CN110470223A - A kind of three dimensional space coordinate measurement method based on 1D displacement sensor - Google Patents
A kind of three dimensional space coordinate measurement method based on 1D displacement sensor Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention belongs to space measurement technical fields, provide a kind of three dimensional space coordinate measurement method based on 1D displacement sensor.The spatial coordinate measuring system based on 1D displacement sensor is built first；Then 1D displacement sensor space measurement black-box model is established；The grey-box model for being established space measurement based on black-box model and model parameter again, is established the constraint relationship and is calculated using optimization algorithm and meet required precision model parameter, the final foundation for realizing the high-precision measurement model of space coordinate.This method process is simple, easy to operate, is suitable for a variety of displacement sensors, is a kind of high-precision measurement model method for building up of the 3D with wide application prospect.
Description
Technical field
The invention belongs to space measurement technical fields, are related to a kind of three dimensional space coordinate measurement based on 1D displacement sensor
Method.
Background technique
With the high speed development of aircraft industry, the intelligence of aircraft assembling process has been inexorable trend, is assembled to aircraft
The measurement accuracy of the status datas such as point information requires also higher and higher with actual effect in the process.The essence that tooling is assembled as aircraft
Benchmark is spent, the online high-precision high-efficiency acquisition of key point spatial coordinated information is most important, directly affects the assembly essence of aircraft
Degree and assembling quality.Due to the measurement environment of the harshness such as Aircraft Tools design of part multiplicity, assembling process operating condition complexity, cause to survey
Quantity space and measurement means critical constraints, so that precision and the measurement difficulty of effective dual high request are multiplied.1D displacement
Sensor is widely used in 3 d space coordinate measurement and monitored due to the measurement characteristic such as its is small in size, precision is high, response is fast
Journey, tooling key point information during high-precision acquisition aircraft Intelligent assembly, the promotion to aircraft assembly precision and assembling quality
Meaning of crucial importance is taken.
Bi Chao of Beijing Aviation precision machinery research institute et al. delivered text in " optical precision engineering " the 3rd phase in 2015
Chapter " the laser displacement sensor beam direction calibration based on spherical object ", establishes a kind of based on laser displacement sensor and survey
The three-dimensional measurement model of amount machine, driving measuring machine make sensor do equidistant stepping along X, Y of measuring machine and Z axis respectively, according to
Equation group is established in the variation of step-length and laser beam length, using tested spherical surface constraint solving measurement model parameter, but this method meter
Calculation process is complicated, and will introduce biggish machine error using stepper motor as driving.
Yuan Peijiang of BJ University of Aeronautics & Astronautics et al. is in 2017 in the Patent No. CN201710941734.3 delivered
A kind of space based on laser displacement sensor is proposed in patent " a kind of laser displacement sensor location error scaling method "
Measurement method is acquired by the data of laser tracker and sensor, using least square method to the peace of laser displacement sensor
Holding position is demarcated, accuracy decline caused by eliminating because of error in mounting position, but the laser tracker applied in this method
Cost is too high, so that this method does not have general applicability.
Wang Zhong of University Of Tianjin et al. delivered article " based on monocular in " measurement science and instrument " the 4th phase in 2017
Research is demarcated in the laser beam direction of vision ", a kind of measuring system based on laser displacement sensor is built, and propose one kind
Laser beam direction measurement method based on monocular vision acquires the representation of laser facula on measurement target block using CCD camera, leads to
The space line that traverse measurement target block fits characterization laser beam is crossed, measuring system parameter is finally calculated, completes measurement mould
Type is established.But this method calculation procedure is complex, and the modeling time is longer.
Summary of the invention
The invention solves technical problem be based on 1D displacement sensor three dimensional space coordinate measurement, it is existing to overcome
The defect of technology has invented a kind of three dimensional space coordinate measurement method based on 1D displacement sensor.This method includes four steps
It is rapid: to build the spatial measurement system based on 1D displacement sensor, establish 1D displacement sensor space measurement black-box model, establish base
In black-box model and the cinder box measurement model of model parameter, establishes the constraint relationship and calculated using optimization algorithm and meet precision and want
Modulus shape parameter, the final foundation for realizing the high-precision measurement model of space coordinate.This method process is simple, easy to operate, is suitable for more
Kind displacement sensor, is a kind of high-precision measurement model method for building up of the 3D with wide application prospect.
Technical solution of the present invention:
A kind of three dimensional space coordinate measurement method based on 1D displacement sensor, builds first based on 1D displacement sensor
Spatial coordinate measuring system；Then 1D displacement sensor space measurement black-box model is established；Joined again based on black-box model and model
Number establishes the grey-box models of space measurement, establishes the constraint relationship and is calculated using optimization algorithm and meets required precision model ginseng
Number, the final foundation for realizing the high-precision measurement model of space coordinate；
Specific step is as follows:
The first step builds the spatial coordinate measuring system based on 1D displacement sensor
1D displacement sensor is fixed on measurement bay first, is measured for spatial coordinated information, when measuring piece is in space
When middle mobile, 1D displacement sensor exports distance measure δ；Then at least three reference point is placed on measurement bay
(Reference Point, RP), and 1D displacement sensor apart from while, using reference measurement equipment obtain its sky
Between coordinate, the foundation for space measurement model；
Second step establishes 1D displacement sensor space measurement black-box model
Under world coordinate system, if 1D displacement sensor i-th measurement point is Pi G, then have
Wherein,For j-th of reference point coordinate, δ in i-th measurement process under world coordinate systemiIt was measured for i-th
P is measured in journeyi GWhen acquired distance value, f represent byAnd δiTo Pi GMapping relations, by reference pointWith 1D
Positional relationship between displacement sensor is determining, reference pointAfter placement, positional relationship is fixed not between 1D displacement sensor
Become, then mapping relationship f uniquely determines.Therefore, it after mapping relationship f determination, can incite somebody to actionAnd δiMeasured value substitute into formula
(1), measurement point space coordinate is obtained.
Third step, the grey-box model that space measurement is established based on black-box model and model parameter
Implication relation in mapping relationship f is further parsed, grey-box model is established, to establish final space measurement mould
Type.
First with reference pointEstablish local coordinate system, RP1 GFor coordinate origin, enable in local coordinate system direction to
Amount are as follows:
Secondly, introducing parameter outside 1D displacement sensor under local coordinate system, that is, measure originAnd measurement vector Pt L,
The then measurement point P under local coordinate systemi LIt may be expressed as:
With direction vector in local coordinate systemThere is following relationship:
Pt LIt can be expressed as vector form:
Pt L=(λ4,λ5,1)/|λ4,λ5,1| (7)
Wherein, λ1, λ2, λ3, λ4, λ5For space measurement grey-box model parameter.By formula (6), formula (7) substitutes into formula (5),
It can obtain:
Finally, by measurement point P under local coordinate systemi LIt converts to measurement point P under world coordinate systemi G, according to formula (2)-public affairs
Formula (4) it is found that local coordinate system by world coordinate system translation from, and withFor coordinate origin, then:
Then final space measurement grey-box model may be expressed as:
It therefore, need to be to space measurement grey-box model parameter lambda1, λ2, λ3, λ4, λ5It is demarcated.
4th step is established the constraint relationship and is calculated using optimization algorithm and meets required precision model parameter
Measurement point Pi GIn tested surfaceOn, pass through acquisitionPlane equation has following relationship:
Repeatedly measurement obtains measurement point Pi G(i=1,2 ..., M), M are pendulous frequency, measurement point Pi GIt is all satisfied formula
(11) constraint condition, therefore model parameter λ can be obtained by common optimization method1, λ2, λ3, λ4, λ5Optimal solutionThe space coordinate measurement model then acquired may be expressed as:
By above step, the three dimensional space coordinate measurement model based on 1D displacement sensor can be obtained.
The beneficial effects of the invention are as follows this method to devise a kind of three dimensional space coordinate measurement based on 1D displacement sensor
Method builds the spatial coordinate measuring system based on 1D displacement sensor first；Then 1D displacement sensor space measurement is established
Black-box model；The grey-box model for being established space measurement based on black-box model and model parameter again is established the constraint relationship and utilized excellent
Change algorithm, which calculates, meets required precision model parameter, the final foundation for realizing the high-precision measurement model of space coordinate.This method is built
The three dimensional space coordinate measurement model based on 1D displacement sensor has been found, and has proposed model parameter scaling method, has realized sky
Between coordinate high-acruracy survey.Method process is simple, easy to operate, has general applicability.
Detailed description of the invention
Fig. 1 is the spatial coordinate measuring system structural schematic diagram based on 1D displacement sensor.
Fig. 2 is the three dimensional space coordinate measuring principle schematic diagram based on 1D displacement sensor.
In figure: 1 measurement bay；2 reference points；3 be 1D displacement sensor；4 measurement planes；5 world coordinate systems；6 local coordinates
System；O world coordinate system origin；X, Y, Z world coordinate system reference axis；RP1 G、RP2 G、RP3 GReference point coordinate under world coordinate system；Direction vector under local coordinate system；1D displacement sensor origin under local coordinate system；Pt LPart is sat
Mark is lower 1D displacement sensor vector；PLMeasurement point under local coordinate system；δ is the distance value of 1D displacement sensor；SG
The plane equation of plane is measured under world coordinate system.
Specific embodiment
A specific embodiment of the invention is described in detail below in conjunction with technical solution and attached drawing.
Fig. 1 is the spatial coordinate measuring system structural schematic diagram based on 1D displacement sensor.By measurement bay 1,2 and of reference point
1D displacement sensor 3 forms；3 reference points 2 are included at least in measuring system, are arranged on rigid measurement bay 1, and position can be with
Meaning selection；It is determining with the positional relationship of 1D displacement sensor 3 and no longer change after reference point 2 is placed.
Three dimensional space coordinate measuring principle schematic diagram of the Fig. 2 based on 1D displacement sensor.O-XYZ is world coordinate system 5, by
Reference measurement equipment is established, RP1 G、RP2 G、RP3 GIt is the reference point coordinate that reference measurement equipment obtains under world coordinate system 5, leads to
The positional relationship between reference point 2 is crossed, the direction vector of local coordinate system 6 is calculatedIn local coordinate system 6
Lower introducing model parameter, to obtain 1D displacement sensor originAnd measurement vector PLExpression formula, in conjunction with 1D sensor
The distance value δ that displacement sensor 3 measures, can calculate measuring point coordinate P under local coordinate system 6L, conversion to world coordinate system
5 lower measuring point coordinate PG, and with the plane equation S of the lower measurement plane of world coordinate system 5GAs constraint, Optimization Solution three-dimensional space is sat
Measurement model is marked, realizes the measurement of coordinate in space.
Specific step is as follows for method:
The first step builds the spatial coordinate measuring system based on 1D displacement sensor
1D displacement sensor 3 is fixed on measurement bay first, is measured for spatial coordinated information, when measurement plane is in sky
Between it is middle mobile when, 1D displacement sensor export distance measure δ；Then 3 visual coding points are placed on measurement bay as ginseng
Examination point (Reference Point, RP), and 1D displacement sensor apart from while, using Binocular vision photogrammetry, it is empty
Between coordinate, the foundation for space measurement model；
Second step establishes 1D displacement sensor space measurement black-box model
Under world coordinate system, if 1D displacement sensor i-th measurement point is Pi G, then have
Wherein,For j-th of reference point coordinate, δ in i-th measurement process under world coordinate systemiIt was measured for i-th
P is measured in journeyi GWhen acquired distance value, f represent byAnd δiTo Pi GMapping relations, by reference pointWith 1D
Positional relationship between displacement sensor is determining, reference pointAfter placement, positional relationship is fixed not between 1D displacement sensor
Become, then mapping relationship f uniquely determines.Therefore, it after mapping relationship f determination, can incite somebody to actionAnd δiMeasured value substitute into formula
(13), measurement point space coordinate is obtained.5 measurement process data in many experiments are chosen, as shown in table 1:
Reference point coordinate and sensor export distance value in 15 measurement process of table
Third step, the grey-box model that space measurement is established based on black-box model and model parameter
Implication relation in mapping relationship f is further parsed, grey-box model is established, to establish final space measurement mould
Type.
First with reference pointLocal coordinate system is established,For coordinate origin, enable in local coordinate system direction to
Amount are as follows:
Local coordinate direction vector is as shown in table 2 in 5 measurement process:
Local coordinate direction vector in 25 measurement process of table
Secondly, introducing parameter outside 1D displacement sensor under local coordinate system, that is, measure originAnd measurement vector Pt L,
The then measurement point P under local coordinate systemi LIt may be expressed as:
With direction vector in local coordinate systemThere is following relationship:
Pt LIt can be expressed as vector form:
Pt L=(λ4,λ5,1)/|λ4,λ5,1| (19)
Wherein, λ1, λ2, λ3, λ4, λ5For space measurement grey-box model parameter.By formula (18), formula (19) substitutes into formula
(17), it can obtain:
Finally, by measurement point P under local coordinate systemi LIt converts to measurement point P under world coordinate systemi G, according to formula (14)-
Formula (16) it is found that local coordinate system by world coordinate system translation from, and withFor coordinate origin, then:
Then final space measurement grey-box model may be expressed as:
It therefore, need to be to space measurement grey-box model parameter lambda1, λ2, λ3, λ4, λ5It is demarcated.
4th step is established the constraint relationship and is calculated using optimization algorithm and meets required precision model parameter
Measurement point Pi GIn tested surfaceOn, in 5 experimentationsIt is as shown in table 3:
Plane plane equation is tested in 35 measurement process of table
Pass through acquisitionPlane equation has following relationship:
Repeatedly measurement obtains measurement point Pi G(i=1,2 ..., M), M are pendulous frequency, measurement point Pi GIt is all satisfied formula
(11) constraint condition, therefore model parameter λ can be obtained by common optimization method1, λ2, λ3, λ4, λ5Optimal solution:
The space coordinate measurement model then acquired may be expressed as:
By above step, the three dimensional space coordinate measurement model based on 1D displacement sensor can be obtained.It measured for 5 times
Cheng Zhong, measurement result are as shown in table 4:
Claims (1)
1. a kind of three dimensional space coordinate measurement method based on 1D displacement sensor, which is characterized in that built first based on 1D
The spatial coordinate measuring system of displacement sensor；Then 1D displacement sensor space measurement black-box model is established；It is based on black box mould again
Type and model parameter establish the grey-box model of space measurement, establish the constraint relationship and are calculated using optimization algorithm and meet precision and want
Modulus shape parameter, the final foundation for realizing the high-precision measurement model of space coordinate, steps are as follows:
The first step builds the spatial coordinate measuring system based on 1D displacement sensor
1D displacement sensor is fixed on measurement bay first, is measured for spatial coordinated information, when measuring piece moves in space
When dynamic, 1D displacement sensor exports distance measure δ；Then at least three reference point is placed on measurement bay, and is displaced and is passed in 1D
Sensor measurement apart from while, its space coordinate is obtained using reference measurement equipment, the foundation for space measurement model；
Second step establishes 1D displacement sensor space measurement black-box model
Under world coordinate system, if 1D displacement sensor i-th measurement point is Pi G, then have
Wherein,For j-th of reference point coordinate, δ in i-th measurement process under world coordinate systemiFor in i-th measurement process
Measure Pi GWhen acquired distance measure, f represent byAnd δiTo Pi GMapping relations, by reference pointWith 1D
Positional relationship between displacement sensor is determining, reference pointAfter placement, positional relationship is fixed not between 1D displacement sensor
Become, then mapping relationship f uniquely determines；Therefore, after mapping relationship f determines, i.e., willAnd δiMeasured value substitute into formula
(1), measurement point space coordinate is obtained；
Third step, the grey-box model that space measurement is established based on black-box model and model parameter
Implication relation in mapping relationship f is further parsed, grey-box model is established, to establish final space measurement model；
First with reference pointEstablish local coordinate system, RP1 GFor coordinate origin, direction vector in local coordinate system is enabled are as follows:
Secondly, introducing parameter outside 1D displacement sensor under local coordinate system, that is, measure originAnd measurement vector Pt L, then exist
Measurement point P under local coordinate systemi LIt indicates are as follows:
With direction vector in local coordinate systemThere is following relationship:
Pt LIt is expressed as vector form:
Pt L=(λ4,λ5,1)/|λ4,λ5,1| (7)
Wherein, λ1, λ2, λ3, λ4, λ5For space measurement grey-box model parameter；Formula (6) and formula (7) are substituted into formula (5), obtained:
Finally, by measurement point P under local coordinate systemi LIt converts to measurement point P under world coordinate systemi G, according to formula (2)-formula (4)
Know, local coordinate system by world coordinate system translation from, and withFor coordinate origin, then:
Then final space measurement grey-box model indicates are as follows:
It therefore, need to be to space measurement grey-box model parameter lambda1, λ2, λ3, λ4, λ5It is demarcated；
4th step is established the constraint relationship and is calculated using optimization algorithm and meets required precision model parameter
Measurement point Pi GIn tested surfaceOn, pass through acquisitionPlane equation has following relationship:
Repeatedly measurement obtains measurement point Pi G(i=1,2 ..., M), M are pendulous frequency, measurement point Pi GIt is all satisfied the pact of formula (11)
Beam condition, therefore model parameter λ is obtained by optimization method1, λ2, λ3, λ4, λ5Optimal solutionThe space coordinate measurement model then acquired indicates are as follows:
Pass through above step, i.e. three dimensional space coordinate measurement model of the acquisition based on 1D displacement sensor.
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| CN114353693A (en) * | 2021-12-28 | 2022-04-15 | 中国航空工业集团公司北京长城航空测控技术研究所 | Handheld vector rod special for large-scale three-dimensional space overall measurement positioning instrument |
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