CN105758375A - Simple laser tracking and measuring system - Google Patents
Simple laser tracking and measuring system Download PDFInfo
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- CN105758375A CN105758375A CN201510523990.1A CN201510523990A CN105758375A CN 105758375 A CN105758375 A CN 105758375A CN 201510523990 A CN201510523990 A CN 201510523990A CN 105758375 A CN105758375 A CN 105758375A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/18—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with one observation point at each end of the base
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A simple laser tracking measuring system is provided with a laser tracking measuring instrument and a moving target, wherein the laser tracking measuring instrument comprises a base, a horizontal rotary platform, a support and a vertical shaft, and a horizontal main transverse shaft and an auxiliary transverse shaft which are parallel to each other are arranged on the support; a first main measuring device is fixed on the main transverse shaft; a first auxiliary observation device is fixed on the auxiliary transverse shaft; the first subjective measuring line and the first auxiliary observation line are positioned on the same vertical plane; the moving target is provided with a hemisphere seat and a PSD sensor fixed on the hemisphere seat, and the sphere center of a hemisphere of the hemisphere seat is arranged on the photosensitive surface of the PSD sensor. The invention can satisfy the tracking measurement, and the electronic system is greatly simplified, the distance measurement process does not need to consider the actual light speed, the measurement of temperature, air pressure and the like is not needed before the use, and the meteorological correction is not needed.
Description
Technical field
The present invention relates to laser tracking measurement system.
Background technology
Laser tracking measurement, can be tracked space movement target and measure its space coordinates in real time.Laser tracking measurement instrument in the market, is mainly provided by Switzerland LEICA, U.S. API, FARO company of the U.S..The functions such as collection laser interference range finding, Photoelectric Detection, precision optical machinery, computer control, numerical computations are based on one.
During the work of existing laser tracking measurement instrument, on measured target, an additional running target is as measuring target, and when running target moves, follower head, under the control of tracking servo, adjusts in real time, follows the tracks of running target and measures.Existing laser tracking measurement instrument, adopts laser interference range finding.Although precision is significantly high, but electronic system is extremely complex, and structurally must also increase by one " Bird's Nest ", just can obtain absolute distance.Existing measuring method needs to ensure incident illumination backtracking, and this makes running target complicated structure, and ratio is if desired for corner lens or opal lens, and the requirement on machining accuracy of these lens is very high.Additionally, its range accuracy depends on the accurate measurement to the light velocity in air.And in actual measurement process, the light velocity is subject to the situation impacts such as atmospheric temperature, humidity, air pressure, it is necessary to measure these meteorologic parameters in advance, and carry out the atmospheric correction being correlated with.Because digital temperature barometer, just become the standard accessory of laser tracking measurement instrument.Generally it is desirable that laser tracking measurement instrument measures under the working condition of indoor relatively temperature.Seeing that Li Guangyun, Li Zongchun edit, Mapping Press publishes its " industrial measuring system principle and application " the 6th chapter in January, 2011.
In general, existing laser tracking measurement instrument, powerful, precision is high, but technical sophistication, bigger by environmental constraints.
Ranging information has important function in laser scanning.According to range measurement principle, it is possible to be divided into trigonometry, impulse method, phase method.Trigonometry is that beam of laser is irradiated on object, and part diffuse-reflectance laser is through prism imaging on photoelectric detection equipment.Trigonometry has a lot of positional parameter requirement in application, very loaded down with trivial details and time-consuming on measurement device is demarcated, if a certain parameter cannot accurately obtain in system during actual measurement, will make measurement data generation error.When measurement device has small variations, in system, each parameter all must be demarcated again.See that perhaps the intelligence Sun Changku that admires writes, " 3D reverse-engineering " (China Measuring Press 2002 April the 1st edition) p16.
He Baoxi edits, and the Yellow River water conservancy publishing house publishes its " total station survey technology " chapter 2 second section in August, 2005, describes the range measurement principle of current total powerstation, mainly impulse method, ranging phase method, is required for the complicated electronic system of correspondence.Impulse method is found range, and the pulse that directly mensuration diastimeter sends comes and goes the time of tested distance.According to Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publishes it " total powerstation errors of principles " p8 in March, 2004, even if the clock frequency for timing has atomic little error, also results in very big measurement error.Such as clock frequency is 100MHz, even if there being ± the frequency error of 1Hz, range error is also up to ± 1.5m.So impulse method certainty of measurement is low, it is mainly used in long-range low measure of precision.Ranging phase method, its principle is that the phase place change produced by measuring continuous print modulation signal to come and go on testing distance carrys out the indirect determination propagation time, thus trying to achieve propagation distance.Ranging phase method, relate to control and the computing of complexity, such as survey chi conversion and control, light path converting control, dim light automatically controls, survey phase rhythm (sequencing contro), phase place distance transform, coarse-fine chi distance Linking operation etc. (see Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publishes it " total powerstation errors of principles " p15 in March, 2004).The electronic system measured is complicated more than impulse method.Thus can cause a lot of problem.Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publishes it " the total powerstation errors of principles " p42 the 3rd chapter in March, 2004 and has analyzed, same frequency photoelectricity in such as circuit harasses the circular error that signal causes, the error that inner quartz crystal oscillator temperature influence causes.Li Guangyun, Li Zongchun edit, and Mapping Press publishes it " industrial measuring system principle and application " p134 in January, 2011, also mentions actual range frequency and the inconsistent range error problem caused of design frequency.
Having a problem that range accuracy is most important, no matter pulse ranging or phase ranging, its range accuracy both depends on the accurate measurement to the light velocity in air.And in actual measurement process, the light velocity is subject to the situation impacts such as atmospheric temperature, humidity, air pressure, it is necessary to measure these meteorologic parameters in advance, and carry out the atmospheric correction being correlated with.Editing according to Li Zeqiu, publishing house of Wuhan University of Technology publishes it " total station survey technology " p22 in July, 2012, the atmospheric correction of total powerstation also with this total powerstation used by the find range wavelength of light wave relevant.
Summary of the invention
It is an object of the invention to propose a kind of measure accurate, easy to operate simple type laser tracking measurement system.
For reaching above-mentioned purpose, the present invention takes the first technical scheme following: the present invention has laser tracking measurement instrument and running target, described laser tracking measurement instrument includes pedestal, horizontal rotation platform, support and vertical pivot, support is fixed on horizontal rotation platform, vertical pivot is fixing with pedestal to be connected, horizontal rotation platform is on pedestal and rotates around the axial line of vertical pivot, horizontal limb is installed, main transverse axis that is that support is provided with the level that is parallel to each other and that respectively can rotate around Pivot Point Center line and secondary transverse axis between vertical pivot and horizontal rotation platform；The axial line of main transverse axis intersects with the axial line of vertical pivot, forms main intersection point；The secondary axial line of transverse axis intersects with the axial line of vertical pivot, forms auxiliary intersection point；Being fixed with a main observation device on main transverse axis, a main observation device is a laser instrument, and its optical axis is called a subjective survey line；A number subjective survey line is by main intersection point and the axial line being perpendicular to main transverse axis；Being fixed with a secondary observation device on secondary transverse axis, a secondary observation device is the telescope of an in-built CCD digital camera, and its collimation axis is called a secondary survey line；A number secondary survey line is by auxiliary intersection point and the axial line being perpendicular to secondary transverse axis；A number subjective survey line and a secondary survey line are in same vertical guide；Main dial is installed between main transverse axis and support corresponding site, secondary scale is installed between secondary transverse axis and support corresponding site；The rotation of above-mentioned horizontal rotation platform, main transverse axis and secondary transverse axis is electronic；Described running target has hemisphere housing and the PSD sensor being fixed in hemisphere housing, and the hemispheroidal centre of sphere of hemisphere housing is on PSD sensor photosurface.
For reaching above-mentioned purpose, the present invention takes following the second technical scheme: the present invention has laser tracking measurement instrument and running target, described laser tracking measurement instrument includes pedestal, horizontal rotation platform, support and vertical pivot, support is fixed on horizontal rotation platform, vertical pivot is fixing with pedestal to be connected, horizontal rotation platform is on pedestal and rotates around the axial line of vertical pivot, horizontal limb is installed, main transverse axis that is that support is provided with the level that is parallel to each other and that respectively can rotate around Pivot Point Center line and secondary transverse axis between vertical pivot and horizontal rotation platform；The axial line of main transverse axis intersects with the axial line of vertical pivot, forms main intersection point；The secondary axial line of transverse axis intersects with the axial line of vertical pivot, forms auxiliary intersection point；Being fixed with No. two main observation devices on main transverse axis, No. two main observation devices are a laser instrument, and its optical axis is called No. two subjective surveys line；No. two subjective surveys line are by main intersection point and the axial line being perpendicular to main transverse axis；Being fixed with No. two secondary observation devices on secondary transverse axis, No. two secondary observation devices are a laser instrument, and its optical axis is called No. two secondary survey line；No. two secondary survey line are by auxiliary intersection point and the axial line being perpendicular to secondary transverse axis；No. two subjective surveys line and No. two secondary survey line are in same vertical guide；Main dial is installed between main transverse axis and support corresponding site, secondary scale is installed between secondary transverse axis and support corresponding site；The rotation of above-mentioned horizontal rotation platform, main transverse axis and secondary transverse axis is electronic；Described running target has hemisphere housing and the PSD sensor being fixed in hemisphere housing, and the hemispheroidal centre of sphere of hemisphere housing is on PSD sensor photosurface.
The present invention has following good effect: while meeting tracking measurement, and electronic system is greatly simplified, ranging process, it is not necessary to consider the actual light velocity, therefore before using, it is not necessary to carry out temperature, air pressure etc. and measure, it is not necessary to atmospheric correction.
Accompanying drawing explanation
Fig. 1 is embodiment 1 schematic diagram.
Fig. 2 is the simple side view of Fig. 1.
Fig. 3 is that embodiment 1 measures angle schematic diagram.
Fig. 4 is embodiment 2 schematic diagram.
Fig. 5 is the simple side view of Fig. 4.
Fig. 6 is that embodiment 2 measures angle schematic diagram.
Detailed description of the invention
Embodiment 1
See Fig. 1 to Fig. 3, the present embodiment has laser tracking measurement instrument and running target, described laser tracking measurement instrument includes pedestal 1, horizontal rotation platform 2, support 4 and vertical pivot 9, support 4 is fixed on horizontal rotation platform 2, vertical pivot 9 is fixing with pedestal 1 to be connected, horizontal rotation platform 2 is on pedestal 1 and rotates around the axial line 9a of vertical pivot 9, horizontal limb 3 is installed, main transverse axis 5 that is that support 4 is provided with the level that is parallel to each other and that respectively can rotate around Pivot Point Center line and secondary transverse axis 8 between vertical pivot 9 and horizontal rotation platform 2；The axial line 5a of main transverse axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；The secondary axial line 8a of transverse axis 8 intersects with the axial line 9a of vertical pivot 9, forms auxiliary intersection point；Being fixed with a main observation device 6-1 on main transverse axis 5, a main observation device 6-1 is a laser instrument, and its optical axis is called a subjective survey line 6-1a；A number subjective survey line 6-1a is by main intersection point and the axial line 5a being perpendicular to main transverse axis 5；Being fixed with a secondary observation device 7-1, a secondary observation device 7-1 on secondary transverse axis 8 is the telescope of an in-built CCD digital camera, and its collimation axis is called a secondary survey line 7-1a；A number secondary survey line 7-1a is by auxiliary intersection point and the axial line 8a being perpendicular to secondary transverse axis 8；An a number subjective survey line 6-1a and secondary survey line 7-1a is in same vertical guide；Main dial 11 is installed between main transverse axis 5 and support 4 corresponding site, secondary scale 12 is installed between secondary transverse axis 8 and support 4 corresponding site；The rotation of above-mentioned horizontal rotation platform 2, main transverse axis 5 and secondary transverse axis 8 is respectively driven by motor, motor or servomotor or ultrasound electric machine.
Described running target has hemisphere housing 13 and the PSD sensor 14 being fixed in hemisphere housing, and the hemispheroidal centre of sphere of hemisphere housing 13 is on PSD sensor 14 photosurface.
Horizontal limb 3 is for measuring the angle of revolution of horizontal rotation platform 2.Main dial 11 is used for the size of angle and the main angle of pitch α measuring between a subjective survey line 6-1a and the axial line 9a of vertical pivot 9.Secondary scale 12 is for measuring the angle i.e. size of secondary angle of pitch β between a secondary survey line 7-1a and the axial line 9a of vertical pivot 9.
Under the effect of horizontal rotation platform 2, an a main observation device 6-1 and secondary observation device 7-1 can level of synchronization revolution.When an a main observation device 6-1 and secondary observation device 7-1 does pitching, a subjective survey line 6-1a and secondary survey line 7-1a in the same plane in rotate, it is possible to intersect at a bit.
The present embodiment also has power pack, data processing section, communication interface and display screen, keyboard etc..
Laser tracking measurement instrument is set at survey station point, holding movable target on scanned object.When measuring beginning, horizontal rotation platform 2 electronic rotation, main transverse axis 5 is motor driven a number main observation device 6-1 of drive and does pitching, automatic searching running target, when the photosurface of PSD sensor 14 experiences the main observation device 6-1 laser launched at hemispheroidal centre of sphere place, horizontal limb 3 provides the angle of revolution of horizontal rotation platform 2, main dial 11 provides the value of main angle of pitch α, secondary transverse axis 8 is motor driven a number secondary observation device 7-1 of drive and does pitching, until built-in CCD digital camera observes that on a secondary survey line 7-1a a main observation device 6-1 is irradiated to the illuminated laser spot on PSD sensor 14, secondary scale 12 provides the value of secondary angle of pitch β, complete first measurement.According to secondary angle of pitch β, according to the distance h between main intersection point and auxiliary intersection point, it is possible to obtain this point is apart from the distance S value of main intersection point.Thereby determine that the coordinate of the relatively main intersection point of this point.Running target moves, feedback according to PSD sensor 14, a main observation device 6-1 is from motion tracking running target, until the photosurface of PSD sensor 14 experiences the main observation device 6-1 laser launched at hemispheroidal centre of sphere place, repeat said process, complete second point and measure.Hereby it is achieved that tracking measurement.
Embodiment 2
See Fig. 4 to Fig. 6, the present embodiment has laser tracking measurement instrument and running target, described laser tracking measurement instrument includes pedestal 1, horizontal rotation platform 2, support 4 and vertical pivot 9, support 4 is fixed on horizontal rotation platform 2, vertical pivot 9 is fixing with pedestal 1 to be connected, horizontal rotation platform 2 is on pedestal 1 and rotates around the axial line 9a of vertical pivot 9, horizontal limb 3 is installed, main transverse axis 5 that is that support 4 is provided with the level that is parallel to each other and that respectively can rotate around Pivot Point Center line and secondary transverse axis 8 between vertical pivot 9 and horizontal rotation platform 2；The axial line 5a of main transverse axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；The secondary axial line 8a of transverse axis 8 intersects with the axial line 9a of vertical pivot 9, forms auxiliary intersection point；Being fixed with No. two main observation device 6-2 on main transverse axis 5, No. two main observation device 6-2 are a laser instrument, and its optical axis is called No. two subjective survey line 6-2a；No. two subjective survey line 6-2a are by main intersection point and the axial line 5a being perpendicular to main transverse axis 5；Being fixed with No. two secondary observation device 7-2 on secondary transverse axis 8, No. two secondary observation device 7-2 are a laser instrument, and its optical axis is called No. two secondary survey line 7-2a；No. two secondary survey line 7-2a are by auxiliary intersection point and the axial line 8a being perpendicular to secondary transverse axis 8；No. two subjective survey line 6-2a and No. two secondary survey line 7-2a are in same vertical guide；Main dial 11 is installed between main transverse axis 5 and support 4 corresponding site, secondary scale 12 is installed between secondary transverse axis 8 and support 4 corresponding site；The rotation of above-mentioned horizontal rotation platform 2, main transverse axis 5 and secondary transverse axis 8 is respectively driven by motor, motor or servomotor or ultrasound electric machine.
Described running target has hemisphere housing 13 and the PSD sensor 14 being fixed in hemisphere housing, and the hemispheroidal centre of sphere of hemisphere housing 13 is on PSD sensor 14 photosurface.
Horizontal limb 3 is for measuring the angle of revolution of horizontal rotation platform 2.Main dial 11 is used for the size of angle and the main angle of pitch α measuring between No. two subjective survey line 6-2a and the axial line 9a of vertical pivot 9.Secondary scale 12 is for measuring the angle i.e. size of secondary angle of pitch β between No. two secondary survey line 7-2a and the axial line 9a of vertical pivot 9.
Under the effect of horizontal rotation platform 2, No. two main observation device 6-2 and No. two secondary observation device 7-2 can level of synchronization revolution.When No. two main observation device 6-2 and No. two secondary observation device 7-2 do pitching, No. two subjective survey line 6-2a and No. two secondary survey line 7-2a in the same plane in rotate, it is possible to intersect at a bit.
The present embodiment also has power pack, data processing section, communication interface and display screen, keyboard etc..
Laser tracking measurement equipment is set at survey station point, holding movable target on scanned object.When measuring beginning, No. two main observation device 6-2 open, and No. two secondary observation device 7-2 close.Horizontal rotation platform 2 electronic rotation, main transverse axis 5 is motor driven No. two main observation device 6-2 of drive and does pitching, automatic searching running target, when the photosurface of PSD sensor 14 experiences No. two main observation device 6-2 laser launched at hemispheroidal centre of sphere place, horizontal limb 3 provides the angle of revolution of horizontal rotation platform 2, main dial 11 provides the value of main angle of pitch α, No. two main observation device 6-2 close, No. two secondary observation device 7-2 open, secondary transverse axis 8 is driven to drive No. two secondary observation device 7-2 to do pitching, until the photosurface of PSD sensor 14 experiences No. two main observation device 7-2 laser launched at hemispheroidal centre of sphere place, secondary scale 12 provides the value of secondary angle of pitch β, complete first measurement.Distance h between main intersection point and auxiliary intersection point determines that, data process and obtain distance S value.Thereby determine that the coordinate of the relatively main intersection point of this point.Running target moves, and repeats said process, completes second point and measures.Hereby it is achieved that tracking measurement.
Above-described embodiment is mentioned in-built CCD digital camera telescope, it is seen that He Baoxi edits, and the Yellow River water conservancy publishing house publishes its " total station survey technology " chapter 2 in August, 2005.Separately see that Mei Wensheng, Yang Hongzhu, publishing house of Wuhan University publish its " robot measurement exploitation and application " the 2nd chapter in November, 2011.
Claims (2)
1. a simple type laser tracking measurement system, it is characterized in that: there is laser tracking measurement instrument and running target, described laser tracking measurement instrument includes pedestal (1), horizontal rotation platform (2), support (4) and vertical pivot (9), support (4) is fixed on horizontal rotation platform (2), vertical pivot (9) is fixing with pedestal (1) to be connected, horizontal rotation platform (2) is in upper and around vertical pivot (9) the axial line (9a) of pedestal (1) and rotates, horizontal limb (3) is installed between vertical pivot (9) and horizontal rotation platform (2), main transverse axis (5) that is that support (4) is provided with the level that is parallel to each other and that respectively can rotate around Pivot Point Center line and secondary transverse axis (8)；The axial line (5a) of main transverse axis (5) intersects with the axial line (9a) of vertical pivot (9), forms main intersection point；The axial line (8a) of secondary transverse axis (8) intersects with the axial line (9a) of vertical pivot (9), forms auxiliary intersection point；Being fixed with a main observation device (6-1) on main transverse axis (5), a main observation device is a laser instrument, and its optical axis is called a subjective survey line (6-1a)；A number subjective survey line (6-1a) is by main intersection point and the axial line (5a) being perpendicular to main transverse axis (5)；Being fixed with a secondary observation device (7-1) on secondary transverse axis (8), a secondary observation device is the telescope of an in-built CCD digital camera, and its collimation axis is called a secondary survey line (7-1a)；A number secondary survey line (7-1a) is by auxiliary intersection point and the axial line (8a) being perpendicular to secondary transverse axis (8)；A number subjective survey line (6-1a) and a secondary survey line (7-1a) are in same vertical guide；Main dial (11) is installed between main transverse axis (5) and support (4) corresponding site, secondary scale (12) is installed between secondary transverse axis (8) and support (4) corresponding site；The rotation of above-mentioned horizontal rotation platform (2), main transverse axis (5) and secondary transverse axis (8) is electronic；Described running target has hemisphere housing (13) and the PSD sensor (14) being fixed in hemisphere housing, and the hemispheroidal centre of sphere of hemisphere housing (13) is on PSD sensor (14) photosurface.
2. a simple type laser tracking measurement system, it is characterized in that: there is laser tracking measurement instrument and running target, described laser tracking measurement instrument includes pedestal (1), horizontal rotation platform (2), support (4) and vertical pivot (9), support (4) is fixed on horizontal rotation platform (2), vertical pivot (9) is fixing with pedestal (1) to be connected, horizontal rotation platform (2) is in upper and around vertical pivot (9) the axial line (9a) of pedestal (1) and rotates, horizontal limb (3) is installed between vertical pivot (9) and horizontal rotation platform (2), main transverse axis (5) that is that support (4) is provided with the level that is parallel to each other and that respectively can rotate around Pivot Point Center line and secondary transverse axis (8)；The axial line (5a) of main transverse axis (5) intersects with the axial line (9a) of vertical pivot (9), forms main intersection point；The axial line (8a) of secondary transverse axis (8) intersects with the axial line (9a) of vertical pivot (9), forms auxiliary intersection point；Being fixed with No. two main observation devices (6-2) on main transverse axis (5), No. two main observation devices (6-2) are a laser instrument, and its optical axis is called No. two subjective surveys line (6-2a)；No. two subjective surveys line (6-2a) are by main intersection point and the axial line (5a) being perpendicular to main transverse axis (5)；Being fixed with No. two secondary observation devices (7-2) on secondary transverse axis (8), No. two secondary observation devices (7-2) are a laser instrument, and its optical axis is called No. two secondary survey line (7-2a)；No. two secondary survey line (7-2a) are by auxiliary intersection point and the axial line (8a) being perpendicular to secondary transverse axis (8)；No. two subjective surveys line (6-2a) and No. two secondary survey line (7-2a) are in same vertical guide；Main dial (11) is installed between main transverse axis (5) and support (4) corresponding site, secondary scale (12) is installed between secondary transverse axis (8) and support (4) corresponding site；Rotating to be of above-mentioned horizontal rotation platform (2), main transverse axis (5) and secondary transverse axis (8) is electronic；Described running target has hemisphere housing (13) and the PSD sensor (14) being fixed in hemisphere housing, and the hemispheroidal centre of sphere of hemisphere housing (13) is on PSD sensor (14) photosurface.
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