Research On Motion Parameters Measuring System Based On Intersected Planes

Recently, in multi-axis aircraft, movement of the robot, the robot arm and aerospace fields, the attitude and position parameters measurement of rigid body is an important part of rigid body motion analysis and control. Among the applications and study of non-contact measurement methods, visual measurement methods are widely used, because it has good adaptability and high accuracy in complex environments, and can be applied in of rigid body complex motion measurements. But most visual measurement methods of rigid spatial movement have large computational complexity, limited in off-line computing, hard to meet the needs of real-time measurement. And the measurement accuracy is low when the measurement of motion space is large. In this paper, the research work is introduced in the following areas:Firstly, design the computational method and measurement method of the realtime motion parameters measuring system based on intersected planes fixed on the rigid body. In use of normal vectors of two intersected planes fixed on the rigid body, calculate the attitude and position of the rigid body. Use points fitting plane to calculate the plane normal vectors, the measurement method is introduced.Secondly, it gives the design of hardware and software solutions based on the Motion parameters vision measuring principle which is based on intersected planes. The hardware and software system is set up based on NI PXIe, NI Flex RIO, and NI Lab VIEW. Measurement system using a plurality of spatial characteristics of the laser beam plane constructed, using high-speed cameras record laser spot projected on both sides of the walls, with detection process and through a series of calibration coordinates conversion process to obtain a spot in the world coordinate. And by the computing methods deduced, the position and attitude can be calculated. In this section, the real-time methods of spot detection and spot center computing in FPGA are elaborated; also the spot center in image coordinate conversion method to the world coordinate system is stated.Finally, the paper design the software and hardware platform for the measuring system based the research results, after this, an dynamic experiment of the motion parameters real-time measuring system was carried on, and the results was analyzed in detail.