CN108286997A - A kind of laser tracking measurement system and method - Google Patents
A kind of laser tracking measurement system and method Download PDFInfo
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- CN108286997A CN108286997A CN201810039142.7A CN201810039142A CN108286997A CN 108286997 A CN108286997 A CN 108286997A CN 201810039142 A CN201810039142 A CN 201810039142A CN 108286997 A CN108286997 A CN 108286997A
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- 238000005259 measurement Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 14
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 14
- 238000001514 detection method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of laser tracking measurement system and methods, including laser range sensor, speculum I, reflection target ball, industrial personal computer, signal processing card, spectroscope, Two-dimensional PSD, space two degrees of freedom rotating mechanism, speculum II, it is characterised in that：By controlling real-time tracking of the space two degrees of freedom rotating mechanism realization to reflection target ball；By acquiring the rotational angle of the distance signal and the space two degrees of freedom rotating mechanism of the laser range sensor, the real-time measurement of target ball three-dimensional coordinate is realized.System operatio is simple, can effectively improve the checkability of hoisting machinery, saves inspection cost, improves inspection quality, ensures the safe to use of hoisting machinery conscientiously and extend the service life of hoisting machinery.
Description
Technical field
The present invention relates to hoisting machinery detection techniques, and in particular to a kind of laser tracking measurement for hoisting machinery detection
System and method.
Background technology
With the rapid development of China's manufacturing industry, hoisting machinery plays in the fields such as China's modern industrial production and logistics
Very important effect.In China, according to the requirements such as the relevant regulation of special equipment, department regulation, specification and standard, lifting
Machinery must carry out installation supervision and inspection or first check before coming into operation, needed after use according to certain round of visits into
Row periodic inspection.
It is advised according to current standard and inspection, hoisting machinery inspection project is more, since hoisting machinery inspection aspect is not special
Instrument, the type of testing instruments is also various.Lower amount of deflection of girder and Static stiffness etc. are measured for example, by using theodolite, adopted
The camber of girder is measured with spirit level.When inspection, reviewer needs to carry a variety of measuring instruments.Measuring instrument is grasped
It is cumbersome to make process, checkability is low, and testing accuracy can not also ensure.
Invention content
In view of the above-mentioned problems, an object of the present invention is to provide a kind of laser tracking measurement for hoisting machinery detection
System can realize the inspection of the multiple inspection projects of hoisting machinery.
In view of the above-mentioned problems, it is a further object of the present invention to provide a kind of laser tracking measurements for hoisting machinery detection
Method, the measurement method is easy to operate, can effectively improve the checkability of hoisting machinery, saves inspection cost, improves and examines matter
Amount ensures the safe to use of hoisting machinery conscientiously and extends the service life of hoisting machinery.
The present invention is that technical solution used by solving its technical problem is：
A kind of laser tracking measurement system includes the industrial personal computer and signal processor of electric connection, it is characterised in that：Also wrap
Include optic path mechanism, space two degrees of freedom rotating mechanism and the volume for measuring space two degrees of freedom rotating mechanism rotational angle
Code device；
The optic path mechanism include laser range sensor, speculum I, reflection target ball, spectroscope, Two-dimensional PSD with
And speculum II；The speculum I is arranged horizontal by 45 degree of angles, and the laser range sensor is located at the water of speculum I
In flat plane of incidence, the spectroscope is located in the vertical incidence plane of speculum I, and I any point of speculum and Laser Measuring
It is vertical in same level with spectroscopical line away from sensor 1；The level that the Two-dimensional PSD is located at spectroscope reflection light goes out
Penetrate end；
The speculum II is mounted on the two degrees of freedom rotating mechanism of space and is located at spectroscopical surface, passes through sky
Between two degrees of freedom rotating mechanism adjustment speculum II angle, can by laser light incident to reflect target ball；
The laser range sensor, Two-dimensional PSD and encoder are connected with signal processor respectively.
Further, the space two degrees of freedom rotating mechanism includes upper rotating mechanism, lower rotating mechanism, outer sleeve and base
Seat, the lower rotating mechanism are installed in outer sleeve and pedestal, can be rotated around vertical axes；The upper rotating mechanism installation
It is fixed on lower rotating mechanism, pitch rotation may be implemented, and rotated together around vertical axes with lower rotating mechanism, the reflection
Mirror II is mounted on upper rotating mechanism, and there are two the encoder settings, is respectively used to detect rotating mechanism and lower rotating machine
The rotational angle of structure.
Further, it is separately provided for light on the pedestal and lower rotating mechanism and wears the first, second through-hole penetrated, institute
State spectroscope and speculum I be sequentially located at the corresponding lower section of the second through-hole from top to bottom, the speculum I also with first through hole phase
To setting.
Further, the lower rotating mechanism includes lower driving branch driven branch under, under second through-hole is located at
On driven branch.
Further, the lower driving branch includes motor I, motor mounting plate, thrust ball bearing, shaft coupling I, lower driving
Axis, driving gear and snap ring I；The motor I is mounted on motor mounting plate；The motor mounting plate is fixedly mounted
In on pedestal；The thrust ball bearing is installed in the mounting hole of motor mounting plate, and is coordinated with motor I and installed；It is described
Driving gear be mounted in lower drive shaft, and pass through shaft coupling and motor I and connect；The snap ring I is installed on lower driving
In groove on axis, stationary drive gear.
Further, the lower driven chain includes angular contact ball bearing pair I, lower driven shaft, angular contact ball bearing pair II, axis
Set, driven gear and snap ring II；The driven gear is installed on lower driven shaft, passes through the axis being installed on lower driven shaft
Set and snap ring II are fixed；The angular contact ball bearing pair I and angular contact ball bearing pair II is respectively by the angle of two arranged in series
Contact ball bearing is composed of, and is installed in the mounting hole of lower driven shaft and outer sleeve.
Further, the upper rotating mechanism includes the upper tilting mirror structure for driving branch, installing speculum II, is mounted on down
Rotating base on rotating mechanism and counterweight branch；The upper driving branch includes motor II, motor mounting rack, shaft coupling
II, upper drive shaft and angular contact ball bearing pair III.The motor II is fixedly installed in upper rotation base by motor mounting rack
On seat；The upper drive shaft is connected by shaft coupling II and motor II, passes through upper rotating base and angular contact ball bearing pair III
It is connect with tilting mirror pedestal；The angular contact ball bearing that the angular contact ball bearing pair III is configured face-to-face by two is composed of,
It is installed in the mounting hole of drive shaft and upper rotating base.
Further, the counterweight branch includes clump weight, balancer shaft and angular contact bearing pair IV；Described matches
Pouring weight is mounted on balancer shaft；The balancer shaft passes through upper rotating base and angular contact ball bearing pair IV and tilting mirror pedestal
Connection；The angular contact ball bearing that the angular contact ball bearing pair IV is configured face-to-face by two is composed of, and is installed on counterweight
In the mounting hole of axis and upper rotating base.
Further, the target ball that reflects is by incident laser backtracking.
A kind of laser tracking measurement method, it is characterised in that include the following steps：
1) it opens industrial personal computer and opens Survey Software, laser sensor starts and carry out communication check, if communication is good
It carries out in next step；
2) it is origin that a point, which is arranged, and reflection target ball is placed on the aspect, the three-dimensional coordinate of the point is measured；Again with origin
Place takes a bit respectively on the straight line for three spatial verticals of starting point, and reflection target ball is positioned on these aspects, these points are measured
Three-dimensional coordinate, test software according to these point three-dimensional coordinates establish a space right-angle three-dimensional system of coordinate；
3) reflection target ball is positioned over measurement initial position, adjustment space two degrees of freedom rotating mechanism makes reflection laser
Center and the center of Two-dimensional PSD overlap, and measure the three-dimensional coordinate of reflection target ball；
4) reflection target ball is moved to and measures position, in the process of moving, the center deviation Two-dimensional PSD of reflection laser
Center, Two-dimensional PSD by shifted signal feed back to signal processing card, signal processing card combination laser ranging signal and shifted signal into
Row analyzing processing, control space two degrees of freedom rotating mechanism rotation, the center at the center and Two-dimensional PSD that make reflection laser overlaps；
5) when reflecting target ball arrival measurement position, the D coordinates value of reflection target ball is measured, Survey Software is at the beginning of target ball
The D coordinates value progress calculation process of beginning position and measurement position, obtains the parameter value that hoisting machinery examines project.
The beneficial effects of the invention are as follows：
Laser tracking measurement system of the present invention and method, by controlling the space two degrees of freedom rotating machine
Structure realizes the real-time tracking to reflecting target ball；Pass through the distance signal for acquiring the laser range sensor and the space
The rotational angle of two degrees of freedom rotating mechanism realizes the real-time measurement of target ball three-dimensional coordinate；Hoisting machinery girder may be implemented
Multiple inspections such as camber, lower amount of deflection and Static stiffness, the upper set-back of cantilever, the straightness of track and difference in height, the span of wheel
Test the inspection of project.System operatio is simple, can effectively improve the checkability of hoisting machinery, saves inspection cost, improves and examines
Quality ensures the safe to use of hoisting machinery conscientiously and extends the service life of hoisting machinery.
Description of the drawings
It is further detailed with reference to the accompanying drawings and detailed description：
Fig. 1 is the system structure diagram of present pre-ferred embodiments；
Fig. 2 is the system control block figure of present pre-ferred embodiments；
Fig. 3 is the optical signal transmission figure of present pre-ferred embodiments；
Fig. 4 is present pre-ferred embodiments space two degrees of freedom rotating mechanism structural schematic diagram；
Fig. 5 is the lower rotating mechanism explosive view of present pre-ferred embodiments space two degrees of freedom rotating mechanism structure；
Fig. 6 is the upper rotating mechanism explosive view of present pre-ferred embodiments space two degrees of freedom rotating mechanism structure.
Specific implementation mode
The design of the present invention and technique effect are clearly and completely described below with reference to embodiment and attached drawing, with
It is completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is that the part of the present invention is implemented
Example, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art is not before making the creative labor
Obtained other embodiment is put, the scope of protection of the invention is belonged to.
Referring to Fig.1, the industrial personal computer 4 and signal processor 5 of Fig. 2, a kind of laser tracking measurement system, including electric connection,
It is characterized in that：Further include optic path mechanism, space two degrees of freedom rotating mechanism and is rotated for measuring space two degrees of freedom
The encoder of mechanism rotational angle；
The optic path mechanism includes laser range sensor 1, speculum I 2, reflection target ball 3, spectroscope 6, two dimension
PSD7 and speculum II 9；The speculum I 2 is arranged horizontal by 45 degree of angles, and the laser range sensor 1 is located at anti-
It penetrates in the glancing incidence plane of mirror I 2, the spectroscope 6 is located in the vertical incidence plane of speculum I 2, and speculum I is arbitrary
It is a little vertical in same level with the line of laser range sensor 1 and spectroscope 6；The Two-dimensional PSD 7 is located at spectroscope 6
The horizontal exit end of reflection light；The speculum II 9 is mounted on the two degrees of freedom rotating mechanism of space and is located at spectroscope 6
Surface, by space two degrees of freedom rotating mechanism adjust speculum II 9 angle, can by laser light incident to reflect target ball 3；
The laser range sensor 1, Two-dimensional PSD 7 and encoder are connected with signal processor 5 respectively.
With further reference to Fig. 3, when laser range sensor 1 sends out beam of laser, horizontal emission to speculum I 2, speculum
I 2 by the laser Vertical Launch of glancing incidence to spectroscope 6.Incident ray is divided into horizontal and vertical two beams laser by spectroscope 6,
Wherein vertical laser continues onwards transmission to speculum II 9.By by controlling the space two degrees of freedom rotating mechanism tune
The angle of whole speculum II 9 makes laser light incident to reflection target ball 3.Target ball 3 is reflected by incident laser backtracking to speculum
II 9, speculum II 9 reflects the laser light to spectroscope 6 again.Laser is divided into horizontal and vertical two beams laser by spectroscope 6, and level swashs
Light is incident on Two-dimensional PSD 7, and vertical laser passes through I 2 glancing incidence of speculum to laser range sensor 1.
Further, the space two degrees of freedom rotating mechanism includes upper rotating mechanism 10, lower rotating mechanism 20, outer sleeve 30
And pedestal 40, the lower rotating mechanism 20 are installed in outer sleeve 30 and pedestal 40, can be rotated around vertical axes；Described
Upper rotating mechanism 10 is mounted on lower rotating mechanism 20, pitch rotation may be implemented, and together with lower rotating mechanism 20
It is rotated around vertical axes, the speculum II 9 is mounted on upper rotating mechanism 10, and there are two the encoder settings, is respectively used to
The rotational angle of rotating mechanism 10 and lower rotating mechanism 20 in detection.
Further, light is separately provided on the pedestal 40 and lower rotating mechanism 20, and to wear first, second penetrated logical
Hole, the spectroscope 6 and speculum I 2 are sequentially located at the corresponding lower section of the second through-hole from top to bottom, and the speculum I 2 is also with the
One through-hole is oppositely arranged.
Further, the lower rotating mechanism 20 includes lower driving branch 21 driven branch 22, second through-hole under
Under being located on driven branch 22.
Further, the lower driving branch 21 includes motor I 211, motor mounting plate 212, thrust ball bearing 213, connection
Axis device I 214, lower drive shaft 215, driving gear 216 and snap ring I 217；The motor I 211 is mounted on motor mounting plate
On 212；The motor mounting plate 212 is fixedly installed on pedestal 40；The thrust ball bearing 213 is installed on motor installation
In the mounting hole of plate 212, and coordinates with motor I 211 and install；The driving gear 216 is mounted in lower drive shaft 215,
And it is connected by shaft coupling 214 and motor I 211；The snap ring I 217 is installed in the groove in lower drive shaft 215, Gu
Surely gear 216 is driven.
Further, the lower driven chain 22 includes angular contact ball bearing pair I 221, lower driven shaft 222, angular contact ball axis
Honour II 223, axle sleeve 224, driven gear 225 and snap ring II 226；The driven gear 225 is installed on lower driven shaft 222
On, it is fixed by the axle sleeve 224 and snap ring II 226 that are installed on lower driven shaft 222；I 221 He of angular contact ball bearing pair
Angular contact ball bearing pair II 223 is composed of by the angular contact ball bearing of two arranged in series respectively, is installed on lower driven shaft 222
In the mounting hole of outer sleeve 3.
Further, the upper rotating mechanism 10 include it is upper driving branch 11, install speculum II 9 tilting mirror structure 12,
Rotating base 13 on lower rotating mechanism 20 and counterweight branch 14；The upper driving branch 11 include motor II 111,
Motor mounting rack 112, shaft coupling II 113, upper drive shaft 114 and angular contact ball bearing pair III 115.The motor II 111
It is fixedly installed on upper rotating base 13 by motor mounting rack 112；The upper drive shaft 114 passes through II 113 He of shaft coupling
Motor II 111 connects, and upper rotating base 13 and angular contact ball bearing pair III 115 is passed through to be connect with tilting mirror pedestal 121；The angle
The angular contact ball bearing that contact ball bearing pair III 115 is configured face-to-face by two is composed of, and is installed on drive shaft 114 and upper
In the mounting hole of rotating base 13.
Further, the counterweight branch 14 includes clump weight 141, balancer shaft 142 and angular contact bearing pair IV
143；The clump weight 141 is mounted on balancer shaft 142；The balancer shaft 142 passes through upper rotating base 13 and angle
Contact ball bearing pair IV 143 is connect with tilting mirror pedestal 121；The angular contact ball bearing pair IV 143 is by two configurations face-to-face
Angular contact ball bearing be composed of, be installed in the mounting hole of balancer shaft 142 and upper rotating base 13.
A kind of laser tracking measurement method, it is characterised in that include the following steps：
1) it opens industrial personal computer 4 and opens Survey Software, laser sensor 1 starts and carry out communication check, if communication is good
It then carries out in next step；
2) it is origin that a point, which is arranged, and reflection target ball 3 is placed at that point, the three-dimensional coordinate of the point is measured；Again with original
It is taken respectively on straight line at point for three spatial verticals of starting point a bit, reflection target ball 3 is positioned on these aspects, these are measured
The three-dimensional coordinate of point, test software establish a space right-angle three-dimensional system of coordinate according to the three-dimensional coordinate of these points；
3) reflection target ball 3 is positioned over measurement initial position, adjustment space two degrees of freedom rotating mechanism makes reflection laser
Center and the center of Two-dimensional PSD overlap, and measure the three-dimensional coordinate of reflection target ball；
4) reflection target ball 3 is moved to and measures position, in the process of moving, the center deviation Two-dimensional PSD 7 of reflection laser
Center, shifted signal feeds back to signal processing card 5 by Two-dimensional PSD 7, and signal processing card 5 combines laser ranging signal and offset
Signal carries out analyzing processing, and control space two degrees of freedom rotating mechanism rotation makes in the center and Two-dimensional PSD 7 of reflection laser
The heart overlaps；
5) when reflecting the arrival measurement position of target ball 3, the D coordinates value of reflection target ball is measured, Survey Software is at the beginning of target ball
Beginning and measures the D coordinates value of position and carries out calculation process position, obtain the camber of hoisting machinery girder, lower amount of deflection and
Static stiffness, the upper set-back of cantilever, the straightness of track and difference in height, the span of wheel etc. examine the parameter value of project.
Embodiment of the present invention are not limited by the above embodiments, as long as it reaches this hair with essentially identical means
Bright technique effect should all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of laser tracking measurement system includes the industrial personal computer and signal processor of electric connection, it is characterised in that：Further include
Optic path mechanism, space two degrees of freedom rotating mechanism and the coding for measuring space two degrees of freedom rotating mechanism rotational angle
Device；
The optic path mechanism includes laser range sensor, speculum I, reflection target ball, spectroscope, Two-dimensional PSD and anti-
Penetrate mirror II；The speculum I is arranged horizontal by 45 degree of angles, and the level that the laser range sensor 1 is located at speculum I enters
It penetrates in plane, the spectroscope is located in the vertical incidence plane of speculum I, and I any point of speculum is passed with laser ranging
Sensor and spectroscopical line are vertical in same level；The Two-dimensional PSD is located at the horizontal exit end of spectroscope reflection light；
The speculum II is mounted on the two degrees of freedom rotating mechanism of space and is located at spectroscopical surface, passes through space two
Degree of freedom rotating mechanism adjusts the angle of speculum II, can be by laser light incident to reflection target ball；
The laser range sensor, Two-dimensional PSD and encoder are connected with signal processor respectively.
2. a kind of laser tracking measurement system according to claim 1, it is characterised in that：The space two degrees of freedom rotation
Mechanism includes upper rotating mechanism, lower rotating mechanism, and outer sleeve and pedestal, the lower rotating mechanism are installed on outer sleeve and base
In seat, it can be rotated around vertical axes；The upper rotating mechanism is mounted on lower rotating mechanism, and pitching may be implemented and turn
It is dynamic, and rotated together around vertical axes with lower rotating mechanism, the speculum II is mounted on upper rotating mechanism, the encoder
There are two settings, is respectively used to detect the rotational angle of rotating mechanism and lower rotating mechanism.
3. a kind of laser tracking measurement system according to claim 2, it is characterised in that：The pedestal and lower rotating mechanism
On be separately provided for light and wear the first, second through-hole penetrated, the spectroscope and speculum I are sequentially located at from top to bottom
The corresponding lower section of two through-holes, the speculum I are also oppositely arranged with first through hole.
4. a kind of laser tracking measurement system according to claim 3, it is characterised in that：The lower rotating mechanism includes
Lower driving branch driven branch under, under second through-hole is located on driven branch.
5. a kind of laser tracking measurement system according to claim 4, it is characterised in that：The lower driving branch includes
Motor I, motor mounting plate, thrust ball bearing, shaft coupling I, lower drive shaft, driving gear and snap ring I；The motor I is installed
It is fixed on motor mounting plate；The motor mounting plate is fixedly installed on pedestal；The thrust ball bearing is installed on electricity
In the mounting hole of machine mounting plate, and coordinates with motor I and install；The driving gear is mounted in lower drive shaft, and is led to
It crosses shaft coupling and motor I connects；The snap ring I is installed in the groove in lower drive shaft, stationary drive gear.
6. a kind of laser tracking measurement system according to claim 4, it is characterised in that：Driven branch includes under described
Angular contact ball bearing pair I, lower driven shaft, angular contact ball bearing pair II, axle sleeve, driven gear and snap ring II；Described is driven
Gear is installed on lower driven shaft, and the axle sleeve by being installed on lower driven shaft and snap ring II are fixed；The angular contact ball axis
Honour I and angular contact ball bearing pair II be composed of respectively by the angular contact ball bearing of two arranged in series, be installed on down driven
In the mounting hole of axis and outer sleeve.
7. a kind of laser tracking measurement system according to claim 3, it is characterised in that：The upper rotating mechanism includes
Upper driving branch, tilting mirror structure, the rotating base on lower rotating mechanism and the counterweight branch for installing speculum II；It is described
Upper driving branch include motor II, motor mounting rack, shaft coupling II, upper drive shaft and angular contact ball bearing pair III；It is described
Motor II be fixedly installed on upper rotating base by motor mounting rack；The upper drive shaft passes through shaft coupling II and motor
II connection, passes through upper rotating base and angular contact ball bearing pair III to be connect with tilting mirror pedestal；The angular contact ball bearing pair III
The angular contact ball bearing configured face-to-face by two is composed of, and is installed in the mounting hole of drive shaft and upper rotating base.
8. a kind of laser tracking measurement system according to claim 7, it is characterised in that：The counterweight branch packet
Include clump weight, balancer shaft and angular contact bearing pair IV；The clump weight is mounted on balancer shaft；The balancer shaft
It is connect with tilting mirror pedestal across upper rotating base and angular contact ball bearing pair IV；The angular contact ball bearing pair IV is by two faces
The angular contact ball bearing of opposite configuration is composed of, and is installed in the mounting hole of balancer shaft and upper rotating base.
9. a kind of laser tracking measurement system according to claim 1, it is characterised in that：The target ball that reflects is by incidence
Laser backtracking.
10. a kind of laser tracking measurement method, it is characterised in that include the following steps：
1) it opens industrial personal computer and opens Survey Software, laser sensor starts and carry out communication check, is carried out if communication is good
In next step；
2) it is origin that a point, which is arranged, and reflection target ball is placed on the aspect, the three-dimensional coordinate of the point is measured；Again to be at origin
It is taken respectively on the straight line of three spatial verticals of starting point a bit, reflection target ball is positioned on these aspects, measure the three of these points
Dimension coordinate, test software establish a space right-angle three-dimensional system of coordinate according to the three-dimensional coordinate of these points；
3) reflection target ball is positioned over measurement initial position, adjustment space two degrees of freedom rotating mechanism makes the center of reflection laser
It is overlapped with the center of Two-dimensional PSD, and measures the three-dimensional coordinate of reflection target ball；
4) reflection target ball is moved to and measures position, in the process of moving, in the center deviation Two-dimensional PSD of reflection laser
Shifted signal is fed back to signal processing card by the heart, Two-dimensional PSD, and signal processing card combination laser ranging signal and shifted signal carry out
Analyzing processing, control space two degrees of freedom rotating mechanism rotation, the center at the center and Two-dimensional PSD that make reflection laser overlaps；
5) when reflecting target ball arrival measurement position, the D coordinates value of reflection target ball is measured, Survey Software is to target ball initial bit
The D coordinates value for setting and measuring position carries out calculation process, obtains the parameter value that hoisting machinery examines project.
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| CN201810039142.7A CN108286997B (en) | 2018-01-16 | 2018-01-16 | Laser tracking measurement system and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186373A (en) * | 2019-05-29 | 2019-08-30 | 北京工业大学 | It is a kind of be added to counterweight balance using standard ball as the laser tracking measurement system of reflection unit |
| CN110207587A (en) * | 2019-06-10 | 2019-09-06 | 北京航天计量测试技术研究所 | A kind of prism of corner cube optical apex measuring device and measurement method |
| CN110567377A (en) * | 2019-06-10 | 2019-12-13 | 北京航天计量测试技术研究所 | Pyramid prism length standard rod length measuring device and measuring method thereof |
| CN113715058A (en) * | 2021-08-11 | 2021-11-30 | 埃夫特智能装备股份有限公司 | Industrial robot connecting rod rigidity testing method |
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