CN107726983A - A kind of six degree of freedom thin tail sheep non-contact detection method - Google Patents
A kind of six degree of freedom thin tail sheep non-contact detection method Download PDFInfo
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Abstract
The invention discloses a kind of six degree of freedom thin tail sheep non-contact detection method, three-dimensional system of coordinate is defined to measurand first, wherein X/Y plane is on measurand surface, 4 collimated light sources are set respectively in X/Y plane, along corresponding 4 collimated light sources of Z-direction, 4 optical receivers are set, when 6DOF change in displacement occurs for measurand, the change of the position and direction for the collimated light source being fixedly connected with it will be caused, each hot spot is caused to be subjected to displacement on corresponding optical receiver photosurface, it is subjected to displacement according to the hot spot measured on corresponding optical receiver photosurface, obtain the displacement on the six degree of freedom of measurand.The beneficial effects of the invention are as follows the high-acruracy survey that remote non-contact six-degree of freedom thin tail sheep can be achieved.
Description
Technical field
The invention belongs to robotic technology field, is related to a kind of six degree of freedom thin tail sheep non-contact detection method.
Background technology
The measuring method of six-degree of freedom displacement is throughout ultrasonic technology, infrared technique, electromagnetic technique and optics skill at present
Art etc..It can be divided into contact type measurement and the class of non-contact measurement two in form from the basic structure of detecting system.Contact type measurement
Three dimensional coordinate measuring machine and multi-joint tracking measurement system can be used to carry out static accuracy detection, but due to being incited somebody to action in measurement process
Measurement contact force inevitably occurs, therefore is not suitable for high-precision accurate measurement requirement, being also not suitable for measured object can not touch
The occasion touched；Presence of the non-contact measurement then without measurement contact force, therefore there is greater flexibility, and it is applied to machine simultaneously
The static state of structure pose and the detection of dynamic property.Research currently for the position and posture detection method of multiple-degree-of-freedom mechanism is mainly concentrated
In：Method based on laser detection, the detection method based on displacement transducer and vision-based inspection side the most popular
Method.Multiple degrees of freedom position and posture detection method based on laser tracker is more direct, i.e., the directly tested multiple-degree-of-freedom mechanism of detection moves
If the 3 d space coordinate done on platform and (be no less than 3 non-colinear points), so as to resolve the pose of moving platform.It is this to be based on
The advantages of method of laser measurement is with high accuracy, high efficiency and big measurement space, but expensive equipment (million yuan of magnitudes),
It is restricted in practical application.Reasonable construction detecting system is carried out using accurate displacement detection sensor part, and commonly used more
Free degree mechanism pose direct detecting method.Multiple-degree-of-freedom mechanism pose noncontact measurement based on computer vision is near
Study hotspot over 20 years, it can be divided mainly into feature optical method, binocular stereo vision method and regarding based on monocular (one camera)
Feel detection method.The precision of non-contact vision position and posture detection method based on monocular, binocular and structure light is still more certainly far from satisfaction
By the requirement of degree accurate displacement accuracy of detection.
The content of the invention
It is an object of the invention to provide a kind of six degree of freedom thin tail sheep non-contact detection method, solves existing six certainly
By the displacement detecting method measurement accuracy spent it is low the problem of.
The technical solution adopted in the present invention is to follow the steps below
Step 1：Three-dimensional system of coordinate OXYZ is defined to measurand first, origin O and reference axis X, Y are pressed on tested surface
The right-hand rule, reference axis X, Y, Z are mutually perpendicular to two-by-two；Define along the displacement on 3 translation freedoms of 3 change in coordinate axis direction and be
Tx, Ty and Tz；Define the rotation displacement on 3 rotational freedoms rotated around 3 reference axis by the right-hand rule for Rx, Ry and
Rz；
Step 2：Be radius using O points as the center of circle, R, XY axles form plane on draw a circle, circle with X, four of Y-axis
Joining sets 4 collimated light sources respectively：Collimated light source u, collimated light source d, collimated light source L and collimated light source r；
Step 3：Along corresponding 4 collimated light sources of Z-direction, 4 optical receivers are set：Optical receiver u, optical receiver d, light
Receiver L and optical receiver r, the distance of each collimated light source to corresponding optical receiver sensitive area is L；Remember each collimated light source outgoing
Light and Z axis angle are θ；The distribution radius of circle of 4 optical receivers is H, there is H=L*sin θ+R；Define 4 optical receiver coordinates
Zi axles forward direction along corresponding collimated light exit direction, i=u, d, L, r, while XiYi faces is arranged in photosurface, and make Xi
Axle each parallel to OXYZ coordinate systems ZX faces, and with X-axis press from both sides acute angle；Yi axles press from both sides acute angle each parallel to YZ faces with Y-axis；
Step 4：When 6DOF change in displacement occurs for measurand, the position for the collimated light source being fixedly connected with it will be caused
The change with direction is put, causes each hot spot to be subjected to displacement on corresponding optical receiver photosurface, so as to be existed according to the hot spot measured
It is subjected to displacement on corresponding optical receiver photosurface, obtains the displacement on the six degree of freedom of measurand.
Further, it is subjected to displacement according to the hot spot measured on corresponding optical receiver photosurface, obtains the six of measurand
Displacement method in the free degree is as follows：Each hot spot is subjected to displacement column vector on corresponding optical receiver photosurface：S '=(Δ xu,
Δ yu, Δ xd, Δ yd, Δ xL, Δ yL, Δ xr, Δ yr) ', if measurand six degree of freedom thin tail sheep column vector D=(Tx, Ty,
Tz, Rx, Ry, Rz) '；
1. making D=(Tx, 0,0,0,0,0) ', i.e. the small translation Tx along X-axis only occurs for measurand, has：
Δ xu=Tx, Δ yu=0；Δ xd=Tx, Δ yd=0,
Δ xL=Tx*cos θ, Δ yL=0；Δ xr=Tx*cos θ, Δ yr=0
That is S=(Tx, 0, Tx, 0, Tx*cos θ, 0, Tx*cos θ, 0) '；
2. making D=(0, Ty, 0,0,0,0) ', i.e. the small translation Ty along Y-axis only occurs for measurand, has：
Δ xu=0, Δ yu=Ty*cos θ；Δ xd=0, Δ yd=Ty*cos θ,
Δ xL=0, Δ yL=Ty；Δ xr=0, Δ yr=Ty
That is S=(0, Ty*cos θ, 0, Ty*cos θ, 0, Ty, 0, Ty) '；
3. making D=(0,0, Tz, 0,0,0) ', i.e. the small translation Tz along Z axis only occurs for measurand, has：
Δ xu=0, Δ yu=-Tz*sin θ；Δ xd=0, Δ yd=Tz*sin θ,
Δ xL=Tz*sin θ, Δ yL=0；Δ xr=-Tz*sin θ, Δ yr=0
That is S=(0 ,-Tz*sin θ, 0, Tz*sin θ, Tz*sin θ, 0 ,-Tz*sin θ, 0) '；
4. making D=(0,0,0, Rx, 0,0) ', i.e. the small rotation displacement Rx around X-axis only occurs for measurand, has：
Δ xu=0, Δ yu=- (R*Sin θ+L) * Rx；Δ xd=0, Δ yd=- (R*Sin θ+L) * Rx,
Δ xL=0, Δ yL=-L*cos θ * Rx；Δ xr=0, Δ yr=-L*cos θ * Rx
I.e. S=(0 ,-(R*Sin θ+L) * Rx, 0 ,-(R*Sin θ+L) * Rx, 0 ,-L*cos θ * Rx, 0 ,-L*cos θ * Rx) '；
5. making D=(0,0,0,0, Ry, 0) ', i.e. the small rotation displacement Ry around Y-axis only occurs for measurand, has：
Δ xu=L*cos θ * Ry, Δ yu=0；Δ xd=L*cos θ * Ry, Δ yd=0,
Δ xL=(R*Sin θ+L) * Ry, Δ yL=0；Δ xr=(R*Sin θ+L) * Ry, Δ yr=0
I.e. S=(L*cos θ * Ry, 0, L*cos θ * Ry, 0, (R*Sin θ+L) * Ry, 0, (R*Sin θ+L) * Ry, 0) '；
6. making D=(0,0,0,0,0, Rz) ', i.e., small rotation displacement Rz about the z axis only occurs for measurand, has：
Δ xu=-H*Rz, Δ yu=0；Δ xd=H*Rz, Δ yd=0,
Δ xL=0, Δ yL=H*Rz；Δ xr=0, Δ yr=-H*Rz
I.e. S=(- H*Rz, 0, H*Rz, 0,0, H*Rz, 0 ,-H*Rz) '；
When any thin tail sheep D=(Tx, Ty, Tz, Rx, Ry, Rz) ' occurs for measurand, four optical receiver photosurfaces
Upper hot spot motion vector S is then the superposition of each each self-applying of displacement component above, is write as matrix form, has：
It is abbreviated as:
S=C*D
Solve the inconsistent equation group：
D=(C'C)-1C'S
Obtain the displacement D=(Tx, Ty, Tz, Rx, Ry, Rz) ' on the six degree of freedom of measurand.
Further, normal of the collimated light that each collimated light source is sent in the step 3 along corresponding optical receiver sensitive area enters
Penetrate.
Further, the collimated light of each collimated light source forms hot spot in corresponding optical receiver sensitive area in the step 3.
The beneficial effects of the invention are as follows the high-acruracy survey that remote non-contact six-degree of freedom thin tail sheep can be achieved.
Brief description of the drawings
Fig. 1 is that the signal of measurand object and coordinate system define schematic diagram；
Fig. 2 is the collimated light source arrangement schematic diagram of measurand with attachment thereon；
Fig. 3 is detection method system schematic side view；
Fig. 4 is that four optical receiver location arrangements and its coordinate system define schematic diagram；
Fig. 5 is optical receiver u sensitive areas and light class u displacement diagrams.
Embodiment
With reference to embodiment, the present invention is described in detail.
Illustrated using a disk as detected object, thereon, centre of surface such as Fig. 1 defines coordinate system OXYZ, wherein, XY
In measurand upper surface, Z is the normal direction of the upper surface of measurand disk in face, then, remembers along 3 change in coordinate axis direction
Displacement on 3 translation freedoms is Tx, Ty and Tz；Remember on 3 rotational freedoms rotated around 3 reference axis by the right-hand rule
Rotation displacement be Rx, Ry and Rz.Lower mask body, which is introduced, proposed by the present invention to be detected to this six-freedom degree thin tail sheep
Method.
Relative coordinate system and parameter are defined first.Referring to Fig. 2, the first standard that is connected each up and down in measurand
Direct light source, is designated as respectively：Collimated light source u, collimated light source d, collimated light source L and collimated light source r；And remember their distribution radius of circle
For R.
Referring to Fig. 3, along measurand upper surface normal direction, i.e., along Z-direction, at suitable distance, corresponding 4 collimated light sources are set
4 optical receivers, correspond to be designated as respectively：Optical receiver u, optical receiver d, optical receiver L and optical receiver r；And make each collimation
Normal incidence of the collimated light that light source is sent along corresponding optical receiver sensitive area；Remember that each collimated light source emergent light and Z axis angle are equal
For θ；The distance for remembering each collimated light source to corresponding optical receiver sensitive area is L.Collimated light from each collimated light source is corresponding
Optical receiver sensitive area will form appropriately sized hot spot.Again referring to Fig. 4, the distribution radius of circle of 4 optical receivers of note is H, there is H
=L*sin θ+R, and as schemed the coordinate system of each optical receiver of definition, it is corresponding to be designated as XuYuZu, XdYdZd, XLYLZL and XrYrZr.
Specifically, Zi (i=u, d, L, r) the axles forward direction of 4 optical receiver coordinates is defined along corresponding collimated light exit direction, is made simultaneously
XiYi faces are arranged in photosurface, and make ZX face of the Xi axles each parallel to above-mentioned OXYZ coordinate systems, and press from both sides acute angle with X-axis；Yi
Axle presss from both sides acute angle each parallel to YZ faces with Y-axis.
Referring to Fig. 5, when 6DOF change in displacement occurs for measurand, the collimated light source that is fixedly connected with it will be caused
The change of position and direction, and then cause each hot spot being subjected to displacement on corresponding optical receiver photosurface, be designated as vector (Δ xu,
Δ yu), (Δ xd, Δ yd), (Δ xL, Δ yL) and (Δ xr, Δ yr), and remember S column vectors, have S=(Δ xu, Δ yu, Δ xd,
Δ yd, Δ xL, Δ yL, Δ xr, Δ yr) '.
Measurand six degree of freedom thin tail sheep column vector D is established using effect one by one and linear superposition theorem below, there is D
=(Tx, Ty, Tz, Rx, Ry, Rz) ' and hot spot motion vector (Δ xu, Δ yu), (Δ xd, Δ on each optical receiver photosurface
Yd), the relation between (Δ xL, Δ yL) and (Δ xr, Δ yr), namely the relation between D and S.
1. making D=(Tx, 0,0,0,0,0) ', i.e. the small translation Tx along X-axis only occurs for measurand,
Then according to measuring principle proposed by the present invention and system architecture, can obtain：
Δ xu=Tx, Δ yu=0；Δ xd=Tx, Δ yd=0,
Δ xL=Tx*cos θ, Δ yL=0；Δ xr=Tx*cos θ, Δ yr=0
That is S=(Tx, 0, Tx, 0, Tx*cos θ, 0, Tx*cos θ, 0) '.
2. making D=(0, Ty, 0,0,0,0) ', i.e. the small translation Ty along Y-axis only occurs for measurand,
Then similarly it can obtain：
Δ xu=0, Δ yu=Ty*cos θ；Δ xd=0, Δ yd=Ty*cos θ,
Δ xL=0, Δ yL=Ty；Δ xr=0, Δ yr=Ty
That is S=(0, Ty*cos θ, 0, Ty*cos θ, 0, Ty, 0, Ty) '.
3. making D=(0,0, Tz, 0,0,0) ', i.e. the small translation Tz along Z axis only occurs for measurand,
Then similarly it can obtain：
Δ xu=0, Δ yu=-Tz*sin θ；Δ xd=0, Δ yd=Tz*sin θ,
Δ xL=Tz*sin θ, Δ yL=0；Δ xr=-Tz*sin θ, Δ yr=0
That is S=(0 ,-Tz*sin θ, 0, Tz*sin θ, Tz*sin θ, 0 ,-Tz*sin θ, 0) '.
4. making D=(0,0,0, Rx, 0,0) ', i.e. the small rotation displacement Rx around X-axis only occurs for measurand.
Then similarly it can obtain：
Δ xu=0, Δ yu=- (R*Sin θ+L) * Rx；Δ xd=0, Δ yd=- (R*Sin θ+L) * Rx,
Δ xL=0, Δ yL=-L*cos θ * Rx；Δ xr=0, Δ yr=-L*cos θ * Rx
I.e. S=(0 ,-(R*Sin θ+L) * Rx, 0 ,-(R*Sin θ+L) * Rx, 0 ,-L*cos θ * Rx, 0 ,-L*cos θ * Rx) '.
5. making D=(0,0,0,0, Ry, 0) ', i.e. the small rotation displacement Ry around Y-axis only occurs for measurand.
Then similarly it can obtain：
Δ xu=L*cos θ * Ry, Δ yu=0；Δ xd=L*cos θ * Ry, Δ yd=0,
Δ xL=(R*Sin θ+L) * Ry, Δ yL=0；Δ xr=(R*Sin θ+L) * Ry, Δ yr=0
I.e. S=(L*cos θ * Ry, 0, L*cos θ * Ry, 0, (R*Sin θ+L) * Ry, 0, (R*Sin θ+L) * Ry, 0) '.
6. making D=(0,0,0,0,0, Rz) ', i.e., small rotation displacement Rz about the z axis only occurs for measurand.
Then similarly it can obtain：
Δ xu=-H*Rz, Δ yu=0；Δ xd=H*Rz, Δ yd=0,
Δ xL=0, Δ yL=H*Rz；Δ xr=0, Δ yr=-H*Rz
I.e. S=(- H*Rz, 0, H*Rz, 0,0, H*Rz, 0 ,-H*Rz) '.
In formula, H=R+L*sin θ.
To sum up, when any thin tail sheep D=(Tx, Ty, Tz, Rx, Ry, Rz) ' occurs for measurand, four optical receiver light
Hot spot motion vector S is then the superposition of each each self-applying of displacement component above on quick face, is write as matrix form, has：
It is abbreviated as:
S=C*D
Solve the inconsistent equation group, then,
D=(C'C)-1C'S
That is, S=(Δ xu, Δ yu, Δ xd, Δ are subjected to displacement on corresponding optical receiver photosurface according to the hot spot measured
Yd, Δ xL, Δ yL, Δ xr, Δ yr) ', can obtain on the six degree of freedom of measurand displacement D=(Tx, Ty, Tz, Rx, Ry,
Rz)’。
It is also an advantage of the present invention that inventive principle is clearly succinct, method is novel, rigorous, effective；The device that the present invention uses
Part has the advantages that implementation is simple, durable, inexpensive, suitable for the requirement of non-contact thin tail sheep measurement range, has accuracy of detection
Height, the advantages that far measuring distance, the detection space that is particularly suitable for use in is limited, need to from measurand side more at a distance on to progress
The occasion of six degree of freedom thin tail sheep detection, such as especially suitable for motion that six-DOF robot is realized from relatively remote and calmly
The thin tail sheep non-contact precision detection of position.
Described above is only the better embodiment to the present invention, not makees any formal limit to the present invention
System, any simple modification that every technical spirit according to the present invention is made to embodiment of above, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (4)
1. a kind of six degree of freedom thin tail sheep non-contact detection method, it is characterised in that follow the steps below
Step 1：Three-dimensional system of coordinate OXYZ is defined to measurand first, origin O and reference axis X, Y are on tested surface, by the right hand
Rule, reference axis X, Y, Z are mutually perpendicular to two-by-two；Definition along the displacement on 3 translation freedoms of 3 change in coordinate axis direction be Tx,
Ty and Tz；The rotation displacement defined on 3 rotational freedoms rotated around 3 reference axis by the right-hand rule is Rx, Ry and Rz；
Step 2：It is radius using O points as the center of circle, R, a circle is drawn in the plane that XY axles are formed, circle intersects with X, four of Y-axis
Point sets 4 collimated light sources respectively：Collimated light source u, collimated light source d, collimated light source L and collimated light source r；
Step 3：Along corresponding 4 collimated light sources of Z-direction, 4 optical receivers are set：Optical receiver u, optical receiver d, light-receiving
Device L and optical receiver r, the distance of each collimated light source to corresponding optical receiver sensitive area is L；Remember each collimated light source emergent light with
Z axis angle is θ；The distribution radius of circle of 4 optical receivers is H, there is H=L*sin θ+R；Define the Zi of 4 optical receiver coordinates
Axle forward direction makes Xi axles equal along corresponding collimated light exit direction, i=u, d, L, r, while XiYi faces is arranged in photosurface
Parallel to the ZX faces of OXYZ coordinate systems, and press from both sides acute angle with X-axis；Yi axles press from both sides acute angle each parallel to YZ faces with Y-axis；
Step 4：When measurand occur 6DOF change in displacement when, by cause the collimated light source being fixedly connected with it position and
The change in direction, each hot spot is caused to be subjected to displacement on corresponding optical receiver photosurface, so as to corresponded to according to the hot spot measured
It is subjected to displacement on optical receiver photosurface, obtains the displacement on the six degree of freedom of measurand.
2. according to a kind of six degree of freedom thin tail sheep non-contact detection method described in claim 1, it is characterised in that：It is described according to survey
Hot spot be subjected to displacement on corresponding optical receiver photosurface, obtain displacement method on the six degree of freedom of measurand such as
Under：Each hot spot is subjected to displacement column vector on corresponding optical receiver photosurface：S '=(Δ xu, Δ yu, Δ xd, Δ yd, Δ xL,
Δ yL, Δ xr, Δ yr) ', if measurand six degree of freedom thin tail sheep column vector D=(Tx, Ty, Tz, Rx, Ry, Rz) '；
1. making D=(Tx, 0,0,0,0,0) ', i.e. the small translation Tx along X-axis only occurs for measurand, has：
Δ xu=Tx, Δ yu=0；Δ xd=Tx, Δ yd=0,
Δ xL=Tx*cos θ, Δ yL=0；Δ xr=Tx*cos θ, Δ yr=0
That is S=(Tx, 0, Tx, 0, Tx*cos θ, 0, Tx*cos θ, 0) '；
2. making D=(0, Ty, 0,0,0,0) ', i.e. the small translation Ty along Y-axis only occurs for measurand, has：
Δ xu=0, Δ yu=Ty*cos θ；Δ xd=0, Δ yd=Ty*cos θ,
Δ xL=0, Δ yL=Ty；Δ xr=0, Δ yr=Ty
That is S=(0, Ty*cos θ, 0, Ty*cos θ, 0, Ty, 0, Ty) '；
3. making D=(0,0, Tz, 0,0,0) ', i.e. the small translation Tz along Z axis only occurs for measurand, has：
Δ xu=0, Δ yu=-Tz*sin θ；Δ xd=0, Δ yd=Tz*sin θ,
Δ xL=Tz*sin θ, Δ yL=0；Δ xr=-Tz*sin θ, Δ yr=0
That is S=(0 ,-Tz*sin θ, 0, Tz*sin θ, Tz*sin θ, 0 ,-Tz*sin θ, 0) '；
4. making D=(0,0,0, Rx, 0,0) ', i.e. the small rotation displacement Rx around X-axis only occurs for measurand, has：
Δ xu=0, Δ yu=- (R*Sin θ+L) * Rx；Δ xd=0, Δ yd=- (R*Sin θ+L) * Rx,
Δ xL=0, Δ yL=-L*cos θ * Rx；Δ xr=0, Δ yr=-L*cos θ * Rx
I.e. S=(0 ,-(R*Sin θ+L) * Rx, 0 ,-(R*Sin θ+L) * Rx, 0 ,-L*cos θ * Rx, 0 ,-L*cos θ * Rx) '；
5. making D=(0,0,0,0, Ry, 0) ', i.e. the small rotation displacement Ry around Y-axis only occurs for measurand, has：
Δ xu=L*cos θ * Ry, Δ yu=0；Δ xd=L*cos θ * Ry, Δ yd=0,
Δ xL=(R*Sin θ+L) * Ry, Δ yL=0；Δ xr=(R*Sin θ+L) * Ry, Δ yr=0
I.e. S=(L*cos θ * Ry, 0, L*cos θ * Ry, 0, (R*Sin θ+L) * Ry, 0, (R*Sin θ+L) * Ry, 0) '；
6. making D=(0,0,0,0,0, Rz) ', i.e., small rotation displacement Rz about the z axis only occurs for measurand, has：
Δ xu=-H*Rz, Δ yu=0；Δ xd=H*Rz, Δ yd=0,
Δ xL=0, Δ yL=H*Rz；Δ xr=0, Δ yr=-H*Rz
I.e. S=(- H*Rz, 0, H*Rz, 0,0, H*Rz, 0 ,-H*Rz) '；
When any thin tail sheep D=(Tx, Ty, Tz, Rx, Ry, Rz) ' occurs for measurand, four optical receiver photosurface glazings
Spot motion vector S is then the superposition of each each self-applying of displacement component above, is write as matrix form, has：
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<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>L</mi>
<mi>C</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mi>H</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>C</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>S</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mi>R</mi>
<mi>S</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
<mo>+</mo>
<mi>L</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>C</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>S</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>R</mi>
<mi>sin</mi>
<mi>&theta;</mi>
<mo>+</mo>
<mi>L</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>L</mi>
<mi>C</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mi>H</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>C</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>S</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>R</mi>
<mi>sin</mi>
<mi>&theta;</mi>
<mo>+</mo>
<mi>L</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>L</mi>
<mi>C</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>H</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>&CenterDot;</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>T</mi>
<mi>x</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>T</mi>
<mi>y</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>T</mi>
<mi>z</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>R</mi>
<mi>x</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>R</mi>
<mi>y</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>R</mi>
<mi>z</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
It is abbreviated as:
S=C*D
Solve the inconsistent equation group：
D=(C'C)-1C'S
Obtain the displacement D=(Tx, Ty, Tz, Rx, Ry, Rz) ' on the six degree of freedom of measurand.
3. according to a kind of six degree of freedom thin tail sheep non-contact detection method described in claim 1, it is characterised in that：The step
Normal incidence of the collimated light that each collimated light source is sent in rapid 3 along corresponding optical receiver sensitive area.
4. according to a kind of six degree of freedom thin tail sheep non-contact detection method described in claim 1, it is characterised in that：The step
The collimated light of each collimated light source forms hot spot in corresponding optical receiver sensitive area in rapid 3.
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| CN101382417A (en) * | 2008-10-08 | 2009-03-11 | 北京信息科技大学 | Non-contact six-degree of freedom displacement measuring device |
| CN102589448A (en) * | 2012-03-13 | 2012-07-18 | 北京信息科技大学 | High-precision six-freedom degree pose monitoring device |
| CN107063104A (en) * | 2017-04-01 | 2017-08-18 | 清华大学 | Planar motor rotor position measuring system and method based on grating scale and Two-dimensional PSD |
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| CN101382417A (en) * | 2008-10-08 | 2009-03-11 | 北京信息科技大学 | Non-contact six-degree of freedom displacement measuring device |
| CN102589448A (en) * | 2012-03-13 | 2012-07-18 | 北京信息科技大学 | High-precision six-freedom degree pose monitoring device |
| CN107063104A (en) * | 2017-04-01 | 2017-08-18 | 清华大学 | Planar motor rotor position measuring system and method based on grating scale and Two-dimensional PSD |
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Inventor after: Yang Dehua Inventor after: Wei Qi Inventor after: Wu Changcheng Inventor after: Fei Fei Inventor before: Yang Dehua Inventor before: Wei Qi Inventor before: Wu Changcheng Inventor before: Fei Fei |
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