SU1739195A1 - Method of control over rectilinearity and device to implement it - Google Patents

Abstract

This invention relates to a measurement technique. The aim of the invention is to improve the accuracy of control when measuring the nonlinearity of extended objects. The method consists in sequentially setting the reference direction by means of a light beam on discrete control sections, into which the controlled object is divided, in synchronous measurements in linear and angular measures of the linearity of the controlled points of the object and instability of setting the reference direction, in measuring the relative position of the discrete segments between themselves and in the calculation of the non-linearity of the object under control. The device contains the master and the controlling modules interconnected optically and via remote control channels. 2 sp.f-ly, 2 ill. (Ls

Description

The invention relates to engineering geodesy and is intended for automated geodesic control of the linearity of objects of long length, in particular the guide rails of mass technological equipment, including the rails of crane runways.

The known method of controlling the linearity includes the formation of a light beam, setting the reference direction with the help of a light beam along the entire length of the object being monitored, stabilizing the spatial position of the reference direction through a feedback loop, measuring the linearity of the controlled points and calculating by determining the non linearity of the object.

The disadvantage of the method is the low accuracy of controlling the linearity of objects of long length due to the influence of atmospheric turbulence and refraction. There is also known a method for determining the geometry of a track with a laser, including the formation of a light beam, setting the reference direction using a light beam, dividing the track into separate areas control, measurement of linearity of controlled points of a track on each separate section and computational processing, by definition, geome Three tracks.

The disadvantage of this method is the low accuracy of monitoring the linearity of the track, due to the instability of the spatial position of the laser beam and the influence of atmospheric turbulence and refraction.

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The closest to the invention is the method of controlling the linearity, including the formation of a light beam, setting the reference direction by means of a light beam along the entire length of the object being monitored, performing synchronous measurements in a linear measure of the deviations of the object points from the linearity and instability of the reference direction caused by - the stability of the spatial position of the laser beam and the change in the intensity distribution of the light flux in the beam cross section, as well as the computation w measured parameter of the processing and determination of straightness of the object.

The disadvantage of this method is the low accuracy of measuring the neprosity of objects of large length due to the influence of the atmosphere on the control results (absorption and scattering of the light beam, distortion of the reference direction under the influence of atmospheric turbulence and refraction) and the neglect of the linear component of the position instability laser beam.

The purpose of the invention is to improve the accuracy of controlling the linearity of objects of long length.

The goal is achieved by the fact that, according to the method of controlling the linearity, which consists in forming a light beam, the reference directions are set using the light beam, synchronously measured in a linear measure of the deviation of the controlled points of the object from the linearity and instability of the reference direction setting and the non-linearity of the object is calculated using the measured parameters; the measured area on the object is divided into control segments, the reference directions are sequentially assigned to the discrete values control points, the length of which limits external measurement conditions, measure the mutual position of discrete control segments, along with linear measures, make additional synchronous measurements of the deviations of the controlled points of the object from the linearity and instability of the reference direction setting in the angular measure, and the linearity of the object calculates taking into account these parameters.

Fig. 1 shows a scheme for measuring the non-linearity of a monitored object; figure 2 - structural diagram of the device.

A device that controls the proposed method of controlling the linearity of the mouth is poured in at the first two points of the test object, at points I and I (Fig. 1). The light beam is formed and the light beam is set to the reference direction in the HI area. Synchronous measurements are performed in linear and angular measures at point I — the position of the first, taken, for example, the reference, reference direction, at point II — the linearity of the second control point relative to the first reference direction. Then the device is moved from point II to point 111 of the control object. Set the reference direction on the site HI. Synchronous measurements are carried out in linear and angular measures at the NO site, at point I, the position of the second reference direction, at point III, if the third control point is not linear with respect to the second reference direction. The cycle of measuring operations ends by moving the device from point I to point II of the test object. Setting the reference direction in section II and III. By arbitrariness of synchronous measurements in the linear t "angular measures at section II-IH, at point III - the position of the third reference direction, at point II - irregularity of the second control point relative to the third reference direction. The cyclic process continues.

The calculation of the non-linearity of a controlled extended object, for example a guide rail, using the proposed method is performed as follows.

In the general case, the non-linearity of control points is calculated by the formula

Yi qn;

qi2 P12 -Ldz2Rz2.

P12 + P32

q23. Once + qb Rvz.

P23 + P53

Y2

UzYH .I - & P () + bv-3Kn-t fr2 -3Xn-D. P (2n-fcXn-1) + P (2n-OXr -t)

Yn q1 (2n-4) n,

where qji is the measured linear position of the j-ro reference direction at the 1st control point;

q1ji - linearity non linearity, 1st control point with respect to J reference reference direction, reduced to the initial, for example, first reference direction;

PJI is the weight of the corresponding value;

n is the total number of control points of the straightness of the guide rail.

The given non-linearity value q ji is calculated by the formulas

,) () - (-Kchg.- ЬЬз ,,,,); lU 4 "-Bv UfSis5in (g, -c4„)}

and ChL M-IMEChvym-} -Y "-СЬ 5о9; пК,) - () -5„ "(- (Vl) 45 (1, -,)}

) 4 ("n-sKMLfaten. 1 (7h-r) (n g) h5 (n Jl (-i) sin (Ws) b. - ° WrHn-) flКч." ГЧ ..) +

+ 5 ("1 -.) C; n (" 4g., KHH (g "e | (p-1G V-Жп-.Г KV.) ITty.H) rf

-SMn5 K2n.i, n - «i (2n4) nl

-4 (h, - (U + 4 .-.) 5l (.- ,, i: b

where egi is the angular position of the j-ro reference direction not of the 1st control,

S is the distance between points.

To implement the proposed method, a linearity control device is required.

A device for controlling linearity is known, comprising a light source, a measuring carriage s by an acousto-optic cell, an objective lens and a photo-receiver, as well as a feedback loop comprising a position-sensitive photo-transducer, an amplifier and an actuator kinematically connected to the light source, and a recording unit.

The drawback of the device is the low accuracy of monitoring the linearity of objects of large length, due to the influence of atmospheric turbulence and refraction.

It is also known a device for determining the geometry of a track with a laser, comprising a laser mounted on a movable carriage, and a measuring system. The measurement system includes sensitive transducers, a laser receiver, a processing circuit and is also located on movable carriages. Sensitive transducers determine the position of the rail relative to the measuring system, and the laser receiver determines the position of the laser beam in the plane defined by the sensitive transducers.

The disadvantage of the device is low accuracy of control of linearity

5 due to the influence of the instability of the spatial position of the laser beam and atmospheric turbulence and refraction.

Closest to the invention is a photovoltaic device for controlling linearity, containing a light source, optically coupled to it — a beam splitter, a photodetector located on the carriage, and a second photo receiver mounted at a fixed distance from the light source. The device also contains an irradiance converter into an electrical signal, the inputs of which are connected to the outputs of the photoelectric receivers, and the output to the filter electrically connected with the recording device. The filter time constant is functionally dependent on the current distance between the light source.

5 and photodetector located on the carriage. The known device makes it possible to increase the control accuracy by eliminating errors due to the inconsistency of the position of the light source, the spatial instability of the position of the laser beam, due to the change in the intensity distribution of the light flux in the starting cross section, and to reduce the dispersion of the measurement result caused by the beam fluctuations

0 air path.

The disadvantage of the photoelectric device is the low accuracy of controlling the linearity of objects of large length due to the influence of the atmosphere on the control results (absorption and scattering of the light beam, distortion of the reference direction under the influence of turbulence and refraction).

The purpose of the invention is to increase the accuracy of controlling the linearity of objects of long length.

The goal is achieved by the fact that the proposed device for controlling linearity, which contains a driver module with a light source and a monitoring module with a beam splitter, a photo-measuring system of linear quantities, an information storage unit and an executive-recording unit, two mobile platforms, while the modules are installed on the corresponding

5 platforms and optically connected to each other, equipped with a photo-measuring system of angular values, a calculator and an electronic level placed in a controlled module, second photo-measuring systems of linear and angular values, an information accumulator, a calculator, an executive-recording unit and an electronic level and an executive unit pointing and two beam splitters placed in the master module, in which the photo-measuring systems are optically coupled to the light source through the beam splitters, the outputs of the The m and electronic levels are connected to the accumulator, the data and control bus of the calculator are connected with the accumulator of information, the executive recording unit, the electronic level and the executive actuator associated with the light source in the control module of the photometric systems and the electronic level are connected to the accumulator of information, and the calculator is connected to the data accumulator, the executive recording unit and the electronic level by data and control buses; in addition, the modules are interconnected by channels remote control, synchronization of control moments and orientation of the reference direction,

The device contains a driver 1 and a controller 2 modules (Fig. 2), interconnected optically and via telecontrol channels, installed on the controlled rail 3 with the possibility of autonomous movement.

The driver module 1 contains the light source 4, beam splitters 5 and 6, photo-measuring systems 7 and 8 measuring linear and angular displacements of the reference beam of rays, information storage 9, calculator 10, executive registering unit 11, executive control unit 12 and electronic level 13.

The beam splitter B is located along the beam of light reflected by the beam splitter 5. Photometric systems 7 and 8 are optically coupled to the beam splitter 6. The outputs of the photo measuring systems 7 and 8 and electronic level 13 are connected to the information storage device 9. The calculator 10 control buses is connected with the storage device 9, the executive registering unit 11, the executive pointing unit and the electronic level 13, and the data bus with the executive registering unit 11 and the information accumulator.

The light source 4 includes a laser radiation source and an optical collimating system (not shown) and serves to form the reference direction. The beam splitters 5 and 6 are made in the form of translucent mirrors and serve to separate the light beam. Photographic systems 7 and 8 include optical scaling systems, such as telescopic and position-sensitive

photodetectors made on the basis of matrix FSSS (photosensitive circuits with charge coupling). Photometric systems 7 and 8 are used to measure the linear and angular displacements of the reference beam of rays caused by the instability of the spatial position of the laser beam.

The drive 9 of the information is made in the form of storage devices: RAM - random access memory, for example on semiconductor elements, OVC - external storage device, for example, based on a floppy disk drive on a floppy magnetic disk. The information storage device 9 serves for storing and long-term storage of measurement information about the linear and angular position of the reference direction at the moments of monitoring the straightness, distances to control points and lateral tilt angles

driver module 1, caused by the inclination of the upper face of the rail head. Measuring information from the HDD, for example, is directly entered into the microcomputer, where computational processing is performed.

measurement results for a given program and data output, for example, AAP (automatic printing device).

The calculator 10 is a processor configured on one or more LSIs and includes a control unit (CU), an arithmetic logic unit (ALU), registers and buses. The transmitter 10 together with the drive 9 of the information form a microprocessor system

master module 1. The calculator 10 serves to control the execution of all operations and the movement of all data in controlling the operation of the information storage 9, the executive recording unit 11, the control execution unit 12 and the electronic level 13.

The executive-recording unit 11 includes receivers for telecontrolling the processes of orienting the reference direction and synchronizing the moments of non-linearity of the guide rail and the instability of the reference direction, an electromechanical drive and a track sensor, for example a wheel one (not shown). The executive registering unit 11 serves to receive commands via telecontrol channels, autonomously moving the master module 1 over a controlled

guiding and measuring distances to the control points of linearity.

The actuating unit 12 is designed as a mechanical scanning system and includes a system of rotary axes of the light source 4, servo drives, etc. The hovering unit 12 serves to direct the reference beam of light onto the control bar. 2.

The electronic level 13 is made in the form of a tactile sensor with a capacitive transducer of tilt angles into electrical signals and serves to measure the transverse, lateral tilt angles of the driver module 1 at times of controlling the rail linearity and the instability of the reference direction.

Driver module 1 is located on a movable platform 14 mounted on a controlled rail 3 with the possibility of autonomous movement and equipped with centering devices, such as mechanical ones. The driver module 1 is used to form and set the reference direction, monitor the spatial position of the reference direction, and ensure the monolithicity of the track to be monitored, and autonomous movement along the track and measure distances to the control points.

The monitoring module 2 contains a beam splitter 15, photo-measuring systems 16 and 17 for measuring linear and angular displacements of the reference beam of rays, information storage 18, calculator 19, executive-recording unit 20 and electronic level 21.

The beam splitter 16 is located along the beam passing through the beam splitter 5. Photometric systems 16 and 17 are optically coupled to the beam splitter 16, the outputs of which and the electronic level 21 are connected to the information storage 18. The transmitter 19 is controlled by the control buses with the storage 18, the executive recording unit 20 and the electronic level 21, and the data buses with the storage 18 and the executive recording unit 20.

The beam splitter 16 is also made in the form of a translucent mirror and serves to divide the light beam into two. Photometering systems 16 and 17 are similar in design to systems 7 and 8 and include optical scaling systems, such as telescopic, and position-sensitive photodetectors made on the basis of a matrix PSS. Photographic systems 16 and 17 serve to measure

linear and angular position of the reference direction in the process of control.

Information storage device 18, as well as information storage device 9, is made in 5 types of RAM and OVC. Storage device. 18 information serves for storing and durable value of measuring information on linear and angular positions of reference direction, distances to points

10 and the lateral tilt angle of the monitoring module 2. Measurement information from the floppy disk drive is inputted directly into the microcomputer.

The calculator 19 is

15 is also a processor made on one or several LSIs and includes a control unit (CU), an arithmetic logic unit (ALU), registers and buses. The calculator 19 with the drive 18

0 information form the microprocessor system of the controlling module 2. The calculator 19 serves to control the execution of all operations and the movement of all data in the management of work accumulator 5 18 of information, the executive-recording unit 20 and the electronic level 21.

The executive registering unit 20 includes transmitters of the telepathing channels by orienting the reference direction and synchronizing the moments of measuring the linearity of the rails and monitoring the position of the reference voltage, the drive, for example, electromechanical, 5, and the track sensor, for example, wheel (not shown). The executive registering unit 20 serves to command the telecontrol channels, set in motion and autonomously move the monitoring module 2 along the guide rails and measure the distances to the control points of the linearity.

The electronic level 21 is made in the form of a math sensor with a capacitive pre5 of the tilt angles into electrical signals and is used to measure the side tilt angles of the control module 2 in the process of checking the linearity of the rails.

0

The monitoring module 2 is located on a movable platform 22 mounted on the controlled rail 3 with the possibility of movement and equipped

5 centering devices, such as mechanical ones. The monitoring module 2 serves to change the linearity of the rails at the control points, to measure the positions of the reference direction when transferring the reference points and

autonomous movement on rails with measurement of distances to control points.

The device works as follows.

The specifying 1 and controlling 2 modules are installed on the first two points of the control of the straightness of the guide rail. Make the necessary inclusions and specify the discreteness of the control of the linearity using the appropriate keyboards by the calculator 10 and 19.

The light source 4 forms a reference beam of rays, which is divided into two by the beam splitter 5.

The reference beam of rays passing through the beam splitter 5 goes towards the controlling module 2. In the general case, the beam of rays occupies an arbitrary position and may not get into the photometric systems 16 and 17 of the controlling module 2. The calculator 10 commands the orientation of the reference beam of rays. The command signal enters the execution unit 12 of the guidance, which scans the reference beam of the region of space in the direction of the monitoring module 2. At the moment the reference beam hits the photometric systems 16 and 17, the calculator 19 stops scanning. The capture signal from calculator 19 according to the orientation control and data bus enters calculator 10. It may be necessary to refine the orientation of the reference direction and bring it to the central part of photo-measuring systems 16 and 17. Here, the calculator 19 takes the initiative, giving the appropriate commands to calculator 10.

The reference beam hits the beam splitter 15, splits them and enters the photo-measuring systems 16 and 17. The geometric position of the beams in the position-sensitive photo-receivers of systems 16 and 17 is converted into electrical signals corresponding to the linear and angular position of the reference beam. Electrical signals from the outputs of the photo-measuring systems 16 and 17 are fed to the inputs of the storage device 18 information.

The beam reflected by the beam splitter 5 is split by the beam splitter 6 and fed to the photo-measuring systems 7 and 9. Photo-measuring systems 7 and 8 measure the linear and angular position of the reference beam of rays, the corresponding electrical signals from the systems go to the inputs of the storage device 9,

After the orientation direction of the reference direction is completed, the calculator 19 gives the command to perform synchronous measurements. Team by. channel

control of synchronization of measurement moments, the data bus enters the calculator 10. At the command of synchronous measurements, on the master and control modules 1 and 2 of the information storage 9 and 18, electrical signals from the photo-measurement systems 7.8 and 16.17 are memorized, recording units 11 and 20 and electronic levels 13 and 21.

5 Then, the calculator 19 gives the command to move the controlling module 2 to the next control point. The command enters the executive-recording unit 20 and the monitoring module 2, according to

0 readings of the sensor of the path of the device 20 are set at the next point of control of the linearity. After stopping the controlling module 2, the transmitter 19 again gives the command to produce synchronous

5 measurements.

Now, the calculator 10 gives the command to the executive registering unit 11 to move the master module 1 which follows the next control point. Relocation is also performed according to the indications of the sensor of the path of the executive-recording unit 11. After stopping, the calculator 10 controls the orientation of the reference direction. Further, the operations are repeated.

The proposed method of control is direct re. linearity and the device for its implementation allows to increase the accuracy of controlling the linearity of objects of greater length by reducing the effect of errors caused by the absorption and scattering of the light beam in the atmosphere, the influence of atmospheric turbulence and refraction, which in short segments of the controlled object, have significantly smaller values. In addition, the accuracy of control is enhanced by eliminating the error in fixing the axis of the head

0 when determining the relative position of discrete segments.

Claims (2)

Claim 1. The method of controlling the linearity, which consists in forming a light beam, sets the reference directions with the help of a light beam, simultaneously measures the linear deviation of the controlled points of the object from the linearity and instability of the reference direction and synchronizes it in a linear measure. These parameters calculate the non-linearity of the object, characterized in that, in order to increase the accuracy of the control when measuring the linearity of extended objects, the measured area on the object is divided into control segments, the reference directions are set sequentially on discrete control segments, and the position of the discrete control sections, along with the linear one, makes additional synchronous measurements of the deviations of the controlled points of the object from the linearity and instability of the reference reference detecting at least the angular and rectilinear indirect calculated taking into account these parameters. 2. A device for controlling linearity, containing a master module with a light source and a controlling module with a light divider, a photo-measuring system of linear quantities, an information storage and executive recording unit, two mobile platforms, modules installed on the respective platforms and optically interconnected the fact that, in order to increase the accuracy of control when measuring the non-linearity of extended objects, it is equipped with a measuring system of angular values, a calculator and element level, placed in the controlling module, 5 second photo-measuring systems of linear and angular values, information storage, calculator, executive-recording unit and electronic level and pointing-up execution unit and two beam splitters placed in the master module, in which photo-measuring systems through beam splitters optically coupled to the light source, system outputs and electronic level 5 are connected to the accumulator, the data and control bus of the calculator are connected to the information accumulator, the executive recording unit, the electronic level and the executive actuator connected to the light source, in the monitoring module the outputs of the photo-measuring systems and the electronic level are connected to the information accumulator, and the data bus and control bus are connected to the drive 5 of the information, the executive recording unit and the electronic level, the modules are connected by channels of telecontrol, synchronization of control moments and orientation of the reference direction. 0 Fig1