Moving part space pose measuring device

Abstract

The invention discloses a device for measuring the spatial pose of a moving part, and the device comprises a data collection module which is used for collecting the motion data of a to-be-measured linear-axis workbench in real time in the motion process, and transmitting the motion data to a pose test system; the pose test system is used for acquiring motion data, performing signal processing on the motion data to obtain processed data, analyzing the processed data by adopting a data fusion algorithm to obtain a final calculation result, and evaluating the final calculation result to obtain an evaluation result; transmitting the motion data and the evaluation result to a communication module; the communication module is used for transmitting data transmitted by the pose test system to a remote terminal and transmitting control information of the remote terminal to the pose test system. The device is high in integration degree and strong in environmental interference resistance, realizes on-line measurement of spatial poses, and is very in line with the requirements of extreme environments on measurement equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment manufacturing, and in particular to a device for measuring the spatial position and posture of a moving part. Background Art

[0002] With the continuous development of modern manufacturing industry, higher and higher requirements are put forward for the processing accuracy of manufacturing equipment such as CNC machine tools and robots. There are many factors that affect the processing accuracy of manufacturing equipment, among which the spatial posture error of key moving parts of manufacturing equipment is one of the important factors. Measuring and compensating the spatial posture error of equipment movement is of great significance to improving the performance of manufacturing equipment.

[0003] At present, there are many methods for detecting the spatial posture error of equipment motion, including physical reference measurement method, laser ballbar, orthogonal grating measurement method, laser interferometry measurement method and laser tracker measurement method. The above measurement methods can efficiently and accurately complete the measurement of the spatial posture error of manufacturing equipment, but during the implementation of the above measurement methods, a large number of manual operations and adjustments are required, such as the adjustment of the laser interferometer optical path mirror group and the adjustment of related inspection tools. However, for applications in extreme environments such as radiation, confinement, and highly toxic environments, as well as in space-constrained application scenarios, it is difficult to use the above measurement methods to measure the equipment motion posture error, and it is impossible to realize the performance detection and diagnosis of manufacturing equipment in the above environment, which in turn restricts the performance evaluation and improvement of manufacturing equipment in extreme environments such as the nuclear industry and other major national engineering fields.

[0004] In view of the difficulty of accurate testing of intelligent manufacturing equipment in space under extreme environments such as radiation, confinement, and toxicity, it is of great significance to study high-precision testing technology for the position, attitude, angular velocity, and angular acceleration of key moving parts of manufacturing equipment, break through key technologies such as spatial posture testing methods based on embedded inertial measurement units, wireless transmission, and value transfer for manufacturing equipment, develop a comprehensive testing system based on accelerometers, gyroscopes, and levels, and realize online testing of spatial posture. Summary of the invention

[0005] The purpose of the present invention is to provide a device for measuring the spatial position and posture of a moving part, which has a high degree of integration, strong resistance to environmental interference, can realize remote online data acquisition, and can meet the requirements of extreme environments for measuring equipment.

[0006] The present invention is achieved through the following technical solutions:

[0007] An embodiment of the present invention provides a device for measuring the spatial posture of a moving part, comprising: a data acquisition module, a posture test system and a communication module;

[0008] The data acquisition module is used to collect motion data of the linear axis workbench to be tested during its motion in real time, and transmit the motion data to the posture test system;

[0009] The posture test system is used to obtain motion data, perform signal processing on the motion data to obtain processed data, use a data fusion algorithm to analyze the processed data to obtain a final solution result, evaluate the final solution result to obtain an evaluation result, and transmit the motion data and the evaluation result to a communication module;

[0010] The communication module is used to transmit the data transmitted by the posture test system to the remote terminal, and transmit the control information of the remote terminal to the posture test system.

[0011] Furthermore, the data acquisition module includes an electronic level, an IMU module and a gyro laser displacement sensor. The electronic level is used to collect the measured angles of the linear axis platform in real time during the movement of the linear axis platform. The IMU module is used to collect the accelerations received by the linear axis platform in three axes during the movement of the linear axis platform to obtain the linear acceleration and position change information of the object, as well as the rotation rate in three axes, thereby obtaining the angle change and direction information of the object. The gyro laser displacement sensor is used to measure the displacement, vibration, deformation and thickness data of the linear axis platform during the movement of the linear axis platform.

[0012] Furthermore, the posture testing system includes a main control module, which includes a main control chip, a reset circuit, an LED indicator light, a debugging interface and a serial communication module, and the reset circuit, LED indicator light, debugging interface and serial communication module are respectively connected to the main control chip.

[0013] Furthermore, the main control module also includes a power management module, and the power management module is connected to the main control chip, the LED indicator light and the serial communication module respectively.

[0014] Furthermore, the posture test system includes a signal processing module, which is used to perform signal processing on the angular velocity and acceleration data collected by the IMU module.

[0015] Furthermore, the posture test system also includes a data fusion module, which obtains the measured angle obtained by the electronic level, obtains the angle information obtained by the IMU module by integrating the collected angular velocity data and acceleration information, and fuses the measured angle and the solved angle information through a Kalman filtering method to obtain the motion error information of the linear axis, and finally solves the motion error information and the solved angle information to obtain the final solution result.

[0016] Furthermore, the posture testing system also includes a data evaluation module, which is used to compare the final solution result with the set standard value to verify the reliability of the measurement data.

[0017] Furthermore, the IMU module adopts STIM380H.

[0018] Furthermore, the main control chip adopts STM32F407VET6 chip.

[0019] Furthermore, the communication module includes a wireless communication module and a wired communication module.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] The embodiment of the present invention provides a device for measuring the spatial posture of a moving part. The device is small in size, easy to set up, and has strong resistance to environmental interference. It can realize online measurement of spatial posture, fill the deficiencies of traditional optical measurement systems in radiation, closed, and highly toxic environments, and is very suitable for the demand for measurement equipment in extreme environments. It has a high degree of integration, combines various measurement modules to form an integrated measurement device, and fuses the data of the IMU module with the electronic level, with high measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1 A structural block diagram of a device for measuring the spatial posture of a moving part provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the structure of a device for measuring the spatial position and posture of a moving part provided by an embodiment of the present invention;

[0025] Figure 3 is a structural diagram of a data acquisition module in an embodiment of the present invention;

[0026] Figure 4 A software design architecture diagram of a device for measuring the spatial posture of a moving part provided by an embodiment of the present invention;

[0027] Figure 5 It is a structural block diagram of the main control module in an embodiment of the present invention;

[0028] Figure 6Schematic diagram of the structure of the posture test system in an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the principle of the data fusion module in the embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0031] Example

[0032] like Figure 1 As shown in FIG2 , a device for measuring the spatial posture of a moving part provided by an embodiment of the present invention includes: a data acquisition module, a posture test system and a communication module; the data acquisition module is used to collect motion data during the motion of the linear axis worktable to be tested in real time, and transmit the motion data to the posture test system; the posture test system is used to acquire the motion data, perform signal processing on the motion data to obtain processed data, use a data fusion algorithm to analyze the processed data to obtain a final solution result, and evaluate the final solution result to obtain an evaluation result, and transmit the motion data and the evaluation result to the communication module; the communication module is used to transmit the data transmitted by the posture test system to a remote terminal, and transmit the control information of the remote terminal to the posture test system. The posture test system is installed on the linear axis workbench to be tested. The data acquisition module collects the angle, displacement and other information of the workbench in real time during the movement of the workbench, and transmits the collected information to the posture test system. The posture test system processes and analyzes the collected information to obtain the final solution result, and evaluates the final solution result to obtain the evaluation result. The posture test system transmits the information collected by the data acquisition module and the evaluation result obtained to the remote terminal through the communication module. The communication module can use a wireless communication module or a wired communication module. The wired communication module is a TCP / IP Ethernet communication module. Users can view the data collected and measured by the spatial posture measurement device of the moving part through the remote terminal, and can also send control instructions to the spatial posture measurement device of the moving part.

[0033] like Figure 3As shown, the data acquisition module includes an electronic level, an IMU module and a gyro laser displacement sensor. The electronic level is used to collect the measured angle of the linear axis platform in real time during the movement of the linear axis platform. The IMU module is used to collect the accelerations received by the linear axis platform in three axes during the movement of the linear axis platform to obtain the linear acceleration and position change information of the object, as well as the rotation rate in three axes, thereby obtaining the angle change and direction information of the object. The gyro laser displacement sensor is used to measure the displacement, vibration, deformation and thickness data of the linear axis platform during the movement of the linear axis platform.

[0034] The present invention provides a device for measuring the spatial posture of a moving part, which adopts the STM32 hardware platform and performs software design from the bottom layer to the application layer, including a driver layer, a real-time operating system layer, a real-time data acquisition layer, a multi-source data fusion layer, and a linear axis motion error evaluation layer. The architecture diagram is shown in FIG. Figure 4 As shown in the figure, the driver layer is responsible for the access to the IMU module, electronic level and other devices, and the encapsulation of read and write operations. The real-time operating system layer is responsible for providing the basic operating environment for all application-level tasks, including task scheduling, process communication and providing communication protocol interfaces. The real-time data acquisition layer is responsible for collecting real-time signals from multiple sensors such as IMU modules and electronic level at the set sampling frequency, and realizing asynchronous and multi-task configuration under the support of the operating system. The multi-source data fusion layer realizes real-time data fusion of multiple sensors.

[0035] like Figure 5 As shown, the posture test system includes a main control module, which includes a main control chip, a reset circuit, an LED indicator light, a debugging interface and a serial communication module, and the reset circuit, LED indicator light, debugging interface and serial communication module are respectively connected to the main control chip. The main control module also includes a power management module, and the power management module is respectively connected to the main control chip, the LED indicator light and the serial communication module. The main control module also includes a lithium battery module, which is used to power various modules in the posture test system. Figure 6 As shown, the posture test system includes a signal processing module, which is used to perform signal processing on the angular velocity and acceleration data collected by the IMU module to obtain a processed signal. The main control module is connected to the electronic level, the IMU module and the gyro laser displacement sensor respectively. The main control module receives the data sent by the electronic level, the IMU module and the gyro laser displacement sensor, maintains communication with the remote terminal, sends the required information to the remote terminal, receives and parses the remote control instructions, and sends control instructions to the IMU module and the electronic level. The main control module constitutes a minimum control system, which makes full use of the serial communication, timer, interrupt processing and other functions of the chip to ensure the power supply and reset of the main control chip and provide a stable clock signal.

[0036] The main control chip uses the STM32F407VET6 chip, which is connected to other components through circuits to collect and process data from the IMU module, electronic level, and gyro laser displacement sensor. The STM32F407VET6 chip has a built-in 32-bit Cortex-M4 processor with an operating frequency of up to 168MHz. The IMU module uses the STIM380H from Safran, France. The STIM380H is a small, tactical-grade, low-weight, high-performance non-GPS-aided inertial measurement unit that contains three high-precision MEMS gyroscopes and three ultra-high stability accelerometers. The device is powered by a single +5V power supply and communicates through a standard advanced RS422 interface. The built-in gyroscope has a resolution of 0.22° / h (0.22″ / s), a zero bias stability error of 0.4° / h, and an angle random walk of 0.10° / h^0.5. The accelerometer has a resolution of 1.9μg, a zero bias stability of 3μg, and a rate data walk of 0.015m / s / / h^0.5. The electronic level module is RL-A, which has a compact structure design, is easy to operate, has precise zero adjustment, and a large reference selection range; the drift is no more than 1 number / h.

[0037] Since the IMU module will have cumulative errors when directly calculating the angular position, an electronic level is used to correct the cumulative errors of the IMU module. The performance of the two sensors complement each other, and the combination of the two can achieve better results. The posture test system also includes a data fusion module. The data fusion module obtains the measured angle obtained by the electronic level, and obtains the angle information obtained by the IMU module by integrating the collected angular velocity data and acceleration information to perform position solution. The measured angle and the solved angle information are fused through the Kalman filtering method to obtain the motion error information of the linear axis, and the motion error information and the solved angle information are finally solved to obtain the final solution result, such as Figure 7 As shown. The Kalman filter process is divided into a prediction phase and a correction phase. The work performed in the prediction phase is to obtain the current system state estimate based on the best estimated state value of the system at the previous moment. This phase mainly includes two equations: the state equation for inferring the system state vector and the current system error covariance estimation equation; the correction phase is mainly to further correct the current state estimate of the system based on the actual measurement values ​​of the sensors carried, and at the same time, to further optimize the error covariance of the current system based on the system observations at the current moment. This phase mainly includes three equations: the filter gain equation, the system state optimal estimation equation, and the system error covariance equation under the optimal estimate.

[0038] The posture test system also includes a data evaluation module, which is used to compare the final solution result with the set standard value to verify the reliability of the measurement data. Specifically, the final solution result obtained by the measurement is compared with the standard value detected by the Renishaw XL80 laser interferometer to verify the reliability of the measurement data of the device. The specific test results are shown in Table 1. It can be seen that the maximum deviation between the linear positioning accuracy and straightness measured by the spatial posture measurement device (this device) of the moving part provided by the embodiment of the present invention and the interferometer test results is only 2.5% and 3.0%; the maximum deviation between the pitch, roll, and yaw angle test results measured by this device and the interferometer test results is only 1.7%, 1.7% and 1.1%. And the maximum standard deviation of the above test results is only 1.8% of the interferometer test results, indicating that the consistency measured by this device and the mature optical detection system is high and can fully meet the actual use requirements. In comparison, according to the numerical simulation of the IMU technical indicators, the position integral error within 100s reaches the order of 5 microns, and the random drift of the angle deviation within 1h reaches 0.2°, which verifies the improvement of the measurement accuracy by the data fusion algorithm.

[0039] Table 1

[0040]

[0041] The embodiment of the present invention provides a device for measuring the spatial posture of a moving part, which is small in size, easy to set up, and has strong anti-environmental interference ability. It can realize online measurement of spatial posture, fill the deficiencies of traditional optical measurement systems in radiation, closed, and highly toxic environments, and is very suitable for the demand for measurement equipment in extreme environments. It has a high degree of integration, combines various measurement modules to form an integrated measurement device, and integrates the data of the IMU module and the electronic level to improve the measurement accuracy.

[0042] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for measuring the spatial position and posture of a moving part, characterized in that: include: Data acquisition module, posture test system and communication module; The data acquisition module is used to collect motion data of the linear axis workbench to be tested during its motion in real time, and transmit the motion data to the posture test system; The posture test system is used to obtain motion data, perform signal processing on the motion data to obtain processed data, use a data fusion algorithm to analyze the processed data to obtain a final solution result, evaluate the final solution result to obtain an evaluation result, and transmit the motion data and the evaluation result to a communication module; The communication module is used to transmit the data transmitted by the posture test system to the remote terminal, and transmit the control information of the remote terminal to the posture test system.

2. The device for measuring the spatial position and posture of a moving part according to claim 1, characterized in that: The data acquisition module includes an electronic level, an IMU module and a gyro laser displacement sensor. The electronic level is used to collect the measured angle of the linear axis platform in real time during the movement of the linear axis platform. The IMU module is used to collect the accelerations received by the linear axis platform in three axes during the movement of the linear axis platform to obtain the linear acceleration and position change information of the object, as well as the rotation rate in three axes, thereby obtaining the angle change and direction information of the object. The gyro laser displacement sensor is used to measure the displacement, vibration, deformation and thickness data of the linear axis platform during the movement of the linear axis platform.

3. The device for measuring the spatial position and posture of a moving part according to claim 2, characterized in that: The posture testing system includes a main control module, which includes a main control chip, a reset circuit, an LED indicator light, a debugging interface and a serial communication module. The reset circuit, the LED indicator light, the debugging interface and the serial communication module are respectively connected to the main control chip.

4. The device for measuring the spatial position and posture of a moving part according to claim 3, characterized in that: The main control module also includes a power management module, and the power management module is connected to the main control chip, the LED indicator light and the serial communication module respectively.

5. The device for measuring the spatial position and posture of a moving part according to claim 4, characterized in that: The posture testing system includes a signal processing module, which is used to perform signal processing on the angular velocity and acceleration data collected by the IMU module.

6. The device for measuring the spatial position and posture of a moving part according to claim 5, characterized in that: The posture test system also includes a data fusion module, which obtains the measured angle obtained by the electronic level, obtains the angle information obtained by the IMU module by integrating the collected angular velocity data and acceleration information, fuses the measured angle and the solved angle information through the Kalman filtering method, obtains the motion error information of the linear axis, and finally solves the motion error information and the solved angle information to obtain the final solution result.

7. The device for measuring the spatial position and posture of a moving part according to claim 6, characterized in that: The posture test system also includes a data evaluation module, which is used to compare the final solution result with the set standard value to verify the reliability of the measurement data.

8. The device for measuring the spatial position and posture of a moving part according to claim 2, characterized in that: The IMU module adopts STIM380H.

9. The device for measuring the spatial position and posture of a moving part according to claim 3, characterized in that: The main control chip adopts STM32F407VET6 chip.

10. The device for measuring the spatial position and posture of a moving part according to any one of claims 1 to 9, characterized in that: The communication module includes a wireless communication module and a wired communication module.

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