CN1455223A - Laser measuring system of summer beam calibrating instrument - Google Patents
Laser measuring system of summer beam calibrating instrument Download PDFInfo
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- CN1455223A CN1455223A CN 02116061 CN02116061A CN1455223A CN 1455223 A CN1455223 A CN 1455223A CN 02116061 CN02116061 CN 02116061 CN 02116061 A CN02116061 A CN 02116061A CN 1455223 A CN1455223 A CN 1455223A
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Abstract
The invention relates to the laser measurement system of the crossbeam rectifier, which is the device for adjusting the collided deformation of cars. The invention discloses the particular detection principle and the electronic measurement scheme of the crossbeam rectifier with low cost, easy of use and guaranteed accuracy. The basic principle is: the three orientation parameters of the point to be measured are surveyed respectively by using three laser sector scanners. Then, 3D coordinates of the point to be measured are calculated.
Description
Affiliated technical field:
Summer beam calibrating instrument is a kind of equipment of proofreading and correct collision deformation of automobiles, and what the present invention relates to is the measurement mechanism of summer beam calibrating instrument, this device prompting maintenance mans: the deformation extent of automotive frame, and correcting value, whether proofread and correct qualified etc.
Background technology:
The summer beam calibrating instrument of domestic production does not have electronic measurement system at present, is still using mechanical measuring device, therefore operate numerous, efficient is low; Because long chi poor rigidity makes that precision is difficult to guarantee.The valuable product of import is usually at 200,000 yuans.
The measuring principle of mechanical measuring system is normally: the long chi of three directions is set on the rectifier table top, vernier is moved to tested point, manually read three coordinate figures then.
The measuring principle of one of import electronic measurement system: see Fig. 1, suppose before and after the vehicle for y to, be up and down z to, about be x to, on the whole, this system is as the structure of a human body.The castor of measuring system can roll along the scale track of rectifier fore-and-aft direction, and the amount of rolling can be come out by the number of turns and the current angle position calculation of horn ring that horn ring rolls in orbit, thus obtain measuring system in 0-xyz y to a basic value y0 of coordinate; Stretch out a multiarticulate gage beam on the measuring system seat of honour, just as the arm of human body, but arm end relative measurement system does the motion of three directions, and the amount of spin in photoelectric encoder sensation joint is installed in each joint.Because the amount of spin in two degrees of freedom joint is difficult for measuring, so these joints all are single-degree-of-freedoms.In order to obtain enough degree of freedom, gage beam is provided with 3～4 joints usually.Last computer according to the amount of spin in each joint calculate the arm end with respect to the three-dimensional coordinate of the measuring system seat of honour (x, y z), add the basic value y0 of the y of the seat of honour to coordinate, promptly obtain tested point or arm end coordinate (x, y+y0, z).For making operation smoothly, must make the IA gap of gage beam enough big.Enough big gap adds that numerous joints also adds the gap of the seat of honour and scale track, all makes measuring error become big.For avoiding error too big, just need high-precision processing.Such problem is difficult to solve in the present present situation of China's general industry.So the high price of imported product is natural.
Purpose:
The purpose of this invention is to provide a kind of unique detection principle and a kind of low cost, simple, the guaranteed summer beam calibrating instrument laser measurement of precision scheme.
Technical scheme:
Consider the simplest situation: as shown in Figure 2, the laser covering of the fan π a that sends from scanner A supposes that its position angle is α during through band measuring point P; The laser covering of the fan π b that sends from scanner B supposes that its position angle is β during through band measuring point P; The laser covering of the fan π c that sends from scanner C supposes that its position angle is γ during through band measuring point P.π a, π b intersect at the straight line Lab of a plummet, and Lab intersects at P with the π c that scans up and down again.When P is on the vertical guide of mistake AB, and (α, beta, gamma) and P (x, y is z) corresponding one by one.
Clearly, when the light face leaves the turning axle of its scanner and during with rotating shaft parallel, slightly changes than the simplest situation, many parameter d are the distance of light face to turning axle in light face equation, but find the solution situation substantially.
When the light face scans by the translation mode, change than the simplest situation, α, β, the position of γ in light face equation change respectively, but it is also the same substantially to find the solution situation.
When the light face added rotating manner scanning by translation, than the simplest situation complexity, each laser covering of the fan had two parameters, and one is the translation amount, and one is amount of spin, but its characteristic description equation still is linear, finds the solution also uncomplicated.
When light face turning axle intersected, the characteristic description equation of light face changed greatly, but equation is still linear equation, found the solution still to be easy to.As Fig. 3, it is a kind of special case of this situation, seem to save, can (application number: 99111663.1): this scheme discloses the technology that the single rotating scanner of a kind of usefulness is measured the bidimensional angular coordinate of tested point with reference to " a kind of survey method and novel wheel positioning device of angular coordinate of point ".On the basis of this scheme, add the three-dimensional coordinate that a scanner just can be measured tested point again.But in fact, two laser covering of the fans have been fixed on the scanner of this scheme, so this scheme is still supported claim 1 of the present invention.In the limited space of four-wheel position finder sensor, use this scheme that reasonable effect is arranged, not very best here, because manufacture difficulty is bigger.
When the light face was on-plane surface, it is complicated that light face equation becomes, and has not been linear equation, is difficult to obtain unique solution, still can try to achieve correct result but use suitable intelligent decision.Usually do not adopt this situation scheme.
To the simplest situation, as Fig. 2, when the y of P coordinate was the vertical guide of the approaching more AB of mistake of P near 0 more, the error of result of calculation was just big more.Can't result of calculation when y=0.
To Fig. 3, about the same with the situation of Fig. 2.
For comprehensive can both the measurement in vehicle bottom, make measuring error as far as possible little again, can take multiple measure:
As Fig. 4, this measure is on the basis of Fig. 2, and the lasing area scanner E of a turning axle vertical is set at y ≠ 0 place again, so just has three vertical guides (crossing AB, AE and BE respectively) available, calculate the distance of tested point to these vertical guides by computer, which which just uses farthest.In this case, the measurement at the elevation angle also will be provided with the lasing area scanner F of a turning axle level again, and its turning axle is vertical with the turning axle of C.Like this, the comprehensive tested point in vehicle bottom can both be measured, and measuring accuracy is also than higher.
As Fig. 5, this measure is on the basis of Fig. 3, and the lasing area scanner C of a turning axle vertical is set at y ≠ 0 place again, so just has two vertical guides (crossing AB and AC respectively) available, calculate the distance of tested point to these vertical guides by computer, which which just uses farthest.Like this, the comprehensive tested point in vehicle bottom also can both be measured, and measuring accuracy is also than higher.
The present invention more is inclined to the measure that whole measuring body is rotated again, and as Fig. 6, this spinfunction is finished by stepper motor D.Calculate the value of n-m at the arbitrary orientation of D, control D according to this value and rotate to proper orientation, make the absolute value maximum of n-m, allow error of calculation minimum.Last again according to the current orientation of D, recomputate the true coordinate of P with the method for rotation of coordinate.
Beneficial effect:
The relative mechanical type measuring system of measurement mechanism of the present invention, parts are few, and the precision problem that no rigidity deficiency causes is convenient to use.Relative import electronic measurement system, scale track and associated components that need not the vehicle fore-and-aft direction, no multi-joint mechanical arm has saved all high-accuracy mechanical processing, assembling and quality control etc., so its cost significantly reduces.
The drawing explanation:
Figure 1 shows that mechanical arm-type electronic measurement system: joint 1 is total joint, horizontal; Last two mostly are rectilinear joint; When the user was dragging the arm end to tested point, scale track parts and all joints participated in action more.
Figure 2 shows that fundamental measurement principle schematic of the present invention: the user dragging carry optical receiver pop one's head in to tested point the time, light face scanner A and B measure the orientation of optical receiver, the elevation angle of measuring optical receiver by light face scanner C more just can obtain the three-dimensional coordinate of tested point by suitable calculating.
Figure 3 shows that another fundamental measurement principle schematic of the present invention: the user dragging carry optical receiver pop one's head in to tested point the time, two light face scanner A can measure the two-dimentional angular coordinate of optical receiver, measure another horizontal angle of optical receiver again by light face scanner B, just can obtain the three-dimensional coordinate of tested point by suitable calculating.
Fig. 4, Fig. 5, scheme shown in Figure 6 can solve the dead angle problem of measuring.
Optimum implementation:
Best implementation of the present invention is seen Fig. 6.If tested point is when crossing the vertical guide of AB, computer driven in rotation device D rotating certain angle makes tested point away from the vertical guide of crossing AB, at this moment, calculates the coordinate time of tested point the angle of D is taken into account.
Optimum implementation describes in detail:
As Fig. 2, suppose that measuring system part 2 is fixed on the beneath central part 0 (0,0 of vehicle, 0), tested point is at the place ahead of vehicle P (x1, y1, z1), wherein the absolute value of x1 is little, (x2 on the part 2,0,0) and (x2,0,0) locates respectively fixedly that turning axle is the laser covering of the fan scanner A and the B of vertical, (0,0,0) locate fixedly that turning axle is the laser covering of the fan scanner C of horizontal direction.Below narration supposition lasing area all passes through the turning axle of its scanner:
During A glazing face π a process P, its plane equation is:
y＝y1*(x+x2)/(x1+x2) (1)
During B glazing face π b process P, its plane equation is:
y＝y1*(x-x2)/(x1-x2) (2)
During C glazing face π c process P, its plane equation is:
z＝z1*x/x1 (3)
In (1) formula, y1/ (x1+x2) is the slope of light face A in the 0-xy of plane, and is corresponding one by one with the position angle of scanner A, and this position angle is a may command or measurable, is known number to computer, temporarily called after m.
In (2) formula, y1/ (x1-x2) is the slope of light face B in the 0-xy of plane, and is corresponding one by one with the position angle of scanner B, and this position angle also is a may command or measurable, is known number to computer, temporarily called after n.
In (3) formula, z1/x1 is the slope of light face A in the 0-xz of plane, and is corresponding one by one with the position angle of scanner C, and this position angle also is a may command or measurable, is known number to computer, temporarily called after k.
Obtain three key equations like this:
y1＝m*(x1+x2) (4)
y1＝n*(x1-x2) (5)
z1＝k*x1 (6)
Here x2 is a design load, is known number.More than three formulas all be linear equation, as long as x2 ≠ 0 and n ≠ m, unique untrivialo solution is arranged behind their simultaneous.Its separate into:
x1＝(n+m)*x2/(n-m)
y1＝2*n*m*x2/(n-m)
z1＝k*(n+m)*x2/(n-m)
Make n ≠ m, require y coordinate ≠ 0 of P.
And when the y of P coordinate was the vertical guide of the approaching more AB of mistake of P near 0 more, the error of result of calculation was big more.
In order to address this problem, the present invention rotates whole measuring body again, and as Fig. 6, this spinfunction is finished by stepper motor D.Calculate the value of n-m at the arbitrary orientation of D, control D according to this value and rotate to proper orientation, allow the absolute value maximum of n-m, make error of calculation minimum.Last again according to the current orientation of D, recomputate the true coordinate of P with the method for rotation of coordinate.
Among the present invention, the method that lasing area produces can be:
1, laser beam impinges upon reflection on the reflecting pole of axis and this Shu Chuizhi and produces;
2, laser beam sees through the cylindrical lens of axis and this Shu Chuizhi and produces.
Claims (6)
1, a kind of laser measurement system of summer beam calibrating instrument, can measure the three-dimensional coordinate of a point, by host computer part 1, compositions such as lasing area sweep test 2 and lasing area receiving unit 3, part 2 can be sent some parameters can be by the laser covering of the fan of part 1 measurement or control, part 3 is reported to part 1 when receiving laser radiation, part 3 whereabouts and tested point have fixed relationship, it is characterized in that: part 2 can be sent three scan laser covering of the fans at least, their one dimension parameter alpha separately, β and γ change with separately scan position respectively, in measurement range, to unique in a three-dimensional system of coordinate tested point (x, y, z), there are unique one group of parameter (α, β, γ), the orientation of their respectively corresponding three scan laser covering of the fans.
2, measuring system according to claim 1 is characterized in that: the laser covering of the fan that part 2 is sent is the plane.
3, measuring system according to claim 1 and 2 is characterized in that: part 2 laser covering of the fan scanners are rotation sweeps.
4, measuring system according to claim 3 is characterized in that: the laser covering of the fan that part 2 is sent is all by self turning axle.
5, according to claim 3 or 4 described measuring systems, it is characterized in that: two scan laser covering of the fan rotations are vertical in part 2, and another axis is a level.
6, according to claim 1,2,3,4 or 5 described measuring systems, it is characterized in that: part 2 is own or rotatable, and the orientation of its rotation can be measured or control by part 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02116061 CN1455223A (en) | 2002-05-04 | 2002-05-04 | Laser measuring system of summer beam calibrating instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02116061 CN1455223A (en) | 2002-05-04 | 2002-05-04 | Laser measuring system of summer beam calibrating instrument |
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| CN1455223A true CN1455223A (en) | 2003-11-12 |
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| CN 02116061 Pending CN1455223A (en) | 2002-05-04 | 2002-05-04 | Laser measuring system of summer beam calibrating instrument |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103204442A (en) * | 2013-03-20 | 2013-07-17 | 西安科技大学 | System and method for online monitoring structural deformation of tower crane |
| CN104596638A (en) * | 2015-02-05 | 2015-05-06 | 中国工程物理研究院应用电子学研究所 | High-resolution multi-wavelength laser intensity distribution detector and measurement method implemented by same |
| CN104884993A (en) * | 2012-12-21 | 2015-09-02 | 三菱电机株式会社 | Optical scanning apparatus and projector |
| CN109844452A (en) * | 2016-09-20 | 2019-06-04 | 雷诺股份公司 | By geometric reference mark installment on the ground to calibrate electronic or electronic component the methods of motor vehicles and relevant device |
| CN110440701A (en) * | 2019-07-11 | 2019-11-12 | 南京中车浦镇城轨车辆有限责任公司 | A kind of intelligent more curved surface detecting systems of rail vehicle and method |
-
2002
- 2002-05-04 CN CN 02116061 patent/CN1455223A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104884993A (en) * | 2012-12-21 | 2015-09-02 | 三菱电机株式会社 | Optical scanning apparatus and projector |
| CN104884993B (en) * | 2012-12-21 | 2017-08-25 | 三菱电机株式会社 | Light scanning apparatus and projecting apparatus |
| CN103204442A (en) * | 2013-03-20 | 2013-07-17 | 西安科技大学 | System and method for online monitoring structural deformation of tower crane |
| CN104596638A (en) * | 2015-02-05 | 2015-05-06 | 中国工程物理研究院应用电子学研究所 | High-resolution multi-wavelength laser intensity distribution detector and measurement method implemented by same |
| CN104596638B (en) * | 2015-02-05 | 2017-01-25 | 中国工程物理研究院应用电子学研究所 | High-resolution multi-wavelength laser intensity distribution detector and measurement method implemented by same |
| CN109844452A (en) * | 2016-09-20 | 2019-06-04 | 雷诺股份公司 | By geometric reference mark installment on the ground to calibrate electronic or electronic component the methods of motor vehicles and relevant device |
| CN109844452B (en) * | 2016-09-20 | 2021-05-28 | 雷诺股份公司 | Mounting method, calibration method and geometric reference device |
| CN110440701A (en) * | 2019-07-11 | 2019-11-12 | 南京中车浦镇城轨车辆有限责任公司 | A kind of intelligent more curved surface detecting systems of rail vehicle and method |
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