CN115728773A - Coordinate measuring method of photoelectric scanning measuring system based on response mode - Google Patents
Coordinate measuring method of photoelectric scanning measuring system based on response mode Download PDFInfo
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- CN115728773A CN115728773A CN202211413266.XA CN202211413266A CN115728773A CN 115728773 A CN115728773 A CN 115728773A CN 202211413266 A CN202211413266 A CN 202211413266A CN 115728773 A CN115728773 A CN 115728773A
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Abstract
The invention discloses a coordinate measuring method of a photoelectric scanning measuring system based on a response mode, which comprises the following steps: when each measuring period starts, the answering transmitting station transmits a synchronous signal to the processor through a lead and records the transmission time; the response type transmitting station transmits scanning laser to the measuring space, the relay response unit captures the scanning laser, the relay response unit processes the scanning light signal and transmits the response laser to the space, and the transmitting station records the receiving time t of the response laser pi (ii) a And constructing a geometric measurement model of the response type transmitting station, obtaining the rotation angle of the scanning light plane according to the transmission time receiving time and the transmitting station parameters, and further calculating to obtain the coordinates of the spatial midpoint. The invention obtains accurate measurement scanning light arrival time, breaks through the problem of limited measurement distance of the traditional measurement mechanism, has good feasibility, flexible construction and low cost, and can realize effective increase of the working distance of the measurement system.
Description
Technical Field
The invention relates to the field of space large-size high-precision three-dimensional measurement, in particular to a measuring method of a large-size space photoelectric scanning measuring system based on a response mode.
Background
In the field of industrial manufacturing, a high-precision measurement technology is used as a core detection link for quality control of the top-end manufacturing industry, and the influence on the development of the industrial manufacturing becomes more important. Among them, large space-scale measurement with high precision has become a necessary technique for large-scale precision manufacturing and assembly. Mainly represented by aerospace manufacturing, the industrial manufacturing field needs to measure large size and is mostly assembled by segmented processing. In the butt joint and assembly processes, the spatial coordinates and the pose of each part need to be controlled in real time, so that the quality of the final assembly product is guaranteed. The large-size space precision measurement becomes an important technology in the intelligent manufacturing and assembling link of large-size equipment such as aerospace and the like. The large-scale space photoelectric scanning measurement system is a novel three-dimensional coordinate measurement system based on photoelectric scanning, a large measurement field is constructed by networking a plurality of transmitting stations, and parallel multi-task measurement is realized by combining a plurality of photoelectric receivers. The measuring system has high static precision, and compared with a traditional single-station serial single-task measuring mode, the measuring efficiency is greatly improved.
With the development of modern industry, the size of industrial products is larger and larger, and correspondingly, the measurement range of a measuring instrument is required to be enlarged. In the face of a measurement scene with huge scale, equipment with short measurement distance needs to build a field and move the measurement equipment for many times, and the measurement efficiency and precision are greatly influenced. Increasing the working distance of the measuring instrument is the best solution.
Disclosure of Invention
The invention provides a photoelectric scanning measurement system measurement method based on a response mode, aims to solve the problem of insufficient measurement distance of a photoelectric scanning measurement system in a large-scale space, and provides a new measurement mechanism; the method has the advantages of obtaining accurate measurement scanning light arrival time, breaking through the problem that the measurement distance of the traditional measurement mechanism is limited, having good feasibility, flexible construction and low cost, and being capable of realizing effective increase of the working distance of the measurement system, as described in detail below:
a measuring method of a large-scale space photoelectric scanning measuring system based on a response mode comprises the following steps:
1) The answering transmitting station transmits a synchronizing signal to the processor through the lead at the beginning of each measuring period, and records the transmission time as t po ；
2) The answering transmitting station transmits scanning laser to the measuring space, the relay answering unit captures the scanning laser, the relay answering unit processes the scanning light signal and transmits the answering laser to the space, and the transmitting station records the receiving time t of the answering laser pi ；
3) Constructing a geometric measurement model of the responder transmitting station, which is determined by the transmission time t po Reception time t pi And obtaining the rotation angle of the scanning light plane by the parameters of the transmitting station, and further calculating to obtain the coordinates of the midpoint in the space.
Wherein the method further comprises: two pairs of scanning optical signals with the minimum phase change in two adjacent periods are found out and used as two scanning optical signals of the station in the period, which specifically comprises the following steps:
1) Calculating the receiving time t of the optical signal in the period pi And a timing start point t p0 The time difference of (a);
2) Storing the data into a queue;
3) Comparing the time difference of the last period in the queue;
4) Analogizing the last period, the timing starting point is t p0 -T and its previous cycle, the timing starting point being T p0 -a time difference of 2 × t;
5) Calculating the difference value of the corresponding time difference in the two adjacent queues and sequencing the sizes;
6) The minimum two-group result is obtained as the data of two adjacent periods of one station.
Further, the relay response unit is:
adding a coding signal in the design of a response signal, delaying for a period of time after detecting a laser signal on a rising edge and lightening the response laser, and lightening a laser tube according to a coding rule to be used as a mark for distinguishing different relay response units;
and sequentially triggering each light pipe according to a pulse sequence, reducing the duty ratio of the single light pipe, and realizing the emission of the response pulse laser of the transmitting station in the measuring range.
The technical scheme provided by the invention has the beneficial effects that:
1. the invention improves the defect of the original optical identification mode in long-distance measurement, the scanning light and the synchronous light of the original photoelectric scanning measurement system exist in one physical space at the same time, but the increase of the distance causes the pulse widths of the scanning light and the synchronous light to be gradually close, and the pulse width identification method can not distinguish the types of optical planes in a long-distance measurement field, thereby causing the spatial positioning to be unavailable;
2. the invention adopts the design of a response mechanism, realizes the separation of scanning light and synchronous light in space, and can realize the infinite extension of the measuring range in principle only within the range allowed by light intensity;
3. the invention simplifies the limitation of wired connection between the original receiving ball and the processor, and greatly improves the convenience of measurement;
4. the invention designs the receiving device into a response structure, identifies after receiving the light emitted by the transmitting station, and then uses the relay response unit to perform response operation, the original transmitting station adds the function of receiving response signals and transmits the response signals and the synchronization signals to the processor for uniform processing and settlement;
5. the invention can realize the accurate measurement of the geometric quantity of the large-size space without matching with external geometric quantity measuring equipment under the large-scale environmental condition; the problem of short photoelectric scanning measuring distance under the current large-scale space is solved.
Drawings
FIG. 1 is a schematic response mechanism of a response-type photoelectric scanning measurement positioning system according to the present invention;
FIG. 2 is a schematic diagram of a response signal and a scanning light signal of the response type photoelectric scanning measurement positioning system;
wherein, (fig. 2 (upper) is a scanning optical signal received by the answering relay receiver, and (fig. 2 (lower) is an answering optical signal sent by the answering relay receiver).
FIG. 3 is a schematic diagram of signals and their meanings in response signals of the response type photoelectric scanning measurement system;
FIG. 4 is a schematic view of an overall tooling of the relay response unit;
fig. 5 is a schematic diagram of a transponder station.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
The method has the following measurement flow (as shown in figure 1):
101: establishing a multi-station measuring field, setting multiple stations to different rotating speeds, and calibrating the measuring field by using a reference scale to obtain the position relation among all transmitting stations;
102: the rotating head of the answering type transmitting station rotates at a constant speed, and in a rotating period, the transmitting station transmits a synchronous signal to the processor through a lead when the zero position of the encoding disc of the rotary table is reached, and the synchronous signal is recorded as t as a time reference po 。
103: and a relay response unit is arranged at the point position to be measured, so that the light-emitting tube faces to the response type transmitting station. The relay receiver receives the optical signal from the first scanning optical plane 1, and sends out a very short pulse laser at the rising edge and the falling edge respectively, and the pulse laser is received by a receiving ball on the transmitting station, and the recording time is t p11 And t p12 (ii) a Correspondingly, the second scanning light plane 2 corresponds to a time t p21 And t p22 . Wherein, the receiving ball on the transmitting station receives the response light signal and sends the response light signal to the processor, and the time of the scanning light is recorded as the middle value of the rising edge time and the falling edge time. The time of arrival at the relay response unit for the first scanning light plane 1 is therefore:
similarly, the arrival time of the second scanning light plane 2 is:
104: from t po ，t pi And the transmitting station parameters obtain the rotation angle of the scanning light plane.
When the two laser sectors respectively sweep the receiver, the time when the synchronous optical signal and the optical signals of the first scanning optical plane and the second scanning optical plane reach the receiving ball are measured as follows: t is t po And t p1 And t p2 The rotation angles of the first scanning light plane and the second scanning light plane are obtained as follows:
where ω is the rotational speed of the transmitting station.
105: constructing a geometric measurement model of the responder transmitting station, and then resolving to obtain a specific coordinate;
the sector relation of the transmitting station and a certain light plane geometric model can be obtained according to the geometric relation:
wherein the content of the first and second substances,
is the included angle between the first scanning light plane 1 and the rotating shaft;
is the included angle between the second scanning light plane 2 and the rotating shaft; beta is a vertical angle of the point to be measured relative to the origin of the transmitting station; theta off The horizontal angle deviation of the central position of the two lasers relative to the direction of the rotating shaft; theta 1 Is the rotation angle of the first scanning light plane 1; theta 2 Is the rotation angle of the second scanning light plane 2; and a is the horizontal angle of the point to be measured relative to the origin of the transmitting station.
Establishing a right-hand coordinate system of the transmitting station, defining the intersection point of the first scanning light plane 1 and a rotating shaft as an origin, wherein the rotating shaft is a Z axis, and a straight line which passes through the origin on the first scanning light plane 1 and is vertical to the rotating shaft is an X axis;
the equations of the first and second scanning light planes at the initial positions are respectively:
at this time, the equation parameters of the light plane equations of the two rotating lasers of the transmitting station in the self coordinate system are as follows:
wherein, a i The plane parameters a, b of the light plane (1 or 2) at a certain time i The plane parameters b, c of the light plane (1 or 2) at a certain time i The plane parameters c, d of the light plane (1 or 2) at a certain time i Is the plane parameter d, a of the light plane (1 or 2) at a certain time m Rotating front plane parameters a, b for the light plane (1 or 2) m Rotating front plane parameters b, c for the light plane (1 or 2) m Rotating front plane parameters c, d for the light plane (1 or 2) m For the rotation front plane parameter d, theta of the light plane (1 or 2) m The rotation angle is the corresponding rotation angle from the initial time to a time after the rotation.
Using the matrix as [ Ri, ti]Realizing the transformation of a global coordinate system of an ith transmitting station local coordinate system, wherein R i As a rotation matrix, T i To translate the matrix, under each local coordinate system, each transmitting station has:
i＝1、2、3～～，j＝1、2 (9)
wherein: i is the serial number of the transmitting station; j is the laser sector number; [ x ] k y k z k ] T Expressed in a global coordinate systemNext point coordinates to be solved; r i And T i Representing the conversion relation of the global coordinate system to the transmitting station i; a is ij b ij c ij d ij Each representing a parameter of the j-plane of the transmitting station i. By utilizing the relation, 2 transmitting stations are set up to realize accurate positioning for solving specific space coordinates.
Wherein, the relay response receiving module includes: the photoelectric receiving device, the FPGA processing core and the bottom circuit board are used for receiving and transmitting signals and receiving the laser light tube. The configured battery supplies power to the FPGA and the laser tube through the bottom plate. The whole relay response receiving module is packaged in a designed aluminum tool (as shown in fig. 4).
The embodiment of the invention is redesigned on the basis of the original transmitting station, so that when synchronous light passes through the zero point of a code disc, the original synchronous light signal is changed into an electric signal and is led out through a lead, and a synchronous signal is output in one rotation period. This signal is given to the input pins of the FPGA in the processor (as shown in figure 5).
For each transmitting station, the synchronous signal of the station is given by the code wheel of the station, and if the synchronous signal is taken as the starting point of the measuring time, the response signal generated by the scanning relay unit of the non-transmitting station cannot be kept stable in phase (namely T1T 2) on the time axis. Designing a new recognition mode: two pairs of scanning optical signals with the minimum phase change in two adjacent periods are found out, and can be regarded as two scanning optical signals of the station in the period, and the phase 1 and the phase 2 are values of T1T 2.
The algorithm identification flow realized in the substation process is as follows:
1) Calculating the receiving time t of the optical signal in the period pi (i =1, 2) and a timing start point t p0 Time difference (T1 and T2);
2) Storing the data into a queue;
3) Comparing the time difference of the last cycle in the queue (the timing starting point is t) p0 -T)；
4) Analogizing the last cycle (timing start point is t) p0 -T) and its previous cycle (starting of timing T) p0 -2 x t) time difference;
5) Calculating the difference value of the corresponding time difference in the two adjacent queues and sequencing the sizes;
6) The minimum two-group result is obtained as the data of two adjacent periods of one station.
The embodiment of the invention adds a response mechanism on the basis of the structure of the original system and designs a relay response unit. The method has the following innovation:
s1) changing the design that a receiver of the original system only receives optical signals and does not reply, and replying reply light to a transmitting station after receiving scanning light;
s2) the response type transmitting station does not transmit synchronous optical signals to the whole measuring field through a light pipe, but is led out in a signal line mode and enters the processor to serve as a time starting point of each rotation period;
s3) after the relay response unit receives the optical signal, the pulse laser is lightened on the rising edge and the falling edge of the scanning light, and the lightening time is one clock period;
s4) in order to realize the distinguishing of the response signals of different response type receivers, a coding signal is added into the design of the response signals, after the laser signal is detected on the rising edge and the response laser is lightened, a time is delayed, and a laser tube is lightened according to the coding rule and serves as a mark for distinguishing different relay response units (as shown in figure 3);
s5) designing a new driving method of the response laser: the problem of insufficient charging of the light pipe caused by multiple times of lightening of the laser pipe in a very short time is solved. According to the embodiment of the invention, each light pipe is sequentially triggered according to the pulse sequence, the duty ratio of a single light pipe is reduced, and the response pulse laser of the transmitting station in the measuring range is accurately emitted.
S6) designing a signal identification and processing program to realize substation identification of the synchronous signal output from the transmitting station and the response optical signal returned by the response type relay unit, wherein for each transmitting station, the station synchronous signal is taken as a measuring time starting point, and the relay response signal generated by scanning light by other than the transmitting station cannot realize the stabilization of the phases (namely T1 and T2) on a time axis. The program design realizes the correspondence of synchronous light and a plurality of answering lights so as to be used for the settlement of subsequent coordinates.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (3)
1. A measuring method of a large-scale space photoelectric scanning measuring system based on a response mode is characterized by comprising the following steps:
1) The answering transmitting station transmits a synchronizing signal to the processor through the conductor at the beginning of each measuring period, and records the transmission time as t po ；
2) The answering transmitting station transmits scanning laser to the measuring space, the relay answering unit captures the scanning laser, the relay answering unit processes the scanning light signal and transmits the answering laser to the space, and the transmitting station records the receiving time t of the answering laser pi ；
3) Constructing a geometric measurement model of the responder transmitting station, which is determined by the transmission time t po Reception time t pi And obtaining the rotation angle of the scanning light plane by the parameters of the transmitting station, and further calculating to obtain the coordinates of the midpoint in the space.
2. The measurement method of the response mode-based large-scale space optoelectronic scanning measurement system according to claim 1, wherein the method further comprises: two pairs of scanning optical signals with the minimum phase change in two adjacent periods are found out and used as two scanning optical signals of the station in the period, which specifically comprises the following steps:
1) Calculating the receiving time t of the optical signal in the current period pi And a timing start point t p0 The time difference of (c);
2) Storing the data into a queue;
3) Comparing the time difference of the last period in the queue;
4) Analogizing the last period, the timing starting point is t p0 -T and its previous cycle, the timing starting point being T p0 -a time difference of 2 × t;
5) Calculating the difference value of the corresponding time difference in the two adjacent queues and sequencing the sizes;
6) The minimum two-group result is obtained as the data of two adjacent periods of one station.
3. The measurement method of the response mode-based large-scale space photoelectric scanning measurement system according to claim 1, wherein the relay response unit is:
adding a coding signal in the design of the response signal, delaying for a period of time after detecting the laser signal on the rising edge and lightening the response laser, and lightening a laser tube according to a coding rule to serve as a mark for distinguishing different relay response units;
and sequentially triggering each light pipe according to a pulse sequence, reducing the duty ratio of the single light pipe, and realizing the emission of the response pulse laser of the transmitting station in the measuring range.
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