CN106094889A - A kind of laser-bounce target ball actively self-adaptive regulating - Google Patents
A kind of laser-bounce target ball actively self-adaptive regulating Download PDFInfo
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- CN106094889A CN106094889A CN201610596871.3A CN201610596871A CN106094889A CN 106094889 A CN106094889 A CN 106094889A CN 201610596871 A CN201610596871 A CN 201610596871A CN 106094889 A CN106094889 A CN 106094889A
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- laser
- target
- target ball
- bag network
- adaptive regulating
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/10—Nuclear fusion reactors
Abstract
The present invention open a kind of laser-bounce target ball actively self-adaptive regulating, it includes supporting mechanism, steering mechanism, target bag network, base.Supporting mechanism include bracing frame and be arranged on the probe that supports bottom bracing frame, bracing frame is supported on the through hole edge of base with some elastic components.Supporting probe is that domed side penetrates base to contact with measurand surface via through hole.Target bag network is arranged on bracing frame and is positioned at and supports above probe, lays a target ball and ensures the centre of sphere of target ball with to support probe concentric.Steering mechanism is arranged on bracing frame, rotates the orientation of regulation target bag network in Y direction, Z-direction respectively, makes the reflecting surface of target ball and laser contact, reflection on target bag network.X-direction is the direction of the circular cross-section being perpendicular to target bag network, and Y direction is to translate the direction of the circular cross-section in target bag network, and Z-direction is for being perpendicular to X-direction, Y direction, and three direction of principal axis set up rectangular coordinate system.
Description
Technical field
The present invention relates to a kind of adjusting means in measurement technology, the most adaptive in particular to a kind of laser-bounce target ball
Answer adjusting means.
Background technology
Along with the development of Digital Measuring Technique, in the increasing field such as mechanical engineering, bridge construction, address exploration
Begin with digitizing technique and guarantee efficient, the high reliability of measurement process.For undersized destination object, existing
Measurement technology can well obtain design and require lower measurement result, but for large scale, in high precision, the requirement such as remote
Under measurement process must by special technical equipment, laser traces measure technology be typical exemplary applications.Due to it relatively
It is actual that strong capacity of resisting disturbance, relatively low deviation accumulation and good reliability are the most gradually widely used in engineering.
But, laser tracking measurement is to be occurred laser beam to target reflection target ball by generating laser (Tracker)
(Spherically Mounted Retroreflector (SMR)), reenters transmitting by transmission path after then being returned
Device also transfers electric signal to, is calculated the spatial data of target by computer, and therefore, Laser emission feedback path can not exist
Blocking, this limits the applied environment of technology to a certain extent.Although existing instrument producer all utilizes disconnected light continued access technology
Guarantee the continuous measurement capability after of short duration blocking, but on the one hand continued access technology needs reflecting target ball and laser to be in a spy
Not narrow angular regions, in the case of distance increases, angular regions is difficult to alignment；On the other hand large-scale object is measured
Time, artificially move target ball position and be easy to occur laser and the de-connection of target ball, or target ball and impact point laminating tightly do not cause surveying
The problem that amount result is invalid.
Summary of the invention
In order to solve drawbacks described above, the present invention provides a kind of laser-bounce target ball actively self-adaptive regulating, main mesh
Be accurately to measure destination object on the basis of target ball can be allowed in the break-in of active response laser.
The present invention is achieved through the following technical solutions: a kind of laser-bounce target ball actively self-adaptive regulating, it includes
Support mechanism, steering mechanism, target bag network, base；Wherein,
Described base offers through hole；
The described mechanism that supports includes bracing frame and is arranged on and supports probe bottom support frame as described above, if support frame as described above with
Dry elasticity part is supported on the edge of described through hole；The described probe that supports is that domed side penetrates the described end via described through hole
Seat is to contact with measurand surface；
Described target bag network is arranged on support frame as described above and supports the top of probe described in being positioned at, and is used for laying a target
Ball, and ensure the centre of sphere of described target ball and described to support probe concentric；
Described steering mechanism is arranged on support frame as described above, for rotating regulation institute in Y direction, Z-direction respectively
State the orientation of target bag network, make reflecting surface and laser contact, the reflection of target ball on described target bag network；Definition X-direction is
Being perpendicular to the direction of the circular cross-section of described target bag network, Y direction is to translate the side of the circular cross-section in described target bag network
To, Z-direction is for being perpendicular to X-direction, Y direction, and three direction of principal axis set up rectangular coordinate system.
As the further improvement of such scheme, described elastic component is spring.
Further, described base is provided with the some guide posts relative with some springs, each guide posts is overlapped one
Individual spring.
As the further improvement of such scheme, described base also offers some guide channels, and each guide channel is logical with described
Hole communicates, some cunnings that support frame as described above is provided with in being housed in described some guide channels and is guided by corresponding some guide channels
Bar.
As the further improvement of such scheme, described steering mechanism includes that mounting seat, the two ends of described target bag network are divided
Cai Yong a locating dowel one not be arranged on by the way of grafting in described mounting seat.
Further, described steering mechanism also includes the rotary electric machine one driving described locating dowel one to rotate.
Yet further, the top of described mounting seat uses a locating dowel two to be arranged on described by the way of grafting
On support.
Preferably, described steering mechanism also includes the rotary electric machine two driving described locating dowel two to rotate.
More preferably, two rotary electric machines connect corresponding locating dowel by hexagonal boss structure respectively.
As the further improvement of such scheme, described target ball auxiliary automated response device also includes control module, institute
State control module receive control information by wireless network or bluetooth module and feed back the angle position letter of described target bag network
Breath.
Technique scheme has the advantage that by using this device can increase substantially laser traces commercial measurement
Efficiency during large object and precision, reduce manual intervention；Because the placement of large-scale measurand target ball, measure the conversion of point with
And the difficulty measured continuously all limits the practical implementation of high-precision laser tracer technique, this device is utilized to break away from
Self adaptation laminating measurand surface in the case of manual intervention, and according to the optical path adjusting target spherical reflector of laser, efficient solution
Certainly laser misses the target problem；Meanwhile, by auxiliary travel mechanism, it is continuous that this device can realize in large-scale measurand further
Measurement effect.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of laser-bounce target ball of the present invention actively self-adaptive regulating.
Fig. 2 is device each several part mechanism mark and the partial schematic diagram of relative dimensions in Fig. 1.
Fig. 3 is the partially schematic of the action principle of the support of device in Fig. 1 and base.
Fig. 4 is range of application and the partial schematic diagram of relative dimensions of device in Fig. 1.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that concrete reality described herein
Execute example only in order to explain the present invention, do not limit the present invention.
Seeing also Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the laser-bounce target ball of the present invention actively self-adaptive regulating is main
Purpose is: can allow on the basis of accurately measuring destination object target ball in the break-in of active response laser, due to target spherical reflector
For circle, therefore rotate the rotation being in a disguised form embodied in around Y and Z-direction.Target ball auxiliary automated response device specifically include that to
Support mechanism 1, steering mechanism 2, target bag network 3, base 4, control module 5.
Support mechanism 1 include bracing frame 11 and be arranged on and support probe 12 bottom bracing frame 11.Base 4 offers through hole
41, and some guide channels 42 can also be offered, each guide channel 42 communicates with through hole 41.Base 4 is rigidly connected with bracing frame 11,
Rigid constraint as first three items mechanism supports；There is scalable perforated slot corner, is used for flexibly connecting other equipment mechanisms, as auxiliary
Help motion etc..
Bracing frame 11 is supported on the edge of through hole 41, and the mode of support can use some elastic components to be supported on described through hole
Edge, whole bracing frame 11 realizes flexible adjustment, and elastic component can be spring 14.Can be provided with on base 4 and some springs 14
Relative some guide posts 15, each guide posts 15 is overlapped a spring 14.Utilize the pulling force of some springs 14 by bracing frame 11
And the target bag network 3 being placed on support frame as described above 11 moves to Z-direction.In the present embodiment, permissible in each spring 14
Arranging a guide posts 15, bracing frame 11 inside spring 14 is connected with base 4, it is achieved utilize the pulling force of spring 14 by bracing frame
11 and the target bag network 3 that is placed on bracing frame 11 move to Z-direction, utilize the design of guide channel 42 to solve Z-direction simultaneously and move
Problem is rocked during Dong.Therefore, spring 14 moves and rotational freedom for the X of fixing support rack 11, Y-direction, and utilizes
Spring dynamically regulates Z-direction one-movement-freedom-degree, it is ensured that supports the holding of seat bottom face moment and object to be measured during measuring and contacts.
The shape of support is as shown in Figure 3.
Support probe 12 and penetrate base 4 to contact with measurand surface in domed side via through hole 41, support
Probe 12 is for contact measured amount region.The present invention uses and supports mechanism 1 and guarantee that device-adaptive is in real time and measurand surface
Contact, and utilize with one heart, the probe 12 that supports of circular arc guarantees that arbitrfary point, bottom contacts with measured surface and do not affects measurement
Result.Some draw runners 110 that bracing frame 11 is provided with in being housed in some guide channels 42 and is guided by corresponding some guide channels 42.
Target bag network 3 is arranged on bracing frame 11 and is positioned at the top supporting probe 12, is used for laying a target ball, and protects
Demonstrate,prove the centre of sphere of described target ball with to support probe 12 concentric.The purpose that the centre of sphere in the center of circle and target ball that support probe 12 overlaps is to ensure that
Arcwall face any point cantact object all ensures that contact position must be apart from consistent with the target centre of sphere.The arc supporting probe 12 is a diameter of
60mm, as shown in Figure 4.
Steering mechanism 2 is arranged on bracing frame 11, for rotating regulation target bag network in Y direction, Z-direction respectively
The orientation of 3, makes reflecting surface and laser contact, the reflection of target ball on target bag network 3.Definition X-direction is for being perpendicular to target bag
The direction of the circular cross-section of network 3, Y direction is to translate the direction of the circular cross-section in target bag network 3, and Z-direction is for being perpendicular to X
Direction of principal axis, Y direction, three direction of principal axis set up rectangular coordinate system.
Steering mechanism 2 can include mounting seat 21, rotary electric machine 1, rotary electric machine 1.The two ends of target bag network 3 can be divided
Cai Yong a locating dowel 1 not be arranged on by the way of grafting in mounting seat 21.The top of mounting seat 21 can use one to determine
Position post 2 25 is arranged on bracing frame 11 by the way of grafting.Rotary electric machine 1 drives locating dowel 1 to rotate, and rotates electricity
Machine 2 23 drives locating dowel 2 25 to rotate.Two rotary electric machines can connect corresponding locating dowel by hexagonal boss structure respectively.
Such as, the profile of the locating dowel being connected with rotary electric machine is outer-hexagonal shape；Described hexagonal boss structure rotates electricity with corresponding
The coaxial connection of machine, and offer the interior hexagonal groove that can house the locating dowel that profile is outer-hexagonal shape, an interior hexagonal groove
House a corresponding locating dowel.Therefore, locating dowel 1 and locating dowel 2 25 can be all hexagonal structure so that steering mechanism 2
Hexagonal design in realization, in the case of ensureing that target bag network 3 can be with quick-replaceable specification, will not cause often replacing to cause
Centre of sphere offset problem, this point is very useful, and effect is the most prominent.
Control module 5 is by wireless network or bluetooth module feedback current angular information, in controlling computer software
Calculate in real time anticipation optical path information, meanwhile, utilize wireless technology to receive control information to regulate electric machine rotation so that it is determined that target ball
Reflecting surface should towards orientation.The operating angle of target bag network 3 design is, Y-axis around to-30 °～60 °, Z axis around to 45 °～
315 °, it can be ensured that device will not occur, at most of placement location, the situation that laser cannot be transmitted on reflection sphere.Turn
Galvanic electricity machine has two, and placement location is respectively top and the side of bracing frame 11, and for controlling the Y of target bag network 3, Z-direction turns
Dynamic, as shown in the figure.Wireless controlled molding 5 pieces is positioned over the top of bracing frame 11, connects computer, profit by wireless network or bluetooth
Rotational angle and the rotation direction of rotary electric machine can be controlled with cable.As shown in Figure 4, operating angle is, Y-axis is around to-30 °
～60 °, Z axis is around to 45 °～315 °.
Target bag network is the hollow body for placing target ball, has the following characteristics that replaceable, due to target ball size specification
Difference need to change envelope structure, the envelope structure in this device may utilize boss and combines screw and guarantee that it is replaceable；Gao Ke
Lean on, need to guarantee that target ball will not produce swing along with mechanism kinematic regulation, the phenomenon such as rock, thus affect certainty of measurement, therefore,
Target bag network profile is approximately hollow out cylinder, has hexagonal boss to connect steering mechanism at center side and end face center, it is ensured that more
Change envelope mechanism and be not result in that eccentric situation occurs, as shown in Figure 2.
The laser-bounce target ball of the present invention actively self-adaptive regulating, utilize support mechanism 1 realize supporting probe 12 with
The contact on measurand surface；Steering mechanism 2 is utilized to regulate the rotation regulation of Y, Z axis, it is ensured that the reflecting surface of target ball connects with laser
Touch, reflect；Target bag network 3 is for laying target ball, and ensures the centre of sphere of target ball with to support probe 12 concentric；Base 4 is mainly used
In laying whole device, and support mechanism 1 by the guiding of guide channel 42 and guide posts 15 and move.
By using efficiency when this device can increase substantially laser traces commercial measurement large object and precision, subtract
Few manual intervention, it is achieved device-adaptive laminating measurand surface in the case of breaking away from manual intervention, and according to laser
Optical path adjusting target spherical reflector, effectively solves laser and misses the target problem.Because utilize control box collect, feedback data, and use watch
Take motor and control Y, the rotation of Z axis, it is ensured that target spherical reflector can will not produce light path and take off in real time on the circuit of Laser emission
Target problem.
In sum, this device is with the centre of sphere of target ball as initial point, to be perpendicular to front, target bag network 3 front as X-direction, with
The circular cross-section being parallel to target bag network 3 is Y-direction, and to be perpendicular to X, Y-direction sets up rectangular coordinate system for Z-direction, such as accompanying drawing 1 institute
Show.This device is fixed on object to be measured or other equipment mechanisms, by supporting in mechanism 1 by placing base plate i.e. base 4
The power of stretching of spring 14 bracing frame 11 is drawn high to Z-direction, it is ensured that the probe 12 that supports bottom bracing frame 11 connects with tested surface
Touch.The arc tested surface center of circle supporting probe 12 overlaps with the target ball centre of sphere, and radius is 60mm, and i.e. measured point with target center distance is
Fixed value: 60mm；In spring 14 mechanism, the guide channel 42 in bracing frame 11 back and base 4 forms guiding device, protects
Card device X, Y-direction move and the restriction of rotational freedom, as shown in Figure 4.Owing to the use of laser traces technology needs really
Protecting have no occluder on light path direction of transfer, therefore device has opened the front region of target bag network 3 in the design of support, with target
Ball center is initial point, 270 degree, the left and right with Z-direction as axle scope, and with Y-direction as axle up and down 90 degree be unscreened light path
Incidence and reflector space.
Corresponding for guaranteeing to realize the active for laser, this device support mechanism 1 bracing frame 11 top and
Side has been respectively mounted rotary electric machine, can control the rotational freedom of Y, Z-direction.Rotary electric machine is propped up with being installed on by circuit
Control module 5 on support 11 connects, and control module 5 is received control information by Wi-Fi or bluetooth module and fed back angle
Degree positional information, reaches the purpose remotely controlled.
Rotary electric machine connects rotatable platform i.e. locating dowel, interior hexagonal cavity rotatable platform having the degree of depth be 6mm, interior hexagonal
Three screw holes it are distributed on the septal surface of cavity.The side of target bag network 3 and the top of mounting seat 21 have equally hexagonal projection and
Screw hole, during assembling, owing to the laminating effect of interior hexagonal and the fixing of screw hole may insure that the centre of sphere position of target bag network
Put and because of factors such as vibrations, replacings, deviation will not occur and then affect certainty of measurement, as shown in Figure 2.In view of application scenarios
Difference, target ball size there are plurality of specifications, and therefore the model of target bag network 3 there is also multiple, it is simple to is replaced at any time
Operation.
The base 4 of this device has two contact location with supporting mechanism 1: one is to be connected by spring 14 pulling force, it is ensured that Z
To the degree of freedom of movement；Second is bracing frame 11 and the agreeing with, by concave-convex jointing (such as accompanying drawing 2 of the guide channel 42 on base 4
Display), form X, Y one-movement-freedom-degree and X, Y, Z rotational freedom of guide effect fixing support rack 11 simultaneously.The four of base 4
There is strip fillet perforated slot 410 at angle, is used for fixing or flexibly connect other equipment mechanisms, such as assisted movement mechanism etc..
During reality is measured, computer can be according to the current transmitting angle of laser and be originally filled with relative to laser
The position calculation of emitter goes out the appropriate orientation of target bag network 3 can effectively reflect laser, meanwhile, by wireless network or bluetooth
Connect and obtain when the orientation of front target bag network 3, calculate Y, Z rotate regulation angle so that send regulation information to control module 5 with
Rotary electric machine is driven to regulate accordingly.
In sum, the advantage of the present invention is as follows:
1. use and support mechanism's (i.e. there is the support seat of elastic component) and guarantee that device-adaptive is in real time and measurand surface
Contact, and utilize with one heart, the probe that supports of circular arc guarantees that arbitrfary point, bottom contact with measured surface not affect to measure and ties
Really；
2. utilize and control box collection, feedback data, and use the rotation of Serve Motor Control Y, Z axis, it is ensured that target ball reflects
Face can will not produce light path and miss the target problem in real time on the circuit of Laser emission；
3. hexagonal design in rotating mechanism uses, in the case of ensureing that target bag network mechanism can be with quick-replaceable specification,
Will not cause and often change the centre of sphere offset problem caused；
4. support seat inside spring to be connected with placing base plate, utilize the pulling force of spring by support and to be placed on support
Ba Qiu mechanism moves to Z axis normal direction, utilizes guide channel design to solve to rock problem in Z-direction moving process simultaneously；
5. the operating angle of target bag network design is, Y-axis around to-30 zero～60 0, Z axis around to 45 0～315 0, permissible
Guarantee the situation that device will not occur laser cannot be transmitted on reflection sphere at most of placement location；
6. utilize controlled in wireless (wifi or Bluetooth technology), in controlling box, accept optical path signal, and by meter in real time
Calculation can shift to an earlier date anticipation and control the rotation of servomotor, so that it is determined that target spherical reflector should towards orientation.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (10)
1. a laser-bounce target ball actively self-adaptive regulating, it is characterised in that: it include supporting mechanism, steering mechanism,
Target bag network, base；Wherein,
Described base offers through hole；
The described mechanism that supports includes bracing frame and is arranged on the probe that supports bottom support frame as described above, the some bullets of support frame as described above
Property part is supported on the edge of described through hole；Described support probe be domed side via described through hole penetrate described base with
Contact with measurand surface；
Described target bag network is arranged on support frame as described above and supports the top of probe described in being positioned at, and is used for laying a target ball,
And ensure the centre of sphere of described target ball and described to support probe concentric；
Described steering mechanism is arranged on support frame as described above, regulates described target for rotating respectively in Y direction, Z-direction
The orientation of bag network, makes reflecting surface and laser contact, the reflection of target ball on described target bag network；Definition X-direction is vertical
In the direction of the circular cross-section of described target bag network, Y direction is to translate the direction of the circular cross-section in described target bag network, Z
Direction of principal axis is for being perpendicular to X-direction, Y direction, and three direction of principal axis set up rectangular coordinate system.
2. laser-bounce target ball as claimed in claim 1 actively self-adaptive regulating, it is characterised in that: described elastic component is
Spring.
3. laser-bounce target ball as claimed in claim 2 actively self-adaptive regulating, it is characterised in that: set on described base
It is equipped with the some guide posts relative with some springs, each guide posts is overlapped a spring.
4. laser-bounce target ball as claimed in claim 1 actively self-adaptive regulating, it is characterised in that: described base is also opened
If some guide channels, each guide channel communicates with described through hole, and support frame as described above is provided with and is housed in described some guide channels
And by some draw runners of corresponding some guide channels guiding.
5. laser-bounce target ball as claimed in claim 1 actively self-adaptive regulating, it is characterised in that: described steering mechanism
Including mounting seat, the two ends of described target bag network are respectively adopted a locating dowel one and are arranged on described installation by the way of grafting
On seat.
6. laser-bounce target ball as claimed in claim 5 actively self-adaptive regulating, it is characterised in that: described steering mechanism
Also include the rotary electric machine one driving described locating dowel one to rotate.
7. laser-bounce target ball as claimed in claim 6 actively self-adaptive regulating, it is characterised in that: described mounting seat
Top uses a locating dowel two to be arranged on support frame as described above by the way of grafting.
8. laser-bounce target ball as claimed in claim 7 actively self-adaptive regulating, it is characterised in that: described steering mechanism
Also include the rotary electric machine two driving described locating dowel two to rotate.
9. laser-bounce target ball as claimed in claim 8 actively self-adaptive regulating, it is characterised in that: two rotary electric machines
Corresponding locating dowel is connected respectively by hexagonal boss structure.
10. laser-bounce target ball as claimed in claim 1 actively self-adaptive regulating, it is characterised in that: described target ball is auxiliary
Helping automated response device also to include control module, described control module is received by wireless network or bluetooth module and controls letter
Cease and feed back the angular position information of described target bag network.
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| CN201610596871.3A CN106094889B (en) | 2016-07-27 | 2016-07-27 | Active self-adaptive adjusting device for laser reflection target ball |
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| CN201610596871.3A CN106094889B (en) | 2016-07-27 | 2016-07-27 | Active self-adaptive adjusting device for laser reflection target ball |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106949833A (en) * | 2017-03-31 | 2017-07-14 | 成都齐友科技有限公司 | The fixing protector of three-dimensional coordinate tracker target ball |
| CN108692680A (en) * | 2018-08-13 | 2018-10-23 | 北京行易道科技有限公司 | Laser calibration tooling |
| CN109813218A (en) * | 2019-01-23 | 2019-05-28 | 南京工程学院 | A kind of precision compensation method of the Three Degree Of Freedom target for laser tracker |
| CN111670337A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| CN115015880A (en) * | 2022-05-30 | 2022-09-06 | 中国科学院合肥物质科学研究院 | Quick adjustable structure suitable for automatic adjustable speculum standard target ball of gesture |
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