CN109751958B - Tubular bus track measuring method - Google Patents
Tubular bus track measuring method Download PDFInfo
- Publication number
- CN109751958B CN109751958B CN201811570393.4A CN201811570393A CN109751958B CN 109751958 B CN109751958 B CN 109751958B CN 201811570393 A CN201811570393 A CN 201811570393A CN 109751958 B CN109751958 B CN 109751958B
- Authority
- CN
- China
- Prior art keywords
- wrapping machine
- turntable
- distance
- wrapping
- turnplate
- 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
Abstract
The invention discloses a tubular bus track measuring method, which belongs to the technical field of high-pressure pipeline measurement and detection and comprises the following steps: installing laser sensors, and aiming at bent pipes with different regular shapes, knowing the deflection direction and the deflection angle of the pipe in advance in the wrapping process of wrapping equipment, wherein the laser sensors are uniformly distributed on a turntable of a wrapping machine; establishing a measurement mathematical model, wherein a laser sensor obtains data between the laser sensor and an obstacle, and establishing a mathematical model to find out the geometric relation between the distance and the deflection angle; and solving the geometrical relation between the distance and the deflection angle, and judging the bending direction of the copper pipe relative to the turnplate of the wrapping machine according to the distance from the edge of the turnplate of the wrapping machine to the irregular copper pipe. The invention realizes the autonomous pipeline tracking of the wrapping machine, saves manpower and material resources and improves the measurement efficiency.
Description
Technical Field
The invention relates to a track measuring method, in particular to a tubular bus track measuring method, and belongs to the technical field of high-pressure pipeline measurement and detection.
Background
At present, in the fields such as high-pressure pipeline, rubber tube and glass steel pipeline, need be used for protecting the pipeline not by the pollution destruction or prevent by effects such as other material corrosions or pleasing to the eye at the outside winding cloth layer of pipeline or winding insulating film sticky tape, at present, the package owner is to twine to the unchangeable object of regular thickness such as cable, however, many winding pipelines are the overall dimension of irregular generating line in the three-dimensional space, general package chartered plane of wanting to twine irregular pipeline needs very big manpower and materials, inefficiency, in order to realize independently carrying out the pipeline tracking around the chartered plane, add the environmental perception module, corresponding cast generating line orbit measuring method is needed.
Disclosure of Invention
The invention mainly aims to provide a tubular bus track measuring method which can realize the automatic pipeline tracking of a wrapping machine.
The purpose of the invention can be achieved by adopting the following technical scheme:
a tubular bus track measuring method comprises the following steps:
step 1: installing laser sensors, and aiming at bent pipes with different regular shapes, knowing the deflection direction and the deflection angle of the pipe in advance in the wrapping process of wrapping equipment, wherein the laser sensors are uniformly distributed on a turntable of a wrapping machine;
step 2: establishing a measurement mathematical model, wherein a laser sensor obtains data between the laser sensor and an obstacle, and establishing a mathematical model to find out the geometric relation between the distance and the deflection angle;
and step 3: and solving the geometrical relation between the distance and the deflection angle, installing a laser sensor at the tail end of a rotating disc of the wrapping machine, and judging the bending direction of the copper tube relative to the rotating disc of the wrapping machine according to the distance from the edge of the rotating disc of the wrapping machine to the irregular copper tube.
Further, in step 1, in order to realize the function of pipeline tracking, know in advance around the next positional information of equipment, to the return bend of different regular shapes, know the deflection direction and the deflection angle of pipe in advance around the in-process of equipment around the package, the laser that laser sensor launched is 45 with the level face, 4 laser sensor evenly distributed are on wrapping the quick-witted carousel.
Further, in step 2, the data obtained by the laser sensor is the linear distance between the laser sensor and the obstacle, in order to obtain the relation between the distance and the deflection angle, a mathematical model is established to find out the geometric relation between the distance and the deflection angle, and the mathematical model is provided with an irregular copper pipe, a wrapping machine turntable and a laser line;
further, in step 3, the laser sensor is installed at the end of the turntable of the wrapping machine, then a knows that if the wrapping machine does not move to the bending position of the tube, L1 ═ L2 ═ L1, the bending direction of the copper tube relative to the turntable of the wrapping machine is judged according to L1, L2 and L1, wherein: a is the radius of a turntable of the wrapping machine; l1 is the distance from the edge of the turntable of the wrapping machine to the irregular copper tube; l2 is the distance from the other edge of the turntable of the wrapping machine to the irregular copper tube; l1 is the distance from the other edge of the turntable of the wrapping machine to the irregular copper tube.
Further, in step 3, in the XZ plane, the bending direction of the copper tube relative to the turntable of the wrapping machine is judged according to L1 and L2, wherein: l1 is the distance from the edge of the turntable of the wrapping machine to the irregular copper tube; l2 is the distance from the other edge of the turntable of the wrapping machine to the irregular copper tube;
when L1< L2, the copper tube is bent upwards relative to a turnplate of the wrapping machine;
when L1 is larger than L2, the copper pipe is bent downwards relative to a turnplate of the wrapping machine;
when L1 is L2, the copper tube is not bent with respect to the turntable of the wrapping machine.
Further, in step 3, the bending direction of the copper pipe relative to the turntable of the wrapping machine is judged by the following method:
OA＝L1-l1；
OB＝L2-l1；
in triangle OAB, OA, OB, and AB represent the three side lengths of the triangle, respectively, using the cosine theorem:
the value of AB can be obtained by substituting OA and OB into the formula:
in the case of a triangular OAB,
can find out
Then
To obtain a copper pipe with a bending angle of
The invention has the beneficial technical effects that: the invention provides a tubular bus track measuring method, wherein data obtained by a laser sensor is the linear distance between the laser sensor and an obstacle, and a mathematical model is established to obtain the relation between the distance and the deflection angleFinding out the geometric relation between the distance and the deflection angle, wherein the laser sensor is arranged at the tail end of a turntable of the wrapping machine, and if the wrapping machine does not move to the bending position of the tube, the bending direction of the copper tube relative to the turntable of the wrapping machine is judged according to L1, L2 and L1, so that the method is convenient and accurate; when L1<L2, bending the copper tube upwards relative to the turntable of the wrapping machine; when L1>L2, bending the copper pipe downwards relative to the turntable of the wrapping machine; when L1 is L2, the copper tube is not bent relative to the wrapping machine turntable, and the copper tube is in the triangle OAB of the mathematical model
According to the obtained
And judging the bending direction of the copper pipe relative to the turntable of the lapping machine.
Drawings
FIG. 1 is a mathematical model diagram of a tubular busbar trajectory measuring method according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the method for measuring a tubular bus trace provided by this embodiment includes the following steps:
step 1: mounting a laser sensor
The laser sensor has the characteristics of high directivity, high monochromaticity, high brightness and the like, so that the installation position of the sensor has certain influence on subsequent measurement and algorithm; because the measuring method in the patent is directed at the bent pipes with different regular shapes, the deflection direction and the deflection angle of the pipe are known in advance in the wrapping process of wrapping equipment; based on the requirements, the laser emitted by the laser sensor in the patent forms an angle of 45 degrees with the horizontal plane; 4 laser sensors are uniformly distributed on a turntable of the wrapping machine;
step 2: establishing a mathematical model for measurement
In the laser sensor used in the patent, the obtained data is the linear distance between the laser sensor and an obstacle; in order to obtain the relation between the distance and the deflection angle, a mathematical model is established to find out the geometrical relation; the mathematical model is shown in fig. 1: in the figure 1, firstly, the copper tube is irregular, secondly, the wrapping machine turntable is arranged, and thirdly, the laser line is arranged;
and step 3: solving the geometric relationship between distance and deflection angle
The laser sensor is arranged at the tail end of a turntable of the wrapping machine, and a is known; if the wrapping machine does not move to the bending position of the tube, L1 is L2 is L1; in summary, taking the XZ plane as an example, there are the following cases:
when L1< L2, the copper pipe is bent upwards relative to a turntable of the wrapping machine;
when L1 is larger than L2, the copper pipe is bent downwards relative to a turnplate of the wrapping machine;
when the L1 is L2, the copper pipe is not bent relative to the turnplate of the wrapping machine;
the specific bending angles are as follows:
OA＝L1-l1；OB＝L2-l1；
in triangular OAB, the cosine theorem is used:
the value of AB can be obtained by substituting OA and OB into the formula:
in the case of a triangular OAB,
can find out
Then
The upward or downward bending angle of the copper pipe is known as
In the same way, the bending angle of the copper pipe towards the left or the right can be obtained on the XY plane;
the bending angles on the XY plane and the XZ plane are known, so that the position of the copper pipe in the space can be obtained, and the purpose of measuring the pipeline track is achieved.
In summary, in the method for measuring a tubular bus trace provided in this embodiment, data obtained by the laser sensor is a linear distance between the laser sensor and an obstacle, in order to obtain a relationship between the distance and a deflection angle, a mathematical model is established to find out a geometric relationship between the distance and the deflection angle, the laser sensor is installed at the end of a turntable of the wrapping machine, and if the wrapping machine does not move to a bending position of a tube, the bending direction of the copper tube relative to the turntable of the wrapping machine is determined according to L1, L2 and L1, which is convenient and accurate; when L1<L2, bending the copper tube upwards relative to the turntable of the wrapping machine; when L1>L2, bending the copper pipe downwards relative to the turntable of the wrapping machine; when L1 is L2, the copper tube is not bent relative to the wrapping machine turntable, and the copper tube is in the triangle OAB of the mathematical model
According to the obtained
And judging the bending direction of the copper pipe relative to the turntable of the lapping machine.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (2)
1. A tubular bus track measuring method is characterized by comprising the following steps:
step 1: installing laser sensors, wherein the bent pipes are copper pipes aiming at bent pipes with different regular shapes, the deflection direction and the deflection angle of the pipes are known in advance in the wrapping process of wrapping equipment, and the laser sensors are uniformly distributed on a turntable of a wrapping machine;
step 2: establishing a measurement mathematical model, wherein a laser sensor obtains data between the laser sensor and an obstacle, and establishing a mathematical model to find out the geometric relation between the distance and the deflection angle;
and step 3: solving the geometrical relation between the distance and the deflection angle, installing a laser sensor at the tail end of a turnplate of the wrapping machine, and judging the bending direction of the copper pipe relative to the turnplate of the wrapping machine according to the distance from the edge of the turnplate of the wrapping machine to the irregular copper pipe;
in step 3, the laser sensor is installed at the tail end of the turntable of the wrapping machine, a is known, if the wrapping machine does not move to the bending position of the tube, L1 is L2 is L1, and the bending direction of the copper tube relative to the turntable of the wrapping machine is judged according to L1, L2 and L1, wherein: a is the radius of a turntable of the wrapping machine; l1 is the distance from the edge of the turntable of the wrapping machine to the irregular copper tube; l2 is the distance from the other edge of the turntable of the wrapping machine to the irregular copper tube; l1 is the distance from the other edge of the turntable of the wrapping machine to the irregular copper tube;
in the step 3, in the XZ plane, the bending direction of the copper pipe relative to the turnplate of the lapping machine is judged according to L1 and L2, wherein: l1 is the distance from the edge of the turntable of the wrapping machine to the irregular copper tube; l2 is the distance from the other edge of the turntable of the wrapping machine to the irregular copper tube;
when L1< L2, the copper tube is bent upwards relative to a turnplate of the wrapping machine;
when L1 is larger than L2, the copper pipe is bent downwards relative to a turnplate of the wrapping machine;
when L1 is L2, the copper tube is not bent relative to a turnplate of the wrapping machine;
in step 3, the bending direction of the copper pipe relative to the turntable of the wrapping machine is judged by the following method:
OA＝L1-l1；
OB＝L2-l1；
in triangle OAB, OA, OB, and AB represent the three side lengths of the triangle, respectively, using the cosine theorem:
the value of AB can be obtained by substituting OA and OB into the formula:
in the case of a triangular OAB,
can find out
Then
To obtain a copper pipe with a bending angle of
2. The method for measuring the tubular bus track according to claim 1, wherein in step 1, in order to realize the function of pipeline tracking, the following position information of the wrapping equipment is known in advance, the deflection direction and the deflection angle of the pipe are known in advance in the wrapping process of the wrapping equipment aiming at bent pipes with different regular shapes, the laser emitted by the laser sensor forms a 45-degree angle with the horizontal plane, and 4 laser sensors are uniformly distributed on a turntable of the wrapping machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811570393.4A CN109751958B (en) | 2018-12-21 | 2018-12-21 | Tubular bus track measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811570393.4A CN109751958B (en) | 2018-12-21 | 2018-12-21 | Tubular bus track measuring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109751958A CN109751958A (en) | 2019-05-14 |
| CN109751958B true CN109751958B (en) | 2020-12-29 |
Family
ID=66402893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811570393.4A Active CN109751958B (en) | 2018-12-21 | 2018-12-21 | Tubular bus track measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109751958B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111099432B (en) * | 2019-12-26 | 2021-07-30 | 河北海赞自动化科技有限公司 | Irregular pipe body advancing device, advancing method and winding device thereof |
| CN114061920A (en) * | 2020-08-07 | 2022-02-18 | 北京小米移动软件有限公司 | Folding track detection device, folding track detection method and folding detection system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IES20040818A2 (en) * | 2004-12-06 | 2006-06-14 | Brian Francis Mooney | Method and apparatus for measuring a golf stroke |
| CN101245999B (en) * | 2008-02-26 | 2011-02-02 | 上海大学 | Non-excavated underground pipe line attitude angle measuring sensing head |
| JP2010127703A (en) * | 2008-11-26 | 2010-06-10 | Sharp Corp | Determination method of verticality of imaging means |
| CN102120230B (en) * | 2010-12-03 | 2012-12-05 | 中联重科股份有限公司 | Device and method for measuring bending angle of bent piece |
| CN104132636B (en) * | 2014-07-02 | 2017-02-15 | 丽水职业技术学院 | Linearity detection and judgment method for linear guide rail |
| CN108058167A (en) * | 2017-12-27 | 2018-05-22 | 江苏集萃智能制造技术研究所有限公司 | A kind of high rigidity anti-deformation fro hydraulic driving machinery arm |
-
2018
- 2018-12-21 CN CN201811570393.4A patent/CN109751958B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109751958A (en) | 2019-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109751958B (en) | Tubular bus track measuring method | |
| US10655982B2 (en) | Method and device for generating position information of target object | |
| JP3319506B2 (en) | RFID element for metal body and apparatus for identifying metal body using the same | |
| WO1998040764B1 (en) | Locator of electrically conductive objects | |
| CN103792760A (en) | Localization computing and position correction method for automatic focusing executive mechanism | |
| US20190128992A1 (en) | Ducts with information modules and methods of use and manufacture thereof | |
| CN105205424B (en) | Electromagnetic identification (EMID) tag locating component using context visualization | |
| CN117092641B (en) | Information fusion method based on radar ranging and image recognition | |
| CN108107459A (en) | Robot orientation detecting method, apparatus and system based on navigation system | |
| JP5261994B2 (en) | Identification tag and cable identification system | |
| CN103840872A (en) | Device and method for generating weight of antenna and maintenance management device | |
| CN110658511B (en) | Explosion-proof laser radar navigation device | |
| CN105222721A (en) | Based on the distortion of the umbilical under water self-checking system of Curvature Optical Fiber Sensor | |
| CN110986918A (en) | Positioning system and positioning method | |
| CN211453938U (en) | Explosion-proof type laser radar navigation head | |
| CN104361389A (en) | Flexible metal-resistant electronic label | |
| CN210576425U (en) | UWB antenna device | |
| CN211180198U (en) | Laser radar high accuracy positioning auxiliary system | |
| CN113763457A (en) | Method and device for calibrating drop terrain, electronic equipment and storage medium | |
| JP3570512B2 (en) | RFID element for metal body and apparatus for identifying metal body using the same | |
| CN113358318B (en) | Cable collision detection method, device, equipment and storage medium | |
| KR100887618B1 (en) | Probe apparatus | |
| CN215449623U (en) | A testing arrangement for pipeline is patrolled and examined | |
| CN108321526A (en) | Smart antenna | |
| CN202929218U (en) | Novel detector |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220214 Address after: 230088 21 / F, building F5, phase II, innovation industrial park, No. 2800, innovation Avenue, high tech Zone, Hefei, Anhui Province Patentee after: Anhui Jicui Zhizao Robot Technology Co.,Ltd. Address before: 211899 4th floor, block B, 99 Tuanjie Road, Pukou District, Nanjing City, Jiangsu Province Patentee before: INSTITUTE OF INTELLIGENT MANUFACTURING TECHNOLOGY,JITRI |