CN107131849A - Paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale - Google Patents
Paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale Download PDFInfo
- Publication number
- CN107131849A CN107131849A CN201710466872.0A CN201710466872A CN107131849A CN 107131849 A CN107131849 A CN 107131849A CN 201710466872 A CN201710466872 A CN 201710466872A CN 107131849 A CN107131849 A CN 107131849A
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- China
- Prior art keywords
- mechanical arm
- paper chart
- latitude
- point
- longitude
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The present invention relates to a kind of paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale, comprise the following steps：(1) learns position coordinates of the pickup point in paper chart rectangular coordinate system according to the angle and length of scalable mechanical arm；(2) calculates the latitude and longitude information of take-off location point according to the essential information of coordinate of the take-off location point in rectangular coordinate system and paper chart.This method using similar mechanical arm position measurement mechanism can rapidly by paper chart certain point position latitude and longitude information calculating it is machine-readable go out, so as to overcome the defect that Traditional calculating methods are complicated, simplify the reading process of paper chart point position longitude and latitude, reading difficulty is reduced, reading efficiency and precision is improved.
Description
Technical field
Platform paper chart point latitude and longitude information field of measuring technique is marked and drawed the present invention relates to naval vessel sea chart, especially one kind is based on
The paper chart point longitude and latitude read method of single scalable mechanical arm of grating scale.
Background technology
Ship needs to mark and draw this ship position on paper chart in navigation, and then being observed on paper chart near this ship is
It is no to there is obstruction, shoal etc. to influence the factor of navigation safety, and obstruction, anchor position, turning point are obtained from paper chart in time
Deng the latitude and longitude information of other marks, to calculate it apart from this bearing and distance.
It is current that using paper chart calculating obstruction anchor position, turning point etc., other are identified apart from this bearing range range mode,
It is to mark and draw this ship position of measurement target on paper chart near respectively on paper chart, with reference to chart scale and longitude and latitude
Grid lines, distance is read with divider on paper chart, measures the orientation of two points on paper chart with protractor.It is above-mentioned this
The mode of operation of the latitude and longitude value of certain point of amount calculation is cumbersome, time-consuming on paper chart, and the workload of staff is larger, and easily
There is calculation error.
The content of the invention
The present invention be directed to the cumbersome shortcoming of the latitude and longitude value of certain point of amount calculation on paper chart, pass through similar mechanical arm
Measuring mechanism, quickly calculated using computer the latitude and longitude information of mechanical arm tail end pointed location on paper chart there is provided
A kind of sea of the paper based on the scalable mechanical arm of single grating scale that navigating officer's workload can be greatly reduced, operating efficiency is improved
Figure point longitude and latitude read method.
The purpose of the present invention is realized by following technological means：
A kind of paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale, it is characterised in that：Including
Following steps：
(1) learns that position of the pickup point in paper chart rectangular coordinate system is sat according to the angle and length of scalable mechanical arm
Mark；
(2) calculates take-off location according to the essential information of coordinate of the take-off location point in rectangular coordinate system and paper chart
The latitude and longitude information of point.
Moreover, (1) described specific method is step：Right angle is set up along the lower edge and left hand edge of paper chart effective coverage
Coordinate system XOY, right direction is just, front direction is just, unit is general long measure；The end pick device of measuring mechanism is moved
Move directly over paper chart location point A, the benchmark of absolute grating along the x-axis direction, the reading that computer passes through absolute grating
The angle information α of several reading mechanical arms, the length information l of scalable mechanical arm, meter are measured by short distance laser range finder
Calculation machine calculates point A relative to measuring mechanism fixed position according to angle information α and mechanical arm length information l by formula
Point (x0,y0) relative position relation, the formula is：
Wherein, (x0,y0) it is position of the measuring mechanism pedestal in coordinate system XOY, l is the length of mechanical arm after stretching,
(xA,yA) it is positions of the end pick device pointed location point A in coordinate system XOY, α0It is to be stretched to mechanical arm after specified location
Angle.
Moreover, described class mechanical arm relative position measurement mechanism includes rotating mechanism, absolute grating, scalable machinery
Place on absolute grating, rotating mechanism and install in arm, laser range finder, ranging target position and end pick device, rotating mechanism
Ranging target position is installed in one montant, the upper end of the montant, and the scalable mechanical arm of horizontal positioned is installed in the upper end of the montant, machinery
When arm rotates, target position is rotated together with mechanical arm, and target surface faces laser range finder all the time, and the front end of the telescopic mechanical arm is installed
Laser range finder is installed in one vertically-mounted end pick device, the end pick device.
Moreover, (2) described specific method is step：The position first laid according to paper chart, calculates a location A in paper
Coordinate value (the x of sea chart rectangular coordinate systemA,yA), the longitude and latitude of A points is calculated further according to the corresponding projective transformation of paper chart
(lonA,latA)=G (xA,yA)。
Advantages and positive effects of the present invention are：
1st, this method can quickly by paper chart certain point position latitude and longitude information calculating it is machine-readable go out, overcome biography
The defect of system read method, simplifies reading process, reduces reading difficulty, improve reading efficiency and precision.
2nd, this method is to set up a kind of position measurement mechanism of similar mechanical arm, and paper is moved to the movable terminal of mechanical arm
The location point of measurement is needed on sea chart, in moving process, the orientation and length of mechanical arm all change.By installed in machine
The optical grating ruler measurement mechanical arm anglec of rotation of tool arm fixing end, the stretched length of mechanical arm is measured by laser distance measurement method,
Calculate the position of mechanical arm tail end.Further according to mechanical arm fixed position and the arrangement relation of paper chart, and paper chart itself
The information such as drafting scope, engineer's scale and latitude of reference, calculate the latitude and longitude information of mechanical arm tail end pointed location.
Obtain point latitude and longitude information can after, computer can calculate a little between azran information, user
Formula is more flexible.
3rd, the measuring mechanism used in this method is using imitative mechanical arm pattern, and mechanical arm is rotatable, and length is scalable, passes through
Mechanical arm, which rotates and stretched, can cover whole sea chart effective range regions.
Brief description of the drawings
Fig. 1 is the structure chart of monochromatic light grid mechanical measurement mechanism；
Fig. 2 is the top view of measuring mechanism.
Embodiment
Describe embodiments of the invention in detail below in conjunction with the accompanying drawings；It should be noted that the present embodiment is narrative, no
It is limited, it is impossible to which protection scope of the present invention is limited with this.
A kind of paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale, comprises the following steps：
(1) obtains position coordinates of the take-off location point in paper chart rectangular coordinate system：
Rectangular coordinate system XOY is set up along the lower edge and left hand edge of paper chart effective coverage, right direction is just, front direction is
Just, unit is general long measure；The end pick device of traverse measurement mechanism is to directly over paper chart location point A, definitely
Along the x-axis direction, computer reads the angle information α of mechanical arm by the reading head of absolute grating to the benchmark of formula grating, passes through
Short distance laser range finder measures the length information l of scalable mechanical arm, and computer is believed according to angle information α and mechanical arm lengths
L is ceased, relative position relations of the point A relative to measuring mechanism fixed position point is calculated by formula, the formula is：
Wherein, (x0,y0) it is position of the pedestal of measuring mechanism in coordinate system XOY, l is the machine after specified location that is stretched to
The length of tool arm, (xA,yA) it is positions of the end pick device pointed location point A in coordinate system XOY, α is to be stretched to specific bit
Postpone the angle of mechanical arm.
The relative position measurement mechanism of above-mentioned class mechanical arm includes rotating mechanism 1, scalable mechanical arm 4, laser ranging
Placed in instrument 5, ranging target position 3 and end pick device 6, rotating mechanism and a montant is installed on absolute grating, rotating mechanism
2, ranging target position is installed in the upper end of the montant, and the scalable mechanical arm being horizontally mounted, mechanical arm rotation are installed in the upper end of the montant
When, target position is rotated together with mechanical arm, and target surface faces laser range finder all the time, and the front end of the scalable mechanical arm installs one
Laser range finder is installed in vertically-mounted end pick device, the end pick device.Measuring mechanism is integrally fixed at plotting platform
On；Marked and drawed in use, paper chart is laid in sea chart in the FX on platform surface.
(2) the essential information of coordinate meters and paper chart of the in rectangular coordinate system calculates latitude and longitude information：
The position first laid according to paper chart, calculates coordinate value (x of a location A in paper chart rectangular coordinate system XOYA,
yA), the longitude and latitude (lon of A points is calculated further according to the projective transformation being placed corresponding to paper chartA,latA)=G (xA,yA)。
Jie is briefly described to projective transformation (conversion between paper chart rectangular coordinate system and geographical longitude and latitude) below
Continue：
The size of paper chart effective coverage is generally 1000mm × 700mm or so, and every paper chart has phase when making
Corresponding engineer's scale, projection pattern (China's paper chart is usually using Mercator projection mode), while can be read on paper chart
To lower-left angle point latitude and longitude information and upper right corner latitude and longitude information., can be in a computer according to these information and projection pattern
The relation set up between longitude and latitude and paper chart rectangular co-ordinate.The point can be calculated according to latitude and longitude information (lon, lat) to exist
Coordinate (x, y) in paper chart XOY rectangular coordinate systems, while can also can also be calculated to deserved longitude and latitude according to XOY point coordinates
Spend information.
The conventional positive and negative Mercator projection transformational relation of China's paper chart：(lon, lat)=G (x, y) and (x, y)=G-1
(lon, lat), general formula is repeated no more.
Claims (4)
1. a kind of paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale, it is characterised in that：Including with
Lower step：
(1) learns position coordinates of the pickup point in paper chart rectangular coordinate system according to the angle and length of scalable mechanical arm；
(2) calculates take-off location point according to the essential information of coordinate of the take-off location point in rectangular coordinate system and paper chart
Latitude and longitude information.
2. a kind of paper chart point longitude and latitude reading side based on the scalable mechanical arm of single grating scale according to claim 1
Method, it is characterised in that：(1) described specific method is step：Right angle is set up along the lower edge and left hand edge of paper chart effective coverage
Coordinate system XOY, right direction is just, front direction is just, unit is general long measure；The end pick device of measuring mechanism is moved
Move directly over paper chart location point A, the benchmark of absolute grating along the x-axis direction, the reading that computer passes through absolute grating
The angle information α of several reading mechanical arms, the length information l of scalable mechanical arm, meter are measured by short distance laser range finder
Calculation machine calculates point A relative to measuring mechanism fixed position according to angle information α and mechanical arm length information l by formula
Point (x0,y0) relative position relation, the formula is：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mi>A</mi>
</msub>
<mo>=</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mi>l</mi>
<mo>&CenterDot;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&alpha;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mi>A</mi>
</msub>
<mo>=</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mi>l</mi>
<mo>&CenterDot;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&alpha;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, (x0,y0) it is position of the measuring mechanism pedestal in coordinate system XOY, l is the length of mechanical arm after stretching, (xA,yA)
It is positions of the end pick device pointed location point A in coordinate system XOY, α0It is the angle for being stretched to mechanical arm after specified location
Degree.
3. a kind of paper chart point longitude and latitude reading side based on the scalable mechanical arm of single grating scale according to claim 2
Method, it is characterised in that：Described class mechanical arm relative position measurement mechanism includes rotating mechanism, absolute grating, scalable machine
Place on absolute grating, rotating mechanism and pacify in tool arm, laser range finder, ranging target position and end pick device, rotating mechanism
A montant is filled, ranging target position is installed in the upper end of the montant, and the scalable mechanical arm of horizontal positioned, machine are installed in the upper end of the montant
When tool arm rotates, target position is rotated together with mechanical arm, and target surface faces laser range finder all the time, the front end peace of the telescopic mechanical arm
Fill and laser range finder is installed in a vertically-mounted end pick device, the end pick device.
4. a kind of paper chart point longitude and latitude reading side based on the scalable mechanical arm of single grating scale according to claim 2
Method, it is characterised in that：(2) described specific method is step：The position first laid according to paper chart, calculates a location A in paper
Coordinate value (the x of sea chart rectangular coordinate systemA,yA), the longitude and latitude of A points is calculated further according to the corresponding projective transformation of paper chart
(lonA,latA)=G (xA,yA)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710466872.0A CN107131849A (en) | 2017-06-20 | 2017-06-20 | Paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710466872.0A CN107131849A (en) | 2017-06-20 | 2017-06-20 | Paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107131849A true CN107131849A (en) | 2017-09-05 |
Family
ID=59736155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710466872.0A Pending CN107131849A (en) | 2017-06-20 | 2017-06-20 | Paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107131849A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088370A (en) * | 2018-02-14 | 2018-05-29 | 山东建筑大学 | A kind of position measuring system and measuring method based on grating scale and encoder |
| CN111623744A (en) * | 2020-05-14 | 2020-09-04 | 湖北恒义智能科技有限公司 | Curved surface appearance acquisition and measurement system |
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| CN201715975U (en) * | 2010-06-08 | 2011-01-19 | 浙江大学 | Joint arm type coordinate measuring machine with variable rod length |
| CN204924249U (en) * | 2015-08-03 | 2015-12-30 | 中国人民解放军63699部队 | Plotting laser vernier location chi |
| CN105387856A (en) * | 2015-11-23 | 2016-03-09 | 欧阳泰山 | Multi-light-spot tracking device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088370A (en) * | 2018-02-14 | 2018-05-29 | 山东建筑大学 | A kind of position measuring system and measuring method based on grating scale and encoder |
| CN111623744A (en) * | 2020-05-14 | 2020-09-04 | 湖北恒义智能科技有限公司 | Curved surface appearance acquisition and measurement system |
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Application publication date: 20170905 |