SU1446463A1 - Apparatus for monitoring spatial position of an object - Google Patents

Abstract

The invention allows to control the spatial position of the object. The purpose of the invention is the extension of functionality by measuring also the twist angle. The radiation of the source 1 to the mirror 3 is rotated at a constant angular velocity by the drive 4. The radiation beam reflected from the mirror 3, developed by it in the horizontal plane, successively crosses three photosensitive areas of the photoreceiver 5, the central of which is rectangular, two others, c1B4metrical located relative to it is triangular. In computing unit 6, the duration of the signal for the propagation of the developable radiation is determined sequentially through all three areas of the photodetector. The ratio of the duration from all three photodetector sites determines the linear movement of the object in the plane perpendicular to the scanning plane and the angular rotation of the object around the axis of the radiation source (twist angle). The results of the calculation are displayed on the display unit 7. 3 np. (Oh c

Description

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The invention relates to a measurement technique and can be used in measuring the spatial position of an object in the aviation industry, in mechanical engineering and robotics.

The aim of the invention is to enhance the functionality by measuring, in addition to linear nepe spaces, also the twist angle of the object.

Figure 1 is a schematic diagram of the device; in fig. 2 shows a geometrical scheme of a three-element photodetector and a photodetector current plot at different relative positions of the scanning plane and the photodetector; in fig. 3 is a geometrical scheme of a three-element photodetector at different angles of rotation of the photodetector relative to the scanning plane around an axis perpendicular to the plane of the photodetector.

The device contains a radiation source 1, for example a laser, a collimator 2, a mirror 3, a mirror rotation actuator 4, a photoreceiver 5, made of three sensitive areas, two of which have a triangular profile and one of them is a rectangular, rythm number block 6 and the display unit 7.

Mirror 3 is located at an angle t to the radiation axis of the source 1 and optically links it to the photodetector 5.

The mirrors 3 are rotated by the actuator 4 at a constant angular velocity. The diameter of the radiation beam is much less than the height of the photodetector sites.

The photodetector 5 (Fig. 2) consists of three plane figures ABC, and DEFG and AB C. LAVS and LA B C are equal isosceles triangles, DEFG is a rectangle. The following condition is fulfilled: AC A C DG a, the height of the triangles and ABC and YES B are equal to DE, the bases of the indicated triangles and the side DG of the rectangle DEFG lie on the same straight line; the triangles ABC and AB are located on both sides of the DEFG rectangle symmetrically with respect to the axis passing through the midpoints of its sides EF and DG.

FIG. 2 marked:

B - the segment between points 1 and 2; B - the segment between points 1 and 2 h, - the height of the triangle - 1 В 2; hj is the height of the triangle 1 В 2;

, 0 - angle i ABC;

R is the distance from the center of the mirror

to the photodetector plane; U} is the angular velocity of rotation of the mirror; V is the linear speed of the beam. On the photodetector, 4h h-i-hi is the movement of the photodetector relative to the scanning plane}

 - the pulse duration of the photodetector at the intersection of the ABC element by the laser beam at the points G - 2.

FIG. 3 denotes ± t the angular rotation of the object (scan angle) relative to the axis of the device.

The device works as follows.

The beam of light generated by laser 1 passes through collimator 2, hits the rotating mirror 3 and turns it in the plane at a speed of n r / min. As it moves along the surface of an object, the spatial position of which is monitored, the laser beam successively intersects the elements of the photodetector 5 installed on the object. The electrical signal from the photodetector 5 is fed to the input of the computing unit 6, in which the time intervals are compared, and the information in the spatial position of the object, contained in the duration of the signals from the elements of the photoreceiver (Fig. 2), is drawn into the display unit 7.

The formation of the signal at the output of the photodetector 5 depends on the location of the photoreceiver relative to the scanning plane.

The laser beam is moved along the photodetector, as a result of which it successively crosses its platforms ABC, DEFG, A B C, respectively, at points 1-2, 3-4, 5-6 (Fig. 2a). At the output of the photodetector 5, the signal shown in FIG. 25

 When the monitored object is moved in a plane perpendicular to the radiation scanning plane of the source 1, the areas of the photodetector 5 are moved by equal distances. This leads to the fact that the laser beam now crosses the areas of the photodetector 5 at points 1 -2, 3-4, 5-6. At the output of the photodetector 5, the signal shown in FIG. 2c.

He compared the diagrams of currents in FIG. 26 and 2c, we see that moving the photodetector to a distance of 4h with respect to the radiation scanning plane (Fig. 2a) leads to a change in the duration of the pulses 1, and at the output of the photodetector 5. At the same time

place ratio

the duration of the signal, forming from the extreme triangular areas of the photodetector 5, when turning at an angle

+ V there is a relationship between the duration of the first and third pulses from the photodetector when fl,

When turning at an angle -v has 57z

the non-continuity of the pulse remains.

The magnitude of the displacement is calculated by the formula

dh hj k

i

- ti

-g.

k is a constant, 1 of the dimension of length, determined by the parameters and geometry of the measuring circuit (k 20

- a / 2 tg).

and

1 pulses from the photodetector 5 when the laser crosses the laser beam with its element of a triangular profile, and a friend with the ABC and DEFG lines, respectively, at points 1-2, 3-A. The duration of the photodetector pulses at the intersection of ABC sites,

With the sides equal and, respectively, the base of the triangular plane and its height, the computing unit is electrically connected to the DEFG photoreceiver at points 1-2, 3-4 and connected to the pa-nick, the display unit, about

Measuring circuitry with the following relations:

It is possible that, for the purpose of functional rhenium, it is possible to measure, along with linear dimensions, also the twist angle, it is equipped with a second sensory platform of a triangular ave similar to the first one and is placed in the receiver, symmetrically with respect to the area of the rectangular pro

.

uVR

B

yk

When the angular rotation of the object around the axis of the device (the axis of the radiation source), a change occurs

In the initial position, the angle) Oh,

J Well

at the same time 1 Formula

 3 inventions

A device for monitoring the spatial position of an object, containing successively located radiation sources, a collimator, a mirror, an actuator, on the shaft of which an erekalo is installed at an acute angle to its axis, a photodetector designed to be placed on the object to be monitored and accommodating two spaced areas; which

, with the sides equal to and respectively the base of the triangular plane and its height, the computing unit electrically connected to the photodetector, the display unit,

This is due to the fact that, in order to expand the functionality by measuring, along with the linear movements, also the twist angle of the object, it is equipped with a second sensitive platform of a triangular profile similar to the first and placed in the photodetector symmetrically with respect to the site rectangular profile.

Claims (1)

Claim A device for monitoring the spatial position of an object, containing a sequentially located radiation source, a collimator, a mirror, a drive, on the shaft of which a mirror is mounted at an acute angle to its base, a photodetector, designed to be placed on a controlled object and having two spaced sensitive areas, one of which is triangular profile, and the other, rectangular with sides, equal to the base of the triangular platform and its height, computing unit, electrically connected to the photocamera iemnikom I display unit, characterized in that, in order to increase functionality by measuring along a linear permescheniyami also twist angle of the object, it is provided with a second sensitive. a triangular profile area similar to the first one and placed in the photodetector symmetrically with respect to the rectangular profile area. in .8 g ^Λ A * '♦ PaprvLime ? Ag s -. / Δί-ϋ 4 '/ 7 uoHupelaMr - mJ L / A __ C 3 9 A ' P "G1 B ' 1 to & . G /.  h L * / ^r ' ^si *