阅读说明：本技术 一种利用黑白网格图码的二维平动与转动位移和速度同步非接触测量方法 (Two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method by utilizing black and white grid image codes ) 是由 裴永臣 瞿川 王东旭 王斌 徐龙 辛清原 于 2021-08-25 设计创作，主要内容包括：本发明提供了一种利用黑白网格图码的二维平动与转动位移和速度同步非接触测量方法,利用四个反射光纤传感器和网格图码可以准确方便地实现平板面、圆盘面、圆柱面、圆球面的二维位移、速度、转角、转速测量。图码布置在被测部件上,图码外侧固定四个反射光纤传感器,当图码随着被测部件运动时,反射光纤传感器发出的光照射在图码的不同网格上,从而测出相应光强变化,通过设定反射光纤传感器阈值,反射光纤传感器将感应到的光强输出为数字信号,通过对数字信号解码和分析即可求出相应的位移、速度、转角、转速。本发明的测量方法简单、成本低、精度高,为二维平动与转动位移、速度、转角、转速的同步非接触测量等工程问题提供了有效的解决方案。(The invention provides a two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method by utilizing black and white grid image codes, which can accurately and conveniently realize the two-dimensional displacement, speed, corner and rotating speed measurement of a flat plate surface, a disc surface, a cylindrical surface and a spherical surface by utilizing four reflection optical fiber sensors and the grid image codes. The graph code is arranged on a measured component, four reflection optical fiber sensors are fixed on the outer side of the graph code, when the graph code moves along with the measured component, light emitted by the reflection optical fiber sensors irradiates on different grids of the graph code, so that corresponding light intensity change is measured, the reflection optical fiber sensors output sensed light intensity as digital signals by setting the threshold values of the reflection optical fiber sensors, and corresponding displacement, speed, corner and rotating speed can be obtained by decoding and analyzing the digital signals. The measuring method is simple, low in cost and high in precision, and provides an effective solution for the engineering problems of synchronous non-contact measurement of two-dimensional translation and rotation displacement, speed, corner, rotating speed and the like.)

1. A two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method by using black and white grid image codes is characterized in that: respectively arranging a flat plate surface map code (1), a disc surface map code (2), a cylindrical surface map code (3) and a spherical surface map code (4) on a flat plate surface, a disc surface, a cylindrical surface and a spherical surface, and arranging four reflecting optical fiber sensors (100) outside the map codes; the flat panel surface code (1) makes plane orthogonal motion along with the flat panel surface relative to light A, B, C, D emitted by the four reflection optical fiber sensors (100), the four reflection optical fiber sensors (100) output light intensity sensed on the flat panel surface code (1) as digital signals, black and white grids of the pattern code respectively correspond to low level '0' and high level '1' of the digital signals, and the displacement and the speed of the orthogonal translation of the flat panel surface can be obtained by decoding and analyzing the digital signals; the disc surface map code (2) makes a certain range of radial translation and rotation around a central shaft along with the disc surface relative to light A, B, C, D emitted by the four reflection optical fiber sensors (100), the four reflection optical fiber sensors (100) output light intensity sensed on the disc surface map code (2) as digital signals, and the displacement and speed of the disc surface radial translation and the rotation angle and rotation speed of plane rotation motion can be obtained by decoding and analyzing the digital signals; the cylindrical surface graph code (3) makes axial linear motion and rotary motion around a central shaft along with the disc surface relative to light A, B, C, D emitted by the four reflection optical fiber sensors (100), the four reflection optical fiber sensors (100) output light intensity sensed on the cylindrical surface graph code (3) as digital signals, and displacement and speed of axial motion of the cylindrical surface and rotation angle and rotation speed of rotary motion can be obtained by decoding and analyzing the digital signals; the spherical surface graph code (4) performs two-dimensional rotary motion in a certain range along with light A, B, C, D emitted by the spherical surface relative to the four reflection optical fiber sensors (100), the four reflection optical fiber sensors (100) output light intensity sensed on the spherical surface graph code (4) as digital signals, and the rotation angle and the rotation speed of the two-dimensional rotary motion of the spherical surface can be obtained by decoding and analyzing the digital signals.

2. The method for synchronously and non-contactingly measuring the displacement and the speed of the two-dimensional translation and the rotation by using the black and white grid pattern code as claimed in claim 1, wherein: signals output by four reflecting optical fiber sensors (100) corresponding to light A, B, C, D in a partial enlarged picture (101) of the plane code comprise an x forward motion digital signal (5) or an x reverse motion digital signal (6), a y forward motion digital signal (7) or a y reverse motion digital signal (8); the displacement or rotation angle is obtained by multiplying the count by the actual length or angle represented by each grid, and the speed or rotation speed is calculated by the ratio of the displacement or rotation angle to the corresponding time.

3. The method for synchronously and non-contactingly measuring the displacement and the speed of the two-dimensional translation and the rotation by using the black and white grid pattern code as claimed in claim 1, wherein: the motion of the code relative to light A, B, C, D in the enlarged partial picture of the plate code (101) can be summarized as moving one unit in the positive or negative direction of x, and the y direction is kept unchanged and is respectively marked as (x +1, y +0) or (x-1, y + 0); the x direction is kept unchanged, and the movement is carried out by one unit in the positive or negative direction of y, and the movement is respectively marked as (x +0, y +1) or (x +0, y-1); combining the x forward motion digital signal (5) or the x reverse motion digital signal (6), the y forward motion digital signal (7) or the y reverse motion digital signal (8), the motion conditions are summarized as table one:

watch 1

(x+1,y+0) (x-1,y+0) (x+0,y+1) (x+0,y-1) A↑B0C↑D0 A↑B1C↑D1 A↑C1B↑D1 A↑C0B↑D0 A↑B0C↓D1 A↑B1C↓D0 A↑C1B↓D0 A↑C0B↓D1 A↓B1C↑D0 A↓B0C↑D1 A↓C0B↑D1 A↓C1B↑D0 A↓B1C↓D1 A↓B0C↓D0 A↓C0B↓D0 A↓C1B↓D1 B↑A1D↑C1 B↑A0D↑C0 C↑A0D↑B0 C↑A1D↑B1 B↑A1D↓C0 B↑A0D↓C1 C↑A0D↓B1 C↑A1D↓B0 B↓A0D↑C1 B↓A1D↑C0 C↓A1D↑B0 C↓A0D↑B1 B↓A0D↓C0 B↓A1D↓C1 C↓A1D↓B1 C↓A0D↓B0

An upward arrow ↓ represents a rising edge of the digital signal, a downward arrow ↓ represents a falling edge of the digital signal, a logical high level represents "1", a white grid corresponding to the image code, a logical low level represents "0", and a black grid corresponding to the image code; according to the motion condition of the table I, performing two-dimensional one-way coding on the motion condition to obtain a coding equation:

wherein the content of the first and second substances,

when the value of [ S ] is determined, the rising edge and the falling edge can not occur simultaneously, and only occur within a small time period, so that the four reflective optical fiber sensors (100) can be ensured to work normally within a certain assembly error range; according to the coding equation, the motion situation of the graph code in the first table is coded into a second table:

watch two

The digital signals output by the four reflecting optical fiber sensors (100) can be decoded and analyzed by utilizing the coding table, and the synchronous non-contact measurement of displacement, speed, corner and rotating speed of two-dimensional translation and rotation motion can be realized.

Technical Field

The invention relates to a two-dimensional translation and rotation displacement and speed measurement method, in particular to a two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method by utilizing black and white grid image codes.

Background

The two-dimensional translation and rotation motion of the moving part is widely existed in various industrial application scenes, such as a driving system, a transmission system, a robot and the like, and the motion characteristics of displacement, speed, corner, rotating speed and the like of the moving part are generally required to be monitored, so that the analysis of the motion rule is facilitated to optimize and design the system and improve the reliability.

The existing displacement, speed, corner and rotating speed measurement is generally carried out by arranging a plurality of sensors, namely, corresponding sensors are respectively arranged in each moving direction for measurement, such as an encoder, a grating ruler, a stay wire displacement sensor, a laser displacement sensor and the like, the sensors have large volume and high cost, the requirement on assembly precision is high, the detection speed is limited, the existing measurement method is not applicable in special application occasions, such as narrow space with severe environment, and the displacement, speed, corner and rotating speed of two-dimensional translation and rotation cannot be directly measured, so that a more efficient and accurate measurement method is needed to realize synchronous non-contact measurement of the displacement, speed, corner and rotating speed of two-dimensional translation and rotation, and the application requirements of production practice are met.

Disclosure of Invention

The invention aims to provide a synchronous non-contact measurement method for two-dimensional translation and rotation displacement and speed by utilizing black and white grid image codes, which can accurately and conveniently carry out synchronous non-contact measurement on the two-dimensional translation and rotation displacement, the speed, the corner and the rotating speed.

In order to achieve the purpose, the invention adopts the following technical scheme:

according to the structure and the motion mode of the motion part to be measured, the black and white grid graph codes are arranged on the motion part to be measured, for example, corresponding graph code paper can be pasted on the motion part to be measured or corresponding graph codes, specifically, a flat panel graph code, a disc surface graph code, a cylindrical surface graph code and a spherical surface graph code are etched on the motion part in a machining mode, and meanwhile, four reflection optical fiber sensors are arranged on the outer side of the graph codes. The light emitted by the four reflection optical fiber sensors irradiates on different grids of the image code, when a detected part moves, the image code moves along with the detected part and changes in position relative to the light emitted by the four reflection optical fiber sensors, the four reflection optical fiber sensors measure corresponding light intensity changes, the four reflection optical fiber sensors transmit the sensed light intensity to a computer for storage and output as digital signals through setting thresholds of light sensitivity of the four reflection optical fiber sensors, the low level '0' and the high level '1' of the digital signals respectively correspond to the black and white grids of the image code, and the displacement and the speed of the two-dimensional translational motion and the rotational motion can be calculated by decoding and statistically analyzing the digital signals through a two-dimensional coding method; obtaining a displacement or a rotation angle by utilizing the product of the actual length or the angle represented by each grid and the counting, and calculating the speed or the rotation speed by the ratio of the displacement or the rotation angle to the corresponding time; the method specifically comprises the displacement and the speed of the two-dimensional translation of the flat surface, the displacement and the speed of the radial translation of the disc surface and the corner and the rotating speed of the rotary motion, the displacement and the speed of the axial translation of the cylindrical surface and the corner and the rotating speed of the rotary motion, and the corner and the rotating speed of the two-dimensional rotary motion of the spherical surface.

When the image code moves along with the object to be measured, the four reflective optical fiber sensors output the sensed light intensity change as corresponding digital signals, including x forward movement digital signals or x reverse movement digital signals, and y forward movement digital signals or y reverse movement digital signals. Further, the movement of the graph code can be generalized to move one unit in the positive or negative direction of x, and the y direction remains unchanged, which is respectively marked as (x +1, y +0) or (x-1, y + 0); the x direction is kept unchanged, and the movement is carried out by one unit in the positive or negative direction of y, and the movement is respectively marked as (x +0, y +1) or (x +0, y-1); combining the x forward motion digital signal or the x reverse motion digital signal, and the y forward motion digital signal or the y reverse motion digital signal, the motion situation of the graph code is summarized as table three:

watch III

(x+1,y+0)	(x-1,y+0)	(x+0,y+1)	(x+0,y-1)
				A↑B0C↑D0	A↑B1C↑D1	A↑C1B↑D1	A↑C0B↑D0
A↑B0C↓D1	A↑B1C↓D0	A↑C1B↓D0	A↑C0B↓D1
				A↓B1C↑D0	A↓B0C↑D1	A↓C0B↑D1	A↓C1B↑D0
A↓B1C↓D1	A↓B0C↓D0	A↓C0B↓D0	A↓C1B↓D1
				B↑A1D↑C1	B↑A0D↑C0	C↑A0D↑B0	C↑A1D↑B1
B↑A1D↓C0	B↑A0D↓C1	C↑A0D↓B1	C↑A1D↓B0
				B↓A0D↑C1	B↓A1D↑C0	C↓A1D↑B0	C↓A0D↑B1
B↓A0D↓C0	B↓A1D↓C1	C↓A1D↓B1	C↓A0D↓B0

Upward arrow head_↑Indicating the rising edge of the digital signal, downward arrow_↓The logic high level is represented as "1" corresponding to the white grid of the graph code, and the logic low level is represented as "0" corresponding to the black grid of the graph code. According to the motion condition of the table three graph codes, performing two-dimensional one-way coding on the table three graph codes to obtain a coding equation:

wherein the content of the first and second substances,

when the value of [ S ] is determined, the rising edge and the falling edge can not occur simultaneously, and only need to occur within a small time period, so that the four reflective optical fiber sensors can be ensured to work normally within a certain assembly error range. According to the encoding equation, the motion situation of table three can be encoded as table four:

watch four

The digital signals output by the four reflecting optical fiber sensors are decoded and analyzed by using a coding equation and a motion coding table, so that the displacement, the speed, the corner and the rotating speed of the two-dimensional translation and rotation motion can be calculated.

The invention has the advantages and effects that: the measuring method can carry out synchronous non-contact measurement on the displacement, the speed, the corner and the rotating speed of the two-dimensional translation and rotation motion, and is simple, convenient, high in measuring precision, economical and applicable. The invention provides an effective solution for the engineering problems of synchronous non-contact measurement of displacement, speed, corner and rotating speed of two-dimensional translation and rotation motion and the like.

Drawings

FIG. 1 is a schematic diagram of a plate-face code of the present invention

FIG. 2 is a schematic diagram of a disc surface map code of the present invention

FIG. 3 is a schematic view of a cylindrical surface map code of the present invention

FIG. 4 is a schematic diagram of a spherical surface code of the present invention

FIG. 5 is a schematic diagram of the digital signals output by four reflective fiber optic sensors according to the present invention

Detailed description of the invention

The invention is further described below with reference to the accompanying drawings:

when measuring the displacement and velocity of the two-dimensional orthogonal translation of the plane surface, as shown in fig. 1, the plane surface code (1) is arranged on the plane surface, and at the same time, four reflective optical fiber sensors (100) are fixed above the plane surface code (1) at a relative position, and light A, B, C, D emitted from the four reflective optical fiber sensors (100) is irradiated on the plane surface code (1), as shown in a partially enlarged view (101) of the plane surface code. When the plane surface moves in a two-dimensional orthogonal translation manner in a plane, namely, the plane surface moves in the x and y directions, the plane surface map code (1) can follow the translation movement of the plane surface map code, so that the position of light A, B, C, D emitted by the four reflecting optical fiber sensors (100) is changed, the light intensity sensed by the four reflecting optical fiber sensors (100) is changed, the light intensity change sensed by the four reflecting optical fiber sensors (100) is stored in a computer through a data acquisition system, and the sensed light intensity is output as a digital signal by the four reflecting optical fiber sensors (100) through setting a light intensity threshold value sensed by the four reflecting optical fiber sensors (100), as shown in fig. 5. The displacement and speed of the orthogonal translation of the plane of the flat plate can be obtained by decoding and analyzing the digital signal.

As shown in fig. 1 and 2, when measuring the displacement and speed of the radial translation of the disc surface and the rotation angle and rotation speed of the disc surface rotating around the central shaft, the disc surface map code (2) is arranged on the corresponding disc surface, and simultaneously, the four reflection optical fiber sensors (100) are fixed on the outer side of the disc surface map code (2) according to a certain relative position, and light A, B, C, D emitted by the four reflection optical fiber sensors (100) irradiates on the disc surface map code (2), as shown in a partial enlarged view (201) of the disc surface map code. When the disc surface translates radially and rotates around the central shaft in a certain range, the disc surface map code (2) can rotate along with the translation and the rotation of the disc surface map code, so that the position of the grid in the disc surface map code (2) relative to light A, B, C, D emitted by the four reflecting optical fiber sensors (100) is changed alternately, meanwhile, the four reflecting optical fiber sensors (100) sense the light intensity change and transmit the sensed light intensity change to a computer for storage through a data acquisition system, and the four reflecting optical fiber sensors (100) output the sensed light intensity as digital signals by setting the light intensity threshold sensed by the four reflecting optical fiber sensors (100), as shown in fig. 5. The displacement and speed of the radial translation of the disc surface and the rotation angle and the rotation speed of the rotation around the central shaft can be obtained by decoding and analyzing the digital signals.

As shown in fig. 1 and fig. 3, when measuring the displacement and speed of the axial translation of the cylindrical surface and the rotation angle and rotation speed of the cylindrical surface rotating around the central axis, the cylindrical surface image code (3) is arranged on the corresponding cylindrical surface, and simultaneously, the four reflective optical fiber sensors (100) are fixed on the outer side of the cylindrical surface image code (3) according to a certain relative position, and the light A, B, C, D emitted by the four reflective optical fiber sensors (100) is irradiated on different grids of the cylindrical surface image code (3), as shown in the partial enlarged view (301) of the cylindrical surface image code. When the cylindrical surface is translated axially and rotated around the central shaft, the cylindrical surface image code (3) follows the translation and rotation of the cylindrical surface, and then the light A, B, C, D emitted by the four reflecting optical fiber sensors (100) is changed in position, at the moment, the light intensity change sensed by the four reflecting optical fiber sensors (100) is transmitted to a computer for storage through a data acquisition system, and the light intensity output sensed by the four reflecting optical fiber sensors (100) is a digital signal by setting the light intensity threshold value sensed by the four reflecting optical fiber sensors (100), as shown in fig. 5. The displacement and speed of the axial translation of the cylindrical surface and the rotation angle and the rotation speed of the rotation around the central shaft can be obtained by decoding and analyzing the digital signals.

As shown in fig. 1 and 4, when the rotation angle and the rotation speed of the two-dimensional rotation motion of the spherical surface are measured, the spherical surface map code (4) is arranged on the corresponding spherical surface, and meanwhile, the four reflective optical fiber sensors (100) are fixed on the outer side of the spherical surface map code (4) according to a certain relative position, and light A, B, C, D emitted by the four reflective optical fiber sensors (100) irradiates different grids of the spherical surface map code (4), as shown in a partial enlarged view (401) of the spherical surface map code. When the sphere surface is rotatory, the sphere surface map code (4) can be followed the sphere surface and rotated, the light A, B, C, D that four reflection optical fiber sensor (100) sent relatively takes place the position change simultaneously, four reflection optical fiber sensor (100) will sense the light intensity change this moment and gather and transmit to the computer through data acquisition system and save, set up through the light intensity threshold value to four reflection optical fiber sensor (100) sensing, four reflection optical fiber sensor (100) will sense the light intensity output be digital signal, as shown in figure 5. The rotation angle and the rotation speed of the two-dimensional rotary motion of the spherical surface can be obtained by decoding and analyzing the digital signal.

The invention utilizes four reflecting optical fiber sensors (100) and black and white grid pattern codes to carry out synchronous non-contact measurement on two-dimensional displacement, speed, corner and rotating speed of a flat plate surface, a disc surface, a cylindrical surface and a spherical surface so as to realize the aim of synchronous online real-time measurement on the two-dimensional translation and the rotating displacement, the speed, the corner and the rotating speed of a moving part, and the measurement result is favorable for analyzing the motion rule and the motion characteristic of the moving part and is favorable for carrying out optimization design on the structure so as to improve the reliability. The two-dimensional translation and rotation movement displacement and speed measuring method has the advantages of high precision, convenience in operation and low cost, and can meet the production practice requirements.

While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the embodiments described in the detailed description, and various changes and other embodiments can be made according to the present invention within the knowledge of those skilled in the art, and the technical innovation and the protection scope of the present invention are also included.