CN115143866A - Measuring device, coordinate obtaining method and flatness and verticality measuring method - Google Patents
Measuring device, coordinate obtaining method and flatness and verticality measuring method Download PDFInfo
- Publication number
- CN115143866A CN115143866A CN202110348085.2A CN202110348085A CN115143866A CN 115143866 A CN115143866 A CN 115143866A CN 202110348085 A CN202110348085 A CN 202110348085A CN 115143866 A CN115143866 A CN 115143866A
- Authority
- CN
- China
- Prior art keywords
- axis
- detected
- angle
- distance
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000001514 detection method Methods 0.000 claims abstract description 76
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B5/245—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing perpendicularity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The application provides a measuring device, a coordinate obtaining method and a flatness and verticality measuring method, and relates to the technical field of building measurement. The device comprises a base, a first rotating piece, a first angle detecting piece, a second rotating piece, a second angle detecting piece and a distance detecting piece. The first rotating member is rotatably arranged on the base. The first angle detection piece is used for detecting the angle of the first rotating piece rotating around the first axis. The second rotating member is rotatably connected to the first rotating member. The second angle detection piece is used for detecting the rotating angle of the second rotating piece around the second axis. The second axis is perpendicular to the first axis. The distance detection piece is used for detecting the distance between the distance detection piece and the point to be detected. The method comprises the steps of determining the coordinates of a point to be detected in a local coordinate system according to an angle value detected by a first angle detection piece, an angle value detected by a second angle detection piece and a distance value detected by a distance detection piece; and determining the coordinates of the point to be detected in the global coordinate system through coordinate conversion. The measuring range of the device is large.
Description
Technical Field
The application relates to the technical field of building measurement, in particular to a measuring device, a coordinate obtaining method and a flatness and perpendicularity measuring method.
Background
At present, the flatness measuring device in the related art is only suitable for measuring a small-area flat plate structure, is inconvenient for measuring the flatness of a large-area flat plate structure, and is difficult to measure building surfaces such as wall surfaces and ceilings.
Disclosure of Invention
An object of the embodiments of the present application is to provide a measuring device, which aims to solve the problem in the related art that it is inconvenient to perform flatness measurement on a large-area building surface.
The embodiment of the application provides a measuring device, which comprises a base, a first rotating piece, a first angle detecting piece, a second rotating piece, a second angle detecting piece and a distance detecting piece, wherein the first rotating piece is arranged on the base; the first rotating piece is rotatably arranged on the base; the first angle detection piece is connected to the base and used for detecting the rotation angle of the first rotation piece rotating around the first axis; the second rotating part is rotatably connected with the first rotating part; the second angle detection piece is connected to the second rotating piece and used for detecting the rotating angle of the second rotating piece rotating around the second axis; the second axis is perpendicular to the first axis; the distance detection piece is connected to the second rotating piece and used for detecting the distance between the detection end of the distance detection piece and the point to be detected.
When the measuring device is used for measuring, the base is positioned firstly, and then the first rotating part and the second rotating part are rotated, so that the distance detecting part on the second rotating part is aligned to a point to be detected on a surface to be measured, and an angle value detected by the first angle detecting part, an angle value detected by the second angle detecting part and a distance value detected by the distance detecting part are recorded. And then the coordinates of the points to be detected can be obtained according to the angle value detected by the first angle detection piece, the angle value detected by the second angle detection piece and the distance value detected by the distance detection piece. And repeating the operation to obtain the coordinates of a plurality of points to be detected, fitting the planes, and calculating the distance between each point to be detected and the fitting planes to obtain the planeness of the surface to be measured. By adopting the measuring device, the flatness of a large-area plane structure can be measured, and meanwhile, the measuring device can also be used for measuring building surfaces such as wall surfaces, ceilings and the like.
As an optional technical solution of the embodiment of the present application, the base has a reference surface, and the first axis is perpendicular to the reference surface. Through making the first axis perpendicular to the datum plane of base, when the leveling base, can make the first axis vertical, it is comparatively convenient.
As an optional technical solution of the embodiment of the present application, the base has a first scribed line, and the first rotating member has a second scribed line; the first angle detection member is used for detecting the rotation angle of the second scribed line relative to the first scribed line. By providing the first scribed line and the second scribed line, the first angle detection element detects an angle value of zero when the first scribed line and the second scribed line are aligned.
As an optional technical solution of the embodiment of the present application, the measuring apparatus further includes a protective cover, the protective cover is connected to the first rotating member, and the second rotating member is partially accommodated in the protective cover; the second rotates the piece and has the link, and the link extends the safety cover and is connected with the distance detection piece. Through setting up the safety cover, the protection second rotates piece and second angle detection piece, improves the life of device.
As an optional technical solution of the embodiment of the present application, the protective cover has a third scribed line thereon, the second rotating member has a fourth scribed line thereon, and the second angle detecting member is configured to detect a rotation angle of the fourth scribed line with respect to the third scribed line. By providing the third scribed line and the fourth scribed line, the second angle detecting member detects an angle value of zero when the third scribed line and the fourth scribed line are aligned.
The embodiment of the application also provides a coordinate acquisition method, which comprises the steps of establishing a global coordinate system; establishing a local coordinate system; determining the coordinates of the points to be detected in the local coordinate system according to the angle value detected by the first angle detection part, the angle value detected by the second angle detection part and the distance value detected by the distance detection part; and determining the coordinates of the points to be detected in the global coordinate system through coordinate conversion. By adopting the coordinate acquisition method and using the measuring device in a matching manner, the coordinate of the point to be detected can be acquired quickly.
As an optional technical solution of the embodiment of the present application, establishing the global coordinate system includes establishing Z with an intersection of the first axis and the second axis as an origin and the first axis as a reference A An axis establishing an X with reference to the first reticle of the base A Axis, build Y A Axis, Y A Axis, Z A Axis and X A The axes are vertical two by two; the first angle detection piece is used for detecting the rotation angle of the second scribed line on the first rotation piece relative to the first scribed line. Through the global coordinate system established in the above mode, during subsequent calculation, the angle value detected by the first angle detection piece, the angle value detected by the second angle detection piece and the distance value detected by the distance detection piece can be directly used, and further conversion is not needed, so that the method is convenient.
As an optional technical solution of the embodiment of the present application, establishing a local coordinate system includes: taking the intersection point of the first axis and the second axis as an origin; establishing X with reference to a first axis B A shaft; establishing Z relative to the second axis B A shaft; establishing Y B Axis, Y B Axis, Z B Axis and X B The axes are vertical two by two. The local coordinate system established by the method can directly use the angle value detected by the first angle detection piece, the angle value detected by the second angle detection piece and the distance value detected by the distance detection piece during subsequent calculation, does not need further conversion and is convenient.
As an optional technical solution of the embodiment of the present application, determining the coordinate of the point to be detected in the local coordinate system according to the angle value detected by the first angle detecting element, the angle value detected by the second angle detecting element, and the distance value detected by the distance detecting element includesBy X B The X of the point to be detected in the local coordinate system is obtained by = (h + l) × cos theta B Axis coordinates; h is the distance between the detection end of the distance detection piece and the first axis on the second axis, and l is the distance value detected by the distance detection piece; theta is an angle value detected by the second angle detecting piece; by Y B = (h + l) × sin θ to find out Y of point to be detected in local coordinate system B Axis coordinates; through Z B = -d obtaining Z of point to be detected in local coordinate system B And (c) an axis coordinate, wherein d is the distance from the detection end of the detection piece to the second axis. According to the formula, the coordinates of the point to be detected in the local coordinate system can be obtained.
As an optional technical solution of the embodiment of the present application, determining the coordinate of the point to be detected in the global coordinate system through coordinate transformation includes determining the coordinate of the point to be detected in the global coordinate system through X A = (h + l) × sin θ × cos α + d × sin α to obtain the X of the point to be detected in the global coordinate system B Axis coordinates, wherein alpha is an angle value detected by the first angle detection piece; by Y A The Y of a point to be detected in a global coordinate system is obtained by = h + l x sin theta x sin alpha-d x cos alpha B Axis coordinates; through Z A = (h + l) × cos theta to obtain Z of the point to be detected in the global coordinate system A Axis coordinates. And obtaining the coordinates of the point to be detected in the global coordinate system according to the formula.
The embodiment of the application also provides a flatness measuring method, which comprises the steps of obtaining the coordinates of a plurality of points to be detected in a global coordinate system according to the coordinate obtaining method in any one of the above methods; and (4) fitting a plane according to a least square method, and calculating the distance from each point to be detected to the fitted plane to obtain the flatness. The coordinates of a plurality of points to be detected can be obtained through multiple measurements, and thus, the distance between each point to be detected and the fitting plane is calculated according to the least square method fitting plane, so that the flatness of the surface to be measured can be obtained, and the method is convenient.
The embodiment of the application also provides a perpendicularity measuring method, which comprises the steps of leveling a base to enable a first axis to be located in the vertical direction; acquiring coordinates of a plurality of points to be detected in a global coordinate system according to a coordinate acquisition method; and fitting the vertical plane according to a least square method, and calculating the distance from each point to be detected to the vertical plane to obtain the verticality. Before measurement, the base is leveled, then the coordinates of a plurality of points to be measured are obtained by adopting a coordinate obtaining method, a vertical plane is fitted based on a least square method, and finally the verticality of the plane to be measured is calculated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a measurement apparatus provided in an embodiment of the present application;
fig. 2 is a schematic view of a measuring device provided in an embodiment of the present application during measurement;
fig. 3 is a schematic diagram illustrating establishment of a local coordinate system and a global coordinate system in the coordinate acquisition method according to the embodiment of the present application.
Icon: 10-a measuring device; 100-a base; 110-a first reticle; 200-a first rotating member; 210-a second reticle; 300-a first angle detection element; 400-a second rotating member; 410-a fourth reticle; 500-a second angle detection member; 600-distance detection member; 700-a protective cover; 710-a third reticle; 810-a first axis; 820-a second axis; 900-area to be measured.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the product of the application will usually place when in use, or the orientations or positional relationships that a person skilled in the art will usually understand, are only used for convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and therefore, should not be construed as limiting the present application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
Referring to fig. 1 and fig. 2, the present embodiment provides a measuring apparatus 10, where the measuring apparatus 10 includes a base 100, a first rotating member 200, a first angle detecting member 300, a second rotating member 400, a second angle detecting member 500, and a distance detecting member 600. The first rotating member 200 is rotatably disposed on the base 100. The first angle detecting element 300 is connected to the base 100, and the first angle detecting element 300 is used for detecting a rotation angle of the first rotating element 200 rotating around the first axis 810. The second rotating member 400 is rotatably connected to the first rotating member 200. The second angle detecting element 500 is connected to the second rotating element 400, and the second angle detecting element 500 is used for detecting the rotation angle of the second rotating element 400 rotating around the second axis 820. The second axis 820 is perpendicular to the first axis 810. The distance detecting member 600 is connected to the second rotating member 400, and is used to detect the distance between the detecting end of the distance detecting member 600 and the point to be detected.
When the measuring device 10 is used for measurement, the base 100 is positioned first, and then the first rotating part 200 and the second rotating part 400 are rotated, so that the distance detecting part 600 on the second rotating part 400 aligns to a point to be detected on the surface 900 to be measured, and an angle value detected by the first angle detecting part 300, an angle value detected by the second angle detecting part 500 and a distance value detected by the distance detecting part 600 are recorded. Then, the coordinates of the point to be detected can be obtained according to the angle value detected by the first angle detecting element 300, the angle value detected by the second angle detecting element 500, and the distance value detected by the distance detecting element 600. The coordinates of a plurality of points to be detected can be obtained by repeating the operation, then a plane is fitted, the distance between each point to be detected and the fitted plane is calculated, and the flatness of the surface 900 to be measured is obtained. By adopting the measuring device 10, the flatness of a large-area plane structure can be measured, and meanwhile, the building surfaces such as wall surfaces, ceilings and the like can also be measured.
In the present embodiment, the base 100 has a reference plane, and the first axis 810 is perpendicular to the reference plane. As incorporated in fig. 1, the upper surface of the base 100 is a reference surface, and the first axis 810 is perpendicular to the upper surface of the base 100. By making the first axis 810 perpendicular to the reference surface of the base 100, it is convenient to make the first axis 810 vertical when leveling the base 100.
Referring to fig. 1, in the present embodiment, the first rotating member 200 is disposed through the base 100 and can rotate relative to the base 100. The first angle detection member 300 is fixedly connected to the lower surface of the base 100, a detection end of the first angle detection member 300 is connected to the first rotating member 200, an axis of the first angle detection member 300 coincides with the first axis 810, and the first angle detection member 300 is configured to detect a rotation angle of the first rotating member 200 relative to the base 100. Referring to fig. 1, in the present embodiment, the base 100 has a first scribe line 110, and the first rotating member 200 has a second scribe line 210. The first angle detection member 300 is used to detect the rotation angle of the second scribed line 210 relative to the first scribed line 110. By providing the first and second score lines 110, 210, the first angle detecting member 300 detects zero angle values when the first and second score lines 110, 210 are aligned.
Referring to fig. 1, in the present embodiment, the measuring apparatus 10 further includes a protective cover 700, the protective cover 700 is connected to the first rotating member 200, the second rotating member 400 is partially accommodated in the protective cover 700, or the protective cover 700 is covered on the second rotating member 400. The second rotation member 400 has a connection end extending out of the protection cover 700 and connected to the distance detection member 600. In other words, in the present embodiment, the protective cover 700 is formed with a guide groove, the second rotating member 400 is partially received in the guide groove, and the connecting end of the second rotating member 400 extends out of the guide groove, which can guide the second rotating member 400. In this embodiment, the second rotating member 400 is in a long strip shape, one end of the second rotating member 400 is accommodated in the guide groove, the other end of the second rotating member 400 is the connecting end, the connecting end extends out of the guide groove, and the distance detecting member 600 is connected to the connecting end. By providing the protection cover 700, the second rotation member 400 and the second angle detection member 500 are protected, and the service life of the measuring apparatus 10 is prolonged.
Referring to fig. 1, in the present embodiment, the protective cover 700 has a third scribe line 710 thereon, the second rotating member 400 has a fourth scribe line 410 thereon, and the second angle detecting member 500 is used for detecting a rotation angle of the fourth scribe line 410 relative to the third scribe line 710. By providing the third score line 710 and the fourth score line 410, the second angle detecting member 500 detects a zero angle value when the third score line 710 and the fourth score line 410 are aligned. Also, in the present embodiment, when the third score line 710 and the fourth score line 410 are aligned, the length direction of the second rotating member 400 (or the optical axis of the distance detecting member 600) coincides with the first axis 810.
Referring to fig. 1, in the present embodiment, the second angle detecting element 500 is connected to the protecting cover 700, the detecting end of the second angle detecting element 500 is connected to the second rotating element 400, and the axis of the second angle detecting element 500 is coincident with the second axis 820. The detection end of the second angle detection member 500 is covered by the protection cover 700, and is protected by the protection cover 700, so that the interference is not easily caused, the measurement is more accurate, and the service life of the measurement device 10 is longer.
In an alternative embodiment, the measuring apparatus 10 further includes a driving mechanism for driving the first rotating member 200 and the second rotating member 400 to rotate, so as to automatically measure the surface 900 to be measured after the base 100 is positioned.
In this embodiment, the distance between the detecting end of the distance detecting member 600 and the second axis 820 is h, and the distance between the detecting end of the distance detecting member 600 and the first axis 810 is d.
The measurement apparatus 10 provided in the present embodiment is used as follows:
referring to fig. 2, the measuring device 10 is installed and positioned at a suitable position in front of the surface 900 to be measured, the first rotating member 200 and the second rotating member 400 are rotated to make the distance detecting member 600 align with the point to be measured, the angle value α detected by the first angle detecting member 300, the angle value θ detected by the second angle detecting member 500 and the distance value l detected by the distance detecting member 600 are recorded, the coordinates of the point to be measured are determined according to the angle value α detected by the first angle detecting member 300, the angle value θ detected by the second angle detecting member 500 and the distance value l detected by the distance detecting member 600, and then a plane is fitted to obtain the flatness of the surface 900 to be measured.
The distance detection piece 600 of the measuring device 10 adopts a laser range finder, the measuring range can reach 100m, the measuring ranges of the first angle detection piece 300 and the second angle detection piece 500 are 360 degrees, and the measuring range can cover most building surfaces.
The embodiment also provides a coordinate acquisition method, which comprises the steps of establishing a global coordinate system; establishing a local coordinate system; determining the coordinates of the point to be detected in the local coordinate system according to the angle value detected by the first angle detecting part 300, the angle value detected by the second angle detecting part 500 and the distance value detected by the distance detecting part 600; and determining the coordinates of the point to be detected in the global coordinate system through coordinate conversion. By adopting the coordinate acquisition method and using the measuring device 10, the coordinate of the point to be detected can be acquired quickly.
Referring to FIG. 3, establishing the global coordinate system includes establishing Z with the intersection of the first axis 810 and the second axis 820 as the origin and the first axis 810 as the reference A Axis, establishing an X with reference to the first reticle 110 of the base 100 A Axis, establishing Y A Axis, Y A Axis, Z A Axis and X A The axes are pairwise perpendicular (Y can be determined according to the right-hand rule A The orientation of the shaft). The first angle detecting element 300 is used for detecting a rotation angle of the second scribe line 210 on the first rotating element 200 relative to the first scribe line 110. The global coordinate system established by the above method can directly use the angle value detected by the first angle detection piece 300, the angle value detected by the second angle detection piece 500 and the distance value detected by the distance detection piece 600 during subsequent calculation, and further conversion is not needed, so that convenience is brought.
Establishing the local coordinate system comprises: with the intersection of the first axis 810 and the second axis 820 as the origin; establishing X with reference to first axis 810 B A shaft; establishing Z relative to the second axis 820 B A shaft; establishing Y B Axis, Y B Axis, Z B Axis and X B The axes are pairwise perpendicular (Y can be determined according to the right-hand rule B The orientation of the shaft). Through the local coordinate system established in the above manner, during subsequent calculation, the angle value detected by the first angle detection piece 300, the angle value detected by the second angle detection piece 500 and the distance value detected by the distance detection piece 600 can be directly used, and further conversion is not needed, so that convenience is achieved.
Referring to FIG. 3, after establishing the global coordinate system and the local coordinate system, it can be seen that Y B Axis and X A The included angle of the axes is an angle value detected by the first angle detecting member 300, which is α. Light of distance detecting member 600Projection of axes onto XY plane of local coordinate system and X B The shaft angle is an angle value detected by the second angle detecting member 500, i.e., θ. Point to be detected and Z B The axial distance is (h + l).
Determining the coordinates of the point to be detected in the local coordinate system based on the angle value detected by the first angle detecting member 300, the angle value detected by the second angle detecting member 500, and the distance value detected by the distance detecting member 600 includes passing X through B The X of the point to be detected in the local coordinate system is obtained by = (h + l) × cos theta B Axis coordinates. Wherein h is the distance from the detection end of the detection member 600 to the first axis 810 on the second axis 820, and l is the distance value detected from the detection member 600; θ is an angle value detected by the second angle detecting member 500. By Y B = (h + l) × sin θ to obtain Y of the point to be detected in the local coordinate system B Axis coordinates. Through Z B = -d obtaining Z of point to be detected in local coordinate system B Axis coordinates, where d is the distance from the sensing end of the sensing piece 600 to the second axis 820. According to the formula, the coordinates of the point to be detected in the local coordinate system can be obtained.
The coordinate descriptions of the three principal axis direction unit vectors of the local coordinate system in the global coordinate system are respectively as follows: (0, 1), (cos α, sin α, 0), (-sin α, cos α, 0), then the rotation matrix of the local coordinate system with respect to the global coordinate system is:
writing the coordinate of the point P to be detected into a 3 multiplied by 1 column matrix form according to a space coordinate transformation algorithm, so that the coordinate of the point P to be detected in a local coordinate system B Coordinates of P and point P to be detected in global coordinate system A P has the following relationship:
namely that
X of point P to be detected in global coordinate system A 、Y A 、Z A The axis coordinates are respectively:
A P x ＝(h+l)×sinθ×cosα+d×sinα
A P y ＝(h+l)×sinθ×sinα-d×cosα
A P z ＝(h+l)×cosα
in other words, determining coordinates of the point to be detected within the global coordinate system by coordinate transformation includes determining coordinates of the point to be detected within the global coordinate system by X A = (h + l) × sin θ × cos α + d × sin α to find the X of the point to be detected in the global coordinate system B Axis coordinates, where α is the angle value detected by the first angle detecting member 300. By Y A The Y of a point to be detected in a global coordinate system is obtained by = h + l x sin theta x sin alpha-d x cos alpha B Axis coordinates. Through Z A = (h + l) × cos theta to obtain Z of the point to be detected in the global coordinate system A Axis coordinates. And obtaining the coordinates of the point to be detected in the global coordinate system according to the formula.
Random point P to be detected i (i =1,2, \ 8230;, n), the first angle detecting member 300, the second angle detecting member 500, and the distance detecting member 600 respectively read as follows: alpha (alpha) ("alpha") i ，θ i ，l i Can solve X of the global coordinate system A 、Y A 、Z A The axis coordinates are respectively:
A P ix ＝(h+l i )×sinθ i ×cosα i +d×sinα i
A P iu ＝(h+l i )×sinθ i ×sinα i -d×cosα i
A P iz ＝(h+l i )×cosα i
the embodiment also provides a flatness measuring method, which comprises the steps of obtaining the coordinates of a plurality of points to be detected in a global coordinate system according to the coordinate obtaining method; and (4) fitting a plane according to a least square method, and calculating the distance from each point to be detected to the fitted plane to obtain the flatness. The coordinates of a plurality of points to be detected can be obtained through multiple measurements, and thus, the distance between each point to be detected and the fitting plane is calculated according to the least square method fitting plane, so that the flatness of the surface 900 to be measured can be obtained, and the method is convenient.
In particular, according to the least squares method, from the spatial coordinates (X) of a plurality of points to be detected i ，Y i ，Z i ) Z = ax + by + c, and the sum of squares of distances between each point to be detected and the fitting plane is minimized, namely M (a, b, c) = Sigma (ax) i +by i +c-z i ) 2 And minimum, resolving a, b and c.
Unfolding to obtain:
rewritten as a matrix equation:
solving the equation can obtain a, b and c. The flatness of the surface 900 to be measured can be analyzed by calculating the distance from each point to be measured to the fitting plane. The distance from each point to be detected to the fitting plane is as follows:
the present embodiment also provides a perpendicularity measuring method, which includes leveling the base 100 so that the first axis 810 is located in the vertical direction; acquiring coordinates of a plurality of points to be detected in a global coordinate system according to a coordinate acquisition method; and fitting the vertical plane according to a least square method, and calculating the distance from each point to be detected to the vertical plane to obtain the verticality. Before measurement, the base 100 is leveled, then the coordinates of a plurality of points to be measured are obtained by adopting a coordinate obtaining method, a vertical plane is fitted based on a least square method, and finally the verticality of the surface 900 to be measured is calculated.
During the verticality measurement, the base 100 needs to be leveled, so that the XY plane of the global coordinate system is parallel to the horizontal plane, that is, the first axis 810 is located in the vertical direction, and therefore the vertical plane to which each point to be detected is fitted can be described as: y = Ax + B, and f (A, B) = ∑ (Ax) by a least square method i +B-y i ) 2 And minimum, resolving A and B. The calculation process is similar to that described above and will not be described herein. And calculating the distance between each point to be detected and the vertical plane to analyze the verticality of the plane to be detected. The distance from each point to be detected to the vertical plane is as follows:
in addition, a plane matched with each point to be detected is calculated at the same time, wherein z = ax + by + c, and an included angle between the matched plane and a vertical plane, namely an inclination angle of the wall surface, can be obtained. Cosine of inclination angle:
it should be noted that the measuring apparatus 10 and the coordinate acquiring method provided in the present embodiment can be used not only for measuring flatness and verticality, but also for measuring height and straightness.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (12)
1. A measuring device, characterized in that the measuring device comprises:
a base;
the first rotating piece is rotatably arranged on the base;
the first angle detection piece is connected to the base and used for detecting the rotation angle of the first rotation piece rotating around the first axis;
the second rotating piece is rotatably connected to the first rotating piece;
the second angle detection piece is connected to the second rotating piece and used for detecting the rotating angle of the second rotating piece rotating around a second axis, and the second axis is perpendicular to the first axis; and
and the distance detection piece is connected to the second rotating piece and used for detecting the distance between the detection end of the distance detection piece and the point to be detected.
2. The measurement device of claim 1, wherein the base has a reference surface, the first axis being perpendicular to the reference surface.
3. A measuring apparatus according to claim 1 or 2, wherein the base has a first score line thereon, the first rotatable member has a second score line thereon, and the first angle sensing member is configured to sense an angle of rotation of the second score line relative to the first score line.
4. A measuring device according to claim 1, further comprising a protective cover connected to the first rotatable member, the second rotatable member being partially received within the protective cover, the second rotatable member having a connecting end extending out of the protective cover and connected to the distance sensing member.
5. The measuring device of claim 4, wherein the protective cover has a third score line thereon, the second rotational member has a fourth score line thereon, and the second angle detecting member is configured to detect a rotational angle of the fourth score line relative to the third score line.
6. A coordinate acquisition method based on the measurement apparatus according to any one of claims 1 to 5, the coordinate acquisition method comprising:
establishing a global coordinate system;
establishing a local coordinate system;
determining the coordinate of the point to be detected in the local coordinate system according to the angle value detected by the first angle detection piece, the angle value detected by the second angle detection piece and the distance value detected by the distance detection piece;
and determining the coordinates of the point to be detected in the global coordinate system through coordinate conversion.
7. The coordinate acquisition method of claim 6, wherein the establishing a global coordinate system comprises:
taking the intersection point of the first axis and the second axis as an origin;
establishing Z with reference to the first axis A A shaft;
establishing an X reference to a first reticle of the base A A shaft;
establishing Y A Shaft, said Y A Axis, said Z A Shaft and said X A The axes are vertical two by two;
the first angle detection part is used for detecting the rotation angle of the second scribed line on the first rotation part relative to the first scribed line.
8. The coordinate acquisition method of claim 7, wherein the establishing a local coordinate system comprises:
taking an intersection point of the first axis and the second axis as an origin;
establishing X with reference to the first axis B A shaft;
establishing Z on the basis of the second axis B A shaft;
establishing Y B Shaft, said Y B Shaft, said Z B Shaft and said X B The axes are vertical two by two.
9. The method for obtaining coordinates of a point to be detected in a local coordinate system according to the angle value detected by the first angle detecting element, the angle value detected by the second angle detecting element, and the distance value detected by the distance detecting element, the method comprising:
by X B = (h + l) X cos theta to obtain the X of the point to be detected in the local coordinate system B The shaft coordinate, wherein h is the distance between the detection end of the distance detection piece and the first axis on the second axis, and l is the distance value detected by the distance detection piece; theta is an angle value detected by the second angle detection piece;
by Y B = (h + l) × sin θ to find out Y of the point to be detected in the local coordinate system B Axis coordinates;
through Z B = -d deriving Z of the point to be detected in the local coordinate system B And an axis coordinate, wherein d is the distance from the detection end of the distance detection piece to the second axis.
10. The coordinate acquisition method according to claim 9, wherein the determining coordinates of the point to be detected in the global coordinate system by coordinate transformation includes:
by X A = (h + l) × sin θ × cos α + d × sin α to obtain X of the point to be detected in the global coordinate system B Axis coordinates, wherein alpha is an angle value detected by the first angle detection piece;
by Y A = (h + l) x sin theta x sin alpha-d x cos alpha to obtain Y of the point to be detected in the global coordinate system B Axis coordinates;
through Z A = (h + l) x cos theta to obtain the Z of the point to be detected in the global coordinate system A Axis coordinates.
11. A flatness measuring method, characterized by comprising:
the coordinate acquisition method according to any one of claims 6 to 10, acquiring coordinates of the points to be detected in the global coordinate system;
and (3) according to a least square method fitting plane, calculating the distance from each point to be detected to the fitting plane to obtain the flatness.
12. A perpendicularity measuring method, based on the coordinate acquisition method of any one of claims 6 to 10, characterized by comprising:
leveling the base such that the first axis is in a vertical direction;
obtaining the coordinates of a plurality of points to be detected in the global coordinate system according to the coordinate obtaining method;
and fitting a vertical plane according to a least square method, and calculating the distance from each point to be detected to the vertical plane to obtain the verticality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110348085.2A CN115143866A (en) | 2021-03-31 | 2021-03-31 | Measuring device, coordinate obtaining method and flatness and verticality measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110348085.2A CN115143866A (en) | 2021-03-31 | 2021-03-31 | Measuring device, coordinate obtaining method and flatness and verticality measuring method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115143866A true CN115143866A (en) | 2022-10-04 |
Family
ID=83403576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110348085.2A Pending CN115143866A (en) | 2021-03-31 | 2021-03-31 | Measuring device, coordinate obtaining method and flatness and verticality measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115143866A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014153247A (en) * | 2013-02-12 | 2014-08-25 | Toyota Motor East Japan Inc | System and method for determining work position |
| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| CN109115191A (en) * | 2018-08-03 | 2019-01-01 | 华南农业大学 | The multi-faceted coordinate measuring method of total station |
| CN110675390A (en) * | 2019-09-27 | 2020-01-10 | 广东博智林机器人有限公司 | Building quality global detection method and device |
| CN111811442A (en) * | 2020-07-14 | 2020-10-23 | 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) | Method for rapidly measuring and calculating planeness of large-area deck of ship |
| CN112325809A (en) * | 2021-01-06 | 2021-02-05 | 广东技术师范大学 | Method for detecting flatness of flange |
-
2021
- 2021-03-31 CN CN202110348085.2A patent/CN115143866A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014153247A (en) * | 2013-02-12 | 2014-08-25 | Toyota Motor East Japan Inc | System and method for determining work position |
| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| CN109115191A (en) * | 2018-08-03 | 2019-01-01 | 华南农业大学 | The multi-faceted coordinate measuring method of total station |
| CN110675390A (en) * | 2019-09-27 | 2020-01-10 | 广东博智林机器人有限公司 | Building quality global detection method and device |
| CN111811442A (en) * | 2020-07-14 | 2020-10-23 | 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) | Method for rapidly measuring and calculating planeness of large-area deck of ship |
| CN112325809A (en) * | 2021-01-06 | 2021-02-05 | 广东技术师范大学 | Method for detecting flatness of flange |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111174771A (en) | Method for measuring verticality of stand column | |
| US20060271298A1 (en) | Method for correcting a 3D location measured by a tracking system assuming a vertical offset | |
| BRPI0713969A2 (en) | method and system to automatically perform a study of a multidimensional space | |
| US20200368859A1 (en) | Method and system for automatic assembly of curved surface part | |
| CN105737799B (en) | A kind of detection method of pier column perpendicularity | |
| CN103954245A (en) | Precision calibration plate for articulated coordinate measuring machine | |
| CN106989670A (en) | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration | |
| CN111256592A (en) | External parameter calibration device and method for structured light sensor | |
| JP2007263689A (en) | Azimuth measuring method for apparatus in environment where external information can not be acquired | |
| JP4890188B2 (en) | Motion error measurement reference body and motion error measurement device | |
| CN115143866A (en) | Measuring device, coordinate obtaining method and flatness and verticality measuring method | |
| JP2006234427A (en) | Flatness measuring method and instrument | |
| US20050217127A1 (en) | Measurement device and method for determining the three-dimensional orientation of a body relative to two horizontal reference directions | |
| CN208872233U (en) | A kind of engineering project detection ruler | |
| JP6550906B2 (en) | Method and apparatus for measuring inclination, electronic device and program | |
| CN214470600U (en) | Space coordinate measuring device based on GNSS | |
| Lou et al. | Tests for position and orientation errors of axes of a 2D rotary stage | |
| CN111238438B (en) | Non-contact attitude measurement method and storage medium | |
| CN212158467U (en) | Instrument for measuring space dimension of decoration and finishing engineering | |
| CN211121079U (en) | Detection equipment for detecting distance between prefabricated parts | |
| CN112362038A (en) | Three-dimensional laser scanner and total station dual-purpose target ball and coordinate conversion method | |
| JP2006058290A (en) | Measuring/display apparatus of distance and direction in golf course | |
| CN111322947A (en) | Instrument for measuring space dimension of decoration and finishing project and measuring method thereof | |
| CN213515638U (en) | Three-dimensional laser scanner and total station dual-purpose target ball | |
| RU2141622C1 (en) | Method determining tilting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |