CN117367277A - Three-dimensional coordinate measurement system and method for stay cord sensor - Google Patents
Three-dimensional coordinate measurement system and method for stay cord sensor Download PDFInfo
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- CN117367277A CN117367277A CN202311408277.3A CN202311408277A CN117367277A CN 117367277 A CN117367277 A CN 117367277A CN 202311408277 A CN202311408277 A CN 202311408277A CN 117367277 A CN117367277 A CN 117367277A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a three-dimensional coordinate measuring system and a method for a pull rope sensor, wherein the deflection of the rope outlet direction of the pull rope sensor relative to the end surface normal of a rope outlet is detected, a double-shaft tracking turntable is adjusted in real time according to the size and the direction of the deflection, the space attitude angle of the pull rope sensor is controlled, the rope outlet direction of the pull rope sensor approaches to the end surface normal direction of the rope outlet, and the direction tracking is realized; further, the sum of the horizontal angle of the double-shaft tracking turntable and the horizontal offset angle residual value of the rope outlet direction of the rope sensor relative to the end surface normal of the rope outlet is taken as the horizontal angle of the spherical coordinates, the sum of the pitch angle of the double-shaft tracking turntable and the pitch offset angle residual value of the rope outlet direction of the rope sensor relative to the end surface normal of the rope outlet is taken as the pitch angle of the spherical coordinates, and the displacement of the rope sensor is taken as the polar distance of the spherical coordinates, so that the space spherical coordinates are constructed, and the high-precision tracking measurement of the space three-dimensional coordinates is realized.
Description
Technical Field
The invention belongs to the field of geometric measurement, relates to three-dimensional coordinate measurement of large-size space, and particularly relates to a three-dimensional coordinate measurement system and method of a pull rope sensor.
Background
The large-size space three-dimensional coordinate measurement has wide application requirements in manufacturing and assembling processes of wind power, shipbuilding, aerospace and the like, and common large-size three-dimensional coordinate measurement schemes comprise a coordinate machine, a theodolite, a laser tracker, binocular vision and the like, but have the characteristics of high cost, high environmental requirements and the like.
The stay cord sensor has the advantages of simple structure, strong environmental adaptability and simple layout, and is widely applied to displacement detection of one-dimensional moving targets. However, due to the limitation of the structure, the end face of the rope outlet of the rope pulling sensor is required to be perpendicular to the movement direction, the rope outlet direction is required to be coaxial with the movement direction, and additional measurement errors and friction of the steel wire rope at the rope outlet are avoided. When the stay rope sensor is applied to a measured object with multiple degrees of freedom in movement, the angle of the stay rope can be changed simultaneously except for the change of the length of the stay rope, but the stay rope sensor can only give displacement data in one-dimensional direction, and obviously cannot meet the requirement of three-dimensional coordinate measurement. Therefore, the three-dimensional coordinate measurement technology based on the pull rope sensor is studied, and the method has important significance in realizing low-cost and high-adaptability three-dimensional coordinate measurement.
CN116038675 discloses an industrial robot calibration system based on a stay cord encoder and a double-angle encoder, the calibration system comprises a universal joint tool, a stay cord sensor and the double-angle encoder, and the space three-dimensional coordinate measurement of a measured point is realized by measuring the length of the stay cord, the pitch angle and the yaw angle of the stay cord. However, the perpendicular relationship between the rope outlet end face and the movement direction of the rope sensor, and the coaxial relationship between the rope outlet direction and the movement direction of the rope sensor cannot meet the above requirements, and the layout and measurement method of the angle encoder are not described in detail in this scheme.
Disclosure of Invention
The invention aims to: the invention provides a three-dimensional coordinate measuring system of a pull rope sensor, which is used for detecting the deviation of the rope outlet direction of the pull rope sensor and tracking and controlling the gesture of the pull rope sensor, and can realize the measurement of the three-dimensional coordinate of a single machine large-size space on the basis of meeting the control of the rope outlet direction of the pull rope sensor; the second object of the invention is to provide a three-dimensional coordinate measuring method of a pull rope sensor.
The technical scheme is as follows: the invention relates to a three-dimensional coordinate measuring system of a pull rope sensor, which comprises the following components:
the double-shaft tracking turntable comprises a horizontal turntable and a pitching turntable rigidly mounted on the horizontal turntable, wherein the revolving shaft of the horizontal turntable is orthogonal to the revolving shaft of the pitching turntable, and angle encoders with zero positions are respectively arranged on the horizontal turntable and the pitching turntable and used for detecting the angles of the corresponding revolving shafts;
the rope pulling sensor is rigidly arranged on the pitching turntable, and the center of the rope outlet end face of the rope pulling sensor coincides with the right intersection point of the revolving shaft; when the double-shaft tracking turntable rotates, the spatial attitude angle of the stay rope sensor can be adjusted, and the spatial position of the center point of the rope outlet of the stay rope sensor is kept unchanged;
the rope outlet direction deviation detection unit of the rope pulling sensor is rigidly connected to the pitching turntable and keeps a fixed distance with the end face of the rope outlet of the rope pulling sensor, and comprises a horizontal direction deviation detection unit and a pitching direction deviation detection unit which have the same structure and are placed vertically;
and the main control unit is used for driving the double-shaft tracking turntable according to the horizontal offset and the vertical offset, so that the rope outlet direction of the rope pulling sensor approaches to the normal direction of the end surface of the rope outlet.
Further, the offset detection unit comprises an LED light source, a first slit diaphragm, a first cylindrical lens, a second slit diaphragm and a linear array CCD, wherein the first and second cylindrical lenses are oppositely arranged, and a steel wire rope of the pull rope sensor passes through the space between the first and second cylindrical lenses; light emitted by the LED light source forms a strip-shaped light beam through a first slit diaphragm, then forms a plane parallel light beam through a first cylindrical lens, the plane parallel light beam is converged through a second cylindrical lens and then irradiates on the linear array CCD through a second slit diaphragm, and the second slit diaphragm is used for blocking space stray light from entering the linear array CCD; part of light is shielded by a steel wire rope of the stay rope sensor, a characteristic recess is formed on the CCD image, and the position of the characteristic recess corresponds to the offset in the rope outlet direction;
the center line of the horizontal direction deviation detection unit and the center line of the pitching direction deviation detection unit are orthogonal in space, the orthogonal plane is parallel to the end face of the rope outlet of the rope sensor, and the orthogonal point is positioned on the normal line of the end face of the rope outlet of the rope sensor.
Further, the LED light source adopts a 550nm luminous tube.
Further, the focal length of the cylindrical lens is 12mm, and the edge of the cylindrical lens is dustproof and waterproof by adopting sealant.
Further, the linear array CCD adopts 1500-pixel TCD1103 module, and the peak response wavelength is 550nm.
Further, the horizontal angle tracking range of the double-shaft tracking turntable is +/-150 degrees, and the pitch angle tracking range is +/-90 degrees.
Further, the angle encoder adopts a 17-bit single-turn absolute value encoder.
Further, the motor in the double-shaft tracking turntable adopts a 20-type two-phase stepping motor with a step angle of 1.8 degrees.
The invention relates to a three-dimensional coordinate measuring method of a pull rope sensor, which comprises the following steps:
offset detection: the main control unit reads the image data of the rope outlet direction deviation detection unit of the rope sensor and calculates the horizontal direction deviation amount and the vertical direction deviation amount of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end face;
tracking control: the main control unit drives the double-shaft tracking turntable according to the magnitude and the direction of the deviation amount of the rope outlet direction, so that the rope outlet direction of the rope pulling sensor approaches to the normal direction of the end surface of the rope outlet;
and (3) secondary offset detection: after tracking is completed, the main control unit reads the image data of the rope outlet direction deviation detection unit of the rope sensor and calculates the horizontal direction deviation residual value and the vertical direction deviation residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface;
reading: the main control unit reads current displacement data of the pull rope sensor, a current horizontal angle of the horizontal holder and current pitch angle data of the pitching holder;
and (3) calculating: calculating the offset angle residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface by an arc tangent function according to the offset residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface and the distance between the offset detection unit and the rope outlet; summing the current horizontal angle of the double-shaft tracking turntable and the horizontal offset angle residual value of the rope outlet direction of the rope outlet sensor relative to the normal line of the end surface of the rope outlet to obtain a real-time horizontal angle of the spherical coordinates; summing the current pitch angle of the double-shaft tracking turntable and the pitch offset angle residual value of the rope outlet direction of the rope outlet relative to the end surface normal of the rope outlet to obtain a real-time pitch angle of the spherical coordinates;
and (3) data output: the displacement of the pull rope sensor is taken as the polar distance of the spherical coordinates, and the real-time horizontal angle of the spherical coordinates and the real-time pitch angle of the spherical coordinates are combined to construct space spherical coordinates;
and (3) circularly repeating offset detection, tracking control, secondary offset detection, reading, calculation and data output, and realizing dynamic measurement of the spherical coordinates of the three-dimensional target point in space.
Further, extracting the edge of the characteristic recess through a Canny algorithm, and calculating the central position of the characteristic recess to obtain the offset of the rope outlet direction of the rope sensor relative to the normal line of the end face of the rope outlet.
The invention has the core principle that through the imaging of the wire rope of the stay rope sensor on the image sensor, the deviation of the rope outlet direction of the stay rope sensor relative to the end surface normal of the rope outlet is detected in real time, the double-shaft tracking turntable is adjusted in real time according to the size and the direction of the deviation, the space attitude angle of the stay rope sensor is controlled, and the rope outlet direction of the stay rope sensor approaches to the end surface normal direction of the rope outlet, so that the direction tracking is realized.
Due to the limitation of motor tracking accuracy, certain tracking deviation is necessarily present. Therefore, on the basis of the scheme, the sum of the horizontal angle of the double-shaft tracking turntable and the horizontal offset angle residual value of the rope outlet direction of the rope sensor relative to the end surface normal of the rope outlet is taken as the horizontal angle of the spherical coordinates, the sum of the pitch angle of the double-shaft tracking turntable and the pitch offset angle residual value of the rope outlet direction of the rope sensor relative to the end surface normal of the rope outlet is taken as the pitch angle of the spherical coordinates, and the displacement of the rope sensor is taken as the polar distance of the spherical coordinates, so that the space spherical coordinates are constructed, and the high-precision tracking measurement of the space three-dimensional coordinates is realized.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages:
according to the invention, the deflection detection and tracking are carried out on the rope outlet direction, so that the measurement of the single machine large-size space three-dimensional coordinate can be realized on the basis of meeting the rope outlet direction control of the rope outlet sensor.
The three-dimensional coordinate measuring system of the stay cord sensor has simple structure and strong environmental adaptability.
Drawings
Fig. 1 is a schematic structural diagram of a three-dimensional coordinate measurement system of a pull rope sensor according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a pull-rope sensor rope-out direction deviation detecting unit in the embodiment of the present application.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a three-dimensional coordinate measurement system of a pull rope sensor provided for an embodiment of the application includes a base, a dual-axis tracking turntable, a pull rope sensor rope-out direction deviation detection unit and a main control unit, wherein a horizontal turntable of the dual-axis tracking turntable is rigidly mounted on the base, and a pitching turntable is rigidly mounted on the horizontal turntable. The horizontal turntable rotating shaft is orthogonal with the pitching turntable rotating shaft, and the turntable is driven by a stepping motor or a servo motor. The horizontal turntable and the pitching turntable are respectively provided with an angle encoder with zero positions for detecting the angle of the corresponding rotating shaft. The biaxial tracking turntable is mature equipment, and technical details not described in the present case are all in the prior art, and are not described in detail herein.
The stay cord sensor is rigidly mounted on the pitching turntable, and the center of the end face of the stay cord outlet of the stay cord sensor coincides with the right intersection point of the revolving shaft. When the double-shaft tracking turntable rotates, the spatial attitude angle of the stay rope sensor can be adjusted, and the spatial position of the center point of the rope outlet of the stay rope sensor is kept unchanged.
The rope outlet direction deviation detection unit of the rope pulling sensor is rigidly connected to the pitching turntable and keeps a fixed distance with the end face of the rope outlet of the rope pulling sensor. The rope outlet direction deviation detection unit of the rope pulling sensor comprises a horizontal direction deviation detection unit and a pitching direction deviation detection unit, and the two are identical in structure and are placed vertically.
Referring to fig. 2, the rope-out direction deviation detecting unit includes an LED light source, a first slit diaphragm (i.e., slit diaphragm 1 shown in fig. 2), a first cylindrical lens (i.e., cylindrical lens 1 shown in fig. 2), a second cylindrical lens (i.e., cylindrical lens 2 shown in fig. 2), a second slit diaphragm (i.e., slit diaphragm 2 shown in fig. 2) and a linear array CCD which are coaxially placed, wherein the first and second cylindrical lenses are opposite, and a wire rope of the rope-pulling sensor passes through the space between the first and second cylindrical lenses. Light beams emitted by an LED light source (point light source) are limited into strip-shaped light beams through a first slit diaphragm, then plane parallel light beams are formed through a first cylindrical lens, the plane parallel light beams are converged through a second cylindrical lens and then irradiated onto a linear array CCD through a second slit diaphragm, and the second slit diaphragm is used for blocking space stray light from entering the linear array CCD. Part of light is shielded by a steel wire rope of the stay rope sensor, a characteristic recess is formed on the CCD image, and the position of the characteristic recess corresponds to the offset in the rope outlet direction. The center line of the horizontal direction deviation detection unit and the center line of the pitching direction deviation detection unit are orthogonal in space, the orthogonal plane is parallel to the end face of the rope outlet of the rope sensor, and the orthogonal point is positioned on the normal line of the end face of the rope outlet of the rope sensor.
And extracting the edge of the characteristic recess through a Canny algorithm, and calculating the central position of the characteristic recess to obtain the offset of the rope outlet direction of the rope sensor relative to the normal line of the end surface of the rope outlet. The Canny algorithm is a prior art mature technology and will not be described in detail herein.
The embodiment of the application also provides a three-dimensional coordinate measuring method of the pull rope sensor, which adopts the three-dimensional coordinate measuring system of the pull rope sensor, and the specific method flow is as follows.
1. System power-on initialization
Before power-on, the stay cord sensor is confirmed to be in a complete reset state;
resetting the horizontal turntable and the pitching turntable of the double-shaft tracking turntable to zero position of the encoder and zero clearing the angle data;
and (5) carrying out rope displacement data clearing on the rope sensor.
2. Coordinate tracking measurement
Offset detection: the main control unit reads the image data of the rope outlet direction deviation detection unit of the rope sensor and calculates the horizontal direction deviation amount and the vertical direction deviation amount of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end face;
tracking control: the main control unit drives the double-shaft tracking turntable according to the size and the direction of the deviation of the rope outlet direction, so that the rope outlet direction of the rope pulling sensor approaches to the normal direction of the end surface of the rope outlet (limited by motor tracking precision, certain tracking deviation can be necessarily caused);
and (3) secondary offset detection: after tracking is completed, the main control unit reads the image data of the rope outlet direction deviation detection unit of the rope sensor and calculates the horizontal direction deviation residual value and the vertical direction deviation residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface; the residual value refers to the final deviation between the central position of a characteristic recess formed on the CCD by the rope pulling sensor wire rope and the central line of the CCD after the tracking control is finished due to the minimum step limit of tracking;
reading: the main control unit reads current displacement data of the pull rope sensor, a current horizontal angle of the horizontal holder and current pitch angle data of the pitching holder;
and (3) calculating: calculating the offset angle residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface by an arc tangent function according to the offset residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface and the distance between the offset detection unit and the rope outlet; summing the current horizontal angle of the double-shaft tracking turntable and the horizontal offset angle residual value of the rope outlet direction of the rope outlet sensor relative to the normal line of the end surface of the rope outlet to obtain a real-time horizontal angle of the spherical coordinates; summing the current pitch angle of the double-shaft tracking turntable and the pitch offset angle residual value of the rope outlet direction of the rope outlet relative to the end surface normal of the rope outlet to obtain a real-time pitch angle of the spherical coordinates;
and (3) data output: the displacement of the pull rope sensor is taken as the polar distance of the spherical coordinates, and the real-time horizontal angle of the spherical coordinates and the real-time pitch angle of the spherical coordinates are combined to construct space spherical coordinates;
and (3) circularly repeating offset detection, tracking control, secondary offset detection, reading, calculation and data output, and realizing dynamic high-precision measurement of the spherical coordinates of the three-dimensional target point in space.
A specific example is given below.
The double-shaft tracking turntable is an orthogonal double-shaft electric driving turntable, the horizontal turntable is arranged on the disc-shaped base, the pitching turntable is overlapped on the horizontal turntable, and the turntable is driven by a motor through a worm gear reducer. The motor is a 20-type two-phase stepping motor with a step angle of 1.8 degrees, THB7128 chips are adopted for motor driving, and the worm gear transmission ratio is 1:80. the horizontal angle tracking range of the double-shaft tracking turntable is +/-150 degrees, and the pitch angle tracking range is +/-90 degrees.
The angle encoders are 17-bit single-turn absolute value encoders, the data interface is RS-485, and the communication protocol is MODBUS-RTU.
The distance of the pull rope sensor is 10000mm, the linear precision is 0.01% FS, the protection level is IP65, the wire diameter of the pull rope is 0.8mm, the data interface is RS-485, and the communication protocol is MODBUS-RTU.
The main control unit adopts an STM32F407 singlechip, 6 serial ports supporting asynchronous communication are built in, the 1 st to 3 rd serial ports are used for the communication of the stay rope sensor and the angle encoder, the 4 th to 5 th serial ports are used for the communication of the linear array CCD, the 6 th serial ports are used for the output of measurement results, and the baud rate of each serial port is set to 57600.
In the rope-out direction deviation detection unit of the rope-out sensor, an LED light source adopts a 550nm luminous tube, and the light-transmitting slit width of a slit diaphragm is 0.8mm. The focal length of the cylindrical lens is 12mm, the width is 15mm, the height is 3mm, and the edges of the lens are all dustproof and waterproof by adopting sealant. The linear array CCD is 1500 pixel TCD1103 module, the peak response wavelength is 550nm. The rope outlet direction deviation detection unit of the rope sensor is 100mm away from the end face of the rope outlet of the rope sensor.
The system initialization flow is as follows:
(1) STM32 singlechip initializing, including clock initializing, initializing each serial port, and initializing a control pin of THB 7128;
(2) The STM32 singlechip reads the angle data of the horizontal turntable and the pitching turntable encoder of the double-shaft tracking turntable through serial ports 2-3, and if the angle of a certain shaft is not zero, the corresponding forward and reverse rotation control signals and pulse signals are sent according to the angle data, and the corresponding stepping motor is driven to control the turntable to reset;
(3) The STM32 singlechip sends a communication instruction through the serial port 1 to clear the displacement data of the stay rope sensor;
(4) The STM32 single-chip microcomputer sends spherical coordinates (displacement=0, horizontal angle=0, pitch angle=0) through the serial port 6.
The normal working flow of the system is as follows:
(5) The STM32 singlechip reads displacement data of the pull rope sensor and judges, when the displacement is greater than 110mm, the system enters the next step, otherwise, the step (5) is executed in a circulating way;
(6) The STM32 singlechip reads the horizontal deviation detection unit linear array CCD image data of the rope outlet of the rope sensor through the serial port 4, and calculates the horizontal deviation amount of the rope outlet of the rope sensor and the number of driving pulses of the stepping motor required by tracking according to the central position of the image characteristic depression;
(7) STM32 singlechip outputs horizontal turntable driving motor signal;
(8) The STM32 singlechip reads the linear array CCD image data of the rope-out pitching direction deviation detection unit of the rope-out sensor through the serial port 5, and calculates the rope-out pitching direction deviation amount of the rope-out sensor and the number of stepping motor driving pulses required by tracking according to the central position of the image characteristic depression;
(9) STM32 singlechip outputs pitching rotary table driving motor signal;
(10) Waiting for the driving motor to finish tracking;
(11) The STM32 singlechip reads the CCD image data of the horizontal deviation detection unit linear array of the rope outlet of the rope sensor through the serial port 4, and calculates the residual value of the horizontal deviation of the rope outlet of the rope sensor according to the central position of the image characteristic depression;
(12) The STM32 singlechip reads the linear array CCD image data of the rope-discharging pitching direction deviation detection unit of the rope-discharging sensor through the serial port 5, and calculates the residual value of the rope-discharging pitching direction deviation quantity of the rope-discharging sensor according to the central position of the image characteristic depression;
(13) The STM32 singlechip reads the angle data of the horizontal turntable encoder through the serial port 2;
(14) The STM32 singlechip reads the angle data of the pitching turntable encoder through the serial port 3;
(15) Calculating a real-time horizontal angle of the spherical coordinates and a real-time pitch angle of the spherical coordinates;
(16) The STM32 singlechip reads displacement data of the stay cord sensor through the serial port 1 to serve as a spherical coordinate polar distance;
(17) Outputting the spherical coordinate data in the steps (15) to (16) by the STM32 singlechip through the serial port 6;
(18) And (5) circularly executing the steps (5) to (17).
Estimating system precision:
the offset detection width was 15mm, corresponding to 1500 pixels, and the amount of displacement corresponding to the pixels was 0.01mm. The distance between the end face of the pull rope outlet and the deflection detection plane is 100mm. The corresponding offset angle of each pixel is 0.00573 degrees, and the corresponding space error is 1mm on the working distance of 10000mm, which is equivalent to the precision level of the pull rope sensor.
Claims (10)
1. A pull-cord sensor three-dimensional coordinate measurement system, comprising:
the double-shaft tracking turntable comprises a horizontal turntable and a pitching turntable rigidly mounted on the horizontal turntable, wherein the revolving shaft of the horizontal turntable is orthogonal to the revolving shaft of the pitching turntable, and angle encoders with zero positions are respectively arranged on the horizontal turntable and the pitching turntable and used for detecting the angles of the corresponding revolving shafts;
the rope pulling sensor is rigidly arranged on the pitching turntable, and the center of the rope outlet end face of the rope pulling sensor coincides with the right intersection point of the revolving shaft; when the double-shaft tracking turntable rotates, the spatial attitude angle of the stay rope sensor can be adjusted, and the spatial position of the center point of the rope outlet of the stay rope sensor is kept unchanged;
the rope outlet direction deviation detection unit of the rope pulling sensor is rigidly connected to the pitching turntable and keeps a fixed distance with the end face of the rope outlet of the rope pulling sensor, and comprises a horizontal direction deviation detection unit and a pitching direction deviation detection unit which have the same structure and are placed vertically;
and the main control unit is used for driving the double-shaft tracking turntable according to the horizontal offset and the vertical offset, so that the rope outlet direction of the rope pulling sensor approaches to the normal direction of the end surface of the rope outlet.
2. The system of claim 1, wherein the deflection detection unit comprises an LED light source, a first slit diaphragm, a first cylindrical lens, a second slit diaphragm, and a linear CCD, wherein the first and second cylindrical lenses are disposed opposite to each other, and a wire rope of the pull rope sensor passes between the first and second cylindrical lenses; light emitted by the LED light source forms a strip-shaped light beam through a first slit diaphragm, then forms a plane parallel light beam through a first cylindrical lens, the plane parallel light beam is converged through a second cylindrical lens and then irradiates on the linear array CCD through a second slit diaphragm, and the second slit diaphragm is used for blocking space stray light from entering the linear array CCD; part of light is shielded by a steel wire rope of the stay rope sensor, a characteristic recess is formed on the CCD image, and the position of the characteristic recess corresponds to the offset in the rope outlet direction;
the center line of the horizontal direction deviation detection unit and the center line of the pitching direction deviation detection unit are orthogonal in space, the orthogonal plane is parallel to the end face of the rope outlet of the rope sensor, and the orthogonal point is positioned on the normal line of the end face of the rope outlet of the rope sensor.
3. The system of claim 2, wherein the LED light source is a 550nm arc tube.
4. The three-dimensional coordinate measuring system of a pull rope sensor according to claim 2, wherein the focal length of the cylindrical lens is 12mm, and the edge of the cylindrical lens is dustproof and waterproof by adopting sealant.
5. The system of claim 2, wherein the linear array CCD employs 1500 pixel TCD1103 modules with a peak response wavelength of 550nm.
6. The pull-string sensor three-dimensional coordinate measurement system of claim 1, wherein the dual-axis tracking turret tracks a horizontal angle of 150 ° and a pitch angle of 90 °.
7. The pull-cord sensor three-dimensional coordinate measurement system of claim 1, wherein the angle encoder is a 17-bit single-turn absolute encoder.
8. The system of claim 1, wherein the motor in the dual axis tracking turret is a 20-phase stepper motor with a 1.8 ° pitch angle.
9. The three-dimensional coordinate measuring method of the pull rope sensor is characterized by comprising the following steps of:
offset detection: the main control unit reads the image data of the rope outlet direction deviation detection unit of the rope sensor and calculates the horizontal direction deviation amount and the vertical direction deviation amount of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end face;
tracking control: the main control unit drives the double-shaft tracking turntable according to the magnitude and the direction of the deviation amount of the rope outlet direction, so that the rope outlet direction of the rope pulling sensor approaches to the normal direction of the end surface of the rope outlet;
and (3) secondary offset detection: after tracking is completed, the main control unit reads the image data of the rope outlet direction deviation detection unit of the rope sensor and calculates the horizontal direction deviation residual value and the vertical direction deviation residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface;
reading: the main control unit reads current displacement data of the pull rope sensor, a current horizontal angle of the horizontal holder and current pitch angle data of the pitching holder;
and (3) calculating: calculating the offset angle residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface by an arc tangent function according to the offset residual value of the rope outlet direction of the rope sensor relative to the normal line of the rope outlet end surface and the distance between the offset detection unit and the rope outlet; summing the current horizontal angle of the double-shaft tracking turntable and the horizontal offset angle residual value of the rope outlet direction of the rope outlet sensor relative to the normal line of the end surface of the rope outlet to obtain a real-time horizontal angle of the spherical coordinates; summing the current pitch angle of the double-shaft tracking turntable and the pitch offset angle residual value of the rope outlet direction of the rope outlet relative to the end surface normal of the rope outlet to obtain a real-time pitch angle of the spherical coordinates;
and (3) data output: the displacement of the pull rope sensor is taken as the polar distance of the spherical coordinates, and the real-time horizontal angle of the spherical coordinates and the real-time pitch angle of the spherical coordinates are combined to construct space spherical coordinates;
and (3) circularly repeating offset detection, tracking control, secondary offset detection, reading, calculation and data output, and realizing dynamic measurement of the spherical coordinates of the three-dimensional target point in space.
10. The three-dimensional coordinate measuring method of the pull rope sensor according to claim 9, wherein the offset of the rope outlet direction of the pull rope sensor relative to the normal line of the rope outlet end face is obtained by extracting the edge of the characteristic recess and calculating the central position of the characteristic recess through a Canny algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311408277.3A CN117367277A (en) | 2023-10-27 | 2023-10-27 | Three-dimensional coordinate measurement system and method for stay cord sensor |
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