CN113566703A - System for measuring actual position on square platform and position calculation method - Google Patents
System for measuring actual position on square platform and position calculation method Download PDFInfo
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- CN113566703A CN113566703A CN202110800614.8A CN202110800614A CN113566703A CN 113566703 A CN113566703 A CN 113566703A CN 202110800614 A CN202110800614 A CN 202110800614A CN 113566703 A CN113566703 A CN 113566703A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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 discloses an actual position measuring system and a position calculating method on a square platform. An object capable of reflecting light reflected by the laser sensor is arranged around the square platform. The emitted light of each laser sensor is perpendicular to the edge of the square platform mounting position. Two adjacent side edges of the square platform are vertical. Through the cooperation of the two groups of laser sensors, the precise positioning of a certain point on the square platform is realized, the manual participation is not needed in the positioning process, the measuring accuracy, the measuring precision and the measuring real-time performance are guaranteed, and the positioning efficiency and the positioning precision of the position of the certain point of the square platform in the engineering are improved.
Description
Technical Field
The invention relates to a position measuring device and a position calculating method, in particular to an actual position measuring system on a square platform and a position calculating method.
Background
When the position of a certain specific point on a square platform needs to be accurately positioned in actual engineering, the traditional operation of positioning by means of manual measurement cannot meet the requirement of high-precision operation; in order to avoid the occurrence of minute displacement and tilt error which can not be judged visually during positioning, a novel device and a method for measuring the actual position of a specific point on a square platform are provided.
Disclosure of Invention
The invention aims to provide an actual position measuring system and a position calculating method on a square platform, which are used for solving the problem that a certain point position on the square platform cannot be accurately positioned by a manual measuring method in engineering.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an actual position measurement system on square platform, measurement system includes two sets of laser sensor, two sets of laser sensor set up respectively at two adjacent side edges of square platform, every laser sensor of group includes two laser sensor, and two laser sensor interval known distances are installed at square platform with one side.
Preferably, an object capable of reflecting light reflected by the laser sensor is arranged around the square platform.
Preferably, the emitted light of each laser sensor is perpendicular to the edge of the square platform mounting position.
Preferably, two adjacent side edges of the square platform are vertical.
A method for calculating an actual position on a square platform, the method comprising the steps of:
the method comprises the following steps: when the square platform is selected to be located at an initial position, connecting lines of reflection points of each group of laser sensors on an object used for reflecting the laser sensors around the square platform form an x axis and a y axis, setting the intersection point of the x axis and the y axis as an original point O, then the position of the square platform is represented as O (x0, y0), distance values measured by the laser sensor P11 and the laser sensor P12 are both x0, and distance values measured by the laser sensor P21 and the laser sensor P22 are both y 0;
step two: when the square platform moves, the distance measured by the laser sensor P11 is x1, the distance measured by the laser sensor P12 is x2, the distance measured by the laser sensor P21 is y1, the distance measured by the laser sensor P22 is y2, meanwhile, the installation distance between the laser sensor P11 and the laser sensor P12 is kx, the installation distance between the laser sensor P21 and the laser sensor P22 is ky, an included angle b formed by the laser sensor P11 and the laser sensor P12 side is equal to an included angle a formed by the laser sensor P21 and the laser sensor P22 side according to the geometrical relation, and then the numerical value of the included angle b can be obtained by solving an arctangent value arctan ((x1-x2)/kx), or the numerical value of the included angle a can be obtained by solving an arctan value arctan ((y1-y 2)/ky);
step three: judging whether the included angle b or the included angle a is 0, if so, only performing translational motion on the square platform, wherein x1 is x2, y1 is y2, the coordinate of the square platform is O (x, y), and x1 and y1 are directly measured by a laser sensor, namely x1 is x2, and y1 is y 2;
step four: when the included angle b or the included angle a is not 0, the x-axis offset hx of the square platform is: (x2-x1) cosb, y-axis offset hy: (y2-y1) cosa; the coordinates of the square platform are O (x, y), where x is (x0+ hx) cosb + (y + hy) sina, and y is (y0+ hy) cosa- (x + hx) sina.
Preferably, the x1 is the one with smaller measured distance value in the laser sensor P11 and the laser sensor P12, and the x2 is the one with larger measured distance value in the laser sensor P11 and the laser sensor P12; the y1 is the smaller one of the laser sensor P21 and the laser sensor P22, and the y2 is the larger one of the laser sensor P21 and the laser sensor P22.
Preferably, when the installation angle of the laser sensor and the square platform is not vertical, the actual angle after installation needs to be measured and converted into a distance value during vertical installation.
The invention has the following advantages:
after the system and the method for measuring the actual position on the square platform are adopted, the precise positioning of a certain point on the square platform is realized through the cooperation of the two groups of laser sensors, the manual participation is not needed in the positioning process, the measuring accuracy, the measuring precision and the real-time performance are guaranteed, and the positioning efficiency and the positioning precision of the position of the certain point on the square platform in the engineering are improved.
Drawings
Fig. 1 is a schematic diagram of an actual position measuring system and a position calculating method of a square platform according to the present invention when the square platform is at an initial position.
FIG. 2 is a schematic diagram of an actual position measurement system and a position calculation method of a square platform according to the present invention when the square platform moves.
In the figure: p11, a first set of first laser sensors; p12, a first set of second laser sensors; p21, second set of first laser sensors; p22, second set of second laser sensors.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial changes in the technical contents.
Example 1
The utility model provides an actual position measurement system on square platform, measurement system includes two sets of laser sensor, two sets of laser sensor set up respectively at two adjacent side edges of square platform, every laser sensor of group includes two laser sensor, and two laser sensor interval known distances are installed at square platform with one side. Assuming that the relative position of a certain point on the square platform is known, namely the distance between the point and the side edge of the square platform is known, the conversion of all known relative position points on the square platform can be realized by calculating the moving state of the square platform, so that the moving condition of the square platform only needs to be calculated.
In specific implementation, an object capable of reflecting light reflected by the laser sensor is arranged around the square platform, and the surface of the object is parallel to the side edge of the square platform in an initial state in the implementation process.
In specific implementation, the light emitted by each laser sensor is perpendicular to the edge of the mounting position of the square platform.
In specific implementation, two adjacent side edges of the square platform are vertical.
A method for calculating an actual position on a square platform, the method comprising the steps of:
the method comprises the following steps: when the square platform is selected to be located at an initial position, connecting lines of reflection points of each group of laser sensors on an object used for reflecting the laser sensors around the square platform form an x axis and a y axis, setting the intersection point of the x axis and the y axis as an original point O, then the position of the square platform is represented as O (x0, y0), distance values measured by the laser sensor P11 and the laser sensor P12 are both x0, and distance values measured by the laser sensor P21 and the laser sensor P22 are both y 0;
step two: when the square platform moves, the distance measured by the laser sensor P11 is x1, the distance measured by the laser sensor P12 is x2, the distance measured by the laser sensor P21 is y1, the distance measured by the laser sensor P22 is y2, meanwhile, the installation distance between the laser sensor P11 and the laser sensor P12 is kx, the installation distance between the laser sensor P21 and the laser sensor P22 is ky, an included angle b formed by the laser sensor P11 and the laser sensor P12 side is equal to an included angle a formed by the laser sensor P21 and the laser sensor P22 side according to the geometrical relation, and then the numerical value of the included angle b can be obtained by solving an arctangent value arctan ((x1-x2)/kx), or the numerical value of the included angle a can be obtained by solving an arctan value arctan ((y1-y 2)/ky);
step three: judging whether the included angle b or the included angle a is 0, if so, only performing translational motion on the square platform, wherein x1 is x2, y1 is y2, the coordinate of the square platform is O (x, y), and x1 and y1 are directly measured by a laser sensor, namely x1 is x2, and y1 is y 2;
step four: when the included angle b or the included angle a is not 0, the x-axis offset hx of the square platform is: (x2-x1) cosb, y-axis offset hy: (y2-y1) cosa; the coordinates of the square platform are O (x, y), where x is (x0+ hx) cosb + (y + hy) sina, and y is (y0+ hy) cosa- (x + hx) sina.
In specific implementation, the x1 is the smaller measured distance value of the laser sensor P11 and the laser sensor P12, and the x2 is the larger measured distance value of the laser sensor P11 and the laser sensor P12; the y1 is the smaller one of the laser sensor P21 and the laser sensor P22, and the y2 is the larger one of the laser sensor P21 and the laser sensor P22.
During specific implementation, when the installation angle of the laser sensor and the square platform is not vertical, the actual angle after installation needs to be measured and converted into a vertical installation distance value, and if the installation angle of the laser sensor P11 after installation and the side edge of the square platform is c, the length measured by the laser sensor P11 and the length measured during vertical installation satisfy the following relations:
the measured length/actual measured length is mounted vertically cos (90-c + b)/cosb.
According to the system and the method for measuring the actual position on the square platform, provided by the invention, the precise positioning of a certain point on the square platform is realized through the cooperation of the two groups of laser sensors, the manual participation is not required in the positioning process, the measuring accuracy, the measuring precision and the real-time performance are ensured, and the positioning efficiency and the positioning precision of the position of the certain point on the square platform in the engineering are improved.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. The utility model provides an actual position measurement system on square platform which characterized in that: the measuring system comprises two groups of laser sensors, the two groups of laser sensors are respectively arranged on two adjacent side edges of the square platform, each group of laser sensors comprises two laser sensors, and the two laser sensors are arranged on the same side of the square platform at a known interval.
2. A square platform actual position measurement system as claimed in claim 1, wherein: and an object capable of reflecting light reflected by the laser sensor is arranged around the square platform.
3. A square platform actual position measurement system as claimed in claim 1, wherein: the emitting light of each laser sensor is perpendicular to the edge of the mounting position of the square platform.
4. A square platform actual position measurement system as claimed in claim 1, wherein: two adjacent side edges of the square platform are vertical.
5. A method for calculating an actual position on a square platform is characterized by comprising the following steps: the calculation method comprises the following steps:
the method comprises the following steps: when the square platform is selected to be located at an initial position, connecting lines of reflection points of each group of laser sensors on an object used for reflecting the laser sensors around the square platform form an x axis and a y axis, setting the intersection point of the x axis and the y axis as an original point O, then the position of the square platform is represented as O (x0, y0), distance values measured by the laser sensor P11 and the laser sensor P12 are both x0, and distance values measured by the laser sensor P21 and the laser sensor P22 are both y 0;
step two: when the square platform moves, the distance measured by the laser sensor P11 is x1, the distance measured by the laser sensor P12 is x2, the distance measured by the laser sensor P21 is y1, the distance measured by the laser sensor P22 is y2, meanwhile, the installation distance between the laser sensor P11 and the laser sensor P12 is kx, the installation distance between the laser sensor P21 and the laser sensor P22 is ky, an included angle b formed by the laser sensor P11 and the laser sensor P12 side is equal to an included angle a formed by the laser sensor P21 and the laser sensor P22 side according to the geometrical relation, and then the numerical value of the included angle b can be obtained by solving an arctangent value arctan ((x1-x2)/kx), or the numerical value of the included angle a can be obtained by solving an arctan value arctan ((y1-y 2)/ky);
step three: judging whether the included angle b or the included angle a is 0, if so, only performing translational motion on the square platform, wherein x1 is x2, y1 is y2, the coordinate of the square platform is O (x, y), and x1 and y1 are directly measured by a laser sensor, namely x1 is x2, and y1 is y 2;
step four: when the included angle b or the included angle a is not 0, the x-axis offset hx of the square platform is: (x2-x1) cosb, y-axis offset hy: (y2-y1) cosa; the coordinates of the square platform are O (x, y), where x is (x0+ hx) cosb + (y + hy) sina, and y is (y0+ hy) cosa- (x + hx) sina.
6. The method of claim 5, wherein the method comprises: the x1 is the smaller one of the laser sensor P11 and the laser sensor P12, and the x2 is the larger one of the laser sensor P11 and the laser sensor P12; the y1 is the smaller one of the laser sensor P21 and the laser sensor P22, and the y2 is the larger one of the laser sensor P21 and the laser sensor P22.
7. The method of claim 5, wherein the method comprises: when the installation angle of the laser sensor and the square platform is not vertical, the actual angle after installation needs to be measured and converted into a distance value during vertical installation.
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| CN104048614A (en) * | 2013-12-03 | 2014-09-17 | 南京森林警察学院 | Stumpage diameter measuring method and measuring equipment |
| CN104111163A (en) * | 2014-07-23 | 2014-10-22 | 中国科学院上海光学精密机械研究所 | Convex lens focal length measuring device and method |
| CN104713530A (en) * | 2015-02-06 | 2015-06-17 | 南京理工大学 | Moving object space coordinate information detection method |
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- 2021-07-15 CN CN202110800614.8A patent/CN113566703B/en active Active
Patent Citations (7)
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| CN101650156A (en) * | 2009-08-20 | 2010-02-17 | 吉林大学 | Device and method for measuring geometric parameter of superplastic non-spherical free bulge |
| EP2620269A1 (en) * | 2012-01-30 | 2013-07-31 | Sanyo Machine Works, Ltd. | Prepreg pasting state inspection apparatus |
| CN103808256A (en) * | 2012-11-15 | 2014-05-21 | 中国科学院沈阳自动化研究所 | Non-contact type object planar motion measuring device and implementation method thereof |
| CN104048614A (en) * | 2013-12-03 | 2014-09-17 | 南京森林警察学院 | Stumpage diameter measuring method and measuring equipment |
| CN103759639A (en) * | 2014-01-10 | 2014-04-30 | 中国矿业大学 | Precision positioning platform position detection method based on area array CCD |
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