CN102269583B - Super large geometry parameter measure system based on wireless sensing network guiding - Google Patents

Abstract

The invention discloses a super large geometry parameter measure system based on wireless sensing network guiding. The system is characterized by comprising measure base stations, a marking station and a host computer. During a measure process, first, space position calibration is carried out on the measure base stations; then guiding effect of the wireless sensing network is utilized to enable a laser absolute distance measure system in the measure base station to aim at a right angle target mirror; then the host computer controls a two-dimensional rotating stage in the mark station to enable the right angle target mirror in the mark station to aim at the distance measure system; and at last the laser absolute distance measure system acquires space coordinates of a right angle mirror summit in each mark station; and the host computer shows a measure result. A measure scope of the invention is not restricted, and an automatic measurement can be realized.

Description

Super large geometry parameter measuring system based on the radio sensing network guiding

Technical field

The present invention relates to the measuring system of super large geometry parameter, specifically a kind of super large geometry parameter measuring system based on the radio sensing network guiding.

Background technology

Along with manufacturing development, the size of product has reached tens even hundreds of rice.This just means that measurement range also enlarges thereupon, and the measurement of super large geometry parameter has also been proposed actual requirement.The measurement of super large geometry parameter can by measuring the volume coordinate of some unique points, namely position indirect realization to unique point.In recent years, super large geometry parameter measuring technique had obtained the extensive concern of academia, and relevant achievement in research also is disclosed successively.Up to the present, be applied to the technology that the super large geometry parameter measures and reached nearly ten kinds.They are when having separately advantage, and part also comes with some shortcomings: or measurement range is limited, such as three coordinate measuring machine CMM etc.; Or it is low to measure efficient, and automaticity is not high, such as the transit survey system etc.; Or system complex, expensive, such as indoor GPS etc.

Summary of the invention

The present invention is for avoiding the existing weak point of above-mentioned prior art, the super large geometry parameter measuring system based on the radio sensing network guiding that a kind of measurement range is unrestricted, can realize automatic measurement being provided.

The present invention is that the technical solution problem adopts following technical scheme:

The characteristics that the present invention is based on the super large geometry parameter measuring system of radio sensing network guiding are to consist of by measuring base station, mark station and host computer;

Described measurement base station is comprised of the beaconing nodes of radio sensing network and the laser absolute distance measurement system that is installed on the 2-d rotating platform C, and wherein the laser emission point of laser instrument is set to absolute zero position in the laser absolute distance measurement system; Described beaconing nodes is made of power module C, control module C, serial port module and radio magnetic wave transceiver module C, wherein control module C communicates and controls the transmitting-receiving of radio magnetic wave transceiver module C by serial port module and host computer, the transmitting-receiving end points of radio magnetic wave transceiver module C is set to beaconing nodes electromagnetic wave transmitting-receiving point, and the spatial relation of beaconing nodes electromagnetic wave transmitting-receiving point and absolute zero position is known; Set unique point in measurand, each is measured the base station and covers all unique points of measurand with its whole measurement range and be as the criterion and be arranged in measure field, each height of measuring the base station is higher than measurand, and all are measured base stations be labeled as respectively C1, C2,, Cn, wherein n measures the number of base station for all;

Described mark station is comprised of the destination node of radio sensing network and the right angle target mirror that is installed on the 2-d rotating platform B, and wherein the spatial relation of unique point is determined on the summit of right angle target mirror and the measurand; Described destination node is made of power module B, control module B, wireless data transceiver module, radio magnetic wave transceiver module B and timing module, wherein control module B communicates and controls the transmitting-receiving of radio magnetic wave transceiver module B and unlatching and the end of timing module by wireless data transceiver module and host computer, the transmitting-receiving end points of radio magnetic wave transceiver module B is set to destination node electromagnetic wave transmitting-receiving point, and the spatial relation of the right angle target vertex point of destination node electromagnetic wave transmitting-receiving point and right angle target mirror is known; Each characteristic point position corresponding each mark station of arranging one by one on the measurand, all mark stations be labeled as respectively B1, B2 ..., Bm, wherein m is the number at all mark stations;

Measuring process: at first carry out the locus demarcation to measuring the base station, the guiding function of recycling radio sensing network makes the right angle target mirror in the described laser absolute distance measurement system point of aim mark station, then host computer makes the right angle target mirror in the mark station aim at laser absolute distance measurement system by control 2-d rotating platform B, obtained by laser absolute distance measurement system at last that target vertex point in right angle provides measurement result by host computer again to each distance of measuring the absolute zero position of laser absolute distance measurement system in base station in each mark station.

The characteristics that the present invention is based on the super large geometry parameter measuring system of radio sensing network guiding also are:

The guiding function of described radio sensing network is: adopt pulse interval range difference method to determine one by one first the volume coordinate of each destination node electromagnetic wave transmitting-receiving point, calculated again vertical direction angle and the horizontal direction angle of the required rotation of laser absolute distance measurement system aiming right angle target mirror by host computer, then make right angle target mirror in the laser absolute distance measurement system point of aim mark station by control 2-d rotating platform C.

Described pulse interval range difference method is: utilize host computer to send order to each beaconing nodes respectively by serial port module, control all beaconing nodes and launch monopulse to destination node one by one with the time interval greater than pulse width, record the mistiming that each adjacent monopulse arrives this destination node by the timing module in the destination node, again by wireless data transceiver module with all mistiming data transmission to host computer, in host computer, calculate the volume coordinate of the transmitting-receiving of destination node electromagnetic wave in destination node point according to formula:

(Δt _(i+1)i-ΔT _(i+1)i)·v＝d _i+1-d _i (10)

Wherein:

Δ t _{(i+1) j}It is the mistiming that i the monopulse of launching with i+1 beaconing nodes arrives destination node;

Δ T _{(i+1) i}Be the time interval that i and i+1 beaconing nodes are launched monopulse, Δ T _{(i+1) i}Greater than pulse width;

V is Electromagnetic Wave Propagation speed, and v is a constant.，

d _iBe that i beaconing nodes electromagnetic wave transmitting-receiving point is to the distance of destination node electromagnetic wave transmitting-receiving point;

$d_i=\sqrt{{(x_i-x)}^2+{(y_i-y)}^2+{(z_i-z)}^2}---\left(11\right)$

In the formula (11), i=1,2 ..., n-1; N is the number of beaconing nodes, and n＞4;

(x _i, y _i, z _i) be the volume coordinate of the electromagnetic wave transmitting-receiving point of i beaconing nodes;

(x, y, z) is the volume coordinate of destination node electromagnetic wave transmitting-receiving point.

Compared with the prior art, beneficial effect of the present invention is embodied in:

1, system of the present invention consists of by measuring base station, mark station and host computer, can determine according to the size of measurand owing to measuring the number of base station, so the measurement range of measuring system is unrestricted;

2, system of the present invention finishes final measurement by radio sensing network guiding laser absolute distance measurement system in measuring process, so the present invention can realize automatic measurement, and has higher cost performance.

Description of drawings

Fig. 1 is whole system framework schematic diagram of the present invention;

Fig. 2 is for measuring the architecture of base station schematic diagram;

Fig. 3 is mark station structure schematic diagram;

Fig. 4 is beaconing nodes framework schematic diagram;

Fig. 5 is destination node framework schematic diagram;

Fig. 6 is the systematic survey process flow diagram flow chart.

Embodiment

The super large geometry parameter measuring system based on the radio sensing network guiding in the present embodiment is to consist of by measuring base station 1, mark station 2 and host computer 3, its measuring process is to demarcate measuring base station 1 first, the guiding function of recycling radio sensing network makes the right angle target mirror 13 in the laser absolute distance measurement system 8 point of aim mark stations 2, finishes final measurement by laser absolute distance measurement system 8 at last;

As shown in Figure 2, measuring base station 1 is comprised of the beaconing nodes 5 of radio sensing network and the laser absolute distance measurement system 8 that is installed on the 2-d rotating platform C9; As shown in Figure 4, beaconing nodes 5 is made of power module C, FPGA control module, serial port module and radio magnetic wave transceiver module C; Absolute zero position 7 is known with the position relationship of beaconing nodes electromagnetic wave transmitting-receiving point 6; Each is measured base station 1 and covers measurand 4 all unique points with its whole measurement range and be as the criterion and be arranged in measure field, each height of measuring base station 1 is higher than measurand 4, and to all measure base stations 1 be marked with respectively C1, C2 ..., Cn, wherein n is that all measure the number of base stations 1; As shown in Figure 1, this specific embodiment is to measure base stations 1 with six to be arranged in measure field, and to six measure base stations be marked with respectively C1, C2 ..., C6;

As shown in Figure 3, mark station 2 is comprised of the destination node 10 of radio sensing network and the right angle target mirror 13 that is installed on the 2-d rotating platform 14; As shown in Figure 5, destination node 10 is made of power module B, FPGA control module B, wireless data transceiver module, radio magnetic wave transceiver module B and timing module; The right angle target vertex point 12 of right angle target mirror 13 is known with the position relationship of destination node electromagnetic wave transmitting-receiving point 11; All unique points are corresponding one by one on the placement location at each mark station 2 and the measurand 4, each mark station 2 be marked with respectively B1, B2 ..., Bm, wherein m is the number at all mark stations 2; As shown in Figure 1, the present embodiment is to have placed five mark stations 2 in measurand 4, and to five mark stations 2 be marked with respectively B1, B2 ..., B5:

Host computer 3 is carriers of Survey Software, is responsible for transmission and the data acquisition process of control command;

Fig. 6 is the measuring process process flow diagram of system, and the present embodiment is specifically set forth this measuring process as follows to measure base station C1 and mark station B1 as example:

1, demarcates measuring base station 1: volume coordinate and beaconing nodes electromagnetic wave transmitting-receiving point 6 volume coordinates of determining respectively to measure the absolute zero position 7 of laser absolute distance measurement system 8 in the base station 1 by calibration experiment; Calibration experiment is to arrange the known mark station 2 of the individual relative position relation of k (k＞3) in measure field in advance, by manual control 2-d rotating platform 14 right angle target mirror 13 is aimed at successively again, thereby is obtained the range information between the right angle target vertex point 12 of right angle target mirror 13 in the mark station 2 of the absolute zero position 7 of laser absolute distance measurement system 8 and diverse location:

${(x_i-a_j)}^2+{(y_i-b_j)}^2+{(z_i-c_j)}^2=d_{\mathrm{ij}}^2---\left(20\right)$

In the formula (20):

(x _i, y _i, z _i) be i the volume coordinate of measuring the absolute zero position of laser absolute distance measurement system in the base station, i=1,2 ..., n; N is for measuring the number of base station;

(a _j, b _j, c _j)=(a ₁, b ₁, c ₁)+(j, 0,0) be the volume coordinate of the right angle target vertex point 12 of right angle target mirror 13 in j the position mark station, j=1,2 ..., k; K is the number at the known mark station 2 of all relative position relations;

d _IjIt is the distance between the right angle target vertex point 12 in i the absolute zero position of measuring laser absolute distance measurement system in the base station and j the position mark station; (i=1,2 ..., n; J=1,2 ..., m)

Calculate the volume coordinate that all measure the absolute zero position of laser absolute distance measurement system in the base station with this, the position relationship according to absolute zero position and beaconing nodes electromagnetic wave transmitting-receiving point calculates beaconing nodes electromagnetic wave transmitting-receiving point at last

Volume coordinate;

2, the guiding function of radio sensing network: radio sensing network utilizes pulse interval range difference method to determine that the destination node electromagnetic wave transmitting-receiving point 11 among the B1 of mark station measures in base station distance between the beaconing nodes electromagnetic wave transmitting-receiving point 6 to each, calculate the volume coordinate that obtains destination node electromagnetic wave transmitting-receiving point 11 among the mark station B1 according to formula (24) by host computer 3 again, and then determined the rough volume coordinate of right angle target vertex point 12 among the B1 of mark station by right angle target vertex point 12 and the position relationship of destination node electromagnetic wave transmitting-receiving point 11; $\left\{\begin{array}{c}\mathrm{\β}=\arccos \frac{e_{\mathrm{cb}}\·e_{\mathrm{xy}}}{\left|e_{\mathrm{cb}}\right|\×\left|e_{\mathrm{xy}}\right|}\\ \mathrm{\α}=\arccos \frac{e_0\·e_{\mathrm{xy}}}{\left|e_0\right|\×\left|e_{\mathrm{xy}}\right|}\end{array}\right.---\left(21\right)$

In the formula (21):

β is the vertical direction angle of laser absolute distance measurement system 8 aiming right angle target mirror 13 required rotations;

α is the horizontal direction angle of laser absolute distance measurement system 8 aiming right angle target mirror 13 required rotations;

e _Cb=(x _c, y _c, z _c)-(x _b, y _b, z _b) be that absolute zero position 7 is to the vector of right angle target vertex point 12;

(x wherein _c, y _c, z _c) be the volume coordinate of absolute zero position 7, (x _b, y _b, z _b) be the volume coordinate of right angle target vertex point 12;

Be vectorial e _CbProjection vector on X-Y plane;

e ₀=(1,0,0) is the unit direction vector of the laser optical path place straight line of laser absolute distance measurement system 8;

Calculated vertical direction angle beta and the horizontal direction angle [alpha] of the right angle target mirror 13 required rotations among the 8 point of aim mark station B1 of laser absolute distance measurement system that measure among the C1 of base station by formula (21), send order by serial port module to measuring base station C1 again, control 2-d rotating platform C9 makes the right angle target mirror 13 among the 8 point of aim mark station B1 of laser absolute distance measurement system that measure among the C1 of base station;

Pulse interval range difference method has higher distance accuracy, can guarantee the realization of the guiding function of radio sensing network, it is specifically: utilize host computer 3 to send order to all beaconing nodes 5 respectively by serial port module, control all beaconing nodes and launch monopulses to a destination node 10 one by one with the time interval of 10ms～20ms, record the mistiming that each monopulse arrives this destination node by the timing module in this destination node 10, again by wireless data transceiver module with all mistiming data transmission to host computer 3, in host computer 3 by the volume coordinate that calculates the transmitting-receiving of destination node electromagnetic wave in the mark station 2 point 11 with following formula (22);

(Δt _(i+1)i-ΔT _(i+1)i)·v＝d _i+1-d _i (22)

Wherein,

Δ t _{(i+1) i}Be the mistiming that i the monopulse of launching with i+1 beaconing nodes 5 arrives destination node 10, i=1,2 ..., n-1; N is the number of beaconing nodes 5, and n＞4;

Δ T _{(i+1) i}Be i the time interval of launching monopulses with i+1 beaconing nodes 5, value is 10ms～20ms, and must be greater than pulse width, i=1, and 2 ..., n-1; N is the number of beaconing nodes 5, and n＞4;

V is Electromagnetic Wave Propagation speed, and v is a constant.

Be an electromagnetic wave transmitting-receiving distance that 6 electromagnetic waves that arrive destination node are received and dispatched point 11 of i beaconing nodes, i=1,2 ..., n-1; N is the number of beaconing nodes, and n＞4;

(x _i, y _i, z _i) be the volume coordinate of the electromagnetic wave transmitting-receiving point 6 of i beaconing nodes;

(x, y, z) is the volume coordinate of destination node electromagnetic wave transmitting-receiving point 11;

3, finish final measurement by laser absolute distance measurement system 8: host computer 3 by formula (23) calculate the vertical direction angle beta of the laser absolute distance measurement system 8 required rotations among 13 pairs of locating tab assembly base stations of target mirror, right angle C1 among the B1 of mark station ' and horizontal direction angle [alpha] ', send order by wireless data transceiver module to mark station B1 again, laser absolute distance measurement system 8 among 13 pairs of locating tab assembly base stations of target mirror, right angle C1 that control 2-d rotating platform B 14 makes among the B1 of mark station, recorded the distance between the right angle target vertex point 12 of right angle target mirror 13 among its absolute zero position 7 and the mark station B1 by the laser absolute distance measurement system 8 among the C1 of base station measured, the gained range information is sent to host computer 3 by wireless data transceiver module again, and host computer 3 calculates the accurate volume coordinate that obtains right angle target vertex point 12 among the mark station B1 according to formula (24) again;

$\left\{\begin{array}{c}{\mathrm{\β}}^{\′}=\arccos \frac{e_{\mathrm{bc}}\·e_{\mathrm{xy}}^{\′}}{\left|e_{\mathrm{bc}}\right|\×\left|e_{\mathrm{xy}}^{\′}\right|}\\ {\mathrm{\α}}^{\′}=\arccos \frac{e_0^{\′}\·e_{\mathrm{xy}}^{\′}}{\left|e_0^{\′}\right|\×\left|e_{\mathrm{xy}}^{\′}\right|}\end{array}\right.---\left(23\right)$

In the formula (23):

β ' is the vertical direction angle that right angle target mirror 13 is aimed at the 8 required rotations of laser absolute distance measurement system;

α ' is the horizontal direction angle that right angle target mirror 13 is aimed at the 8 required rotations of laser absolute distance measurement system;

e _Bc=(x _b, y _b, z _b)-(x _c, y _c, z _c) be that absolute zero position 7 is to the vector of right angle target vertex point 12, wherein (x _b, y _b, z _b) be the volume coordinate of right angle target vertex point 12; (x _c, y _c, z _c) be the volume coordinate of absolute zero position (7);

Be vectorial e _BcProjection vector on X-Y plane;

E ' ₀=(1,0,0) is the unit normal vector of right angle target mirror 13 minute surface on initial position;

Other has:

${(x_i-x)}^2+{(y_i-y)}^2+{(z_i-z)}^2=d_i^2---\left(24\right)$

In the formula (24):

(x _i, y _i, z _i) be i the volume coordinate of measuring absolute zero position in the base station, i=1,2 ..., n; N is for measuring the number of base station;

(x, y, z) is the volume coordinate of target vertex point in right angle in the mark station;

d _iBe i and measure in the base station distance between right angle target vertex point in the absolute zero position and mark station, i=1,2 ..., n;

Obtain the accurate volume coordinate of right angle target vertex point in all mark stations with same method, provide measurement result by host computer, whole measuring process finishes.

Claims (2)

1. the super large geometry parameter measuring system based on the radio sensing network guiding is characterized in that consisting of by measuring base station (1), mark station (2) and host computer (3);

Described measurement base station (1) is comprised of the beaconing nodes (5) of radio sensing network and the laser absolute distance measurement system (8) that is installed on the 2-d rotating platform C (9), and wherein the laser emission point of laser instrument is set to absolute zero position (7) in the laser absolute distance measurement system (8); Described beaconing nodes (5) is made of power module, control module, serial port module and radio magnetic wave transceiver module, wherein control module communicates and controls the transmitting-receiving of radio magnetic wave transceiver module by serial port module and host computer (3), the transmitting-receiving end points of radio magnetic wave transceiver module is set to beaconing nodes electromagnetic wave transmitting-receiving point (6), and the spatial relation of beaconing nodes electromagnetic wave transmitting-receiving point (6) and absolute zero position (7) is known; Set unique point in measurand (4), each is measured base station (1) and covers all unique points of measurand (4) with its whole measurement range and be as the criterion and be arranged in measure field, each height of measuring base station (1) is higher than measurand (4), and all are measured base stations (1) be labeled as respectively C1, C2,, Cn, wherein n measures the number of base station (1) for all;

Described mark station (2) is comprised of the destination node (10) of radio sensing network and the right angle target mirror (13) that is installed on the 2-d rotating platform B (14), and wherein the summit (12) of right angle target mirror (13) is determined with the spatial relation of the upper unique point of measurand (4); Described destination node (10) is by power module, control module, wireless data transceiver module, radio magnetic wave transceiver module and timing module consist of, wherein control module communicates and controls the transmitting-receiving of radio magnetic wave transceiver module and unlatching and the end of timing module by wireless data transceiver module and host computer (3), the transmitting-receiving end points of radio magnetic wave transceiver module is set to destination node electromagnetic wave transmitting-receiving point, and the spatial relation of the right angle target vertex point (12) of destination node electromagnetic wave transmitting-receiving point and right angle target mirror (13) is known; Upper each characteristic point position of measurand (4) is corresponding each mark station (2) of arranging one by one, all mark stations (2) be labeled as respectively B1, B2 ..., Bm, wherein m is the number at all mark stations (2);

Measuring process: at first carry out the locus demarcation to measuring base station (1), the guiding function of recycling radio sensing network makes the right angle target mirror (13) in the described laser absolute distance measurement system (8) point of aim mark station (2), then host computer (3) makes the right angle target mirror (13) in the mark station (2) aim at laser absolute distance measurement system (8) by control 2-d rotating platform B (14), obtain the middle right angle target vertex point (12) in each mark station (2) to each distance of measuring the absolute zero position (7) of laser absolute distance measurement system (8) in base station by laser absolute distance measurement system (8) at last, provide measurement result by host computer (3) again.

2. the super large geometry parameter measuring system based on radio sensing network guiding according to claim 1, it is characterized in that, the guiding function of described radio sensing network is: adopt pulse interval range difference method to determine one by one first the volume coordinate of each destination node electromagnetic wave transmitting-receiving point (11), calculated again vertical direction angle and the horizontal direction angle of the required rotation of laser absolute distance measurement system (8) aiming right angle target mirror (13) by host computer (3), then make right angle target mirror (13) in the laser absolute distance measurement system (8) point of aim mark station (2) by controlling 2-d rotating platform C (9);

Described pulse interval range difference method is: utilize host computer (3) to send order to each beaconing nodes (5) respectively by serial port module, control all beaconing nodes (5) and launch monopulse to destination node (10) one by one with the time interval greater than pulse width, record the mistiming that each adjacent monopulse arrives this destination node (10) by the timing module in the destination node (10), again by wireless data transceiver module with all mistiming data transmission to host computer (3), in host computer (3), calculate the volume coordinate of destination node electromagnetic wave transmitting-receiving point (11) in the destination node (10) according to formula (10):

(Δt _(i+1)i-ΔT _(i+1)i)·v=d _i+1-d _i (10)

Wherein:

Δ t _{(i+1) i}It is the mistiming that i the monopulse of launching with i+1 beaconing nodes arrives destination node;

Δ T _{(i+1) i}Be the time interval that i and i+1 beaconing nodes are launched monopulse, Δ T _(i+1)Greater than pulse width;

V is Electromagnetic Wave Propagation speed, and v is a constant,

d _iBe that i beaconing nodes electromagnetic wave transmitting-receiving point (6) is to the distance of destination node electromagnetic wave transmitting-receiving point (11);

In the formula (11), i=1,2 ..., n-1; N is the number of beaconing nodes, and n〉4;

(x _i, y _i, z _i) be the volume coordinate of the electromagnetic wave transmitting-receiving point of i beaconing nodes;

(x, y, z) is the volume coordinate of destination node electromagnetic wave transmitting-receiving point.

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