CN109188455A - A kind of cylindrical body plane motion track laser measurement method - Google Patents
A kind of cylindrical body plane motion track laser measurement method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The invention discloses a kind of cylindrical body plane motion track laser measurement methods, the present invention is based on cylindrical body geometrical characteristic and the relative positional relationships of laser displacement sensor and cylindrical body, it is analyzed using plane geometry, introducing trigonometric function realizes coordinate variable decoupling of the cylindrical body center of circle displacement in rectangular coordinate system, compared with prior art, have the advantages that scheme is applied widely, system is simple, installation is easy to operate, scheme is versatile and flexible, equipment cost is low etc., is with a wide range of applications and higher promotional value.
Description
Technical Field
The invention belongs to the field of optical measurement of motion tracks, and particularly relates to a laser measurement method for a planar motion track of a cylinder.
Background
The laser measurement has the advantages of high measurement precision, wide range, short detection time, non-contact measurement and the like, and is more and more widely applied in the fields of aerospace, military, medical treatment, industry, agriculture and the like. Laser survey includes two kinds of important functions of laser rangefinder and laser survey vibration, and this patent is based on laser rangefinder technique. The principle is divided into a laser triangulation method and a laser echo analysis method. Among them, the laser triangulation method is suitable for high-precision measurement at a short distance, and the laser echo analysis method is suitable for remote measurement.
The motion trail measurement is an important application of laser measurement, and can provide important information for research. The motion trajectory data can provide important analysis basis and evaluation criteria in the aspects of state monitoring, error compensation, data fusion, parameter adjustment, algorithm design and the like. Therefore, the measurement of the motion trail has important application value in mobile robots and machining research.
The typical usage of laser ranging-based circular track measurement is a circular inspection method for comprehensive error measurement and evaluation of the numerical control machine, the circular inspection measurement method and the circular inspection measurement technology are the basis of error measurement and evaluation, and the measurement accuracy limits error tracing and compensation of the numerical control machine, so that the improvement of the machine tool accuracy is influenced, and the method is one of the key problems in the modern high-end equipment manufacturing industry. However, the principle is that the plane mirror attached to the circular surface is used for realizing the geometric decoupling of the circular shape, the method can only realize the measurement of the specific direction of the movement track of the circle center, and the measurement system is complex.
The cylinder carries out the random motion in the plane, and prior art shows to install additional structure at the cylinder to the internal translation of cylinder plane and realizes the decoupling of circle geometric features, and then realizes the measurement of centre of a circle motion trail. However, this solution is not feasible for the case where the translational motion is accompanied by an irregular rotation around the center of the circle.
Disclosure of Invention
The invention aims to provide a laser measurement method for a planar motion track of a cylinder, which solves the problem of influence of the geometric characteristics of the cylinder and the self-rotation motion of the cylinder on the measurement of the motion track of a circle center by utilizing a laser ranging technology based on a geometric characteristic decoupling algorithm and realizes the continuous real-time measurement of the motion track of the circle center in the planar surface of the cylinder.
A laser measurement method for a planar motion track of a cylinder comprises the following steps:
(1) selecting and mounting a laser displacement sensor according to the geometric characteristics of the cylinder moving in a plane, wherein when the mounting requirement is the theoretical initial position of the cylinder, the distance between the cylinder and the laser displacement sensor is the displacement measurement center distance of the laser displacement sensor;
(2) calculating to obtain circle center motion trajectory laser displacement data delta X and delta Y, wherein the delta X is an X-direction displacement component, and the delta Y is a Y-direction displacement component;
(3) an X-Y diagram with the coordinate axes of Deltax and Delay is drawn, namely the motion track of the circle center of the cylinder in a plane.
When the number of the laser displacement sensors is 2, the 2 laser displacement sensors are orthogonally installed;
is calculated to obtain
Wherein X is the X-axis displacement variation of the laser point of the X-axis laser displacement sensor at the current position of the cylinder relative to the theoretical initial position of the cylinder; y is the Y-axis displacement variation of the laser point of the Y-axis laser displacement sensor at the current position of the cylinder relative to the theoretical initial position of the cylinder; r is the cylinder radius.
When the number of the laser displacement sensors is 3, 2 laser displacement sensors in the 3 laser displacement sensors are orthogonally arranged, and the other 1 laser displacement sensor is arranged opposite to 1 of the first 2 laser displacement sensors taking the center of the plane chassis as a midpoint;
is calculated to obtain
Wherein, X is the X-direction displacement variation of the laser point of the X-axis laser displacement sensor relative to the theoretical initial position of the cylinder at the current position of the cylinder, Y1 is the Y-direction displacement variation of the 1 st laser displacement sensor laser point of the Y-axis relative to the theoretical initial position of the cylinder at the current position of the cylinder, Y2 is the Y-direction displacement variation of the 2 nd laser displacement sensor laser point of the Y-axis relative to the theoretical initial position of the cylinder at the current position of the cylinder, and r is the radius of the cylinder.
When the number of the laser displacement sensors is 4, the 4 laser displacement sensors are orthogonally arranged in four directions taking the center of the plane chassis as a midpoint;
is calculated to obtain
Wherein X1 is the X-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 1 st laser displacement sensor laser point on the X axis, X2 is the X-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 2 nd laser displacement sensor laser point on the X axis, Y1 is the Y-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 1 st laser displacement sensor laser point on the Y axis, and Y2 is the Y-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 2 nd laser displacement sensor laser point on the Y axis.
The laser displacement sensor cable is connected with data acquisition and analysis equipment, and the data acquisition and analysis equipment processes and analyzes the laser displacement sensor electric signal.
Furthermore, when the reflection angle of the laser displacement sensor exceeds the maximum reflection angle, the measurable range perpendicular to the measurement direction of the laser displacement sensor is calculated, then the data is used as a distance to arrange a plurality of laser displacement sensors to obtain a laser line measurement network of the whole area, and the position of the circle center of the cylinder is measured by monitoring the position of the circle center in the laser line measurement network.
The data acquisition and analysis equipment is a high-speed data acquisition instrument.
The invention has the following beneficial effects:
the method is based on the geometric characteristics of the cylinder and the relative position relation between the laser displacement sensor and the cylinder, utilizes plane geometric analysis, introduces a trigonometric function to realize the coordinate variable decoupling of the displacement of the circle center of the cylinder in a rectangular coordinate system, and has the advantages of wide application range of the scheme, simple system, simple installation and operation, flexible and various schemes, low equipment cost and the like compared with the prior art, thereby having wide application prospect and higher popularization value.
Drawings
FIG. 1 is a schematic diagram of a dual laser interferometer non-contact circular trajectory (cylindrical surface) measurement;
FIG. 2 is a schematic view of a planar motion of a cylinder;
FIG. 3 is a schematic diagram of the displacement measuring range of the laser displacement sensor;
FIG. 4 is a schematic diagram of the dual laser displacement data processing of the circle center movement trace of the present invention;
FIG. 5 is an enlarged view of the circle center movement measurement range;
FIG. 6 is a schematic diagram of the three laser displacement data processing of the circle center movement trace of the present invention;
FIG. 7 is a diagram of the four laser displacement data processing principle of the circle center movement locus of the present invention;
wherein,
1-theoretical initial position of cylinder; 2-current position of cylinder; 3-the circle center of the theoretical initial position of the cylinder and the origin of the rectangular coordinate system; 4-the X-direction displacement component Δ X of the center of the cylinder; 5-the displacement component delta Y in the Y direction of the center of the cylinder; 6-circle center of current position of cylinder; 7-plane base plate; 8-X axis of rectangular coordinate system; 9-Y axis of rectangular coordinate system; 10-a laser displacement sensor; 11-displacement measuring center distance; 12 — upper displacement measurement limit; 13-lower limit of displacement measurement; 14-laser points of the cylinder surface of the Y-direction laser displacement sensor at the theoretical initial position of the cylinder; 15-laser points of the Y-direction laser displacement sensor on the surface of the cylinder at the current position of the cylinder; 16-15 relative to 14; 17-laser points of the theoretical initial position X-direction laser displacement sensor on the surface of the cylinder; 18-laser points of the current position X-direction laser displacement sensor of the cylinder on the surface of the cylinder; the amount of change X in the X-direction displacement of 19-18 relative to 17; 20-cylinder radius; the included angle a between the connecting lines 21-15 and 18 and 9; the included angle b between the line 22-6 and the line 18 and the line 15 and the line 18; the angle c between the line of 23-15 and 18 and 8; the included angle d between the line 24-6 and 15 and the line 15 and 18; 25-signal line of laser displacement sensor; 26-a data acquisition instrument; 27-laser line of Y-axis laser displacement sensor near theoretical initial position of cylinder; 28-X-axis laser displacement sensor laser line near the theoretical initial position of the cylinder; 29-Y-axis laser displacement sensor laser line near the current position of the cylinder; 30-X-axis laser displacement sensor laser line near the current position of the cylinder; 31-laser displacement sensor laser line measurement network; 32-laser points of the third laser displacement sensor on the surface of the cylinder in the theoretical initial position state of the cylinder; 33-laser points of the third laser displacement sensor on the surface of the cylinder in the current position state of the cylinder; 34-33 versus 32 displacement variation; 35-laser points of the fourth laser displacement sensor on the surface of the cylinder in the theoretical initial position state of the cylinder; 36-laser points of a fourth laser displacement sensor on the surface of the cylinder in the current position state of the cylinder; 37-36 relative to 35.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention without making creative efforts, shall fall within the scope of the claimed invention.
A laser measurement method for a planar motion track of a cylinder comprises the following steps:
(1) selecting and mounting a laser displacement sensor according to the geometric characteristics of the cylinder moving in a plane, wherein when the mounting requirement is the theoretical initial position of the cylinder, the distance between the cylinder and the laser displacement sensor is the displacement measurement center distance of the laser displacement sensor;
(2) calculating to obtain circle center motion trajectory laser displacement data delta X and delta Y, wherein the delta X is an X-direction displacement component, and the delta Y is a Y-direction displacement component;
(3) an X-Y diagram with the coordinate axes of Deltax and Delay is drawn, namely the motion track of the circle center of the cylinder in a plane.
The method comprises the following specific steps:
1) the distance between the laser displacement sensor and the measuring point is as consistent as possible with the displacement measuring center position of the laser displacement sensor, and the two laser displacement sensors are installed in an orthogonal mode. The intersection point of the laser extension lines of the two laser displacement sensors is used as the circle center of the theoretical initial position of the cylinder and is also the circle center of the local rectangular coordinate system. See fig. 3 and 4.
2) The cable of the laser displacement sensor is connected with the data acquisition and analysis equipment, and the data acquisition and analysis equipment processes and analyzes the electric signal of the laser displacement sensor to obtain corresponding physical quantity, which is shown in figure 4.
3) Based on the displacement variation and the geometric characteristics of the cylinder measured by the laser displacement sensor, a processing method of the circle center movement track laser displacement data is obtained by using a geometric analysis method, which is shown in figure 4.
Substituting equations 1 and 2 into equations 3 and 4 yields:
4) an x-y diagram with the coordinate axes of delta x and delta y is drawn by data processing software of the data acquisition instrument, and the motion track of the circle center of the cylinder on the plane can be mastered in real time by instant display.
5) Measuring range enlarging scheme
Due to the geometric characteristics of the cylinder and the requirement of the laser displacement sensor on the reflection angle of the reflected light, the displacement output signal of the laser displacement sensor is unstable when the reflection angle exceeds the required reflection angle, so that the measurement range of the movement track of the circle center plane of the cylinder is limited. The technical scheme for solving the problem is that the measurable range perpendicular to the measuring direction of the laser displacement sensor is obtained through calculation based on the requirement of the reflection angle of the laser displacement sensor. And then, arranging a plurality of laser displacement sensors at intervals by using the data to obtain a laser line measurement network of the whole area, and judging and starting an effective laser displacement sensor to measure the circle center position of the cylinder by monitoring the position of the circle center in the laser line measurement network so as to cover the whole movement range area. See fig. 5.
6) Multi-laser displacement sensor measuring scheme
The measuring scheme of the circle center movement track of the cylinders of the two laser displacement sensors has higher requirement on the real-time computing capability of the data acquisition equipment. Based on the method, a circle center movement track measuring scheme of three laser displacement sensors and a circle center movement track measuring scheme of four laser displacement sensors are provided.
A method for calculating the circle center motion track of three laser displacement sensors is shown in figure 6.
A method for calculating the circle center motion track of the four laser displacement sensors is shown in figure 7.
The laser displacement sensor is a sensor for measuring by using a laser technology, and can accurately measure physical quantities such as length, distance, vibration, speed and the like of a measured object in a non-contact manner. The range expression of the laser displacement sensor based on the laser triangulation method comprises two indexes of a measuring center distance and a measuring range, and is shown in figure 2.
The data acquisition and analysis equipment is used for converting various physical quantities into electric signals, can be analog quantities or digital quantities, converting discrete digital quantities through A/D, reading A/D conversion values and storing the A/D conversion values into a memory. The data acquisition and analysis functions are mainly realized by software.
The cylinder moves up or down a certain distance by taking a circle as a bottom surface, and the space passed by the cylinder is called a cylinder.
The mathematical function expression: sin sine function; a pi circumference ratio; atan arctan function; acos inverse cosine function; abs absolute value function.
The specific implementation method of the patent is described by taking a certain engineering example as an example:
1) firstly, the geometric characteristic values of the cylinder, such as the height 160mm and the radius 200mm of the cylinder, are grasped, and the figure 2 is shown;
2) grasping the geometric characteristics of the plane chassis, and analyzing the motion range of the cylinder in the plane chassis, wherein if the radius of the plane chassis is 300mm, the motion range of the cylinder in the plane chassis is +/-100 mm, as shown in figure 2;
3) and determining whether the maximum reflection angle of the laser displacement sensor meets the use condition of the sensor according to the movement range of the cylinder on the plane chassis, and further determining the measurement scheme of the laser displacement sensor. If the maximum reflector calculated by the engineering example is 30 degrees and meets the use conditions of the laser displacement sensors, the measuring scheme of the laser displacement sensors is preliminarily determined to be that the two laser displacement sensors are orthogonally installed, and the intersection point of the laser extension lines of the two laser displacement sensors is consistent with the circle center of the plane chassis;
4) according to the information, the range of the selected laser displacement sensor is required to be not less than +/-100 mm, the displacement measurement center distance of the laser displacement sensor is not less than 300mm, and the data acquisition instrument is required to have the capability of calculating and drawing an x-y diagram by a trigonometric function;
5) according to the measurement scheme in the previous stage, the laser displacement sensor is installed, and the installation requirement is that when the cylinder is at the theoretical initial position, the distance between the cylinder and the laser displacement sensor is the displacement measurement center distance of the laser displacement sensor, which is shown in fig. 3 and 4;
6) connecting a laser displacement sensor cable to a data acquisition instrument, see fig. 4;
7) inputting a corresponding decoupling algorithm of the circle center position of the cylinder in software matched with the data acquisition instrument according to the selected measuring scheme of the laser displacement sensor, wherein the decoupling algorithm of the circle center position of the cylinder determined by the engineering example is as follows:
8) in software matched with the data acquisition instrument, drawing an X-Y diagram by taking an X-axis displacement component of the center of a cylinder and a Y-axis displacement component of the center of the cylinder as axes X and Y;
9) horizontally moving the cylinder to compare the motion track of the circle center of the cylinder in the x-y diagram and checking the relative coordinate relationship;
10) and (5) practical engineering application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A laser measurement method for a planar motion track of a cylinder is characterized by comprising the following steps:
(1) selecting and mounting a laser displacement sensor according to the geometric characteristics of the cylinder moving in a plane, wherein when the mounting requirement is the theoretical initial position of the cylinder, the distance between the cylinder and the laser displacement sensor is the displacement measurement center distance of the laser displacement sensor;
(2) calculating to obtain circle center motion trajectory laser displacement data delta X and delta Y, wherein the delta X is an X-direction displacement component, and the delta Y is a Y-direction displacement component;
(3) an X-Y diagram with the coordinate axes of Deltax and Delay is drawn, namely the motion track of the circle center of the cylinder in a plane.
2. The laser measurement method according to claim 1, wherein when the number of the laser displacement sensors is 2, the 2 laser displacement sensors are orthogonally installed;
is calculated to obtain
Wherein X is the X-axis displacement variation of the laser point of the X-axis laser displacement sensor at the current position of the cylinder relative to the theoretical initial position of the cylinder; y is the Y-axis displacement variation of the laser point of the Y-axis laser displacement sensor at the current position of the cylinder relative to the theoretical initial position of the cylinder; r is the cylinder radius.
3. The laser measuring method according to claim 1, wherein when the number of the laser displacement sensors is 3, 2 of the 3 laser displacement sensors are orthogonally installed, and the other 1 laser displacement sensor is installed opposite to 1 of the first 2 laser displacement sensors with the center of the planar chassis as a midpoint;
is calculated to obtain
Wherein, X is the X-direction displacement variation of the laser point of the X-axis laser displacement sensor relative to the theoretical initial position of the cylinder at the current position of the cylinder, Y1 is the Y-direction displacement variation of the 1 st laser displacement sensor laser point of the Y-axis relative to the theoretical initial position of the cylinder at the current position of the cylinder, Y2 is the Y-direction displacement variation of the 2 nd laser displacement sensor laser point of the Y-axis relative to the theoretical initial position of the cylinder at the current position of the cylinder, and r is the radius of the cylinder.
4. The laser measuring method according to claim 1, wherein when the number of the laser displacement sensors is 4, the 4 laser displacement sensors are orthogonally installed at four positions with the center of the planar chassis as a midpoint;
is calculated to obtain
Wherein X1 is the X-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 1 st laser displacement sensor laser point on the X axis, X2 is the X-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 2 nd laser displacement sensor laser point on the X axis, Y1 is the Y-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 1 st laser displacement sensor laser point on the Y axis, and Y2 is the Y-direction displacement variation of the current position of the cylinder relative to the theoretical initial position of the cylinder of the 2 nd laser displacement sensor laser point on the Y axis.
5. The laser measuring method according to claim 1, wherein the laser displacement sensor cable is connected with a data acquisition and analysis device, and the data acquisition and analysis device processes and analyzes the laser displacement sensor electrical signal.
6. The laser measuring method according to any one of claims 1 to 5, wherein when the reflection angle of the laser displacement sensor exceeds the maximum reflection angle, the measurable range perpendicular to the measuring direction of the laser displacement sensor is calculated, then a plurality of laser displacement sensors are arranged with this data as a space to obtain a laser line measuring network of the whole area, and the position of the center of the circle of the cylinder is measured by monitoring the position of the center of the circle in the laser line measuring network.
7. The laser measurement method of claim 5, wherein the data acquisition and analysis device is a high-speed data acquisition instrument.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982266A (en) * | 2020-06-24 | 2020-11-24 | 北京航空航天大学 | Laser measurement method for vibration displacement of filament and gun tip of scanning electron microscope electron gun |
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| JPH11304456A (en) * | 1998-04-27 | 1999-11-05 | Kinugawa Rubber Ind Co Ltd | Measuring device for roundness of cylindrical work |
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Application publication date: 20190111 |