A system for coordinate measurement and information node association and a method of measurement thereof

Abstract

The application discloses a kind of system for coordinate measurement and information node association and its measurement method, belong to measurement test field, to solve the defects problems of existing cable interlacing or winding, needing manual entry database, finding the corresponding relationship of sensor and channel and checking correction all consume time, paper is easy to damage, the cost of equipment dismantling after experiment is ended is high, for the system of coordinate measurement and information node association includes: measuring instrument (3), sensor (4), robot (5), camera (6) is provided on robot (5), laser emitter (7), acquisition device (1), cable (2) and computer (8).The application can quickly and accurately establish associated information, improve experimental efficiency;Measurement technique is simple, measurement precision is high, reduce labor cost, reduce preparation time before experiment, applicable to various experimental environments, suitable for actual engineering demand.

Description

Technical Field

[0001] This invention relates to the field of measurement and testing technology, and specifically to a system and method for coordinate measurement and information node association. Background Technology

[0002] With the development of technology, the number of electrical measurement sensors and channels in existing large-scale test systems has exceeded one thousand. However, the existing sensor-wire-channel information association methods have many defects. As the number of large-scale tests required increases, it is indispensable to attach strain gauges to the instruments to be measured and to establish sensor-channel connections through coding and identification. When associating information between sensors and channels, existing methods utilize connecting wires for information mapping. However, when the number of sensors and channels exceeds a thousand, the number of wires also increases, inevitably leading to crossings or tangles. In such cases, mapping sensor and channel information at both ends of thousands of wires becomes extremely complex and time-consuming. Encoding and pasting are required at the strain gauge, the wire end near the strain gauge, the channel, and the wire end near the channel, a process that consumes significant time, manpower, and resources. After solving for the sensor coordinates, manually entering the sensor number, sensor coordinates, and channel number into the database is also required, as finding the sensor-channel correspondence and checking for errors takes considerable time. During experiments, the encoded content on the stickers is easily stained or damaged when moving equipment and wires, rendering it unreadable and hindering the movement of experimental equipment. Regular maintenance or inspection of the pasted codes is necessary, incurring significant time and cost. Removing the codes after the experiment also requires substantial time and manpower. In summary, it is necessary to propose a method for rapid information association between sensors and channels, thereby reducing preparation time and manpower costs in the field of measurement and testing. Summary of the Invention

[0003] The purpose of this invention is to provide a system for coordinate measurement and information node association, in order to solve the problems of existing systems where cables are intertwined or tangled, manual database entry is required, finding the correspondence between sensors and channels and checking errors are time-consuming, stickers are easily damaged, and the cost of dismantling equipment after the experiment is high, so as to reduce the preparation time and labor costs before the experiment.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0005] This invention provides a system for coordinate measurement and information node association, the system comprising:

[0006] A measuring instrument having multiple measuring positions;

[0007] Multiple sensors, wherein the multiple sensors are arranged at multiple measurement locations;

[0008] A robot equipped with a camera mounted on its top for capturing image features of each of the sensors;

[0009] A laser emitter is positioned below the camera to emit lasers toward each of the sensors, and each of the sensors receives the lasers and generates an electrical signal.

[0010] The data acquisition device includes multiple data acquisition channels;

[0011] The cable is used to transmit electrical signals, and the cable connects each of the sensors and each of the acquisition channels in a one-to-one correspondence, so that each acquisition channel can capture the electrical signal of the corresponding sensor;

[0012] The computer is connected to the robot and the acquisition device via cables. The computer is used to receive and identify the image features, and to receive and mark the electrical signals, and to associate the electrical signals and the image features as information nodes.

[0013] Alternatively, the robot is positioned such that the camera can capture images of each of the sensors; the robot is a six-degree-of-freedom robot, so that the camera can capture feature images of any sensor from different angles within the robot's degrees of freedom.

[0014] Alternatively, the robot may be equipped with a path planning module and include an actuator, wherein the path planning module is used to control the robot to move the camera according to the planned path in the actuator module.

[0015] Alternatively, each of the sensors may be a strain gauge.

[0016] The present invention also provides a measurement method for a system for coordinate measurement and information node association, the measurement method for a system for coordinate measurement and information node association comprising:

[0017] S1: Control the laser emitter to illuminate the target sensor and obtain the corresponding channel information of the sensor-acquisition channel;

[0018] S2: Process the channel information and record the channel number;

[0019] S3: Control the camera to capture feature images and obtain image features;

[0020] Alternatively, in S3, the feature image is an image of a test piece with sensors in various tests, and the image feature is the morphological feature of various sensors.

[0021] S4: Process the image features to obtain the target sensor number and coordinates;

[0022] S5: Perform an information association operation on the channel number, the sensor coordinates, and the sensor number to obtain sub-information association data;

[0023] S6: Control the robot to repeat the operations of S1-S5 according to the planned path, and perform information association on multiple sensors to obtain all information association data.

[0024] Alternatively, S1 includes:

[0025] S11: Control the laser emitter to emit a laser to irradiate the target sensor, and the target sensor receives the laser irradiation to generate an electrical signal;

[0026] S12: Control the acquisition channel to capture the electrical signal and obtain the electrical signal corresponding to the sensor-acquisition channel.

[0027] Alternatively, S4 includes:

[0028] S41: Identify the feature image information corresponding to the current posture of the target sensor and generate the linear equation of the camera optical axis corresponding to the current posture based on the feature image;

[0029] S42: Calculate the coordinates of the target sensor based on the linear equation of the camera optical axis corresponding to the current posture;

[0030] S43: Adjust the robot's posture so that the sensor to be located is at the center of the camera's field of view, and capture feature images of the target sensor from different angles;

[0031] S44: Determine whether the number of coordinates has reached the preset number. If yes, proceed to S45; otherwise, return to S41.

[0032] S45: The coordinates corresponding to the posture that is closest to the target line are taken as the coordinates of the target sensor;

[0033] S46: Output the coordinates and number of the target sensor.

[0034] Alternatively, the equation of the camera's optical axis is:

[0035]

[0036] in, Let n be the coordinate transformation matrix between the end-effector coordinate system and the base coordinate system of robot (5), where n is the number of axes of the robot. Let θ be the transformation matrix between two adjacent joint coordinate systems, i be the loop variable representing the number of robot axes, and θ be the transformation matrix between the two joint coordinate systems.i Let be the angular displacement of the i-th axis of robot (5).

[0037] Alternatively, the planned path may be:

[0038] A1: Determine the moving plane based on the current optical center position and optical axis of the camera, and set the initial step size;

[0039] A2: Establish a three-dimensional rectangular coordinate system with the camera's focal center as the origin, the optical axis as the Z-axis, and two directions parallel to the length and width of the captured image as the X and Y axes, respectively.

[0040] A3: Control the robot to move in the moving plane according to the positive and negative directions of the X-axis and Y-axis of the three-dimensional rectangular coordinate system, respectively;

[0041] A4: Determine if there is a target in the current direction of movement. If there is, continue moving in the current direction of movement; otherwise, change the current direction of movement and return to A1.

[0042] The present invention has the following beneficial effects:

[0043] 1. Systems used for coordinate measurement and information node association can quickly and accurately establish associated information;

[0044] 2. The system measurement technology used for coordinate measurement and information node association is simple, has high measurement accuracy, reduces labor costs, reduces preparation time before experiments, is applicable to various experimental environments, and is suitable for actual engineering needs. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the device of the present invention;

[0046] Figure 2 This is a conceptual diagram of the present invention;

[0047] Figure 3 This diagram shows the connection methods for cables, sensors, and data acquisition devices in the device diagram.

[0048] Figure 4 This is a flowchart of the measurement method of the present invention;

[0049] Figure 5 This is a map showing the camera's recognition range.

[0050] Explanation of reference numerals in the attached figures

[0051] 1-Acquisition device; 2-Cable; 3-Measuring instrument; 4-Sensor; 5-Robot; 6-Camera; 7-Laser emitter; 8-Computer; 9-Acquisition channel. Detailed Implementation

[0052] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0053] This embodiment proposes a system for coordinate measurement and information node association, referencing... Figure 1 , Figure 2 As shown, it includes:

[0054] Measuring instrument 3 has multiple measuring positions;

[0055] Multiple sensors 4 are set at multiple measurement locations;

[0056] Robot 5, with a camera 6 mounted on top of it, is used to capture image features from each of the sensors 4.

[0057] Laser emitter 7 is positioned below camera 6 to emit lasers to each sensor 4, and each sensor 4 receives the lasers and generates electrical signals.

[0058] Acquisition device 1, which includes multiple acquisition channels 9;

[0059] refer to Figure 3 As shown, cable 2 is used to transmit electrical signals. Cable 2 connects each sensor 4 and each acquisition channel 9 in a one-to-one correspondence, so that each acquisition channel 9 can capture the electrical signals of the corresponding sensor 4.

[0060] Computer 8 is connected to robot 5 and acquisition device 1 via cable 2. Computer 8 is used to receive and identify image features, as well as to receive and mark electrical signals, and associate image features and electrical signals as information nodes.

[0061] Alternatively, existing methods can lead to cable tangling or intertwining when the number of sensors and channels is large, resulting in complex and time-consuming processing, manual database entry, and time-consuming identification of the correspondence between sensors and acquisition channels. This invention generates an electrical signal by irradiating the sensor 4 with a laser. One cable 2 connects only one sensor 4 and acquisition channel 9, and only one cable 2 can be connected to each sensor 4 and acquisition channel 9, avoiding excessive and long cables 2. Therefore, the acquisition channels 9 and sensors 4 of the acquisition device 1 correspond one-to-one, thereby quickly and accurately establishing the association information. The coordinates of the sensor 4 are calculated and compared using the electrical signal processed by the computer 8 and the feature image information captured by the camera 6, which can reduce the preparation time before the experiment and improve efficiency. The connection relationship of this invention is simple, and the disassembly of the equipment after the experiment is time-saving and labor-saving.

[0062] Optionally, robot 5 is positioned so that camera 6 can capture images of each sensor 4; and robot 5 is a six-degree-of-freedom robot, so that camera 6 can capture feature images of any sensor 4 from different angles within the range of robot 5's degrees of freedom. By capturing multiple feature images, computer 8 can process them to obtain sufficient linear equations for the camera's optical axis, thereby selecting the coordinates of any sensor 4 and reducing labor costs.

[0063] Optionally, the robot 5 is equipped with a path planning module and includes an actuator, which controls the robot 5 to move the camera 6 according to the planned path within the actuator module.

[0064] Alternatively, the planned route is:

[0065] A1: Determine the moving plane based on the current optical center position and optical axis of camera 6, and set the initial step size;

[0066] A2: Establish a three-dimensional rectangular coordinate system with the focal center of camera 6 as the origin, the optical axis as the Z-axis, and two directions parallel to the length and width of the captured image as the X-axis and Y-axis, respectively.

[0067] A3: Control the robot 5 to move in the moving plane according to the positive and negative directions of the X-axis and Y-axis of the three-dimensional rectangular coordinate system, respectively;

[0068] A4: Determine if there is a target in the current direction of movement. If there is, continue moving in the current direction of movement; otherwise, change the current direction of movement and return to A1.

[0069] By using the path planning module, information associations of all 4 sensors can be quickly obtained, and all information association data can be established, making it suitable for various experimental environments.

[0070] Alternatively, each sensor 4 can be a strain gauge. The strain gauge is attached and fixed to the measuring instrument 3, which reduces the use of cables 2 and provides rapid feedback, thus reducing experimental time.

[0071] refer to Figure 4 As shown, this embodiment also provides a measurement method for a system used for coordinate measurement and information node association, including:

[0072] S1: Control the laser emitter 7 to illuminate the target sensor and obtain the corresponding channel information of the sensor-acquisition channel;

[0073] Alternatively, S1 includes:

[0074] S11: Control the laser emitter 7 to emit a laser to irradiate the target sensor, and the target sensor receives the laser irradiation to generate an electrical signal;

[0075] S12: Control the acquisition channel 9 to capture the electrical signal and obtain the corresponding channel information of the sensor-acquisition channel.

[0076] Alternatively, for rapid non-contact sensor-channel association in different environments in the existing measurement and testing field, the system for coordinate measurement and information node association uses the electrical signal generated by laser irradiation of the sensor as a medium to achieve information association. The measurement technology and equipment are relatively simple, while the measurement efficiency and accuracy are high and the operability is good.

[0077] S2: Process the channel information and record the channel number;

[0078] The computer exchanges information with the channel and records the channel number.

[0079] S3: Control camera 6 to capture feature images and obtain image features;

[0080] Alternatively, the feature image can be an image of a test specimen with sensors in various tests, and the image features can be the morphological features of various sensors. Therefore, the measurement method provided in this embodiment is applicable to various experimental environments and is suitable for practical engineering needs.

[0081] S4: Process the image features to obtain the target sensor number and coordinates;

[0082] Alternatively, S4 includes:

[0083] S41: Identify the feature image information corresponding to the current posture of the target sensor and generate the linear equation of the camera optical axis corresponding to the current posture based on the feature image;

[0084] Alternatively, the equation of the camera's optical axis can be:

[0085]

[0086] in, Let n be the coordinate transformation matrix between the end-effector coordinate system and the base coordinate system of robot (5), where n is the number of axes of the robot. Let θ be the transformation matrix between two adjacent joint coordinate systems, i be the loop variable representing the number of robot axes, and θ be the transformation matrix between the two joint coordinate systems. i Let be the angular displacement of the i-th axis of robot (5).

[0087] In addition to the above, prior to S41, the measurement methods used in systems for coordinate measurement and information node association also included:

[0088] S401: Obtain the initial positioning information of the target sensor; wherein the initial positioning information of the target sensor is located in set S;

[0089] S402: Delete the initial positioning information of the target sensor from the set S to obtain a new set S;

[0090] S403: Identify the positioning information of the target sensor in the feature image, update the positioning information to the new set S, and obtain the updated set S, wherein the updated set S contains the positioning information corresponding to the current posture of the target sensor.

[0091] S42: Calculate the coordinates of the target sensor based on the linear equation of the camera optical axis corresponding to the current posture;

[0092] S43: Adjust the posture of robot 5 so that the sensor to be located is located at the center of the field of view of camera 6, and capture feature images of the target sensor from different angles;

[0093] S44: Determine whether the number of coordinates has reached the preset number. If yes, proceed to S45; otherwise, return to S41.

[0094] S45: The coordinates corresponding to the posture that is closest to the target line are taken as the coordinates of the target sensor;

[0095] S46: Output the coordinates and number of the target sensor.

[0096] Optionally, robot 5 can interact with computer 8, transmitting collected information to computer 8. By controlling robot 5 to adjust its posture, camera 6 can capture feature images from different angles. The computer 8 processes the relevant information, which can effectively reduce labor costs and achieve simple measurement technology and improved measurement accuracy.

[0097] S5: Perform information association operations on channel number, sensor coordinates, and sensor number to obtain sub-information association data;

[0098] S6: Control robot 5 to repeat operations S1-S5 according to the planned path, associate information from multiple sensors, and obtain all associated information data.

[0099] The measurement method for the system used for coordinate measurement and information node association solves for the coordinates of the point shortest to all recorded lines as the coordinates of the target sensor, thereby establishing association information quickly, thus improving experimental efficiency and avoiding the inconvenience of stickers being easily contaminated or damaged in traditional methods, and can effectively identify coded information.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A system for coordinate measurement and information node association, characterized in that, include: Measuring instrument (3), the measuring instrument (3) having multiple measuring positions; Multiple sensors (4) are provided at multiple measurement locations; A robot (5) is provided with a camera (6) which is located on the top of the robot (5) for capturing image features of each of the sensors (4); A laser emitter (7) is disposed below the camera (6) to emit lasers to each of the sensors (4), and each of the sensors (4) receives the lasers and generates electrical signals. Acquisition device (1), the acquisition device (1) includes multiple acquisition channels (9); Cable (2), the cable (2) is used to transmit electrical signals, the cable (2) connects each of the sensors (4) and each of the acquisition channels (9) one by one, so that each acquisition channel (9) can capture the electrical signals corresponding to the sensor (4); Computer (8), which is connected to robot (5) and acquisition device (1) via cable (2), is used to receive and identify the image features, and to receive and mark the electrical signal, and associate the electrical signal and the image features with information nodes.

2. The system for coordinate measurement and information node association according to claim 1, characterized in that, The robot (5) is positioned so that the camera (6) can capture images of each of the sensors (4); the robot (5) is a six-degree-of-freedom robot so that the camera (6) can capture feature images of any sensor (4) from different angles within the degree of freedom of the robot (5).

3. The system for coordinate measurement and information node association according to claim 1, characterized in that, The robot (5) is equipped with a path planning module and an actuator. The path planning module is used to control the robot (5) to drive the camera (6) to move on the actuator according to the planned path.

4. The system for coordinate measurement and information node association according to claim 1, characterized in that, Each of the sensors (4) is a strain gauge.

5. A measurement method based on the system for coordinate measurement and information node association according to any one of claims 1 to 4, characterized in that, The measurement method of the system used for coordinate measurement and information node association includes: S1: Control the laser emitter (7) to irradiate the target sensor and obtain the corresponding channel information of the sensor-acquisition channel; S2: Process the channel information and record the channel number; S3: Control the camera (6) to capture feature images and obtain image features; S4: Process the image features to obtain the target sensor number and coordinates; S5: Perform an information association operation on the channel number, the coordinates of the target sensor, and the number of the target sensor to obtain sub-information association data; S6: Control the robot (5) to repeat the S1-S5 operations according to the planned path, associate information with multiple sensors, and obtain all information association data.

6. The measurement method for a system for coordinate measurement and information node association according to claim 5, characterized in that, S1 includes: S11: Control the laser emitter (7) to emit a laser to irradiate the target sensor, and the target sensor receives the laser irradiation to generate an electrical signal; S12: Control the acquisition channel (9) to capture the electrical signal and obtain the electrical signal corresponding to the sensor-acquisition channel.

7. The measurement method for a system for coordinate measurement and information node association according to claim 5, characterized in that, S4 includes: S41: Identify the feature image information corresponding to the current posture of the target sensor and generate the linear equation of the camera optical axis corresponding to the current posture based on the feature image; S42: Calculate the coordinates of the target sensor based on the linear equation of the camera optical axis corresponding to the current posture; S43: Adjust the robot (5) posture so that the sensor to be positioned is located at the center of the field of view of the camera (6), and capture feature images of the target sensor from different angles; S44: Determine whether the number of coordinates has reached the preset number. If yes, proceed to S45; otherwise, return to S41. S45: The coordinates corresponding to the posture that is closest to the target line are taken as the coordinates of the target sensor; S46: Output the coordinates and number of the target sensor.

8. The measurement method for the system of coordinate measurement and information node association according to claim 7, characterized in that, The equation of the camera's optical axis is: in, Let be the coordinate transformation matrix between the end-effector coordinate system of robot (5) and the base coordinate system of robot (5). The number of axes of the robot. This is the transformation matrix between the coordinate systems of two adjacent joints. The loop variable is the number of robot axes. For the robot (5) Angular displacement of the axis.

9. The measurement method for a system for coordinate measurement and information node association according to any one of claims 5 to 8, characterized in that, The planned path includes: A1: Determine the moving plane based on the current optical center position and optical axis of the camera (6), and set the initial step size; A2: Establish a three-dimensional rectangular coordinate system with the focal center of the camera (6) as the origin, the optical axis as the Z-axis, and the two directions parallel to the length and width of the captured image as the X-axis and Y-axis, respectively. A3: Control the robot (5) to move in the moving plane according to the positive and negative directions of the X-axis and Y-axis of the three-dimensional rectangular coordinate system respectively; A4: Determine if there is a target in the current direction of movement. If there is, continue moving in the current direction of movement; otherwise, change the current direction of movement and return to A1.

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