CN108680105B - Method and device for non-contact measurement of fixed-point three-dimensional relative position coordinates - Google Patents
Method and device for non-contact measurement of fixed-point three-dimensional relative position coordinates Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention relates to a method and a device for non-contact measurement of fixed-point three-dimensional relative position coordinates, which comprises a supporting and adjusting unit, a turntable bearing unit, a rotating holder unit, a sensor detecting unit and a data communication unit, wherein the supporting and adjusting unit is arranged on a working table, the rotating holder unit is rotatably arranged on the supporting and adjusting unit through the turntable bearing unit, the sensor detecting unit is arranged on the rotating holder unit through a connecting plate, and the data communication unit receives a detection signal of the sensor detecting unit and communicates with an upper computer. The invention has portability, the spigot disc and all the components above the spigot disc can be arranged on other working tables, the universality is strong, the non-contact measurement of any point in a three-dimensional space is realized through a three-degree-of-freedom mechanical device which is convenient for manually adjusting the tail end posture and a matched sensor, and the display of the three-dimensional relative position coordinate of a measured point on an upper computer is completed through serial port communication.
Description
Technical Field
The invention relates to a non-contact measurement technology, in particular to a method and a device for non-contact measurement of fixed-point three-dimensional relative position coordinates.
Background
In the fields of fire detection and building indoor three-dimensional scene modeling, in order to realize the estimation of the three-dimensional relative position coordinates of a certain specific target point in a scene, the simplest and intuitive scheme is to measure by adopting a manual aiming mode through specific equipment.
The equipment not only needs to have a mechanical design convenient for quick manual aiming, but also needs to meet the requirement that the addition of the self component or other auxiliary equipment does not shield the expected visual angle range, and simultaneously, the precision and the speed of measurement and coordinate estimation are ensured.
Therefore, the device and the method for detecting the three-dimensional relative position coordinates of the space points, which are designed and developed based on the actual requirements, have very strong practical significance.
The measurement of the position of a point in space is roughly divided into two types: the first is simple measurement of the distance between a space target point, a large number of handheld laser range finders are used in actual work, the laser range finders can only return a distance value or an angle value, the three-dimensional coordinates and the posture of the target point relative to a base coordinate system cannot be obtained, and the laser range finders have no algorithm program and are relatively complex in measurement. Another is based on visual or structured light measurements. However, the requirements on the object to be measured and the measurement environment are high, the calculation amount is large, the cost is too high, and the large-scale use of the object to be measured is limited.
Disclosure of Invention
Aiming at the defects of relatively complex measurement of space point positions, high requirements on a measured object and a measurement environment and the like in the prior art, the invention aims to provide a method and a device for non-contact measurement of fixed point three-dimensional relative position coordinates, which can realize manual aiming of a space point to be measured by rapid manual adjustment.
In order to solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a fixed-point three-dimensional relative position coordinate non-contact measuring device which comprises a supporting and adjusting unit, a turntable bearing unit, a rotating holder unit, a sensor detecting unit and a data communication unit, wherein the supporting and adjusting unit is arranged on a working table, the rotating holder unit is rotatably arranged on the supporting and adjusting unit through the turntable bearing unit, the sensor detecting unit is arranged on the rotating holder unit through a connecting plate, the data communication unit is arranged on the working table, and the data communication unit is used for receiving a detection signal of the sensor detecting unit and communicating with an upper computer.
The support adjusting unit includes: the inner ring tray is arranged on the spigot matching disc through the support column;
the supporting and adjusting unit is also provided with a plurality of supporting column gaskets and a plurality of fine-tuning double-head pieces, wherein the supporting column gaskets are respectively arranged between each supporting column and the spigot matching disc, and the fine-tuning double-head pieces are also arranged between each supporting column and the inner ring tray.
The rotating tripod head mechanism is a two-degree-of-freedom rotating tripod head and comprises a tripod head base, a primary rotating mechanism, a vertical turnover mechanism, a secondary rotating mechanism, a first mounting rack and a second mounting rack; one end of the primary rotating mechanism is rotatably arranged on the connecting plate through the holder base, the other end of the primary rotating mechanism is vertically provided with a fixing groove, and the vertical turnover mechanism is arranged in the fixing groove in a height-adjustable mode; the secondary rotating mechanism is rotatably arranged at the upper end of the vertical turnover mechanism; the first mounting frame is fixedly arranged on the side surface of the first-stage rotating mechanism; the second mounting rack is fixedly mounted on the side face of the vertical turnover mechanism.
The first-stage rotating mechanism is an L-shaped plate, a long hole is formed in the horizontal part of the L-shaped plate, and the first mounting frame passes through the long hole through a first elastic coupling and a first fastening bolt to be mounted on the holder base; the first mounting frame is provided with a first encoder in the sensor detection unit.
The second mounting frame is mounted on the side face of the vertical turnover mechanism through a second elastic coupling and a second fastening bolt, and a second encoder in the sensor detection unit is mounted on the second mounting frame.
The second-stage rotating mechanism is installed on the vertical turnover mechanism through a second fastening bolt, and the laser ranging sensor is installed on the second-stage rotating mechanism.
The sensor detection unit also comprises a magnetic grid ruler and a read head, the magnetic grid ruler and the read head are fixedly arranged on the outer ring of the turntable bearing, and the read head is fixed on the inner ring of the turntable bearing; the height between the magnetic grid ruler and the read head is horizontal, and a gap is reserved.
The invention relates to a non-contact measurement method for fixed-point three-dimensional relative position coordinates, which comprises the following steps:
1) adjusting a vertical turnover mechanism in the rotary holder unit to enable the vertical turnover mechanism to be in a vertical state, checking whether the wire is connected correctly and firmly, then opening detection software in an upper computer, sending an inquiry instruction to a sensor, and enabling the sensor to work normally;
2) adjusting a turntable bearing, turning over a vertical turning-over mechanism, adjusting a rotating holder mechanism to enable laser to irradiate a measuring point, and displaying three-dimensional coordinates of a detecting point on a display device of a data communication unit;
3) if the next point coordinate is measured, continuously adjusting the turntable bearing and the rotating holder mechanism, and displaying the three-dimensional coordinate of the detection point in real time by software;
4) and after the detection is finished, the software is closed, the power supply of the upper computer is closed, and the measurement is finished.
The invention also comprises the following steps:
and if the overall height of the mechanism needs to be adjusted or other measurements are carried out, loosening the height adjusting bolts, lifting the vertical turnover mechanism upwards, turning the vertical turnover mechanism outwards, and turning to the step 2).
The invention has the following beneficial effects and advantages:
1. the invention has portability, the spigot disc and all the components above the spigot disc can be arranged on other working tables, the universality is strong, the non-contact measurement of any point in a three-dimensional space is realized through a three-degree-of-freedom mechanical device which is convenient for manually adjusting the tail end posture and a matched sensor, and the display of the three-dimensional relative position coordinate of a measured point on an upper computer is completed through serial port communication.
2. The fine-tuning double-head piece in the supporting and adjusting mechanism realizes the adjustment of the levelness and the height of the plane of the turntable bearing, and the detection precision can still be ensured after the worktable surface is modified;
3. according to the invention, due to the matched design of the turntable bearing, the pan-tilt mechanism and the laser ranging sensor, the tail end of the detection arm is convenient for rapid manual adjustment so as to realize manual aiming of a space point to be detected, and the detection range covers a space of 360 degrees in the horizontal direction and 270 degrees in the vertical direction; in the in-service use process, other detection device can be placed to carousel bearing center top cylinder, does not influence the space point and detects.
4. The magnetic grid ruler is matched with the read head for use, the precision reaches 20um, the detection distance of the laser ranging sensor is 0.05-100 m, and the requirements of the detection range and the precision can be met through the configuration of the equipment; the absolute encoder can record the absolute position of the detection device, data are not lost when power is down, and after the device initially determines installation details, the final detection data cannot be influenced by any operation.
5. The invention calculates the three-dimensional coordinates of the space points by integrating the forward kinematics of the connecting rod of the robot with the data of the sensor and the mechanical dimension of the device body, can instantly obtain the data in the software of the upper computer and realizes the reproduction of the points in the three-dimensional space by the software; the upper computer can use a notebook computer or a tablet, and the software is convenient to install.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention (state one);
FIG. 2 is a schematic view of the overall structure of the apparatus of the present invention (state two);
FIG. 3 is a view of a support adjustment mechanism of the present invention;
FIG. 4 is a diagram of a turntable bearing mechanism according to the present invention;
FIG. 5 is a diagram of a rotary pan/tilt detection mechanism according to the present invention;
FIG. 6 is a diagram of a data communication mechanism of the present invention;
FIG. 7 is a control schematic diagram of the apparatus of the present invention.
Wherein, 1 is a supporting and adjusting unit, 2 is a turntable bearing unit, 3 is a rotating pan-tilt unit, 4 is a sensor detecting unit, 5 is a data communication unit, 6 is a working table, 7 is a round disc, 8 is a round disc matched with the round disc, 9 is a supporting column gasket, 10 is a supporting column, 11 is a fine-tuning double-head piece, 12 is an inner ring tray, 13 is a turntable bearing inner ring, 14 is a turntable bearing outer ring, 15 is a connecting plate, 16 is a pan-tilt base, 17 is a primary rotating mechanism, 18 is a vertical turnover mechanism, 19 is a secondary rotating mechanism, 20 is a first aluminum milling frame, 21 is a second milling frame, 22 is a first adjusting knob, 23 is a second adjusting knob, 24 is a height adjusting bolt, 25 is a stuffing bolt, 26 is a laser ranging sensor, 27 is a first fastening bolt, 28 is a first elastic coupling, 29 is a first encoder, 30 is a second fastening bolt, 31 is a second elastic coupling, 32 is a second encoder, 33 is a magnetic grid ruler, 34 is a read head, 35 is a singlechip, and 36 is an upper computer.
Detailed Description
The invention is further elucidated with reference to the accompanying drawings.
As shown in fig. 1 and 2, the non-contact measuring device for fixed-point three-dimensional relative position coordinates of the present invention is designed as a mechanical device combining a single-degree-of-freedom turntable bearing and a two-degree-of-freedom rotating pan/tilt, and selects a sensor configuration capable of measuring a rotation angle and a distance independently, and specifically includes a support adjusting unit 1, a turntable bearing unit 2, a rotating pan/tilt unit 3, a sensor detecting unit 4 and a data communication unit 5, wherein the support adjusting unit 1 is installed on a working table 6, the rotating pan/tilt unit 3 is rotatably installed on the support adjusting unit 1 through the turntable bearing unit 2, the sensor detecting unit 4 is installed on the rotating pan/tilt unit 3 through a connecting plate 15, the data communication unit 5 is installed on the working table 6, receives a detection signal of the sensor detecting unit 4.
As shown in fig. 3, the support adjusting unit 1 includes: the inner ring tray 12 is arranged on the spigot matching disc 8 through the support column 10;
the supporting and adjusting unit 1 further comprises a plurality of supporting column gaskets 9 and a plurality of fine-tuning double-head pieces 11, wherein the supporting column gaskets 9 are respectively arranged between each supporting column 10 and the spigot matching disc 8, and the fine-tuning double-head pieces 11 are also respectively arranged between each supporting column 10 and the inner ring tray 12.
In this embodiment, the spigot disc 7 and all the components above can be integrally detached and then integrally installed on other work tables, so that the movable and portable spigot disc has the mobility and portability. The tail end of the supporting column 10 penetrates through the supporting column gasket 9, the stepped surface of the supporting column 10 props against the upper surface of the supporting column gasket 9, the tail end of the supporting column 10 is provided with threads, and the supporting column 10 penetrates through the spigot and is matched with the disc 8 and then is screwed down by bolts. The top of the supporting column 10 is provided with a right-handed thread hole which is matched with the right-handed thread on the lower part of the fine-tuning double-head piece 11, and the left-handed thread on the upper part of the fine-tuning double-head piece 11 is matched with the left-handed thread hole of the inner ring tray 12, so that the height and the levelness of the inner ring tray can be adjusted by the four fine-tuning double-head pieces.
As shown in fig. 5, the rotating pan-tilt mechanism 3 is a two-degree-of-freedom rotating pan-tilt, and includes a pan-tilt base 16, a primary rotating mechanism 17, a vertical turnover mechanism 18, a secondary rotating mechanism 19, a first mounting rack, and a second mounting rack; one end of the primary rotating mechanism 17 is rotatably installed on the connecting plate 15 through the holder base 16, the other end of the primary rotating mechanism 17 is vertically provided with a fixing groove, and the vertical turnover mechanism 18 is installed in the fixing groove in a height-adjustable mode; the secondary rotating mechanism 19 is rotatably arranged at the upper end of the vertical turnover mechanism 18; the first mounting frame is fixedly arranged on the side surface of the primary rotating mechanism 17; the second mounting bracket is fixedly mounted on the side of the vertical turnover mechanism 18.
The first-stage rotating mechanism 17 is an L-shaped plate, a horizontal part of the L-shaped plate is provided with a long hole, and the first mounting frame is arranged on the holder base 16 through a first elastic coupling 28 and a first fastening bolt 27 penetrating through the long hole; the first encoder 29 in the sensor detection unit 4 is mounted on the first mounting bracket.
The second mounting frame is mounted on the side surface of the vertical turnover mechanism 18 through a second elastic coupling 31 and a second fastening bolt 30, and a second encoder 32 in the sensor detection unit 4 is mounted on the second mounting frame.
The secondary rotating mechanism 19 is mounted on the vertical turnover mechanism 18 through a second fastening bolt 30, and the laser ranging sensor 26 is mounted on the secondary rotating mechanism 19.
The sensor detection unit 4 further comprises a magnetic grid ruler 33 fixedly arranged on the outer ring 14 of the turntable bearing, and a read head 34 of the magnetic grid ruler 33 is fixed on the inner ring 13 of the turntable bearing; the height between the magnetic scale 33 and the read head 34 is horizontal, leaving a gap.
The rotating tripod head mechanism 3 is a two-degree-of-freedom rotating tripod head, the first mounting frame adopts a first aluminum milling frame 20, and the second mounting frame adopts a second aluminum milling frame 21; the first-level rotating mechanism 17 can rotate around the pan-tilt base 16 to realize the rotation of the Yaw axis, the second-level rotating mechanism 19 can rotate around the Pitch axis of the vertical turnover mechanism 18, 360-degree rotation can be realized in an ideal state, the final device is limited by the problem of wiring, and the actual rotating angle is 270 degrees. The damping of the two rotating mechanisms is adjustable. The adjustment of the damping of the Yaw axis can be realized by rotating the first adjusting knob 22, and the damping is determined by the tightness degree of the adjusting knob. The second adjusting knob 23 is rotated to adjust the damping of the Pitch shaft, and the damping is determined by the tightness degree of the adjusting knob.
The one-level rotary mechanism 17 is of a right-angle L-shaped structure, the vertical part is in shell-drawing design, a threaded hole is formed in the inner side wall, a through hole is formed in the corresponding position of the bottom of the vertical turnover mechanism 18, and the vertical turnover mechanism 18 can be fixedly connected through the height adjusting bolt 24 after being inserted into the one-level rotary mechanism 17. After loosening the height adjustment bolts 24, the vertical turning mechanism 18 can be lifted up from the housing of the primary rotation mechanism 17, and after reaching the limit position, can be turned around the Roll axis around the tuck bolts 25 at the top of the primary rotation mechanism 17. Whether turning over or not depends on the requirements of specific working environment.
The first-stage rotating mechanism 17 is provided with a first fastening bolt 27 at the coaxial center with the holder base 16, when the first-stage rotating mechanism 17 rotates relative to the holder base 16, an output shaft of a first encoder 29 is driven to rotate through a first elastic coupling 28 connected with the first fastening bolt 27, and a main body of the first encoder 29 is already fixed relative to the holder base 16, so that the rotation angle value of the first-stage rotating mechanism 17 can be recorded through the first encoder 29. Similarly, the second aluminum milling frame 21 is fixed on the side surface of the vertical turnover mechanism 18 through bolts, so that the second encoder 32 and the vertical turnover mechanism 18 are relatively fixed.
The second fastening bolt 30 is installed at the coaxial center of the second-stage rotating mechanism 19 and the vertical turnover mechanism 18, when the second-stage rotating mechanism 19 rotates relative to the vertical turnover mechanism 18, the second elastic coupling 31 connected with the second fastening bolt 30 drives the output shaft of the second encoder 32 to rotate, the main body of the second encoder 32 is already fixed relative to the vertical turnover mechanism 18, and therefore the rotation angle value of the second-stage rotating mechanism 19 can be recorded through the second encoder 32.
As shown in fig. 3, the slewing bearing mechanism 2 includes: four-point contact ball turntable bearing (with flange) and connecting plate 15 matched with it. The turntable bearing is divided into an inner ring 13 and an outer ring 14, the inner ring and the outer ring can rotate relatively, the inner ring and the outer ring are provided with mounting hole positions, the inner ring is relatively fixed with the inner ring tray 12 through bolts, and the outer ring rotates. The turntable bearing outer ring 14 is fixed with a connecting plate 12 through bolts, and the connecting plate 12 is provided with a countersunk hole for fixing the upper tripod head 3.
The sensor detection mechanism 4 includes three types of sensors: a magnetic scale 33, encoders 29, 32 and a laser range sensor 26. The magnetic scale 33 is a distance sensor which in use is arranged to cooperate with the read head 34 to read a signal. In the device, a read head 34 is fixed on an inner ring 13 of a turntable bearing, a magnetic grid ruler 33 is fixed on an outer ring 14 of the turntable bearing, the height level between the read head and the outer ring is 2mm, the magnetic grid ruler 33 rotates along with the outer ring 14 of the turntable bearing to realize relative displacement with the read head 34, the change of the magnetic poles of the magnetic grid ruler 33 is converted into TTL pulse signals, the signals are output to a single chip microcomputer 35, and the TTL pulse signals are read by the single chip microcomputer 35 and then converted into rotation angle values of the magnetic grid ruler 33, namely the outer ring 14 of the. The encoder selects an absolute encoder, each position corresponds to a fixed numerical value signal, the absolute position of each angle can be recorded, and the absolute position is not influenced by time and power on and off. The output shaft of the encoder is fixed with the measuring device, rotates along with the output shaft, the main body is relatively fixed, and the rotation angle of the device can be measured. The laser ranging sensor 26 acquires a distance value between the laser spot and the sensor body by emitting and receiving laser light.
As shown in fig. 6 and 7, the data communication means 5 includes: the communication between the read head 34 and the single chip microcomputer 35, the communication between the single chip microcomputer 35 and the RS232 of the upper computer, the communication between the two encoders 29 and 32 and the RS485 of the upper computer 36, the communication between the laser ranging sensor 26 and the RS232 of the upper computer 36, and the processing of data by the upper computer 36. The three-phase signal of the read head 34 is connected with the pin of the singlechip 35 to obtain the pulse signal generated by the magnetic grid ruler 33, and the pulse signal is converted into an angle value through an interrupt program and judgment processing. The single chip microcomputer 35 and the upper computer 36 transmit the acquired rotation angle value of the turntable bearing outer ring 14 to the upper computer 36 in real time through RS232 communication. The first encoder 29 and the second encoder 32 transmit the rotation angle values of the primary rotating mechanism 17 and the secondary rotating mechanism 19 to the upper computer 36 in real time. The laser ranging sensor 26 transmits the linear distance value between the detection point and the sensor body to the upper computer 36 in real time. After the upper computer 36 obtains the data, the three-dimensional coordinates of the detection points are calculated by using the forward kinematics of the robot connecting rod.
Aiming at the defects of the first method, the device designs a mechanical structure and a sensor combination to comprehensively acquire angle and distance data, and uses the kinematics of a robot connecting rod to carry out derivation calculation, so that the obtained data is accurate and quick. Compared with the second method, the method has the advantages of high measuring speed, low cost, no limitation of working environment and capability of realizing large-scale popularization.
The invention discloses a non-contact measuring method of fixed-point three-dimensional relative position coordinates, which comprises the following steps:
1) adjusting a vertical turnover mechanism 18 in the rotary holder unit 3 to enable the vertical turnover mechanism to be in a vertical state, checking whether the wire is connected correctly and firmly, then opening detection software in an upper computer 36, sending an inquiry instruction to the sensor 4, and enabling the sensor 4 to work normally;
2) adjusting the turntable bearing 2, turning over the vertical turning-over mechanism 18 to enable laser to irradiate the measuring point, and displaying the three-dimensional coordinates of the detecting point on a display device of the data communication unit;
3) if the next point coordinate is measured, the turntable bearing 2 and the rotating holder mechanism 3 are continuously adjusted, and the software displays the three-dimensional coordinate of the detection point in real time;
4) and after the detection is finished, the software is turned off, the power supply of the upper computer 36 is turned off, and the measurement is finished.
Further comprising the steps of:
if the overall height of the mechanism needs to be adjusted or other measurements are taken, the height adjusting bolts 24 are loosened, the vertical turnover mechanism 18 is lifted upwards and turned outwards, and the process goes to step 2).
In this embodiment, if the apparatus does not turn the vertical turning mechanism 18 after a single test, the apparatus is in the state 1 shown in fig. 1, and if the apparatus is turned, the apparatus is in the state 2 shown in fig. 2. The vertical turnover mechanism 18 is turned to the vertical position, inserted downwards into the shell of the first-stage rotating mechanism 17, and then the height adjusting bolt 24 is screwed down to enter a measuring state.
Whether the wire is connected correctly and firmly is checked, then detection software in the upper computer 36 is started, an inquiry instruction is sent to the sensor 4, and the sensor 4 works normally. And adjusting the turntable bearing 2 and the rotating holder mechanism 3 to enable laser to irradiate a point to be measured, and displaying the three-dimensional coordinates of the detection point by software at once. If the coordinate of the next point is measured, the turntable bearing 2 and the rotating holder mechanism 3 are continuously adjusted, and the software displays the three-dimensional coordinate of the detection point in real time.
And after the detection is finished, the software is turned off, the power supply of the upper computer 36 is turned off, and the measurement is finished. If it is desired to lower the overall height of the mechanism or take other measurements, step (4) may be performed, otherwise all may be ended.
The height adjusting bolts 24 are loosened, the vertical turnover mechanism 18 is lifted upwards and turned outwards, and the wire cannot be affected in the turnover process.
The invention relates to a three-dimensional space point position coordinate measuring and calculating system, which uses Visual Basic to edit a Visual interface, and divides a program into five functional blocks, namely an encoder-communication area, a magnetic grid ruler singlechip communication area, a laser ranging sensor communication area and a final space point coordinate display area.
The basic data are obtained through a magnetic grid ruler arranged on a machine body, an encoder and a laser ranging sensor arranged at the tail end of a mechanical arm, the specific communication process is that the magnetic grid ruler generates electromagnetic signals in the moving process, a read head feeds pulses back to a single chip microcomputer, and the single chip microcomputer calculates to obtain a first angle value after recognizing the pulse quantity and the pulse direction; the two encoders are respectively connected with an upper computer, data transmission is realized in an RS485 communication mode, and decoding is realized in the upper computer to obtain an angle value II and an angle value III; the laser ranging sensor is connected with the upper computer, data transmission is achieved through an RS232 communication mode, decoding is achieved in the upper computer, and the length of the tail end detection point from the laser ranging sensor is obtained. After the upper computer obtains the three angle values and the length value, the robot forward kinematics formula is executed in the program, and then the three-dimensional coordinate value of the target point can be calculated and displayed on the display screen.
The invention relates to a fixed point three-dimensional relative position coordinate non-contact measurement method and device based on manual aiming and laser ranging. The sensor is used for collecting manual adjustment attitude data and laser ranging data of the mechanical device, calculation and display of three-dimensional relative position coordinates of the space point are achieved through coordinate transformation and data fusion, and the method is high in universality, high in measuring speed and simple in operation.
Claims (9)
1. A fixed-point three-dimensional relative position coordinate non-contact measuring device is characterized in that: the device comprises a supporting and adjusting unit, a turntable bearing unit, a rotating holder unit, a sensor detecting unit and a data communication unit, wherein the supporting and adjusting unit is arranged on a working table surface, the rotating holder unit is rotatably arranged on the supporting and adjusting unit through the turntable bearing unit, the sensor detecting unit is arranged on the rotating holder unit through a connecting plate, and the data communication unit receives a detection signal of the sensor detecting unit and communicates with an upper computer;
the rotating tripod head unit is a two-degree-of-freedom rotating tripod head and comprises a tripod head base, a primary rotating mechanism, a vertical turnover mechanism, a secondary rotating mechanism, a first mounting rack and a second mounting rack; one end of the primary rotating mechanism is rotatably arranged on the connecting plate through the holder base, the other end of the primary rotating mechanism is vertically provided with a fixing groove, and the vertical turnover mechanism is arranged in the fixing groove in a height-adjustable mode; the secondary rotating mechanism is rotatably arranged at the upper end of the vertical turnover mechanism; the first mounting frame is fixedly arranged on the side surface of the first-stage rotating mechanism; the second mounting rack is fixedly mounted on the side face of the vertical turnover mechanism.
2. The fixed-point three-dimensional relative position coordinate noncontact measuring device according to claim 1, wherein said support adjusting unit includes: the inner ring tray is arranged on the spigot matching disc through the support column.
3. The non-contact measuring device of the fixed-point three-dimensional relative position coordinate according to claim 2, further comprising a plurality of supporting post washers and a plurality of fine-tuning double-head members, wherein the plurality of supporting post washers are respectively disposed between each supporting post and the spigot-fitting disk, and the plurality of fine-tuning double-head members are respectively disposed between each supporting post and the inner ring tray.
4. The fixed point three-dimensional relative position coordinate non-contact measurement device of claim 1, wherein: the first-stage rotating mechanism is an L-shaped plate, a long hole is formed in the horizontal part of the L-shaped plate, and the first mounting frame passes through the long hole through a first elastic coupling and a first fastening bolt to be mounted on the holder base; the first mounting frame is provided with a first encoder in the sensor detection unit.
5. The fixed point three-dimensional relative position coordinate non-contact measurement device of claim 1, wherein: the second mounting frame is mounted on the side face of the vertical turnover mechanism through a second elastic coupling and a second fastening bolt, and a second encoder in the sensor detection unit is mounted on the second mounting frame.
6. The fixed point three-dimensional relative position coordinate non-contact measurement device of claim 1, wherein: the second-stage rotating mechanism is installed on the vertical turnover mechanism through a second fastening bolt, and the laser ranging sensor is installed on the second-stage rotating mechanism.
7. The fixed point three-dimensional relative position coordinate non-contact measurement device of claim 1, wherein: the sensor detection unit also comprises a magnetic grid ruler and a read head, the magnetic grid ruler and the read head are fixedly arranged on the outer ring of the turntable bearing, and the read head is fixed on the inner ring of the turntable bearing; the height between the magnetic grid ruler and the read head is horizontal, and a gap is reserved.
8. The method of claim 1, comprising the steps of:
1) adjusting a vertical turnover mechanism in the rotary holder unit to enable the vertical turnover mechanism to be in a vertical state, checking whether the wire is connected correctly and firmly, then opening detection software in an upper computer, sending an inquiry instruction to a sensor, and enabling the sensor to work normally;
2) adjusting a turntable bearing, turning over a vertical turning-over mechanism, adjusting a rotating holder mechanism to enable laser to irradiate a measuring point, and displaying three-dimensional coordinates of a detecting point on a display device of a data communication unit;
3) if the next point coordinate is measured, continuously adjusting the turntable bearing and the rotating holder mechanism, and displaying the three-dimensional coordinate of the detection point in real time by software;
4) and after the detection is finished, the software is closed, the power supply of the upper computer is closed, and the measurement is finished.
9. The method of claim 8, further comprising the steps of:
and if the overall height of the mechanism needs to be adjusted or other measurements are carried out, loosening the height adjusting bolts, lifting the vertical turnover mechanism upwards, turning the vertical turnover mechanism outwards, and turning to the step 2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810494575.1A CN108680105B (en) | 2018-05-22 | 2018-05-22 | Method and device for non-contact measurement of fixed-point three-dimensional relative position coordinates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810494575.1A CN108680105B (en) | 2018-05-22 | 2018-05-22 | Method and device for non-contact measurement of fixed-point three-dimensional relative position coordinates |
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