RU2074419C1 - Method for reading three-dimensional information - Google Patents

Abstract

FIELD: automation and computer engineering. SUBSTANCE: plane of one receiving inductance coil of magnetic field detector is located in orthogonal to axis of coordinate detector. Vector of magnetic induction is rotated in horizontal and vertical planes of working space in alternating order. Maximal values of amplitudes of generalized information signals are read from three receiving inductance coils. Angles of magnetic inductance vector rotation for these maximal values are stored and used for excitation of final magnetic field with corresponding coordinate axis constituents of magnetic inductance vector with respect to frame reference point. Amplitudes of signals which are induced in receiving inductance coils are measured. coordinates of detected point are calculated using correction to rotation angles of axes of coordinate detector. EFFECT: increased precision. 5 dwg, 1 tbl

Description

 The invention relates to automation and computer technology, namely to the inductive transformation of the coordinates of the elements of three-dimensional objects into electrical signals and codes and automatic input of the latter into a computer.

 A known method of induction measurement of the coordinates of the elements of dielectric objects in the plane and in space, which consists in generating pulsed electromagnetic fields at fixed points of the axes of the coordinate system of the workspace, generating EMF signals in the receiving electrical circuits of the coordinate picker, which is combined by the operator with the selected element of the object, and a digital representation of the amplitudes induced EMF signals and calculating the coordinates of the fixing point of the puller functional processing of digital electronic ivalentov induced signal amplitudes for a given algorithm (auth. binding. USSR N 1379593, G 01 B 7/00).

 The disadvantages of the known method and the device that implements it are the low accuracy of the measurements, due to the heterogeneity generated by the subgroups of the coordinate coils and received by the magnetometric sensors of the magnetic field along the coordinate axes ("edge effect") and the limitation of functionality, expressed in measuring only the relative movements of the coordinate picker without making the latter in the process of working from a given amount of work space.

где U₁=x₁, y₁, z₁} U₂=x₂, y₂, z₂} a и b константы съемника координат (а расстояние от фиксирующей точки до центра первого датчика, b расстояние между центрами датчиков).Closest to the proposed is a method of induction measurement of coordinates, implemented in ed. St. N 1550548, cl. G 06 K 11/00 and based on the excitation of pulsed electromagnetic fields at the points of the coordinate axes of the spatial coordinate system with a given sampling step of the working space, the use of two magnetometric sensors in the coordinate puller, the output generalized information signal of which is formed as the sum of squares of the amplitudes of the EMF signals induced in three mutually orthogonal inductors of each of the sensors, forming a sequence of digital values of the output signals of the sensors, a thorough mutual comparison of the values of the output signals of the sensors, determining the coordinates of the centers of the sensors as the positions of the extremes of the sequences of the values of their output signals for each of the coordinate axes and the calculation of the coordinates U = x, y, z} of the fixing point (point, crosshair) of the puller, combined with the selected element of the processed object, according to the formulas of the form

where U ₁ = x ₁ , y ₁ , z ₁ } U ₂ = x ₂ , y ₂ , z ₂ } a and b are the coordinates of the stripper coordinates (and the distance from the fixing point to the center of the first sensor, b is the distance between the centers of the sensors).

 The disadvantage of this method is the low accuracy, limited by the mechanical (structural) value (1 2 mm) of the step of placing the coordinate inductors used to excite pulsed electromagnetic fields at fixed points of the coordinate axes, and the low speed due to the need for polling current pulses of a large number of commuting coordinate coils elements.

 The purpose of the invention is to increase the accuracy of the induction reading of three-dimensional information by eliminating the mechanical discretization of the working space along the coordinate axes by using a rotating electromagnetic field and increasing the speed by minimizing the number of coordinate field coils exciting the field (reducing their number to three).

, где e_i (i=1,2,3) амплитуда сигналов, индуцируемых в трех взаимно ортогональных приемных катушках индуктивности магнитометрического датчика, определение координат фиксирующей точки съемника по формулам x = x_o+a•cosΦ, y = y_o+a•cosψ, z = z_o+a•cosθ,, где x_o, y_o, z_o координаты центра магнитометрического датчика, а расстояние между фиксирующей точкой съемника и центром магнитометрического датчика, Φ,ψ,θ- углы между осью съемника (линией, соединяющей фиксирующую точку и центр магнитометрического датчика) и координатными осями, размещают плоскость одной из приемных катушек индуктивности (первой) магнитометрического датчика ортогонально оси съемника координат, формируют обобщенный информационный сигнал при вращении вектора В магнитной индукции поля поочередно в горизонтальной и вертикальной плоскостях, фиксируют максимальные значения амплитуд E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ,max}}$ и E $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{Σ,max}}$ обобщенных информационных сигналов и соответствующие максимумам углы поворота α и β вектора магнитной индукции для каждой из плоскостей, а также значения амплитуд E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ,α=0}}$ и E $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{Σ,β=0}}$ , e $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{1,α=0}}$ и e $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{1,β=0}}$ при начальных направлениях вектора В в горизонтальной и вертикальной плоскостях соответственно, по фиксированных значениям углов α и β возбуждают относительно начала системы координат итоговое магнитное поле с составляющими вектора

магнитной индукции по координатным осям соответственно

, определяют амплитуды сигналов e_1,Σ,e_2,Σ,e_3,Σ, индуцированных итоговым магнитным полем, и амплитуду итогового обобщенного информационного сигнала E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ,, определяют углы

поворота оси съемника координат относительно направления радиус-вектора центра магнитометрического датчика в горизонтальной и вертикальной плоскостях соответственно, определяют углы Φ = α+Δα, ψ = 90^°-(α+Δα), θ = β+Δβ,, определяют координаты центра магнитометрического датчика соответственно выражениям x_o= Rcosα•sinβ, y_o= Rsinα•sinβ, z_o= Rcosβ,, где R = f[E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ]- заранее определенная зависимость, после чего и определяют считываемые координаты х, y, z фиксирующей точки съемника координат.The goal is achieved by the fact that in a method that includes the excitation of an alternating magnetic field in the coordinate system of the workspace, the formation of a generalized information signal using a magnetometric sensor located in the coordinate picker

, where e _i (i = 1,2,3) is the amplitude of the signals induced in three mutually orthogonal receiving inductors of the magnetometric sensor, determining the coordinates of the fixing point of the puller using the formulas x = x _o + a • cosΦ, y = y _o + a • cosψ, z = z _o + a • cosθ ,, where x _o , y _o , z _{o are the} coordinates of the center of the magnetometric sensor, and the distance between the fixing point of the puller and the center of the magnetometric sensor, Φ, ψ, θ are the angles between the axis of the puller (line, connecting the fixing point and the center of the magnetometric sensor) and coordinate axes, place the plane of one of iemnyh inductors (first) magnetometric sensor orthogonal coordinate axis puller form a generalized information signal during rotation of the magnetic induction vector B field alternately in the horizontal and vertical planes, fixed maximum values of the amplitudes E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ, max}}$ and E $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{Σ, max}}$ generalized information signals and the rotation angles α and β of the magnetic induction vector corresponding to the maxima for each of the planes, as well as the amplitudes E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ, α = 0}}$ and E $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{Σ, β = 0}}$ , e $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{1, α = 0}}$ and e $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{1, β = 0}}$ for the initial directions of the vector B in the horizontal and vertical planes, respectively, with fixed values of the angles α and β, the resulting magnetic field with the components of the vector is excited relative to the origin of the coordinate system

magnetic induction along the coordinate axes, respectively

, determine the amplitudes of the signals e _{1, Σ} , e _{2, Σ} , e _{3, Σ} induced by the final magnetic field, and the amplitude of the final generalized information signal E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ,, determine the angles

the rotation axis of the coordinate puller relative to the direction of the radius vector of the center of the magnetometric sensor in the horizontal and vertical planes, respectively, determine the angles Φ = α + Δα, ψ = 90 ^° - (α + Δα), θ = β + Δβ ,, determine the coordinates of the center of the magnetometric sensor according to the expressions x _o = Rcosα • sinβ, y _o = Rsinα • sinβ, z _o = Rcosβ, where R = f [E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ] is a predetermined dependence, after which the read coordinates x, y, z of the fixing point of the stripper coordinates are determined.

; на фиг.3 график зависимости амплитуды итогового обобщенного информационного сигнала от расстояния; на фиг. 4 пример технической реализации способа; на фиг.5 схема ориентации оси съемника в вертикальной плоскости.Figure 1 shows the spatial orientation of the axis of the stripper coordinates; in FIG. 2 scheme of rotation of the magnetic induction vector

; figure 3 is a graph of the dependence of the amplitude of the final generalized information signal from distance; in FIG. 4 example of a technical implementation of the method; figure 5 diagram of the orientation of the axis of the puller in a vertical plane.

где α, β углы между вектором

магнитной индукции поля и положительными направлениями координатных осей ОХ и ОZ соответственно, то при измерении угла α в диапазоне [0,2π], а угла в диапазоне

в каждой точке окружающего пространства (полусферы) создается магнитное поле, вектор

магнитной индукции которого вращается вокруг начала системы координат (точки О), сохраняя постоянство своего модуля для равноудаленных от начала координат точек. Действительно, при выполнении условий (1) будем иметь

т. е. модуль

вектора магнитной индукции в этом случае не зависит от углов α и β,, а зависит только от расстояния R исследуемой точки до начала координат.The essence of the method is as follows. If at the beginning of the Cartesian coordinate system (Fig. 1) we place the source of an alternating electromagnetic field so that its magnetic components along the coordinate axes change in accordance with the relations

where α, β are the angles between the vector

magnetic field induction and the positive directions of the coordinate axes OX and OZ, respectively, when measuring the angle α in the range [0.2π], and the angle in the range

at each point in the surrounding space (hemisphere) a magnetic field is created, a vector

whose magnetic induction rotates around the origin of the coordinate system (point O), while maintaining the constancy of its module for points equidistant from the origin. Indeed, under conditions (1), we have

i.e. module

the magnetic induction vector in this case does not depend on the angles α and β, but depends only on the distance R of the point under study to the origin.

амплитуд сигналов, индуцированных в каждой из приемных катушек индуктивности, и амплитуд отдельно взятых сигналов e₁, индуцированных в приемной катушке (первой), плоскость S₁ которой перпендикулярна оси съемника координат, позволяет определить координаты центра А магнитометрического датчика и ориентацию оси съемника координат.If now at the point A of the reception of the induced signal, place the center of the magnetometric sensor entering the coordinate picker and containing three identical circular inductors oriented along mutually orthogonal planes and deployed around their common center A, then the analysis of the amplitude of the induced generalized information signal E _Σ , formed as square root of the sum of squares

the amplitudes of the signals induced in each of the receiving inductors, and the amplitudes of the individual signals e ₁ induced in the receiving coil (first), the plane S _{1 of} which is perpendicular to the axis of the coordinate picker, allows you to determine the coordinates of the center A of the magnetometric sensor and the orientation of the axis of the coordinate pickup.

магнитной индукции поля вокруг точки О в магнитометрическом датчике амплитуда индуцируемого обобщенного сигнала

достигает своего максимума, когда направление радиус-вектора R вращения поля проходит через точку приема индуцированного сигнала, совмещаемую с центром А магнитометрического датчика. Это направление соответствует определенным значениям углов α и β, а значение амплитуды E_Σ соответствует модулю радиус-вектора R, т.е. имеем полярные координаты точки А, от которых по известным формулам легко перейти к декартовым координатам x_o, y_o, z_o центра А магнитометрического датчика.Indeed, it is known that during rotation of the vector

the magnetic induction of the field around the point O in the magnetometric sensor, the amplitude of the induced generalized signal

reaches its maximum when the direction of the radius vector R of the rotation of the field passes through the receiving point of the induced signal, compatible with the center A of the magnetometric sensor. This direction corresponds to certain values of the angles α and β, and the value of the amplitude E _Σ corresponds to the modulus of the radius vector R, i.e. we have the polar coordinates of point A, from which, according to well-known formulas, it is easy to go to the Cartesian coordinates x _o , y _o , z _{o of the} center A of the magnetometric sensor.

(2)
где направляющие углы Φ, ψ, θ образованы осью съемника координат с осями OX, OY и OZ координатной системы, причем ψ = 90^°-Φ..With the known coordinates of the center A of the magnetometric sensor, provided that the plane of one of the receiving inductors of the inductance (S ₁ ) of the sensor is oriented perpendicular to the axis of the stripper coordinates, and with a known distance a = AM from the center of the sensor to the fixing point M of the stripper (structural constant), you can determine Cartesian coordinates x, y, z from known relations

(2)
where the guiding angles Φ, ψ, θ are formed by the axis of the coordinate puller with the axes OX, OY and OZ of the coordinate system, and ψ = 90 ^° -Φ ..

 The required angles Φ and θ are related to the angles a and β by the obvious relations v = α + Δα, q = β + Δβ, where Da and Db are the angles of rotation of the axis of the MD of the coordinate picker relative to the direction of the radius vector R, respectively, in the horizontal and vertical planes.

по которым в соответствии с соотношениями (2) вычисляются конечные координаты острия съемника.The metric equivalent of the amplitude of the generalized information signal necessary for the transition to Cartesian coordinates is determined by solving the inverse interpolation problem (I. Berezin and N. N. Zhidkov, Calculation Methods, vol. 1, M. Fizmatgiz, 1959, p. 118, 119). Figure 3 shows a graph of the functional dependence of the amplitude of the generalized information signal of the magnetometric sensor from the distance R of its center A to the origin. Such a dependence is easily determined experimentally, taking readings E _{Σ, i of the} magnetometric sensor at the nodal points R _i with linear movement of the sensor, as shown in Fig.3. The direction of movement, taking into account the spatial invariance of both a variable magnetic field sensor and a magnetometric receiving sensor, can be arbitrary, but it is more convenient to do this on a plane. The experimentally obtained values of E _{Σ, i} are stored in the memory of the computer used. Upon receipt of the amplitude codes of the generalized information signal in the computer, an algorithm for its conversion to the metric equivalent of distance is launched. For this _, the polynomial L _n (R) is constructed from the experimentally obtained values of E _{Σ, i} , for example, according to Newton’s formula for equal intervals and for forward interpolation (Berezin and Zhidkov, p.118, 119) and by sequentially comparing the recorded amplitude with calculated values of the polynomial L _n (R) in the measuring range value R (determined format workspace) is corresponding to the measured value E _{Σ, edited} distance R _MOD metric system of measurement, which is used for calculating the deck tovyh A center coordinate detector according to the known formulas of the transition from polar coordinates to cartesian

according to which, in accordance with relations (2), the final coordinates of the tip of the puller are calculated.

 In order to increase the speed of the method and simplify the procedure for the formation of vector components along the coordinate axes of the total magnetic field (see relations (1)), it is advisable to rotate the field alternately along horizontal and vertical planes.

(4)
для вращения поля в плоскости XOY и на соотношения

(5)
для вращения поля в плоскости YOZ, реализация которых требует в m раз меньше времени, где m число уровней дискретизации угла вращения. Вращения электромагнитного поля абсолютно одинаковы для обеих выбранных плоскостей, что дает основание рассмотреть их на примере вращения в плоскости XOY (горизонтальной).Moreover, relations (1) for the spatial rotation of the electromagnetic field are replaced by the relations

(4)
to rotate the field in the XOY plane and on the relation

(5)
for rotation of the field in the YOZ plane, the implementation of which requires m times less time, where m is the number of levels of discretization of the angle of rotation. The rotation of the electromagnetic field is absolutely identical for both selected planes, which gives reason to consider them on the example of rotation in the XOY plane (horizontal).

для равноудаленных от центра вращения точек пространства. Множество таких точек образует окружность Т, получаемую сечением сферы радиуса R (R - расстояние выбранной точки пространства до центра вращения) плоскостями, параллельными плоскости XOY. Действительно, если рассмотреть две такие произвольные точки M₁ и М₂ (фиг. 2), то при выполнении соотношений (4) для модулей векторов

, очевидно, будем иметь однотипные выражения

При этом, очевидно, что направления векторов

при выполнении условий (4) в плоскости XOY совпадают с направлениями из точек М₁ и M₂ на центр вращения поля.If at the beginning of the coordinate system (Fig. 2) we place the source of the electromagnetic field so that its magnetic components along the coordinate axes OX and OY change according to relations (4), then when the angle α changes in the range 0 вα≅2π at each point of the surrounding an electromagnetic field is created in space, the magnetic induction vector of which rotates around the field excitation point in the XOY plane, while maintaining the constancy of its module

for equidistant points of space from the center of rotation. The set of such points forms a circle T obtained by the section of a sphere of radius R (R is the distance of the selected point in space to the center of rotation) by planes parallel to the XOY plane. Indeed, if we consider two such arbitrary points M ₁ and M ₂ (Fig. 2), then when relations (4) are satisfied for the modules of vectors

, obviously, we will have the same type of expression

Moreover, it is obvious that the directions of the vectors

when conditions (4) are fulfilled in the XOY plane, they coincide with the directions from the points M ₁ and M ₂ to the center of rotation of the field.

.If we now place a magnetometric sensor at points M ₁ and M ₂ , then, as shown in the work “Calculation and design of electromagnetic coordinate measuring devices” (Minsk: Nauka i Tekhnika, 1989, pp. 61 - 62, 112 114; Leonovich E. N. and Zhevelev B.Ya.), the amplitude of the induced generalized information signal of the magnetometric sensor, formed as E _Σ = e $\genfrac{}{}{0ex}{}{\text{2}}{\text{one}}$ + e $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ + e $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ , does not depend on the spatial orientation of the sensor, but is a function of the magnetic field strength in the center of the sensor, i.e. ultimately a function of the distance R between the center of the sensor and the source of the magnetic field. This statement, obviously, will be true for the generalized information signal, formed as

.

магнитной индукции поля (в точке М₁ это вектор

, в точке M₂ вектор

) на такой магнитометрический датчик эквивалентно действию на одну приемную катушку индуктивности, плоскость S которой все время остается перпендикулярной вектору

. Для приведенного графического примера (фиг.2) такими положениями плоскостей эквивалентных катушек в точках М₁ и M₂ будут, очевидно, положения S₁ и S₂.As shown in the same work, the action of a vector

magnetic field induction (at point M ₁ this is a vector

at the point M _{2 the} vector

) on such a magnetometric sensor is equivalent to acting on one receiving inductor, the plane S of which remains perpendicular to the vector all the time

. For the graphic example given (FIG. 2), such positions of the planes of the equivalent coils at the points M ₁ and M ₂ will obviously be the positions S ₁ and S ₂ .

амплитуда индуцированного обобщенного информационного сигнала

достигает своего максимального значения при размещении центра магнитометрического датчика в точке, имеющей направление на точку вращения поля в плоскости XOY, определяемое углом α. Действительно, как видно из фиг.2, б, только в этом случае вектор

образует с площадкой S₁ в плоскости XOY прямой угол, которому соответствует максимум потока Ф вектора магнитной индукции

через эту площадку. Как легко убедиться параллельным переносом вектора

из точки M₁ в точку M₂ при состоянии магнитного поля, определяемом углом α₁, вектор

в точке M₂ с площадкой S₂ эквивалентной катушки образует в плоскости XOY угол γ, отличный от 90^o, что соответствует меньшему значению потока в точке M₂ при угле a₁, а следовательно, и меньшему значению амплитуды E_Σ обобщенного информационного сигнала.It is true that during the rotation of the magnetic induction vector

amplitude of the induced generalized information signal

reaches its maximum value when placing the center of the magnetometric sensor at a point having a direction to the point of rotation of the field in the XOY plane, determined by the angle α. Indeed, as can be seen from figure 2, b, only in this case the vector

forms a right angle with the site S ₁ in the XOY plane, which corresponds to the maximum flux Φ of the magnetic induction vector

through this site. How easy it is to verify by parallel vector wrapping

from point M ₁ to point M ₂ in a magnetic field determined by the angle α ₁ , the vector

at point M ₂ with the platform S _{2 of the} equivalent coil forms an angle γ in the XOY plane that is different from 90 ^o , which corresponds to a lower value of the flow at point M ₂ at an angle a ₁ and, therefore, to a smaller value of the amplitude E _{Σ of the} generalized information signal.

Exactly the same conclusions are valid for the rotation of the electromagnetic field in the YOZ plane (vertical). In this case, the value of the angle b corresponding to the maximum amplitude E _{Σ of the} generalized information signal is fixed.

.With alternating rotation of the electromagnetic field, the amplitude E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ the generalized information signal (final) used to calculate the distance R can be determined as follows. According to the known angles a and b, in accordance with relations (1), the resulting magnetic field is excited and the amplitude of the resulting generalized information signal is formed in accordance with the ratio

.

 To create a rotating magnetic field in the working space, three identical inductors are used, the planes of which are oriented along the coordinate planes, and the common center is aligned with the origin of the coordinate system (Fig. 4). This design of the source of the electromagnetic field also allows you to determine the angles Da and Db of the deviation of the axis of the stripper coordinate relative to the direction of the radius vector R. Let us consider their definition using the example of the angle Db (Fig. 5), since this procedure is similar for the angle Da.

, где

вектор магнитной индукции магнитного поля, возбуждаемого горизонтальной катушкой индуктивности 3,

вектор нормали к плоскости приемной катушки S₁ съемника координат, совпадающей с осью последнего. В свою очередь,

, где e $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{1,α=0}}$ величина сигнала (с его знаком), индуцированного в приемной катушке S₁ при возбуждении импульсом тока излучающей катушки 3, расположенной в горизонтальной плоскости XOY, а величина E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ,α=0}}$ обобщенный информационный сигнал магнитометрического датчика, получаемого при возбуждении той же излучающей катушки 3. Величина

, очевидно, является периодической с периодом 90^o, и потому для определения угла Δβ в диапазоне 360^o, имеющем место в процессе практического считывания, выполняется совместный анализ знаков сигналов, индуцированных в приемной катушке S₁ итоговым электромагнитным полем с вектором магнитной индукции

и отдельно взятым полем, с вектором

, возбуждаемым излучающей катушкой 3, лежащей в плоскости XOY. При вращении оси съемника вокруг точки А (центра магнитометрического датчика) с учетом направления векторов

и

и изменяющейся пространственной ориентации плоскости приемной катушки S₁ будут наблюдаться следующие комбинации знаков индуцированных ЭДС (см. таблицу).To read the angle Db, we take as the initial position the coordinate of the puller axis, which coincides with the direction of the radius vector R, and select the positive direction of the axis of the puller in the direction of increasing the radius vector module R. When the axis of the puller deviates from this position clockwise,

where

magnetic induction vector of a magnetic field excited by a horizontal inductor 3,

the normal vector to the plane of the receiving coil S ₁ coordinate stripper, coinciding with the axis of the latter. In its turn,

where e $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{1, α = 0}}$ the value of the signal (with its sign) induced in the receiving coil S ₁ upon excitation by a current pulse of the radiating coil 3 located in the horizontal plane XOY, and the value E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ, α = 0}}$ generalized information signal of a magnetometric sensor obtained by excitation of the same radiating coil 3. Value

, obviously, is periodic with a period of 90 ^o , and therefore, to determine the angle Δβ in the range of 360 ^o , which takes place during the practical reading, a joint analysis of the signs of the signals induced in the receiving coil S _{1 by the} resulting electromagnetic field with the magnetic induction vector is performed

and a single field, with a vector

excited by the radiating coil 3 lying in the XOY plane. When the axis of the puller rotates around point A (center of the magnetometric sensor), taking into account the direction of the vectors

and

and the changing spatial orientation of the plane of the receiving coil S ₁ , the following combinations of signs of induced EMF will be observed (see table).

и e_1,Σ соответственно будут "0,-", "-,0", "0,+", "+,0". Таким образом, угол Db однозначно определяется во всем практическом диапазоне своего изменения.In addition, it is necessary to highlight especially the position of the axis of the coordinate remover when e $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{1, α = 0}}$ and e _{1, Σ} take on zero values. This occurs, obviously, when Db0, 90, 180, 270 ^o } and the analyzed states

and e _{1, Σ} respectively will be "0, -", "-, 0", "0, +", "+, 0". Thus, the angle Db is uniquely determined in the entire practical range of its change.

 The determination of the angle Da occurs in a similar manner when, obviously, a separate emitting coil 2 is excited.

 In FIG. 4 presents an example of a functional diagram of a device for implementing the proposed method. The device contains a magnetic field emitting inductance coils 1, 2, 3 whose planes are mutually orthogonal, and the centers are aligned with the origin of the coordinate system. The inputs of the emitting coils are connected to the outputs of the generators 4, 5, 6 of the current pulses of a functionally changing amplitude. Information (digital) inputs of the generators 4, 5, 6 through the switch 7 are connected to the information channel "a" of the computing unit 8, which can be used as a microcomputer, the control outputs "b" and "c" of which are connected respectively to the control inputs generators 4, 5, 6 and switch 7. The device includes a rod coordinate stripper 9, containing a magnetometric sensor, including the first, second and third receiving inductors 10, 11, 12, the outputs of which through the corresponding amplifiers 13, 14, 15, analog The keys 16, 17, 18 and the OR element 19 are connected to an analog-to-digital converter 20 connected to the information inputs via the code 21 keys with the information input "g" of the computing unit 8. In this case, the control outputs are "g", "d" and " e "of the computing unit are respectively connected to the control inputs of the analog keys 16, 17, 18 and through the OR element 22 with the control input of the analog-to-digital converter 20, as well as through the indicated OR element 22 and the delay element 23 with the control input of the code transmission keys 21; the plane of the first receiving inductor 10 of the coordinate puller 9 is placed perpendicular to the axis of the puller, which passes through the common center of the receiving inductance coils 10, 11, 12, which together form a magnetometric sensor. To the computing unit 8 is connected to the start button 24, structurally placed in the housing of the puller 9.

, синхронно запуская генераторы 4 и 5 по выходу "б", а по выходу "г" открывает аналоговый ключ 16. Генераторы токовых импульсов 4 и 5 одновременно возбуждают соответствующие излучающие катушки 1 и 2, создавая тем самым магнитное поле, суммарный вектор

магнитной индукции которого вращается вокруг начала координат в горизонтальной плоскости XOY. На каждый шаг Δα вращения вектора

с первой приемной катушки 10 через усилитель 13, открытый токовый ключ 16 и элемент ИЛИ 19 на АЦП 20 поступает индуцированный сигнал, амплитуда которого преобразуется в пропорциональный код и через ключи передачи кода 21 по сигналу с вычислительного блока 8 и выхода "г" передается в последний по информационному входу "ж". Такой процесс продолжается, пока не будет "отработан" весь диапазон изменения угла α. После этого аналогичные действия выполняются последовательно для второй 11 и третьей 12 катушек индуктивности.The device operates as follows. After installing the coordinate remover 9 at the read-out point M (x, y, z) of the three-dimensional object, the operator closes the start button 24 of the computing unit 8, which, in accordance with a previously entered program, transfers the values “a” to the generators 4 and 5 through the information output “a” respectively, the functions cosα and sinα in the range of the angle

synchronously starting the generators 4 and 5 at the output "b", and at the output "g" opens the analog switch 16. The current pulse generators 4 and 5 simultaneously excite the corresponding emitting coils 1 and 2, thereby creating a magnetic field, the total vector

whose magnetic induction rotates around the origin in the horizontal plane of XOY. For each step Δα of rotation of the vector

from the first receiving coil 10 through an amplifier 13, an open current switch 16 and an OR element 19, an induced signal is received at the ADC 20, the amplitude of which is converted into a proportional code and transmitted through the transmission keys of the code 21 to the last signal from the computing unit 8 and the output “g” on the information input "g". Such a process continues until the entire range of variation of the angle α is “worked out”. After that, similar actions are performed sequentially for the second 11 and third 12 inductors.

 In the same way, the working space is scanned along the vertical plane YOZ with the participation of radiating coils 2 and 3, generators 5 and 6 and changing the angle b.

, где e₁, e₂, e₃ - амплитуды сигналов ЭДС, индуцированных в первой 10, второй 11 и третьей 12 приемных катушках индуктивности, для каждого из углов α и β. При этом фиксируются соответствующие максимумам значения углов a и b. По известным значениям a, β углов в вычислительном блоке 8 формируются величины cosαsinβ, sinαsinβ и cosβ; посредством коммутатора 7 эти величины заносятся соответственно в генераторы 4, 5 и 6, после чего последние запускаются по выходу "б". При этом одновременно возбуждаются все три излучающие катушки 1, 2 и 3, в рабочем пространстве создается суммарное магнитное поле, вектор магнитной индукции

которого направлен точно по центру А магнитометрического датчика. Описанным образом через поочередно открываемые машиной аналоговые ключи 16, 17, 18 индуцированные сигналы приемных катушек 10, 11, 12, пройдя АЦП 20, в виде цифровых кодов поступают в вычислительный блок 8.Upon completion of the sweep at angles a and b, the program of computing unit 8 determines the maximum amplitudes E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ, max}}$ and E $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{Σ, max}}$ generalized information signals of the form

, where e ₁ , e ₂ , e ₃ are the amplitudes of the EMF signals induced in the first 10, second 11, and third 12 receiving inductors, for each of the angles α and β. In this case, the values of the angles a and b corresponding to the maxima are fixed. According to the known values of a, β of the angles in the computing unit 8, the values cosαsinβ, sinαsinβ and cosβ are formed; through the switch 7, these values are entered respectively in the generators 4, 5 and 6, after which the latter are launched at the output "b". At the same time, all three emitting coils 1, 2 and 3 are simultaneously excited, a total magnetic field, a magnetic induction vector are created in the working space

which is directed exactly in the center A of the magnetometric sensor. In the described manner, through the analog keys 16, 17, 18, alternately opened by the machine, the induced signals of the receiving coils 10, 11, 12, passing the ADC 20, are sent to the computing unit 8 in the form of digital codes.

, получаемого при воздействии на магнитометрический датчик суммарным магнитным полем;
3) определение обратным интерполированием метрического эквивалента амплитуды E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ как функции R=f[E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ] расстояния R центра А датчика от начала координат;
4) определение величин

и

;
5) определение углов

и

, где i 0, 1, 2, 3, с учетом знаков величин e $\genfrac{}{}{0ex}{}{\text{(2)}}{\text{1,α=0}}$ , e $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{1,β=0}}$ и e_1,Σ;
6) определение углов v = α+Δα,

, θ = β + Δβ;
7) вычисление координат центра А магнитометрического датчика по формулам

;
8) вычисление координат острия съемника координат (считываемой точки М) по формулам

.Subsequently, the computing unit 8, according to a program previously entered into it, performs the following operations:
1) the formation of amplitudes E $\genfrac{}{}{0ex}{}{\text{(r)}}{\text{Σ, α = 0}}$ and E $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{Σ, β = 0}}$ and fixing the amplitudes e $\genfrac{}{}{0ex}{}{\text{(2)}}{\text{1, α = 0}}$ , e $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{1, β = 0}}$ and ε _{1, Σ} with their signs;
2) the formation of the amplitude of the final generalized information signal

obtained by exposing the magnetometric sensor to a total magnetic field;
3) determination by reverse interpolation of the metric equivalent of the amplitude E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ as functions R = f [E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ] the distance R of the center A of the sensor from the origin;
4) determination of quantities

and

;
5) determination of angles

and

, where i 0, 1, 2, 3, taking into account the signs of the quantities e $\genfrac{}{}{0ex}{}{\text{(2)}}{\text{1, α = 0}}$ , e $\genfrac{}{}{0ex}{}{\text{(b)}}{\text{1, β = 0}}$ and e _{1, Σ} ;
6) determination of the angles v = α + Δα,

θ = β + Δβ;
7) the calculation of the coordinates of the center A of the magnetometric sensor according to the formulas

;
8) the calculation of the coordinates of the tip of the stripper coordinates (read point M) according to the formulas

.

 The results of operations 8 are the output of a device that implements the proposed method.

Claims (1)

A method of reading three-dimensional information, including the excitation of an alternating magnetic field in the coordinate system of the working space, the formation of a generalized information signal using the coordinates of the magnetometer sensor

where e _i (i 1, 2, 3) is the amplitude of the signals induced in three mutually orthogonal receiving coils of the inductance of the magnetometric sensor, and the calculation of the coordinates of the read point using the formulas
x = x _o + a • cosΦ,
y = y _o + a • cosψ,
z = z _o + a • cosθ,
where x ₀ , y ₀ , z _{0 the} coordinates of the center of the magnetometric sensor;
a distance between the fixing point of the coordinate stripper and the center of the magnetometric sensor;
Φ, ψ, θ - angles between the axis of the coordinate puller and coordinate axes,
characterized in that the winding plane of the first receiving inductance coil of the magnetometric sensor is placed orthogonal to the axis of the coordinate remover, a generalized information signal is generated when the vector is rotated

of magnetic induction of an alternating magnetic field alternately in the horizontal and vertical planes of the working space, the maximum values of the amplitudes E $\genfrac{}{}{0ex}{}{\text{(g)}}{\text{Σ, max}}$ and E $\genfrac{}{}{0ex}{}{\text{(in)}}{\text{Σ, max}}$ generalized information signals and the corresponding angles α and β of rotation of the magnetic induction vector for each of the planes, as well as the amplitudes E $\genfrac{}{}{0ex}{}{\text{(g)}}{\text{Σ, α = 0}}$ and E $\genfrac{}{}{0ex}{}{\text{(in)}}{\text{Σ, β = 0}}$ , e $\genfrac{}{}{0ex}{}{\text{(g)}}{\text{1, α = 0}}$ and e $\genfrac{}{}{0ex}{}{\text{(in)}}{\text{1, β = 0}}$ with the initial directions of the vector

in the horizontal and vertical planes, respectively, for fixed values of the angles α and β, the resulting magnetic field with the components of the vector is excited relative to the origin of the coordinate system

magnetic induction along the coordinate axes, respectively

measure the amplitudes of the signals e _{1, Σ} , e _{2, Σ} , e _{3, Σ} induced by the final magnetic field, calculate the amplitude of the final generalized information signal E $\genfrac{}{}{0ex}{}{\text{(and)}}{\text{Σ}}$ calculate angles

the rotation axis of the coordinate puller relative to the direction of the radius vector of the center of the magnetometric sensor in the horizontal and vertical planes, respectively, calculate the angles

calculate the center coordinates of the magnetometric sensor according to the expressions
x _o = Rcosα • sinβ, y _o = Rsinα • sinβ, z _o = Rcosβ,
where R = f [E $\genfrac{}{}{0ex}{}{\text{(n)}}{\text{Σ}}$ ] is a predetermined dependence, after which the x, y, z coordinates of the read point are calculated.

Images