CN108253996B - Guy wire code measuring device, guy wire code space position measuring method and system - Google Patents
Guy wire code measuring device, guy wire code space position measuring method and system Download PDFInfo
- Publication number
- CN108253996B CN108253996B CN201611234876.8A CN201611234876A CN108253996B CN 108253996 B CN108253996 B CN 108253996B CN 201611234876 A CN201611234876 A CN 201611234876A CN 108253996 B CN108253996 B CN 108253996B
- Authority
- CN
- China
- Prior art keywords
- measuring
- point
- wire
- centripetal
- pull
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
- G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention is suitable for the technical field of measurement, and provides a method for measuring a space position of a stay wire code, which comprises the following steps: first position measurement: positioning a centripetal mechanism at a measured point, and measuring by using a measuring frame at a first position; second position measurement: measuring with a measuring frame at a second position; establishing a plane model; establishing a space model; the spatial position of the measurement point is calculated. The centripetal mechanism is positioned at a measured point, the measuring frames are used for measuring at two positions respectively, the plane model and the three-dimensional space model of the centripetal mechanism and the two position measuring frames are respectively established, the space position of the measured point is calculated through mathematical transformation, the use is convenient, the measuring frames at the two positions are not required to be parallel, the precision requirement on the measuring equipment is low, the measuring equipment is convenient to store, and meanwhile, the space position of the measured point can be accurately measured.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a stay wire code measuring device, a stay wire code space position measuring method using the stay wire code measuring device and a measuring system using the stay wire code space position measuring method.
Background
The current measurement space coordinate has two common main modes, namely, a three-coordinate measuring instrument is used for measurement; the other is with a laser tracker. However, three-coordinate measuring machines are bulky, expensive and often measure at fixed positions, necessitating recalibration of the system if moved; the dynamic measurement speed of the laser tracker is limited, and the price is very expensive. In addition to the two common measurement methods, there is a relatively inexpensive measurement mechanism, i.e. a spatial position measurement based on a pull-wire encoder. In the method for measuring the spatial position based on the pull-wire encoder in the prior art, mainly using the pull-wire encoder, referring to fig. 1, the device 900 mainly includes two measuring frames 91 arranged in parallel, a centering mechanism 93 and a fixing strip 92 supporting the two measuring frames 91, each measuring frame 91 includes a base 911; each base 911 is symmetrically provided with: the two stay wire encoders 912, the two deflection pulleys 913 for guiding the stay wires 9121 of the two stay wire encoders 912, the two support frames 915 for supporting the deflection pulleys 913, the two supports 916 for supporting the support frames 915, and the two positioning blocks 916 for positioning the initial positions of the stay wires 9121, wherein each support frame 915 is pivotally connected to the corresponding support frame 914, each support frame 915 can pivot around the pivot of the support frame 915 pivotally connected to the corresponding support frame 914, and the lower tangent point of each stay wire 9121 and the corresponding deflection pulley 913 is located on the pivot of the support frame 915 pivotally connected to the corresponding support frame 914. Each centering mechanism 93 comprises a connecting head 931 and four centering legs 932 arranged on the connecting head, the four centering legs 932 are used for connecting the pull wires 9121 of the four pull wire encoders 912, and the extension lines of the four pull wires 9121 are intersected at one point. Each pull wire 9121 is initially secured to the positioning block 916 to determine the initial zero position of the pull wire encoder 912. The fixing bar 92 is used to fixedly connect the two measuring frames 91 so that the two measuring frames 91 are arranged in parallel. However, the requirement for parallelism of the two measuring frames 91 is high, the two measuring frames 91 must be guaranteed to be stable, the requirement for precision of the frame is very high, and meanwhile, the use and the storage need to be very careful and are very inconvenient.
Disclosure of Invention
The invention aims to provide a method for measuring a space position of a stay wire code, and aims to solve the problems that the existing stay wire code type space measuring method has high requirement on the frame precision of measuring equipment and is inconvenient to store and use.
The invention is realized in this way, a guy wire code measuring device, including a centripetal mechanism and at least one measuring frame, the centripetal mechanism includes the connector and at least two centripetal legs installed on the connector; the measuring frame includes the base, the symmetry is installed on the base: the guy wire encoder comprises two guy wire encoders, two deflection pulleys for guiding guy wires of the guy wire encoders respectively, support frames for supporting the two deflection pulleys respectively, supports respectively pivoted with the support frames and positioning blocks for positioning initial positions of the guy wires of the guy wire encoders respectively, wherein the lower tangent point of each guy wire and the corresponding deflection pulley is positioned on a pivot of the support frame pivoted with the corresponding support frame.
Another object of the present invention is to provide a method for measuring a spatial position of a guy wire code, which uses the guy wire code measuring device as described above, and the method further comprises the following steps:
s1 first position measurement: positioning a connector of a centripetal mechanism at a measured point, connecting two pull wires of a measuring frame with two centripetal legs of the centripetal mechanism respectively, and recording reading values L01 and L04 of two pull wire encoders of the measuring frame;
s2 second position measurement: moving the measuring frame to another position, connecting two pull wires of the measuring frame with two centripetal legs of the centripetal mechanism respectively, and recording reading values L02 and L03 of two pull wire encoders of the measuring frame;
s3 establishes a planar model: in the step of measuring the first position of S1, the measuring frame and the centripetal mechanism are positioned on the same plane, a plane model is established, and the lengths L1 and L4 from the measured point to the two pull wires of the measuring frame and the lower tangent point of the two deflection pulleys of the measuring frame are obtained through mathematical transformation; similarly, in the step of measuring the second position in S2, the measuring frame and the centripetal device are located on the same plane, a plane model is established, and the lengths L2 and L3 between the two pull wires from the measured point to the measuring frame and the tangent point of the two deflection pulleys of the measuring frame are obtained through mathematical transformation;
s4, establishing a space model: establishing a three-dimensional space model by using the measuring frame in the S1 first position measuring step, the measuring frame in the S2 second position measuring step and the centripetal mechanism;
s5 calculates the spatial position of the measurement point: and (4) establishing a space model in the space model step for the S4, and obtaining the space position of the measured point through mathematical transformation.
The invention further aims to provide a bracing wire coding space position measuring system which comprises the bracing wire coding measuring device and a server for processing the bracing wire coding space position measuring method to obtain the position of a measuring point.
The centripetal mechanism is positioned at the measured point, the measuring frames are used for respectively measuring at two positions, the plane model and the three-dimensional space model of the centripetal mechanism and the two position measuring frames are respectively established, the space position of the measured point is calculated through mathematical transformation, the use is convenient, the measuring frames at the two positions are not required to be parallel, the precision requirement on the measuring equipment is low, the measuring equipment is further convenient to store, and the space position of the measured point can be accurately measured.
Drawings
FIG. 1 is a schematic structural diagram of a guy wire code space position measurement method provided by the prior art;
FIG. 2 is a schematic flow chart of a method for measuring a spatial position of a pull-string code according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the bracing wire code spatial position measurement method of FIG. 2;
FIG. 4 is a schematic view of a portion of the structure of the measurement box of FIG. 3;
FIG. 5 is a schematic diagram of a plane model for the first position measurement box of FIG. 3;
FIG. 6 is a schematic diagram of a space-modeling of a pair of measurement boxes of FIG. 3;
FIG. 7 is a schematic structural diagram of a first step in a method for measuring a spatial position of a pull-cord code according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a second step in the bracing wire coding spatial position measuring method according to the second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
referring to fig. 2 to 6, a method for measuring a spatial position of a pull-cord code according to an embodiment of the present invention uses a pull-cord code measuring device 100 to perform measurement.
In this embodiment, the string coding measuring device 100 includes a centering mechanism 20 and two measuring frames 10. The centripetal mechanism 20 comprises a connecting head 21 and four centripetal legs 22 arranged on the connecting head 21. Each of the measuring frames 10 includes a base 11, and the base 11 is symmetrically provided with: the two stay wire encoders 12, the two deflection pulleys 13 guiding the stay wires 111 of the stay wire encoders 12 respectively, the support frames 16 supporting the two deflection pulleys 13 respectively, the supports 17 pivotally connected with the support frames 16 respectively, and the positioning blocks 15 positioning the initial positions of the stay wires 111 of the stay wire encoders 12 respectively, wherein the lower tangent point of each stay wire 111 and the corresponding deflection pulley 13 is positioned on the pivot shaft where the support frame 16 is pivotally connected with the corresponding support frame 17. The wire encoder 12 is used to measure the length of the wire 111 extending therefrom, and the deflection pulley 13 is used to guide the corresponding wire 111. A positioning block 15 is provided, and in the initial position, the end of the stay wire 111 can be fixed on the positioning block 15, and at this time, the reading of the stay wire encoder 12 can be set to a zero position, so as to return the stay wire encoder 12 to zero. Each support frame 16 is pivotally connected to the corresponding support frame 17, and each support frame 16 can rotate around the pivot where the support frame 16 is pivotally connected to the corresponding support frame 17, and the lower tangent point of each pull wire 111 and the corresponding deflection pulley 13 is located on the pivot where the support frame 16 is pivotally connected to the corresponding support frame 17. The four centripetal legs 22 are used for connecting the stay wires 111 of the four stay wire encoders 12, and the extension lines of the four stay wires 111 intersect at one point.
The method comprises the following steps:
s1 first position measurement: positioning the connector 21 of the centripetal mechanism 20 at a measured point, connecting the two pull wires 111 of the measuring frame 10 with the two centripetal legs 22 of the centripetal mechanism 20 respectively, and recording the reading values L01 and L04 of the two pull wire encoders 12 of the measuring frame 10;
s2 second position measurement: moving the measuring frame 10 to another position, connecting the two pull wires 111 of the measuring frame 10 with the two centripetal legs 22 of the centripetal mechanism 20 respectively, and recording the reading values L02 and L03 of the two pull wire encoders 12 of the measuring frame 10;
s3 establishes a planar model: in the step of measuring the first position of S1, the measuring frame 10 and the centripetal device 20 are located on the same plane, a plane model is established, and the lengths L1 and L4 between the two wires 111 of the measuring frame 10 and the tangent points of the two deflection pulleys 13 of the measuring frame 10 are obtained through mathematical transformation; similarly, in the second position measuring step of S2, the measuring frame 10 and the centripetal device 20 are located on the same plane, a plane model is established, and the lengths L2 and L3 between the two wires 111 of the measuring frame 10 and the tangent point of the two deflection pulleys 13 of the measuring frame 10 at the measured point are obtained through mathematical transformation;
s4, establishing a space model: establishing a three-dimensional space model by using the measuring frame 10 in the S1 first position measuring step, the measuring frame 10 in the S2 second position measuring step and the centripetal mechanism 20;
s5 calculates the spatial position of the measurement point: and (4) establishing a space model in the space model step for the S4, and obtaining the space position of the measured point through mathematical transformation.
The centripetal mechanism 20 is positioned at a measured point, the measuring frames 10 are used for measuring at two positions respectively, the plane model and the three-dimensional space model of the centripetal mechanism 20 and the two position measuring frames 10 are established respectively, the space position of the measured point is calculated through mathematical transformation, the use is convenient, the measuring frames 10 at the two positions are not required to be parallel, the precision requirement on the measuring equipment is low, the measuring equipment is convenient to store, and meanwhile, the space position of the measured point can be measured accurately.
Referring to fig. 2 and 5, in the step of establishing a planar model in S3, the step of establishing a planar model between the measurement frame 10 and the centering mechanism 20 in the step of measuring the first position in S1 is:
the centers of the two deflection pulleys 13 of the measuring frame 10 are O1Dot and O2The points, the points of tangency of the two wires 111 and the two deflection pulleys 13 are the points O and B, respectively, and the two wires 111 and the two deflection pulleysThe tangent points of the deflection pulley 13 are point Q and point S, respectively, the measured point is point a, the extension of AQ and the extension of OB intersect at point I, the extension of AS and the extension of OB intersect at point K, and the point a to OB depend at point T, so that a triangle △ AOB, △ AIK, △ AOI, △ AKB can be established in the same plane, with AO length equal to L1 and AB length equal to L4.
Further, in the present embodiment, referring to fig. 4, in the step of establishing a plane model in S3, the mathematical transformation between the measurement frame 10 and the centripetal mechanism 20 in the step of measuring the first position in S1 should satisfy the following formula:
IO＝QI＝r*cos(∠QIO1)；
BK＝SK＝r*cos(∠SKO2)；
∠QIO＝2*∠QIO1；
∠SKB＝2*∠SKO2；
AI*cos(∠QIO)＝AK*cos(∠SKB)；
OB＝e0＝IT+KT-IO-KB；
wherein OB isThe parameters are measured, OB is e0,
for the length of one of said wires 111 wound around the respective deflection pulley 13,
the length of the other stay wire 111 wound on the corresponding deflection pulley 13, R is the centripetal distance of the centripetal mechanism 20, L0 is the length of the initial position of the stay wire 111, the reading of the corresponding stay wire encoder 12 at the initial position of the stay wire 111 is set to be zero, and R is the radius of each deflection pulley 13.
As shown in fig. 4, when the wire 111 is located at the initial position, the end of the wire 111 is fixed to the positioning block 15 and intersects the positioning block 15 at point M, the point of tangency between the wire 111 and the deflection pulley 13 is point O, and the length of the wire 111 from point O to point M is L0; the pivot of the support frame 16 and the corresponding support frame 17 is an N axis, the support frame 16 can rotate around the N axis, and the point O is located on the extension line of the N axis.
The AO length L1 and the AB length L4 can be obtained from the planar model in fig. 5 and the equations above. In the same manner, in the second position measuring step of S2, a plane model may be established for the measuring frame 10 at another position and the centripetal device 20, and the distances L2 and L3 from the measured point a to the two tangents of the two deflection pulleys 13 of the measuring frame 10 at the other position may be calculated by mathematical transformation.
Referring to fig. 2 and 6, in the step of building the spatial model in S4, building the three-dimensional spatial model includes:
the measured point is a point A; in the measurement block 10 in the first position measurement step of S1: the lower tangent points of the two pull wires 111 and the two deflection pulleys 13 are respectively a point O and a point B; in the measurement block 10 in the second position measurement step of S2: the lower tangent points of the two pull wires 111 and the two deflection pulleys 13 are respectively a point C and a point F; then, AO is L1, AB is L4, AC is L2, AF is L3, and O, B, C and F are located on the same plane, and define O as the origin, O, B, C and F are located on XY plane, a is located on XY plane, projection of a to XY plane is H, a foot from a to OB is D, a foot from a to OC is E, and a foot from a to CF is G.
Further, in the step of calculating the spatial position of the measurement point in S5, OB is a design parameter, and OB is e 0; CF is a design parameter, let CF equal e 5; let OC-e 1, CB-e 2, OF-e 3, BF-e 4, and point a coordinate (X, Y, Z); the mathematical transformation process is performed on the spatial model as follows:
solving the coordinates of the point A (X1, Y1, Z1) by using L1, L2 and L4:
in △ OEH and △ ODH, OH is equal, in △ ODA and OEA, OA is equal, and
the ∠ HOD value is solved from equations ⑴ through ⑸ above, along with:
solving the coordinates of the point A (X2, Y2, Z2) by using L1, L2 and L3:
OH is equal in △ GCH and △ ECH, AC is equal in △ ACE and ACG
The ∠ FCH and ∠ OCH values are solved from equations ⑹ through ⑾, along with:
EH＝CE*tan(∠OCH)＝L2*cos(∠ACO)*tan(∠OCH)..............⑿
OE＝OC-CE＝e1-L2*cos(∠ACO).....................................⒀
X2＝OH*cos(∠HOB)..................................................④
Y2＝OH*sin(∠HOB)............................................⑤
since the measured point a is the same point, then:
X1＝X2..........⑦
Y1＝Y2..........⑧
Z1＝Z2............⑨
the length values of e1, e2, e3 and e4 are calculated by using equations ⑴ to ⒂ and equations ① to ⑨, and the length values of e1, e2, e3 and e4 are substituted back to the equation corresponding to X1, Y1 and Z1 or X2, Y2 and Z2, so as to solve the coordinate value of the measured point A.
Similarly, in other embodiments, the coordinates of point a (X3, Y3, Z3) can be solved by using L2, L3, L4, and the coordinates of point a (X4, Y4, Z4) can be solved by using L1, L3, L4; since the measured point a is the same point, the equation can be used: and X3 is X4, Y3 is Y4, Z3 is Z4, so that the length values of e1, e2, e3 and e4 are calculated, the length values of e1, e2, e3 and e4 are substituted by the equation corresponding to X3, Y3 and Z3 or X4, Y4 and Z4, and the coordinate value of the measured point A is solved.
Solving the coordinates of the point A (X1, Y1 and Z1) by using L1, L2 and L4, solving the coordinates of the point A (X2, Y2 and Z2) by using L1, L2 and L3, solving the coordinates of the point A (X3, Y3 and Z3) by using L2, L3 and L4, and solving the coordinates of the point A (X4, Y4 and Z4) by using L1, L3 and L4; and since the measured point a is the same point, then:
X1-X2-X3-X4, Y1-Y2-Y3-Y4, Z1-Z2-Z3-Z4, by using the combination of any three line segments of L1, L2, L3 and L4, the length values of e1, e2, e3 and e4 are calculated through mathematical transformation, and the length values of e1, e2, e3 and e4 are substituted back to the equations corresponding to X1, Y1, Z1 or X2, Y2, Z2 or X3, Y3, Z3 or X4, Y4 and Z4, and the coordinate value of the measured point a is determined.
Further, if the CF length is equal to the OB length, e0 is equal to e5, so that the calculation is convenient. Of course in other embodiments, the length of CF is not equal to the length of OB, i.e., e0 ≠ e5, since both CF and OB are design parameters, and their length values are known, the coordinates of point a can also be calculated.
When the CF length is equal to the OB length, the structures of the two measurement frames 10 used in the present embodiment may be identical. When the CF length is not equal to the OB length, the two measuring frames 10 used in the present embodiment have a structure in which only the lengths of the bases 11 are not equal.
In this embodiment, since the number of the measuring frames 10 is two, the centripetal mechanism 20 includes four centripetal legs 22, one measuring frame 10 is used in the S1 first position measuring step, and the other measuring frame 10 is used in the S2 second position measuring step. The measurement is convenient, and is efficient. Meanwhile, because two measuring frames 10 are not required to be arranged in parallel, the measurement is more convenient, meanwhile, the measuring device is also convenient to store, and the precision is higher.
Further, in order to improve the measurement accuracy when the pull wire encoder 12 is used for measurement, in the first position measurement step of S1, the measurement frame 10 may be fixed, and the pull wire 111 is pulled, so as to record the readings of the two pull wire encoders 12 after the pull wire 111 is stationary, thereby obtaining a plurality of sets of L01 values and a plurality of levels of L04 values, and during calculation, the plurality of sets of L01 values may be averaged, and the plurality of sets of L04 values may be averaged, so as to reduce the measurement error and improve the measurement accuracy.
Similarly, in the second position measuring step of S2, the measuring frame 10 may be fixed, and by pulling the pulling wire 111, the readings of the two pulling wire encoders 12 are recorded after the pulling wire 111 is stationary, so as to obtain a plurality of sets of values of L02 and a plurality of levels of L03, and during calculation, the values of the plurality of sets of L02 may be averaged, and the values of the plurality of sets of L03 may be averaged, so as to reduce the measurement error and improve the measurement accuracy.
Example two:
referring to fig. 7 and 8, a method for measuring a spatial position of a pull-cord code according to a second embodiment of the present invention is provided. The method uses a pull wire code measuring device 100b for measurement. The bracing wire coding measuring device 100b comprises a centripetal mechanism 20b and a measuring frame 10b, wherein the centripetal mechanism 20b comprises a connecting head 21b and two centripetal legs 22b arranged on the connecting head 21 b. Each measuring frame 10b comprises a base 11b, and the base 11b is symmetrically provided with: two wire encoders 12b, two deflection pulleys 13b for guiding the wires 111b of the wire encoders 12b, support frames 16b for supporting the two deflection pulleys 13b, supports 17b pivotally connected to the support frames 16b, and positioning blocks 15b for positioning the initial positions of the wires 111b of the wire encoders 12b, respectively, wherein the lower tangent point of each wire 111b and the corresponding deflection pulley 13b is located on the pivot shaft where the support frame 16b is pivotally connected to the corresponding support frame 17 b. The wire encoder 12b is used to measure the length of the wire 111b extending therefrom, and the deflection pulley 13b is used to guide the corresponding wire 111 b. A positioning block 15b is provided, and in the initial position, the end of the pull wire 111b can be fixed on the positioning block 15b, and at this time, the reading of the pull wire encoder 12b can be set to a zero position, so as to zero the pull wire encoder 12 b. Each support frame 16b is pivotally connected to the corresponding support frame 17b, and each support frame 16b can rotate around the pivot where the support frame 16b is pivotally connected to the corresponding support frame 17b, and the lower tangent point of each wire 111b and the corresponding deflection pulley 13b is located on the pivot where the support frame 16b is pivotally connected to the corresponding support frame 17 b. The four centripetal legs 22b are used for connecting the stay wires 111b of the four stay wire encoders 12b, and the extension lines of the four stay wires 111b intersect at one point.
Referring to fig. 2, when the measuring device 100b for measuring the wire code is used, in the first position measuring step of S1, the connector 21b of the centering mechanism 20b is positioned at the measured point, the two wires 111b of the measuring frame 10b are respectively connected to the two centering legs 22b of the centering mechanism 20b, and the reading values L01 and L04 of the two wire encoders 12b of the measuring frame 10b are recorded.
Then, the second position measuring step S2 is performed, which only needs to move the measuring frame 10b, move the measuring frame 10b to another position, connect the two wires 111b of the measuring frame 10b with the two centering legs 22b of the centering mechanism 20b, respectively, and record the reading values L02 and L03 of the two wire encoders 12b of the measuring frame 10 b. Then, the same method as the first embodiment is performed with the steps of S3 establishing a planar model, S4 establishing a spatial model, and S5 calculating the spatial position of the measured point to measure the spatial position of the measured point.
Of course, in other embodiments, the centering mechanism 20b of the measuring device 100b may also include three or more centering legs 22 b.
As can be seen from the first and second embodiments, the guy wire code measuring device 100b that can be used in the guy wire code spatial position measuring method of the present invention can perform measurement by using one or more measuring frames 10b, and the centripetal mechanism 20b of the same measuring device only needs to include two or more centripetal legs 22b to meet the measurement requirement.
Other steps of the method for measuring a spatial position of a bracing wire code in this embodiment are the same as those of the method for measuring a spatial position of a bracing wire code in the first embodiment, and are not described herein again.
Referring to fig. 3 and fig. 4, the embodiment of the present invention further discloses a guy wire code measuring device 100, wherein the guy wire code measuring device 100 includes a centering mechanism 20 and two measuring frames 10. The centripetal mechanism 20 comprises a connecting head 21 and four centripetal legs 22 arranged on the connecting head 21. Each of the measuring frames 10 includes a base 11, and the base 11 is symmetrically provided with: the two stay wire encoders 12, the two deflection pulleys 13 guiding the stay wires 111 of the stay wire encoders 12 respectively, the support frames 16 supporting the two deflection pulleys 13 respectively, the supports 17 pivotally connected with the support frames 16 respectively, and the positioning blocks 15 positioning the initial positions of the stay wires 111 of the stay wire encoders 12 respectively, wherein the lower tangent point of each stay wire 111 and the corresponding deflection pulley 13 is positioned on the pivot shaft where the support frame 16 is pivotally connected with the corresponding support frame 17. The wire encoder 12 is used to measure the length of the wire 111 extending therefrom, and the deflection pulley 13 is used to guide the corresponding wire 111. A positioning block 15 is provided, and in the initial position, the end of the stay wire 111 can be fixed on the positioning block 15, and at this time, the reading of the stay wire encoder 12 can be set to a zero position, so as to return the stay wire encoder 12 to zero. Each support frame 16 is pivotally connected to the corresponding support frame 17, and each support frame 16 can rotate around the pivot where the support frame 16 is pivotally connected to the corresponding support frame 17, and the lower tangent point of each pull wire 111 and the corresponding deflection pulley 13 is located on the pivot where the support frame 16 is pivotally connected to the corresponding support frame 17. The four centripetal legs 22 are used for connecting the stay wires 111 of the four stay wire encoders 12, and the extension lines of the four stay wires 111 intersect at one point. The stay wire code measuring device 100 can be used for measuring by using the stay wire code space position measuring method, is convenient to use, does not need the measuring frames 10 at two positions to be parallel, has low requirement on the precision of measuring equipment, is convenient to store the measuring equipment, and can accurately measure the space position of a measured point.
Referring to fig. 7 and 8, another guy wire coding measuring device 100b is disclosed in the embodiment of the present invention, the guy wire coding measuring device 100b includes a centripetal mechanism 20b and a measuring frame 10b, the centripetal mechanism 20b includes a connector 21b and two centripetal legs 22b mounted on the connector 21 b. Each measuring frame 10b comprises a base 11b, and the base 11b is symmetrically provided with: two wire encoders 12b, two deflection pulleys 13b for guiding the wires 111b of the wire encoders 12b, support frames 16b for supporting the two deflection pulleys 13b, supports 17b pivotally connected to the support frames 16b, and positioning blocks 15b for positioning the initial positions of the wires 111b of the wire encoders 12b, respectively, wherein the lower tangent point of each wire 111b and the corresponding deflection pulley 13b is located on the pivot shaft where the support frame 16b is pivotally connected to the corresponding support frame 17 b. The wire encoder 12b is used to measure the length of the wire 111b extending therefrom, and the deflection pulley 13b is used to guide the corresponding wire 111 b. A positioning block 15b is provided, and in the initial position, the end of the pull wire 111b can be fixed on the positioning block 15b, and at this time, the reading of the pull wire encoder 12b can be set to a zero position, so as to zero the pull wire encoder 12 b. Each support frame 16b is pivotally connected to the corresponding support frame 17b, and each support frame 16b can rotate around the pivot where the support frame 16b is pivotally connected to the corresponding support frame 17b, and the lower tangent point of each wire 111b and the corresponding deflection pulley 13b is located on the pivot where the support frame 16b is pivotally connected to the corresponding support frame 17 b. The four centripetal legs 22b are used for connecting the stay wires 111b of the four stay wire encoders 12b, and the extension lines of the four stay wires 111b intersect at one point. The stay wire code measuring device 100b can measure by using the stay wire code space position measuring method, is convenient to use, only needs one measuring frame 10b, does not need to enable two positions of the measuring frame 10b to be parallel, has low precision requirement on measuring equipment, further facilitates storage of the measuring equipment, and can accurately measure the space position of a measured point.
Referring to fig. 2 to 6, a pull-line code space position measuring system according to an embodiment of the present invention includes the pull-line code measuring device 100 and a server for processing data of the pull-line code space position measuring method to obtain a position of a measuring point. When the bracing wire code space position measuring system is used for measurement by the bracing wire code measuring device 100, the bracing wire code space position measuring method can be used for measurement, the server can automatically carry out the steps of establishing a plane model S3 and establishing a space model S4 in the bracing wire code space position measuring method, the measurement result can be automatically calculated, the space position of a measurement point can be obtained, the measurement efficiency is high, and the measurement is convenient.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (12)
1. A guy wire code measuring device is characterized by comprising a centripetal mechanism and at least one measuring frame, wherein the centripetal mechanism comprises a connector and at least two centripetal legs arranged on the connector; the measuring frame includes the base, the symmetry is installed on the base: the guy wire encoder comprises two guy wire encoders, two deflection pulleys for guiding guy wires of the guy wire encoders respectively, support frames for supporting the two deflection pulleys respectively, supports respectively pivoted with the support frames and positioning blocks for positioning initial positions of the guy wires of the guy wire encoders respectively, wherein the lower tangent point of each guy wire and the corresponding deflection pulley is positioned on a pivot of the support frame pivoted with the corresponding support frame.
2. The pull-cord coded measurement device of claim 1, wherein the measurement boxes are one or two.
3. The pull-cord coded measurement device of claim 1, wherein the centering mechanism comprises two or four centering legs.
4. A method of measuring a spatial position of a pull-cord code, using the pull-cord code measuring device of any one of claims 1-3, the method further comprising the steps of:
s1 first position measurement: positioning a connector of a centripetal mechanism at a measured point, connecting two pull wires of a measuring frame with two centripetal legs of the centripetal mechanism respectively, and recording reading values L01 and L04 of two pull wire encoders of the measuring frame;
s2 second position measurement: moving the measuring frame to another position, connecting two pull wires of the measuring frame with two centripetal legs of the centripetal mechanism respectively, and recording reading values L02 and L03 of two pull wire encoders of the measuring frame;
s3 establishes a planar model: in the step of measuring the first position of S1, the measuring frame and the centripetal mechanism are positioned on the same plane, a plane model is established, and the lengths L1 and L4 from the measured point to the two pull wires of the measuring frame and the lower tangent point of the two deflection pulleys of the measuring frame are obtained through mathematical transformation; similarly, in the step of measuring the second position in S2, the measuring frame and the centripetal device are located on the same plane, a plane model is established, and the lengths L2 and L3 between the two pull wires from the measured point to the measuring frame and the tangent point of the two deflection pulleys of the measuring frame are obtained through mathematical transformation;
s4, establishing a space model: establishing a three-dimensional space model by using the measuring frame in the S1 first position measuring step, the measuring frame in the S2 second position measuring step and the centripetal mechanism;
s5 calculates the spatial position of the measurement point: and (4) establishing a space model in the space model step for the S4, and obtaining the space position of the measured point through mathematical transformation.
5. The method for measuring spatial positions of stay wire codes according to claim 4, wherein in the step of establishing a planar model in S3, the step of establishing a planar model between the measuring frame and the centripetal mechanism in the step of measuring the first position in S1 comprises:
the centers of circles of two deflection pulleys of the measuring frame are respectively O1Dot and O2△ AOB, △ AIK, △ AOI and △ AKB are triangles which are positioned in the same plane, wherein the AO length is equal to L1, and the AB length is equal to L4.
6. The method for measuring spatial positions of bracing wire codes according to claim 5, wherein in the step of establishing a planar model in S3, the mathematical transformation between the measuring frame in the step of measuring the first position in S1 and the planar model established by the centripetal device is determined by satisfying the following formula:
IO＝QI＝r*cos(∠QIO1)；
BK＝SK＝r*cos(∠SKO2)；
∠QIO＝2*∠QIO1；
∠SKB＝2*∠SKO2；
AI*cos(∠QIO)＝AK*cos(∠SKB)；
OB＝e0＝IT+KT-IO-KB；
wherein OB is a design parameter, OB is e0,
for the length of one said wire wound around the respective deflection pulley,the length of the other stay wire wound on the corresponding deflection pulley is R, the centripetal distance of the centripetal mechanism is R, L0 is the length of the initial position of the stay wire, the reading of the corresponding stay wire encoder at the initial position of the stay wire is set to be a zero position, and R is the radius of each deflection pulley.
7. The method for measuring the spatial position of a stay wire code according to claim 4, wherein in the step of establishing the spatial model in S4, establishing the three-dimensional spatial model comprises:
the measured point is a point A; in the measurement box in the step of measuring the first position of S1: the lower tangent points of the two pull wires and the two deflection pulleys are respectively an O point and a B point; in the measurement box in the second position measurement step of S2: the lower tangent points of the two pull wires and the two deflection pulleys are respectively a point C and a point F; then, AO is L1, AB is L4, AC is L2, AF is L3, and O, B, C and F are located on the same plane, and define O as the origin, O, B, C and F are located on XY plane, a is located on XY plane, projection of a to XY plane is H, a foot from a to OB is D, a foot from a to OC is E, and a foot from a to CF is G.
8. The method for measuring the spatial position of a wire-code according to claim 7, wherein in the step of calculating the spatial position of the measurement point in S5, OB is a design parameter, and OB is e 0; CF is a design parameter, let CF equal e 5; let OC-e 1, CB-e 2, OF-e 3, BF-e 4, and point a coordinate (X, Y, Z); the mathematical transformation process is performed on the spatial model as follows:
solving the coordinates of the point A (X1, Y1, Z1) by using L1, L2 and L4:
in △ OEH and △ ODH, OH is equal, in △ ODA and OEA, OA is equal, and
the ∠ HOD value is solved from equations ⑴ through ⑸ above, along with:
solving the coordinates of the point A (X2, Y2, Z2) by using L1, L2 and L3:
OH is equal in △ GCH and △ ECH, AC is equal in △ ACE and ACG
The ∠ FCH and ∠ OCH values are solved from equations ⑹ through ⑾, along with:
EH＝CE*tan(∠OCH)＝L2*cos(∠ACO)*tan(∠OCH)..............⑿
OE＝OC-CE＝e1-L2*cos(∠ACO).....................................⒀
X2＝OH*cos(∠HOB)......................................................④
Y2＝OH*sin(∠HOB)......................................................⑤
since the measured point a is the same point, then:
X1＝X2..........⑦
Y1＝Y2..........⑧
Z1＝Z2...........⑨
the length values of e1, e2, e3 and e4 are calculated by using equations ⑴ to ⒂ and equations ① to ⑨, and the length values of e1, e2, e3 and e4 are substituted back to the equation corresponding to X1, Y1 and Z1 or X2, Y2 and Z2, so as to solve the coordinate value of the measured point A.
9. The pull-cord coded spatial position measurement method of claim 8, wherein the CF length is equal to the OB length.
10. The pull-cord coded spatial position measurement method of claim 8, wherein the CF length is not equal to the OB length.
11. The guy wire encoding spatial position measuring method of any one of claims 4-10, wherein the number of the measuring frames is two, the centripetal mechanism comprises four centripetal legs, one of the measuring frames is used in the S1 first position measuring step, and the other of the measuring frames is used in the S2 second position measuring step.
12. A pull-cord coded spatial position measuring system, comprising a pull-cord coded measuring device according to any one of claims 1 to 3 and a server for processing data of the pull-cord coded spatial position measuring method according to any one of claims 4 to 10 to obtain a position of a measuring point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611234876.8A CN108253996B (en) | 2016-12-28 | 2016-12-28 | Guy wire code measuring device, guy wire code space position measuring method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611234876.8A CN108253996B (en) | 2016-12-28 | 2016-12-28 | Guy wire code measuring device, guy wire code space position measuring method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108253996A CN108253996A (en) | 2018-07-06 |
| CN108253996B true CN108253996B (en) | 2020-02-07 |
Family
ID=62719952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611234876.8A Active CN108253996B (en) | 2016-12-28 | 2016-12-28 | Guy wire code measuring device, guy wire code space position measuring method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108253996B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940257B (en) * | 2018-09-25 | 2021-09-24 | 国核电站运行服务技术有限公司 | Device and method for measuring inclination angle change of pipeline |
| CN109894818A (en) * | 2019-03-20 | 2019-06-18 | 刘业飞 | A kind of General Motors exterior trim coating hanger production method |
| CN112209603B (en) * | 2020-11-03 | 2023-07-25 | 索奥斯(广东)玻璃技术股份有限公司 | Curved air grid with radian detection function, using method thereof and glass forming equipment |
| CN113829344B (en) * | 2021-09-24 | 2022-05-03 | 深圳群宾精密工业有限公司 | Visual guide track generation method, device, equipment and medium suitable for flexible product |
| CN117589210B (en) * | 2024-01-16 | 2024-04-23 | 科瑞工业自动化系统（苏州）有限公司 | Measuring device and system of stay cord encoder |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1570556A (en) * | 2004-05-12 | 2005-01-26 | 清华大学 | Measuring device and method for spatial pose of rigid body |
| CN102636139A (en) * | 2012-04-12 | 2012-08-15 | 中国工程物理研究院激光聚变研究中心 | Six-displacement-sensor dynamic measuring method of space six-degree-of-freedom movement |
| CN103486989A (en) * | 2013-09-16 | 2014-01-01 | 南京航空航天大学 | Guy cable type spatial position measurement mechanism and method |
| CN105258662A (en) * | 2015-10-15 | 2016-01-20 | 哈尔滨工程大学 | Method for measuring end face spatial displacement and angular variation of shafting engineering member on the basis of stay-supported displacement sensors |
| CN205373670U (en) * | 2015-12-23 | 2016-07-06 | 比亚迪股份有限公司 | Spatial position measuring device |
| CN106092009A (en) * | 2016-06-29 | 2016-11-09 | 南京航空航天大学 | A kind of initial position calibration steps of the movable measuring mechanism of website based on draw wire encoder |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100526741B1 (en) * | 2003-03-26 | 2005-11-08 | 김시학 | Tension Based Interface System for Force Feedback and/or Position Tracking and Surgically Operating System for Minimally Incising the affected Part Using the Same |
-
2016
- 2016-12-28 CN CN201611234876.8A patent/CN108253996B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1570556A (en) * | 2004-05-12 | 2005-01-26 | 清华大学 | Measuring device and method for spatial pose of rigid body |
| CN102636139A (en) * | 2012-04-12 | 2012-08-15 | 中国工程物理研究院激光聚变研究中心 | Six-displacement-sensor dynamic measuring method of space six-degree-of-freedom movement |
| CN103486989A (en) * | 2013-09-16 | 2014-01-01 | 南京航空航天大学 | Guy cable type spatial position measurement mechanism and method |
| CN105258662A (en) * | 2015-10-15 | 2016-01-20 | 哈尔滨工程大学 | Method for measuring end face spatial displacement and angular variation of shafting engineering member on the basis of stay-supported displacement sensors |
| CN205373670U (en) * | 2015-12-23 | 2016-07-06 | 比亚迪股份有限公司 | Spatial position measuring device |
| CN106092009A (en) * | 2016-06-29 | 2016-11-09 | 南京航空航天大学 | A kind of initial position calibration steps of the movable measuring mechanism of website based on draw wire encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108253996A (en) | 2018-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108253996B (en) | Guy wire code measuring device, guy wire code space position measuring method and system | |
| CN103486989B (en) | Stay-supported spatial position measuring mechanism and measuring method | |
| CN109458988B (en) | Holding pole inclination angle measuring method based on UWB wireless distance measuring technology | |
| CN104764424A (en) | Measuring device and measuring method thereof | |
| CN102126162A (en) | Numerical control machine processing online measurement method | |
| CN104980212B (en) | Optical fiber fault detecting system and method with self-learning function | |
| CN104359445A (en) | Serial movement mechanism parameter error measuring device and method based on pull rope encoder | |
| CN103175487A (en) | Method for expanding application of total-station instrument | |
| CN112857315A (en) | Steel pipe column verticality measuring method based on three-dimensional laser scanning | |
| CN105300265A (en) | Measuring method based on measuring tape | |
| CN108036763A (en) | Ranging total powerstation | |
| CN204924145U (en) | Portable pipeline ovality measuring caliper | |
| CN114509777A (en) | Electric transmission project entity acceptance method based on Cesium platform | |
| CN204788349U (en) | Transmission line wire jumper arc measuring device that hangs down | |
| JP2007155377A (en) | Method of measuring porous passage | |
| CN207215124U (en) | Detection tool for detecting verticality | |
| CN113696227B (en) | Device and method for detecting horizontal azimuth angle of mechanical arm | |
| CN105004313A (en) | Measuring method for pipe bending extension quantities | |
| CN204359241U (en) | A kind of triangle stereometer type instrument | |
| CN205448966U (en) | Coordinate measuring machine assistant measuring device | |
| CN203299403U (en) | Precision verifying device for pipeline locus instrument | |
| CN204831107U (en) | Multi -functional line span measurement car | |
| CN109186471A (en) | The detection method and device of lead height | |
| CN210400243U (en) | Tool for accurately measuring diameter of fan | |
| CN216791147U (en) | Measuring device |
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 |