CN108050968B - A kind of hand-held space object surface coordinate measuring instrument and measurement method - Google Patents
A kind of hand-held space object surface coordinate measuring instrument and measurement method Download PDFInfo
- Publication number
- CN108050968B CN108050968B CN201810018990.XA CN201810018990A CN108050968B CN 108050968 B CN108050968 B CN 108050968B CN 201810018990 A CN201810018990 A CN 201810018990A CN 108050968 B CN108050968 B CN 108050968B
- Authority
- CN
- China
- Prior art keywords
- measurement
- coordinates
- point
- coordinate
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of hand-held space object surface coordinate measuring instrument and measurement methods, it is made of a cylindrical body, a cone and a sphere, measurement of coordinates unit is wherein fixed at cylinder axis, data fusion is carried out according to the sensor output data on measurement of coordinates unit and coordinate calculates, and obtains the object coordinates at the sphere of coordinate measuring apparatus tip.Starting point coordinate and measurement of coordinates cell distance bulb distance are determined first；Calculate the direction of starting point coordinate measuring apparatus and the spatial position coordinate of measurement of coordinates unit；Coordinates computed measuring instrument from starting point be moved to measurement point during measuring unit change in displacement；Calculate the coordinate of measurement point measurement of coordinates unit；The direction of measurement point coordinate measuring apparatus is calculated；Calculate the coordinate of measurement point.
Description
Technical field
The present invention relates to measurement of coordinates fields, and in particular to a kind of hand-held space object surface coordinate measuring instrument and measurement
Method.
Background technique
Carrying out accurate measurement to the coordinate of object table millet cake is the basis further produced and processed.Currently used survey
The equipment of the coordinate at quantity space midpoint mainly has infrared camera array measurement device, laser tracker, joint arm measuring machine and just
Hand over coordinate system three coordinate measuring machine.
Wherein, infrared camera array and laser tracker be required to before measurement of coordinates solid in body surface to be measured
Determine index point, infrared camera array needs to paste index point on object being measured surface, and laser tracker is needed in object being measured
Surface fixed reflector, and require cannot there is any barrier to block between object being measured and detection device, otherwise will
It can not measure.Joint arm measuring machine and orthogonal coordinate system measuring machine volume are larger, need to fix before carrying out measurement of coordinates
In specific position, it is not easy to move, and complicated operation.
In conclusion carrying out accurate measurement problem for the coordinate of object table millet cake in the prior art, still lack effective
Solution.
Summary of the invention
In order to overcome, poor mobility stringent to measurement environmental requirement existing for above-mentioned existing space coordinate measuring set and
Deficiency complicated for operation, the present invention provides a kind of hand-held space object surface coordinate measuring instrument and measurement method, using hand-held
Formula coordinate measuring apparatus can continuously measure space object surface coordinate, easy to operate, complicated working environment is adapted to, one
Determine to improve work efficiency in degree.
The technical scheme adopted by the invention is that:
A kind of space object surface coordinate measurement method, comprising the following steps:
Step 1: a starting point P is set on space object surface0, the hand-held space of measurement of coordinates unit will be installed
Object coordinates measuring instrument is placed on starting point P0Place is based on starting point P0Spatial position coordinate, coordinates computed measuring unit S1In P0
The attitude angle and spatial position coordinate that point measures；
Step 2: by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, coordinates computed measurement list
Displacement variable and measurement of coordinates unit of the member on x, tri- directions y, z are in PiIt the spatial position coordinate of point and measures
Attitude angle；
Step 3: based on measurement of coordinates unit in PiThe spatial position coordinate and attitude angle of point, calculate and measure on body surface
Point PiThe spatial position coordinate of point；
Step 4: repeating step 2-3, the spatial position coordinate of each measurement point on body surface is obtained, according to each measurement point
Spatial position coordinate carries out object production and processing.
Further, described that hand-held space object coordinate measuring apparatus is placed on starting point P0Place is based on starting point P0It is empty
Between position coordinates, coordinates computed measuring unit is in P0The attitude angle and spatial position coordinate that point measures, comprising:
Hand-held space object coordinate measuring apparatus is placed on starting point P0Place, using Kalman filtering algorithm by measurement of coordinates
The measurement data of unit output is merged, and obtains measurement of coordinates unit in P0The attitude angle of point
Based on starting point P0Spatial position coordinate (x0, y0, z0) and measurement of coordinates unit in P0The attitude angle of pointIt calculates hand-held space object coordinate measuring apparatus and is located at P0When, measurement of coordinates unit is in P0The spatial position of point
Coordinate (x1, y1, z1)。
Further, the measurement of coordinates unit is in P0Spatial position coordinate (the x of point1, y1, z1) calculation formula are as follows:
x1=x0+d1Cos θ,z1=z0+d1cosγ
Wherein, (x1, y1, z1) it is measurement of coordinates unit in P0The spatial position coordinate of point；(x0, y0, z0) it is starting point P0's
Spatial position coordinate；d1For measurement of coordinates cell S1Distance apart from hand-held space object coordinate measuring apparatus end；
It is measurement of coordinates unit in P0The attitude angle that point measures.
Further, described that hand-held space object coordinate measuring apparatus is placed on starting point P0Place, using Kalman filtering
Algorithm merges the measurement data that measurement of coordinates unit exports, and obtains measurement of coordinates unit in P0The attitude angle of point, comprising:
Hand-held space object surface coordinate measuring instrument is located at body surface starting point P0When place, according to measurement of coordinates unit
S1In the measurement data of three-axis gyroscope sensor calculate the first attitude angle, and using first attitude angle as predicted value；Root
According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate the second attitude angle,
And using second attitude angle as observation, data fusion is carried out using Kalman filtering algorithm, obtains final measurement of coordinates
Cell S1Attitude angle.
Further, it is described by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, coordinates computed
Displacement variable and measurement of coordinates unit of the measuring unit on x, tri- directions y, z are in PiThe spatial position coordinate of point and survey
The attitude angle obtained, comprising:
By hand-held space coordinate measuring instrument along space object surface from starting point P0It is moved to a measurement point Pi, use
Change in displacement calculation formula calculates hand-held space coordinate measuring instrument from starting point P0It is moved to measurement point PiDuring, coordinate
Measuring unit S1Displacement variable on x, tri- directions y, z；
It is located at P based on hand-held space coordinate measuring instrument0When measurement of coordinates unit spatial position coordinate (x1, y1, z1) and
Measurement of coordinates cell S1Displacement variable on x, tri- directions y, z calculates hand-held space coordinate measuring instrument and is located at PiWhen,
Measurement of coordinates unit is in PiSpatial position coordinate (x1', y1', z1')；
When hand-held space coordinate measuring instrument is located at PiWhen, by measurement of coordinates cell S1The measurement data of output is merged,
Obtain measurement of coordinates cell S1In PiThe attitude angle that point measures
Further, the change in displacement calculation formula are as follows:
Δ x=∫ ∫ axdt, Δ y=∫ ∫ aydt, Δ z=∫ ∫ azdt
Wherein, dtFor the sampling period；Δ x, Δ y, Δ z are respectively measuring unit S1Displacement in x-axis, y-axis and z-axis becomes
Change amount；axComponent of the acceleration value in x-axis measured for the 3-axis acceleration sensor of measurement of coordinates unit；ayFor coordinate survey
The acceleration value of 3-axis acceleration sensor measurement of unit is measured in component on the y axis；azFor three axis of measurement of coordinates unit
The acceleration value of acceleration transducer measurement is in the component in z-axis.
Further, measurement point P on the body surfaceiThe calculation formula of the spatial position coordinate of point are as follows:
x’i0=x 'i+d1cosθ’i,z’i0=z 'i+d1cosγ’i
Wherein, (xi0', yi0', zi0') be body surface on measurement point PiSpatial position coordinate；(xi', yi', zi’)
It is measurement of coordinates unit in PiSpatial position coordinate；For measurement of coordinates cell S1In PiThe attitude angle that point measures；
d1For measurement of coordinates cell S1Distance apart from hand-held space object coordinate measuring apparatus end.
A kind of hand-held space object surface coordinate measuring instrument, for realizing above-mentioned space object surface coordinate measurement side
Method, including measuring instrument ontology, are fixedly installed measurement of coordinates unit on measuring instrument ontology, and the measurement of coordinates unit includes master
Module, sensor module, wireless communication module and power supply module are controlled, the power supply module is for giving measurement of coordinates power supply power supply；
Acceleration, angular speed and the magnetic field letter that the sensor module is used to acquire measuring instrument ontology on complex curve welding track
Breath, and by data transfer to main control module；The main control module is used for the information of receiving sensor module acquisition, and carries out
Data fusion obtains the spatial position coordinate of each point on spatial complex curve welding track；And module will count by wireless communication
According to being transmitted to other equipment.
Further, the measuring instrument ontology includes cylindrical body, cone and sphere, and the end of the cylindrical body is provided with
The end of cone, the cone is provided with sphere；The coordinate is fixedly installed at the central axis of the cylindrical body to survey
Measure unit.
Further, the sensor module includes 3-axis acceleration sensor, three-axis gyroscope sensor and three axis magnetic
Force snesor, the 3-axis acceleration sensor are used to acquire acceleration information of the measuring instrument ontology on space object surface,
And the acceleration information acquired is transmitted to main control module；The three-axis gyroscope sensor for acquiring measuring instrument ontology for existing
Angular velocity information on space object surface, and the angular velocity information acquired is transmitted to main control module；The three axis magnetic force sensing
Device is for acquiring Magnetic Field of the measuring instrument ontology on space object surface, and the Magnetic Field acquired is transmitted to master control mould
Block.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention is moved by hand-held space coordinate measuring instrument along body surface, is measured using measurement of coordinates unit
Measuring instrument ontology position on a surface of an and posture information, obtain the sky of each measurement point on body surface according to measurement data
Between coordinate, planned convenient for the subsequent space coordinate according to measurement point each on body surface, complete object production and processing；
(2) present invention can continuously measure space object surface coordinate using hand-held space object coordinate measuring apparatus, grasp
Make simply to be adapted to complicated working environment, improve work efficiency to a certain extent；
(3) hand-held space coordinate measuring instrument structure proposed by the present invention is simple, and small in size, mobility is good, is carrying out
It is easy to operate when spatial value measures, space coordinate measuring speed and efficiency are improved to a certain extent.
Detailed description of the invention
Fig. 1 is hand-held space object surface coordinate measuring instrument structure chart of the invention；
Fig. 2 is space object surface coordinate measuring method flow chart of the invention.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, exist in the prior art has barrier between object being measured and detection device
Block, Shi Wufa is measured, need to be fixed on specific position before carrying out measurement of coordinates, be not easy to move, and operate compared with
For complicated deficiency, in order to solve technical problem as above, present applicant proposes a kind of surveys of hand-held space object surface coordinate
Measure instrument and measurement method.
In a kind of typical embodiment of the application, as shown in Figure 1, providing a kind of hand-held space object surface seat
Measuring instrument is marked, which includes measuring instrument ontology and measurement of coordinates cell S1。
The measuring instrument ontology includes cylindrical body, cone and sphere, and the end of the cylindrical body is provided with cone,
The end of the cone is provided with sphere；The measurement of coordinates list is fixedly installed at the central axis of the cylindrical body
First S1。
The measurement of coordinates cell S1Including main control module, sensor module, wireless communication module and power supply module.
Wherein, the power supply module, for giving measurement of coordinates power supply power supply.The power supply module uses lithium battery.
The sensor is used to measure the posture information of measuring instrument ontology on a surface of an, and extremely by data transfer
Main control module.The sensor module includes 3-axis acceleration sensor, three-axis gyroscope sensor and three axis magnetometric sensors,
The 3-axis acceleration sensor is for acquiring acceleration information of the measuring instrument ontology on space object surface, and what is acquired adds
Velocity information is transmitted to main control module；The three-axis gyroscope sensor is used for for acquiring measuring instrument ontology in space object table
Angular velocity information on face, and the angular velocity information acquired is transmitted to main control module；The three axis magnetometric sensor is for acquiring
Magnetic Field of the measuring instrument ontology on space object surface, and the Magnetic Field acquired is transmitted to main control module.
The main control module is used for the information of receiving sensor module acquisition, and carries out data fusion, obtains spatial complex
The spatial position coordinate of each point on curve welding track；And module sends data to computer or industrial machine by wireless communication
Device people.
Hand-held space object surface coordinate measuring instrument disclosed by the embodiments of the present invention, by holding space coordinate measuring instrument
It is moved along body surface, using measurement of coordinates unit measurement measuring instrument ontology position on a surface of an and posture information,
The space coordinate of each measurement point on body surface is obtained according to measurement data, convenient for subsequent according to measurement point each on body surface
Space coordinate is planned, object production and processing is completed.
Another exemplary embodiment of the application, as shown in Fig. 2, providing a kind of space object surface coordinate measurement side
Method, method includes the following steps:
Step 101: a starting point P is set on space object surface0, measure body surface starting point P0Spatial position
Coordinate (x0, y0, z0) and measurement of coordinates cell S1Distance d apart from hand-held space object surface coordinate measuring instrument end1。
During executing step 101, a starting point P is first set on space object surface0, measurement body surface starting
Point P0Spatial position coordinate (x0, y0, z0)；By measurement of coordinates cell S1It is fixedly mounted on the survey of hand-held space object surface coordinate
It measures at the central axis of measurement ontology of instrument, and measures measurement of coordinates cell S1It is measured apart from hand-held space object surface coordinate
The distance d of instrument end1。
Step 102: hand-held space object surface coordinate measuring instrument is placed on body surface starting point P0Place, using card
Kalman Filtering algorithm merges the measurement data that measurement of coordinates unit exports, and obtains measurement of coordinates cell S1In P0Point measures
Attitude angle
During executing step 102, when hand-held space object surface coordinate measuring instrument is located at body surface starting point
P0When place, according to measurement of coordinates cell S1In the measurement data of three-axis gyroscope sensor calculate the first attitude angle, and by this
One attitude angle is as predicted value；According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors survey
It measures data and calculates the second attitude angle, and using second attitude angle as observation is used as, counted using Kalman filtering algorithm
According to fusion, final measurement of coordinates cell S is obtained1Attitude angle.
According to measurement of coordinates cell S1In three-axis gyroscope sensor measurement data calculate the first attitude angle formula
It is as follows:
Wherein, gx, gy, gzIt is located at body surface starting point P for hand-held space object surface coordinate measuring instrument0When place, sit
Mapping amount cell S1In three-axis gyroscope sensor measurement data.
According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate
The formula of second attitude angle is as follows:
Wherein, ax, ay, azRespectively hand-held space object surface coordinate measuring instrument is located at body surface starting point P0Place
When, measurement of coordinates cell S13-axis acceleration sensor measured value；mx, my, mzRespectively hand-held space object surface is sat
Mark measuring instrument is located at body surface starting point P0When place, measurement of coordinates cell S1Three axis magnetometric sensors measured value.
Step 103: being based on starting point P0Space coordinate (x0, y0, z0) and measurement of coordinates unit in P0The posture direction of pointIt calculates hand-held space object surface coordinate measuring instrument and is located at P0When point, measurement of coordinates cell S1Space bit
Set coordinate (x1, y1, z1)。
During executing step 103, hand-held space object surface coordinate measuring instrument is located at P0When point, measurement of coordinates list
First S1Spatial position coordinate (x1, y1, z1) calculation formula are as follows:
x1=x0+d1Cos θ,z1=z0+d1cosγ；
Wherein, (x0, y0, z0) it is body surface starting point P0Spatial position coordinate；For measurement of coordinates cell S1
In P0The attitude angle that point measures.
Step 104: by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, it is empty to calculate hand-held
Between coordinate measuring apparatus from starting point P0It is moved to a measurement point PiIn the process, measurement of coordinates cell S1On x, tri- directions y, z
Displacement variable Δ x, Δ y, Δ z.
During executing step 104, in hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point P1It crosses
Cheng Zhong, measurement of coordinates cell S1The calculation formula of displacement variable Δ x, Δ y, Δ z on x, tri- directions y, z are as follows:
Δ x=∫ ∫ axdt, Δ y=∫ ∫ aydt, Δ z=∫ ∫ azdt
Wherein, dtFor the sampling period；Δ x, Δ y, Δ z are respectively in hand-held space coordinate measuring instrument from starting point P0It moves
It moves to a measurement point PiIn the process, measurement of coordinates cell S1Displacement variable in x-axis, y-axis and z-axis；axIt is displaced and becomes for x-axis
Change coefficient；axFor measurement of coordinates cell S13-axis acceleration sensor measurement component of the acceleration value in x-axis；ayTo sit
Mapping amount cell S13-axis acceleration sensor measurement acceleration value in component on the y axis；azFor measurement of coordinates unit
S13-axis acceleration sensor measurement acceleration value in the component in z-axis.
Step 105: P is located at based on hand-held space coordinate measuring instrument0When measurement of coordinates cell S1Spatial position coordinate
(x1, y1, z1) and measurement of coordinates cell S1Change in displacement on x, tri- directions y, z calculates the measurement of hand-held space coordinate
Instrument is located at P1When point, measurement of coordinates unit is in P1Space coordinate (the x of point1', y1', z1’)。
During executing step 105, hand-held space coordinate measuring instrument is located at P1When point, measurement of coordinates unit is in P1Point
Space coordinate (x1', y1', z1') calculation formula are as follows:
x’1=x1+Δx1, y '1=y1+Δy1, z '1=z1+Δz1
Wherein, (x1, y1, z1) it is that hand-held space coordinate measuring instrument is located at P0When measurement of coordinates cell S1Spatial position sit
Mark；Δ x, Δ y, Δ z are respectively in hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point PiIn the process, it sits
Mapping amount cell S1Displacement variable in x-axis, y-axis and z-axis.
Step 106: when hand-held space coordinate measuring instrument is located at P1When point, using Kalman filtering algorithm by measurement of coordinates
Cell S1The measurement data of output is merged, and measurement of coordinates cell S is obtained1In P1Putting the attitude angle measured is
During executing step 106, when hand-held space object surface coordinate measuring instrument is located at body surface starting point
P1When place, according to measurement of coordinates cell S1In the measurement data of three-axis gyroscope sensor calculate the first attitude angle, and by this
One attitude angle is as predicted value；According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors survey
It measures data and calculates the second attitude angle, and using second attitude angle as observation is used as, counted using Kalman filtering algorithm
According to fusion, final measurement of coordinates cell S is obtained1Attitude angle.
According to measurement of coordinates cell S1In three-axis gyroscope sensor measurement data calculate the first attitude angle formula
It is as follows:
Wherein, g 'x, g 'y, g 'zIt is located at body surface starting point P for hand-held space object surface coordinate measuring instrument1Place
When, measurement of coordinates cell S1In three-axis gyroscope sensor measurement data.
According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate
The formula of second attitude angle is as follows:
Wherein, ax, ay, azRespectively hand-held space object surface coordinate measuring instrument is located at body surface starting point P0Place
When, measurement of coordinates cell S13-axis acceleration sensor measured value；mx, my, mzRespectively hand-held space object surface is sat
Mark measuring instrument is located at body surface starting point P0When place, measurement of coordinates cell S1Three axis magnetometric sensors measured value.
Step 107: being based on measurement of coordinates cell S1In P1Space coordinate (the x of point1', y1', z1') and attitude angleCalculate measurement point P on body surface1Spatial position coordinate (the x of point10', y10', z10’)。
During executing step 107, measurement point P on the body surfaceiThe calculation formula of the space coordinate of point are as follows:
x’i0=x '1+d1Cos θ ',z’i0=z '1+d1cosγ’
Wherein, (x10', y10', z10') be body surface on measurement point P1Space coordinate；(x1', y1', z1') it is to sit
Measuring unit is marked in P1The spatial position coordinate of point；For measurement of coordinates cell S1In P1The attitude angle of point；d1To sit
Mapping amount cell S1Distance apart from hand-held space object coordinate measuring apparatus end.
Step 108: step 104-107 is repeated, the spatial position coordinate of each measurement point on space object surface is obtained, according to
The spatial position coordinate of each point is planned on the space object surface of acquisition, completes process of manufacture.
The space object surface coordinate measurement method that the embodiment of the present invention proposes holds space coordinate measurement by operator
Instrument is moved along body surface, records the space coordinate of each point on body surface, is planned according to these coordinates of acquisition,
Complete process of manufacture；It is easy to operate when carrying out spatial value measurement, space coordinate survey is improved to a certain extent
Measure speed and efficiency.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of space object surface coordinate measurement method, characterized in that the following steps are included:
Step 1: a starting point P is set on space object surface0, the hand-held space object of measurement of coordinates unit will be installed
Coordinate measuring apparatus is placed on starting point P0Place, coordinates computed measuring unit S1In P0The attitude angle that point measures is based on starting point P0It is empty
Between position coordinates and measurement of coordinates cell S1In P0The attitude angle coordinates computed measuring unit S that point measures1In P0The space bit of point
Set coordinate；
Step 2: by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, coordinates computed measuring unit exists
Displacement variable and measurement of coordinates unit on tri- directions x, y, z is in PiThe spatial position coordinate of point and the posture measured
Angle；
Step 3: based on measurement of coordinates unit in PiThe spatial position coordinate and attitude angle of point, calculate measurement point P on body surfacei
The spatial position coordinate of point；
Step 4: repeating step 2-3, the spatial position coordinate of each measurement point on body surface is obtained, according to the space of each measurement point
Position coordinates carry out object production and processing；
It is described by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, coordinates computed measuring unit in x,
Displacement variable and measurement of coordinates unit on tri- directions y, z is in PiThe spatial position coordinate of point and the attitude angle measured,
Include:
By hand-held space coordinate measuring instrument along space object surface from starting point P0It is moved to a measurement point Pi, using displacement
Change calculation formula and calculates hand-held space coordinate measuring instrument from starting point P0It is moved to measurement point PiDuring, measurement of coordinates
Cell S1Displacement variable on x, tri- directions y, z；
It is located at P based on hand-held space coordinate measuring instrument0When measurement of coordinates unit spatial position coordinate (x1, y1, z1) and coordinate
Measuring unit S1Displacement variable on x, tri- directions y, z calculates hand-held space coordinate measuring instrument and is located at PiWhen, coordinate
Measuring unit is in PiSpatial position coordinate (xi', yi', zi')；
When hand-held space coordinate measuring instrument is located at PiWhen, using Kalman filtering algorithm by measurement of coordinates cell S1The survey of output
Amount data are merged, and measurement of coordinates cell S is obtained1In PiThe attitude angle that point measures
2. space object surface coordinate measurement method according to claim 1, characterized in that described by hand-held space object
Body coordinate measuring apparatus is placed on starting point P0Place, coordinates computed measuring unit S1In P0The attitude angle that point measures is based on starting point P0
Spatial position coordinate and measurement of coordinates unit are in P0The attitude angle coordinates computed measuring unit S that point measures1In P0The space bit of point
Set coordinate, comprising:
Hand-held space object coordinate measuring apparatus is placed on starting point P0Place, using Kalman filtering algorithm by measurement of coordinates unit
The measurement data of output is merged, and obtains measurement of coordinates unit in P0The attitude angle of point
Based on starting point P0Spatial position coordinate (x0, y0, z0) and measurement of coordinates unit in P0The attitude angle of pointIt calculates hand-held space object coordinate measuring apparatus and is located at P0When, measurement of coordinates unit is in P0The spatial position of point
Coordinate (x1, y1, z1)。
3. space object surface coordinate measurement method according to claim 2, characterized in that described by hand-held space object
Body coordinate measuring apparatus is placed on starting point P0Place is carried out using the measurement data that Kalman filtering algorithm exports measurement of coordinates unit
Fusion, obtains measurement of coordinates unit in P0The attitude angle of point, comprising:
Hand-held space object surface coordinate measuring instrument is located at body surface starting point P0When place, according to measurement of coordinates cell S1In
The measurement data of three-axis gyroscope sensor calculate the first attitude angle, and using first attitude angle as predicted value；According to seat
Mapping amount cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate the second attitude angle, and will
Second attitude angle carries out data fusion as observation, using Kalman filtering algorithm, obtains final measurement of coordinates unit
S1Attitude angle.
4. space object surface coordinate measurement method according to claim 1, characterized in that the measurement of coordinates unit exists
P0Spatial position coordinate (the x of point1, y1, z1) calculation formula are as follows:
Wherein, (x1, y1, z1) it is measurement of coordinates unit in P0The spatial position coordinate of point；(x0, y0, z0) it is starting point P0Space
Position coordinates；d1For measurement of coordinates cell S1Distance apart from hand-held space object coordinate measuring apparatus end；To sit
Measuring unit is marked in P0The attitude angle that point measures.
5. space object surface coordinate measurement method according to claim 1, characterized in that the change in displacement calculates public
Formula are as follows:
Δ x=∫ ∫ axdt, Δ y=∫ ∫ aydt, Δ z=∫ ∫ azdt
Wherein, dtFor the sampling period；Δ x, Δ y, Δ z are respectively measuring unit S1Displacement variable in x-axis, y-axis and z-axis；
axComponent of the acceleration value in x-axis measured for the 3-axis acceleration sensor of measurement of coordinates unit；ayFor measurement of coordinates unit
3-axis acceleration sensor measurement acceleration value in component on the y axis；azFor the 3-axis acceleration of measurement of coordinates unit
The acceleration value of sensor measurement is in the component in z-axis.
6. space object surface coordinate measurement method according to claim 1, characterized in that measured on the body surface
Point PiThe calculation formula of the spatial position coordinate of point are as follows:
Wherein, (xi0', yi0', zi0') be body surface on measurement point PiSpatial position coordinate；(xi', yi', zi') it is coordinate
Measuring unit is in PiSpatial position coordinate；For measurement of coordinates cell S1In PiThe attitude angle that point measures；d1To sit
Mapping amount cell S1Distance apart from hand-held space object coordinate measuring apparatus end.
7. a kind of hand-held space object surface coordinate measuring instrument, for realizing space of any of claims 1-6
Body surface coordinate measuring method, characterized in that including measuring instrument ontology, be fixedly installed measurement of coordinates on measuring instrument ontology
Unit, the measurement of coordinates unit include main control module, sensor module, wireless communication module and power supply module, the power supply
Module is used to power to measurement of coordinates unit；The sensor module is for acquiring measuring instrument ontology in complex curve welding track
On acceleration, angular speed and Magnetic Field, and by data transfer to main control module；The main control module is passed for receiving
The information of sensor module acquisition, and data fusion is carried out, the spatial position for obtaining each point on spatial complex curve welding track is sat
Mark；And module sends data to other equipment by wireless communication.
8. hand-held space object surface coordinate measuring instrument according to claim 7, characterized in that the measuring instrument ontology
Including cylindrical body, cone and sphere, the end of the cylindrical body is provided with cone, and the end of the cone is provided with ball
Body；The measurement of coordinates unit is fixedly installed at the central axis of the cylindrical body.
9. hand-held space object surface coordinate measuring instrument according to claim 7, characterized in that the sensor module
Including 3-axis acceleration sensor, three-axis gyroscope sensor and three axis magnetometric sensors, the 3-axis acceleration sensor is used
In acceleration information of the acquisition measuring instrument ontology on space object surface, and the acceleration information of acquisition is transmitted to master control mould
Block；The three-axis gyroscope sensor will be adopted for acquiring angular velocity information of the measuring instrument ontology on space object surface
The angular velocity information of collection is transmitted to main control module；The three axis magnetometric sensor is for acquiring measuring instrument ontology in space object table
Magnetic Field on face, and the Magnetic Field of acquisition is transmitted to main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810018990.XA CN108050968B (en) | 2018-01-09 | 2018-01-09 | A kind of hand-held space object surface coordinate measuring instrument and measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810018990.XA CN108050968B (en) | 2018-01-09 | 2018-01-09 | A kind of hand-held space object surface coordinate measuring instrument and measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108050968A CN108050968A (en) | 2018-05-18 |
| CN108050968B true CN108050968B (en) | 2019-06-04 |
Family
ID=62126047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810018990.XA Active CN108050968B (en) | 2018-01-09 | 2018-01-09 | A kind of hand-held space object surface coordinate measuring instrument and measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108050968B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6584378B1 (en) * | 1999-10-29 | 2003-06-24 | Abb Flexible Automation | Device and a method for determining coordinates and orientation |
| CN102243315A (en) * | 2011-04-25 | 2011-11-16 | 惠州Tcl移动通信有限公司 | Mobile terminal having auxiliary positioning function and method |
| CN102358325A (en) * | 2011-06-29 | 2012-02-22 | 株洲南车时代电气股份有限公司 | Orbital parameter measurement device and method based on absolute coordinate measurement reference system |
| CN102607457A (en) * | 2012-03-05 | 2012-07-25 | 西安交通大学 | Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology |
| CN102662495A (en) * | 2012-03-20 | 2012-09-12 | 苏州佳世达光电有限公司 | Coordinate sensing system, coordinate sensing method and display system |
| CN102768016A (en) * | 2012-07-31 | 2012-11-07 | 爱佩仪中测（成都）精密仪器有限公司 | Method and device for compensating precision of coordinate measuring machine |
-
2018
- 2018-01-09 CN CN201810018990.XA patent/CN108050968B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6584378B1 (en) * | 1999-10-29 | 2003-06-24 | Abb Flexible Automation | Device and a method for determining coordinates and orientation |
| CN102243315A (en) * | 2011-04-25 | 2011-11-16 | 惠州Tcl移动通信有限公司 | Mobile terminal having auxiliary positioning function and method |
| CN102358325A (en) * | 2011-06-29 | 2012-02-22 | 株洲南车时代电气股份有限公司 | Orbital parameter measurement device and method based on absolute coordinate measurement reference system |
| CN102607457A (en) * | 2012-03-05 | 2012-07-25 | 西安交通大学 | Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology |
| CN102662495A (en) * | 2012-03-20 | 2012-09-12 | 苏州佳世达光电有限公司 | Coordinate sensing system, coordinate sensing method and display system |
| CN102768016A (en) * | 2012-07-31 | 2012-11-07 | 爱佩仪中测（成都）精密仪器有限公司 | Method and device for compensating precision of coordinate measuring machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108050968A (en) | 2018-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109822574B (en) | Industrial robot end six-dimensional force sensor calibration method | |
| Yoshimi et al. | Alignment using an uncalibrated camera system | |
| CN107152911A (en) | Based on the PSD dot laser sensors fed back and the scaling method of robot relative position | |
| CN103226398B (en) | Based on the data glove of micro-inertia sensor network technology | |
| CN109813336B (en) | Calibration method for inertia measurement unit | |
| CN109238199B (en) | Robot rotating shaft kinematic parameter calibration method | |
| CN108324373A (en) | A kind of puncturing operation robot based on electromagnetic positioning system is accurately positioned implementation method | |
| CN108317999B (en) | Communication iron tower inclination angle measuring method based on inertial sensor | |
| CN103528519B (en) | A kind of measurement scaling method of some projection optics gauge head spatial position vector | |
| CN109011506B (en) | Training action recognition method | |
| CN106020490B (en) | Multi-contact data glove system based on triaxial gravity acceleration sensor | |
| CN104515532A (en) | Human motion simulation apparatus based on bluetooth | |
| Miezal et al. | A generic approach to inertial tracking of arbitrary kinematic chains | |
| CN110370316A (en) | It is a kind of based on the robot TCP scaling method vertically reflected | |
| Yan et al. | A three degree-of-freedom optical orientation measurement method for spherical actuator applications | |
| CN111452048A (en) | Calibration method and device for relative spatial position relationship of multiple robots | |
| CN109124769A (en) | The method and system of coordinate system calibration, the control of operating robot | |
| CN111872748A (en) | Machine tool geometric error measuring method based on ball arm instrument | |
| CN110211174A (en) | Method, equipment and the storage medium of curved surface measuring device calibration | |
| CN111895997B (en) | Human body action acquisition method based on inertial sensor without standard posture correction | |
| Xu et al. | A robust incremental-quaternion-based angle and axis estimation algorithm of a single-axis rotation using MARG sensors | |
| CN113799130B (en) | Robot pose calibration method in man-machine cooperation assembly | |
| CN108827210A (en) | A kind of articulated coordinate machine scaling method of combining with digital control lathe | |
| CN108050968B (en) | A kind of hand-held space object surface coordinate measuring instrument and measurement method | |
| CN110193816A (en) | Industrial robot teaching method, handle and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |