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CN-121978425-A - Non-contact ripple noise measurement method and system based on industrial mechanical arm

CN121978425ACN 121978425 ACN121978425 ACN 121978425ACN-121978425-A

Abstract

The invention discloses a non-contact type ripple noise measurement method and system based on an industrial mechanical arm, and belongs to the technical field of industrial precise measurement and electrical performance detection. The invention firstly establishes a unified global working coordinate system to finish calibration of a measuring probe and accuracy verification of a mechanical arm and output basic parameters of a system, secondly generates a three-dimensional scanning path by combining surface features of a measured object to determine measurement execution parameters, then synchronously acquires original signals of ripple noise and spatial position data through hardware triggering to finish signal filtering processing, and finally constructs a three-dimensional space-noise intensity mapping model and outputs a full-area measurement result through signal analysis and feature extraction. The invention realizes non-contact full coverage measurement of the ripple noise of the area to be measured, ensures accurate correspondence of the measurement signal and the space position, improves the validity and the integrity of the measurement data, and provides reliable support for the performance evaluation of the equipment to be measured.

Inventors

  • ZENG WENQIANG
  • SUN RUJIA

Assignees

  • 四川华鲲振宇智能科技有限责任公司

Dates

Publication Date
20260505
Application Date
20260402

Claims (10)

  1. 1. The non-contact ripple noise measurement method based on the industrial mechanical arm is characterized by comprising the following steps of: S1, establishing a global working coordinate system, wherein the global working coordinate system is a three-dimensional rectangular coordinate system of a unified spatial position reference in the industrial measurement field, and comprises a spatial coordinate reference system corresponding to a measurement base station and a tracking target ball; s2, collecting surface topology data of a measured object by combining a global working coordinate system and calibrated basic parameters of a measuring system, identifying surface features and measuring boundaries of the measured object, generating a three-dimensional scanning path, adjusting the motion gesture and measuring distance of a non-contact capacitance measuring probe, and determining measuring execution parameters; s3, performing real-time motion control of the six-axis industrial mechanical arm according to the three-dimensional scanning path and the measurement execution parameters, synchronously acquiring the ripple noise original signal of the detected object and real-time spatial position data of the six-axis industrial mechanical arm through hardware triggering, performing hardware low-pass filtering processing on the ripple noise original signal, and outputting the ripple noise signal after filtering; S4, carrying out noise separation and spectrum analysis on the filtered ripple noise signals, extracting ripple noise characteristic parameters, matching the ripple noise characteristic parameters with real-time space position data one by one, constructing a three-dimensional space-noise intensity mapping model, completing ripple noise distribution measurement of a region to be measured of the measured object based on the three-dimensional space-noise intensity mapping model, and outputting a ripple noise whole region measurement result.
  2. 2. The method according to claim 1, characterized in that step S1 comprises the sub-steps of: s1.1, arranging a measuring base station, arranging a tracking target ball at the tail end of a six-axis industrial mechanical arm, collecting space position data of the tracking target ball, and establishing a global working coordinate system; s1.2, accessing a standard signal source, performing bandwidth limitation setting on the non-contact capacitance measurement probe, completing zero calibration of the non-contact capacitance measurement probe, and outputting calibration parameters of the non-contact capacitance measurement probe; S1.3, driving the six-axis industrial mechanical arm to complete repeated reciprocating motion of a preset point location, collecting actual motion position data of the six-axis industrial mechanical arm, completing repeated positioning accuracy verification of the six-axis industrial mechanical arm, and outputting motion control reference parameters of the six-axis industrial mechanical arm; S1.4, integrating the calibration parameters of the non-contact capacitance measurement probe and the motion control reference parameters of the six-axis industrial mechanical arm to form the basic parameters of the calibrated measurement system.
  3. 3. The method according to claim 1, characterized in that step S2 comprises the sub-steps of: s2.1, collecting surface point cloud data of a measured object by combining a global working coordinate system and calibrated basic parameters of a measuring system, generating surface topology data of the measured object, and identifying surface features, measuring boundaries and areas to be measured of the measured object; S2.2, combining a global working coordinate system, calibration parameters of a non-contact capacitance measurement probe and motion control reference parameters of a six-axis industrial mechanical arm, generating a three-dimensional scanning path based on surface features of a measured object and a region to be measured, and planning motion postures of the non-contact capacitance measurement probe at all points of the three-dimensional scanning path; S2.3, combining surface topology data and a three-dimensional scanning path of the measured object, adjusting the measuring distance between the non-contact capacitance measuring probe and the surface of the measured object, determining the scanning speed of the six-axis industrial mechanical arm and the triggering parameters of data acquisition, and integrating to form measurement execution parameters.
  4. 4. The method according to claim 1, characterized in that step S3 comprises the sub-steps of: S3.1, realizing real-time motion control of the six-axis industrial mechanical arm through an industrial Ethernet bus, wherein the industrial Ethernet bus is a universal real-time communication bus in the field of industrial control; S3.2, according to data acquisition triggering parameters in measurement execution parameters, synchronously acquiring a ripple noise original signal output by a non-contact capacitance measurement probe and real-time spatial position data of the six-axis industrial mechanical arm through hardware triggering; S3.3, carrying out hardware low-pass filtering processing on the original ripple noise signal, wherein the hardware low-pass filtering processing is a general signal processing mode in the field of signal conditioning, filtering high-frequency interference components in the original ripple noise signal, and outputting the filtered ripple noise signal.
  5. 5. The method according to claim 1, characterized in that step S4 comprises the sub-steps of: S4.1, performing wavelet denoising treatment on the filtered ripple noise signal, wherein the wavelet denoising treatment is a general noise separation method in the field of signal processing; s4.2, carrying out windowing fast Fourier transform processing on the denoised effective ripple noise signal, wherein the windowing fast Fourier transform processing is a general signal processing method in the field of spectrum analysis; S4.3, extracting ripple noise characteristic parameters based on frequency spectrum data of ripple noise, matching the ripple noise characteristic parameters with real-time space position data corresponding to acquisition time one by one, and constructing a three-dimensional space-noise intensity mapping model which is a mathematical model of correlation between space data and signal characteristics; s4.4, combining the three-dimensional space-noise intensity mapping model with the region to be measured of the measured object to finish ripple noise distribution measurement of the region to be measured of the measured object, and outputting a ripple noise whole region measurement result.
  6. 6. The method of claim 3, wherein in step S2, a three-dimensional scan path planning module is further constructed, the three-dimensional scan path planning module comprises a coordinate matching unit, a path generating unit and a gesture planning unit, an input end of the coordinate matching unit is connected with a global working coordinate system, an output end of the coordinate matching unit is connected with an input end of the path generating unit, an output end of the path generating unit is connected with an input end of the gesture planning unit, the coordinate matching unit matches surface features of an object to be measured with a region to be measured to the global working coordinate system to generate global coordinate distribution data of the region to be measured, the path generating unit generates a continuous three-dimensional scan path covering all the region to be measured based on the global coordinate distribution data of the region to be measured and calibration parameters of the non-contact capacitance measurement probe, and the gesture planning unit plans a motion gesture of the non-contact capacitance measurement probe at each point of the three-dimensional scan path based on motion control reference parameters of the three-dimensional scan path and the six-axis industrial mechanical arm.
  7. 7. The method of claim 4, wherein in step S3, a multi-channel synchronous data acquisition module is further constructed, the multi-channel synchronous data acquisition module is a universal functional module in the data acquisition field and comprises a hardware trigger unit, three measurement signal acquisition channels, one reference signal acquisition channel and a position data acquisition channel, the output end of the hardware trigger unit is respectively connected with the input end of the three measurement signal acquisition channels, the input end of the one reference signal acquisition channel and the input end of the position data acquisition channel, the hardware trigger unit receives data acquisition trigger parameters in measurement execution parameters to generate synchronous trigger signals, the synchronous trigger signals are synchronously distributed to the three measurement signal acquisition channels, the one reference signal acquisition channel and the position data acquisition channel, ripple noise original signals output by the non-contact capacitance measurement probe are synchronously acquired through the three measurement signal acquisition channels, the basic reference signals of the measurement system are synchronously acquired through the one reference signal acquisition channel, and real-time spatial position data of the six-axis industrial mechanical arm are synchronously acquired through the position data acquisition channel.
  8. 8. The method of claim 5, wherein in step S4.1, a wavelet denoising processing module is further constructed, the wavelet denoising processing module is a general function module in the signal processing field and comprises a signal decomposition unit, a threshold processing unit and a signal reconstruction unit, the input end of the signal decomposition unit is connected with a filtered ripple noise signal, the output end of the signal decomposition unit is connected with the input end of the threshold processing unit, the output end of the threshold processing unit is connected with the input end of the signal reconstruction unit, the signal decomposition unit carries out multi-layer wavelet decomposition on the filtered ripple noise signal by using Daubechies wavelet basis to generate multi-layer wavelet decomposition coefficients, the threshold processing unit carries out threshold processing on high-frequency coefficients in the multi-layer wavelet decomposition coefficients by using fixed threshold values, interference noise components in the high-frequency coefficients are filtered, and the signal reconstruction unit carries out wavelet signal reconstruction and output of the denoised ripple noise effective signal based on the processed high-frequency coefficients and unprocessed low-frequency coefficients.
  9. 9. The method of claim 5, wherein in step S4.3, a three-dimensional space-noise intensity mapping model construction module is constructed, the three-dimensional space-noise intensity mapping model construction module comprises a data matching unit, a grid dividing unit, an interpolation fitting unit and a model generation unit, the input end of the data matching unit is respectively connected with ripple noise characteristic parameters and real-time space position data, the output end of the data matching unit is connected with the input end of the grid dividing unit, the output end of the grid dividing unit is connected with the input end of the interpolation fitting unit, the output end of the interpolation fitting unit is connected with the input end of the model generation unit, the data matching unit binds the ripple noise characteristic parameters and real-time space position data corresponding to the acquisition time one by one to generate a ripple noise data point set with space coordinates, the grid dividing unit performs three-dimensional structured grid division on a region to be detected based on a global working coordinate system to generate a three-dimensional grid matrix of the region to be detected, the interpolation fitting unit matches the ripple noise data point set with the space coordinates to the three-dimensional grid matrix, the noise data fitting with a Kerling interpolation method is completed to form a full grid, and the three-dimensional space-noise intensity mapping model is constructed based on the fitted three-dimensional grid matrix.
  10. 10. The non-contact type ripple noise measurement system based on the industrial mechanical arm is used for executing the method according to any one of claims 1-9 and is characterized by comprising a mechanical motion subsystem, a measurement sensing unit, a data acquisition module and a signal processing module, wherein the mechanical motion subsystem comprises a six-axis industrial mechanical arm, laser tracking equipment and a motion control module, the motion control module is used for realizing real-time motion control of the six-axis industrial mechanical arm through an industrial Ethernet bus, the measurement sensing unit comprises a non-contact type capacitance measurement probe, a grounding ring structure and a signal conditioning module, the grounding ring structure is an anti-interference structure in the electromagnetic compatibility field and comprises a low-impedance conductive ring body which is arranged around the periphery of an induction end of the non-contact type capacitance measurement probe, the grounding ring structure is matched with the non-contact type capacitance measurement probe, the data acquisition module is electrically connected with the measurement sensing unit and the mechanical motion subsystem, synchronous acquisition of ripple noise signals and spatial position data is realized, the signal processing module is electrically connected with the data acquisition module, and three-dimensional space-noise intensity mapping model is constructed, and a ripple noise whole-region measurement result is output.

Description

Non-contact ripple noise measurement method and system based on industrial mechanical arm Technical Field The invention relates to the technical field of industrial precise measurement and electrical performance detection, in particular to a non-contact type ripple noise measurement method and system based on an industrial mechanical arm. Background With the rapid development of the fields of high-end equipment manufacture, power electronic devices and precision industrial detection, ripple noise is used as a core index for measuring the running performance and the electrical stability of electrical equipment and precision devices, and the measurement accuracy and the measurement integrity of the ripple noise directly influence the quality control, performance optimization and fault detection effects of the equipment. In the field of industrial measurement, the non-contact measurement technology gradually replaces the traditional contact measurement mode by virtue of the advantages of non-contact damage, adaptation to complex surface morphology and realization of dynamic continuous measurement, and becomes the main stream development direction of the field of precise ripple noise measurement. Meanwhile, the six-axis industrial mechanical arm is deeply fused with a non-contact sensing technology, a laser tracking positioning technology and a multichannel synchronous data acquisition technology by virtue of the characteristics of multi-degree-of-freedom motion, high repeated positioning precision and capability of realizing automatic continuous operation, and is widely applied to various industrial automatic precise measurement scenes. At present, a ripple noise measurement technology system taking automatic execution equipment as a carrier, non-contact sensing as a core and a signal processing and space positioning technology as a support is gradually formed in the industry, and related technical schemes are also used for iterative optimization in the continuous adaptation of complex industrial field environments, diversification of the shapes of objects to be measured and high-precision measurement requirements. In the practical application process of the existing ripple noise measurement technology, various technical limitations still exist, and the measurement requirements of industrial field universalization, high precision and high synchronism cannot be fully met. The existing measurement scheme is difficult to realize unification of spatial references of multiple devices and multiple links, is easy to cause dislocation of acquired ripple noise signals and corresponding spatial position data, cannot guarantee accurate correspondence of measured data and measured positions, and meanwhile, is difficult to complete adaptive scanning path planning by combining surface features of a measured object and the unified spatial references, cannot realize dead-angle-free full-coverage measurement of a region to be measured, and is easy to cause measurement data missing. In addition, the existing scheme mainly uses single-point measurement result output, cannot construct an association mapping relation between the space position and the noise intensity, cannot completely and continuously represent the ripple noise distribution condition of a region to be measured, and cannot provide complete global measurement data support for performance evaluation of measured equipment. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides a non-contact type ripple noise measuring method and system based on an industrial mechanical arm. The aim of the invention is realized by the following technical scheme: There is provided a non-contact type ripple noise measuring method based on an industrial robot arm, the method comprising the steps of: S1, establishing a global working coordinate system, wherein the global working coordinate system is a three-dimensional rectangular coordinate system of a unified spatial position reference in the industrial measurement field, and comprises a spatial coordinate reference system corresponding to a measurement base station and a tracking target ball; s2, collecting surface topology data of a measured object by combining a global working coordinate system and calibrated basic parameters of a measuring system, identifying surface features and measuring boundaries of the measured object, generating a three-dimensional scanning path, adjusting the motion gesture and measuring distance of a non-contact capacitance measuring probe, and determining measuring execution parameters; s3, performing real-time motion control of the six-axis industrial mechanical arm according to the three-dimensional scanning path and the measurement execution parameters, synchronously acquiring the ripple noise original signal of the detected object and real-time spatial position data of the six-axis industrial mechanical arm through hardware triggering, performing hardware low-pa