JP2008517301A - Surveying system for bore diameter - Google Patents

Abstract

  The present invention provides a shaft hole inner diameter survey system including a surveying mechanism, a laser probe, a laser distance measuring device, an electrical control system, and an industrial control computer. The surveying mechanism is provided with four step motors. The surveying vehicle that constitutes the surveying mechanism travels along the axial direction of the shaft hole, moves the surveying frame, moves the surveying frame up and down, and laser probe. , Respectively. The laser probe is for generating surveying data for surveying, and the laser ranging device is for measuring the marching distance in the axial direction of the surveying vehicle. The electrical control system is for step motors, laser probes, electrical interfaces of industrial control computers and open / close control, and the industrial control computers are used for data collection processing and surveying process control. This surveying system can automatically detect comprehensive indicators such as shaft bore inner diameter, roundness, cylindricality, taperness, etc., and it can stop time-consuming and labor-intensive surveying by human power. The surveying speed is high, the accuracy is high, the surveying instrument is compact, easy to maintain, and can be widely used for surveying each index of the shaft hole.

Description

  The present invention relates to a hole diameter dimensional survey method, and more particularly to a shaft hole inner diameter survey system.

  In the manufacturing process of the ship, the processing of the shaft hole is necessary, the size range of the processed shaft hole is wide, the size of the inner diameter is Φ500 mm to Φ1500 mm, and the depth of the hole is 10 m. In general, an artificial contact surveying method is adopted, but this method takes time and labor.

  The technical problem to be solved by the present invention is that it is possible to automatically detect comprehensive indicators such as diameter, roundness, cylindricality, taper degree, etc. Is to provide a system.

  According to one technical means of the present invention, the present invention provides a survey system for an inner diameter of a shaft hole, and the survey system includes the following: Including a laser probe, the laser probe being installed on the surveying instrument so as to be rotatable about the central axis of the shaft hole; a surveying frame movable along the axial direction of the shaft hole; and provided on the surveying frame A measuring system for an inner diameter of a shaft hole, comprising: an adjusting device that substantially overlaps a rotation center of the laser probe and a center of a hole to be measured by adjusting the adjusting device.

  According to another technical means in the present invention, the present invention provides a shaft hole inner diameter surveying system, the shaft hole inner diameter surveying system comprising a survey mechanism, a laser probe, and a laser distance measuring device. And a shaft bore inner diameter surveying system including an electrical control system and an industrial control computer. The surveying mechanism is an actuator of a surveying system, and includes a surveying vehicle and a surveying frame. The surveying mechanism is provided with four step motors, and the four step motors respectively run along the axial direction in the shaft hole of the surveying vehicle, move the surveying frame, raise and lower the surveying frame, and rotate the laser probe. To drive. A rear drive wheel is provided on the bottom plate of the surveying car, and a free ball is provided at the front of the surveying car. The travel drive motor runs by driving the rear drive wheel. Positioning fasteners are provided on both sides thereof, and the suction cup type electromagnet is attracted to the hole wall to be surveyed before the surveying work, and the positioning fastener positions the surveying wheel and the shaft hole to be surveyed in parallel. It is engaged with the inner wall of the hole measured by the compression spring. The survey frame includes a moving stage, an axial screw, a lifting base, a radial screw, a radial guide column, and a transmission gear. The moving stage is installed on an axial guide rail provided on the bottom plate of the surveying vehicle, and the moving drive motor drives the axial screw to move the moving stage connected to the axial screw in the axial direction. A transmission gear is provided on the moving stage, the lifting drive motor drives the transmission gear, the transmission gear rotates the radial screw provided on the transmission gear, and the lifting base provided on the radial screw transmits the nut and screw. Ascends and descends along the radial guide column.

  The laser probe is a survey element of a survey system, and there are two laser probes. The two laser probes are respectively provided at both ends of the rotation shaft via rotation arms, and a rotation drive motor and a rotation encoder are provided on both sides of the rotation shaft, respectively. The rotating shaft is provided on an elevating frame, the elevating frame is fixed to the elevating base, and a rotation drive motor drives the rotating shaft to cause the laser probe to move circumferentially through the rotating arm.

  The laser distance measuring device is for measuring the marching distance in the axial direction of the survey vehicle. The laser axis direction position table is connected to a lift base or a rotary arm, and the marching distance in the axial direction of the survey vehicle is measured by the laser axis position table and the laser distance measuring device.

  The electric control system is used for step motor, laser probe, electrical interface of industrial control computer and open / close control, and the step motor and laser probe of surveying mechanism are connected to the electric control system via power signal line As the survey vehicle marches, the power signal line is released and collected by the winding machine.

  The industrial control computer is used for controlling the surveying process in the surveying system, and the data collection process communicates with the laser probe controller via the USB port under the control of the industrial control computer. Control the probe and collect data. The traveling process in the axial direction of the surveying mechanism is completed when the host machine sends a control signal to the step motor driver using the step motor control card. In order to guarantee the safety of operation of the surveying mechanism, a lifting / moving limit switch is installed. The rotary encoder is for determining an angular position corresponding to data collection.

  The industrial control computer employs a C ++ language, and VC. Control software for surveying systems developed in the Net environment, adopting a modular system design, users perform alternating operations on data in real time. The survey system software includes man-machine alternate control main control module, the main control module is subordinate, child survey mechanism operation control module, laser probe installation module, scanning control module, 3D display basic module, survey data A processing module, a survey data reporting module, a file I / O module, and a mathematical operation module are included.

The flow of survey system control module software of the industrial control computer is as follows.
Starting the control interface and pre-entering the basic parameters of the workpiece;
Selecting the parameters of the laser probe;
A step in which the height of the lifting frame of the surveying mechanism is automatically adjusted so that the rotation center line of the surveying mechanism and the axis line to be surveyed are superimposed;
Start the survey program and start surveying;
Recording the scanning data by the laser probe;
Step to operate survey data and realize alternate display;
Obtaining features in the survey area to be measured;
Displaying the survey results of each survey point on a few defined survey points;
View and print the survey report and complete the steps;
If the surveying is not completed, adjust the operation control of the surveying mechanism, debug the laser probe scanning and the doting display, and finally adjust and display the coordinate system.

  The effect of the present invention is that it is possible to automatically detect comprehensive indexes such as the diameter, roundness, cylindricality, and taper degree of the inner diameter of the shaft hole, and to end the time-consuming and labor-intensive surveying due to human contact. The surveying speed is high, the accuracy is high, the surveying instrument is compact, easy to maintain, the functions are perfect, and the operation is convenient.

  The shaft hole inner diameter surveying system includes a surveying mechanism 1, a laser probe 2, a laser distance measuring device 3, an electric control system 4, and an industrial control computer 5. The surveying mechanism 1 is an actuator of a surveying system, and includes a surveying vehicle 8 and a surveying frame 14. The surveying mechanism is provided with four step motors. The four step motors travel along the axial direction in the shaft hole 7 of the surveying vehicle 8, move the surveying frame 14, and lift and lower the lifting platform 17. This is because the rotation of the laser probe 2 is driven. A rear drive wheel 9 is provided on the bottom plate of the surveying vehicle 8, and a free ball 10 is provided at the front thereof. The travel drive motor 11 travels and drives the rear drive wheel 9 through a flexible shaft. A suction cup type electromagnet 12 is provided on the lower surface of the bottom plate of the surveying vehicle 8, and positioning fasteners 13 are provided on both sides thereof. Before the surveying work, the suction cup type electromagnet 12 is attracted to the hole wall to be measured, and the positioning fastener 13 is engaged with the inner wall of the hole measured by the compression spring so as to position the survey wheel and the shaft hole to be measured in parallel. Combined. The survey frame 14 includes a moving stage 15, an axial screw 16, a lifting base 17, a radial screw 18, a radial guide column 19, and a transmission gear 20. The moving stage 15 is installed on an axial guide rail 21 provided on the bottom plate of the surveying vehicle 8, and the moving drive motor 22 drives the axial screw 16 and moves the moving stage 15 connected to the axial screw 16. Move along the axial direction. The moving stage 15 is provided with a transmission gear 20, and an elevating drive motor 23 drives the transmission gear 20 and rotates a radial screw 18 provided thereon. The lifting base 17 provided on the radial screw 18 moves up and down along the radial guide column 19 by transmission of nuts and screws.

  The laser probe is a surveying element of a surveying system, and obtains surveying data by surveying. There are two laser probes 2, and the two laser probes 2 are respectively provided at both ends of a rotating shaft 25 by rotating arms 24, and on both sides of the rotating shaft 25, there are a hollow type rotation drive motor 26 and a hollow type rotation, respectively. An encoder 27 is provided. The rotary shaft 25 is provided on the lift frame 28, and the lift frame 28 is fixed to the lift base 17. Further, a laser axis direction position table 29 is connected to the lift base 17, and the rotation drive motor 26 drives the rotation shaft 25 to cause the laser probe 2 to move circumferentially via the rotation arm 24.

  The laser distance measuring device 3 is for measuring the marching distance in the axial direction of the surveying vehicle 8. Provide closed loop detection for the axial motion control of surveying mechanism 1. The electric control system 4 is for stepping motor, laser probe 2, and electrical interface and opening / closing control of computer 5 for industrial control. The stepping motor and laser probe 2 of the surveying mechanism are connected via a power signal line 30. Connected to the electric control system 4, the power signal line 30 is released and collected by the winding machine 31 as the surveying vehicle 8 marches.

  As shown in FIG. 4, the industrial control computer 5 is used for controlling the surveying process in the surveying system. The data collection process is based on the control of the industrial control computer 5 and communicates with the laser probe controller 32 via the USB port I to control the laser probe 2 to collect data. The traveling process in the axial direction of the surveying mechanism 1 is surveyed by the laser distance measuring device 3 and communicates with the host device via the USB port II to feed back distance information and participate in the control. The operation control process of the surveying mechanism 1 is performed in such a manner that the host machine transmits control information to the step motor drivers 34, 35, 36, 37 via the interface card 38 by the step motor control card 33, so The drive motor 23, the movement drive motor 22, and the rotation drive motor 26 are controlled. In order to guarantee the driving safety of the surveying mechanism, a lift limit switch 39 and a movement limit switch 40 are installed. The rotary encoder 27 is for determining an angular position corresponding to data collection. The industrial control computer adopts C ++ language, and VC. It is a survey system control software developed in the Net environment and adopts a design tailored to the target, so the software part has the potential for development. Fully demonstrate the high-efficiency characteristics of the C ++ language and guarantee the real-time characteristics of the surveying system. Adopting a modular system design makes it easier to update and maintain. OpenGL technology is adopted for the three-dimensional data display portion, and the user can perform data manipulation on the touch panel 6 in real time. The control software for the control surveying system (see FIG. 5) includes a man-machine alternating control main control module, which is a survey mechanism operation control module, a laser probe installation module, a scanning control module, and a tertiary. An original display basic module, a survey data processing module, a survey data report module, a file I / O module, and a mathematical operation module are included. The flow of the surveying system control software for the industrial control computer is as shown in FIG. The man-machine interface (see FIG. 7) is activated, and the man-machine interface adopts a style design such as Windows XP (registered trademark), and includes a menu, a parameter setting section, a survey control section, a three-dimensional display section, and Includes survey result area. Enter the basic parameters of the workpiece in advance using the parameter setting dialog box (see Fig. 8); select the laser probe parameters; set the survey mechanism's rotation center line and the survey center axis to overlap Automatically adjust the height of the lifting frame; start the survey program and start the survey; record the scanning data by the laser probe; manipulate the survey data to realize the alternate display (see Fig. 9); should be measured Acquire features in the survey area; display the survey results of each survey point at a slightly fixed survey point; display and print the survey report (see FIG. 10) and complete.

  According to an embodiment of the present invention, the 3D data display part employs OpenGL technology and multithreading, and the user can perform data manipulation in real time. The software module includes a man-machine alternate module, a main control module, a mechanism operation control module, a laser probe installation module, a scanning control module, a survey data processing module, a three-dimensional display module, and a survey data analysis and report module. And a file I / O module and a mathematical operation module. The man-machine alternating module processes information input by the user and responds to alternating operations. The main control module performs adjustment and data transfer between the modules. The mechanism operation control module realizes operation control of the surveying mechanism. The laser probe installation module sets the survey parameters of the laser sensor. The scanning control module controls the surveying process including adjustment of the operating mechanism, control of the probe surveying, and creation of surveying data. The survey data processing module performs distortion calibration and error compensation on the surveyed data. The three-dimensional display module realizes three-dimensional display of data. The survey data analysis and reporting module performs data analysis and survey report generation. The file I / O module stores survey data in multiple formats to be used for further data analysis and processing and the introduction of survey data files to implement offline analysis and survey report printing. The mathematical operation module includes a mathematical operation support function necessary for the system.

  According to an embodiment of the present invention, the basic work flow of the system is as follows. Place the surveying mechanism in the hole to be surveyed. Turn on the system. Turn on the main control computer and run the survey program. The surveying basic parameters are input alternately by man-machine, the surveying parameters of the probe are set by the laser probe setting module, and surveying is started. The main control module of the software system adjusts the survey control module and starts surveying. The surveying control module controls the surveying mechanism by the electric control system so as to reach the first surveying point, and controls the electromagnet so that the surveying mechanism is attracted to the inner wall of the hole to be surveyed. Then, the survey control module automatically adjusts the survey arm to the survey start position by the electric control system, and controls the survey mechanism so that the rotation center line of the survey arm is overlapped with the axial center line to be surveyed. Yes. The surveying control module controls the rotation of the surveying arm by an electric control system. This surveying arm controls the laser probe to survey one piece of data as it rotates at a certain angle (determined by the sampling rate set by the user). When the surveying arm makes one round, the survey of one cross section is completed, and the original survey data of the cross section is generated. The survey data processing module processes the data, compensates for and corrects errors in the survey, and generates final survey data. Finally, the main control module adjusts the 3D display module and updates the display data. In this way, the surveying work for one surveying position is completed. The surveying control module controls the surveying mechanism to reach the next surveying point by the electric control system, and repeats the above steps until the surveying work for all surveying points is completed. By man-machine alternating, survey data is analyzed using survey data analysis and report module, and survey report is generated. The user saves the data file measured this time by the file I / O module.

  In another embodiment of the present invention, the survey accuracy of the system is determined by the survey accuracy of the laser probe, the accuracy of the mechanism, and the calculation method. In order to set the resolution of the laser probe used in the system to 0.5 μm, it is possible to obtain the highest surveying accuracy by adjusting the length of the surveying arm and controlling the surveying range of the probe near the zero point of the probe. The maximum error is smaller than 0.5 μm. The surveying system includes two probes, and the error of the surveying mechanism can be controlled to within 0.5μm by compensating for the offset of the survey data center by the front and rear probes and the elliptical deformation calibration of each probe survey data. Can be 10 μm.

Hereinafter, an actual surveying process employing the surveying method according to the present invention will be introduced in detail.
Step 1: Preparatory work before surveying (1) Wash the hole to be surveyed.
(2) Remove the surveying mechanism from the protective case, and attach and connect the laser probe.
(3) When a survey vehicle is placed in the hole to be surveyed, the system is turned on, and the control computer is started, the laser probe starts work and emits a red visible laser having a wavelength of 650 nm. Laser intensity has a self-adapting function. The CCD sensor provided on the probe automatically adjusts the laser intensity according to the size of the captured light spot image to obtain an optimum surveying effect.

Step 2: Input survey parameters (1) Survey ship type: 174,000 tons (2) Survey temperature: 20 ° C
(3) Sampling rate: 1 ° / step (4) Step distance: 30CM

Step 3: Survey
(1) The attitude of the surveying mechanism is adjusted so that the direction of the laser beam is substantially parallel to the lifting rail by the mechanism adjusting function of the control system.
(2) When a survey command is sent to the probe controller, the laser source in the probe fires a red visible laser with a wavelength of 650 nm, and the laser is fired on the inner surface of the tube wall to be surveyed, forming a bright red spot at the intersection. To do. The CCD sensor in the probe immediately captures an image including bright spots and detects the distance D1 between the probe reference plane and the point of the tube wall to be measured based on the principle of laser triangulation. Then, the survey arm is rotated 180 degrees, and another survey command is sent out. A distance D2 between the first survey point and the second survey point in the symmetric direction is detected. An adjustment value in the vertical direction of the rotating shaft frame is obtained from the values of D1 and D2.
Δh = (D1−D2) / 2
The system automatically adjusts the height of the rotating shaft frame so that the center of rotation of the surveying mechanism overlaps the center of the hole to be surveyed.
The system repeats the above operation and checks whether the adjusted Δh is smaller than 5 μm. If the condition is satisfied, it will be automatically positioned in the middle and proceed to the next survey step.
(3) The survey vehicle reaches the first survey point by the set step distance. Starting from zero, the laser controller controls the CCD of the laser probe, collects the laser point image at that time, and calculates the distance from the survey point to the probe reference plane. The data is error calibrated according to the system error pattern to obtain the final survey value.
(4) The rotating arm rotates at an angle according to the set sampling rate, reaches the next sampling point, and surveys. Continue until one section is surveyed. For each survey section, the radius is the average of the survey values of all sampling points in the section. The diameter is twice the radius.
(5) Calculate survey data and update the 3D display image.
(6) Repeat steps 3 (3) to (5) until all surveys are completed.

Step 4: Data analysis and survey report (1) Click the data display menu to exit the tube diameter data analysis interface. The pipe diameter data analysis interface is divided into a graphic display section, a survey section table, a data display table, and a pipe diameter parameter display section. The survey point table tabulates all survey sections under the survey mission. When one of the survey sections is selected, the section information is displayed in the graphic display area, the data display table, and the pipe diameter parameter display area. The figure display area expands the information between the maximum and minimum values of the data between the inscribed circle and the circumscribed circle of the figure area by the error enlargement method, so that the user evaluates the processing quality .
(2) The survey report can be previewed by clicking the print preview menu. When the print button is directly clicked in the preview state, the survey report is printed. Click the print menu to print the survey report.

It is the figure which showed the whole structure of the surveying system which concerns on this invention. It is the figure which showed the structure of the surveying mechanism which concerns on this invention. FIG. 3 is a side view of FIG. 2. 1 is a block diagram of a survey system according to the present invention. It is a block diagram of the whole software in the present invention. It is a work flowchart figure of the software in this invention. It is the figure which showed the man machine interface. It is a dialog box figure of parameter setting. It is a three-dimensional display diagram. It is the figure which showed the survey report.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Surveying mechanism 2 Laser probe 3 Laser ranging device 4 Electric control system 5 Industrial control computer 6 Touch panel 7 Shaft hole 8 Surveying wheel 9 Rear drive wheel 10 Free ball 11 Traveling drive motor 12 Suction cup type electromagnet 13 Positioning fastener 14 Surveying frame 15 Moving stage 16 Axial screw 17 Lifting base 18 Radial screw 19 Radial guide column 20 Transmission gear 21 Axial guide rail 22 Moving drive motor 23 Lifting drive motor 24 Rotating arm 25 Rotating shaft 26 Rotating drive motor 27 Rotating encoder 28 Lifting Frame 29 Laser axis position table 30 Power signal line 31 Winding machine 32 Laser probe controller 33 Step motor control card 34, 35, 36, 37 Step motor driver 38 Interface card 39 Lift limit switch Chi 40 travel limit switch

Claims (15)

A surveying system for measuring the bore diameter of a shaft, the following:
The surveying device for self-running survey of the inner diameter of the shaft hole is provided with a laser probe (2), and the laser probe is installed on the surveying device so as to be rotatable about the central axis of the shaft hole. A survey frame (14) movable along the axial direction;
An adjustment device that substantially overlaps the rotation center of the laser probe and the center of the hole to be measured by adjustment of an adjustment device provided on the survey frame (14);
A surveying system for shaft bore inner diameter, characterized by including   2. The shaft hole according to claim 1, wherein the surveying device further includes a rotating arm rotatable around a central axis of the shaft hole, and the laser probe is disposed on the rotating arm. Internal diameter surveying system. The adjusting device comprises:
A drive for the adjusting device;
A radial screw (18) connected to the drive of the adjusting device;
An elevating base (17) connected to the radial screw (18) via a net component;
A radial guide column (19) for guiding the elevating base (17) to slide along the generally radial direction of the shaft hole;
The rotary arm is connected to the lift base (17), and is arranged along the radial guide column by the lift base (17) so that the rotation center of the laser probe and the center of the shaft hole are on substantially the same horizontal line. The shaft hole inner diameter surveying system according to claim 2, wherein the shaft hole inner diameter surveying system according to claim 2.   The vehicle further includes a surveying vehicle (8) capable of traveling along the axial direction within the shaft hole, and a surveying frame (14) is disposed on the surveying vehicle (8), and a rear drive wheel (9 ), A free ball (10) is provided at the front thereof, and the travel drive motor (11) travels by driving the rear drive wheel (9). Surveying system for inner diameter of shaft hole.   The shaft hole according to claim 4, wherein a suction cup type electromagnet (12) is provided at the bottom of the survey wheel (8), and the suction cup type electromagnet is adsorbed to the shaft hole wall before the surveying work. Internal diameter surveying system.   Further comprising positioning devices installed on both sides of the survey vehicle (8), the positioning device being engaged with the inner wall of the shaft hole so as to position the survey vehicle and the shaft hole to be surveyed in parallel, 6. The survey system for an inner diameter of a shaft hole according to claim 5, wherein the rotation center of the laser probe and the center of the shaft hole are on substantially the same vertical line.   The positioning device includes a positioning fastener (13) engaged with an inner wall of the shaft hole by a compression spring so as to position the surveying wheel and the shaft hole to be surveyed in parallel. 7. A surveying system for the inner diameter of the shaft hole according to 6. The survey frame (14)
An axial guide rail (21) installed in the survey vehicle (8);
A movable stage (15) slidably disposed on the axial guide rail and disposed with the adjusting device;
A movement drive motor (22);
An axial screw (joined to a moving nut device connected to the moving stage (15) and driven by the moving drive motor (22) to move the moving stage (15) along the axial direction of the shaft hole ( 16)
The surveying system for shaft bore inner diameter according to claim 4, wherein   The surveying instrument further includes a rotating shaft (25), the rotating shaft (25) is installed in the adjusting device, and a rotary drive motor (26) and a rotary encoder (27) are provided at both ends of the rotating shaft (25). The rotary arm (24) is installed at each end of the rotary shaft (25) outside the rotary drive motor (26) or the rotary encoder (27). Surveying system for shaft bore inner diameter as described in.   The shaft hole according to claim 9, further comprising a lifting frame (28) fixed to the lifting base (17), wherein the rotary shaft (25) is installed on the lifting frame (28). Internal diameter surveying system.   The laser probe (2) emits a red visible laser, a laser beam is emitted on the inner surface of the wall of the shaft hole, and a red bright spot is formed at the intersection, and the CCD sensor in the probe immediately includes an image including the bright spot. And detecting a first distance (D1) between the current probe reference plane and the axial hole wall on the basis of the principle of laser triangulation. Surveying system. The laser probe (2) rotates 180 degrees after detecting the distance (D1), and again detects the distance (D2) between the first survey point and the second survey point in the symmetric direction, and the first distance ( D1) and the second distance (D2), the rotation axis frame calculates an adjustment value in the vertical direction,
Δh = (D1−D2) / 2
12. The survey of the inner diameter of the shaft hole according to claim 11, wherein the height of the adjusting device is automatically adjusted so that the rotation center of the laser probe (2) is superposed on the center of the shaft hole. system.   An adjustment mechanism is further provided, and the attitude of the surveying vehicle is adjusted by the adjustment mechanism so that the direction of the laser beam emitted from the laser probe (2) is substantially overlapped with the radial line of the inner diameter of the shaft hole. The surveying system for shaft bore inner diameter according to claim 4.   The suction cup type electromagnet (12) is installed at a substantially central portion of the surveying vehicle (8) along a direction perpendicular to the axial direction of the shaft hole, and the positioning device is along a direction perpendicular to the axial direction of the shaft hole. The suction cup type electromagnet (12) is installed on substantially both sides, and the suction cup type electromagnet and the shaft hole wall are adsorbed, and the positioning device adjusts the attitude of the survey car by pressing the survey car (8). The shaft hole inner diameter surveying system according to any one of claims 6 and 7, which is a feature.   A laser axis position table (29) connected to the rotating arm and a laser range finder (3) are further provided, and the laser axis position table (29) and the laser range finder (3) The surveying system for the inner diameter of the shaft hole according to claim 2, characterized in that the marching distance in the axial direction of the survey vehicle (8) is detected.