CN107727084B - Method for automatically searching normal direction of cube mirror on satellite by robot high-precision measuring instrument - Google Patents
Method for automatically searching normal direction of cube mirror on satellite by robot high-precision measuring instrument Download PDFInfo
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Abstract
The invention discloses an automatic search method for a measuring instrument to the normal direction of a cubic mirror on a satellite, which respectively establishes electric communication between an upper computer and a high-precision measuring instrument and an industrial robot, wherein the upper computer starts the automatic search of the normal of a plane mirror, starts concentric circle scanning by taking the position of the plane mirror incident to the high-precision measuring instrument as the center of a circle, and automatically records the current position and starts a conventional precision measurement process after the high-precision measuring instrument gives a signal of 'obtaining plane mirror reflected light'. The invention realizes the automatic search of the high-precision measuring instrument on the normal direction of the on-satellite cubic mirror, further realizes the full automation of precision measurement, has universality and is suitable for different robots and precision measuring equipment.
Description
Technical Field
The invention belongs to the technical field of industrial robot application, and particularly relates to a method for matching a robot with a high-precision measuring instrument so as to automatically search the normal direction of a measured cube mirror on a satellite before high-precision measurement.
Background
The high-precision measuring instrument (photoelectric auto-collimation theodolite) is a common tool for precision measurement of high-precision products such as spacecrafts and the like in the assembly process, and the basic principle is that laser emitted by a light pipe of the high-precision measuring instrument is reflected by a cubic mirror (plane reflector) of a measured plane, returns to the light pipe of the photoelectric auto-collimation theodolite, and is received by a photosensitive device to carry out high-precision measurement, so that the laser beam direction of the light pipe is required to be coincided with the normal direction of the measured cubic mirror before measurement.
In the traditional measuring method, the adjustment of the light pipe laser beam direction and the measured cube mirror normal direction needs manual adjustment, the link is the bottleneck that high-precision products such as spacecrafts and the like can not completely realize automatic operation in the precision measuring process, if a method for realizing automatic search of the measured cube mirror normal can be provided, the full-automatic operation of the precision measuring process can be realized, so that the work can be arranged in non-working time such as night, and the assembly period of the product is greatly shortened.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a method for automatically searching the normal direction of a star-mounted cubic mirror by a high-precision measuring instrument based on a robot.
The invention is realized by the following technical scheme:
the automatic search method for the normal direction of the on-satellite cube mirror by the measuring instrument comprises the following steps:
1) respectively establishing electric communication between an upper computer and the high-precision measuring instrument and the industrial robot, wherein the upper computer can obtain in-place information and measuring values of the high-precision measuring instrument and control the motion mode of the industrial robot;
2) arranging a high-precision measuring instrument to the connecting end of the industrial robot;
3) the motion of the industrial robot and the data signal of the high-precision measuring instrument are integrated into a controller for unified processing, the theoretical position of a measured target cubic mirror on a satellite is input into the controller, the industrial robot drives the high-precision measuring instrument to move to the position of an extension line in the theoretical normal direction of the measured target cubic mirror, and the position of the extension line is within the measuring distance range of the high-precision measuring instrument;
4) the upper computer starts the normal line of the measured target cubic mirror to automatically search, and because the high-precision measuring instrument has a fault-tolerant space for the angle of the reflected light, when the optical axis of the light pipe of the high-precision measuring instrument moves to a direction close to the normal line of the measured target cubic mirror, the reflected light can be detected, and the direction is regarded as the found normal line direction; the light pipe moving plane is a virtual plane and is vertical to the initial position of the optical axis of the high-precision measuring instrument, so that the connecting tail end of the industrial robot only moves in the plane in the searching process, and the light pipe of the high-precision measuring instrument only carries out normal line searching on the plane; when the light pipe moves in the plane, the position of the light pipe on the plane is known, concentric circle scanning is carried out by taking the position of the high-precision measuring instrument incident to the measured target cubic mirror as the center of a circle, the upper computer automatically records the current position after the high-precision measuring instrument gives a signal for obtaining the reflected light of the measured target cubic mirror, and a conventional precision measurement procedure is started, wherein the concentric circle scanning process is a process for searching the normal direction of the measured target cubic mirror;
5) and after the accurate measurement process of the measured target cubic mirror is finished, data recording is carried out, the step 3) is automatically skipped to, and the steps 3), 4) and 5) are repeated according to the theoretical position of the next measured target cubic mirror until the accurate measurement process of all the devices is finished.
The normal direction of the measured target cube mirror is regarded as one of countless rays emitted from the center of the measured target cube mirror, the connecting end of the industrial robot drives the high-precision measuring instrument, so that the optical axis of the high-precision measuring instrument is overlapped with a certain ray, at the moment, whether the ray is the normal line of the searched measured target cube mirror is judged according to whether the high-precision measuring instrument receives reflected light, if not, the industrial robot drives the high-precision measuring instrument to search another ray, and then whether the ray is the normal line of the measured target cube mirror is judged until the ray is searched.
Wherein, high accuracy measuring apparatu passes through switching frock and sets up the end of being connected to industrial robot.
Wherein, the high-precision measuring instrument is a photoelectric collimator.
Wherein, the theoretical positions of the measured target cubic mirrors are automatically input into the measuring system in batches.
In the technical scheme, the industrial robot can be replaced by other equipment capable of accurately controlling the pose of the connecting end of the industrial robot, and the equipment at least needs to have four degrees of freedom such as up-down movement, left-right movement, pitching rotation, yawing rotation and the like, for example, the two-dimensional cloud deck is matched with the two-dimensional portal frame.
Among the above-mentioned technical scheme, the host computer uses ethernet cable electricity to connect high accuracy measuring apparatu and industrial robot according to the data interface type.
In the above technical solution, parameters of the concentric circle scanning algorithm, including radius difference of each scanning circle, scanning step length inside the scanning circle, etc., can be adjusted according to actual conditions to coordinate scanning speed and positioning accuracy.
The method for automatically searching the normal direction of the on-satellite cubic mirror by the high-precision measuring instrument based on the robot can achieve the following effects:
1) in the precision measurement process of spacecraft products, the automatic search of a high-precision measuring instrument on the normal direction of a cubic mirror on a satellite can be realized, and the full automation of precision measurement is further realized;
2) the method has universality and can be suitable for different robots and precision measurement equipment;
3) the principle is simple, and engineering realization is easy.
Drawings
Fig. 1 is a schematic diagram of the principle of measurement of the normal direction of a plane mirror by a high-precision measuring instrument (photoelectric collimator).
Fig. 2 is a schematic structural diagram of the automatic search system for the high-precision measuring instrument to the normal direction of the on-satellite cubic mirror, specifically including 1 a robot body and a control cabinet, 2 a control computer (upper computer), 3 a high-precision measuring instrument, 4 a transfer tool, 5 a measured cubic mirror, 6 a measured spacecraft, 7 a spacecraft parking frame vehicle or a turntable.
FIG. 3 is a schematic diagram of the principle of the automatic searching method for the normal direction of the on-satellite cubic mirror by the high-precision measuring instrument according to the present invention, wherein 31 is the light pipe moving plane, 32 is the initial position of the light pipe of the high-precision measuring instrument, 33 is the theoretical position and normal direction of the cubic mirror, 34 is the actual position and normal direction of the cubic mirror, 35 is the extension line of the actual normal direction of the cubic mirror, and 36 is the measured distance (the distance of the light pipe from the cubic mirror is a known quantity).
FIG. 4 is a schematic diagram of an automatic concentric circle searching method in the automatic searching method for the normal direction of the on-satellite cubic mirror by the high-precision measuring instrument.
Detailed Description
The present invention will be described in further detail with reference to the attached drawings, which are only illustrative and not intended to limit the scope of the present invention in any way. The patent is further described below with reference to the accompanying drawings.
As shown in fig. 1, it is a prerequisite that the photoelectric collimator as a high-precision surveying instrument is basically aligned with the normal direction of the target cube, and when the error between the optical axis of the photoelectric collimator and the normal direction of the target cube is too large (as shown in the lower diagram of fig. 1), the measurement cannot be performed. Because the measured target cube mirror is fixed on the measured spacecraft product, the normal direction of the measured target cube mirror must be actively searched by a high-precision measuring instrument. Only when the optical axis of the photoelectric collimator returns to the optical axis position of the photoelectric collimator through the original path of the measured target cubic mirror on the measured spacecraft product, the normal direction of the measured target cubic mirror is found completely. The tolerance error is related to the radius of the light pipe mirror surface of the collimator and the distance of the light pipe from the measured target cubic mirror (the actual calculation can be directly calculated by the mirror surface diameter). Because of the uncertainty of the error of the measured target cubic mirror, there are infinite possibilities for the normal direction of the measured target cubic mirror, which theoretically cannot be found by an exhaustive method, but because of the tolerance error of the light pipe (the incident light path and the reflected light path do not need to be strictly consistent, and a smaller deflection angle can exist, as shown in fig. 1), when the optical axis of the light pipe approaches the normal direction to a certain extent, the reflected light can be detected, and the normal direction is considered to be found, so that the method can be applied. Since the exhaustive method can only traverse a limited number of target points, these target points must be discrete, the essence of the concentric circle scanning process is how to select these discrete target points, and the key parameters are the scanning trajectory design and the scanning step size, and the specific process is as follows.
As shown in FIG. 2, the part supported by the automatic search method for the measuring instrument to the normal direction of the target cube on the satellite comprises an industrial robot with online control capability besides a measured spacecraft (with the target cube), the tail end of the robot can be provided with a high-precision measuring instrument and an upper computer through a transfer tool, and the search control mode is integrated in the upper computer. In the technical scheme, the high-precision measuring instrument has a smaller fault-tolerant space for the angle of the reflected light, so that when the upper computer judges that the reflected light signal of the measured target cube is obtained, the actual angle of the high-precision measuring instrument is not in absolute coincidence with the normal direction of the measured target cube, but the measuring effect is not influenced.
As shown in fig. 3, the light pipe moving plane of the high-precision measuring instrument is a virtual plane, which is perpendicular to the initial position of the optical axis of the measuring instrument (parallel to the theoretical plane of the mirror surface of the measured target cube), and for the convenience of subsequent calculation, the terminal of the robot is made to move only in the plane during the search process, so that the light pipe of the high-precision measuring instrument only performs normal search on the plane, and when the light pipe moves in the plane, the position on the plane (relative to the position of the initial position of the light pipe) is known, and according to the concentric circle scanning algorithm, it must be ensured that the light pipe always points to the position of the measured target cube (simplified to one point), so the pitch deflection angle required by the terminal of the robot at the current position of the light pipe can be calculated according to the geometric relationship, and the calculation method is:
if the pitch angle of the end is defined as α and the yaw angle is defined as β, then:
wherein, x and y are the position coordinates of the light pipe on the moving plane, and L is the distance from the light pipe moving plane to the measured object cubic mirror surface. At this time, when the light pipe moves to any point on the plane, the measuring instrument always points to the measured target cubic mirror, so that when the light pipe moves to the point A in the figure 3 on the moving plane, the high-precision measuring instrument can be ensured to find the normal direction of the measured target cubic mirror.
As shown in fig. 4, in the specific search process (i.e. concentric circle scanning process) from the coordinate origin to the target point a of the light pipe, the search path of the method is a plurality of concentric circles, the search points are a plurality of discrete points on each concentric circle, the search is performed from the innermost concentric circle, and after the scanning of the inner concentric circle is completed, the scanning of the outer lower concentric circle is performed, so that the scanning algorithm is used to determine the radius of each concentric circle and the position of the discrete point on each concentric circle.
The radius of each concentric circle is first determined: since the light pipe is required to be always directed to the mirror surface of the cube mirror to be measured, the farther the outer concentric circles are, the larger the pitching (yawing) tilt angle of the light pipe is, the smaller the radius difference between the corresponding concentric circles is, so that the radius difference between each concentric circle should be unequal, and according to the geometrical relationship, it can be known that:
wherein r isiIs the radius of the i-th concentric circle, rlThe radius of the mirror surface of the light pipe is theta, the pitching (yawing) angle of the light pipe on the current concentric circle is theta, eta is the coincidence coefficient between two concentric circles, eta is between 0 and 1, the larger the coincidence degree of the inner concentric circle and the outer concentric circle is, the lower the coincidence degree is, the more likely the problem that a target point is between the two concentric circles and is not detected occurs, the smaller the coincidence degree is, the denser the concentric circles are, and the scanning efficiency of the light pipe is reducedLow, L is the distance of the scanning plane from the measured target cube.
From the above formula, r can be derivediA unitary quartile of unknowns (for clarity of description, unknowns r in the following equation)iReplacement by x):
according to a common solution of a unitary quartic equation, namely a Fisher-Tropsch method, the search radius r of the ith concentric circle can be obtainedi(take the only positive real solution of the four solutions) and can recur according to the above formula to find the search radius for the outer turns.
After the radius of each concentric circle is determined, the location of each discrete search point on the concentric circle is determined. The distance (arc distance) of each discrete point on a concentric circle should be consistent with the radius difference of the same concentric circle on the concentric circle, so the number of points on the concentric circle should be:
then each point on the concentric circle is in turn: (r)i cosθi,ri sinθi) Wherein, in the step (A),
according to the scanning mode, after all scanning points of one concentric circle are scanned, the normal direction of the measured target cubic mirror is not found (namely, the normal direction does not reach the point A), then the next concentric circle is scanned until the point A is scanned, at this time, the high-precision measuring instrument can receive the reflected light from the measured target cubic mirror, the measuring position is determined, and the high-precision measurement can be carried out.
The method for automatically searching the normal direction of the target cube mirror to be measured on the satellite by the high-precision measuring instrument solves the problem of automatically searching the normal direction of the target cube mirror to be measured, thereby realizing the full-automatic operation of the equipment precision measurement process in the spacecraft assembling process and shortening the final assembly period of products.
Although particular embodiments of the invention have been described and illustrated in detail, it should be understood that various equivalent changes and modifications can be made to the above-described embodiments according to the inventive concept, and that it is intended to cover such modifications as would come within the spirit of the appended claims and their equivalents.
Claims (8)
1. The automatic search method for the normal direction of the on-satellite cube mirror by the measuring instrument comprises the following steps:
1) respectively establishing electric communication between an upper computer and the high-precision measuring instrument and the industrial robot, wherein the upper computer can obtain in-place information and measuring values of the high-precision measuring instrument and control the motion mode of the industrial robot;
2) arranging a high-precision measuring instrument to the connecting end of the industrial robot;
3) the motion of the industrial robot and the data signal of the high-precision measuring instrument are integrated into a controller for unified processing, the theoretical position of a measured target cubic mirror on a satellite is input into the controller, the industrial robot drives the high-precision measuring instrument to move to the position of an extension line in the theoretical normal direction of the measured target cubic mirror, and the position of the extension line is within the measuring distance range of the high-precision measuring instrument;
4) the upper computer starts the normal line of the measured target cubic mirror to automatically search, and because the high-precision measuring instrument has a fault-tolerant space for the angle of the reflected light, when the optical axis of the light pipe of the high-precision measuring instrument moves to be close to the direction of the normal line of the measured target cubic mirror, the reflected light can be detected, and the direction is regarded as the found normal line direction; the light pipe moving plane is a virtual plane and is vertical to the initial position of the optical axis of the high-precision measuring instrument, so that the connecting tail end of the industrial robot only moves in the plane in the searching process, and the light pipe of the high-precision measuring instrument only carries out normal line searching on the plane; when the light pipe moves in the plane, the position of the light pipe on the plane is known, concentric circle scanning is carried out by taking the position of the high-precision measuring instrument incident to the measured target cubic mirror as the center of a circle, the upper computer automatically records the current position after the high-precision measuring instrument gives a signal for obtaining the reflected light of the measured target cubic mirror, and a conventional precision measurement procedure is started, wherein the concentric circle scanning process is a process for searching the normal direction of the measured target cubic mirror;
5) and after the accurate measurement process of the measured target cubic mirror is finished, data recording is carried out, the step 3) is automatically skipped to, and the steps 3), 4) and 5) are repeated according to the theoretical position of the next measured target cubic mirror until the accurate measurement process of all the devices is finished.
2. The method as claimed in claim 1, wherein the normal direction of the measured object cubic mirror is regarded as one of countless rays emitted from the center of the measured object cubic mirror, the connecting end of the robot drives the high-precision measuring instrument to make the optical axis of the high-precision measuring instrument coincide with one ray, at this time, whether the ray is the normal of the searched measured object cubic mirror is judged by whether the high-precision measuring instrument receives the reflected light, if not, the robot drives the high-precision measuring instrument to search for another ray, and then whether the ray is the normal of the measured object cubic mirror is judged until the ray is searched.
3. The method of claim 1, wherein the high-precision measuring instrument is set to the connection end of the industrial robot by a transfer tool.
4. The method of claim 1, wherein the high-precision gauge is an electro-optical collimator.
5. The method of claim 1, wherein the theoretical positions of the target cube under test are automatically batch fed into the measurement system.
6. The method of claim 1, wherein the industrial robot is replaced by another device whose connected end pose can be precisely controlled, said device being required to have at least four degrees of freedom of up and down movement, left and right movement, pitch rotation, yaw rotation.
7. The method of claim 5, wherein the device is a two-dimensional pan-tilt and two-dimensional gantry mating device.
8. The method of claim 5, wherein the upper computer electrically connects the high precision measuring instrument and the industrial robot using an ethernet cable according to a type of the data interface.
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| CN109508172B (en) * | 2018-11-16 | 2019-10-22 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of ray trajectory point calculating method and system |
| CN115236801B (en) * | 2022-09-08 | 2022-12-27 | 成都光创联科技有限公司 | Optical device coupling control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1224150A (en) * | 1998-01-22 | 1999-07-28 | 中国计量科学研究院 | Self-leveling reverse two-point mutual adjusting method for setting up optical horizontal reference line |
| CN104613929A (en) * | 2015-01-07 | 2015-05-13 | 北京卫星环境工程研究所 | Method for automatic collimation of cubic mirror based on machine vision |
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| JPH0914921A (en) * | 1995-06-27 | 1997-01-17 | Nikon Corp | Non-contact three-dimensional measuring instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1224150A (en) * | 1998-01-22 | 1999-07-28 | 中国计量科学研究院 | Self-leveling reverse two-point mutual adjusting method for setting up optical horizontal reference line |
| CN104613929A (en) * | 2015-01-07 | 2015-05-13 | 北京卫星环境工程研究所 | Method for automatic collimation of cubic mirror based on machine vision |
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