CN107063082B - A kind of balance loading head apparatus for detecting position and posture - Google Patents

A kind of balance loading head apparatus for detecting position and posture Download PDF

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Publication number
CN107063082B
CN107063082B CN201610910346.4A CN201610910346A CN107063082B CN 107063082 B CN107063082 B CN 107063082B CN 201610910346 A CN201610910346 A CN 201610910346A CN 107063082 B CN107063082 B CN 107063082B
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China
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position
loading head
instruction
hot spot
balance loading
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CN201610910346.4A
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Chinese (zh)
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CN107063082A (en
Inventor
江孝国
李洪
杨兴林
王远
杨国君
龙全红
张小丁
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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    • 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 kind of balance loading head apparatus for detecting position and posture, described device includes: instruction light source, position sensing structure, the instruction light source is mounted on balance loading head to be detected upper surface, the position sensing structure includes: instruction hot spot irradiation target surface, optical imaging system, position sensor, the instruction hot spot irradiation target surface offers centre bore, the end face of the position sensor is equipped with opening, the opening center line is overlapped with the center centerline hole, the position sensor is fixed on the back side of the instruction hot spot irradiation target surface, the optical imaging system is located at the front front of the instruction hot spot irradiation target surface, realizing to be monitored using the wide variation of the device loading head position and attitude in the application can be carried out with the high-accuracy detection near reset position posture simultaneously, and meet the detection of loading head position and attitude The requirement of a wide range of, high-acruracy survey.

Description

A kind of balance loading head apparatus for detecting position and posture

Technical field

The present invention relates to balances used in wind tunnel test to correct system regions, and in particular, to a kind of balance loading head pose Detection device.

Background technique

Mechanics balance is to be used to measure a kind of object important measurement of stress condition and deformation in wind-tunnel in wind tunnel experiment Instrument is generally required before experiment and is corrected to it to obtain the relationship between its output signal and stress condition and deformation, from And study air dynamic behaviour of the object in wind-tunnel.Balance is corrected there are many structure and system form, wherein one Kind is to reset correction system.The characteristics of this correction system is that loading head is first placed in a kind of equilibrium state (or original state), Apply various power on the stressing device of balance again to imitate the possible stress condition of object, and requires at this time by the position of balance The requirement of posture with high precision is restored to initial equilibrium state, then the various power being finally applied on balance represent stress State, and the various output signals of balance are corrected with this.In this process, it also requires not generate volume to the reset work of loading head Outer influence, preferably with cordless.In this process, since the application of power and reseting procedure are a complicated variations Process, and reseting procedure is dynamic an attitude measurement, feedback control procedure, insufficient, control fault etc. that there are regulating powers May, this posture that will lead to balance changes or even very big variation, and transnormal measurement range, therefore balance How the position and attitude of loading head, which is detected in the larger context and reached higher detection accuracy, requires etc. to become one Important problem.

In conclusion present inventor has found above-mentioned technology extremely during realizing the present application technical solution It has the following technical problems less:

In the prior art, existing flat loading head apparatus for detecting position and posture, loading head position appearance can not be carried out simultaneously by existing State wide variation monitoring with reset position posture near high-accuracy detection the technical issues of.

Summary of the invention

The present invention provides a kind of balance loading head apparatus for detecting position and posture, solve existing balance loading head pose detection Can not be carried out simultaneously present in device loading head position and attitude wide variation monitoring with it is high-precision near reset position posture The technical issues of close detection, realize using the balance unit loading head position and attitude in the application wide variation monitoring with High-accuracy detection near reset position posture can carry out simultaneously, and meet loading head position and attitude detection it is a wide range of, High-acruracy survey requirement.

In order to solve the above technical problems, this application provides a kind of balance loading head apparatus for detecting position and posture, described device packet It includes:

Indicate light source, position sensing structure, the instruction light source is mounted on balance loading head to be detected upper surface, described Position sensing structure includes: instruction hot spot irradiation target surface, optical imaging system, position sensor, and the instruction hot spot irradiates target Face offers centre bore, and the end face of the position sensor is equipped with opening, the opening center line and the center centerline hole It is overlapped, the position sensor is fixed on the back side of the instruction hot spot irradiation target surface, and the optical imaging system is located at described Indicate the front front of hot spot irradiation target surface.

Wherein, instruction hot spot irradiation target is radiated at after the instruction light source being mounted on balance loading head to be detected issues light On face, when being radiated at the decentralised hole region of instruction hot spot irradiation target surface, optical imaging system is using light on target surface Reflected light is imaged, and is measured and is monitored by the wide variation that loading head position and attitude is completed in the processing to light spot image; When light passes through centre bore, then can be directly imaged on position sensor, due to the high resolution of detector, thus sharp The requirement that high-accuracy detection is carried out to reset position posture may be implemented with position sensor.

The observing and controlling of balance loading head in the application proposes such a measurement and control requirement: when balance loading head position When setting posture far from equilbrium position, the measurement accuracy of position and attitude is required to be greatly reduced, it may be desirable to control mechanism It can quickly be reset near equilbrium position;When balance loading head position and attitude is near equilbrium position, then require Higher level is reached to the measurement accuracy of position and attitude, and it is desirable that control mechanism is step by step loaded balance with higher precision The position and attitude of head resets to equilibrium state.In order to meet balance loading head attitude detection it is a wide range of, in high precision reset it is this It is required that proposing a kind of solution: when balance loading head pose deviation equilibrium state is very big, using a kind of coarse tuning system, Including large-scale displacement measurement (± 30cm or measurement range larger can be up to) and reset control technology;Work as balance When loading head pose deviation equilbrium position is smaller, accurate detection and regulator control system are enabled, including small-scale accurate displacement is surveyed Amount system and high-precision feedback control system.This be based on measurement range it is big, then measurement accuracy require it is low, reset Principles of Regulation It can simplify and thinking that control process can be rapid, this mode can satisfy low essence when loading head posture coarse adjustment completely The requirement of degree, fast speed;When coarse adjustment state enters the state finely resetted, Precision measurement and reset mode are enabled, then Loading head equilibrium state can be gradually approached at leisure with very high measurement accuracy and reseting precision, be finally completed answering for loading head Position.The form that such a different measurement methods within the scope of two kinds are fused together solves a wide range of, high-precision comprehensive Close measurement request.

Due to the limitation of existing position sensor, if selection detector directly carries out the technology path of position sensing, such as Using area array CCD or other 2-d position measurement devices, then high-precision position can only be realized in the area of about 20mm*20mm Measurement, cannot be considered in terms of the requirement of above-mentioned large-range measuring.But if passing through turning a wide range of interior location information in the application It changes in the reasonable range of lesser comparison and measures, although measurement accuracy may be decreased, can satisfy big model Enclose the interior requirement that can be measured.

The application utilizes a kind of side of large-scale position detection system and Image Information Processing based on imaging optical system Method constructs a kind of detection device for meeting balance loading head posture, can satisfy and carries out position measurement but essence in a big way Degree requires lower requirement.The image that the instruction light source being radiated on target surface is obtained using CCD camera and imaging optical system, by In the relationship of imaging scale, this mode is easily accomplished the information imaging on a large scale in a lesser CCD chip On, to obtain the relevant information in a wide range of;Low feature is required in view of large-scale measurement accuracy, it can be simply to light The characteristics of image of source hot spot carries out image real time transfer (such as maximum value process) to obtain the location information of instruction light source, to obtain The result of loading head posture preliminary surveying.The application utilizes a kind of small range position directly detected based on position sensor Detection and image processing method construct a kind of detection device for meeting balance loading head posture, meet in smaller range Carry out the high-acruracy survey requirement of position.When the position and attitude of balance loading head enters fine measurement and adjustable range, at this point, Light source direct irradiation is indicated in the CCD chip for finely measuring, using the accurate available hot spot of hot spot processing technique Exact position on CCD, to obtain attitude data of the loading head in fine reset for feedback control.By indicating light The structure design of target surface and the design of detector, optical imaging system layout are irradiated in source, so that the instruction light formed on target surface Source can be shared by the measurement method under two states, and obtain location measurement information through different processing modes, improve position Set the compactedness of detection system.

Wherein, the optical imaging system includes: CCD camera and camera lens;The position sensing structure is fixed on installation branch On frame;Described device specifically includes 4 position sensing structures, and 4 position sensing structures are evenly distributed on balance to be detected Loading head surrounding is simultaneously installed in a manner of orthogonal in the horizontal plane, a kind of form of coordinate system is presented, so as to measurement result Convenient for obtaining the spatial attitude of balance for position-based routing.

Wherein, described device further includes connecting bracket, and described connecting bracket one end is connect with the optical imaging system, institute The connecting bracket other end is stated to connect with the position sensor;The position sensor specifically includes: shell, photodetector, Photodetector mounting plate, signal processor, the photodetector, the photodetector mounting plate, the signal processing Device is respectively mounted inside the shell, and the photoelectric detector chip is mounted on photodetector mounting plate, the photodetector with The signal processor connection, the photodetector center line are overlapped with the opening center line;The photodetector Measurement area is greater than the area of centre bore;The photodetector includes: area array CCD, Two-dimensional PSD;The photodetector peace Loading board is fixed on the shell by fastening screw.

This patent solves technical solution used by its technical problem: the measurement required when according to balance loading head coarse adjustment Range, design one has the target surface (outline border is round or rectangular) for instruction light source irradiation of maximum usable area, shines The target surface for penetrating face side uses the surface texture with diffusing reflection function, and is preferably provided with characteristic white.The target surface is placed in Or it is bonded in position sensor surface, in center position aperture and only to cover the state of CCD chip edge very small part Reserve position sensor need to window, form the irradiation target surface of final instruction light source.Position sensor is mainly by area array CCD Chip is constituted, the CCD chip big as far as possible preferably with area, Pixel Dimensions are small as far as possible, but to meet position and attitude accurate measurement Area requirement, it is not necessary to require large area too much;In order to meet high-accuracy measurement request, preferably by CCD chip with table The mode of face welding, which is mounted on one, can be stabilized on the panel of a fixed rack, and as far as possible far from pyrotoxin (on such as circuit board Power module etc.), reduce the influence expanded with heat and contract with cold;When indicating that hot spot is radiated in the CCD chip, it can be obtained at once Light spot image can obtain hot spot in CCD core by carrying out certain image real time transfer (such as facula mass center processing) to hot spot Exact position on piece surface, commonly reaching pixel scale is that there is no problem, it can the measurement accuracy for reaching a few micrometers, because This this measurement method is sufficient for the high-acruracy survey of loading head position and attitude.But it is limited to CCD chip area and Pixel Dimensions Limitation, the range that this mode can measure is relatively small, generally within 15mm;This mode is used for loading head position appearance Small range, the high-acruracy survey of state.When needing large-range measuring, then realized using CCD camera imaging system.Pass through selection The suitable imaging lens of focal length, can form a kind of photographic system together with CCD camera, can complete to corresponding imaging area The imaging of (the irradiation target surface of instruction light source), obtains the relevant information in imaging region.With its target surface to instruction light source irradiation It is imaged, then can obtain and contain the image of the instruction light source of balance loading head position and attitude information, due to measurement accuracy It is required that be greatly reduced, can to the processing (as using maximum value process) that location information of the instruction light source on target is simplified, It then can rapidly obtain the information of balance loading head position and attitude.According to the range that balance loading head posture may change, choosing Lens focus is selected, can satisfy the measurement in variation range.This measurement method is rough for balance loading head position and attitude Measurement has the characteristics that measurement range is big and facilitates adjusting, in itself since measurement accuracy is of less demanding, processing can simplify, Quickly, meet the requirement for measuring and adjusting at this time.

One or more technical solution provided by the present application, has at least the following technical effects or advantages:

The invention has the advantages that using the imaging lens of CCD camera and proper focal length be combined into one kind can to compared with The measuring system that the region of large area is imaged can be obtained by the image procossing to instruction light source specific in imaging region Corresponding position and attitude information is obtained, to obtain a kind of a wide range of interior measurement effect, simplifies large-scale position measuring system Complexity.By the use of the position sensor based on CCD chip type, directly the spatial position of instruction hot spot is measured The space position solution information that instruction hot spot can be obtained, meets small range, high-precision position and attitude measurement request.Simultaneous The feature of instruction hot spot irradiation when caring for large-range measuring, carries out the design of instruction hot spot irradiation target surface, can be effectively by two kinds The guidance light irradiation target face structure of measurement request is fused together, and meets two kinds of position measuring systems to a wide range of, lower Two kinds of measuring systems are finally fused together well and form one by the common prescription of precision and small range, high-acruracy survey The detection system of kind balance loading head position and attitude, meets a wide range of, the high-precision detection of balance loading head position and attitude It is required that solving test problems that are in the past a wide range of, cannot carrying out simultaneously in high precision.

Detailed description of the invention

Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application Point, do not constitute the restriction to the embodiment of the present invention;

Fig. 1 is balance loading head apparatus for detecting position and posture structural schematic diagram;

Fig. 2 is the schematic diagram that attitude measuring is constituted all the way;

Fig. 3 is position large-range measuring and the detector composition schematic diagram that accurate measurement function is fused together;

Fig. 4 is the structural schematic diagram that target surface and the position sensor based on area array CCD chip are fused together;

Fig. 5 is the position sensor schematic layout pattern based on area array CCD chip;

Fig. 6 a- Fig. 6 c is to indicate hot spot in several situation schematic diagrames of position detector surface;

Fig. 7 is a kind of position and attitude measurement strategies flow diagram;

Wherein, 1- position and attitude loading head to be measured and balance, 2- indicate light source, 3- position sensing structure, and the position 4- is visited Geodesic structure mounting bracket, 5- indicate that hot spot irradiates target surface, 6- centre bore, 7-CCD camera, 8- camera lens, 9- guidance light beam, 10- Based on the position sensor of area array CCD chip, 11- opening, 12- connecting bracket, 13-CCD chip, 14- fastening screw, 15- peace Loading board, 16- wiring board, 17- electronic component, 18- default center point coordinate.

Specific embodiment

The present invention provides a kind of balance loading head apparatus for detecting position and posture, solve existing balance loading head pose detection Can not be carried out simultaneously present in device loading head position and attitude wide variation monitoring with it is high-precision near reset position posture The technical issues of close detection, realize using the balance unit loading head position and attitude in the application wide variation monitoring with High-accuracy detection near reset position posture can carry out simultaneously, and meet loading head position and attitude detection it is a wide range of, High-acruracy survey requirement.

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real Applying mode, the present invention is further described in detail.It should be noted that in the case where not conflicting mutually, the application's Feature in embodiment and embodiment can be combined with each other.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also Implemented with being different from the other modes being described herein in range using other, therefore, protection scope of the present invention is not by under The limitation of specific embodiment disclosed in face.

In Fig. 1,1 is position and attitude loading head to be measured and balance, and 2 instruction light sources, 3 be position sensing structure, and 4 be position Set detecting structure mounting bracket.

In Fig. 3,5 be instruction hot spot irradiation target surface, and shape is not limited to round, rectangular etc., by instruction hot spot irradiation one The surface in face uses diffusing reflection face structure, and acquisition and image real time transfer convenient for hot spot, centre bore 6 is opened in target surface center. 7,8 be CCD camera and camera lens, constitutes optical imaging system.10 be the position sensor based on area array CCD chip, and shape is not It is limited to round, rectangular etc., corresponding center opening 11.12 be the connection being fixed on optical imaging system on position sensor Bracket, form are not limited to be fixed on position sensor, can be fixed in other supporting supports.

In Fig. 4,5 be instruction hot spot irradiation target surface.10 be the position sensor based on area array CCD chip.Between 5 and 10 It is fixed by bonding or screw riveting, but need to indicate on centre bore 6 and position sensor on hot spot irradiation target surface 5 11 alignment of light passing opening is to ensure that guidance light being capable of photodetector CCD chip 13 of the normal illumination inside position sensor On, and CCD chip 13 needs aligned openings 11, effective measurement area of CCD chip 13 should be slightly larger than centre bore 6 to ensure surveying In amount face when indicate hot spot irradiation position from be transitioned on a large scale small range measure when can obtain instruction hot spot effective image. 15 be the mounting plate of CCD chip, and the driving and signal processing circuit board that can also be used as CCD chip are used in conjunction with, but are existed as far as possible Installation electronic component especially generates heat heavier power module etc. less thereon, and mounting plate 15 is fixed on 10 by fastening screw 14 etc. Shell on (such as on end plates), the step is higher to installation requirement, needs to handle with caution.16 be the route of signal processing Plate, 17 be the electronic component on wiring board 16.

In Fig. 5, this is the position sensor structural representation based on area array CCD chip, it is usually required mainly for guarantees CCD chip 13 Effective test surface be aligned its end face opening 11, and the area of opening 11 is required to be slightly smaller than the useful detection area of CCD chip 13. Photodetector in detector includes but is not limited to area array CCD, and Two-dimensional PSD is also a kind of good sensitive detection parts, due to Effective test surface of most two-dimensional type PSDs be it is round, therefore, it also includes circle that opening thereon, which is not limited to rectangular,;But it uses After Two-dimensional PSD detector, the relevant processing mode of location information of instruction hot spot will change, and will mainly depend on electronics Route directly handles the current signal that PSD is exported, but processing speed is very fast and directly obtains processing result.

The structure and composition of balance loading head attitude detection system overall picture are illustrated: attitude detection system is mainly by Fig. 1 It indicates light source 2, merged a wide range of and precision measurement function the composition of position sensing structure 3, wherein position sensing structure 3 Again be made of three parts: by CCD camera 7 and camera lens 8 form for large-scale position measurement Optical imaging measurement system, Position sensor 10 based on CCD chip has merged and has irradiated 5 groups of target surface for a wide range of and precision measurement instruction hot spot At as shown in Fig. 2 and Fig. 3 composition.Position sensing structure 3 shares four tunnels, is mounted in position sensing structure mounting bracket 4, point It is distributed on orthogonal four direction, as shown in Figure 1.

The instruction of balance loading head posture: the installation instruction light source 2 on balance loading head guarantees instruction light source 2 and load It is fixed between first 1.Indicate (horizontal plane) (the preferably stringent phase on four direction in the same plane of light source 2 It is mutually vertical, resolved convenient for inverse position) guidance light beam 9 is generated, the diameter of guidance light beam 9 is small as far as possible, as shown in Figure 1.By Determined in the mutual alignment relation of these guidance light interfasciculars, can be used as the reference direction of standard, but due to instruction light source with Be between loading head it is fixed, the position and attitude of the variation of the position and attitude of loading head and instruction light source, which changes, to be consistent, and therefore, is referred to Show that the direction of light shafts represents the posture of loading head, asking for posture is measured and carried out to the position of these guidance light beams Solution is equivalent to measure the posture of loading head.In the loading head balance correction system of restoration type, without further into Row posture solves, it is only necessary to carry out accurate measurement to guidance light beam position, and ensure that correction system can be with according to measurement result Carry out the precision reset of posture.Based on high-acruracy survey requirement, the direction of these light shafts needs stabilization with higher Degree.

The large-range measuring of guidance light beam position: the optical imagery system that this function is made of CCD camera 7 and camera lens 8 System is completed, and the shape and area of instruction hot spot irradiation target surface 5 are determined according to the possible variation range of loading head posture, passes through selection The case where entire instruction hot spot irradiation target surface 5, can be imaged in CCD camera by the suitable camera lens of focal length, to be contained The image of the entire instruction hot spot irradiation target surface 5 of location measurement information.When optical imaging system is fixed, need to avoid blocking The guidance light beam 9 firmly irradiated.Guidance light beam 9 is radiated on the surface of target 5, forms the image of a speck, this speck Position be exactly for large-scale position measurement main information.Optical imaging system alignment target surface 5 is imaged, packet is obtained The speck image of the information containing measurement position, by using the figure including but not limited to the methods of image maximization, centroid algorithm Centroid position coordinate as handling and extracting speck, the speck centroid position coordinate are that instruction light beam 9 shines in instruction hot spot The location information shot at the target on face 5, as shown in the attached drawing of Fig. 6 a.Speck centroid position coordinate and instruction hot spot are irradiated into target surface 5 Default center point coordinate 18 is compared, and be can be obtained the deviation value of instruction BEAM SQUINT central axis, is provided it to control System carries out respective feedback control.In order to reduce the influence of speck background image and improve the precise degrees of speck detection, The filter plate that certain bandwidth can be installed additional on camera lens filters out other light in addition to guidance light wavelength, the figure of prominent speck Image quality amount.This mode can satisfy the position detection of ± 30cm and range above, and precision is easily attained 0.1mm-0.2mm, It is sufficient for the position detection requirement of a wide range of, certain precision.

The small range accurate measurement of guidance light beam position: this detection function is based primarily upon the position sensing of CCD chip Device 10 is completed.When indicating that light beam enters the i.e. light passing window center hole 6 of setting range of Precision measurement, i.e. guidance light beam 9 When can preferably be radiated at effective light passing window of position sensor 10, as shown in Figure 6 b.A width can be then obtained to contain The image of hot spot direct irradiation, by using the image procossing including but not limited to the methods of image maximization, centroid algorithm And the centroid position coordinate of speck is extracted, which is instruction light beam 9 in instruction hot spot irradiation target surface 5 On location information.Speck centroid position coordinate and the default center point coordinate 18 of instruction hot spot irradiation target surface 5 are compared, The deviation value that can be obtained instruction BEAM SQUINT central axis provides it to control system and carries out respective feedback control. Under this measurement method, the image for irradiating hot spot is obtained since CCD chip is directly used in, resolution ratio reaches CCD pixel Level, the measurement accuracy of centroid position of the light spot image after image procossing generally in pixel or the level of sub-pix, namely It can achieve the level of several mmm;But effective detection area is also limited in the areal extent of CCD chip.In general, CCD Chip size is less than 15mm, therefore this mode can satisfy the Precision positioning within the scope of 15mm, and measurement accuracy can reach To 10mmm hereinafter, meeting small-scale Precision positioning requirement.In order to reduce the influence of ambient diffusing light, can be open 11 or centre bore 6 on installation narrow band filter to eliminate the influence of the light in addition to indicate light source, the more clean hot spot of acquisition Image is used for image procossing, finally obtains high-precision centroid position coordinate.

The indicating positions of transition stage measures: when instruction hot spot is fallen in from large-range measuring region to accurate measurement region When on transition boundary, need to carry out a kind of selection of measurement strategies.Since it doesn't matter on this region, accurate measurement requirement (can It is lower with precision, it can also be higher.), it can be treated in a manner of bigness scale to simplify data processing.At this point, two kinds of measurement methods are equal The light spot image of certain brightness can be obtained, it is perhaps sufficiently complete, but the side for judging maximum value position in light spot image can be used Method is the position for indicating light beam with it to obtain its coordinate.

A kind of measurement strategies about indicating positions are as shown in Figure 7.

The posture of balance loading head can be completed by the organically blending for above-mentioned two measurement function of position sensor A wide range of rough measure and accurate measurement, regulate and control further according to posture of the control strategy to loading head, it is accurate until meeting Reset requirement.

In the position sensor based on CCD chip, in view of some superiority that two-dimensional type PSD has, as speed is fast, real When property is good, direct export represents voltage signal of coordinate position etc., and two-dimensional type PSD also can be used and constitute instead of CCD chip Position sensor, only corresponding light spot image processing method needs are changed and are replaced in the form of processing circuit, are adapted to This data processing variation.

Technical solution in above-mentioned the embodiment of the present application, at least have the following technical effects or advantages:

The invention has the advantages that using the imaging lens of CCD camera and proper focal length be combined into one kind can to compared with The measuring system that the region of large area is imaged can be obtained by the image procossing to instruction light source specific in imaging region Corresponding position and attitude information is obtained, to obtain a kind of a wide range of interior measurement effect, simplifies large-scale position measuring system Complexity.By the use of the position sensor based on CCD chip type, directly the spatial position of instruction hot spot is measured The space position solution information that instruction hot spot can be obtained, meets small range, high-precision position and attitude measurement request.Simultaneous The feature of instruction hot spot irradiation when caring for large-range measuring, carries out the design of instruction hot spot irradiation target surface, can be effectively by two kinds The guidance light irradiation target face structure of measurement request is fused together, and meets two kinds of position measuring systems to a wide range of, lower Two kinds of measuring systems are finally fused together well and form one by the common prescription of precision and small range, high-acruracy survey The detection system of kind balance loading head position and attitude, meets a wide range of, the high-precision detection of balance loading head position and attitude It is required that solving test problems that are in the past a wide range of, cannot carrying out simultaneously in high precision.

Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as It selects embodiment and falls into all change and modification of the scope of the invention.

Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims (9)

1. a kind of balance loading head apparatus for detecting position and posture, which is characterized in that described device includes:
Indicate that light source, position sensing structure, the instruction light source are mounted on balance loading head to be detected upper surface, the position Detecting structure includes: instruction hot spot irradiation target surface, optical imaging system, position sensor, and the instruction hot spot irradiation target surface is opened Equipped with centre bore, the end face of the position sensor is equipped with opening, and the opening center line is overlapped with the center centerline hole, The position sensor is fixed on the back side of the instruction hot spot irradiation target surface, and the optical imaging system is located at the instruction light Spot irradiates the front front of target surface.
2. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that the optical imaging system packet It includes: CCD camera and camera lens.
3. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that the position sensing structure is solid It is scheduled in mounting bracket.
4. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that described device specifically includes 4 A position sensing structure, 4 position sensing structures are evenly distributed on balance loading head surrounding to be detected.
5. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that described device further includes connection Bracket, described connecting bracket one end are connect with the optical imaging system, the connecting bracket other end and the position sensing Device connection.
6. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that the position sensing implement body It include: shell, photodetector, photodetector mounting plate, signal processor, the photodetector, the photodetection Device mounting plate, the signal processor are respectively mounted inside the shell, and the photoelectric detector chip is mounted on photodetector installation On plate, the photodetector is connect with the signal processor, the photodetector center line and the opening center line It is overlapped.
7. balance loading head apparatus for detecting position and posture according to claim 6, which is characterized in that the survey of the photodetector Measure the area that area is greater than centre bore.
8. balance loading head apparatus for detecting position and posture according to claim 6, which is characterized in that the photodetector packet It includes: area array CCD, Two-dimensional PSD.
9. balance loading head apparatus for detecting position and posture according to claim 6, which is characterized in that the photodetector installation Plate is fixed on the shell by fastening screw.
CN201610910346.4A 2016-10-19 2016-10-19 A kind of balance loading head apparatus for detecting position and posture CN107063082B (en)

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