CN113566703B - Actual position measurement system and position calculation method on square platform - Google Patents
Actual position measurement system and position calculation method on square platform Download PDFInfo
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- CN113566703B CN113566703B CN202110800614.8A CN202110800614A CN113566703B CN 113566703 B CN113566703 B CN 113566703B CN 202110800614 A CN202110800614 A CN 202110800614A CN 113566703 B CN113566703 B CN 113566703B
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- 238000005259 measurement Methods 0.000 title claims abstract description 15
- 238000004364 calculation method Methods 0.000 title description 5
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims description 15
- 244000089409 Erythrina poeppigiana Species 0.000 claims description 6
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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. Around the square platform is an object that reflects the light reflected by the laser sensor. The emitted light of each laser sensor is perpendicular to the edge of the square platform mounting location. Two adjacent side edges of the square platform are vertical. Through the cooperation of the two groups of laser sensors, the accurate positioning of a certain point on the square platform is realized, the manual participation is not needed in the positioning process, the accuracy, precision and real-time performance of measurement are ensured, and the positioning efficiency and positioning precision of the position of the certain point on the square platform in engineering are improved.
Description
Technical Field
The present invention relates to a position measuring device and a position calculating method, and in particular, to a system for measuring an actual position on a square platform and a position calculating method.
Background
When a position of a 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 high-precision operation requirement; in order to avoid small displacement and inclination errors which cannot be judged visually during positioning, a novel actual position measuring device and a position calculating method for specific points on a square platform are provided.
Disclosure of Invention
The invention aims to provide an actual position measurement system and a position calculation method on a square platform, which are used for solving the problem that the position of a certain point on the square platform cannot be accurately positioned by means of manual measurement in engineering.
In order to achieve the above 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 square platform two adjacent side edges, every laser sensor of group includes two laser sensors, and two laser sensors interval known distance installs in square platform same 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 location.
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:
step one: when the square platform is selected to be positioned at the initial position, connecting lines of reflection points of each group of laser sensors on the object surrounding the object for reflecting the laser sensors 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, wherein the position of the square platform is represented as O (x 0, y 0), the distance values measured by the laser sensor P11 and the laser sensor P12 are all x0, and the distance values measured by the laser sensor P21 and the laser sensor P22 are all y0;
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, the installation distance of the laser sensor P11 and the laser sensor P12 is kx, the installation distance of the laser sensor P21 and the laser sensor P22 is ky, the angle b formed by the laser sensor P11 and the laser sensor P12 is equal to the angle a formed by the laser sensor P21 and the laser sensor P22 according to the geometric relationship, and then the value of the angle b can be obtained by solving arctan ((x 1-x 2)/kx), or the value of the angle a can be obtained by solving arctan ((y 1-y 2)/ky);
Step three: judging whether the included angle b or the included angle a is 0, if the included angle b or the included angle a is 0, only performing translational motion on the square platform, wherein at the moment, x1=x2, and y1 is equal to y2, the coordinates of the square platform are O (x, y), and x1 and y1 are directly measured by a laser sensor, namely, x=x1=x2, and y=y1=y2;
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: (x 2-x 1) cosb, the y-axis offset hy is: (y 2-y 1) cosa; the coordinates of the square platform are then O (x, y), where x= (x0+hx) cosb + (y+hy) sina, where y= (y0+hy) cosa- (x+hx) sina.
Preferably, the x1 is the one of the laser sensor P11 and the laser sensor P12 with the smaller measured distance value, and the x2 is the one of the laser sensor P11 and the laser sensor P12 with the larger measured distance value; the y1 is the one of the laser sensor P21 and the laser sensor P22 with the smaller measured distance value, and the y2 is the one of the laser sensor P21 and the laser sensor P22 with the larger measured distance value.
Preferably, when the mounting angles of the laser sensor and the square platform are not perpendicular, the actual angle after mounting needs to be measured and converted into a distance value at the time of perpendicular mounting.
The invention has the following advantages:
By adopting the system and the method for measuring the actual position on the square platform, through the cooperation of the two groups of laser sensors, the accurate positioning of a certain point on the square platform is realized, the manual participation is not needed in the positioning process, the accuracy, the precision and the real-time performance of measurement are ensured, and the positioning efficiency and the positioning precision of the position of the certain point on the square platform in engineering are improved.
Drawings
Fig. 1 is a schematic diagram of an actual position measurement system and a position calculation method on a square platform according to the present invention when the square platform is located at an initial position.
FIG. 2 is a schematic diagram of an actual position measurement system and a position calculation method on a square platform according to the present invention when the square platform moves.
In the figure: p11, a first group of first laser sensors; p12, a first set of second laser sensors; p21, a second set of first laser sensors; p22, a second set of second laser sensors.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper", "lower", "left", "right", "middle", etc. are used herein for descriptive purposes only and are not intended to limit the scope of the invention for which the invention may be practiced or for which the relative relationships may be altered or modified without materially altering the technical context.
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 square platform two adjacent side edges, every laser sensor of group includes two laser sensors, and two laser sensors interval known distance installs in square platform same 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 the 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 is calculated only.
In the 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 the initial state.
In particular, the emitted light of each laser sensor is perpendicular to the edge of the square platform at the mounting position.
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:
step one: when the square platform is selected to be positioned at the initial position, connecting lines of reflection points of each group of laser sensors on the object surrounding the object for reflecting the laser sensors 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, wherein the position of the square platform is represented as O (x 0, y 0), the distance values measured by the laser sensor P11 and the laser sensor P12 are all x0, and the distance values measured by the laser sensor P21 and the laser sensor P22 are all y0;
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, the installation distance of the laser sensor P11 and the laser sensor P12 is kx, the installation distance of the laser sensor P21 and the laser sensor P22 is ky, the angle b formed by the laser sensor P11 and the laser sensor P12 is equal to the angle a formed by the laser sensor P21 and the laser sensor P22 according to the geometric relationship, and then the value of the angle b can be obtained by solving arctan ((x 1-x 2)/kx), or the value of the angle a can be obtained by solving arctan ((y 1-y 2)/ky);
Step three: judging whether the included angle b or the included angle a is 0, if the included angle b or the included angle a is 0, only performing translational motion on the square platform, wherein at the moment, x1=x2, and y1 is equal to y2, the coordinates of the square platform are O (x, y), and x1 and y1 are directly measured by a laser sensor, namely, x=x1=x2, and y=y1=y2;
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: (x 2-x 1) cosb, the y-axis offset hy is: (y 2-y 1) cosa; the coordinates of the square platform are then O (x, y), where x= (x0+hx) cosb + (y+hy) sina, where y= (y0+hy) cosa- (x+hx) sina.
In specific implementation, x1 is the one of the laser sensor P11 and the laser sensor P12 with the smaller measured distance value, and x2 is the one of the laser sensor P11 and the laser sensor P12 with the larger measured distance value; the y1 is the one of the laser sensor P21 and the laser sensor P22 with the smaller measured distance value, and the y2 is the one of the laser sensor P21 and the laser sensor P22 with the larger measured distance value.
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 the distance value during vertical installation, and if the installation angle of the side edge of the laser sensor P11 and the square platform after installation is c, the measured length of the laser sensor P11 and the measured length during vertical installation satisfy the following relation:
measured length/actual measured length=cos (90-c+b)/cosb mounted vertically.
According to the system and the method for measuring the actual position on the square platform, through the cooperation of the two groups of laser sensors, the accurate positioning of a certain point on the square platform is realized, the manual participation is not needed in the positioning process, the accuracy, the precision and the real-time performance of measurement are ensured, and the positioning efficiency and the positioning precision of the position of the certain point on the square platform in engineering are improved.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (6)
1. An actual position measurement system on a square platform, which is characterized in that: the measuring system comprises two groups of laser sensors, the two groups of laser sensors are respectively arranged at two adjacent side edges of the square platform, each group of laser sensors comprises two laser sensors, and the two laser sensors are arranged at the same side of the square platform at a known distance;
The method for calculating the actual position on the square platform by adopting the measuring system comprises the following steps:
step one: when the square platform is selected to be positioned at the initial position, connecting lines of reflection points of each group of laser sensors on the object surrounding the object for reflecting the laser sensors 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, wherein the position of the square platform is represented as O (x 0, y 0), the distance values measured by the laser sensor P11 and the laser sensor P12 are all x0, and the distance values measured by the laser sensor P21 and the laser sensor P22 are all y0;
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, the installation distance of the laser sensor P11 and the laser sensor P12 is kx, the installation distance of the laser sensor P21 and the laser sensor P22 is ky, the angle b formed by the laser sensor P11 and the laser sensor P12 is equal to the angle a formed by the laser sensor P21 and the laser sensor P22 according to the geometric relationship, and then the value of the angle b can be obtained by solving arctan ((x 1-x 2)/kx), or the value of the angle a can be obtained by solving arctan ((y 1-y 2)/ky);
Step three: judging whether the included angle b or the included angle a is 0, if the included angle b or the included angle a is 0, only performing translational motion on the square platform, wherein at the moment, x1=x2, and y1 is equal to y2, the coordinates of the square platform are O (x, y), and x1 and y1 are directly measured by a laser sensor, namely, x=x1=x2, and y=y1=y2;
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: (x 2-x 1) cosb, the y-axis offset hy is: (y 2-y 1) cosa; the coordinates of the square platform are then O (x, y), where x= (x0+hx) cosb + (y+hy) sina, where y= (y0+hy) cosa- (x+hx) sina.
2. A system for measuring actual position on a square platform as defined in claim 1, wherein: and an object capable of reflecting light reflected by the laser sensor is arranged around the square platform.
3. A system for measuring actual position on a square platform as defined in claim 1, wherein: the emitted light of each laser sensor is perpendicular to the edge of the square platform mounting position.
4. A system for measuring actual position on a square platform as defined in claim 1, wherein: the two adjacent side edges of the square platform are vertical.
5. A system for measuring actual position on a square platform as defined in claim 1, wherein: the x1 is the one with smaller measured distance value of the laser sensor P11 and the laser sensor P12, and the x2 is the one with larger measured distance value of the laser sensor P11 and the laser sensor P12; the y1 is the one of the laser sensor P21 and the laser sensor P22 with the smaller measured distance value, and the y2 is the one of the laser sensor P21 and the laser sensor P22 with the larger measured distance value.
6. A system for measuring actual position on a square platform as defined in claim 1, wherein: 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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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 |
| 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 |
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