CN109945795B - Device and method for testing performance of measuring robot - Google Patents
Device and method for testing performance of measuring robot Download PDFInfo
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- CN109945795B CN109945795B CN201910265043.5A CN201910265043A CN109945795B CN 109945795 B CN109945795 B CN 109945795B CN 201910265043 A CN201910265043 A CN 201910265043A CN 109945795 B CN109945795 B CN 109945795B
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Abstract
The invention discloses a device and a method for testing the performance of a measuring robot, belonging to the technical field of engineering safety monitoring. The method aims to solve the technical problem that in the prior art, the measurement accuracy and stability index of the measurement robot are difficult to accurately evaluate due to the influence of comprehensive factors. The device comprises a central station measurement and control system and a prism moving device; the prism moving device comprises a central processing unit and an actuating part which can drive the prism to perform three-dimensional displacement motion; the central processing unit can receive a displacement instruction sent by the central station measurement and control system and control a corresponding driving motor to work according to the displacement instruction so as to drive the prism to move to a specified position; and the central station measurement and control system extracts the prism instruction displacement as a reference value according to the displacement instruction, and tests the performance of the measuring robot by combining the prism actual measurement displacement obtained by the measuring robot.
Description
Technical Field
The invention relates to a device and a method for testing the performance of a measuring robot, belonging to the technical field of engineering safety monitoring.
Background
The external deformation is the important content of engineering safety monitoring work such as dams, slopes and the like. The measuring robot composed of a total station and data processing software is adopted to automatically monitor the deformation of the dam or the slope, and is applied to many engineering projects. However, because the measuring robot is influenced by comprehensive factors such as atmospheric temperature, outdoor environment, measuring network type and data processing software, the field performance indexes such as measuring accuracy and stability of the measuring robot often have larger deviation with theoretical values, and the method for evaluating the system performance indexes of the measuring robot by the theoretical analysis method in the prior art is difficult to be accurate and effective, thereby causing certain influence on engineering safety monitoring work such as dams and slopes, and even endangering engineering safety.
Disclosure of Invention
The present invention is directed to a device and a method for testing the performance of a measuring robot, so as to overcome one of the above-mentioned drawbacks or shortcomings in the prior art.
In order to achieve the aim, the invention provides a device for testing the performance of a measuring robot, which comprises a central station measuring and controlling system and a prism moving device, wherein the central station measuring and controlling system comprises a central station measuring and controlling system and a prism moving device; the prism moving device comprises a central processing unit and an actuating component capable of driving the prism to perform three-dimensional displacement motion; the actuating part comprises an X-axis driving component, a Y-axis driving component, a Z-axis driving component and a fixing base capable of fixing the prism, each driving component comprises a lead screw, a positioning slide block in threaded connection with the lead screw and a driving motor for driving the lead screw to rotate, the fixing base is fixedly connected with the positioning slide block of the Z-axis driving component, and the Z-axis driving component is fixedly connected with the positioning slide block of the Y-axis driving component; the Y-axis driving component is fixedly connected with the positioning slide block of the X-axis driving component; the central processing unit can receive a displacement instruction sent by the central station measurement and control system and control a corresponding driving motor to work according to the displacement instruction so as to drive the prism to move; and the central station measurement and control system extracts the prism instruction displacement as a reference value according to the displacement instruction, and tests the performance of the measuring robot by combining the prism actual measurement displacement obtained by the measuring robot.
Furthermore, the prism moving device also comprises a supporting frame, the X-axis driving assembly is fixed on the supporting frame, and the supporting frame is arranged on the measuring point pier through a forced centering base.
Further, the central processing unit is in bidirectional wireless communication connection with the central station measurement and control system through a Zigbee wireless network protocol, a 4G mobile communication standard, a 5G mobile communication standard and/or an NB-lot narrowband cellular Internet of things.
Furthermore, the prism mobile device is provided with a storage battery for supplying power to the actuating part, and the central processing unit monitors and manages the storage capacity and the working state of the storage battery through a power management circuit.
Further, the pitch range of the screw rod is [2.40, 12.00] mm, and the driving step length range of the driving motor is [0.01, 0.05] mm.
Further, the driving motor is a stepping motor with controllable forward and reverse rotation, and the central processor controls the forward and reverse rotation of the stepping motor through a stepping motor control circuit.
In order to achieve the above object, the present invention further provides a method for testing the performance of a measuring robot, the method comprising the steps of:
the prism moving device receives a displacement instruction sent by the central station measurement and control system and controls a corresponding driving motor to work according to the displacement instruction so as to drive the prism to perform displacement motion;
the measuring robot receives a measuring instruction sent by the central station measurement and control system, and synchronously measures the position change of the prism according to the measuring instruction to obtain the actually measured displacement of the prism;
the central station measurement and control system receives the prism actual measurement displacement measured and obtained by the measurement robot, and the performance of the measurement robot is checked by taking the prism instruction displacement as a reference value;
the performance includes a stability metric and an accuracy metric, the accuracy metric including a one-directional accuracy metric and a three-coordinate combination accuracy metric.
Further, the method for testing the stability metric comprises the following steps:
amplifying the deformation interval of the measuring point by 1.2 times, setting a quantile point every 1 mm from the minimum end point on the interval where the measuring point is positioned after amplification, setting the displacement annual variation amplitude A mm of the deformation body, and obtaining N ═ 1.2xA +1] quantile points in total, wherein [ · ] is rounding operation;
the prism moving device controls a corresponding driving motor to work according to a displacement instruction sent by the central station measurement and control system, and moves the prism to the position corresponding to the N quantile points in the axial direction of the corresponding screw rod;
the measuring robot synchronously measures the position of the prism according to a measuring instruction sent by a central station measuring and controlling system to obtain the actual measurement displacement of the prism of each quantile point, the prism measures once at each quantile point on a corresponding screw shaft, a measuring period is formed after all the points are measured, and the prism moves for M periods, so that (NxM) actual measurement displacements of the prism are obtained;
the central station measurement and control system receives (NxM) prism actual measurement displacement values obtained by measurement of the measurement robot, and calculates the medium error of (NxM) times of measurement of the measurement robot by taking the displacement values corresponding to the N sub-sites as reference values, and the medium error is used as the stability measurement of the measurement robot under the corresponding weather and load conditions;
the value range of M is 3 or 5.
Further, the method for testing the single direction precision measurement comprises the following steps:
amplifying the deformation interval of the measuring point by 1.2 times, setting a quantile point every 1 mm from the minimum end point on the interval where the measuring point is positioned after amplification, setting the displacement annual variation of the deformation body to be C mm, and totally obtaining K ═ 1.2 xC +1] quantile points, wherein [ · ] is rounding operation;
the prism moving device controls a corresponding driving motor to work according to a displacement instruction sent by the central station measurement and control system, the prism is moved to the position corresponding to K quantiles on the corresponding screw shaft in the axial direction, the prism moves once on the positions corresponding to all the quantiles for one period, and the prism moves for 5 periods repeatedly;
the measuring robot synchronously measures the positions of the prisms according to a measuring instruction sent by a central station measuring and controlling system, and obtains (5 multiplied by K) actual measurement displacement of the prisms once the measuring robot moves one sub-site to measure;
the central station measurement and control system receives the measured displacement y of (5 XK) prisms measured and obtained by the measuring roboti(i ═ 1,2,. 5K), by the corresponding prism command displacement Yi( i 1, 2.. 5K) is a reference value, and the maximum value of the absolute value of the difference between the two values is calculated
The measurement is taken as a measurement of the one-way precision of the robot under the corresponding meteorological and loading conditions.
Further, the method for testing the three-coordinate combination precision measurement comprises the following steps:
amplifying the deformation interval of the measuring points in each direction by 1.2 times, setting a quantile point every 1 mm from the minimum end point on the interval where the measuring points are amplified, setting the annual variation of displacement in three axial directions of a deformable body X, Y, Z as D mm, E mm and F mm, and respectively obtaining [1.2 XD +1], [1.2 XD +1] × [1.2 XC +1] quantile points, wherein [. cndot ] is rounding operation;
under the same weather and load condition, the prism moving device controls corresponding driving motors to work according to displacement instructions sent by a central station measurement and control system, the prism is respectively moved to 15 representative positions obtained by uniform sampling in three-dimensional space positions corresponding to X-axis [1.2 xD +1] quantiles, Y-axis [1.2 xE +1] quantiles and Z-axis [1.2 xF +1] quantiles, the prism moves once on the 15 representative positions for one period, and the prism repeatedly moves for 3 periods;
the measuring robot synchronously measures the positions of the prisms according to a measuring instruction sent by a central station measuring and controlling system, and obtains (3 multiplied by 15) ═ 45 prism measuring displacement quantity after the measuring robot moves once;
the central station measurement and control system receives the (3 × 15) ═ 45 prism measurement displacement measured by the measurement robot, calculates the maximum value of the absolute value of the difference between the corresponding (3 × 15) ═ 45 prism instruction displacement as the reference value
The three-coordinate combination precision measurement is used as the three-coordinate combination precision measurement of the measuring robot under the corresponding meteorological and loading conditions.
Compared with the prior art, the invention has the following beneficial effects: the method can automatically and accurately test the field performance indexes such as the measurement precision, the stability and the like of the measurement robot, determine whether the performance indexes meet the requirements of monitoring technical specifications or safety monitoring, and avoid potential safety hazards.
Drawings
Fig. 1 is a schematic diagram of a structural module of a three-coordinate remote control prism moving apparatus according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a three-coordinate remote prism moving apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a method for testing performance of a measuring robot according to an embodiment of the present invention.
In the figure: 1. a prism fixing base; 2. a Z-direction positioning slide block; 3. a Y-direction stepping motor; 4. y-direction positioning slide blocks; 5. an X-direction stepping motor; 6. an X-direction positioning slide block; 7. a Z-direction stepping motor; 8. a support frame; 9. forcibly centering the base coupling member.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-2, a device for testing performance of a measurement robot according to an embodiment of the present invention includes a central station measurement and control system and a prism moving device.
The prism mobile device is a three-coordinate remote control prism mobile device provided with a storage battery, and comprises a central processing unit, wherein the central processing unit adopts ARM 430.
The prism remote control prism moving device further comprises a forced centering base connecting part 9, the prism remote control prism moving device is installed on a forced centering base arranged on the measuring point pier through the forced centering base connecting part 9, and a prism is fixed through the prism fixing base 1.
The prism remote control prism mobile device further comprises a communication component, the communication component comprises a communication interface and a communication antenna matched with the communication interface, the central processing unit is in bidirectional wireless communication with the central station measurement and control system through the communication component, and automatically selects the most reliable mode to carry out wireless communication in a Zigbee wireless network protocol, a 4G mobile communication standard, a 5G mobile communication standard and an NB-lot narrowband cellular Internet of things according to the communication distance and the signal reliability.
The prism remote control prism moving device further comprises an actuating part which can drive the prism to carry out three-dimensional displacement motion, wherein the actuating part comprises an X-axis driving component, a Y-axis driving component, a Z-axis driving component and a fixing base 1 which can fix the prism; each driving assembly comprises a screw rod, a positioning slide block in threaded connection with the screw rod and a driving motor for driving the screw rod to rotate. The prism remote control prism moving device adopts a frame combined structure, a fixed base 1 is fixedly connected with a Z-direction positioning slide block 2 of a Z-axis driving assembly, and the Z-axis driving assembly is fixedly connected with a Y-direction positioning slide block 4 of a Y-axis driving assembly; the Y-axis driving assembly is fixedly connected with the X-direction positioning sliding block 6 of the X-axis driving assembly, and the X-axis driving assembly is fixed on the supporting frame 8, so that the prism fixing base 1 can perform three-dimensional displacement motion. The screw rod comprises an X-direction screw rod, a Y-direction screw rod and a Z-direction screw rod which correspond to each other, the screw pitch of the screw rod is 2.5 mm, namely, the driving motor drives the screw rod in the corresponding direction to rotate for a circle and drives the positioning slide block to move forwards or backwards for 2.5 mm; the positioning slide block comprises an X-direction positioning slide block 6, a Y-direction positioning slide block 4 and a Z-direction positioning slide block 2 which are in threaded connection with the corresponding screw rod. The driving motor comprises an X-direction stepping motor 5, a Y-direction stepping motor 3 and a Z-direction stepping motor 7 which drive the corresponding screw rods to rotate.
The prism moving device is characterized by further comprising a stepping motor control circuit, wherein the central processor controls the stepping motor through the stepping motor control circuit, drives a screw rod fixedly connected with a rotating shaft of the stepping motor to rotate forwards or backwards, and accordingly drives the positioning slide block to move. Each rotation of the stepping motor needs 240 pulses, namely each pulse stepping motor rotates 1.5 degrees and drives the corresponding positioning slide block to move forwards or backwards
The prism mobile device is characterized by further comprising a memory, a clock circuit and a power management circuit, wherein the central processing unit stores measurement data through the memory, marks measurement time through the clock circuit and monitors and manages the storage capacity and the working state of the storage battery through the power management circuit.
The central station measurement and control system is a mobile terminal provided with accuracy evaluation software, the accuracy evaluation software can set parameters of a prism remote control prism moving device, the parameters comprise an overall range of a driving component in the axial direction of a corresponding screw rod and each step of process, the overall range is the maximum displacement of an actuating part driving a prism fixed base 1 to move in the axial direction of the corresponding screw rod, each step of process is the minimum displacement of the actuating part driving the prism fixed base 1 to move in the axial direction of the corresponding screw rod, the value range of each step of process is [0.01, 0.05] mm, and the value range of the overall range is [2.00, 100.00] mm. And the central station measurement and control system gives instruction displacement to the prism moving device according to the parameters set by the precision evaluation software.
Fig. 3 is a schematic diagram of a method for testing performance of a measuring robot according to an embodiment of the present invention. A plurality of measuring point piers (1 #, 2# … … n #) which are poured by reinforced concrete and are embedded with forced centering devices are arranged on a deformation body measured by a measuring robot, the measuring point piers are used as forced centering bases which are beneficial to ensuring the detection precision of the measuring robot, a prism moving device is arranged on each forced centering base, and a prism used as a measuring point is fixed on each prism moving device.
The performance of the measuring robot is tested by adopting the testing equipment for testing the performance of the measuring robot, which comprises the following steps:
the prism remote control prism moving device receives a displacement instruction sent by the central station measurement and control system and controls a corresponding driving motor to work according to the displacement instruction so as to drive the prism to perform displacement motion;
the measuring robot receives a measuring instruction sent by the central station measurement and control system, and synchronously measures the position change of the prism according to the measuring instruction to obtain the actually measured displacement of the prism;
the central station measurement and control system receives the prism actual measurement displacement measured and obtained by the measurement robot, and the performance of the measurement robot is checked by taking the prism instruction displacement as a reference value;
the performance includes a stability metric and an accuracy metric, the accuracy metric including a one-directional accuracy metric and a three-coordinate combination accuracy metric.
The method for testing the stability metric of the measuring robot by adopting the performance testing equipment of the measuring robot provided by the specific embodiment of the invention comprises the following steps: amplifying a deformation interval of a measuring point by 1.2 times, arranging a branch point every 1 mm from the minimum end point on the amplified interval, and setting the annual amplitude A mm of displacement of a deformable body to obtain N ═ 1.2 xA +1]Individual quantile of formula [ ·]Is a rounding operation; the total measuring range of each driving component of the prism remote control prism moving device is set to be N millimeters on precision evaluation software, and each step is set to be the distance between adjacent quantiles. And secondly, the prism moving device receives the overall measuring range and each step of process issued by the central station measurement and control system, and controls the corresponding driving motor to work according to the overall measuring range and each step of process, so as to drive the prism to move at the position corresponding to the branch point. Measuring the position of the prism synchronously by the measuring robot according to a measuring instruction sent by the central station measurement and control system, and measuring the prism 5 times by the measuring robot when the prism moves to a branch point in the corresponding screw shaft direction to obtain the actually measured displacement of (5 multiplied by N) prisms in the corresponding screw shaft direction; or the prism moves one three-dimensional space position robot to measure 3 times on 15 three-dimensional space positions obtained by representative sampling in the corresponding three-dimensional space position, and (3 multiplied by 15) prism actual measurement displacement is obtained. The central station measurement and control system receives the prism actual measurement displacement obtained by the measurement of the measurement robot, and calculates the single-phase error delta measured by the measurement robot in the corresponding screw shaft direction (5 multiplied by N) times by taking the corresponding prism instruction displacement as a reference value1And error delta in three dimensions of (3 x 15) measurements at 15 three-dimensional spatial positions obtained by representative sampling in the corresponding three-dimensional spatial position2The calculation formula is as follows:
the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (1)
1. A method for testing performance of a measuring robot is characterized in that the testing method is realized by adopting a device for testing performance of the measuring robot, and the device for testing the performance of the measuring robot comprises a central station measurement and control system and a prism moving device;
the prism moving device comprises a central processing unit and an actuating part which can drive the prism to perform three-dimensional displacement motion;
the actuating part comprises an X-axis driving component, a Y-axis driving component, a Z-axis driving component and a fixing base (1) capable of fixing the prism, each driving component comprises a lead screw, a positioning slide block in threaded connection with the lead screw and a driving motor for driving the lead screw to rotate, the fixing base (1) is fixedly connected with the positioning slide block of the Z-axis driving component, and the Z-axis driving component is fixedly connected with the positioning slide block of the Y-axis driving component; the Y-axis driving component is fixedly connected with the positioning slide block of the X-axis driving component;
the central processing unit can receive a displacement instruction sent by the central station measurement and control system and control a corresponding driving motor to work according to the displacement instruction so as to drive the prism to move to a specified position;
the central station measurement and control system extracts the prism instruction displacement as a reference value according to the displacement instruction, and tests the performance of the measuring robot by combining the prism actual measurement displacement obtained by the measuring robot; the prism moving device also comprises a supporting frame, the X-axis driving assembly is fixed on the supporting frame, and the supporting frame is arranged on the measuring point pier through a forced centering base;
the inspection method comprises the following steps:
the prism moving device receives a displacement instruction sent by the central station measurement and control system and controls a corresponding driving motor to work according to the displacement instruction so as to drive the prism to perform corresponding displacement motion;
the measuring robot receives a measuring instruction sent by the central station measurement and control system, and synchronously measures the position change of the prism according to the measuring instruction to obtain the actually measured displacement of the prism;
the central station measurement and control system receives the prism actual measurement displacement measured and obtained by the measurement robot, and the performance of the measurement robot is checked by taking the prism instruction displacement as a reference value;
the performance comprises stability measurement and precision measurement, and the precision measurement comprises unidirectional precision measurement and three-coordinate combination precision measurement;
the method for testing the stability metric comprises the following steps:
amplifying the deformation interval of the measuring point by 1.2 times, setting a quantile point every 1 mm from the minimum end point on the interval where the measuring point is positioned after amplification, setting the displacement annual variation amplitude A mm of the deformation body, and obtaining N ═ 1.2xA +1] quantile points in total, wherein [ · ] is rounding operation;
the prism moving device controls a corresponding driving motor to work according to a displacement instruction sent by the central station measurement and control system, and moves the prism to the position corresponding to the N quantile points in the axial direction of the corresponding screw rod;
the measuring robot synchronously measures the position of the prism according to a measuring instruction sent by a central station measuring and controlling system to obtain the actual measurement displacement of the prism of each branch point, the prism is measured by the measuring robot once at each branch point on a corresponding screw shaft, a measuring period is formed after all the points are measured, and the prism moves for M periods, so that (NxM) actual measurement displacements of the prism are obtained;
the central station measurement and control system receives (N multiplied by M) prism actual measurement displacement values obtained by measurement of the measurement robot, and calculates the medium error of the (N multiplied by M) times of measurement of the measurement robot as the stability measurement of the measurement robot under the corresponding weather and load conditions by taking the instruction displacement values corresponding to the N sub-sites as reference values;
the value range of M is 3 or 5;
the method for testing the single direction precision measurement comprises the following steps:
amplifying the deformation interval of the measuring point by 1.2 times, setting a quantile point every 1 mm from the minimum end point on the interval where the measuring point is positioned after amplification, setting the displacement annual variation of the deformation body to be C mm, and totally obtaining K ═ 1.2 xC +1] quantile points, wherein [ · ] is rounding operation;
the prism moving device controls a corresponding driving motor to work according to a displacement instruction sent by the central station measurement and control system, the prism is moved to the position corresponding to K quantiles on the corresponding screw shaft in the axial direction, the prism moves once on the positions corresponding to all the quantiles for one period, and the prism moves for 5 periods repeatedly;
the measuring robot synchronously measures the positions of the prisms according to a measuring instruction sent by a central station measuring and controlling system, and obtains (5 multiplied by K) actual measurement displacement of the prisms once the measuring robot moves one sub-site to measure;
the central station measurement and control system receives the measured displacement y of (5 XK) prisms measured and obtained by the measuring roboti(i ═ 1,2,. 5K), by the corresponding prism command displacement Yi(i 1, 2.. 5K) is a reference value, and the maximum value of the absolute value of the difference between the two values is calculated
The measurement is taken as the one-way precision measurement of the measuring robot under the corresponding meteorological and loading conditions;
the method for testing the three-coordinate combination precision measurement comprises the following steps:
amplifying the deformation interval of the measuring points in each direction by 1.2 times, setting a quantile point every 1 mm from the minimum end point on the interval where the measuring points are amplified, setting the annual variation of displacement in three axial directions of a deformable body X, Y, Z as D mm, E mm and F mm, and respectively obtaining [1.2 xD +1], [1.2 xE +1] × [1.2 xF +1] quantile points in each axial direction, wherein [ · ] is rounding operation;
under the same weather and load condition, the prism moving device controls corresponding driving motors to work according to displacement instructions sent by a central station measurement and control system, the prism is respectively moved to 15 representative positions obtained by uniform sampling in three-dimensional space positions corresponding to X-axis [1.2 xD +1] quantiles, Y-axis [1.2 xE +1] quantiles and Z-axis [1.2 xF +1] quantiles, the prism moves once on the 15 representative positions for one period, and the prism repeatedly moves for 3 periods;
the measuring robot synchronously measures the positions of the prisms according to a measuring instruction sent by a central station measuring and controlling system, and obtains (3 multiplied by 15) ═ 45 prism measuring displacement quantity after the measuring robot moves once;
the central station measurement and control system receives the (3 × 15) ═ 45 prism measurement displacement measured by the measurement robot, calculates the maximum value of the absolute value of the difference between the corresponding (3 × 15) ═ 45 prism instruction displacement as the reference value
The three-coordinate combination precision measurement is used as the three-coordinate combination precision measurement of the measuring robot under the corresponding meteorological and loading conditions.
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