CN102288198B - Laser cooperative object linearity calibrating and error measuring method thereof - Google Patents
Laser cooperative object linearity calibrating and error measuring method thereof Download PDFInfo
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- CN102288198B CN102288198B CN201110117439.9A CN201110117439A CN102288198B CN 102288198 B CN102288198 B CN 102288198B CN 201110117439 A CN201110117439 A CN 201110117439A CN 102288198 B CN102288198 B CN 102288198B
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Abstract
The invention provides a laser cooperative object linearity calibrating and error measuring method thereof. The linearity calibrating method comprises the following steps: fixing lasers on the center of a rotating table and ensuring outlets of four lasers to be at the same height; determining and signing positive and negative directions of the lasers and recording center positions of faculas as reference center positions; moving a camera to be gradually departed from the lasers and regulating angles of the tail ends of the lasers through polishing so as to enable the tail ends of the lasers to align with the reference center positions; rotating the rotating table 180 DEG to enable a second laser to align with a screen; and laying aside for a period of time after once calibrating till no drifting can occur. In the error measuring method, a symmetrical observing method is adopted, wherein twice measuring is carried out through rotating the rotating table along the positive direction and the negative direction and an average value of the twice measuring is regarded as a measuring result. According to the laser cooperative object linearity calibrating and error measuring method thereof provided by the invention, an included angle between two aligned laser beams is measured and error correction is carried out, so that the accuracy for space attitude measurement is effectively enhanced.
Description
(1) technical field
The present invention relates to the delicate metering measuring technology, is exactly a kind of laser instrument cooperative target linearity calibration and error measurement method thereof specifically.
(2) background technology
World's every country is paid close attention to the straight line degree measurement field always, and constantly releases novel High Accuracy Straightness Measurement Technique method and apparatus, in order to meet the growing requirement to product quality.Reached the nanometer measurement precision level at metering fields such as circularity, the depth of parallelism and surfacenesses both at home and abroad at present, but the measuring accuracy level of linearity lags far behind other Metrology Project.This situation has seriously restricted the developing steps of China's delicate metering field tests.Therefore, domestic verticality measuring method is studied, had great importance.
In order to measure the attitude of aircraft in space, designed a kind of attitude measurement method based on cooperative target, the method adopts the laser beam emitting device of X-type being installed at aircraft surface as cooperative target, attitude of flight vehicle is changed and has carried out effective amplification, thereby can improve measuring accuracy.But, require in cooperative target four high power lasers conllinear in twos in design.Therefore carrying out straightness error between measurement two collimated laser beams in linearity calibration and later stage while making cooperative target carries out error compensation and becomes problem crucial in measurement links.
(3) summary of the invention
The object of the invention is to improve a kind of laser instrument cooperative target linearity calibration and error measurement method thereof.
The object of the present invention is achieved like this: described laser instrument cooperative target linearity calibration steps, and step is as follows:
Step 1: laser instrument is fixed on to the turntable center, guarantees that four laser instrument outlets are at sustained height;
Step 2: the laser beam that rotating table sends laser instrument 1 is aimed at screen, records the spot center position as the reference position, and is fixed by pressing plate;
Step 3: mobile camera is gradually away from laser instrument, facula position on screen is because the angular deviation of laser instrument light changes, now by the polishing laser end, adjust the angle of divergence of laser, make it to be registered to reference position, and the assurance laser instrument can be aimed at reference position by spot center all the time in the moving process of camera.Now confirming as single laser instrument adjustment finishes;
Step 4: by turntable Rotate 180 degree, the laser beam that makes laser instrument 3 send is aimed at reference position, repeating step three.Now, the light beam that laser instrument 1 and laser instrument 3 send is two backward beam;
Step 5: rotating table, the laser beam that makes laser instrument 2 send is aimed at reference position, repeating step three;
Step 6: by turntable Rotate 180 degree, the laser beam that makes laser instrument 4 send is aimed at reference position, repeating step three.Now, the light beam that laser instrument 2 and laser instrument 4 send is two backward beam;
To this laser instrument linearity, calibrated.Send the X-type laser beam by the cooperative target of four laser constitutions.
The measuring method of described laser instrument cooperative target straightness error, measure and take symmetrical observation method, makes turntable rotate and carry out twice measurement along positive and negative two directions, gets the mean value of twice measurement as measurement result; Step is as follows:
Step 1: laser instrument cooperative target integral body is fixed on turntable, and the laser beam irradiation that revolving-turret sends laser instrument 1 is to screen at a distance, and the fine setting turntable makes spot center on reference position, the angle coordinate of turntable now under record;
Step 2: revolving-turret, the spot center of the laser beam that laser instrument 3 is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 3: mobile camera adjustments object distance, the spot center of fine setting turntable laser beam that laser instrument 3 is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 4: the reverse rotation turntable, the spot center of the laser beam that laser instrument 1 is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 5: twice measurement result averaged as two collimation laser interfascicular angles;
Step 6: repeating step one, to step 5, is measured angle between laser instrument 2 and laser instrument 4.
The present invention provides the laser instrument cooperative target for the aircraft attitude measurement method based on cooperative target, and this cooperative target is sent the two-way collimated laser beam of X-type, and attitude of flight vehicle is changed and carried out effective amplification.Simultaneously, in the laser instrument cooperative target, the linearity of two two-way collimated laser beams is very large on the impact of measuring accuracy, measures the angle between two collimated laser beams, carries out error correction, can effectively improve the spatial attitude measuring accuracy.
(4) accompanying drawing explanation
Fig. 1 is laser instrument cooperative target linearity calibration schematic diagram of the present invention;
Fig. 2 is laser instrument cooperative target basic block diagram of the present invention; In figure, four laser instruments are arranged on an aluminium alloy post, and wherein laser instrument (1) and laser instrument (3) conllinear, send two beam reversal's laser beam, and laser instrument (2) and laser instrument (4) conllinear, send two beam reversal's laser beam.
(5) embodiment
Below in conjunction with accompanying drawing, the invention will be further described for example.
Embodiment 1: in conjunction with Fig. 1, Fig. 2, and laser instrument cooperative target linearity calibration steps of the present invention, step is as follows:
Step 1: laser instrument is fixed on to the turntable center, guarantees that four laser instrument outlets are at sustained height;
Step 2: the laser beam that rotating table sends laser instrument (1) is aimed at screen, records the spot center position as the reference position, and is fixed by pressing plate;
Step 3: mobile camera is gradually away from laser instrument, facula position on screen is because the angular deviation of laser instrument light changes, now by the polishing laser end, adjust the angle of divergence of laser, make it to be registered to reference position, and guarantee that laser instrument is in the moving process of camera, all the time spot center can be aimed to reference position, now confirm as single laser instrument adjustment and finish;
Step 4: by turntable Rotate 180 degree, the laser beam that makes laser instrument (3) send is aimed at reference position, repeating step three, and now, the light beam that laser instrument (1) and laser instrument (3) send is two backward beam;
Step 5: rotating table, the laser beam that makes laser instrument (2) send is aimed at reference position, repeating step three;
Step 6: by turntable Rotate 180 degree, the laser beam that makes laser instrument (4) send is aimed at reference position, repeating step three, and now, the light beam that laser instrument (2) and laser instrument (4) send is two backward beam;
Calibrated to this laser instrument linearity, by the laser instrument cooperative target of four laser constitutions, sent the X-type laser beam.
The measuring method of laser instrument cooperative target straightness error of the present invention, measure and take symmetrical observation method, makes turntable rotate and carry out twice measurement along positive and negative two directions, gets the mean value of twice measurement as measurement result; Step is as follows:
Step 1: laser instrument cooperative target integral body is fixed on turntable, and the laser beam irradiation that revolving-turret sends laser instrument (1) is to screen at a distance, and the fine setting turntable makes spot center on reference position, the angle coordinate of turntable now under record;
Step 2: revolving-turret, the spot center of the laser beam that laser instrument (3) is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 3: mobile camera adjustments object distance, the spot center of fine setting turntable laser beam that laser instrument (3) is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 4: the reverse rotation turntable, the spot center of the laser beam that laser instrument (1) is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 5: twice measurement result averaged as two collimation laser interfascicular angles;
Step 6: repeating step one, to step 5, is measured angle between laser instrument (2) and laser instrument (4).
Embodiment 2: in conjunction with Fig. 1, Fig. 2, when the present invention's calibration and measurement, adopt reference measurement, two benchmark choosing are arranged: marble flat board and magnalium leveling ruler, precision all reaches 000 grade.
The platform that laser calibration is used and the precision of leveling ruler are 000 grade; Camera adopts fixed focus lens, focal length 15mm, and it is very near that distance of camera lens is measured screen distance, and the axis of visual field overlaps substantially with the axis of camera lens, so focus error can be ignored for measuring impact not quite; Camera chip is CMOS monochrome digital image sensor, resolution: 1280 * 1024 (1,310,720 pixels), and optical dimensions is 1/1.8 inch, Pixel Dimensions is 5.2 μ m * 5.2 μ m, and adopts the USB2.0 interface to be connected with computing machine; Software adopts the real-time calculation procedure of the independently developed facula mass center of VC programming language.The laser beam that the laser instrument cooperative target is sent projects on screen, the light spot image on the video camera photographed screen, and image is passed to computing machine, calculate spot center coordinate (as Fig. 1); Four laser instruments are arranged on an aluminium alloy post, and overall weight was at 125: 130 grams.The cooperative target laser instrument mainly consider laser instrument output power, go out the factor of the aspects such as port radius, laser beam divergence, optical maser wavelength, working time, power consumption.Be subject to the parameter limit such as spectral response sensitivity of selected video camera, select the red laser beam of wavelength 650nm can obtain higher responsiveness (as Fig. 2).
Embodiment 3: in conjunction with Fig. 1, Fig. 2, calibration of the present invention is comprised of marble platform, leveling ruler, screen, precise rotating platform and the camera that employing USB2.0 interface is connected with computing machine with measurement mechanism.Before measuring, to the marble platform, adopt the high-precision electronic level meter to be tested, the surface planarity maximum error is 1.62 microns, meets 000 class requirement.Measured target is placed on turntable, and the magnalium leveling ruler is placed on the marble platform, and during measurement, camera can move along leveling ruler, moving linearly while guaranteeing that camera moves forward and backward, and the axis direction of camera lens remains unchanged.Facula mass center calculates and adopts the independently developed software of VC programming language, and the input light spot image is calculated in real time.
The calibration of laser instrument cooperative target linearity:
A) laser instrument is fixed on to the turntable center, guarantees that four laser instrument outlets are at sustained height.
B) determine the also positive negative direction of the good laser instrument of mark.At first utilize turntable that the first laser instrument positive dirction is aimed to screen, record the spot center position as the reference center.And be fixed by pressing plate.
C) mobile camera is gradually away from laser instrument, and the facula position on screen, because the angular deviation of laser instrument light changes, is now adjusted the angle of laser end by polishing, makes it to be registered to the reference center point.The assurance laser instrument, in the moving process of camera, can be aimed at reference center by spot center all the time, now confirms as unidirectional laser instrument adjustment and finishes.
D) by turntable Rotate 180 degree, make second laser alignment screen,, the laser instrument negative direction is aimed to reference center (reference center point position now and a upper reference center point position coordinates are with respect to the y rotational symmetry of camera).
E) rotating table carries out identical adjustment to other two laser instruments.
After laser instrument adjustment once, place a period of time, until can not drift about.To this laser instrument adjustment, complete.
(2) laser instrument cooperative target measuring straightness error
Laser instrument cooperative target measuring straightness error step:
A) cooperative target integral body is fixed on turntable, revolving-turret shines on screen laser beam at a distance, and the fine setting turntable is adjusted on hot spot reference center position the spot center of a side; 12.322 ° of the angle coordinates of turntable now under record.
B) revolving-turret, make the hot spot of another reverse laser beam also adjust to this position, 192.335 ° of record turntable angle coordinates.
C) reverse rotation turntable, make the hot spot of another Shu Jiguang also adjust to this position, 12.324 ° of record turntable angle coordinates.
D) to average as two collimation laser interfascicular angles be 180.012 ° to twice measurement result
E) repeat a, b, c, d, step, measure angle between other two collimated laser beams.
At present cooperative target used is adjusted according to top step fully, and its precision is: laser instrument one direction linearity p 20 ", two direction linearity p 1 ', 15 ° of two light path angles.
Claims (2)
1. a laser instrument cooperative target linearity calibration steps, is characterized in that, step is as follows:
Step 1: laser instrument is fixed on to the turntable center, guarantees that four laser instrument outlets are at sustained height;
Step 2: the laser beam that rotating table sends the first laser instrument (1) is aimed at screen, records the spot center position as the reference position, and the first laser instrument (1) is fastening by pressing plate;
Step 3: measured target is placed on turntable, the magnalium leveling ruler is placed on the marble platform, during measurement, camera moves along leveling ruler, moving linearly while guaranteeing that camera moves forward and backward, the axis direction of camera lens remains unchanged, facula position on screen is because the angular deviation of laser instrument light changes, now by the polishing laser end, adjust the angle of divergence of laser, make it to be registered to reference position, and guarantee that laser instrument is in the moving process of camera, all the time spot center can be aimed to reference position, now confirm as single laser instrument adjustment and finish;
Step 4: by turntable Rotate 180 degree, the laser beam that makes the 3rd laser instrument (3) send is aimed at reference position, repeating step three, and now, the light beam that the first laser instrument (1) and the 3rd laser instrument (3) send is two backward beam;
Step 5: rotating table, the laser beam that makes second laser (2) send is aimed at reference position, repeating step three;
Step 6: by turntable Rotate 180 degree, the laser beam that makes the 4th laser instrument (4) send is aimed at reference position, repeating step three, and now, the light beam that second laser (2) and the 4th laser instrument (4) send is two backward beam;
Calibrated to this laser instrument linearity, by the laser instrument cooperative target of four laser constitutions, sent the X-type laser beam.
2. the measuring method of a laser instrument cooperative target straightness error, is characterized in that: measure and take symmetrical observation method, make turntable rotate and carry out twice measurement along positive and negative two directions, get the mean value of twice measurement as measurement result; Step is as follows:
Step 1: laser instrument cooperative target integral body is fixed on turntable, and the laser beam irradiation that revolving-turret sends the first laser instrument (1) is to screen at a distance, and the fine setting turntable makes spot center on reference position, records the now angle coordinate of turntable;
Step 2: revolving-turret, the spot center of the laser beam that the 3rd laser instrument (3) is sent is aimed on reference position, records the now angle coordinate of turntable;
Step 3: measured target is placed on turntable, the magnalium leveling ruler is placed on the marble platform, during measurement, camera moves along leveling ruler, moving linearly while guaranteeing that camera moves forward and backward, the axis direction of camera lens remains unchanged, the spot center of fine setting turntable laser beam that the 3rd laser instrument (3) is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 4: the reverse rotation turntable, the spot center of the laser beam that the first laser instrument (1) is sent is aimed on reference position, the angle coordinate of turntable now under record;
Step 5: the two collimation laser interfascicular angles that when difference of the angle coordinate value of step 1 and twice record of step 2 is forward rotation, the first laser instrument (1) and the 3rd laser instrument (3) send, the angle of the difference of the angle coordinate value of step 3 and twice record of step 4 the first laser instrument (1) and the 3rd laser instrument (3) when rotating backward, twice measurement result of step 1 and step 2, twice measurement result of step 3 and step 4, average respectively as two collimation laser interfascicular angles;
Step 6: repeating step one, to step 5, is measured angle between second laser (2) and the 4th laser instrument (4).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102980516B (en) * | 2012-11-29 | 2015-04-29 | 天津大学 | Double laser beam optical axis collineation alignment method |
| CN104019771A (en) * | 2014-06-27 | 2014-09-03 | 四川航天计量测试研究所 | Device and method for automatically measuring straightness of working edge of knife-edge-shaped straight ruler |
| CN105953819B (en) * | 2016-05-16 | 2019-05-24 | 北京控制工程研究所 | A kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar |
| CN107388995B (en) * | 2017-08-25 | 2024-01-02 | 中国科学院深圳先进技术研究院 | Handheld plane straightness detection device and plane straightness detection method |
| CN110044379B (en) * | 2019-04-19 | 2020-10-16 | 武汉地震计量检定与测量工程研究院有限公司 | Calibration method of mobile measurement system |
| CN110082740A (en) * | 2019-04-25 | 2019-08-02 | 苏州艾吉威机器人有限公司 | A kind of car body laser head level correction method |
| CN113551619B (en) * | 2020-04-26 | 2023-03-28 | 宝山钢铁股份有限公司 | On-line measuring method and device for straightness of seamless steel pipe |
| CN114384496B (en) * | 2020-10-22 | 2023-03-21 | 北京一径科技有限公司 | Method and system for calibrating angle of laser radar |
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| DE102004027647A1 (en) * | 2004-06-05 | 2006-01-05 | Robert Bosch Gmbh | Device for positioning markings |
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| CN1831476A (en) * | 2005-03-11 | 2006-09-13 | 迈德斯托姆科技有限责任公司 | Laser levelling instrument with multi-laser |
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Inventor after: Yuan Feng Inventor after: Cui Xiaomeng Inventor after: Guan Yu Inventor after: Li Kai Inventor after: Zhao Yuhua Inventor before: Yuan Feng Inventor before: Zhao Yuhua Inventor before: Guan Yu Inventor before: Li Kai |
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