CN116379971A - Laser measuring device and measuring method for verticality of metal component - Google Patents
Laser measuring device and measuring method for verticality of metal component Download PDFInfo
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Abstract
The invention provides a laser measuring device and a measuring method for perpendicularity of a metal component, and relates to the technical field of perpendicularity detection. The invention comprises a laser emitting mechanism, a laser receiving mechanism, a gesture feedback mechanism, a controller and the like, wherein the perpendicularity deviation measurement is carried out by applying laser, and under the action of each sensor, the distance between a laser emitting opening and the central axis of a dial and the distance between a laser line falling on the dial and the central axis of the dial can be directly measured. And calculating the verticality deviation according to the triangle similarity theorem. And the operation of eliminating refraction interference is arranged, so that the influence of the external environment on the perpendicularity deviation of laser measurement is reduced, and the measurement accuracy is greatly improved. Therefore, compared with the existing verticality measurement technology, the method has high automation degree, improves the measurement speed and avoids the influence of human errors; through calibration calculation, the measurement precision is effectively improved, and increasingly normalized and accurate detection standards can be met.
Description
Technical Field
The invention relates to the technical field of verticality detection, in particular to a laser measuring device and a measuring method for verticality of a metal component.
Background
With the development of society, the construction industry of China is mature, and the detection standards of the China for all engineering components are standardized and accurate. In the aspects of civil air defense detection or other engineering quality acceptance detection, a large number of detection items of the perpendicularity of the metal workpiece exist. At present, the perpendicularity technical parameters of the corresponding workpiece are obtained mainly by combining a magnetic line weight with a 90-degree right-angle steel rule. Taking the requirement of the size deviation value of the center line of the joint surface of the door frame and the door leaf in the verticality size deviation detection in China as an example at present: the first level is + -2.0 mm; second grade is + -3.0 mm; the third is + -4.0 mm. The traditional method for detecting the dimension deviation of the perpendicularity comprises the following steps: and using the joint surface of the door leaf and the door frame as a measurement standard, and using a steel rule to measure the central line deviation of the embedded plates with the upper, lower, left and right sides and not less than 3 sections and the adhesive tape.
However, in the urban architecture system which is becoming mature at present, the verticality deviation of the metal component is measured only by a traditional method of combining a magnetic plumb and a steel ruler, and the requirement of equal verticality dimensional deviation is difficult to be met. The traditional mode has the problems of inaccurate reading and low measurement accuracy, and also has the problems of inconvenient carrying, long measurement waiting time and the like. In the market of the precise measuring instrument for the building engineering in China, no high-end precise instrument is available for adapting to the measuring field of the industry. Therefore, a new device and method for measuring verticality are needed to fill the above-mentioned technical gap.
Disclosure of Invention
Accordingly, the present invention is directed to a laser measuring device and a measuring method for verticality of a metal member, which solve the above-mentioned problems.
Based on the above object, the present invention provides a laser measuring device for perpendicularity of a metal member, comprising: the laser transmitting mechanism, the laser receiving mechanism, the gesture feedback mechanism and the controller are respectively and electrically connected with the controller; the laser emission mechanism comprises a first brushless motor, a first mounting frame, a second brushless motor and a laser emitter, wherein an output shaft of the first brushless motor is connected with the first mounting frame, the first mounting frame is connected with the second brushless motor, an output shaft of the second brushless motor is connected with the laser emitter, a light intensity sensor is connected to the laser emitter, and a grating head is connected to a laser emission port of the laser emitter; the laser receiving mechanism comprises a third brushless motor, a second mounting frame, a fourth brushless motor and a dial, wherein an output shaft of the third brushless motor is connected with the second mounting frame, the second mounting frame is connected with the fourth brushless motor, the output shaft of the fourth brushless motor is connected with the end part of the dial, and a laser ranging sensor and a laser displacement sensor are respectively arranged in the dial; and gesture feedback mechanisms are respectively arranged on the dial and the laser transmitters.
Further, the grating head comprises a first connecting rod, a second connecting rod, a connector and a locking piece, wherein the first connecting rod, the second connecting rod and the connector are respectively of hollow structures; one end of the first connecting rod is connected with a laser emission port of the laser emitter, the other end of the first connecting rod is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with the connector, and the port of the connector is of a straight-line structure; a polarized lens is arranged on a port connected with the laser emission port on the first connecting rod, and the end part connected with the second connecting rod on the first connecting rod is of a universal head structure; a lens is arranged at a port connected with the connector on the second connecting rod, and a counterweight is arranged in the connector; a locking piece is connected between the first connecting rod and the second connecting rod and used for fixing the relative positions of the first connecting rod and the second connecting rod.
Further, the gesture feedback mechanism comprises a gyroscope, an acceleration sensor and an encoder, wherein the gyroscope and the acceleration sensor are respectively and electrically connected with the encoder, and the encoder is electrically connected with the controller.
Further, the first brushless motor end connection has first magnetism to inhale the base, and the third brushless motor end connection has the second magnetism to inhale the base.
Further, the first mounting frame comprises a first folded plate and a first supporting rod, one end of the first folded plate is connected with the output shaft of the first brushless motor, the other end of the first folded plate is connected with the first supporting rod, and the second brushless motor is connected to the first supporting rod; the first folded plate is provided with a through hole at a position opposite to the laser emitter.
Further, the second mounting frame comprises a second folded plate, a mounting plate, a second supporting rod and a supporting block, one end of the second folded plate is connected with the output shaft of the third brushless motor, the other end of the second folded plate is connected with the mounting plate, the two ends of the mounting plate are respectively connected with the second supporting rod and the supporting block, and the fourth brushless motor is connected to the second supporting rod; the calibrated scale setting is in the mounting panel top, and calibrated scale one end is connected with fourth brushless motor output shaft, and the calibrated scale other end rotates to be connected on the supporting shoe.
A laser measurement method for perpendicularity of a metal component comprises the following steps:
s1, calibrating a laser emitting mechanism and a laser receiving mechanism which are connected to a tested structure.
S2, respectively obtaining the inner measured refractive index, the maximum refractive index and the height of the measured structure body of the grating head.
S3, eliminating refraction interference to obtain the refractive index of the external matters.
S4, obtaining a first distance between a laser emitting opening of the laser emitter and a central axis of the dial.
S5, controlling laser emitted by the laser emitter to be in a vertical state and the dial to be in a horizontal state, and obtaining a second distance between the laser line emitted to the dial and the central axis of the dial.
And S6, calculating verticality deviation according to the first interval, the second interval and the height of the detected structure.
S7, comparing the refractive index of the external material with the maximum refractive index, and performing calibration calculation when the refractive index of the external material is larger than the maximum refractive index to obtain actual verticality deviation; otherwise, determining that the actual perpendicularity deviation is equal to the perpendicularity deviation.
Further, the specific steps of S3 are as follows: the control locking piece is in a releasing state; controlling the second brushless motor to reciprocally rotate; acquiring a Brewster angle, namely an included angle between the laser and the normal of the dial when the light intensity acquired by the laser displacement sensor disappears; the refractive index of the foreign matter is calculated according to the Brewster angle, and the calculation formula is as follows:
wherein->
Refractive index of foreign matter->
Is the brewster angle.
Further, in S6, the calculation formula for calculating the verticality deviation according to the first pitch, the second pitch and the measured structure height is:
wherein->
For verticality deviation +.>
For the second distance>
For the height of the structure to be tested, < >>
Is the first pitch.
Further, in S7, the specific steps of performing calibration calculation to obtain the actual verticality deviation are as follows: acquiring an incident angle, namely an included angle between the laser and the normal line of the lens of the grating head; the refraction angle is calculated according to the incident angle, the refractive index measured in the grating head and the refractive index of the external matters, and the calculation formula is as follows:
wherein->
Is refraction angle>
For measuring refractive index in grating head +.>
For incident angle, ++>
Refractive index of foreign matters; calculating a deviation value according to the refraction angle and the first interval, wherein the calculation formula is as follows: />
Wherein->
For deviation value, +.>
Is a first pitch; the actual verticality deviation is calculated, actual verticality deviation = verticality deviation + deviation value.
Compared with the prior art, the invention has the beneficial effects that: the invention uses laser to measure verticality deviation, and under the action of each sensor, the distance between the laser emitting port and the central axis of the dial and the distance between the laser line falling on the dial and the central axis of the dial can be directly measured. And calculating the verticality deviation according to the triangle similarity theorem. And the operation of eliminating refraction interference is arranged, so that the influence of the external environment on the perpendicularity deviation of laser measurement is reduced, and the measurement accuracy is greatly improved. Therefore, compared with the existing verticality measurement technology, the method has high automation degree, improves the measurement speed and avoids the influence of human errors; through calibration calculation, the measurement precision is effectively improved, and increasingly normalized and accurate detection standards can be met.
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FIG. 1 is a schematic diagram of a laser measuring device for verticality of a metal member according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser emitting mechanism of a laser measuring device for verticality of a metal member according to an embodiment of the present invention;
FIG. 3 is a schematic two diagrams of a laser emitting mechanism of a laser measuring device for verticality of a metal member according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a grating head of a laser measuring device for perpendicularity of a metal member according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a laser receiving mechanism of a laser measuring device for verticality of a metal member according to an embodiment of the present invention;
FIG. 6 is a schematic two diagrams of a laser receiving mechanism of a laser measuring device for verticality of a metal member according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a locking member structure of a laser measuring device for verticality of a metal member according to an embodiment of the present invention.
Marked in the figure as: 1. a structure to be tested; 2. a first brushless motor; 3. a second brushless motor; 4. a third brushless motor; 5. a fourth brushless motor; 6. a laser emitter; 7. a dial; 8. a display; 9. a first straight plate; 10. a second straight plate; 11. a first link; 12. a second link; 13. a connector; 14. a polarizing lens; 15. a lens; 16. a locking member; 17. a first support bar; 18. a third straight plate; 19. a fourth straight plate; 20. a mounting shell; 21. a limiting block; 22. a motor; 23. a push rod; 24. a pincer-shaped clamping piece; 25. a hollow rod; 26. a solid rod; 27. a spring; 28. a mounting plate; 29. a second support bar; 30. and a supporting block.
Description of the embodiments
The present invention will be further described in detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent.
As shown in FIG. 1, the invention provides a metal component verticality laser measuring device, which consists of a laser emitting mechanism, a laser receiving mechanism, a gesture feedback mechanism, a controller and the like. As shown in fig. 2 and 3, the laser emitting mechanism is composed of a first brushless motor 2, a first mount, a second brushless motor 3, a laser emitter 6, and the like. The end part of the first brushless motor 2 is connected with a first magnetic attraction base for realizing that the laser emission mechanism is integrally attracted to the tested metal member. The first mounting frame is composed of a first folded plate, a first supporting rod 17 and the like, wherein the first folded plate is composed of two connected first straight plates 9 and second straight plates 10, and an included angle exists between the two straight plates. The output shaft of the first brushless motor 2 is fixedly connected to the end part of the first straight plate 9, the first brushless motor 2 and the second straight plate 10 are respectively located on two opposite faces of the first straight plate 9, and the output shaft of the first brushless motor 2 is parallel to the second straight plate 10. The first supporting rod 17 is connected to the second straight plate 10, and the first supporting rod 17 and the first straight plate 9 are located on the same surface of the second straight plate 10, that is, the first supporting rod 17 and the first straight plate 9 are connected to the upper surface of the second straight plate 10. The first support bar 17 is disposed perpendicular to the second straight plate 10. The second brushless motor 3 is connected to the first supporting rod 17, an output shaft of the second brushless motor 3 is perpendicular to the first supporting rod 17, and the output shaft of the second brushless motor 3 is perpendicular to the output shaft of the first brushless motor 2. The output shaft of the second brushless motor 3 is connected with a laser emitter 6, and the laser emitting direction of the laser emitter 6 is perpendicular to the output shaft of the second brushless motor 3. The laser emitter 6 adopts visible light with output power of 5MW and output wavelength of 690nm, and the effective distance of the bright light is 2000mm under indoor working conditions. The red light wave has long wavelength, can reach the standard of verticality measurement accuracy, and is very suitable for ranging. The second straight plate 10 is provided with a through hole at a position opposite to the laser emitter 6 for passing laser light.
The first brushless motor 2 is used for driving the first folding plate and connecting components such as the laser emitter 6 on the first folding plate to rotate, and the second brushless motor 3 is used for driving the laser emitter 6 to rotate. Therefore, under the cooperation of the first brushless motor 2 and the second brushless motor 3, the adjustment of the laser transmitter 6 in two different directions can be realized, thereby realizing the adjustment of the laser to the emission in the vertical direction.
The laser emitter 6 is connected with a light intensity sensor, and a laser emitting port of the laser emitter 6 is connected with a grating head. As shown in fig. 4, the grating head is composed of a first link 11, a second link 12, a connector 13, a locking member 16, and the like. The first connecting rod 11, the second connecting rod 12 and the connecting head 13 are respectively hollow structures and are used for passing laser. One end of a first connecting rod 11 is fixedly connected with a laser emission port of the laser emitter 6, the other end of the first connecting rod 11 is connected with one end of a second connecting rod 12, the other end of the second connecting rod 12 is fixedly connected with a connector 13, and a port of the connector 13 is of a straight-line structure. The laser light emitted from the laser emitter 6 passes through the first link 11 and the second link 12 in this order, and then is emitted from the port of the joint 13. After passing through the grating head, the emitted laser is a linear superfine laser. The port of the first connecting rod 11 connected with the laser emission port is provided with a polarized lens 14, and the end part of the first connecting rod 11 connected with the second connecting rod 12 is of a universal head structure. The second connecting rod 12 is provided with a lens 15 at a port connected with the connector 13, and a counterweight is arranged in the connector 13. A locking member 16 is connected between the first link 11 and the second link 12 for fixing the relative positions of the first link 11 and the second link 12. The locking piece 16 is used for positioning the second connecting rod 12, and when the locking piece 16 is in a releasing state, the second connecting rod 12 can freely rotate relative to the first connecting rod 11; when the lock 16 is in the fixed state, the position of the second link 12 with respect to the first link 11 is fixed.
In the present embodiment, the number of the locking pieces 16 is set to three, and the three locking pieces 16 are uniformly distributed at equal intervals in the circumferential direction of the universal head end of the first link 11. As shown in fig. 7, the locking member 16 is composed of a mounting case 20, a stopper 21, a motor 22, a push rod 23, a pincer-shaped clip 24, a telescopic rod, and the like. The installation shell 20 is of a columnar shell structure, the installation shell 20 is fixedly connected to the outer wall of the first connecting rod 11, and through holes are formed in the side wall of the installation shell 20. The pincerlike clamping piece 24 is arranged inside the installation shell 20, the pincerlike clamping piece 24 is composed of a bending section and two arc sections, two ends of the bending section are fixedly connected with the arc sections respectively, and the radian of the arc sections is matched with that of the inner wall of the installation shell 20. The motor 22 is fixedly connected to the outer wall of the first link 11, and in this embodiment, the motor 22 is a stepping motor. The output shaft of the motor 22 is fixedly connected with one end of a push rod 23, and the other end of the push rod 23 is contacted with the bending section of the pincer-shaped clamping piece 24. The telescopic rod consists of a hollow rod 25, a solid rod 26 and a spring 27. One end of the spring 27 is in contact with the bent section of the pincer-like clip 24, and the other end of the spring 27 is in contact with one end of the solid rod 26. The solid rod 26 is inserted into the through hole of the mounting shell 20, and the ends of the two arc-shaped sections of the pincer-shaped clamping piece 24 are respectively positioned at two sides of the solid rod 26. The outer wall of the second connecting rod 12 is provided with a clamping groove, and the other end of the solid rod 26 is inserted into the clamping groove. The hollow rod 25 is of a sleeve-shaped structure, and the hollow rod 25 is sleeved at the joint position of the spring 27 and the first connecting rod 11 and is used for preventing the spring 27 from being ejected outwards. The limiting blocks 21 are arranged in two, the two limiting blocks 21 are respectively located on two sides of the hollow rod 25, and the limiting blocks 21 are fixedly connected to the outer wall of the first connecting rod 11, so that the telescopic rod is convenient to install. When the locking position is required, the motor 22 drives the push rod 23 to extend to push the pincer-shaped clamp 24 to move downwards. Under the limiting action of the mounting shell 20, the two arc-shaped sections are extruded, and the two ends of the two arc-shaped sections are close to each other until the solid rod 26 is clamped, so that the solid rod 26 is fixed, and the relative positions of the first connecting rod 11 and the second connecting rod 12 are fixed. When unlocking is needed, the motor 22 drives the push rod 23 to retract, the spring 27 rebounds and drives the pincer-shaped clamping piece 24 to reset, and the solid rod 26 is loosened.
As shown in fig. 5 and 6, the laser receiving mechanism is composed of a third brushless motor 4, a second mount, a fourth brushless motor 5, a dial 7, and the like. The end part of the third brushless motor 4 is connected with a second magnetic attraction base for realizing that the laser receiving mechanism is integrally attracted to the tested metal member. The second mounting frame is composed of a second folded plate, a mounting plate 28, a second supporting rod 29, a supporting block 30 and the like, wherein the second folded plate is composed of two connected third straight plates 18 and fourth straight plates 19, and an included angle exists between the two straight plates. The output shaft of the third brushless motor 4 is connected to the end of the third straight plate 18, the third brushless motor 4 and the fourth straight plate 19 are respectively located on two opposite sides of the third straight plate 18, and the output shaft of the third brushless motor 4 is parallel to the fourth straight plate 19. The end of the fourth straight plate 19 is connected with the center of one side of the mounting plate 28, two ends of the mounting plate 28 are respectively connected with a second supporting rod 29 and a supporting block 30, and the second supporting rod 29, the supporting block 30 and the third straight plate 18 are positioned on the same surface of the fourth straight plate 19. The fourth brushless motor 5 is connected on the second bracing piece 29, and fourth brushless motor 5 output is connected with calibrated scale 7 one end, and calibrated scale 7 other end rotates to be connected on the connecting block. The dial 7 is arranged above the mounting plate 28, and a laser distance measuring sensor and a laser displacement sensor are respectively arranged on the dial 7. When the fourth brushless motor 5 drives the dial 7 to rotate, the dial 7 rotates around the central axis, and the central axis is perpendicular to the output shaft of the third brushless motor 4.
The third brushless motor 4 is used for driving the second folding plate and the dial 7 and other components connected to the second folding plate to rotate, and the fourth brushless motor 5 is used for driving the dial 7 to rotate. Therefore, under the cooperation of the third brushless motor 4 and the fourth brushless motor 5, the adjustment of the dial 7 in two different directions can be achieved, thereby achieving the adjustment of the dial 7 to the horizontal state.
The scale 7 and the upper part of the laser emitter 6 are respectively provided with an attitude feedback mechanism for monitoring and feeding back the attitudes of the scale 7 and the laser emitter 6 and transmitting the attitudes to the controller so that the controller can control the operation of each motor to adjust the attitudes. The gesture feedback mechanism consists of a gyroscope, an acceleration sensor and an encoder, wherein the encoder adopts an STM32 encoder. The gyroscope and the acceleration sensor are respectively and electrically connected with the encoder, and the encoder is electrically connected with the controller. The laser emitting mechanism, the laser receiving mechanism and the gesture feedback mechanism are all controlled by a controller, and the controller receives data monitored by components such as a sensor and controls the operation of the components such as a motor.
The first brushless motor 2, the second brushless motor 3, the third brushless motor 4 and the fourth brushless motor 5 are all cradle head double bearing brushless motors. Under the cooperation with gesture feedback mechanism, can reduce the influence of inertia to the testing process, the shake of laser emitter 6 in the significantly reduced removal in-process need not too much latency.
When the laser receiving device is used, the laser emitting mechanism and the laser receiving mechanism can be respectively packaged by adopting the shell, so that the laser receiving device is convenient to carry and use. The shell is made of ABS engineering plastic, and has the characteristics of high wear resistance and low manufacturing cost. An LCD (liquid crystal display) 8 is arranged on the surface of the shell of the laser receiving mechanism and is used for displaying the finally measured data such as verticality deviation and the like, so that the direct reading is convenient. The 18650 lithium battery is adopted to supply power to the power utilization components such as the brushless motor and the laser emitter 6, and the standby time is long, so that the method is suitable for uninterrupted measurement of multiple items. The USB-Type C data interface can be provided at the same time, and the mobile power supply is adopted for supplying power. The shell is also internally provided with a circuit board, a memory storage chip and the like, and the memory storage chip is used for storing data. And the Bluetooth equipment is configured, data is transmitted to the mobile phone end micro cloud platform for storage and labeling through Bluetooth, the data is not easy to lose, and the efficient measurement work is ensured. The Bluetooth remote controller is equipped, and the Bluetooth remote controller is used for operation control, so that the Bluetooth remote controller is simple to use and convenient to carry.
The laser measuring method for the verticality of the metal component comprises the following steps:
s1, a laser emitting mechanism is adsorbed on the upper part of a detected structure body 1, a laser receiving mechanism is adsorbed on the lower part of the detected structure body 1, and the laser emitting mechanism and the laser receiving mechanism are arranged oppositely. Before the measurement is performed, the laser emitting mechanism and the laser receiving mechanism are calibrated. According to the posture signal of the laser transmitter 6 fed back by the posture feedback mechanism installed on the laser transmitter 6, the controller controls the first brushless motor 2 and the second brushless motor 3 to rotate, and adjusts the laser transmitting port of the laser transmitter 6 to a vertically downward state. The third brushless motor 4 and the fourth brushless motor 5 are controlled to rotate according to the posture signal of the dial 7 fed back by the posture feedback mechanism mounted on the dial 7, and the dial 7 is adjusted to the horizontal state.
And the clock calibration is carried out, the laser falling point emitted by the laser emitter 6 will firstly fall to the central axis of the dial 7, and the laser emitting mechanism can carry out the double-device electromagnetic wave clock calibration after receiving the feedback that the laser falls to the central axis of the dial 7, so that the two devices synchronously calculate, and the accuracy of calculation is ensured. The laser transmitter 6 then interrupts the laser emission and restarts the laser emission after 0.05s, and the laser ranging sensor performs the dual-device laser clock calibration after receiving the laser signal.
S2, respectively acquiring the inner measured refractive index, the maximum refractive index and the height of the structure 1 to be measured of the grating head. In this embodiment, the refractive index measured in the grating head is 1.003, and the maximum refractive index is set to 1.043.
S3, light can be reflected and refracted when passing through the interface of two uniform media, and refraction interference needs to be eliminated in order to realize high-precision measurement in various complex environments. The method comprises the following steps: the control lock 16 is in a released state, and the second link 12 is rotatable relative to the first link 11. The second brushless motor 3 is controlled to perform reciprocating rotation, and the laser emitting device is driven by the second brushless motor 3 to swing greatly. Since the control lock 16 is in the released state, the second link 12 can be always in the vertical state during the swing of the laser transmitter 6. At this time, through the first linkThe light from the rod 11 is P light, and the second link 12 can be always in a vertical state, so that the laser light can always be irradiated on the dial 7. The brewster angle, i.e. the angle between the laser and the normal to the scale 7 when the intensity of the light obtained on the laser displacement sensor is lost, is obtained. In practice, it is difficult to achieve a light intensity indication that is exactly equal to zero, even if the light intensity is zeroed. The angle between the laser and the scale 7 at which the recording light intensity is minimal is therefore considered the brewster angle. The refractive index of the foreign matter is calculated according to the Brewster angle, and the calculation formula is as follows:
wherein->
Refractive index of foreign matter->
Is the brewster angle.
S4, after the first connecting rod 11 and the second connecting rod 12 are positioned on the same straight line, the control locking piece 16 is fixed, and the relative positions of the first connecting rod 11 and the second connecting rod 12 are fixed. The positions of the laser transmitter 6 and the dial 7 are adjusted so that the laser falls on the center position of the central axis of the dial 7. The first distance between the laser emitting opening of the laser emitter 6 and the central axis of the dial 7 is obtained by a laser distance measuring sensor. At this time, the first distance is the actual distance from the laser emitting port to the central axis of the dial 7, and is not affected by refraction.
S5, adjusting positions of the laser emitter 6 and the dial 7, and controlling the laser emitted by the laser emitter 6 to be in a vertical state and the dial 7 to be in a horizontal state. The laser light is irradiated onto the scale disk 7, and a red laser line parallel to the central axis is displayed on the scale disk 7. The second distance between the laser line emitted onto the scale disk 7 and the central axis of the scale disk 7 is acquired by a laser displacement sensor.
S6, calculating the distance from the central axis of the dial 7 to the structure 1 to be measured to be the same as the distance from the central axis of the laser transmitter 6 to the structure 1 to be measured by adopting the first interval, the second interval and the height of the structure 1 to be measured according to the similar triangle theoremAnd (5) verticality deviation. The calculation formula is as follows:
wherein->
For verticality deviation +.>
For the second distance>
For the height of the structure 1 to be measured, +.>
Is the first pitch.
And S7, actually, the perpendicularity deviation of laser measurement is influenced by the external environment, and a certain error exists. Therefore, the refractive index of the foreign substance is compared with the maximum refractive index, and when the refractive index of the foreign substance is equal to or lower than the maximum refractive index, it is determined that the actual verticality deviation is equal to the verticality deviation. And when the refractive index of the external substance is larger than the maximum refractive index, performing calibration calculation to obtain the actual verticality deviation. The method comprises the following steps: the forward direction is defined, for example, the reverse direction rotation of the second brushless motor 3 is defined as the forward direction. The angle between the laser light and the lens normal of the grating head at this time, i.e. the angle of incidence, is measured by the intensity sensor connected to the laser transmitter 6 by the intensity variation of the reflected light. The refraction angle is calculated according to the incident angle, the refractive index measured in the grating head and the refractive index of the external matters, and the calculation formula is as follows:
wherein->
The refraction angle is positive and negative. />
For measuring refractive index in grating head +.>
For incident angle, ++>
Is the refractive index of the foreign matters. Calculating a deviation value generated by refraction according to the refraction angle and the first interval, wherein the calculation formula is as follows: />
Wherein->
For deviation value, +.>
Is the first pitch. The actual verticality deviation is calculated, actual verticality deviation = verticality deviation + deviation value. Finally, the actual verticality deviation is displayed directly on the display 8 for reading by the measuring staff.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the present invention should be included in the scope of the present invention.
Claims (10)
1. A metal component perpendicularity laser measurement device comprising: the laser transmitting mechanism, the laser receiving mechanism, the gesture feedback mechanism and the controller are respectively and electrically connected with the controller; it is characterized in that the method comprises the steps of,
the laser emission mechanism comprises a first brushless motor, a first mounting frame, a second brushless motor and a laser emitter, wherein an output shaft of the first brushless motor is connected with the first mounting frame, the first mounting frame is connected with the second brushless motor, an output shaft of the second brushless motor is connected with the laser emitter, a light intensity sensor is connected to the laser emitter, and a grating head is connected to a laser emission port of the laser emitter; the laser receiving mechanism comprises a third brushless motor, a second mounting frame, a fourth brushless motor and a dial, wherein an output shaft of the third brushless motor is connected with the second mounting frame, the second mounting frame is connected with the fourth brushless motor, the output shaft of the fourth brushless motor is connected with the end part of the dial, and a laser ranging sensor and a laser displacement sensor are respectively arranged in the dial; and gesture feedback mechanisms are respectively arranged on the dial and the laser transmitters.
2. The laser measuring device for perpendicularity of a metal member according to claim 1, wherein the grating head comprises a first connecting rod, a second connecting rod, a connector and a locking piece, and the first connecting rod, the second connecting rod and the connector are respectively hollow structures; one end of the first connecting rod is connected with a laser emission port of the laser emitter, the other end of the first connecting rod is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with the connector, and the port of the connector is of a straight-line structure; a polarized lens is arranged on a port connected with the laser emission port on the first connecting rod, and the end part connected with the second connecting rod on the first connecting rod is of a universal head structure; a lens is arranged at a port connected with the connector on the second connecting rod, and a counterweight is arranged in the connector; a locking piece is connected between the first connecting rod and the second connecting rod and used for fixing the relative positions of the first connecting rod and the second connecting rod.
3. The laser measuring device for perpendicularity of a metal member according to claim 1, wherein the posture feedback mechanism comprises a gyroscope, an acceleration sensor and an encoder, the gyroscope and the acceleration sensor are respectively electrically connected with the encoder, and the encoder is electrically connected with the controller.
4. The laser measuring device of claim 1, wherein the first brushless motor end is connected to a first magnetic attraction base, and the third brushless motor end is connected to a second magnetic attraction base.
5. The laser measuring device for perpendicularity of a metal member according to claim 1, wherein the first mounting frame comprises a first folded plate and a first supporting rod, one end of the first folded plate is connected with an output shaft of the first brushless motor, the other end of the first folded plate is connected with the first supporting rod, and the second brushless motor is connected to the first supporting rod; the first folded plate is provided with a through hole at a position opposite to the laser emitter.
6. The laser measuring device for the perpendicularity of the metal component according to claim 1, wherein the second mounting frame comprises a second folded plate, a mounting plate, a second supporting rod and a supporting block, one end of the second folded plate is connected with an output shaft of the third brushless motor, the other end of the second folded plate is connected with the mounting plate, the two ends of the mounting plate are respectively connected with the second supporting rod and the supporting block, and the fourth brushless motor is connected to the second supporting rod; the calibrated scale setting is in the mounting panel top, and calibrated scale one end is connected with fourth brushless motor output shaft, and the calibrated scale other end rotates to be connected on the supporting shoe.
7. A method of measuring perpendicularity of a metal member using the laser measuring device for perpendicularity of a metal member according to any one of claims 1 to 6, characterized by comprising the steps of:
s1, calibrating a laser emitting mechanism and a laser receiving mechanism which are connected to a detected structure;
s2, respectively obtaining the inner measured refractive index, the maximum refractive index and the height of the measured structure body of the grating head;
s3, eliminating refraction interference to obtain the refractive index of the external matters;
s4, acquiring a first distance between a laser emitting opening of the laser emitter and a central axis of the dial;
s5, controlling laser emitted by the laser emitter to be in a vertical state and the dial to be in a horizontal state, and obtaining a second interval between a laser line emitted to the dial and a central axis of the dial;
s6, calculating verticality deviation according to the first interval, the second interval and the height of the detected structure;
s7, comparing the refractive index of the external material with the maximum refractive index, and performing calibration calculation when the refractive index of the external material is larger than the maximum refractive index to obtain actual verticality deviation; otherwise, determining that the actual perpendicularity deviation is equal to the perpendicularity deviation.
8. The method for measuring the perpendicularity of a metal member according to claim 7, wherein the specific step of S3 is:
the control locking piece is in a releasing state;
controlling the second brushless motor to reciprocally rotate;
acquiring a Brewster angle, namely an included angle between the laser and the normal of the dial when the light intensity acquired by the laser displacement sensor disappears;
the refractive index of the foreign matter is calculated according to the Brewster angle, and the calculation formula is as follows:
wherein->
Refractive index of foreign matter->
Is the brewster angle.
9. The method for measuring the perpendicularity of a metal member according to claim 7, wherein the calculation formula for calculating the perpendicularity deviation according to the first pitch, the second pitch and the measured structure height in S6 is as follows:
wherein->
For verticality deviation +.>
For the second distance>
For the height of the structure to be tested, < >>
Is the first pitch.
10. The method for measuring the perpendicularity of a metal member according to claim 7, wherein the specific steps of performing calibration calculation in S7 to obtain the actual perpendicularity deviation are as follows:
acquiring an incident angle, namely an included angle between the laser and the normal line of the lens of the grating head;
the refraction angle is calculated according to the incident angle, the refractive index measured in the grating head and the refractive index of the external matters, and the calculation formula is as follows:
wherein->
Is refraction angle>
For measuring refractive index in grating head +.>
For incident angle, ++>
Refractive index of foreign matters;
calculating a deviation value according to the refraction angle and the first interval, wherein the calculation formula is as follows:
wherein->
For deviation value, +.>
Is a first pitch;
the actual verticality deviation is calculated, actual verticality deviation = verticality deviation + deviation value.
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