CN1290850A - Non-contact six-freedom motion measuring and analysing system - Google Patents
Non-contact six-freedom motion measuring and analysing system Download PDFInfo
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- CN1290850A CN1290850A CN 00125886 CN00125886A CN1290850A CN 1290850 A CN1290850 A CN 1290850A CN 00125886 CN00125886 CN 00125886 CN 00125886 A CN00125886 A CN 00125886A CN 1290850 A CN1290850 A CN 1290850A
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Abstract
The measuring and analyzing system includes one signal generating subsystem, one signal acquisition subsystem, one lamp holder comprising three non-collinear infrared LED's and fixed onto measured target, and two measuring rectangular coordination systems near the measured area and comprising two PSD video cameras in ring angle. Via the simultaneous measurement of the motion coordinates of the three points in model by two PSD cameras, the present invention provides measured data for the calculation of spatial six-freedom motion. The corollary softwares for correction of viewing angle errors result in ever accurate analysis. The present invention may be used in the model test and practial measurement of marine engineering, machinery, etc.
Description
The present invention relates to a kind of measuring system, relate in particular to a kind of non-contact six-freedom motion measuring and analytic system, belong to the ocean engineering experiment field of measuring technique the ocean engineering structure motion.
In recent years, the oceanographic engineering field becomes a global scientific research and a focus producing exploitation, and marine petroleum development and ocean deep sea deposits exploration exploitation are developed rapidly.Ocean engineering structures such as seafari and production vessel, oil tanker are in various marine environment conditions (wind, wave, stream) extremely Naval Architecture and Ocean Engineering circle colleague's the concern of forecast of motion conditions down.At present, the pond model test is still forecast ocean engineering structure motion conditions means commonly used.The motion of marine structure under various marine environment then is the important component part in the test, and all many-sides such as the design of marine structure, construction, operation, safety are all had direct influence.
Measurement model motion is early adopted the rope that ties up on the model to spur potentiometer to carry out in the pond, thereby the pulling rope changes the resistance of potentiometer when model sport, with the displacement of the lines of measurement model three degree of freedom.This method is owing to the influence between the displacement that can not consider six-freedom degree preferably, and measured displacement of the lines result has bigger error.
Paper " development of ocean engineering model motion measurement device " (Jin Zhihua etc., " oceanographic engineering " the 15th the 1st phase of volume, in February, 1997) a kind of measurement mechanism of Jie Shaoing, come the movement angle of Measurement and analysis model with gyroscope and compass, the maximum error of its measuring accuracy within ± 30 ° is less than 3%, maximum error within ± 45 ° is less than 9%, this has reached quite high level at that time, but still can not satisfy the requirement that the oceanographic engineering high precision is tested, be easy to generate drift in the test for a long time.
Develop again later on and the mechanical motion measuring instrument, it is made up of a cover complicated mechanical devices, and when model sport, the corresponding generation of the device that is connected with model is moved, and can record the model sport situation thus.Because this device is a contact, when model sport, must apply certain power to it and just can finish measuring process by model, its measuring process makes the motion of model that certain variation take place, and makes measurement result produce error.And mechanical hook-up has certain inertia, is not very good to small movements or the measurement response that changes bigger motion.
Other is the acceleration that the applied acceleration instrument records model sport as the acceleration movement measuring instrument, by acceleration is carried out quadratic integral, tries to achieve the locus of model.Because will produce cumulative errors during integration in time, the test duration, long more cumulative errors was big more, for the experimental study that this measuring process of the oceanographic engineering time is grown, its measuring error reaches sizable scope sometimes.
The CCD motion measuring instrument is to use the CCD camera is measured luminous point with TV mode locus.Because the image-forming component of CCD camera is made up of discrete pixel, makes measuring accuracy not high enough.And being subjected to the restriction of sweep frequency, the speed of its measurement is lower, can't make accurately motion at a high speed and measuring.
The objective of the invention is to the above-mentioned deficiency at prior art, the measuring system that provides a kind of novel contactless ocean engineering model to move makes it more more practical and convenient than existing contact type measurement mode, and measurement result is more accurate reliable.
For realizing such purpose, the present invention is carrying out studying on the basis for many years to the measuring technique of ocean engineering structure motion deeply and carefully, under the situation of the multiple experimental study means of comparison, fully use for reference the advanced technology of domestic and international other field, proposed a kind of ratio contact type measurement mode and more advanced measuring method---contactless six-freedom degree measuring system of PSD reliably of CCD metering system in the past in the exercise test fields of measurement.
(Position Sensitive Detector-PSD) measures the position of several points by infrared light emission source (Light-Emitting Diodes-LED) and position measurement instrument for non-contact six-freedom motion measuring of the present invention and analytic system.Several LED light emitting sources are fixed on the model, and luminous successively.Position measurement instrument (PSD) measures the variation that luminous point moves by camera, produces serial composite signal, is broken down into two-dimentional hyperchannel position data by control section then, i.e. luminous point projected position in the plane.
In order to measure the three-dimensional coordinate position of luminous point in the space, the present invention adopts 2 cameras, and it is positioned to the right angle, aims at measurement target, forms one and measure rectangular coordinate system near measured zone.On measurement target by 3 not point-blank LED light emitting source form a lamp bracket, and and measurement target be rigidly connected.So just can extrapolate the motion of measurement target by the motion of measuring lamp bracket.
Measuring system of the present invention is become by two groups of subsystems, and one is signal generation system, and one is the signal processing and analysis system.
Signal generation system is mainly by power supply---and accumulator, electric power source distribution device, lamp bracket etc. are formed.Accumulator produces stable voltage output, guarantees the stable of signal.Electric power source distribution device adds respectively that with the DC voltage that accumulator produces 3 kinds of different signals are to guarantee that 3 different LED targets can be by the correct identification of acquisition system.
The signal processing and analysis system mainly is made up of with computing machine etc. the PSD camera, amplification case, demodulator of PM signal PM, the collection analysis that are contained on the level meter.
For the electric signal that will be gathered is directly changed into kinematic parameter into testee, the present invention is supporting to have worked out complete signal analysis and processing system software, the error that measuring system produces at aspects such as optics has been carried out mathematical correction, made the data that obtain reach very high precision.
In order to understand technical scheme of the present invention better, describe in further detail below in conjunction with drawings and Examples.
Fig. 1 forms synoptic diagram for the structure of whole measuring system of the present invention.
Among the figure, 3 not point-blank LED infrared light emission source ABC form a lamp bracket 3, be fixed on the measurement target 42 PSD cameras 5 that are positioned on the position measurement instrument on the level meter 6 layout that meets at right angles, aim at measurement target 4, near measured zone, form one and measure rectangular coordinate system.
The power supply of signal generation system---accumulator 1 is received electric power source distribution device 2, and accumulator 1 produces stable voltage output, guarantees the stable of signal.Electric power source distribution device 2 adds 3 kinds of different signals with the DC voltage that accumulator 1 produces, and is added in respectively on 3 light emitting source ABC of lamp bracket 3, can be by the correct identification of acquisition system to guarantee 3 different LED targets.Two PSD cameras 5 in the signal processing and analysis system connect signal end amplification case 7 respectively, and are connected to collecting cassette 10 and collection analysis computing machine 11 through collection terminal amplification case 8, demodulator of PM signal PM 9.
Lamp bracket 3 is made up of 3 lamp balls, and each lamp ball is the organic glass ball of 4.5cm for the diameter of evenly having arranged 216 LED unit, and 3 road signals are added in respectively on 3 lamp balls.The LED luminescence unit is the light source that belongs to the infrared light type.Under by battery-driven situation, LED is luminous stable, is not subject to the interference of visible light, and under test condition, infrared PSD camera can be discerned the signal of LED infrared light supply steady and audiblely from visible light.
Interior lights-the electric transition element of PSD camera 5 is the light activated element of an integral body, be a kind of to inciding the photoelectric device of the light spot position sensitivity on its photosurface, when on the diverse location of light spot at light-sensitive surface, the voltage signal that PSD exported is also different, from the output electric signal, just can determine the position of luminous point on the device light-sensitive surface, the result that the measuring method of the direct corresponding light spot position of this voltage obtains is obviously than by method precision many that determined light spot position among the CCD by single photo detector, so its precision is compared with CCD and improved a lot.
Because the sightless infrared light of naked eyes that led light source sent for monitoring in test the normally luminous of LED lamp ball, can specially be equipped with one of infrared viewer.
Fig. 2 is measuring principle schematic diagram of the present invention.
As shown in the figure, 3 not point-blank LED infrared light emission source ABC form a lamp bracket, Be fixed on the measurement target, the PSD camera of 2 position measurement instruments is aimed at measurement target, in measured zone Rectangular coordinate system is measured near one of formation.
If the space fixed coordinates are O-xyz, the relative coordinate that is fixed on the model is G-ξ η ζ, α among the figure Be the angle of O ' P to the Ox axle. 3 luminous points are denoted as A, B, C, then 3 luminous points of measured this Space coordinates be (xA, yA, zA), (xB, yB, zB), (xC, yC, zC). Coordinate according to these 3 points can Try to achieve the direction cosines time c ξ x of relative coordinate system G-ξ η ζ and fixed coordinate system o-xyz, c ξ y, c ξ z; C η x, C η y, c η z; C ζ x, c ζ y, c ζ z, and by following (1), (2), (3) formula is calculated Eulerian angles θ, φ, ψ:
According to given model center of gravity G and the relative position of these 3 luminous points, the coordinate of model center of gravity G any point R in the available following space of coordinate (xG, yG, zG) of spatial movement and the relation of position of centre of gravity are tried to achieve:
In the formula, the space fixed coordinates that (x, y, z) orders for R, (ξ, η, ζ) is the relative coordinate of R point on model.
Application site measuring instrument of the present invention (PSD) carries out cordless to infrared light emission source (LED) Measure, avoided contact model in measuring process and produce certain active force and produce error, improved The degree of accuracy of measuring. PSD has higher location resolution degree and capability of fast response, and the measurement result precision Height, the velocity interval of measurement is bigger. Special LED light emitting source has satisfied the requirement of telemeasurement. Logical Cross simultaneously three motion of point coordinates on the measurement models of two cover PSD, for computation model six of the space from Provide necessary measurement data by the degree motion. Supporting software makes branch to the correction of all optical look angle errors It is more accurate to analyse the result, and can accurately calculate six-freedom degree motion conditions (three center of gravity line positions of model Move three angular displacements), precision is satisfactory.
The present invention is at " the Model Test of a of a large amount of model investigations such as U.S. SOFEC company Tower Yoke FSO ", " the hope oil tanker first order motion water pool model examination of China National Offshore Oil Corporation Test ", tunnel, Shanghai City office " the casing mooring of Section of Outer Ring Line Huangpu River cross-river tunnel coffer work, towing, Handle, the sinking experimental study ", " the turret moored tanker test and reason of China National Offshore Oil Corporation Opinion research ", " research of FWMCM system test " of Guangzhou Naval Architecture and Ocean Engineering designing institute, ocean engineering The open problem " tension leg platform (TLP) theoretical and experimental investigations " of National Key Laboratory, " Dalian oil tanker single point mooring System ", " river, river in Zhejiang Province, Ningbo Changhong Tunnel pipeline section model test ", " 50kDWT bulk freighter pier mooring model Test " etc. use the six-freedom motion that this movement measurement system is measured, analyzed model in the research project, The result is satisfactory. System of the present invention can accurately measure object motion within the specific limits for needs and carry For a kind of degree of accuracy height, do not have to lag behind, object of which movement do not had the measuring method of impact, can be used for ocean engineering, The model test of machinery etc. and actual measurement.
Claims (2)
1, a kind of non-contact six-freedom motion measuring and analytic system, it is characterized in that comprising that signal produces and two subsystems of signal processing and analysis, 3 not point-blank LED infrared light emission source form a lamp bracket (3), be fixed on the measurement target (4), 2 PSD cameras (5) that are positioned on the level meter (6) layout that meets at right angles, aim at measurement target (4), near measured zone, form one and measure rectangular coordinate system, signal produces the accumulator (1) of subsystem and receives electric power source distribution device (2), electric power source distribution device (2) adds 3 kinds of different signals with the DC voltage that accumulator (1) produces, be added in respectively on 3 light emitting source ABC of lamp bracket (3), two PSD cameras (5) in the signal processing and analysis system connect signal end amplification case (7) respectively, and through collection terminal amplification case (8), demodulator of PM signal PM (9) is connected to collecting cassette (10) and collection analysis computing machine (11).
2, as said a kind of non-contact six-freedom motion measuring of claim 1 and analytic system, it is characterized in that the LED infrared light emission source of forming lamp bracket (3) is made up of 3 lamp balls, each lamp ball is the organic glass ball of 4.5cm for the diameter of evenly having arranged 216 LED unit.
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| CN102506900A (en) * | 2011-11-17 | 2012-06-20 | 大连理工大学 | Coordinate direction correction method in vision measurement system, and device thereof |
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| US9007601B2 (en) | 2010-04-21 | 2015-04-14 | Faro Technologies, Inc. | Automatic measurement of dimensional data with a laser tracker |
| CN104596733A (en) * | 2014-06-26 | 2015-05-06 | 中国特种飞行器研究所 | Novel airplane model basin high-speed test data collecting method |
| US9041914B2 (en) | 2013-03-15 | 2015-05-26 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| US9151830B2 (en) | 2011-04-15 | 2015-10-06 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
| US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
| US9188430B2 (en) | 2013-03-14 | 2015-11-17 | Faro Technologies, Inc. | Compensation of a structured light scanner that is tracked in six degrees-of-freedom |
| US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
| US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
| US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
| US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
| US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
| US9482529B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| US9638507B2 (en) | 2012-01-27 | 2017-05-02 | Faro Technologies, Inc. | Measurement machine utilizing a barcode to identify an inspection plan for an object |
| US9686532B2 (en) | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
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| CN107505610A (en) * | 2017-07-19 | 2017-12-22 | 中国科学院空间应用工程与技术中心 | Six-freedom degree pose measuring method and device |
| CN108051005A (en) * | 2017-11-30 | 2018-05-18 | 天津大学 | The single PSD detection methods of Target space position and posture |
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| US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
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| CN107505610A (en) * | 2017-07-19 | 2017-12-22 | 中国科学院空间应用工程与技术中心 | Six-freedom degree pose measuring method and device |
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