chip 13 the effective detection area. 在探测器中的光电探测器包括但不限于面阵CCD,二维PSD也是很好的一种探测器件,由于多数二维PSD器件的有效探测面是圆形,因此,其上的开口不限于方形,也包括圆形;但采用二维PSD探测器后,其指示光斑的位置信息相关的处理方式将发生变化,主要将依赖于电子线路对PSD输出的电流信号进行直接处理,但处理速度较快并直接获得处理结果。 A photodetector in the detector array include but are not limited to the CCD surface, also a very good dimensional PSD detector, since the majority of the effective detection surface of the two-dimensional PSD device is circular, and therefore, the opening of which is not limited to square, but also circular; however, the two-dimensional PSD sensor, which indicates the position information of the light spot related to treatment will vary, dependent mainly on the electronic circuit current signal output from the PSD directly processed, but the processing speed fast and direct access to the results.

[0022] 天平加载头姿态检测系统全貌的结构及组成示意:姿态检测系统主要由图1中的指示光源2、融合了大范围及精密位置测量功能的位置探测结构3构成,其中位置探测结构3 又由三大部分组成:由CCD相机7及镜头8组成的用于大范围位置测量的光学成像测量系统、 基于CCD芯片的位置探测器10、融合了可供大范围及精密位置测量的指示光斑照射靶面5组成,如图2及图3组成所示。 [0022] the balance of a loader head attitude detection systems picture and composition schematic: attitude detection system mainly indicated by light source 1 in FIG. 2, the integration of the position detection mechanism wide range and precision position measurement function 3 configuration, wherein the position of the probe structure 3 and it consists of three parts: an optical imaging system of measuring a wide range of positions measured by the CCD camera lens 7 and 8 consisting of, based on the position detector 10 of CCD chip, for large-scale integration and precision position measurements indicative of the spot irradiating the target surface 5, as shown in FIGS. 2 and 3 components. 位置探测结构3共有四路,安装在位置探测结构安装支架4上,分布于相互垂直的四个方向上,如图1所示。 Position detecting a total of four structures 3, a position detection mechanism mounted on the mounting bracket 4, distributed in the four directions perpendicular to each other, as shown in FIG.

[0023]天平加载头姿态的指示:在天平加载头上安装指示光源2,保证指示光源2与加载头1之间是固定不动的。 [0023] indicates the balance loading head posture: load indication light source mounting head 2, to ensure the light source 2 and between the load indicating head 1 is stationary in the balance. 指示光源2在同一个平面内(水平面)在四个方向上(最好是严格相互垂直的,便于位置逆解算)产生指示光线束9,指示光线束9的直径尽量小,如图1所示。 2 indicates a light source in the same plane (horizontal plane) in the four directions (preferably perpendicular to each other strictly, to facilitate inverse kinematics calculation) is generated indicative of the light beam 9, indicates the diameter of the light beam 9 as small as possible, as shown in FIG 1 shows. 由于这些指示光线束间的相互位置关系确定,可以作为标准的参考方向,又由于指示光源与加载头间是固定的,加载头的位置姿态变化与指示光源的位置姿态变化是一致的,因此,指示光线束的指向代表了加载头的姿态,对这些指示光线束的位置进行测量及进行姿态的求解就相当于对加载头的姿态进行测量。 Since determining the mutual positional relationship between these indicate bundle of light rays, can be used as a standard reference direction, and since indicated between the light source and the loading head is fixed, the position and posture change position and posture changes indicating light loading head is consistent, therefore, indicates light beam pointing gesture represents the loading head, the position of the measurement light beams and these instructions posture equivalent to solving the attitude measurement head is loaded. 在复位型的加载头天平校正系统中,无需进一步进行姿态求解,只需要对指示光线束位置进行精密测量,并确保校正系统根据测量结果可以进行姿态的精密复位即可。 Reset type head loading balance correction system, no further Attitude Determination and only requires precise measurement indicative of the light beam position, and to ensure that the correction system can be reset to the precision attitude measurement result. 基于高精度测量要求,这些光线束的指向需要具有较高的稳定度。 High-precision measurement requirements are based on those directed bundle of light rays is required to have a high degree of stability.

[0024]指示光线束位置的大范围测量:这个功能由CCD相机7及镜头8构成的光学成像系统完成,指示光斑照射靶面5的形状及面积根据加载头姿态可能的变化范围确定,通过选用焦距合适的镜头可以将整个指示光斑照射靶面5的情况成像在CCD相机上,从而获得包含了位置测量信息的整个指示光斑照射靶面5的图像。 [0024] indicates the light beam position of a wide range of measurement: This function is accomplished by an optical imaging system CCD camera 7 and lens 8 constitute indicating the shape and size of the light spot irradiating the target surface 5 to determine the possible variation range according to the loading head posture, by selecting suitable focal length of the entire lens may be indicative of a target surface where the irradiation light spot imaged on the CCD camera 5, so as to obtain location measurement information comprises an image of the entire target surface 5 indicates the spot of the irradiation. 光学成像系统进行固定时,需要避免遮挡住照射的指示光线束9。 Fixing the optical imaging system, indicating the need to avoid blocking the light beam 9 is irradiated live. 指示光线束9照射在靶5的表面上,形成一个亮斑的图像,这个亮斑的位置就是用于大范围位置测量的主要信息。 Indicates light beam 9 is irradiated on the surface of the target 5 to form a bright spot image, the position of the bright spots is the main information for a wide range of position measurement. 将光学成像系统对准靶面5进行成像,获取包含测量位置信息的亮斑图像,通过使用包含但不限于图像最大值化、质心算法等方法的图像处理并提取出亮斑的质心位置坐标,该亮斑质心位置坐标即是指示光束9在指示光斑照射靶面5上的位置信息,如图6中的左图所示。 The alignment of the optical imaging system for imaging a target surface 5, a bright spot image acquiring position information includes measurement, including but not limited by the use of a maximum image, an image processing method centroid algorithm and extracts the centroid coordinates of a bright spot, the bright spot centroid position coordinates of the beam 9 that is indicative of position information indicating the spot irradiating the target surface 5, 6 in the left as shown in FIG. 将亮斑质心位置坐标与指示光斑照射靶面5的预设中心点坐标18进行比较,即可获得指示光束偏离中心轴线的偏离值,将其提供给控制系统进行相应反馈控制即可。 The default hot spot center coordinate of the centroid position coordinates indicating the irradiation target surface 5 of the spot 18 are compared, to obtain an indication of the central beam axis offset value offset, which will be provided to the respective feedback control systems can be controlled. 为了降低亮斑背景图像的影响及提高亮斑探测的精准程度, 可以在镜头上加装一定带宽的滤波片,滤除除指示光线波长外的其它光线,突出亮斑的图像质量。 In order to reduce the influence of unevenness of the brightness of the background image and improve the degree of accuracy in detecting a bright spot, a certain bandwidth can be installed on the lens filter, to filter out other wavelengths of light rays in addition to an indication of an outer, projecting a bright spot image quality. 这种方式可以满足±30cm及以上范围的位置检测,精度容易地达到0_lmm-0.2mtn, 足以满足大范围、一定精度的位置检测要求。 This embodiment can satisfy the above range of ± 30cm and the position detection accuracy easily achieved 0_lmm-0.2mtn, sufficient to meet the requirements of the position detection range, a certain precision.

[0025]指示光线束位置的小范围精密测量:这个检测功能主要基于CCD芯片的位置探测器10完成。 [0025] indicates the position of the light beam small precision measurement: a position detector detecting function based primarily on the CCD chip 10 is completed. 当指示光束进入到精密检测的设定范围即通光窗口中心孔6时,即指示光线束9 可以较好地照射在位置探测器10的有效通光窗口时,如图6中的中间图所示。 When the indication light beam into the detection precision range that is set through an optical window center hole 6, i.e., the light beam 9 may be indicative of better when the position detector is irradiated through the optical window 10 is active, the intermediate 6 as shown in FIG. shows. 则可以获得一幅包含了光斑直接照射的图像,通过使用包含但不限于图像最大值化、质心算法等方法的图像处理并提取出亮斑的质心位置坐标,该亮斑质心位置坐标即是指示光束9在指示光斑照射靶面5上的位置信息。 It can be obtained an image including the spot irradiated directly, including but not limited by the use of a maximum image, an image processing method centroid algorithm and extracts the position coordinates of the centroid of the bright spots, the hot spot centroid that is indicative of the position coordinates 9 in the position information indicating the beam spot irradiated on the target surface 5. 将亮斑质心位置坐标与指示光斑照射靶面5的预设中心点坐标18 进行比较,即可获得指示光束偏离中心轴线的偏离值,将其提供给控制系统进行相应反馈控制即可。 The default hot spot center coordinate of the centroid position coordinates indicating the irradiation target surface 5 of the spot 18 are compared, to obtain an indication of the central beam axis offset value offset, which will be provided to the respective feedback control systems can be controlled. 在这种测量方式下,由于CCD芯片直接用于获取照射光斑的图像,其分辨率达到CCD像素的水平,光斑图像经过图像处理后的质心位置的测量精度一般在像素或亚像素的水平,也即可以达到数mmm的水平;但有效的探测面积也限制在CCD芯片的面积范围内。 In this measurement, since the CCD chip for acquiring images directly irradiated spot, which the horizontal CCD pixel resolution, the accuracy of the measurement spot image through the centroid position of the image processing in the pixel or subpixel is generally horizontal, and That number can reach the level of mmm; but also limits the effective detection area over the area of ​​the CCD chip. 一般而言,CCD芯片尺寸小于15mm,因此这种方式可以满足15mm范围内的精密位置检测,测量精度可以达到lOmmm以下,满足小范围的精密位置检测要求。 Generally, the CCD chip size smaller than 15mm, so the position detection precision in this way meet within the range of 15mm, the measurement accuracy can be achieved lOmmm, to meet the precise requirements of the position detection of a small range. 为了降低环境散射光的影响,可以在开口11或中心孔6上安装窄带滤光片以消除除指示光源外的光线的影响,获得较为干净的光斑图像用于图像处理,最终获得高精度的质心位置坐标。 To reduce the environmental impact of scattered light, may be mounted central bore or opening 11 on the narrowband filter 6 to eliminate the influence of light other than the light source indicated, to obtain a cleaner spot image for the image processing, the finally obtained high-precision centroid Position coordinates.

[0026] 过渡阶段的指示位置测量:当指示光斑落在从大范围测量区域到精密测量区域的过渡边界上时,需要进行一种测量策略的选择。 [0026] indicates the transition phase position measurement: When the indication light spot falls on the boundary of the transition region to a wide range from the measurement precision measurement region, necessary to select the measuring strategy. 由于在这个区域上无所谓精密测量要求(可以精度较低,也可以较高。),可以以粗测方式对待以简化数据处理。 Since the matter required precision measurement (precision may be low, can be higher.), Can be treated in order to simplify the data processing in a coarse manner in this area. 此时,两种测量方式均会获得有一定亮度的光斑图像,也许不够完整,但可以用判断光斑图像中最大值位置的方法来获得其坐标,并以其为指示光束的位置。 In this case, two measurements will obtain a certain luminance spot image, perhaps incomplete, but the image spot is determined by a method in which the maximum value to obtain the position coordinates, and its indicating position of the beam.

[0027] 关于指不位置的一种测量策略如图7所示。 [0027] FIG policy on measuring means not shown in FIG. 7 position.

[0028]通过位置探测器的上述两个测量功能的有机融合可以完成了天平加载头的姿态的大范围粗略测量及精密测量,再根据控制策略对加载头的姿态进行调控,直到满足精密的复位要求。 [0028] By the above-described two measurements of the position detector can complete fusion of the organic balance of the attitude of the loading head and a rough measurement of a wide range of precision measurement, and then the regulation of the posture control strategy according to the loading head, until a satisfying precision reset Claim.

[0029]在基于CCD芯片的位置探测器中,鉴于二维PSD器件具有的一定优势,如速度快、实时性好、直接输出代表坐标位置的电压信号等,也可以使用二维PSD器件代替CCD芯片构成位置探测器,只是相应的光斑图像处理方法需要进行改变并以处理电路的形式代替,适应这种数据处理变化即可。 [0029] In the position detector based on the CCD chip, a two-dimensional view of a PSD device has certain advantages, such as speed, real time, direct output voltage signal representative of the coordinate position and the like, may be used instead of the CCD device D PSD position detector chips, but the corresponding spot image processing method needs to be changed and replaced in the form of a processing circuit, process variations to accommodate such data.

[0030]上述本申请实施例中的技术方案,至少具有如下的技术效果或优点: 本发明有益效果是,利用CCD相机与合适焦距的成像镜头组合成一种可以对较大面积的区域进行成像的测量系统,通过对成像区域内特定指示光源的图像处理,可以获得相应的位置姿态信息,从而获得一种大范围内的测量效果,简化了大范围位置测量系统的复杂性。 [0030] The technical solutions in the present application embodiment, at least the following technical effects or advantages: benefits of the present invention, by using a CCD camera with a suitable focal length of the imaging lens can be made into a combination of imaging a region of a larger area measuring system, indicated by the specific image processing on the light source within the imaging region, position and orientation can be obtained corresponding information, so as to obtain an in measuring the effect of a wide range, simplifies the complexity of large-scale position measurement system. 通过基于CCD芯片型的位置探测器的使用,直接对指示光斑的空间位置进行测量可以获得指不光斑的空间位置姿态信息,满足了小范围、高精度的位置姿态测量要求。 , Directly on the spatial position indicated by the spot position detector based on the use of a CCD chip measuring means not possible to obtain the spatial position and orientation information of the spot, to meet the small-scale, high-precision measurement of the position and orientation requirements. 在兼顾大范围测量时指示光斑照射的特征,进行指示光斑照射靶面的设计,可以有效地将两种测量要求的指示光线照射靶面结构融合在一起,并满足两种位置测量系统对大范围、较低精度及小范围、高精度测量的共同要求,最终很好地将两种测量系统融合在一起形成了一种天平加载头位置姿态的检测系统,满足了天平加载头位置姿态的大范围、高精度的检测要求, 解决了以往大范围、高精度不能同时进行的检测问题。 Indicating light irradiating the target plane configuration indicated at the spot irradiated with both a wide range measurement feature, designed for indicating the target surface irradiated with the light spot, it can be efficiently together two measurement requirements, and to meet the two positions on a wide range of measuring system , low precision and small common requirements, high-precision measurements, eventually the two measurement systems is well fused together to form a balance head loading position and orientation of the detection system, to meet the wide range of loading balance position posture of the head precision testing requirements, to solve the problems of the conventional large detection range, high accuracy can not be performed simultaneously.

[0031] 尽管已描述了本发明的优选实施例,但本领域内的技术人员一旦得知了基本创造性概念,则可对这些实施例作出另外的变更和修改。 [0031] While the present invention has been described with preferred embodiments, but those skilled in the art from the underlying inventive concept can make other modifications and variations to these embodiments. 所以,所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。 Therefore, the appended claims are intended to explain embodiments including the preferred embodiment as fall within the scope of the invention and all changes and modifications.

[0032] 显然,本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。 [0032] Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. 这样,倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内,则本发明也意图包含这些改动和变型在内。 Thus, if these modifications and variations of the present invention fall within the claims of the invention and the scope of equivalents thereof, the present invention intends to include these modifications and variations.

Claims (9)

1. 一种天平加载头位姿检测装置,其特征在于,所述装置包括: 指示光源、位置探测结构,所述指示光源安装在待检测天平加载头上表面,所述位置探测结构包括:指示光斑照射靶面、光学成像系统、位置探测器,所述指示光斑照射靶面开设有中心孔,所述位置探测器的端面设有开口,所述开口中心线与所述中心孔中心线重合, 所述位置探测器固定在所述指示光斑照射靶面的背面,所述光学成像系统位于所述指示光斑照射靶面的正面前方。 A balance loading head pose detection device, characterized in that said apparatus comprising: a light source indicated, the position detection mechanism, the light source is mounted to be indicative of the detection surface of the head loading balance, the position detection structure comprising: an indication spot irradiating the target surface, the optical imaging system, position detector, the light spot irradiating the target surface indication defines a central bore, the end face of the position detector is provided with an opening centerline coincides with the central bore centerline, the position detector fixed on the back surface of the spot indicates the irradiation target surface, the optical imaging system positioned in front of the front indicates the spot irradiating the target surface.
2. 根据权利要求1所述的天平加载头位姿检测装置,其特征在于,所述光学成像系统包括:CCD相机和镜头。 2. Load Balance head pose detection apparatus according to claim 1, characterized in that the optical imaging system comprising: CCD cameras and lenses.
3. 根据权利要求1所述的天平加载头位姿检测装置,其特征在于,所述位置探测结构固定在安装支架上。 3. Balance head loading position and orientation detecting apparatus according to claim 1, wherein said location detection structure fixed to the mounting bracket.
4. 根据权利要求1所述的天平加载头位姿检测装置,其特征在于,所述装置具体包括4 个位置探测结构,所述4个位置探测结构均匀分布在待检测天平加载头四周。 The balance loading head pose detection device according to claim 1, characterized in that said means 4 comprises a position detection mechanism, the four position detecting evenly distributed load balance to be detected first four weeks.
5. 根据权利要求1所述的天平加载头位姿检测装置,其特征在于,所述装置还包括连接支架,所述连接支架一端与所述光学成像系统连接,所述连接支架另一端与所述位置探测器连接。 The load balance of said head pose detection apparatus according to claim 1, characterized in that said apparatus further comprises a connecting bracket, the connecting bracket is connected to one end of the optical imaging system, and the other end of the bracket said position detector is connected.
6. 根据权利要求1所述的天平加载头位姿检测装置,其特征在于,所述位置探测器具体包括:外壳、光电探测器、光电探测器安装板、信号处理器,所述光电探测器、所述光电探测器安装板、所述信号处理器均安装在外壳内,所述光电探测器芯片安装在光电探测器安装板上,所述光电探测器与所述信号处理器连接,所述光电探测器中心线与所述开口中心线重合。 The balance loading head pose detection device according to claim 1, wherein said position detector comprises: a housing, a photodetector, the photodetector mounting board, a signal processor, said photodetector the photodetector mounting board, the signal processor are mounted within the housing, said photodetector chip mounting plate mounted on the photodetector, said photodetector and connected to said signal processor, said photodetector centerline coincides with the centerline of the opening.
7. 根据权利要求6所述的天平加载头位姿检测装置,其特征在于,所述光电探测器的测量面积大于中心孔的面积。 7. Load Balance head pose detection apparatus according to claim 6, characterized in that the measurement area of ​​the photodetector is larger than the area of ​​the center hole.
8. 根据权利要求6所述的天平加载头位姿检测装置,其特征在于,所述光电探测器包括:面阵CCD、二维PSD。 Balance loading head pose detection apparatus according to claim 6, wherein said photodetector comprises: the CCD area array, a two-dimensional PSD.
9. 根据权利要求6所述的天平加载头位姿检测装置,其特征在于,所述光电探测器安装板通过紧固螺钉固定在外壳上。 Balance loading head pose detection apparatus according to claim 6, wherein said photodetector mounting plate is fastened to the housing by screws.
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