CN111399029B - Continuous calibration method for curve motion - Google Patents
Continuous calibration method for curve motion Download PDFInfo
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- CN111399029B CN111399029B CN202010239461.XA CN202010239461A CN111399029B CN 111399029 B CN111399029 B CN 111399029B CN 202010239461 A CN202010239461 A CN 202010239461A CN 111399029 B CN111399029 B CN 111399029B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/29—Measurement performed on radiation beams, e.g. position or section of the beam; Measurement of spatial distribution of radiation
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05H—PLASMA TECHNIQUE; PRODUCTION OF ACCELERATED ELECTRICALLY-CHARGED PARTICLES OR OF NEUTRONS; PRODUCTION OR ACCELERATION OF NEUTRAL MOLECULAR OR ATOMIC BEAMS
- H05H13/00—Magnetic resonance accelerators; Cyclotrons
- H05H13/005—Cyclotrons
Abstract
The invention discloses a continuous calibration method of curve motion, in particular to a continuous calibration method of a curve motion device, which comprises the following specific steps: step one, establishing a coordinate system according to a calibrated actual condition; step two, segmenting the calibration interval according to the measurement range of the calibration equipment; setting time synchronization of a driving device and calibration equipment; step four, starting the calibration equipment and the driving device, and determining a calibration relation table of each subsection interval; and fifthly, selecting a verification position for retesting, and verifying the calibration relation table. By the continuous calibration method of the curvilinear motion device, the relationship between the position (three-dimensional coordinate) of the motion end at any target position and the position (motion distance) of the driving device can be obtained. Meanwhile, the relationship between the radius values from the center and the positions (movement distances) of the driving device at different positions can be easily obtained through the invention; the invention is simple, efficient, and easy to use.
Description
Technical Field
The invention relates to a calibration method, in particular to a continuous calibration method for curvilinear motion, and belongs to the field of engineering measurement calibration.
Background
The cyclotron realizes beam measurement at different positions through a beam probe in the debugging and maintenance stages. Due to the structural complexity and space limitation of the cyclotron, the beam probe can reciprocate along a curve track, and the position corresponding relation between the moving end (target head) and the driving device needs to be obtained through calibration. The invention can provide a convenient, effective and feasible method for the calibration process of the probe or similar engineering measurement.
Disclosure of Invention
The invention aims to provide a continuous calibration method for curve motion, which is simple to operate, has accurate calibration result and can be conveniently applied to similar actual engineering measurement.
The purpose of the invention can be realized by the following technical scheme:
a continuous calibration method of a curve motion device comprises the following specific steps:
step one, establishing a coordinate system according to a calibrated actual condition;
step two, segmenting the calibration interval according to the measurement range of the calibration equipment;
setting time synchronization of a driving device and calibration equipment;
step four, starting the calibration equipment and the driving device, and determining a calibration relation table of each subsection interval;
and fifthly, selecting a verification position for retesting, and verifying the calibration relation table.
Furthermore, the curvilinear motion device comprises a fixed support, a driving device and a curvilinear guide mechanism are arranged on the fixed support, the driving device is connected with the motion end heads to realize curvilinear motion along the curvilinear guide mechanism, and the motion end heads are in one-to-one correspondence with the driving device.
Furthermore, the calibration interval is segmented in the second step, and it should be ensured that the calibration equipment can continuously obtain the coordinate position of the moving end in each segmented interval, and the precision of the coordinate position can meet the measurement requirement.
Furthermore, in the third step, the time synchronization between the driving device and the calibration device can be realized by adopting a synchronous triggering mode, or the motion record of the driving device and the measurement record of the calibration device contain synchronous time stamps.
Further, the calibration measurement in the fourth step includes the following specific steps:
s1: selecting any one subsection interval, and setting a motion scheme of the driving device under a continuous motion mode, wherein the motion scheme comprises a starting point, a terminal point, a pause point, a motion speed, a motion acceleration and the like;
s2: positioning a calibration device to a motion end and setting the calibration device to be in a continuous sampling mode;
s3: starting the calibration equipment and the driving device to obtain the motion record of the driving device and the measurement record of the calibration equipment in the subsection interval;
s4: obtaining a calibration relation table, namely a position mapping relation table of the moving end and the driving device according to the synchronous relation;
s5: and selecting a new subsection interval, and repeating the processes from S1 to S4 until the calibration measurement of the whole calibration interval is completed.
Further, the step five of verifying the calibration relation table includes the following specific steps:
SS 1: uniformly selecting a plurality of verification point positions in the whole calibration interval, and measuring to obtain the retest position of the moving end corresponding to the position of each driving device;
SS 2: obtaining the calibration position of the motion end corresponding to the position of each verification point driving device according to the calibration relation table;
SS 3: comparing the deviation between the retest position and the calibration position, and if the deviation meets the precision requirement, indicating that the calibration is qualified; if the accuracy requirement is not met, the retest process needs to be verified, and if the retest process is verified to be correct, the parameters of the calibration equipment and the motion device need to be adjusted and then calibrated again aiming at the corresponding subsection interval.
Further, the calibration equipment is a laser tracker.
Further, the driving device is an electric cylinder or a driving motor.
Further, obtaining a calibration relation table according to the synchronous relation, and if a synchronous triggering mode is adopted, carrying out calibration relation correspondence according to a triggering sequence; and if a synchronous timestamp mode is adopted, carrying out calibration relation correspondence according to the time tags.
Furthermore, a plurality of pause points are arranged in the motion scheme subsection interval to assist in determining the synchronous relation of the driving device and the calibration equipment.
The invention has the beneficial effects that:
1. by the continuous calibration method of the curvilinear motion device, the relationship between the position (three-dimensional coordinate) of the motion end at any target position and the position (motion distance) of the driving device can be obtained.
2. Meanwhile, the relationship between the radius values from the center and the positions (movement distances) of the driving device at different positions can be easily obtained through the invention; the invention is simple, efficient, and easy to use.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic view of the overall structure of the present invention.
In the figure: 1. a moving end; 2. a guide mechanism; 3. a drive device; 4. fixing and supporting; 5. and calibrating the equipment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method for continuously calibrating a curved motion device includes a curved motion probe and a calibration device 5, where the curved motion probe includes a fixed support 4, a driving device 3 and a curved guide mechanism 2 are installed on the fixed support 4, and the driving device 3 is connected to a motion end 1 to implement curved motion along the curved guide mechanism 2. The motion end head 1 and the curve guide mechanism 2 are positioned inside a cavity of the cyclotron, and the driving device 3 and the fixed support 4 are positioned outside the cavity of the cyclotron. The calibration device 5 is a laser tracker, and the driving device 3 is an electric cylinder.
Along with the back-and-forth movement of the driving device 3, the moving end 1 reciprocates along the curve guiding mechanism 2, and the positions of the moving end 1 and the driving device 3 are in one-to-one correspondence. The position correspondence of the moving head 1 and the driving device 3 needs to be obtained through calibration. Establishing a Cartesian space coordinate system by taking the circle center of the cyclotron as an origin and the z axis parallel to the axis direction of the cyclotron; the x direction and the y direction are determined according to the actual engineering requirements or the production marking convenience. The whole calibration process is divided into four steps to be carried out in sequence:
the method comprises the following specific steps:
step one, segmenting a calibration interval according to the measurement range of the calibration device 5;
setting time synchronization of the driving device 3 and the calibration equipment 5;
step three, starting the calibration equipment 5 and the driving device 3, and determining a calibration relation table of each section interval;
and step four, selecting a verification position for retesting, and verifying the calibration relation table.
In the first step, the calibration interval is segmented, and it should be ensured that the calibration device 5 can continuously obtain the coordinate position of the moving end 1 in each segmented interval, and the precision of the coordinate position can meet the measurement requirement.
In the second step, the driving device 3 and the calibration device 5 are time-synchronized, and a synchronous triggering mode can be adopted, so that the motion record of the driving device 3 and the measurement record of the calibration device 5 contain synchronous time stamps.
The third calibration measurement step comprises the following specific steps:
s1: selecting any one of the segment intervals, and setting a motion scheme of the driving device 3 in a continuous motion mode, wherein the motion scheme comprises a starting point, an end point, a pause point, a motion speed, a motion acceleration and the like;
s2: positioning a calibration device 5 to a moving end 1 and setting a continuous sampling mode;
s3: starting the calibration device 5 and the driving device 3 to obtain the motion record of the driving device 3 and the measurement record of the calibration device 5 in the subsection interval;
s4: obtaining a calibration relation table, namely a position mapping relation table of the motion end 1 and the driving device 3 according to the synchronous relation;
s5: and selecting a new subsection interval, and repeating the processes from S1 to S4 until the calibration measurement of the whole calibration interval is completed.
The verification of the calibration relation table in the fourth step comprises the following specific steps:
SS 1: uniformly selecting a plurality of verification point positions in the whole calibration interval, and measuring to obtain the retest position of the moving end 1 corresponding to the position of each driving device 3;
SS 2: obtaining the calibration position of the motion end 1 corresponding to the position of each verification point driving device 3 according to the calibration relation table;
SS 3: comparing the deviation between the retest position and the calibration position, and if the deviation meets the precision requirement, indicating that the calibration is qualified; if the accuracy requirement is not met, the retest process needs to be verified, and if the retest process is verified to be correct, the parameters of the calibration equipment 5 and the motion device 3 need to be adjusted and then calibrated again aiming at the corresponding subsection interval.
Obtaining a calibration relation table according to the synchronous relation, and if a synchronous triggering mode is adopted, carrying out calibration relation correspondence according to a triggering sequence; and if a synchronous timestamp mode is adopted, carrying out calibration relation correspondence according to the time tags.
Wherein, the motion scheme is provided with a plurality of pause points in a subsection interval to assist in determining the synchronous relationship of the driving device 3 and the calibration equipment 5.
And obtaining the calibration position at the verification position, and directly looking up a table according to a calibration relation table or performing interpolation/fitting through adjacent data.
The continuous calibration method of the curvilinear motion device can obtain the relation between the position (three-dimensional coordinate) of the motion end head at any target position and the position (motion distance) of the driving device; meanwhile, the invention can obtain the relation between the radius value from the center and the position (movement distance) of the driving device at different positions.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. A continuous calibration method for curve motion is characterized by comprising the following specific steps:
establishing a calibration coordinate system;
step two, segmenting the calibration interval;
setting time synchronization of a driving device and calibration equipment;
step four, starting the calibration equipment (5) and the driving device (3) and determining a calibration relation table of each subsection interval;
step five, selecting a verification position for retesting, and verifying a calibration relation table;
the curve motion device comprises a motion end head (1), a curve guide mechanism (2), a driving device (3) and a supporting structure (4), wherein the motion end head (1) is constrained by the curve guide mechanism (2) to do curve motion, and the motion end head (1) corresponds to the driving device (3) in position one to one;
in the second step, the calibration intervals are segmented, and it is ensured that in each segmentation interval, the calibration equipment can continuously obtain the coordinate position of the moving end (1), and the precision of the coordinate position can meet the measurement requirement;
in the third step, the time of the driving device and the time of the calibration equipment are synchronized, a synchronous triggering mode is adopted, or the motion record of the driving device and the measurement record of the calibration equipment contain synchronous time stamps;
the calibration measurement comprises the following specific steps:
s1: selecting any one of the segment intervals, and setting a motion scheme of the driving device (3) in a continuous motion mode, wherein the motion scheme comprises a starting point, an end point, a pause point, a motion speed and a motion acceleration;
s2: positioning the calibration equipment (5) to the moving end (1) and setting the calibration equipment to be in a continuous sampling mode;
s3: starting the calibration equipment and the driving device (3) to obtain the motion record of the driving device (3) and the measurement record of the calibration equipment (5) in the subsection interval;
s4: obtaining a calibration relation table, namely a position mapping relation table of the moving end head (1) and the driving device (3), according to the synchronous relation;
s5: selecting a new subsection interval, and repeating the processes from S1 to S4 until the calibration measurement of the whole calibration interval is completed;
the fifth step of verifying the calibration relation table comprises the following specific steps:
SS 1: uniformly selecting a plurality of verification point positions in the whole calibration interval, and measuring to obtain the retest position of the moving end (1) corresponding to the position of each driving device (3);
SS 2: obtaining the calibration position of the moving end (1) corresponding to the position of each verification point driving device (3) according to the calibration relation table;
SS 3: comparing the deviation between the retest position and the calibration position, and if the deviation meets the precision requirement, indicating that the calibration is qualified; if the accuracy requirement is not met, the retest process needs to be verified, and if the retest process is verified to be correct, the parameters of the calibration equipment (5) and the driving device (3) need to be adjusted and then calibrated again aiming at the corresponding subsection interval.
2. A method for the continuous calibration of curvilinear movements according to claim 1, characterized in that said calibration device (5) is a laser tracker.
3. A method for the continuous calibration of a curvilinear motion according to claim 1, characterized in that the driving means (3) is an electric cylinder or a driving motor.
4. The continuous calibration method of the curve motion according to claim 1, wherein a calibration relation table is obtained according to the synchronous relation, and if a synchronous triggering mode is adopted, calibration relation correspondence is performed according to a triggering sequence; and if a synchronous timestamp mode is adopted, carrying out calibration relation correspondence according to the time tags.
5. A method for the continuous calibration of a curvilinear motion according to claim 1, characterized in that several pause points are provided within the segment interval of the motion scheme, assisting in the determination of the synchronization relationship of the drive means (3) and the calibration device (5).
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