CN208298183U - A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction - Google Patents
A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction Download PDFInfo
- Publication number
- CN208298183U CN208298183U CN201820812918.XU CN201820812918U CN208298183U CN 208298183 U CN208298183 U CN 208298183U CN 201820812918 U CN201820812918 U CN 201820812918U CN 208298183 U CN208298183 U CN 208298183U
- Authority
- CN
- China
- Prior art keywords
- flexible arm
- servo
- binocular
- flexible
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a kind of vibrating flexible beam measure and control devices using binocular three-dimensional reconstruction, including flexible arm body, binocular detection part and servo driver control part, paste the index point that two black disks are detected as binocular in the free end of flexible arm, binocular detection part includes two industrial cameras, industrial camera detects the fixed point and rotoflector vibration information of flexible arm in a non-contact manner, be transferred in computer, servo motor via planetary reduction gear deceleration flexible arm movement.Utility model device can be used for simulating the vibration measurement and control of spatial flexible arm configuration, provide reference for the vibration observing and controlling of flexible mechanical arm configuration.
Description
Technical field
The utility model relates to the vibration detection of flexible arm configuration and controls, and in particular to a kind of to use binocular three-dimensional reconstruction
Vibrating flexible beam measure and control device.
Background technique
Flexible material due to light weight, flexibility ratio is high the features such as, be widely used in flexible pass in aerospace field
In the structures such as section and solar energy sailboard, flexibility arm configuration therein is just common on flexible robot.However flexible arm is due to rigid
Lower, slender construction is spent, sustained vibration is also easy to produce when rotating posture adjustment or by dynamic excitation, influences the stability of system and refer to
To precision, to reduce the reliability of system.In order to guarantee the normal work of spacecraft, it is necessary to its low frequency modal vibrate into
Row detection is analyzed vibration characteristics and is controlled.
Currently the mode of flexural vibration of flexible arm configuration is vibrated, generallys use the contact such as acceleration transducer, piezoelectric ceramic piece
Formula sensor measures, and this measurement method can increase additional mass to flexible arm, and change its architectural characteristic, influences to test
Effect.Binocular vision detection is a kind of non-contact measurement means of superior performance, in frequency, the amplitude for not changing determinand
Etc. under the premise of characteristics, can be with quick obtaining object space information.When the relative position of the system components comprising determinand is closed
After system is fixed, the biocular systems built using industrial camera can establish the Three-dimension Reconstruction Model of system with higher precision, thus
The three-dimensional information of determinand characteristic point is obtained, and then handles and obtains the vibration information of object.Servo motor is defeated due to its abundance
Power out, adjustment displacement is relatively large, has good effect in the rapidity of vibration suppression.
Utility model content
In order to overcome the shortcomings of the prior art, the utility model primary and foremost purpose provide it is a kind of using binocular three-dimensional reconstruction
Vibrating flexible beam measure and control device.Specifically using industrial camera, servo-drive component, motion control card and computer optimization configuration
Realize the device of flexible arm fixed point and whirling vibration Detection & Controling.
The utility model adopts the following technical solution:
A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction, including flexible arm body, binocular detection part
And servo driver control part；
The flexibility arm body includes flexible arm, and output shaft of the one end of flexible arm by Boards wall in planetary reduction gear connects
On fitting, which is known as fixing end, and the other end is known as free end, pastes black disk as binocular in the free end of flexible arm
The index point of detection；
The binocular detection part includes two industrial cameras, and two industrial cameras are placed on the slide rail, the dark circles
Shooting field range of the piece in industrial camera；
The connection of the input shaft and industrial camera of the servo driver control part and planetary reduction gear.
The servo driver control part includes servo motor, servo-driver, motion control card and computer, the work
Industry camera is connect with computer, and computer and motion control card are connected with each other, the motion control card successively with servo-driver,
The input axis connection of servo motor and planetary reduction gear；
After servo motor slows down via planetary reduction gear, driving flexible arm fixing end rotation；
The vibration information of two industrial camera acquisition flexible arms inputs computer, and computer is controlled according to vibration information
Signal inputs servo-driver via motion control, and servo-driver controls the operating of servo motor, further suppresses flexible arm
Bending vibration.
The planetary reduction gear is fixed on column, and the column is fixed on base platform；
The sliding rail is supported and fixed on base platform by bracket.
The black disk is specially two, is arranged in the transversal centerline of flexible arm, and close to free end.
Two black disks are apart 100mm.
The black disk cuts blacking by hardboard and constitutes, diameter 10mm.
The utility model has the beneficial effects that
(1) the utility model acquires vibrating flexible beam signal using binocular vision, and three-dimensional reconstruction detects the vibration of flexible arm
Mode has the advantages that non-contact measurement, compared to traditional contact type measurement, not will increase the additional matter of flexible structure
Amount, changes its architectural characteristic, improves measurement accuracy；
(2) the utility model proposes a kind of novel vibration measurement model, makes soft using black disk as index point
The fixed point of property arm and whirling vibration can be measured in biggish field range with higher precision, without specific limit
Condition processed or other ancillary equipments keep measurement method convenient to carry out and promote；
(3) the utility model camera and flexible arm configuration combine, and relative position is fixed, and vibration detection is not
Influenced by experimental bench body vibration or other motion states, so as to suitable for space flexible structure integrally transported
Dynamic situation；
(4) the inclination angle vibration detection that camera optical axis may be implemented in the utility model and structural vibration direction forms an angle,
With biggish application range and practical value.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram using the vibrating flexible beam measure and control device of binocular three-dimensional reconstruction.
Specific embodiment
Below with reference to examples and drawings, the utility model is described in further detail, but the reality of the utility model
It is without being limited thereto to apply mode.
Embodiment
As shown in Figure 1, a kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction, including it is flexible arm body, double
Mesh detection part and servo driver control part.
4 ontology of flexible arm is research object, is elongated rectangular configuration, one end is by Boards wall in planetary reduction gear
On the connector of output shaft, which is known as fixing end, and the other end is free end.
Servo motor 2 and planetary reduction gear 3 are fastened on the column of base platform, and overall structure is by upright supports.
The free end of flexible arm is pasted close to edge there are two index point of the black disk 5 as vision-based detection, and two
Black disk is respectively positioned in the transversal centerline of flexible arm, and transversal centerline is specially that the middle line is laterally disposed, two in the present embodiment
Black disk is at a distance of 100mm.
Binocular detection part includes two industrial cameras 6, and two industrial cameras are placed on sliding rail 7 by holder, whole
It is supported, is placed on base platform by bracket, the spacing of camera and the whole position relative to flexible arm are adjustable, guarantee soft
The black disk of property arm is in the good shooting field range of camera.The image taken is directly transmitted by Gige cable interface
To computer, believe by the vibration that the corresponding image procossings such as distortion correction, image enhancement, drawing feature extraction obtain flexible arm
Breath.
Industrial camera 6 selects the GIGE camera of the model acA1600-60gc of German Basler company production, uses
CMOS sensitive chip, 60 frame image of highest per second, the resolution ratio of 1600 × 1200 pixels；Camera lens selects the type of company of Ricoh production
Number be FL-HC0614-2M camera lens, focal length 6mm, size be Φ 32mm × 35.7mm；Sliding rail 7 selects the production of MISUMI company
Model SENA33H-400-V10-W70 sliding rail, length 400mm.
Servo driver control part includes:
The rotation of flexible arm is generated after planetary reduction gear slows down by servo motor, drives the rotation of flexible arm fixing end.
Its vibration information is carried by the black disk of attachment,
The control signal of servo motor 2 is divided into two parts, and a part is planned to obtain according to the output of programming movement, another portion
Divide and is obtained according to collected 4 vibration information of flexible arm by Vibration Active Control algorithm process by computer 10；Total control
Signal is obtained by comprehensive two parts of signals, inputs servo-driver 8 via the data I/O channel of motion control card 9；Servo is driven
Dynamic device 8 controls the operating of servo motor 2 according to corresponding control model, and then presses down on the basis of guaranteeing programming movement even running
The bending vibration of flexible arm 4 processed.
Column 1 is process using No. 45 common carbon steels；Servo motor 2 selects the production of An Chuan Electric Machine Co., Ltd
Σ-V serial model No. is the rotary-type servo motor of SGMJV-04ADE6S, supply voltage AC200V, 20 incremental codings, volume
Surely 400W is exported；Planetary reduction gear 3 selects the high-precision planetary reducer of the model PLFN064 of NEUGART company production, passes
Dynamic ratio is 64:1, and rated output torque is 27~77N*m；Flexible arm 4 selects asphalt mixtures modified by epoxy resin having a size of 600mm × 100mm × 2mm
Rouge material is made, elasticity modulus Ep=34.64Gpa, and density is ρ=1840kg/m3；Two black disks 5 are by hard paper
It cuts blacking to form, diameter 10mm is spaced about 100mm, and black is primarily to facilitate image procossing.
The course of work of the utility model:
Flexible arm surface is vertically struck with exciting hand hammer, excitation flexible arm generates fixed point vibration, or starting servo motor
Flexible arm is driven to do programming movement, excitation flexible arm generates rotary motion；
Industrial camera acquires the vibrational image of flexible arm, the image sequence containing vibration information is obtained, via Gige cable
Interface is transmitted directly in computer, according to the Three-dimension Reconstruction Model based on binocular camera of foundation, obtains the circle of black disk
The three-dimensional position parameter of the heart further obtains the bending vibration information of flexible arm.
Since 4 vibration information of flexible arm is carried by the black disk 5 of attachment and is reflected, so the spy on flexible arm 4
Sign point is the center of circle of the black disk 5 of attachment, the object of binocular three-dimensional reconstruction that is, the space coordinate in the disk center of circle.Here
Space coordinate refers to the three-dimensional coordinate under the world coordinate system established in Binocular vision model.
Computer is inhibited vibration signal, is output in servo-driver via motion control card, drives servo motor
Inhibit the vibration of flexible arm by planetary reduction gear.
It can be seen from the above, the three-dimensional reconstruction of characteristic point (i.e. the disk center of circle) needs its picture in two image shot by camera
Plain coordinate, and the process for carrying out image procossing to the image sequence of camera acquisition is the process that characteristic point pixel coordinate obtains.
For the image acquired in real time, it is necessary first to correct the pattern distortion generated by camera lens, reduce image pixel error.Then it carries out
Image preprocessing, including image ROI (area-of-interest) extraction, image filtering and Threshold segmentation etc., it is therefore an objective to reduce image and make an uproar
Sound, prominent features pattern improve the speed and accuracy of image procossing.Then edge detection and extraction are carried out, to separate and
The profile of black disk is extracted, and to its profile with ellipse fitting, to obtain the pixel coordinate in the center of circle.
Vibrating flexible beam is divided into fixed point vibration and whirling vibration two types: fixed point vibration refers to when servo motor is static to soft
Property the fixed point free vibration that generates of the artificial exciting of arm；Whirling vibration refers to that servo motor drives flexible arm when making programming movement by motor
The vibration that output drive generates.
Servo-drive part is mainly used for driving the operating of servo motor, and then drives the rotation of flexible arm and curved to its
Qu Zhendong is controlled.The control signal of servo motor consists of two parts, and a part obtains (nothing according to the output of programming movement
Output is that zero), another part is calculated according to collected vibrating flexible beam information by Vibration Active Control by computer when planning
Method handles to obtain；Total control signal synthesis two parts of signals obtains, inputs servo via the data I/O channel of motion control card
Driver.Servo-driver controls the operating of servo motor according to corresponding control model, and then steadily transports in guarantee programming movement
Inhibit the bending vibration of flexible arm on the basis of row.Servo-driver selects the Σ-V series type of An Chuan Electric Machine Co., Ltd production
Number servo unit for being SGDV-2R8F01A000000, single-phase AC100V input, the applicable capacity motor 0.4kW of maximum；Movement control
The DMC-18x6 digital motion controller of U.S. GALIL company production is selected in fabrication, provides the pci bus interface of standard, internal
It is integrated with A/D and D/A module；CPU model core i7 6650U, dominant frequency 2.2GHz, the memory 4G that computer is selected, it is main
There is PCI-e slot in plate, motion control card can be installed.
Dotted line in Fig. 1 indicates the line relationship between each equipment, and direction arrow, which is shown, detects and controls signal
The direction of transfer of stream.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by described
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (6)
1. a kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction, which is characterized in that including flexible arm body, binocular
Detection part and servo driver control part；
The flexibility arm body includes flexible arm, one end of flexible arm by Boards wall planetary reduction gear output shaft coupling piece
On, which is known as fixing end, and the other end is known as free end, pastes black disk as binocular in the free end of flexible arm and detects
Index point；
The binocular detection part includes two industrial cameras, and two industrial cameras are placed on the slide rail, and the black disk exists
The shooting field range of industrial camera；
The connection of the input shaft and industrial camera of the servo driver control part and planetary reduction gear.
2. vibrating flexible beam measure and control device according to claim 1, which is characterized in that the servo driver control part packet
Servo motor, servo-driver, motion control card and computer are included, the industrial camera is connect with computer, computer and fortune
Dynamic control card is connected with each other, the motion control card successively input shaft with servo-driver, servo motor and planetary reduction gear
Connection；
After servo motor slows down via planetary reduction gear, driving flexible arm fixing end rotation；
The vibration information of two industrial camera acquisition flexible arms inputs computer, and computer obtains control signal according to vibration information
Servo-driver is inputted via motion control, servo-driver controls the operating of servo motor, further suppresses the curved of flexible arm
Qu Zhendong.
3. vibrating flexible beam measure and control device according to claim 1, which is characterized in that the planetary reduction gear is fixed on vertical
On column, the column is fixed on base platform；
The sliding rail is supported and fixed on base platform by bracket.
4. vibrating flexible beam measure and control device according to claim 1, which is characterized in that the black disk is specially two
It is a, it is arranged in the transversal centerline of flexible arm, and close to free end.
5. vibrating flexible beam measure and control device according to claim 4, which is characterized in that two black disks are apart
100mm。
6. vibrating flexible beam measure and control device according to claim 5, which is characterized in that the black disk is cut out by hardboard
Cut blacking composition, diameter 10mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820812918.XU CN208298183U (en) | 2018-05-29 | 2018-05-29 | A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820812918.XU CN208298183U (en) | 2018-05-29 | 2018-05-29 | A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208298183U true CN208298183U (en) | 2018-12-28 |
Family
ID=64722972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820812918.XU Expired - Fee Related CN208298183U (en) | 2018-05-29 | 2018-05-29 | A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208298183U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664753A (en) * | 2018-05-29 | 2018-10-16 | 华南理工大学 | A kind of vibrating flexible beam measure and control device and method using binocular three-dimensional reconstruction |
| CN110047110A (en) * | 2019-03-11 | 2019-07-23 | 北京空间飞行器总体设计部 | A kind of in-orbit vibration measurement method of flexible satellite antenna based on sequence image |
-
2018
- 2018-05-29 CN CN201820812918.XU patent/CN208298183U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664753A (en) * | 2018-05-29 | 2018-10-16 | 华南理工大学 | A kind of vibrating flexible beam measure and control device and method using binocular three-dimensional reconstruction |
| CN110047110A (en) * | 2019-03-11 | 2019-07-23 | 北京空间飞行器总体设计部 | A kind of in-orbit vibration measurement method of flexible satellite antenna based on sequence image |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107449578A (en) | Vibrations of A Flexible Robot Arm measuring and controlling and method based on stereoscopic vision | |
| CN104820439B (en) | A kind of visual apparatus as sensor parallel connection platform follow-up control apparatus and method | |
| CN106017839B (en) | Based on flexible, hinged plate benging and twisting vibration detection control apparatus and method | |
| CN107421632A (en) | Double-flexibility cantilever beam vibration measure and control device and method based on Binocular stereo vision with laser | |
| CN108534679A (en) | A kind of cylindrical member axis pose without target self-operated measuring unit and method | |
| CN103750864B (en) | A kind of scanning means of ultrasonic elastograph imaging and scan method thereof | |
| CN208298183U (en) | A kind of vibrating flexible beam measure and control device using binocular three-dimensional reconstruction | |
| CN102636137B (en) | REVO (Resident Encrypted Variable Output) measuring head position posture calibrating method in joint arm type coordinate measuring machine | |
| CN1740739A (en) | Fast colourful three-dimensional chart pasting method based on linear structural laser passive scanning | |
| CN101377418A (en) | Device and method for detecting contact type large-scale special-shaped glass outline based on rotating-rectilinear movements | |
| CN111823221A (en) | Robot polishing method based on multiple sensors | |
| CN107421627B (en) | Vibration form visual measurement device and method based on speed reducer driving flexible beam | |
| CN106736849A (en) | Micro-diameter milling tool active probe formula high accuracy tool setting device and method | |
| CN109949370A (en) | A kind of automatic method for IMU- camera combined calibrating | |
| CN105865341A (en) | Device and method for measuring repeated positioning accuracy of industrial robot spatial poses | |
| CN106933267A (en) | A kind of vibration measurement control device and method of hard and soft rod-type plane-parallel type platform | |
| CN207036253U (en) | Double-flexibility cantilever beam vibration measure and control device based on Binocular stereo vision with laser | |
| CN115903923A (en) | Photoelectric turntable servo control system | |
| CN109060286B (en) | Digital speckle-based unmanned aerial vehicle low-frequency vibration detection device and method | |
| CN110031170A (en) | A kind of flexible hinged plate vibration measurement control device and control method | |
| CN1453562A (en) | Output measuring system for medical ultrasonic equipment | |
| CN101003357A (en) | Method for making Nano microstructure based on constant force mode of atomic force microscope | |
| CN108664753A (en) | A kind of vibrating flexible beam measure and control device and method using binocular three-dimensional reconstruction | |
| CN210603573U (en) | Flexible plate rotary motion vibration detection device | |
| CN1262817C (en) | Pose detecting device for robot with six degrees of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20190529 |