CN111856488A - Distance measuring method and system based on shaft encoder - Google Patents
Distance measuring method and system based on shaft encoder Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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Abstract
The invention relates to a distance measuring method based on a shaft encoder, which comprises the following steps: s1: determining a first point A to be measured, a second point B to be measured and a measuring point C; s2: first laser ranging sensor M1And a second laser ranging sensor M2Respectively emitting laser to align to a first point A to be measured and a second point B to be measured; s3: respectively obtaining a first distance L between a first point A to be measured and a measuring point C1And a second distance L between the second point B to be measured and the measuring point C2(ii) a S4: obtaining a first laser ranging sensor M through a shaft encoder1And a second laser ranging sensor M2Emitting an included angle theta between the lasers; s5: the distance between the first point A to be measured and the second point B to be measured is calculated by utilizing a trigonometric formula to finish the distance measurement.
Description
Technical Field
The invention relates to the field of engineering construction, in particular to a distance measuring method and system based on a shaft encoder.
Background
The measurement is an important link of engineering construction, and the problem of difficult distance measurement under certain conditions often exists in the engineering construction, for example, the target needing to be measured is higher or the charged body is measured, and the measurement is inconvenient for the engineering distance measurement under the conditions.
The measurement work is the foundation and key, is the premise that all construction projects begin production and construction, and is the primary process of engineering construction. The progress and quality of the project are directly influenced by the quality of the measurement work, and the construction period and the economic benefit of the project are directly influenced by the efficiency of the measurement work. Along with the development of science and technology, the traditional measuring tool can not meet the requirements of modern engineering measurement environment, the appearance of the laser range finder meets the requirement of accurate and convenient ranging, but the common laser range finder can only measure the distance between a measuring point and a target point, if the common laser range finder is used for measuring in space and between charged bodies, the measuring tool can bring small difficulty and time and labor consumption for measurement, and the efficiency is seriously reduced.
Especially, positioning and ranging of building and maintaining of some ultrahigh voltage live equipment are more difficult, the existing ranging method is often used for measuring the distance between the point where the measuring instrument is located and a target point, the ranging mode has certain limitations, and the traditional ranging method not only makes the engineering construction process complicated and low in efficiency, but also has the problem of being not neglected in personnel safety. There is currently no instrument and method for directly measuring two points without contact (measuring the distance between two target points rather than the point at which the meter is located and the target point).
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a method and system for ranging based on a shaft encoder that overcomes the environmental interference with the measurement conditions.
The purpose of the invention can be realized by the following technical scheme:
a distance measuring method based on a shaft encoder, comprising the steps of:
s1: determining a first point A to be measured, a second point B to be measured and a measuring point C;
s2: first laser ranging sensor M1And a second laser ranging sensor M2Respectively emitting laser to align to a first point A to be measured and a second point B to be measured;
s3: respectively obtaining a first distance L between a first point A to be measured and a measuring point C1And a second distance L between the second point B to be measured and the measuring point C2；
S4: obtaining a first laser ranging sensor M through a shaft encoder1And a second laser ranging sensor M2Emitting an included angle theta between the lasers;
s5: and calculating the distance between the first point A to be measured and the second point B to be measured by using a triangular formula to finish ranging.
Further, the trigonometric formula is:
wherein L is the distance between the first point A to be measured and the second point B to be measured.
Further, the first distance L1A second distance L2And measuring the included angle theta for multiple times, and adding a time stamp to each data after the measurement is completed, in the step S5, the first distance L corresponding to the time stamp is used1A second distance L2And the included angle theta are calculated. The accuracy of measurement is guaranteed, namely the measurement data of the laser sensor and the data of the angle sensor are collected at the same time, the synchronization of the measurement data is facilitated, and the accuracy of measurement is improved.
Preferably, the first laser ranging sensor M1And a second laser ranging sensor M2An SK60 laser ranging sensor is used.
Preferably, the shaft encoder employs an LQ _ ECM202004xx _ ANG angle sensor.
A distance measuring system based on a shaft encoder comprises a data measuring unit, a communication unit, a data processing unit and a data display unit, wherein the data measuring unit comprises a shaft encoder and a first laser distance measuring sensor M1And a second laser ranging sensor M2The first laser ranging sensor M1And a second laser ranging sensor M2Are respectively arranged on the rotating shaft of the shaft encoder through supporting legs, the data processing unit comprises a microcontroller, the shaft encoder and the first laser ranging sensor M1And a second laser ranging sensorM2Are respectively connected with the microcontroller in a communication way.
Preferably, the data measurement unit further comprises an aiming device arranged on the supporting foot, and the aiming device comprises a magnifying lens used for observing and aiming at the point to be measured.
Further preferably, the data measurement unit realizes jitter elimination by a software and/or hardware method, and the software method specifically realizes jitter elimination by: according to the first laser range finding sensor M1And a second laser ranging sensor M2Carrying out electronic stability augmentation and real-time adjustment and compensation on the motion attitude;
the hardware method for realizing jitter elimination specifically comprises the following steps: at the first laser ranging sensor M1And a second laser ranging sensor M2The handheld support is clamped and fixed, the handheld support is connected with a pitching axis Z through a course axis X, a rolling axis Y and a pitching axis X, the rotation range of the course axis X is 360 degrees, the rotation range of the rolling axis Y is 325 degrees, and the rotation range of the pitching axis Z is 330 degrees.
Further, the data processing unit comprises a PyBoard development board, the microcontroller adopts an STM32F405RG microcontroller and is arranged on the PyBoard development board, and the first laser ranging sensor M is arranged on the PyBoard development board1And a second laser ranging sensor M2The SK60 laser ranging sensor is adopted, the shaft encoder adopts an LQ _ ECM202004xx _ ANG angle sensor, the SK60 laser ranging sensor is connected with a PyBoard development board through a UART mode, and the LQ _ ECM202004xx _ ANG angle sensor is connected with the PyBoard development board through the UART mode.
PyBoard development board possess 1 MicroUSB draw-in groove for extend data storage space, bus ability is powerful, including 5 UART serial ports and 2 SPI interfaces, serial ports communication is simple to use, and it is less to occupy software and hardware resource, can satisfy the design requirement of system real-time. The SK60 laser ranging sensor is connected with the development board through UART (serial port), the baud rate of communication configuration is 19200bps, the microcontroller controls the output of the laser ranging sensor by sending the hexadecimal number corresponding to the ASCII code, and in the automatic mode, the laser ranging sensor collects data in real time and transmits the data back to the microcontroller. The LQ _ ECM202004xx _ ANG angle sensor adopts a non-contact detection technology, is connected with a PyBoard main controller in a serial port communication mode, and is directly received by a UART port of a development board through TTL.
Further, the data display unit comprises a key panel and a display screen, the key panel comprises 2 mutually independent measuring buttons and setting buttons, and the display screen adopts a Waveshare ink screen. The ink screen has the advantages that the display effect is good under strong light, and the electric quantity is consumed only when the display content is changed and refreshed, so that the whole energy consumption of the device is low, and the long-time work is facilitated.
Compared with the prior art, the invention has the following advantages:
1) the invention can measure two objects on the space on the premise of not contacting with the measuring object, can measure the distance between any two points, and can reduce the influence of the factors of the object on the measuring work and effectively overcome the interference of the environment on the measuring condition for the distance between dangerous objects such as charged objects and the like in the space and the measuring object which can not use a contact measuring tool;
2) the obstacle is arranged between the two points to be measured, the measuring efficiency can be effectively improved by using the invention, the burden of the measuring task of the engineering is reduced, and meanwhile, the economic benefit of the engineering is improved;
3) the invention is provided with the sighting device and the anti-shake mechanism, so that the sighting of the laser emitter to the point to be measured is ensured, and meanwhile, the measurement data are ensured to be generated simultaneously by adding the timestamp to the data, so that the measurement precision is improved;
4) the invention can obtain the distance between two target points only by aligning the two laser transmitters with the two target points to be measured, and the measuring time is short.
Drawings
FIG. 1 is a schematic plan view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a flow chart of ranging according to the present invention;
fig. 4 is a schematic block diagram of a laser ranging sensor circuit.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The invention provides a distance measuring method based on a shaft encoder, which comprises the following steps:
s1: determining a first point A to be measured, a second point B to be measured and a measuring point C;
s2: first laser ranging sensor M1And a second laser ranging sensor M2Respectively emitting laser to align to a first point A to be measured and a second point B to be measured;
s3: respectively obtaining a first distance L between a first point A to be measured and a measuring point C1And a second distance L between the second point B to be measured and the measuring point C2；
S4: obtaining a first laser ranging sensor M through a shaft encoder1And a second laser ranging sensor M2Emitting an included angle theta between the lasers;
s5: and calculating the distance between the first point A to be measured and the second point B to be measured by using a triangular formula to finish ranging.
Wherein the trigonometric formula is:
wherein L is the distance between the first point A to be measured and the second point B to be measured.
The invention also provides a distance measuring system based on the shaft encoder, which comprises a data measuring unit, a communication unit, a data processing unit and a data display unit.
The data measuring unit comprises a shaft encoder and a first laser ranging sensor M1And a second laser ranging sensor M2First laser ranging sensor M1And a second laser ranging sensor M2Are respectively arranged on a rotating shaft of the shaft encoder through support legs, the support legs are provided with sighting devices, each sighting device comprises a magnifying lens and a first laser ranging sensor M, and the sighting device is used for observing and sighting a point to be measured1And a second laser ranging sensor M2The anti-shake mechanism is required to realize anti-shake, the measurement precision is improved, anti-shake can be realized by a software and/or hardware method, and the software method for realizing shake elimination specifically comprises the following steps: according to the first laser range finding sensor M1And a second laser ranging sensor M2Carrying out electronic stability augmentation and real-time adjustment and compensation on the motion attitude;
the hardware method for realizing jitter elimination specifically comprises the following steps: at the first laser ranging sensor M1And a second laser ranging sensor M2The handheld support is clamped and fixed, the handheld support is connected with a pitching axis Z through a course axis X, a rolling axis Y and a pitching axis Z, the rotation range of the course axis X is 360 degrees, the rotation range of the rolling axis Y is 325 degrees, and the rotation range of the pitching axis Z is 330 degrees. The data measurement unit adopts a non-fixed installation mode, does not need to be installed on the ground, is not limited by the terrain, and avoids angle drift and errors by using a mode that a corner speed reducer limits the minimum rotation angle.
The data processing unit adopts a PyBoard development board provided with an STM32F405RG microcontroller, and a first laser ranging sensor M1And a second laser ranging sensor M2The SK60 laser ranging sensor is adopted, the shaft encoder is the LQ _ ECM202004xx _ ANG angle sensor, the SK60 laser ranging sensor is connected with the PyBoard development board through a UART mode, and the LQ _ ECM202004xx _ ANG angle sensor is connected with the PyBoard development board through a UART mode. As shown in fig. 4, the laser ranging sensor includes a signal processor, a signal generating circuit, a laser transmitting circuit, a laser receiving circuit, and a signal mixing circuit.
PyBoard development board possess 1 MicroUSB draw-in groove for extend data storage space, bus ability is powerful, including 5 UART serial ports and 2 SPI interfaces, serial ports communication is simple to use, and it is less to occupy software and hardware resource, can satisfy the design requirement of system real-time. The SK60 laser ranging sensor is connected with the development board through UART (serial port), the baud rate of communication configuration is 19200bps, the microcontroller controls the output of the laser ranging sensor by sending the hexadecimal number corresponding to the ASCII code, and in the automatic mode, the laser ranging sensor collects data in real time and transmits the data back to the microcontroller. The LQ _ ECM202004xx _ ANG angle sensor adopts a non-contact detection technology, is connected with a PyBoard main controller in a serial port communication mode, and is directly received by a UART port of a development board through TTL.
The data display unit comprises a key panel and a display screen, wherein the key panel comprises 2 mutually independent measuring buttons and setting buttons, and the display screen adopts a Waveshare ink screen. The ink screen has the advantages that the display effect is good under strong light, and the electric quantity is consumed only when the display content is changed and refreshed, so that the whole energy consumption of the device is low, and the long-time work is facilitated.
According to functional modules, the system of the invention can be divided into the following modules:
hardware module: for serving as a foundation upon which the entire apparatus may operate;
a circuit module: the circuit module is used for connecting each hardware and taking a PyBoard as a core is used as a bridge for driving the whole device to work;
the data acquisition module is used for acquiring data measured by the sensor;
the data processing module is used for processing the acquired data and calculating a final measured value;
a human-computer interaction module: the system can be adjusted flexibly, and the system is used for inputting information and parameters and outputting measurement feedback signals.
A database: for storing historical data and information.
Examples
The following describes embodiments of the present invention with reference to specific measurement objects (taking measurements of internal facilities of a substation as an example):
in the electric power safety operation regulation, a transformer substation has strict requirements on a measurer, various steel tape, leather tape and wire tape (with metal wires) are strictly forbidden to be used around a charged body for measurement, the measurement of the transformer substation under continuous operation is required to be met, the conventional measurement means can not meet the requirements far away, and the measurement means can be just used for the size measurement of dangerous bodies. For example, when the height of a reactor body in operation is measured, the measurement may be performed by the following procedure using the apparatus of the present invention.
1. Two points to be measured on the reactor are selected as a first point a to be measured and a second point B to be measured, in this embodiment, the outer shape height of the reactor is selected as the point to be measured, a measurer is away from a charged body (here, a reactor chamber) for a certain distance, and a position point is selected as a measurement point C, as shown in fig. 1 and 2.
2. Two schemes can be selected to obtain intermediate original data required for calculating the distance between the first point A to be measured and the second point B to be measured.
The first scheme is as follows: fixed point distance measurement.
Turning on the first laser ranging sensor M on the left arm 2 of the data measuring unit, as shown in FIGS. 1-31So that the laser emitted by the laser is aligned with the first point A to be measured and unchanged, and the second laser ranging sensor M on the right arm 3 is opened2And aiming operation is carried out, so that the laser emitted by the laser aiming device is aimed at the second point B to be measured, and then the anti-shaking is realized by finely adjusting the anti-shaking mechanism, so that the laser emitted by the two laser ranging sensors is approximately coincided with the first point A to be measured and the second point B to be measured simultaneously. At this time, the measuring device will obtain intermediate raw data required for calculating the distance between the first point a to be measured and the second point B to be measured.
The detailed steps are as follows:
1) at the measuring point C, by means of a first laser distance measuring sensor M on the left arm 2 of the measuring device1The laser is emitted to aim at the first point A to be measured, and the laser ranging sensor records the distance L from the measuring point C to the first point A to be measured1(2103 mm is measured in this example), the opening angle of the shaft encoder 1 is 0 degrees, and the left arm 2 and the right arm 3 are in the initial closed state;
2) opening the right arm 3 of the data measuring unit, and positioning the second laser ranging sensor M2The emitted laser irradiates the second point B to be measured and fixes the field angle, thereby avoiding the measured angle data from being measured due to the action of external forceMeasuring and recording the distance L from the measuring point C to the second point B to be measured when an error exists in the process2(1921 mm in this example), at which point the angle between the two lasers has been opened and the shaft encoder will acquire the first laser range sensor M1And a second laser ranging sensor M2The angle between the emitted laser light, theta (measured 29.76 deg. in this example).
Scheme II: and (4) fixed angle distance measurement.
Under the condition that the measuring position of a measurer is not limited, the first laser ranging sensor M is used1And a second laser ranging sensor M2And the laser ranging sensor is opened at a fixed proper angle and kept unchanged, and a measurer walks forwards and backwards with the distance measuring unit, so that the laser emitted by the laser ranging sensor just hits the first point A to be measured and the second point B to be measured. At this point, the measuring device will also initially obtain the intermediate data needed to calculate A, B the distance between the two points.
3. The method comprises the steps that length information measured by a laser range finder and angle information of a shaft encoder are sent to a PyBoard development board, preprocessing and data integration are carried out on measured distance data and field angle degrees in a microcontroller, the data format is corrected, the data type is converted into a unified form, the angle information of the shaft encoder and the length information of the laser range finder are processed by the PyBoard development board and then stored in an on-chip FLASH memory through an Icode bus, and a CSV format file corresponding to the shaft encoder angle and the laser range finder length on a time node according to a timestamp is generated and is directly called by the PyBoard development board. Table 1 shows the obtained measurement data.
TABLE 1 instantaneous multiple measurement reading (mm) of reactor height
After the lengths of the laser range finder and the shaft encoder are measured, the measured lengths are integrated into the triangle ABC through a nonlinear optimization method, so that the triangle ABC becomes a complete triangle which can be directly applied to calculation of a Pyboard single chip microcomputer, and a basis is provided for calculating a target distance.
By using the measured data and according to a formula, the main controller of the PyBoard development board calls the data in the FLASH memory, the distance to be measured can be calculated, namely the length between the first point A to be measured and the second point B to be measured is approximately 1.1 m, the actual height of the reactor is 1130mm, and the visible measurement error is about 2%.
The method and the system of the invention can measure the length, the height, the distance and other straight lines of the object, and the device can also complete other basic measurement works, such as:
1. perimeter measurement. For a conventional rectangle, obtaining the size information of the outer contour of the object by sequentially measuring length and width data; for a circular object, the perimeter of the outline of the object can be directly given by measuring diameter data, and for a general irregular shape, the final perimeter can be obtained by measuring and storing data for multiple times and accumulating.
In the formula, LiRepresenting the length of a single edge, f (L), taken at each measurementi) The data obtained by performing nonlinear optimization compensation on the measured single data is shown, and D represents the finally obtained perimeter.
2. And (5) measuring the area. By mathematical operations, the measuring device can also calculate the area of the basic object (e.g. rectangle, circle, ellipse, etc.). The calculation formula is as follows:
St＝2[f(L1)+f(L2)]
Sc＝πf2(D/2)
Se＝πf(a)f(b)
wherein L is1、L2Representing the length and width, S, of the rectangle taken twicetIs a rectangular area. D is the diameter of the circle, ScIs the area of a circle. a. b represents the major and minor axes of the ellipse, S, respectivelyeIs an elliptical area.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A distance measuring method based on a shaft encoder is characterized by comprising the following steps:
s1: determining a first point A to be measured, a second point B to be measured and a measuring point C;
s2: first laser ranging sensor M1And a second laser ranging sensor M2Respectively emitting laser to align to a first point A to be measured and a second point B to be measured;
s3: respectively obtaining a first distance L between a first point A to be measured and a measuring point C1And a second distance L between the second point B to be measured and the measuring point C2；
S4: obtaining a first laser ranging sensor M through a shaft encoder1And a second laser ranging sensor M2Emitting an included angle theta between the lasers;
s5: and calculating the distance between the first point A to be measured and the second point B to be measured by using a triangular formula to finish ranging.
2. A ranging method based on a shaft encoder according to claim 1, characterized in that the trigonometric formula is:
wherein L is the distance between the first point A to be measured and the second point B to be measured.
3. A method as claimed in claim 2, wherein the first distance L is a distance L1A second distance L2And the included angle theta is measured for multiple times respectively, and each datum is added with a time after the measurement is finishedA time stamp, wherein the first distance L corresponding to the time stamp is used in the step S51A second distance L2And the included angle theta are calculated.
4. A method for distance measurement based on shaft encoder according to any of claims 1-3 characterized in that the first laser distance measuring sensor M1And a second laser ranging sensor M2An SK60 laser ranging sensor is used.
5. A shaft encoder based ranging method according to any of the claims 1-3 characterized in that the shaft encoder uses LQ _ ECM202004xx _ ANG angle sensor.
6. The distance measuring system based on the shaft encoder is characterized by comprising a data measuring unit, a communication unit, a data processing unit and a data display unit, wherein the data measuring unit comprises the shaft encoder and a first laser distance measuring sensor M1And a second laser ranging sensor M2The first laser ranging sensor M1And a second laser ranging sensor M2Are respectively arranged on the rotating shaft of the shaft encoder through supporting legs, the data processing unit comprises a microcontroller, the shaft encoder and the first laser ranging sensor M1And a second laser ranging sensor M2Are respectively connected with the microcontroller in a communication way.
7. The distance measuring system based on shaft encoder as claimed in claim 6, wherein the data measuring unit further comprises a sighting telescope disposed on the supporting leg, the sighting telescope comprises a magnifying lens for observing and sighting the point to be measured.
8. The distance measuring system based on the shaft encoder as claimed in claim 7, wherein the data measuring unit realizes jitter elimination by software and/or hardware method, and the software method realizes jitter elimination specifically as follows: according to the first laser range finding sensor M1And a second laser ranging sensor M2Carrying out electronic stability augmentation and real-time adjustment and compensation on the motion attitude;
the hardware method for realizing jitter elimination specifically comprises the following steps: at the first laser ranging sensor M1And a second laser ranging sensor M2The handheld support is clamped and fixed, the handheld support is connected with a pitching axis Z through a course axis X, a rolling axis Y and a pitching axis X, the rotation range of the course axis X is 360 degrees, the rotation range of the rolling axis Y is 325 degrees, and the rotation range of the pitching axis Z is 330 degrees.
9. The distance measuring system according to claim 6, wherein the data processing unit comprises a PyBoard development board, the microcontroller comprises an STM32F405RG microcontroller and is disposed on the PyBoard development board, and the first laser distance measuring sensor M is disposed on the PyBoard development board1And a second laser ranging sensor M2The SK60 laser ranging sensor is adopted, the shaft encoder adopts an LQ _ ECM202004xx _ ANG angle sensor, the SK60 laser ranging sensor is connected with a PyBoard development board through a UART mode, and the LQ _ ECM202004xx _ ANG angle sensor is connected with the PyBoard development board through the UART mode.
10. The distance measuring system based on the shaft encoder as claimed in claim 6, wherein the data display unit comprises a key panel and a display screen, the key panel comprises 2 mutually independent measuring buttons and setting buttons, and the display screen adopts a Waveshare ink screen.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113740831A (en) * | 2021-11-08 | 2021-12-03 | 广东磊蒙智能装备集团有限公司 | Crusher discharge port distance measuring device and method |
| CN114593685A (en) * | 2022-03-09 | 2022-06-07 | 宁夏送变电工程有限公司 | Device and method for measuring distance between phase conductors of transformer substation |
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| US20050057745A1 (en) * | 2003-09-17 | 2005-03-17 | Bontje Douglas A. | Measurement methods and apparatus |
| US20090296072A1 (en) * | 2006-01-04 | 2009-12-03 | Kang Dong-Hun | Measuring apparatus |
| CN205861901U (en) * | 2016-06-05 | 2017-01-04 | 郑州大学 | A kind of laser ranging system |
| WO2018194250A1 (en) * | 2017-04-17 | 2018-10-25 | 주식회사 베이글랩스 | Distance measurement apparatus |
| CN209310804U (en) * | 2019-01-09 | 2019-08-27 | 广西南宁联纵消防设备有限公司 | A kind of Laser Line Marker based on unmanned plane |
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| CN113740831A (en) * | 2021-11-08 | 2021-12-03 | 广东磊蒙智能装备集团有限公司 | Crusher discharge port distance measuring device and method |
| CN114593685A (en) * | 2022-03-09 | 2022-06-07 | 宁夏送变电工程有限公司 | Device and method for measuring distance between phase conductors of transformer substation |
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