CN203479294U - High-precision vertical axis inclination angle measuring system - Google Patents
High-precision vertical axis inclination angle measuring system Download PDFInfo
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- CN203479294U CN203479294U CN201320557835.8U CN201320557835U CN203479294U CN 203479294 U CN203479294 U CN 203479294U CN 201320557835 U CN201320557835 U CN 201320557835U CN 203479294 U CN203479294 U CN 203479294U
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Abstract
The utility model provides a high-precision vertical axis inclination angle measuring system, which comprises a vehicle-mounted platform and a photoelectric theodolite fixedly arranged on the vehicle-mounted platform, wherein the photoelectric theodolite is provided with a first imaging device; the high-precision vertical axis inclination angle measuring system also comprises a television autocollimator provided with a second imaging device and a plane reflecting device which is positioned right below the television autocollimator and is relatively fixed with the ground; the television autocollimator is vertically fixed below the photoelectric theodolite base. The utility model discloses simplify system architecture, improved the efficiency of vertical axis inclination measurement.
Description
Technical field
The utility model relates to a kind of vertical axial rake measuring system, and the vertical axial rake of mode of operation of being specially adapted to not land is measured.
Background technology
The axial rake measurement of hanging down is mainly used in electro-optic theodolite and does not land measuring technique, vertical axial rake directly affects the measuring accuracy of electro-optic theodolite to target, conventional electro-optic theodolite adopts and lands mode of operation, start the strict leveling of the front advanced row transit self of surveying work, with current leveling method, can make the vertical axis error of transit adjust to 3 " below, the composite measurement error of transit can reach 10 " below.And adopt while not landing mode of operation, because rigidity and the gap of car body supporting mechanism caused transit always with a larger vertical axis error, and this error is along with external disturbance also can constantly change, through actual measurement, by the external disturbances such as solar radiation, wind, personnel walk about cause car body hang down axle change can reach 3 ' more than, cannot meet the measuring accuracy requirement of current electro-optic theodolite, therefore vertical axle drunkenness error that must pair warp and weft instrument is that error of tilt is measured in real time, and carries out measurement result to carry out correction-compensation.
At present, the inclination angle measurement method of domestic employing has two kinds of methods: a kind of method is that the two-dimentional obliquity sensor of integrated is installed on transit base, by sensor measure quadrature two to vertical axis error.The major defect of this method is the deformation velocity that the response speed of obliquity sensor does not reach transit car body platform, measurement data lags behind the inclination angle distortion of car body platform, the high frequency that the data obtained cannot truly characterize car body changes, and the low frequency that can only respond to car body by filtering is out of shape.Also having a kind of method is optical non-contact measurement method, adopt two TV autocollimators to monitor (Fig. 1) to the pitching of car body and roll distortion, by Timing System, the data of the both direction of car body are carried out to record, then by measurement data, measurement result is compensated.But also need autocollimator to carry out level-off and levelling is handed over before surveying work starts, the advantage of the method is that real result is accurate, its shortcoming is that to measure setup time oversize, is unfavorable for the requirement to measuring system rapid deployment, motor-driven measurement in engineering.
Utility model content
The utility model provides a kind of high precision axial rake measuring system of hanging down, and is intended to simplied system structure, improves the efficiency that the axial rake that hangs down is measured.
Ultimate principle of the present utility model is:
This method is for meeting the feature of response fast, adopt the measuring method of optical non-contact, adopt a TV autocollimator, vertically be fixed on electro-optic theodolite base below, the vertical axle of electro-optic theodolite rocks and can drive the optical axis of autocollimator to change, adopt mercury level to carry out level indication, by the outgoing picture of TV autocollimator and the reflection image of mercury level, calculate the tilt quantity of the vertical axle both direction (pitching and roll) of transit.The parallel light tube imaging of horizontal stationary being placed by optical system on transit, the imaging data of optical systems is overlapped in interpretation inclination car body front and back two respectively, and the interpretation data that contrasts the two can calculate the aligning angle of two cover coordinate systems.
The technical solution of the utility model is as follows:
The high precision axial rake measuring system of hanging down, comprises vehicular platform and is fixedly installed in the electro-optic theodolite on vehicular platform, this electro-optic theodolite is equipped with the first imaging device; It is characterized in that: described high precision hang down axial rake measuring system also comprise be equipped with the TV autocollimator of the second imaging device and be positioned under TV autocollimator and with the relatively-stationary plane reflection device in ground; Described TV autocollimator is vertically fixed on electro-optic theodolite base below.
Based on above-mentioned basic scheme, the utility model is also further done following optimization and is limited and improve:
Above-mentioned plane reflection device adopts mercury level, thereby guarantees the abswolute level of reflecting surface.
Above-mentioned electro-optic theodolite is also provided with electrolevel.
Above-mentioned the first imaging device and the second imaging device all adopt photoelectric sensor (CCD).
The method that the vertical axial rake measuring system of above-mentioned high precision is demarcated, comprises the following steps:
(1) electro-optic theodolite coarse adjustment is flat;
(2) open TV autocollimator, TV autocollimator sends collimated light beam and is reflected back the second imaging device through mercury level; Adjust the installation site of TV autocollimator, make the image point position of folded light beam be positioned at the center of the imaging surface of the second imaging device;
(3) parallel light tube of horizontal positioned is installed in electro-optic theodolite same level position, the first imaging device receives the light beam from parallel light tube, adjust the decorating position of parallel light tube, make the image point position of this light beam be positioned at the center of the imaging surface of the first imaging device;
(4) dump car carrying platform, the imageable target of the first imaging device and the second imaging device produces displacement vector on imaging surface separately, records changes in coordinates amount and is respectively (Δ X1, Δ Y1), (Δ X2, Δ Y2), calculates according to the following formula:
(5) rotate the azimuth axis of electro-optic theodolite, rotational angle is Δ θ;
(6) dump car carrying platform again, record (the Δ X1 of this displacement vector, Δ Y1), (Δ X2, Δ Y2), whether examine Δ X1=Δ X2, Δ Y1=Δ Y2, if equated, show that step (5) turns over after angle delta θ azimuth axis, the azimuth encoder zero point of electro-optic theodolite and the imaging surface Coordinates calibration of TV autocollimator, complete demarcation.
The utlity model has following advantage:
1. whole system is only used a TV autocollimator, has reduced and has measured required components and parts, has reduced the cost that vertical axial rake is measured, and has realized rapid deployment equipment, obtains fast the feature of true measurement data.
2. the coordinate system that adopts the utility model to utilize simple laboratory equipment to complete two cover systems is aimed at staking-out work, once demarcate the high precision work that just can realize the long period, need not be as classic method all need first correcting device during every task, significantly improved work efficiency.
3. adopt the utility model, the alignment precision obtaining is higher, the residual error that substantially can make two cover system coordinate systems aim at is ignored on the impact of measuring accuracy, thereby making not land a whole set of thinking and the device of measuring has become the modular product that can carry out engineering construction by theory vision.The method is feasible reliable, has larger economic benefit.
Accompanying drawing explanation
Fig. 1 is the deformation measurement method of traditional vehicle carrying platform; Wherein, 10-vehicular platform; 11-pitching distortion; 12-roll distortion.
Fig. 2 is angle measuring principle of the present utility model.
Fig. 3 is that imaging data of the present utility model is processed schematic diagram.
Fig. 4 is the system architecture schematic diagram that the utility model carries out timing signal, vehicular platform according to the direction of arrow in figure lean forward, hypsokinesis.Wherein, 1-electro-optic theodolite (body), the first imaging device on 2-electro-optic theodolite, 3-TV autocollimator, 4-parallel light tube, 5-mercury level, 6-self-level(l)ing rigid leg.
Fig. 5 is that TV autocollimator contrasts figure with electro-optic theodolite optical system imaging.
Embodiment
TV autocollimator is vertically fixedly installed in the vehicle-mounted base of electro-optic theodolite, and holding plane reflection unit (level) on the ground, for system provides horizontal basal plane.When the impacts such as the moment of inertia producing when motion and wind-force can be with the rocking and be out of shape of motor vehicles bodies, the crosshair imaging on CCD after the reflection of mercury level.
According to the characteristics of optical path of non-contact measurement system, system is installed, debugs complete, the relative position of the crosshair of the absolute zero position of the azimuth encoder of electro-optic theodolite and TV autocollimator is just definite, adopt TV autocollimator, can record dynamic leveling and the distortion inaccuracy (being transit Z-axis droop error) of electro-optic theodolite.When transit pedestal attitude changes, outgoing to the light path of plane reflection device can change, produce the deviation angle of α with original light path, this offset angle is pedestal around the deviation angle of CCD target surface X, Y direction, and the light path changing is by amplifying 1 times by deviation angle after the plane scintilloscope primary event on ground.
The image point position of CCD target surface can change, the image acquisition of CCD output is carried out to the interpretation of picture point miss distance to video tracker, and result is sent to main control computer for the real-time correction of target accumulated angle by PS232/422 interface, because adopting the synchronizing signal consistent with electro-optic theodolite, CCD triggers exposure, and process and transmission data at identical treatment cycle, can guarantee the synchronous of the data sampling moment, as shown in Figure 3.
The position of reference point does not need to be imaged on the center of reticule of CCD target surface, and the position that only need record reference point after device initialize is demarcated, differentiates the relative variation of image point position, as the △ X in figure and △ Y during measurement.
Pedestal attitude can be expressed as around the deviation angle of CCD target surface X, Y-direction:
α
x=Δxd/2
α
y=Δyd/2
Wherein △ X, △ Y are the miss distance of relative datum reference point under two orthogonal coordinate systems, the angular resolution that d is single pixel.
Because the optics load of carrying on TV autocollimator and vehicular platform (mainly referring to transit) is two separating components, be individually fixed in the different parts of vehicular platform, so the azimuth axis photoelectric encoder on electro-optic theodolite cannot directly be aimed at TV autocollimator (coordinate system of the second imaging device).A kind of relatively backward method is to adopt the method for the reserved benchmark of machining to aim at two coordinate systems, this method is because middle transition link is more, size is at a distance of too far away, can obtainable precision be less than 5 °, through the analysis to compensation formula, this error may cause the angle error of transit to increase 25 ", so just cannot realize the high-precision surveying work that do not land.
For the vertical axial rake measuring system of above-mentioned high precision, the utility model adopts the parallel light tube of a horizontal positioned as indirect calibration instrument, for demarcating two angular deviations between coordinate system, by this parallel light tube, indirectly benchmark is changed, realization is carried out high-precision calibrating to the azimuth encoder of TV autocollimator and transit, thereby obtains reliable measurement of dip angle data.
The calibration process of the vertical axial rake measuring system of this high precision, uses the first imaging device carrying on electro-optic theodolite, carries front side place a parallel light tube at transit, and parallel light tube visual field must be greater than 1 °.By parallel light tube level-off, with the first imaging device on transit, observe parallel light tube, adjust the installation site of TV autocollimator (the second imaging device), make the crosshair on the two target surface all be positioned at place, visual field, center.Need to adjust the target surface Coordinates calibration that electro-optic theodolite upper position encoder zero-crossing position makes encoder zero-crossing and TV autocollimator, to complete staking-out work.
If the azimuth axis photoelectric encoder on transit through and aligning and demarcate with the CCD target surface coordinate system of TV autocollimator, at vehicular platform, lean forward so, hypsokinesis is when adjust, the direction that on transit, optics load crosshair changes will be different from TV autocollimator CCD target surface, and the amount that measured angle changes is also different, as shown in Figure 5.
Suppose that on transit, the first imaging device is measured that angle is changed to △ X1 and △ Y1, and TV autocollimator (the second imaging device) is measured to such an extent that angle is changed to △ X2 and △ Y2, the angle of vehicular platform adjustment angle rotating shaft and parallel light tube optical axis is φ so, and the azimuth encoder of electro-optic theodolite is △ θ with the angle of aiming at of TV autocollimator CCD.Between the two, there is following relation:
Can obtain:
By adjusting the azimuth encoder of transit, can make
the △ θ now being recorded by TV autocollimator is that the coordinate system of the two is aimed at angle, by the zero setting of pair warp and weft instrument azimuth encoder, completes aligning and the staking-out work of two coordinate systems.
The main error that uses the azimuth encoder of the method pair warp and weft instrument to demarcate, is to cause due to the pixel resolution of optical system on transit and the CCD pixel resolution of TV autocollimator, error larger decision in the two pixel resolution in theory.The pixel resolution of visible ray optical system load at present is generally all greater than 1024 * 1024, according to parallax error, is that half pixel is estimated, the coordinate system alignment error that the method is introduced is:
According to the analysis to compensation formula, transit angle error Δ A, Δ E that known this alignment error brings are no more than 0.2 ", substantially negligible.
Demarcate according to the method described above and compare in classic method, it is high one more than the order of magnitude that precision is wanted, thereby make this covering device possess the ability of efficient measurement.
The method of specifically carrying out high-precision vertical axial rake measurement comprises the following steps:
1. adjust vehicular platform levelness, four rigid legs by vehicular platform by the Level-adjusting to 3 of carrier loader platform ' in;
2. mercury level is placed in to ground, TV autocollimator start, the crosshair picture that now autocollimatic of TV autocollimator (the second imaging device) returns has approached field of view center;
3. use the electrolevel on electro-optic theodolite at the aligning direction of TV autocollimator target surface, to measure the inclination angle (pitching and roll) of both direction, by electronics level measurement value, TV autocollimator is put to number.
4. electro-optic theodolite now can carry out surveying work, then with the measured value of TV autocollimator, the measurement data of photoelectric auto-collimator is compensated and corrected.
5. while working long hours, every a fixed cycle (suggestion is 15 minutes), available electron level meter is checked the measurement data of TV autocollimator, guarantees reliable measuring data.Calibration process is step 3,4.
Claims (4)
1. the vertical axial rake measuring system of high precision, comprises vehicular platform and is fixedly installed in the electro-optic theodolite on vehicular platform, and this electro-optic theodolite is equipped with the first imaging device; It is characterized in that: described high precision hang down axial rake measuring system also comprise be equipped with the TV autocollimator of the second imaging device and be positioned under TV autocollimator and with the relatively-stationary plane reflection device in ground; Described TV autocollimator is vertically fixed on electro-optic theodolite base below.
2. the vertical axial rake measuring system of high precision according to claim 1, is characterized in that: described plane reflection device adopts mercury level.
3. the vertical axial rake measuring system of high precision according to claim 1, is characterized in that: described electro-optic theodolite is also provided with electrolevel.
4. the vertical axial rake measuring system of high precision according to claim 1, is characterized in that: described the first imaging device and the second imaging device all adopt photoelectric sensor.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487013A (en) * | 2013-09-09 | 2014-01-01 | 中国科学院西安光学精密机械研究所 | High-precision vertical axis inclination angle measuring system and calibration method thereof |
| CN104764437A (en) * | 2015-04-09 | 2015-07-08 | 中国北方车辆研究所 | Method for measuring car body tilting of armored car by electronic video |
| CN105571525A (en) * | 2015-12-17 | 2016-05-11 | 中国科学院国家天文台南京天文光学技术研究所 | Quantified detection and adjusting method and device for mutual positions of large-scale worm-gear pair |
| CN106767420A (en) * | 2017-02-13 | 2017-05-31 | 苏州迅威光电科技有限公司 | A kind of apparatus and method of total powerstation vertical pivot group precision image fully-automated synthesis |
| CN108132027A (en) * | 2016-11-30 | 2018-06-08 | 北京航天计量测试技术研究所 | Alignment measurement instrument integration school zero and alignment device |
| CN109540098A (en) * | 2018-11-22 | 2019-03-29 | 北京航天计量测试技术研究所 | A kind of non-contacting inertial platform levelness measuring device and method |
| CN114061537A (en) * | 2021-10-26 | 2022-02-18 | 西安电子工程研究所 | Device and method for calibrating positioning accuracy of radar rotary table by adopting electronic theodolite |
-
2013
- 2013-09-09 CN CN201320557835.8U patent/CN203479294U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487013A (en) * | 2013-09-09 | 2014-01-01 | 中国科学院西安光学精密机械研究所 | High-precision vertical axis inclination angle measuring system and calibration method thereof |
| CN103487013B (en) * | 2013-09-09 | 2016-08-24 | 中国科学院西安光学精密机械研究所 | High-precision vertical axis inclination angle measuring system and calibration method thereof |
| CN104764437A (en) * | 2015-04-09 | 2015-07-08 | 中国北方车辆研究所 | Method for measuring car body tilting of armored car by electronic video |
| CN105571525A (en) * | 2015-12-17 | 2016-05-11 | 中国科学院国家天文台南京天文光学技术研究所 | Quantified detection and adjusting method and device for mutual positions of large-scale worm-gear pair |
| CN105571525B (en) * | 2015-12-17 | 2017-11-28 | 中国科学院国家天文台南京天文光学技术研究所 | Quantization detection, method of adjustment and its equipment of large-scale worm couple mutual alignment |
| CN108132027A (en) * | 2016-11-30 | 2018-06-08 | 北京航天计量测试技术研究所 | Alignment measurement instrument integration school zero and alignment device |
| CN106767420A (en) * | 2017-02-13 | 2017-05-31 | 苏州迅威光电科技有限公司 | A kind of apparatus and method of total powerstation vertical pivot group precision image fully-automated synthesis |
| CN109540098A (en) * | 2018-11-22 | 2019-03-29 | 北京航天计量测试技术研究所 | A kind of non-contacting inertial platform levelness measuring device and method |
| CN114061537A (en) * | 2021-10-26 | 2022-02-18 | 西安电子工程研究所 | Device and method for calibrating positioning accuracy of radar rotary table by adopting electronic theodolite |
| CN114061537B (en) * | 2021-10-26 | 2023-08-29 | 西安电子工程研究所 | Device and method for calibrating radar turntable setting precision by adopting electronic theodolite |
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