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CN103185545A - Space vector object three-dimensional rotational coordinate measuring method - Google Patents

Space vector object three-dimensional rotational coordinate measuring method Download PDF

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CN103185545A
CN103185545A CN2013100902222A CN201310090222A CN103185545A CN 103185545 A CN103185545 A CN 103185545A CN 2013100902222 A CN2013100902222 A CN 2013100902222A CN 201310090222 A CN201310090222 A CN 201310090222A CN 103185545 A CN103185545 A CN 103185545A
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vector object
photoelectric detection
lens
detection array
measured vector
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CN103185545B (en
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任春华
王心怡
唐润东
陈思宇
潘英俊
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Chongqing University
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Abstract

本发明公开了一种空间矢量物三维旋转坐标测量方法，步骤如下：1）在被测矢量物上安装激光器，被测矢量物一侧放置反射棱镜，另一侧放置透镜，在透镜后放置光电测探阵列；2）被测矢量物未发生改变时在第一光电测探阵列上的像点储存在计算机中；3）被测矢量物旋转角改变时，激光在反射棱镜上的入射位置改变，导致光线反射到第二光电测探阵列上；4）光电测探阵列将采集的数据送入计算机，获得两个像点坐标；5）通过计算机分析计算，获得矢量物三维旋转角的信息后，由单片机控制数控转台将被测矢量物转回原始位置。本发明方法中使用的测量装置具有结构合理简单，抗干扰性强，能够及时准确地判定空间被测矢量物微小角度变动等优点。

The invention discloses a method for measuring three-dimensional rotating coordinates of a space vector object. The steps are as follows: 1) Install a laser on the measured vector object, place a reflective prism on one side of the measured vector object, place a lens on the other side, and place a photoelectric sensor behind the lens. Detecting array; 2) When the measured vector object does not change, the image points on the first photoelectric detection array are stored in the computer; 3) When the measured vector object’s rotation angle changes, the incident position of the laser on the reflective prism changes , causing the light to be reflected to the second photoelectric detection array; 4) The photoelectric detection array sends the collected data to the computer to obtain the coordinates of two image points; 5) After the information of the three-dimensional rotation angle of the vector object is obtained through computer analysis and calculation , the CNC turntable is controlled by the single-chip microcomputer to turn the measured vector object back to its original position. The measuring device used in the method of the invention has the advantages of reasonable and simple structure, strong anti-interference ability, timely and accurate determination of the slight angle change of the measured vector object in space, and the like.

Description

Space vector thing three-dimensional rotation coordinate measuring method
Technical field
The present invention relates to a kind of high-acruracy survey and application technology of space vector, the acting in conjunction that relates in particular to a kind of measuring system by precision and deviation-rectifying system reaches the technology of high precision location correction.
Background technology
About complex environment, as the measurement of the space vector under various weather conditions, the movement environment, countries in the world are dropped into a large amount of man power and materials and are studied, but never have the equipment appearance of special highly effective.Traditional space measurement mainly contains: the laser interferometer method; The laser three-dimensional scanning method; Laser speckle photography method etc.Wherein, though laser interferometer method precision is higher, environmental suitability is poor, and measuring accuracy is directly affected by environment; The laser three-dimensional scanning method has the instrument price high, and shortcoming such as equipment calibration method is single, and accuracy assessment is bad; The laser speckle fado is used for measuring body surface internal modification (displacement) and processing procedure more complicated, is vulnerable to disturb.It is lower that classic method is measured efficient, and practicality is relatively poor.Countries such as virtue have developed the three-dimensional positioning deviation correcting technology at outdoor complex environment, compared to classic method, this technology has been broken the limitation of conventional two-dimensional location technology, have efficient, precisely, fast, advantages such as intellectuality, but it is comparatively huge to measure light path, and the measuring element number that needs is more.This field of China also still is in developing state at present.
Summary of the invention
At above shortcomings in the prior art, the invention provides a kind of simple, efficient height, the space vector thing three-dimensional rotation coordinate measuring method that precision is high.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
Space vector thing three-dimensional rotation coordinate measuring method has adopted a kind of measurement mechanism in the method, and this measurement mechanism comprises laser instrument, reflecting prism, the first photoelectricity probing array, the second photoelectricity probing array, first lens, second lens and computing machine;
This method comprises the steps:
1), in the test point of tested vector thing laser instrument is installed, be sidelong on one of tested vector thing next door and put reflecting prism, and the opposite side by tested vector thing is placed first lens and second lens, and behind first lens, place the first photoelectricity probing array, place the second photoelectricity probing array behind second lens, the first photoelectricity probing array and the second photoelectricity probing array are used for carrying out the reception of reflected light signal;
2), when any space angle does not take place and changes in tested vector thing, the laser that laser instrument sends is after the reflecting prism reflection, after first lens focus on, carried out reception and the input computing machine of reflected light signal again by the first photoelectricity probing array, by computer stored in computing machine;
3), when tested vector thing spatially has angle to change, the incoming position of the laser that laser instrument is launched on reflecting prism also can change thereupon, thereby causes the light on the reflecting prism to reflex on the second photoelectricity probing array;
4), the first photoelectricity probing array and the second photoelectricity probing array change light signal into electric signal by the photoelectric coding machine, and this electrical signal data that will collect is sent into computing machine, carry out following steps by computing machine and carry out analytical calculation, obtain the angle information that tested vector thing spatially changes;
4.1), the coordinate of incident light on reflecting prism be:
Figure 2013100902222100002DEST_PATH_IMAGE001
In the following formula,
Figure 477959DEST_PATH_IMAGE002
Be the volume coordinate of light source,
Figure 2013100902222100002DEST_PATH_IMAGE003
Be the luminous point coordinate of incident light on reflecting prism,
Figure 269198DEST_PATH_IMAGE004
Be the angle of the projection line of light beam of light source on x-z and y-z face with respect to the z axle;
4.2), incident light picpointed coordinate on the first photoelectricity probing array after reflecting prism reflection is:
Figure 2013100902222100002DEST_PATH_IMAGE005
In the following formula,
Figure 472646DEST_PATH_IMAGE006
Be the luminous point coordinate on the first photoelectricity probing array,
Figure 2013100902222100002DEST_PATH_IMAGE007
It is the focal length of first lens and second lens;
4.3), incident light picpointed coordinate on the second photoelectricity probing array after reflecting prism reflection is:
Figure 32940DEST_PATH_IMAGE008
Figure 2013100902222100002DEST_PATH_IMAGE009
In the following formula, Be the picpointed coordinate on the second photoelectricity probing array,
Figure 2013100902222100002DEST_PATH_IMAGE011
It is the luminous point coordinate on second lens;
4.4), with above various simultaneous, can get:
Figure 945106DEST_PATH_IMAGE012
；
5), the space angle of tested vector thing changes and can realize by the picture point difference that compares on two photoelectricity probing arrays, after obtaining the information of tested vector thing deviation angle, to depart from coordinate information by serial communication is sent in the single-chip microcomputer, by the rotation of Single-chip Controlling numerical control rotating platform on three-dimensional, control tested vector thing and go back to the original position, thereby realize reset function.
Compared with prior art, space vector thing three-dimensional rotation coordinate measuring method of the present invention has following advantage:
1, utilize laser instrument, photoelectricity probing array, computing machine and resetting system (numerical control rotating platform) to finish monitoring and the recovery work of tested vector thing minute angle change, tested vector thing is under the multiple physical environment, can both work effectively.
2, on measuring method, in conjunction with measurement thought and the principle of traditional laser triangulation range finding, and adopt reverse thinking, laser instrument is placed on the tested vector thing, the trivector rotation angle of the tested vector thing in space is measured.In the processing procedure of measuring, the three-dimensional rotation angle information of tested vector thing is to realize by the picture point difference on two photoelectricity probing arrays relatively, thereby has simple in structurely, and reaction velocity is fast, the characteristics that degree of accuracy is high are in real time dynamic location correction provides accurate controlled quentity controlled variable.
3, reflecting prism is placed on the object plane of classic method, make the angular range of emergent ray to change by regulating prism parameters, solved the problem that photoelectricity probing array position is laid in the practical application, thereby measurement mechanism is comparatively simple and be easy to install.
4, the measurement mechanism that uses in the inventive method have rational in infrastructure simple, strong interference immunity, advantages such as the small rotation angle change of the tested vector thing of decision space timely and accurately are improvement and the innovations to traditional measurement method and equipment.
Description of drawings
Fig. 1 is the structural representation of measurement mechanism;
Fig. 2 is the schematic diagram of space vector thing three-dimensional rotation coordinate measuring method.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail.
Space vector thing three-dimensional rotation coordinate measuring method, adopted a kind of measurement mechanism in the method, as illustrated in fig. 1 and 2, this measurement mechanism comprises laser instrument, reflecting prism, the first photoelectricity probing array, the second photoelectricity probing array, first lens, second lens and computing machine.Computing machine (PC) connects display and controls the single-chip microcomputer that numerical control rotating platform rotates at three-dimensional, and display is used for showing the rotation angle numerical value of tested vector thing.
This space vector thing three-dimensional rotation coordinate measuring method comprises the steps:
1), in the test point of tested vector thing laser instrument is installed, be sidelong on one of tested vector thing next door and put reflecting prism, and the opposite side by tested vector thing is placed first lens and second lens, and behind first lens, place the first photoelectricity probing array, place the second photoelectricity probing array behind second lens, the first photoelectricity probing array and the second photoelectricity probing array are used for carrying out the reception of reflected light signal.
2), when any change does not take place in tested vector thing, the laser that laser instrument sends after first lens focus on, is carried out reception and the input computing machine of reflected light signal again by the first photoelectricity probing array after reflecting prism reflection.
3), when tested vector thing spatially has angle to change, the incoming position of the laser that laser instrument is launched on reflecting prism also can change thereupon, thereby causes the reflecting prism glazed thread to reflex on the second photoelectricity probing array.
4), the first photoelectricity probing array and the second photoelectricity probing array change light signal into electric signal by the photoelectric coding machine, and this electrical signal data that will collect is sent into computing machine, carry out following steps by computing machine and carry out analytical calculation, obtain the angle information that tested vector thing spatially changes.
4.1), the coordinate of incident light on reflecting prism be:
In the following formula
Figure 304729DEST_PATH_IMAGE002
Be the volume coordinate of light source,
Figure 309594DEST_PATH_IMAGE003
Be the luminous point coordinate of incident light on reflecting prism,
Figure 747529DEST_PATH_IMAGE004
Be the angle of the projection line of light beam of light source on reference coordinate x-z and y-z face with respect to the z axle;
4.2), incident light picpointed coordinate on the first photoelectricity probing array after reflecting prism reflection is:
Figure 230463DEST_PATH_IMAGE005
In the following formula,
Figure 765349DEST_PATH_IMAGE006
Be the luminous point coordinate on the first photoelectricity probing array,
Figure 878799DEST_PATH_IMAGE007
It is the focal length of first lens and second lens;
4.3), incident light picpointed coordinate on the second photoelectricity probing array after reflecting prism reflection is:
Figure 866346DEST_PATH_IMAGE008
Figure 152971DEST_PATH_IMAGE009
In the following formula, Be the picpointed coordinate on the second photoelectricity probing array,
Figure 564066DEST_PATH_IMAGE011
It is the luminous point coordinate on second lens;
4.4), with above various simultaneous, can get:
Figure 38909DEST_PATH_IMAGE012
。
5), the space angle of tested vector thing changes and can realize by the picture point difference that compares on two photoelectricity probing arrays, after obtaining tested vector object angle degree runout information, to depart from coordinate information by serial communication is sent in the single-chip microcomputer, by the rotation of Single-chip Controlling numerical control rotating platform on three-dimensional, control tested vector thing and go back to the original position, thereby realize reset function.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (1)

1.空间矢量物三维旋转坐标测量方法，其特征在于：在该方法中采用了一种测量装置，该测量装置包括激光器、反射棱镜、第一光电测探阵列、第二光电测探阵列、第一透镜、第二透镜和计算机； 1. The method for measuring three-dimensional rotating coordinates of a space vector object is characterized in that: a measuring device is adopted in the method, and the measuring device includes a laser, a reflective prism, a first photoelectric detection array, a second photoelectric detection array, a second photoelectric detection array, and a second photoelectric detection array. a lens, a second lens and a computer; 该方法包括如下步骤： The method comprises the steps of: 1）、在被测矢量物的测试点上安装激光器，在被测矢量物旁边的一侧放置反射棱镜，并在被测矢量物旁边的另一侧放置第一透镜和第二透镜，且在第一透镜后放置第一光电测探阵列，在第二透镜后放置第二光电测探阵列，第一光电测探阵列和第二光电测探阵列用来进行反射光信号的接收； 1) Install the laser on the test point of the measured vector object, place a reflective prism on one side next to the measured vector object, and place the first lens and the second lens on the other side next to the measured vector object, and A first photoelectric detection array is placed behind the first lens, a second photoelectric detection array is placed behind the second lens, and the first photoelectric detection array and the second photoelectric detection array are used to receive reflected light signals; 2）、在被测矢量物未发生任何空间角度改变时，激光器发出的激光经反射棱镜反射后，经第一透镜聚焦后，再由第一光电测探阵列进行反射光信号的接收并输入计算机，由计算机作为标准储存在计算机处理系统的数据库中； 2) When the measured vector object does not change in any spatial angle, the laser light emitted by the laser is reflected by the reflective prism, focused by the first lens, and then the reflected light signal is received by the first photoelectric detection array and input to the computer , stored by the computer as a standard in the database of the computer processing system; 3）、被测矢量物在空间上有角度改变时，激光器发射出的激光在反射棱镜上的入射位置也会随之改变，从而导致反射棱镜上光线反射到第二光电测探阵列上； 3) When the angle of the measured vector object changes in space, the incident position of the laser emitted by the laser on the reflective prism will also change accordingly, causing the light on the reflective prism to reflect to the second photoelectric detection array; 4）、第一光电测探阵列和第二光电测探阵列通过光电编码机将光信号转变为电信号，并将采集到的该电信号数据送入计算机，由计算机执行如下步骤进行分析计算，获得被测矢量物在空间上改变的角度信息； 4), the first photoelectric detection array and the second photoelectric detection array convert the optical signal into an electrical signal through the photoelectric encoder, and send the collected data of the electrical signal to the computer, and the computer performs the following steps for analysis and calculation, Obtain the angle information of the measured vector object changing in space; 4.1）、入射光在反射棱镜上的坐标为： 4.1), the coordinates of the incident light on the reflective prism are:
Figure 2013100902222100001DEST_PATH_IMAGE001
Figure 2013100902222100001DEST_PATH_IMAGE001
 上式中，
Figure 624020DEST_PATH_IMAGE002
为光源的空间坐标, 
Figure 2013100902222100001DEST_PATH_IMAGE003
为入射光在反射棱镜上的光点坐标，为光源光束在设定坐标x-z和y-z面上的投影线相对于z轴的夹角； In the above formula,
Figure 624020DEST_PATH_IMAGE002
is the spatial coordinate of the light source,
Figure 2013100902222100001DEST_PATH_IMAGE003
is the light point coordinates of the incident light on the reflective prism, is the angle between the projection line of the light source beam on the set coordinates xz and yz plane relative to the z axis; 4.2）、入射光经棱镜反射后在第一光电测探阵列上的像点坐标为： 4.2), the coordinates of the image point on the first photoelectric detection array after the incident light is reflected by the prism are: 上式中，
Figure 510778DEST_PATH_IMAGE006
为第一光电测探阵列上的光点坐标，
Figure 2013100902222100001DEST_PATH_IMAGE007
为第一透镜和第二透镜的焦距；  In the above formula,
Figure 510778DEST_PATH_IMAGE006
is the light point coordinates on the first photoelectric detection array,
Figure 2013100902222100001DEST_PATH_IMAGE007
is the focal length of the first lens and the second lens; 4.3）、入射光经棱镜反射后在第二光电测探阵列上的像点坐标为： 4.3), the coordinates of the image point on the second photodetection array after the incident light is reflected by the prism are:
Figure 968304DEST_PATH_IMAGE008
Figure 968304DEST_PATH_IMAGE008
Figure 2013100902222100001DEST_PATH_IMAGE009
Figure 2013100902222100001DEST_PATH_IMAGE009
 上式中，
Figure 907310DEST_PATH_IMAGE010
为第二光电测探阵列上的像点坐标，
Figure 2013100902222100001DEST_PATH_IMAGE011
为第二透镜上的光点坐标； In the above formula,
Figure 907310DEST_PATH_IMAGE010
is the image point coordinates on the second photodetection array,
Figure 2013100902222100001DEST_PATH_IMAGE011
is the light point coordinates on the second lens; 4.4）、将以上各式联立，可得： 4.4) Combining the above formulas, we can get: ； ; 5）、被测矢量物的空间角度改变可以通过比较在两个光电测探阵列上的像点差异实现，获得被测矢量物偏离角度的信息后，通过串口通讯将偏离信息传送到单片机中，由单片机控制数控转台在三维方向上的转动，控制被测矢量物转回原始位置，从而实现复位功能。 5) The change of the spatial angle of the measured vector object can be realized by comparing the image point difference on the two photoelectric detection arrays. After obtaining the information of the deviation angle of the measured vector object, the deviation information is transmitted to the single-chip microcomputer through serial communication. The single-chip microcomputer controls the rotation of the CNC turntable in the three-dimensional direction, and controls the measured vector object to turn back to the original position, thereby realizing the reset function.
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CN103471561A (en) * 2013-09-05 2013-12-25 中国人民解放军63680部队 Three-dimensional small-angle measuring device and three-dimensional small-angle measuring method
CN105547673A (en) * 2015-12-21 2016-05-04 江苏科技大学 Dynamic characteristic tracking device and method of anchor chain
CN108257137A (en) * 2017-11-27 2018-07-06 南京浩梁景信息科技有限公司 A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot
CN109211174A (en) * 2017-07-06 2019-01-15 中国航空制造技术研究院 A kind of space vector guy-rope measuring method and device

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103471561A (en) * 2013-09-05 2013-12-25 中国人民解放军63680部队 Three-dimensional small-angle measuring device and three-dimensional small-angle measuring method
CN105547673A (en) * 2015-12-21 2016-05-04 江苏科技大学 Dynamic characteristic tracking device and method of anchor chain
CN109211174A (en) * 2017-07-06 2019-01-15 中国航空制造技术研究院 A kind of space vector guy-rope measuring method and device
CN109211174B (en) * 2017-07-06 2020-12-01 中国航空制造技术研究院 Space vector pull rope measuring method and device
CN108257137A (en) * 2017-11-27 2018-07-06 南京浩梁景信息科技有限公司 A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot

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