CN103743340A - System and method for measuring angle and spatial coordinate - Google Patents
System and method for measuring angle and spatial coordinate Download PDFInfo
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- CN103743340A CN103743340A CN201310737161.4A CN201310737161A CN103743340A CN 103743340 A CN103743340 A CN 103743340A CN 201310737161 A CN201310737161 A CN 201310737161A CN 103743340 A CN103743340 A CN 103743340A
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Abstract
The invention relates to a system for measuring angles and spatial coordinates. The system comprises a supporting and adjusting unit, a measuring unit, and a system control unit. The supporting and adjusting unit includes a rotating table, a lifting platform, a translation bench, and a vibration-isolating platform. The measuring unit includes an autocollimator, a laser range finder, an industrial camera, a first reflector, and a second reflector which are all arranged in a same vertical surface and which may motion with the translation bench. After being reflected by the first reflector and the second reflector, laser emitted from the laser range finder is coaxial with the optical axis of the autocollimator. The system control unit comprises a system control interface, a monitor, and an industrial control computer. The invention further relates to a method for measuring the angle and the spatial coordinate of a sample to be measured by using the measuring system.
Description
Technical field
The invention belongs to angle and distance measuring field, particularly the robotization angle of a kind of large scale and high accuracy angle measurement, range finding and spatial coordinate measuring system and measuring method.
Background technology
Along with the fast development of the modernization of industry, large-scale precision machine-building and heavy construction have proposed more and more higher requirement to the measurement of angle, coordinate in installing.When single-piece or low-angle are debug, general using collimator or with angular relationship between the transit survey optical reference of alignment function.
At present, the research of collimation technique is very ripe, by traditional optical collimator, develops into digital CCD photoelectric collimator, and measuring accuracy can reach 0.02 ".Conventionally, the measurement range of collimator is limited, be generally no more than ± 2000 ".Because measurement range is very little, when the angle of object different measuring face to be measured surpasses collimator measurement range, target to be measured can not all enter visual field, thus collimator can not complete separately on a large scale in the high-acruracy survey of space angle, more cannot realize efficient robotization.The high-precision electronic transits that electronic theodolite measuring system be take more than two are core measuring equipment, with angle forward intersection principle, measured object is realized to noncontacting measurement, precision is high, scope is wide, but it is numerous and diverse to debug process, in measuring process, need to rely on human eye to aim at each measurement point, measurement efficiency is low, cannot realize the robotization of measuring process.Total powerstation is implemented to measure to measured object with polar coordinate measurement principle, measurement range from several meters to 200 meters, measuring accuracy is high, for electronic theodolite measuring system, have that cost foundation low, easy to operate, that measure coordinate system is fast, the feature such as long of holding time, but in high precision alignment measurement job applications, still need to adopt the special operation means such as hand-held reflecting prism to measure robotization aspect Shortcomings.Digital Photogrammetric System precision is high and build a station convenient, flexiblely, but measurement range camera subject parameter restriction is not suitable for the situation that measuring distance is larger.Laser tracker measurement range is large, measuring point precision is high, pursuit movement target initiatively, but all need cooperative target mirror, and measuring process needs operating personnel's myotatic reflex target to move, automatic identification and measurement that cannot realize target.
Yet, large-scale precision equipment is debug in process, often requirement takes measurement of an angle with coordinate to guarantee assembly precision simultaneously, but, in angle and coordinate precision measurement on a large scale simultaneously at present, conventionally adopt the combined mode of multiple measuring equipment, as the coupling of many transits, transit and laser tracker combination etc., and in measuring process, need a large amount of human assistances, thereby cause the automaticity of measuring system low.
Summary of the invention
Therefore, necessary a kind of angle not only simple but also with low cost and measuring system and the measuring method of volume coordinate of providing.
A measuring system for angle and volume coordinate, it comprises:
One supporting regulon, described supporting regulon comprises a turntable, a lifting table, a translation stage and a vibration-isolating platform, described vibration-isolating platform has a plane as supporting surface, plane at the supporting surface place of this vibration-isolating platform defines a directions X and a Y-direction, the direction vertical with the supporting surface of this vibration-isolating platform is defined as a Z direction, described lifting table and translation stage are arranged at intervals at along described directions X on the supporting surface of this vibration-isolating platform, and described turntable is arranged on this lifting table;
One measuring unit, described measuring unit comprises an autocollimator, a laser range finder, an industrial camera, one first catoptron and one second catoptron, described autocollimator, laser range finder, industrial camera, the first catoptron and the second catoptron are positioned at same vertical plane and can with described translation stage, move together simultaneously, and the laser that sends of described laser range finder after the first catoptron and the reflection of the second catoptron can with the light shaft coaxle of autocollimator; And
One system control unit, described system control unit comprises a system control interface, a monitor and an industrial computer, and described system control interface is connected to described industrial computer by autocollimator, laser range finder, industrial camera, turntable, lifting table and translation stage.
Adopt the measuring system of above-mentioned angle and volume coordinate to measure the angle of testing sample and a method for volume coordinate, it comprises the following steps:
Step S10, starts described measuring system;
Step S11, the mode of operation that industrial camera is set is maximum field of view, searches for and judges that testing sample center is whether near the picture centre under the pattern of large visual field, if judgement conclusion is "No", enter step S12, if judgement conclusion is "Yes", enter step S13;
Step S12, controls lifting table and translation stage motion, until testing sample is centered close near the picture centre of industrial camera, and enters step S13;
Step S13, the mode of operation that industrial camera is set is small field of view, searches for and judges that testing sample center whether near the picture centre under small field of view pattern, if judgement conclusion is "No", enters step S14, if judgement conclusion is "Yes", enters step S15;
Step S14, controls lifting table and translation stage motion, until testing sample is positioned near the picture centre under small field of view pattern, and enters step S15;
Step S15, opens autocollimator, judges whether autocollimator has registration, if judgement conclusion is "No", enter step S16, if judgement conclusion is "Yes", record the registration β of autocollimator, determine the initial angle γ=β of this testing sample, and enter step S17;
Step S16, judgement testing sample is with respect to the angle of XOZ plane, with this, determine the rotation direction of turntable, control turntable motion until autocollimator has registration, record angle value α that turntable turns over and the registration β of autocollimator, determine the initial angle γ=alpha+beta of this testing sample, and enter step S17;
Step S17, opens laser range finder, and whether the hot spot of detection laser is in testing sample center, if judgement conclusion is "No", enter step S18, if judgement conclusion is "Yes", the distance measurement value x of recording laser stadimeter, and determine the volume coordinate of this testing sample geometric center with this; And
Step S18, controls lifting table and translation stage motion, until the hot spot of laser and testing sample center superposition, the encoder feedback value z of the distance measurement value x of recording laser stadimeter, the encoder feedback value y of translation stage and lifting table, and by x, y, z determines the volume coordinate of this testing sample geometric center.
Compared with prior art, the simple in measurement system structure of angle provided by the invention and volume coordinate, and adopt this measuring system measure angle of testing sample and the method for volume coordinate simple to operate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the angle of embodiment of the present invention employing and the measuring system of volume coordinate.
Fig. 2 is the angle of embodiment of the present invention employing and the autocollimator of measuring system and the annexation schematic diagram of laser range finder of volume coordinate.
Fig. 3 is the angle of embodiment of the present invention employing and the autocollimator of measuring system and the light path design schematic diagram of laser range finder of volume coordinate.
Fig. 4 is that the angle of embodiment of the present invention employing and the measuring system of volume coordinate are measured the angle of testing sample and the principle of work schematic diagram of volume coordinate.
Fig. 5 is that the angle of embodiment of the present invention employing and the measuring system of volume coordinate are measured the angle of testing sample and the workflow diagram of volume coordinate.
Main element symbol description
| The measuring system of angle and |
10 |
| |
100 |
| Autocollimator | 101 |
| |
1012 |
| |
102 |
| Laser | 1022 |
| |
103 |
| |
104 |
| The |
105 |
| The |
106 |
| The first flat board | 1041 |
| The second flat board | 1042 |
| The first hollow circular cylinder | 1043 |
| The second hollow circular cylinder | 1044 |
| Fixed block | 1045 |
| Supporting |
200 |
| |
201 |
| Lifting table | 202 |
| |
203 |
| Vibration- |
204 |
| |
205 |
| System control unit | 300 |
| |
301 |
| Monitor | 302 |
| |
303 |
| |
400 |
Following embodiment further illustrates the present invention in connection with above-mentioned accompanying drawing.
Embodiment
Below with reference to accompanying drawing, describe large scale and high accuracy angle provided by the invention and spatial coordinate measuring system and measuring method in detail.
Refer to Fig. 1, the embodiment of the present invention provides an angle and spatial coordinate measuring system 10, and this angle and spatial coordinate measuring system 10 comprise measuring unit 100, supporting regulon 200 and 300 3 functional modules of system control unit.Described measuring unit 100 comprises an autocollimator 101, a laser range finder 102, an industrial camera 103, a connection piece 104, one first catoptron 105 and one second catoptron 106.Described supporting regulon 200 comprises a precise rotating platform 201, a lifting table 202, a translation stage 203, a vibration-isolating platform 204 and a sample bracing frame 205.Described system control unit 300 comprises a system control interface 301, a monitor 302 and an industrial computer 303.
Concrete, described vibration-isolating platform 204 has a plane as supporting surface.The embodiment of the present invention definition direction parallel with the supporting surface of this vibration-isolating platform 204 is directions X and Y-direction, and defining the direction vertical with the supporting surface of this vibration-isolating platform 204 is Z direction.Described lifting table 202 and translation stage 203 are arranged at intervals on the supporting surface of this vibration-isolating platform 204, and described lifting table 202 along directions X away from described translation stage 203.Described lifting table 202 can move along Z direction, this lifting table 202 for locate and encoder feedback testing sample 400 along the coordinate of Z axis.Described translation stage 203 can move along Y-direction, this translation stage 203 for locate and encoder feedback testing sample 400 along the coordinate of Y-axis, and coordinate the distance measurement value of laser range finder 102, can realize the volume coordinate of testing sample 400 and measure.Described precise rotating platform 201 is fixedly installed on this lifting table 202.Described precise rotating platform 201 can rotate around an axle that is parallel to Z direction, and this precise rotating platform 201 and autocollimator 101 play a part to take measurement of an angle simultaneously.Described sample support frame 205 is fixedly installed on this precise rotating platform 201, for supporting testing sample 400.Be appreciated that described sample support frame 205 is optional structure, this testing sample 400 can directly be arranged on precise rotating platform 201.In the present embodiment, described precise rotating platform 201 is for having angular displacement encoder feedback, as the rad level high precision precise rotating platform of circle grating, inductosyn, angular encoder etc.Described lifting table 202 and translation stage 203 are for being with position encoded feedback, as lifting table and the translation stage of line grating, LVDT, inductance and electric capacity gauge head etc.Described precise rotating platform 201 is the round platform that a bottom surface is parallel to the supporting surface of vibration-isolating platform 204, and it can rotate around central shaft.Described sample support frame 205 is a right cylinder, and its bottom surface perpendicular to precise rotating platform 201 arranges.The structure and the shape that are appreciated that described precise rotating platform 201, lifting table 202, translation stage 203, vibration-isolating platform 204 and sample support frame 205 are not limit, and can design as required later.
Described autocollimator 101 is fixedly installed on this translation stage 203, for measuring the angle of testing sample 400.Described laser range finder 102 is fixedly installed on these autocollimator 101 tops with industrial camera 103 and is fixedly connected with this autocollimator 101.So-called top refers to that autocollimator 101 is away from a side of vibration-isolating platform 204.The height of described industrial camera 103 is higher than the height of this laser range finder 102, and this laser range finder 102 is positioned near lifting table 202 1 sides.Described autocollimator 101, laser range finder 102, industrial camera 103, the first catoptron 105 and the second catoptron 106 be positioned at same vertical plane and can together with described translation stage 203, move simultaneously.Described web member 104 links together described autocollimator 101, laser range finder 102, the first catoptron 105 and the second catoptron 106.The shoot laser 1022 of described laser range finder 102 is parallel to directions X, and parallel with the optical axis 1012 of described autocollimator 101.Described laser range finder 102 is for monitoring testing sample 400 along the coordinate of X-axis, and the hot spot of the laser 1022 that sends of this laser range finder 102 is for vision guide.Described industrial camera 103 is for the image of Real-time Collection testing sample 400.
With further reference to Fig. 2, described web member 104 comprises one first flat board 1041, one second flat board 1042, one first hollow circular cylinders 1043 and one second hollow circular cylinder 1044.The described first dull and stereotyped 1041 and interval setting parallel with the second flat board 1042.Described the first hollow circular cylinder 1043 is arranged between described first dull and stereotyped the 1041 and second flat board 1042, and the axis of described the first hollow circular cylinder 1043 is parallel with this first flat board 1041.This first dull and stereotyped 1041 surfaces are fixed in the side of described the first hollow circular cylinder 1043.Described the second flat board 1042 can be directly fixed on the side of described the first hollow circular cylinder 1043, also can arrange with these the first hollow circular cylinder 1043 intervals.Preferably, described second dull and stereotyped 1042 arranges with this first hollow circular cylinder 1043 intervals, and described second dull and stereotyped 1042 with this first hollow circular cylinder 1043 between a fixed block 1045 is set this second flat board 1042 is connected with this first hollow circular cylinder 1043.Described the second hollow circular cylinder 1044 arranges perpendicular to described first dull and stereotyped 1041, and is arranged at described the first hollow circular cylinder 1043 away from a side of described autocollimator 101.One section of described the second hollow circular cylinder 1044 is fixed on described the first dull and stereotyped 1041 surfaces, and the other end extends and penetrates this second flat board 1042 to described second dull and stereotyped 1042.Preferably, the external diameter of described the second hollow circular cylinder 1044 is less than the internal diameter of described the first hollow circular cylinder 1043.Described the first hollow circular cylinder 1043 is sheathed and be fastened on described autocollimator 101, and the central axes of described the first hollow circular cylinder 1043 is in the optical axis 1012 of described autocollimator 101.Described laser range finder 102 is fixed on the second dull and stereotyped 1042 surfaces of web member 104, described the first catoptron 105 and the second catoptron 106 are fixed on described the second hollow circular cylinder 1044, thereby realize the connection of described autocollimator 101, laser range finder 102, the first catoptron 105 and the second catoptron 106.
With further reference to Fig. 3, described the first catoptron 105 and the second catoptron 106 are for reflecting the shoot laser 1022 of described laser range finder 102.Described the first catoptron 105 and the second catoptron 106 parallel interval settings, and be fixed on described the second hollow circular cylinder 1044.Preferably, described the second hollow circular cylinder 1044 sides have two parallel grooves, and described the first catoptron 105 and the second catoptron 106 insert and are fastened in this groove.Described the first catoptron 105 is arranged near the light path light out part of described laser range finder 102.The shoot laser 1022 of the minute surface of described the first catoptron 105 and described laser range finder 102 is 45 degree angles, and this propagates this shoot laser 1022 after the first catoptron 105 reflections along mutually described the second catoptron 106 of Z direction.Described the second catoptron 106 is arranged on the optical axis 1012 of described autocollimator 101.The optical axis 1012 of the minute surface of described the second catoptron 106 and described autocollimator 101 is 135 degree angles, and the laser 1022 that arrives these the second catoptrons 106 through the first catoptron 105 reflection is coaxial with the optical axis 1012 of autocollimator 101 or overlap after the reflection of the second catoptron 106.
Be appreciated that, the structure of described web member 104 is not limited to said structure, so long as autocollimator 101, laser range finder 102, the first catoptron 105 and the second catoptron 106 can be connected and fixed, and make the laser 1022 that laser range finder 102 sends can be coaxial with the optical axis 1012 of autocollimator 101 after the first catoptron 105 and the second catoptron 106 reflections or overlap.
Described industrial computer 303 is a computing machine, it is for sending signal, reception signal, processing signals and storage data, to control the operation of described autocollimator 101, laser range finder 102, industrial camera 103, precise rotating platform 201, lifting table 202 and translation stage 203.Described system control interface 301 is for being connected to described industrial computer 303 by autocollimator 101, laser range finder 102, industrial camera 103, precise rotating platform 201, lifting table 202 and translation stage 203.Described monitor 302 is for the man-machine interaction of the measuring system 10 of angle and volume coordinate.
With further reference to Fig. 4, below introduce the work measurement principle of the measuring system 10 of described angle and volume coordinate.By gathering the angle value α of precise rotating platform 201 and the angle value β of autocollimator 101, can calculate testing sample 400 with respect to the angle value of reference plane; By the distance measurement value of laser range finder 102, can obtain the coordinate figure along X-axis of testing sample 400; By the position encoded value of feedback of translation stage 203, can obtain testing sample 400 along the coordinate figure of Y-axis; By the position encoded value of feedback of lifting table 202, can obtain testing sample 400 along the coordinate figure of Z axis.Whole measuring process, carries out visual search and guiding by industrial camera 103, realizes the robotization that angle and volume coordinate are measured.
With further reference to Fig. 5, below introduce and adopt the measuring system 10 of described angle and volume coordinate to measure the angle of testing sample 400 and the method for volume coordinate.
What the present invention measured is the coordinate of testing sample 400 geometric centers and the normal angle that testing sample 400 is measured face.This measurement coordinate is relative value, and available measurement coordinate system XYZ and initial point O thereof are as computing reference.Before measurement, a certain reflecting surface of first demarcating testing sample 400 is measurement face, and these system 10 measurement and calculation angles are the angle between this measurement face and YOZ plane.The embodiment of the present invention be take described testing sample 400 and is described as block prism minute surface as example.The face towards autocollimator 101 that described measurement face is block prism.
Step S10, starts measuring system 10;
Step S11, the mode of operation that industrial camera 103 is set is maximum field of view, searches for and judges that testing sample 400 centers are whether near the picture centre under the pattern of large visual field, if judgement conclusion is "No", enter step S12, if judgement conclusion is "Yes", enter step S13;
Step S12, controls lifting table 202 and translation stage 203 motions, until testing sample 400 is centered close near the picture centre of industrial camera 103, and enters step S13;
Step S13, the mode of operation that industrial camera 103 is set is small field of view, searches for and judges that testing sample 400 centers are whether near the picture centre under small field of view pattern, if judgement conclusion is "No", enter step S14, if judgement conclusion is "Yes", enter step S15;
Step S14, controls lifting table 202 and translation stage 203 motions, until testing sample 400 is positioned near the picture centre under small field of view pattern, and enters step S15;
Step S15, open autocollimator 101, judge whether autocollimator 101 has registration, be angle measurement, if judgement conclusion is "No", enter step S16, if judgement conclusion is "Yes", record the registration β of autocollimator 101, determine the initial angle γ=β of this testing sample 400, and enter step S17;
Step S16, judgement testing sample 400 is with respect to the angle of XOZ plane, with this, determine the rotation direction of precise rotating platform 201, control precise rotating platform 201 motions until autocollimator 101 has registration, record angle value α that precise rotating platform 201 turns over and the registration β of autocollimator 101, determine the initial angle γ=alpha+beta of this testing sample 400, and enter step S17;
Step S17, open laser range finder 102, whether the hot spot of detection laser 1022 is in testing sample 400 centers, if judgement conclusion is "No", enter step S18, if judgement conclusion is "Yes", the distance measurement value x of recording laser stadimeter 102, and determine the volume coordinate of this testing sample 400 with this;
Step S18, control lifting table 202 and translation stage 203 motions, until the hot spot of laser 1022 and testing sample 400 center superpositions, the encoder feedback value z of the distance measurement value x of recording laser stadimeter 102, the encoder feedback value y of translation stage 203 and lifting table 202, and pass through x, y, z determines the volume coordinate of these testing sample 400 geometric centers.
In described step S11, by image processing algorithms such as template matches, target identifications, realize and search for and judge that testing sample 400 centers are whether near picture centre.
In described step S16, by image processing algorithms such as Corner Detection, judge that testing sample 400 is with respect to the angle of XOZ plane.
In described step S17, by image processing algorithms such as Corner Detection, Hough conversion, come the hot spot of detection laser 1022 whether in testing sample 400 centers.
From above measuring process: the measurement of angle scope of this measuring system 10 is 360 degree, and measuring accuracy is determined by kinematic accuracy and autocollimator 101 measuring accuracy of precise rotating platform 201.Precision by precise rotating platform 201 and autocollimator 101 configures, can realize on a large scale the rad high-precision measurement of angle of level and.For volume coordinate, measuring accuracy determines by the kinematic accuracy of measuring accuracy, translation stage 203 and the lifting table 202 of laser range finder 102, and measurement range is determined by the range of the range of laser range finder 102, the range of translation stage 203 and lifting table 202.
Be more than single goal measuring process, when measuring a plurality of target to be measured, repeat above process and carry out data processing, can obtain relative angle and volume coordinate relation between a plurality of targets to be measured.As from the foregoing, this invention can realize the automatic measurement of large scale and high accuracy angle and volume coordinate.
In addition, those skilled in the art also can do other and change in spirit of the present invention, and certainly, the variation that these are done according to spirit of the present invention, within all should being included in the present invention's scope required for protection.
Claims (10)
1. a measuring system for angle and volume coordinate, it comprises:
One supporting regulon, described supporting regulon comprises a turntable, a lifting table, a translation stage and a vibration-isolating platform, described vibration-isolating platform has a plane as supporting surface, plane at the supporting surface place of this vibration-isolating platform defines a directions X and a Y-direction, the direction vertical with the supporting surface of this vibration-isolating platform is defined as a Z direction, described lifting table and translation stage are arranged at intervals at along described directions X on the supporting surface of this vibration-isolating platform, and described turntable is arranged on this lifting table;
One measuring unit, described measuring unit comprises an autocollimator, a laser range finder, an industrial camera, one first catoptron and one second catoptron, described autocollimator, laser range finder, industrial camera, the first catoptron and the second catoptron are positioned at same vertical plane and can with described translation stage, move together simultaneously, and the laser that sends of described laser range finder after the first catoptron and the reflection of the second catoptron can with the light shaft coaxle of autocollimator; And
One system control unit, described system control unit comprises a system control interface, a monitor and an industrial computer, and described system control interface is connected to described industrial computer by autocollimator, laser range finder, industrial camera, turntable, lifting table and translation stage.
2. the measuring system of angle as claimed in claim 1 and volume coordinate, is characterized in that, described lifting table can move along Z direction, this lifting table for locate and encoder feedback testing sample along the coordinate of Z axis.
3. the measuring system of angle as claimed in claim 1 and volume coordinate, it is characterized in that, described translation stage can move along Y-direction, this translation stage for locate and encoder feedback testing sample along the coordinate of Y-axis, and coordinate the distance measurement value of this laser range finder, realize the volume coordinate of testing sample and measure.
4. the measuring system of angle as claimed in claim 1 and volume coordinate, is characterized in that, described turntable can rotate around an axle that is parallel to Z direction, and this turntable and autocollimator play a part to take measurement of an angle simultaneously.
5. the measuring system of angle as claimed in claim 1 and volume coordinate, is characterized in that, described supporting regulon further comprises a sample bracing frame, and this sample support is set up and is placed on this turntable.
6. the measuring system of angle as claimed in claim 1 and volume coordinate, is characterized in that, described turntable is the rad level high precision precise rotating platform with angular displacement encoder feedback, and described lifting table is with the lifting table of position encoded feedback and translation stage.
7. the measuring system of angle as claimed in claim 1 and volume coordinate, it is characterized in that, described autocollimator is arranged on this translation stage, described laser range finder and industrial camera are arranged at this autocollimator top, the height of described industrial camera is higher than the height of this laser range finder, and this laser range finder is positioned near lifting table one side, and the shoot laser of described laser range finder is parallel to directions X, and parallel with the optical axis of described autocollimator.
8. the measuring system of angle as claimed in claim 1 and volume coordinate, it is characterized in that, described measuring unit further comprises a connection piece, and this web member links together described autocollimator, laser range finder, the first catoptron and the second catoptron; Described web member comprises one first flat board, one second flat board, one first hollow circular cylinder and one second hollow circular cylinder; The described first dull and stereotyped and interval setting parallel with the second flat board, described the first hollow circular cylinder is arranged between described the first flat board and the second flat board, and fixes with described the first flat board and the second flat board; Described the second hollow circular cylinder is arranged at described the first hollow circular cylinder away from a side of described autocollimator perpendicular to described the first flat board, and dull and stereotyped fixing with second with described the first flat board; Described the first hollow circular cylinder is sheathed and be fastened on described autocollimator, and described laser range finder is fixed on the second planar surface of web member; Described the first catoptron and the second catoptron are arranged on described the second hollow circular cylinder.
9. the measuring system of angle as claimed in claim 8 and volume coordinate, is characterized in that, described the first catoptron and the second catoptron parallel interval arrange, and are fixed on described the second hollow circular cylinder; Described the first catoptron is arranged near the light path light out part of described laser range finder, and the minute surface of described the first catoptron and the shoot laser of described laser range finder are 45 degree angles, thereby this shoot laser is propagated after the first catoptron reflection along mutually described the second catoptron of Z direction; Described the second catoptron is arranged on the optical axis of described autocollimator, and the minute surface of described the second catoptron and the optical axis of described autocollimator are 135 degree angles, thus the laser that makes to arrive this second catoptron through the first catoptron reflection after the reflection of the second catoptron with the light shaft coaxle of autocollimator.
10. adopt the measuring system of angle and volume coordinate as claimed in any one of claims 1-9 wherein to measure the angle of testing sample and a method for volume coordinate, it comprises the following steps:
Step S10, starts described measuring system;
Step S11, the mode of operation that industrial camera is set is maximum field of view, searches for and judges that testing sample center is whether near the picture centre under the pattern of large visual field, if judgement conclusion is "No", enter step S12, if judgement conclusion is "Yes", enter step S13;
Step S12, controls lifting table and translation stage motion, until testing sample is centered close near the picture centre of industrial camera, and enters step S13;
Step S13, the mode of operation that industrial camera is set is small field of view, searches for and judges that testing sample center whether near the picture centre under small field of view pattern, if judgement conclusion is "No", enters step S14, if judgement conclusion is "Yes", enters step S15;
Step S14, controls lifting table and translation stage motion, until testing sample is positioned near the picture centre under small field of view pattern, and enters step S15;
Step S15, opens autocollimator, judges whether autocollimator has registration, if judgement conclusion is "No", enter step S16, if judgement conclusion is "Yes", record the registration β of autocollimator, determine the initial angle γ=β of this testing sample, and enter step S17;
Step S16, judgement testing sample is with respect to the angle of XOZ plane, with this, determine the rotation direction of turntable, control turntable motion until autocollimator has registration, record angle value α that turntable turns over and the registration β of autocollimator, determine the initial angle γ=alpha+beta of this testing sample, and enter step S17;
Step S17, opens laser range finder, and whether the hot spot of detection laser is in testing sample center, if judgement conclusion is "No", enter step S18, if judgement conclusion is "Yes", the distance measurement value x of recording laser stadimeter, and determine the volume coordinate of this testing sample geometric center with this; And
Step S18, controls lifting table and translation stage motion, until the hot spot of laser and testing sample center superposition, the encoder feedback value z of the distance measurement value x of recording laser stadimeter, the encoder feedback value y of translation stage and lifting table, and by x, y, z determines the volume coordinate of this testing sample geometric center.
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| CN107167160A (en) * | 2017-05-16 | 2017-09-15 | 苏州迅威光电科技有限公司 | A kind of apparatus and method for detecting total powerstation support precision image |
| CN108257137A (en) * | 2017-11-27 | 2018-07-06 | 南京浩梁景信息科技有限公司 | A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot |
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| CN111102918A (en) * | 2018-10-29 | 2020-05-05 | 中国人民解放军战略支援部队信息工程大学 | Automatic measuring system of cubic mirror coordinate system |
| CN111102918B (en) * | 2018-10-29 | 2021-07-27 | 中国人民解放军战略支援部队信息工程大学 | Automatic measuring system of cubic mirror coordinate system |
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| CN111854713A (en) * | 2020-07-30 | 2020-10-30 | 中国科学院长春光学精密机械与物理研究所 | Measuring reference device capable of being used for establishing coordinate system |
| CN111879496A (en) * | 2020-08-24 | 2020-11-03 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision real-time resetting and measuring device for wind tunnel balance loading head |
| CN111879496B (en) * | 2020-08-24 | 2022-07-15 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision real-time resetting and measuring device for wind tunnel balance loading head |
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