Instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation posture measurementTechnical Field
The invention belongs to the technical field of measuring devices, and particularly relates to an instrument for simultaneously providing coordinate tracking measurement and high-precision collimation posture measurement.
Background
Six-dimensional measurement of space position and attitude is carried out by means required in the processes of large-scale component assembly butt joint, space detector load assembly, unmanned aerial vehicle high-precision positioning, robot calibration and other manufacturing, inspection and space positioning. At present, five methods for simultaneously measuring the space position and the attitude in a large-size range are available:
The first method is a multi-station multi-point space coordinate method, which adopts a portable single-point coordinate measuring system to measure cooperative target points fixedly arranged at different positions on a measured target, obtains the space coordinate values of the series of cooperative target points, and realizes the position and attitude angle of the measured target measuring point through multi-point coordinate matching calculation, wherein the portable single-point coordinate measuring system typically represents four types of an articulated arm type flexible three-coordinate measuring system, a laser tracker ball coordinate measuring system, an electronic theodolite coordinate measuring system and a portable light pen coordinate measuring system. The method has the advantages that the space coordinate measurement precision of the portable single-point coordinate measurement system is high, the higher gesture measurement precision can be obtained by respectively measuring the cooperative target points at different positions on the measured target, the gesture measurement error can be controlled to be +/-0.01 degrees, the portable single-point coordinate measurement system can only measure one point at a time, the real-time measurement of the position and the gesture can be realized only by synchronously measuring a plurality of sets of measurement systems, or the position and the gesture can be obtained by respectively measuring the cooperative target points by adopting a single station in a static solution mode.
The second method is a single-station multi-point space coordinate method, which adopts a convenient image multi-point coordinate measuring system to simultaneously measure the cooperative target points fixedly arranged at different positions on the measured target, acquires the space coordinates of the series of cooperative target points, and then realizes the measurement of the position and the attitude angle of the measured target measuring point through the matching calculation of the multi-point coordinates acquired simultaneously. The portable multi-point coordinate measuring system typically represents an instrument including a monocular vision measuring system, a binocular vision measuring system, and the like. The method has the advantages that the space coordinates of a plurality of cooperative target points can be obtained at one time through a measuring system, real-time space position and attitude measurement can be realized, the method is limited by the measuring principle of a photogrammetry system, the space coordinate measurement precision is lower, the space attitude measurement error in a small range can be lower than +/-0.05 degrees, the method is mainly applied to the attitude positioning of a space target and the control of a full-field measuring network, the attitude measurement precision is lower, and the scheme can not develop high-precision attitude measurement work aiming at vector references established on a mirror surface.
The third is a compound space position posture measurement method, which comprises two schemes, wherein one scheme is to utilize a portable single-point coordinate measurement system to carry out real-time high-precision coordinate measurement of space single points, and then combine the portable image type multi-point coordinate measurement system to realize multi-point synchronous posture measurement, thereby achieving the purpose of real-time high-precision measurement of space position posture based on a cooperative target, and a typical system is a laser tracking dynamic posture measurement system formed by combining a laser tracker with a T-MAC 6D, and the typical application is that a robot is calibrated by CN109591019B, which is a space accurate positioning method of an nondeterministic positioning characteristic object, CN111633687A, which is an industrial robot terminal shake parameter detection system and method, and the like. In another scheme, a portable single-point coordinate measuring system is adopted to perform real-time high-precision position measurement of a space single point, three-dimensional attitude measurement is realized by combining an angle measurement device and an inertial navigation device, the purpose of real-time high-precision measurement of the space position attitude based on a cooperative target is also achieved, and a typical system is a laser tracking dynamic attitude measuring system consisting of an American API laser tracker (a multidimensional measuring system with 360-degree angle working range in U.S. patent 20170370700A 1) and an STS six-dimensional intelligent sensor. The current measurement radius of the composite spatial position and posture measurement method can reach 30m, the measurement error of the spatial coordinate point is (+/-) (15 mu m+6 mu m/m), and the posture measurement error is + -0.01 degrees. The disadvantage is that it is difficult to perform high-precision attitude measurement work on the vector reference established on the mirror surface, and the attitude measurement precision is difficult to further improve.
The fourth is an inertial device measurement method, the method utilizes the strapdown inertial device to acquire the space position by adopting an integral method, acquires the gesture by sensing gravity and acceleration, has the characteristics of high measurement rate and independent operation, but because the strapdown inertial device acquires the space position by adopting an integral method, the space position precision measurement is lower, in addition, in order to achieve higher space position and gesture measurement precision, the strapdown inertial device needs a complex structure to ensure, has lower reliability, shorter fault interval time and higher manufacturing cost, and is mainly used in the fields of remote guidance, gesture control and the like such as missile navigation, airplane control and the like at present.
The fifth is a position and posture measurement method based on combination of collimation and aiming method, the method mainly uses collimation method to realize posture measurement, two-dimensional displacement measurement is realized through optical aiming or laser method, and because two-dimensional collimation measuring instruments can only carry out two-dimensional posture measurement, two collimation measuring instruments can be used to realize high-precision posture measurement through simultaneous collimation measurement of adjacent vertical cubic mirrors, and the method is typically applied to realizing posture measurement when space detector load is assembled based on a manual aiming measurement scheme of double longitude and latitude. According to the scheme, the load attitude angle is obtained by obtaining the horizontal angle and the pitching angle of the measurement theodolite and the ground theodolite through manual mutual aiming based on the collimation of the electronic theodolite and the reference mirror, so that each load position to be measured needs to be manually erected and the theodolite is subjected to collimation measurement, and the problems that the manual measurement difficulty is high, the efficiency is low, the measurement accuracy is easily influenced by external factors and the like are solved due to the fact that the space detector is complex in structure and the load layout position is diversified. In addition, the device for high-precision real-time resetting measurement of the wind tunnel balance loading head disclosed in the patent CN111879496A adopts the method, but the method has a small measurement range of general attitude and a measurement range of less than 0.1 degrees, and a displacement measurement range of generally less than 5mm, so that the device has insufficient applicability and is mainly applied to the field of wind tunnel balance attitude measurement requiring collimation measurement.
Disclosure of Invention
The invention aims to provide an instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation attitude measurement, which utilizes a ranging component and a two-dimensional tracking angle measurement component to form a spherical coordinate measurement system to realize coordinate tracking measurement within a large space range of a cooperative target, utilizes an indicating light integrated in an integrated optical component to combine with a zooming collimation measurement component and the ranging component to synchronously realize automatic measurement of the collimation attitude of the cooperative target with a plane reference mirror, so as to solve the problem of automatic collimation measurement of the load attitude in the load manufacturing process of a space detector, utilizes an adaptive collimation target component to realize self-adaptive adjustment of a return light direction, can realize high-precision measurement of the space position and the attitude of a measured piece provided with the adaptive collimation target based on a collimation method, and meets the requirements of position attitude calibration of a robot and attitude measurement of a butt joint position of large-sized parts.
The aim of the invention is achieved by the following technical scheme.
The invention discloses an instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation posture measurement, which mainly comprises a two-dimensional tracking angle measurement assembly, an integrated optical assembly, an automatic zooming collimation assembly, a distance measurement assembly and an integrated control measurement assembly.
The two-dimensional tracking angle measurement assembly is a main body of the structural member, is used for installing a reflection plane mirror, realizing high-precision horizontal rotation and measurement and pitching rotation and measurement of the reflection plane mirror, and provides horizontal angle, pitch angle and ranging information for acquiring ranging light after the ranging laser is reflected by a rotation center of the plane mirror, and is provided with a transparent reflecting mirror, so that the ranging laser, tracking indication laser and collimation indication light in the integrated optical assembly can be converged together by an optical central axis in the automatic zooming collimation assembly, and then reflected by the reflecting mirror, reaches a measured cooperative target assembly, returns to the integrated optical assembly and the automatic zooming collimation assembly by an original path after being reflected by the measured cooperative target assembly, acquires ranging information of a combined horizontal angle, pitch angle and ranging assembly by the integrated control measurement assembly, realizes high-precision measurement of the spatial coordinates or gestures of the measured cooperative target, and realizes the real-time calculation of the distance measurement, and the distance measurement of the integrated optical assembly can realize the real-time calculation of the distance measurement point, and the real-time calculation of the distance measurement and the measured focal point, and the real-time calculation of the distance measurement of the measured point by the integrated optical assembly, meanwhile, the device is used for obtaining and outputting the ranging information of the ranging component, extracting and processing the central point of the collimation indicating light and measuring the space position and the gesture.
Preferably, the two-dimensional tracking angle measurement assembly comprises a round grating reading head, a pitch angle measurement round grating, a pitch axis left precision bearing, a pitch axis counterweight, a plane reflecting mirror, a pitch axis seat, an inclination angle sensor, a pitch axis right precision bearing, a pitch axis direct drive torque motor, a pitch direct drive torque motor mounting seat, a protective cover, a main transparent reflecting mirror, a horizontal rotating shaft upper precision bearing, a cable protective cover, an annular handle, a lower precision bearing, bearing locking threads, a dense ball bearing, a horizontal rotating shaft direct drive torque motor, a handle mounting seat, a horizontal angle measurement round grating, a horizontal rotating shaft mounting seat and a horizontal rotating shaft. The pitch angle measuring circular grating is arranged on the pitch axis and is matched with the reading head to realize high-precision pitch angle measurement; the pitching shaft left precise bearing is arranged on the left side of the pitching shaft, then the pitching shaft right precise bearing is arranged through a bearing mounting hole of the pitching shaft, and precise rotary guide is realized by the pitching shaft left precise bearing and the pitching shaft right precise bearing; the pitching shaft is driven by a direct-drive torque motor arranged at the right end of the pitching shaft, the pitching shaft direct-drive torque motor is arranged on a pitching shaft seat through a direct-drive torque motor mounting seat, an inclination sensor is arranged at the top of the pitching shaft seat and used for realizing leveling and compensation of an instrument, a horizontal rotating shaft is arranged on the horizontal rotating shaft mounting seat through an upper precise bearing and a lower precise bearing of the horizontal rotating shaft, the angle of the horizontal rotating shaft is measured through a horizontal angle measuring circular grating, the driving of the pitching shaft is provided by the horizontal rotating shaft direct-drive torque motor, a plane reflector is arranged on a pitching shaft with a reflecting surface at the center of the pitching shaft and the center of the horizontal shaft, the pitching and horizontal angle rotation is realized under the driving of the pitching shaft direct-drive torque motor and the horizontal rotating shaft direct-drive torque motor, the pitching and the horizontal angle precision measurement are realized through the horizontal angle measuring circular grating and the pitch angle measuring circular grating, an annular handle is connected with the horizontal rotating shaft mounting seat through mounting handles arranged at two sides, the deformation of the horizontal rotating shaft mounting seat caused by overlarge carrying of the annular handle can be effectively prevented through buffering of the mounting handle mounting seat, the main reflector is arranged at the bottom of the pitching shaft seat with the center of the pitching shaft, the hollow frame is used for indicating assembly and the laser is used for indicating and the pitching and the laser is integrated on the inner side of the pitching and the pitching assembly, and the optical central axes in the automatic zooming collimation assembly arranged in the middle of the horizontal rotating shaft are converged together, and reach the measured cooperative target assembly after being reflected by the reflecting mirror, the protective cover is arranged at the left side and the right side of the pitching shaft mounting seat and used for comprising parts arranged on the protective cover, and the cable protective cover is arranged at the top of the horizontal rotating shaft mounting seat and used for protecting an internal wiring cable.
Preferably, the integrated optical component comprises a collimated light laser, a collimated laser diffraction small lens, a diffraction reflector, a laser displacement sensor mounting seat, a lens group mounting seat, a laser lens mounting seat, a laser collimation lens, an optical filter, a plane lens, a layered reflector, a lens reflector mounting seat, a reflector, a diffraction ranging converging lens, a ranging laser fiber collimator, a diffraction big lens and a diffraction big lens mounting seat. The collimating light laser is installed on the lens group installation seat through the collimating light laser installation seat, meanwhile, the collimating light laser diffraction small lens is also installed on the collimating light laser installation seat and is used for being matched with the diffraction big lens installed on the diffraction big lens installation seat to generate annular collimating light based on a diffraction principle, the annular collimating light is converged through the diffraction ranging converging lens and the ranging laser emitted by the ranging laser fiber collimating lens, then enters the planar transmitting and reflecting lens after being reflected by the reflecting lens, the planar transmitting and reflecting lens is installed on the transmitting and reflecting lens installation seat and is installed at 45 degrees, the converging light enters the main transmitting and reflecting lens installed on the two-dimensional tracking angle measuring assembly after being reflected by the planar transmitting and reflecting lens, then enters a cooperative target after being reflected by the main transmitting and reflecting lens, the light of the cooperative target is respectively transmitted to the laser displacement sensing sensor installed on the laser displacement sensing sensor installation seat after being collimated by the optical filter and the laser collimating lens, and is combined with the level angle and pitch angle value measured by the two-dimensional tracking angle measuring assembly after being subjected to signal processing, and reaches the range-measuring control optical fiber after being subjected to the integrated distance measuring and the optical fiber is subjected to the integrated distance measuring and the control assembly.
The automatic zooming and collimating assembly comprises a collimating image acquisition camera, a zooming mounting seat, a zooming lens group, a focusing motor and a reflecting mirror, wherein the zooming lens group is integrally arranged in a zooming lens group cylinder, the optical center of the zooming lens group cylinder is strictly coaxial with the mechanical center of an external shaft of the zooming lens group cylinder after being adjusted, the zooming lens group cylinder is arranged in a horizontal rotating shaft, the optical center of the zooming lens group is coaxial with the rotating shaft center of the rotating shaft through the cooperation of an upper precise ball bearing and a lower precise ball bearing, the zooming lens group realizes zooming in a mode that the zooming motor drives a rack, and automatic zooming is realized by feedback based on distance measurement so as to achieve the aim of automatic acquisition of the collimating image.
Preferably, the distance measuring assembly is integrally arranged in a control box of the integrated control measuring assembly, and comprises a measuring optical fiber, a measuring interference optical fiber, a balance detector A, a balance detector B, a reference optical fiber, an external frequency-adjusting laser frequency-adjusting control and distance-measuring processing circuit and a distance-measuring laser optical fiber collimating mirror, and is mainly used for measuring absolute distance;
Preferably, the integrated control measurement assembly comprises a control box upper cover plate, an image processing circuit, a graph processing circuit mounting plate, an integrated motion control circuit, an integrated control circuit mounting plate, a double-reading-head processor, a motion driver, a joint mounting plate, a control box body and a control box lower connecting plate. The integrated motion control circuit is arranged on the upper cover plate of the control box through the integrated control circuit mounting plate, and mainly controls the pitching axis direct drive torque motor, the horizontal rotating shaft direct drive torque motor and the focusing motor through controlling three motion drivers, and the control box body is arranged between the upper cover plate of the control box and the lower connecting plate of the control box, so that the functions of protecting control devices and supporting are achieved.
Preferably, the horizontal rotating shaft mounting seat adopts a side hollow structure and is used for realizing that a horizontal rotating shaft direct-drive torque motor and a horizontal angle measurement circular grating are arranged between an upper precise bearing and a lower precise bearing, so that the driving stability and the measuring precision are improved, and meanwhile, a space is provided for mounting an automatic zoom collimation assembly in the middle of the horizontal rotating shaft.
The invention discloses a working method of an instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation attitude measurement, which comprises the following steps:
The instrument is installed and fixed on the support frame, the height and the position of the support frame are adjusted, the measured piece has visual conditions in the movement range after being installed on the cooperative target, and then the machine is opened to be connected with the upper computer. When the measured piece needs to perform large-range spatial position and posture measurement, the large-range spatial position and posture measurement requirement is met through tracking the collimation target, the tracking collimation measurement target is opened, the indication laser coupled in the ranging laser enters the diffraction ranging convergence lens through the ranging laser fiber collimator lens, then reaches the plane lens through the reflection of the reflector, the plane lens is arranged on the lens-reflector mounting seat at 45 degrees, the indication ranging laser enters the main lens arranged at the bottom of the hollow frame of the pitching shaft seat along the normal direction of the lens-group mounting seat after reflection, enters the reflector through the reflection of the main lens, the measurement of the spherical coordinates in a wide range is realized through the reflection of the reflector, the adjustment of the horizontal angle and the pitching angle, the angle of the reflector and the plane lens angle cone of the self-adaptive target are adjusted, the laser beam emitted by the integrated optical component is led to a plane angle conical mirror of the collimation tracking target, the collimation tracking collimation target can adjust the horizontal angle and the pitch angle of the collimation tracking target according to the laser beam, the laser beam enters the main lens through the reflection of the reflector, enters the plane lens through the reflection of the main lens, the returned laser beam is divided into two paths, one path enters the layering reflector through the projection of the plane lens, enters the optical filter through the reflection of the layering reflector, filters the ranging laser beam, and is collimated by the laser collimation lens and then is led to a laser displacement sensor PSD, the laser displacement sensor PSD senses that the displacement of the indicating laser beam is not adjusted if the displacement is zero, the displacement is given if the displacement is not zero and is input into the integrated motion control circuit, the method comprises the steps that a control signal is generated to reach a motor motion driver, a pitching axis direct-drive torque motor and a horizontal rotation axis direct-drive torque motor in the two-dimensional tracking angle measurement assembly are controlled to drive a pitching axis and a horizontal rotation axis respectively, and then the angle of a plane reflecting mirror arranged on the pitching axis is driven to be adjusted until a laser displacement sensing sensor PSD senses that the displacement of indication laser is smaller than a control limiting amount, and at the moment, the indication laser is beaten on the pyramid center of a tracking collimation measurement target pyramid reflecting mirror. The other path of indication distance measurement enters the distance measurement laser optical fiber collimating lens through reflection of the reflecting mirror and projection of the diffraction distance measurement converging reflecting mirror after being reflected by the plane reflecting mirror, and then reaches the distance measurement component through transmission of the optical fiber to achieve absolute distance measurement, so that the distance of the angle cone point of the tracking collimating target is obtained, and meanwhile, the space coordinate measurement of the tracking collimating target can be achieved by utilizing a spherical coordinate formula when the angle of the horizontal and pitching rotation of the reflecting mirror is measured.
The tracking collimation measurement target is connected with the instrument and can realize tracking measurement after acquiring the space coordinate measurement, namely, after the tracking collimation measurement target is arranged on a measured piece, the measured piece can automatically adjust the plane angle cone mirror according to the incoming light direction after moving, so that the space tracking measurement is realized. When the space attitude measurement is required, a collimating light laser arranged on an integrated optical component is opened, emitted light passes through a small collimating laser diffraction lens and a large collimating laser diffraction lens, then is converged with indication ranging laser at a diffraction ranging converging lens, then is reflected by a reflecting mirror to reach a plane lens, the plane lens is arranged on a lens-reflecting mirror mounting seat at an angle of 45 DEG, the indication ranging laser enters a main lens arranged at the bottom of a hollow frame of a pitching shaft seat along the normal direction of the lens-group mounting seat after reflection, enters the reflecting mirror after being reflected by the main lens, reaches a plane angle cone mirror of an adaptive collimating target, enters the reflecting mirror after being reflected by a plane part reflecting mirror on the plane angle cone mirror, reaches the main lens after being reflected by the plane part reflecting mirror, and enters a zoom lens group of an automatic zooming collimating component after being projected by the main lens, the zoom lens group is driven by a focusing motor, realizes real-time automatic zooming under the feedback of the ranging laser, enters an image of clear collimated light on a collimated image camera, can realize the attitude measurement of a plane angle cone lens by combining the ranging laser, horizontal angle measurement and pitch angle measurement information with the center point position of the diffracted light in the real-time processing acquisition of an image processing circuit in an integrated control measuring assembly, can acquire the self-adaptive angle adjustment of the plane angle cone lens when tracking the collimating measuring target, can acquire the self-adaptive angle after adjustment and then combine a high-precision inclination angle sensor arranged on the tracking collimating measuring target, namely can realize the high-precision attitude measurement of a measured piece provided with the tracking collimating measuring target, reduces the error of the attitude angle based on the collimating measurement, and further, the measurement accuracy of the spatial position posture, particularly the posture angle, in a large-size measurement range is improved.
The measurement range refers to a size of more than 1 m.
Preferably, the collimation target is used for sensing and tracking the emitting direction of the collimation measuring instrument, and carrying out two-dimensional horizontal rotation and pitching rotation adjustment, so that a reference plane pyramid plane mirror arranged on the collimation target can return an incident laser primary path, and meanwhile, the rotation angles of the horizontal and pitching can be measured with high precision, and further, the reference of the attitude angle is provided for tracking the collimation measuring instrument.
The beneficial effects are that:
1. The instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation posture measurement disclosed by the invention can realize synchronous measurement of the spatial position and posture of a measured piece by matching with a tracking collimation measurement target, can provide an integrated position and posture measurement means for assembly and butt joint of large-scale parts and calibration of a robot, and compared with the existing large-scale measurement instrument, realizes fusion of tracking coordinates and collimation posture measurement, increases a posture measurement function based on a collimation method, realizes multiple purposes of one machine and expands the application range.
2. The instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation attitude measurement disclosed by the invention is based on the measurement of a plane angle cone mirror target, so that the accuracy of collimation measurement can be greatly improved, in addition, the problem of high-precision collimation automatic aiming of plane mirror collimation measurement can be effectively solved based on automatic collimation measurement of diffracted light, and an automatic aiming means can be provided for space detector load assembly measurement.
3. The instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation attitude measurement disclosed by the invention is characterized in that a tracking collimation measurement target is fixed and used as a reference target, the instrument moves, the relative position attitude relation between the tracking collimation measurement target and the collimation measurement target can be obtained through real-time position and collimation attitude measurement, and further the normal measurement of a fixed reference mirror is realized through the automatic collimation function of the instrument, the comprehensive measurement error is controlled within +/-5 '', and the problems of automatic high-precision attitude measurement of a space detector load and a wind tunnel balance loading head are effectively solved.
4. The instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation attitude measurement can realize dynamic space coordinate measurement of a measured target by matching with a tracking collimation measurement target, the measurement speed can reach 4m/s, meanwhile, the tracking collimation measurement target can realize self-adaptive adjustment, the measurement range can be effectively enlarged, the measurement range can reach a pitch angle of +/-45 degrees, the horizontal angle of +/-180 degrees, and a space positioning measurement means can be provided for targets needing real-time positioning such as high-precision positioning of an unmanned plane.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a diagram of the general construction of an instrument of the present invention adapted for both coordinate tracking measurement and high precision alignment pose measurement;
FIG. 2 is a schematic view of a two-dimensional tracking goniometer assembly of the present invention;
FIG. 3 is a schematic diagram of an integrated optical component of the present invention;
FIG. 4 is a schematic view of the auto-focus collimation assembly of the present invention;
FIG. 5 is a schematic diagram of the structure of the distance measuring module and the integrated control measuring module of the present invention;
FIG. 6 is a diagram showing the working effects of the present invention and tracking the alignment measurement target.
In the figure: 1-two-dimensional tracking angle measurement assembly, 2-integrated optical assembly, 3-automatic zooming collimation assembly, 4-ranging assembly, 5-integrated control measurement assembly, 6-tracking collimation target, 7-special support frame, 101-round grating reading head, 102-pitch angle measurement round grating, 103-pitch axis left precision bearing, 104-pitch axis counterweight, 105-plane mirror, 106-pitch axis, 107-pitch axis seat, 108-tilt angle sensor, 109-pitch axis right precision bearing, 110-pitch axis direct drive torque motor, 111-pitch direct drive torque motor mounting seat, 112-protection cover, 113-main lens mirror, 114-horizontal rotation axis upper precision bearing, 115-cable protection cover, 116-ring handle 117-lower precision bearing, 118-bearing locking screw thread, 119-dense ball bearing, 120-horizontal rotation shaft direct drive torque motor, 121-handle mounting seat, 122-horizontal angle measurement circular grating, 123-horizontal rotation shaft mounting seat, 124-horizontal rotation shaft, 201-collimated light laser, 202-collimated laser diffraction lenslet, 203-diffraction mirror, 204-laser displacement sensor, 205-laser displacement sensor mounting seat, 206-mirror set mounting seat, 207-laser lens mounting seat, 208-laser collimation lens, 209-filter, 210-plane transflector, 211-laminated reflector, 212-transflector mounting seat, 213-reflector, 214-diffraction ranging convergence transflector, 215-ranging laser fiber collimating lens, 216-diffraction big lens, 217-diffraction big lens mounting seat, 301-collimating image acquisition camera, 302-zooming mounting seat, 303-zooming lens group, 304-focusing motor, 305-reflecting mirror 401-measuring optical fiber, 402-measuring interference optical fiber, 403-balance detector A, 404-balance detector B, 405-reference optical fiber, 406-external frequency-adjusting laser, 407-external frequency-adjusting laser frequency-adjusting control and ranging processing circuit, 408-ranging laser fiber collimating lens, 501-control box upper cover plate, 502-image processing circuit, 503-image processing circuit mounting plate, 504-integrated motion control circuit, 505-integrated control circuit mounting plate, 506-double-reading-head processor, 507-motion driver, 508-joint mounting plate, 509-control box and 510-control box lower connecting plate.
Detailed Description
The technical solutions of the present application will be clearly and completely described in conjunction with the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, the apparatus for simultaneously performing coordinate tracking measurement and high-precision alignment posture measurement disclosed in this embodiment includes a two-dimensional tracking angle measurement assembly 1, an integrated optical assembly 2, an auto-zoom alignment assembly 3, a distance measurement assembly 4, and an integrated control measurement assembly 5.
The two-dimensional tracking angle measurement assembly 1 is a main body of a structural member of the invention and is used for installing a reflection plane mirror, realizing high-precision horizontal rotation and measurement and pitching rotation and measurement of the reflection plane mirror, providing horizontal angle, pitch angle and ranging information for acquiring ranging light after the ranging laser is reflected by a rotation center of the plane mirror, simultaneously installing a transparent and reflective mirror on the reflection plane mirror, converging the ranging laser, tracking indication laser and collimation indication light in the integrated optical assembly 2, enabling the optical central axis in the automatic zooming collimation assembly 3 to be together, reaching a measured cooperative target assembly after being reflected by the reflection mirror, returning an original path into the integrated optical assembly 2 and the automatic zooming collimation assembly 3 after being reflected by the measured cooperative target assembly, acquiring the ranging information of the combined horizontal angle, pitch angle and the ranging assembly 4 through an integrated control measurement assembly 5, and realizing high-precision measurement of the space coordinates or postures of the measured cooperative target. The integrated optical component 2 is mainly used for converging and adjusting the ranging laser, the tracking indication laser and the collimation indication light to the same light path, so that the convergence of the light paths is realized, and meanwhile, the installation and the overall adjustment are convenient through modularized assembly. The automatic zooming and collimating assembly 3 is used for automatically zooming according to the distance information between the distance measuring assembly 4 and the cooperative target, so that clear image information of the collimating indication light reflected by the cooperative target can be obtained, and high-precision gesture measurement can be realized by combining the distance measuring information through center point resolving. The distance measuring component 4 is used for realizing distance measurement of the cooperative target points and providing real-time distance measurement information for tracking and collimation gesture calculation. The integrated control measurement assembly 5 is used for realizing the motion control of the two-dimensional angle of the two-dimensional tracking angle measurement assembly 1 and the real-time feedback measurement and output of the horizontal angle and the pitch angle, and is also used for realizing the acquisition and output of the ranging information of the ranging assembly 4, the extraction processing of the central point of the collimation indication light and finally realizing the measurement of the spatial position and the gesture of the target.
Referring to fig. 2, the two-dimensional tracking and goniometer assembly 1 includes a circular grating reading head 101, a pitch angle measurement circular grating 102, a pitch axis left precision bearing 103, a pitch axis counterweight 104, a plane mirror 105, a pitch axis 106, a pitch axis seat 107, a tilt angle sensor 108, a pitch axis right precision bearing 109, a pitch axis direct drive torque motor 110, a pitch direct drive torque motor mount 111, a protective cover 112, a main lens 113, a horizontal rotation axis upper precision bearing 114, a cable protective cover 115, an annular handle 116, a lower precision bearing 117, bearing locking threads 118, a ball bearing 119, a horizontal rotation axis direct drive torque motor 120, a handle mount 121, a horizontal angle measurement circular grating 122, a horizontal rotation axis mount 123, and a horizontal rotation axis 124. The pitch angle measuring circular grating 102 is arranged on a pitch axis and is matched with a reading head to realize high-precision pitch angle measurement; after the left precise bearing 103 of the pitching shaft is arranged on the left side of the pitching shaft, the right precise bearing 109 of the pitching shaft is arranged through a bearing mounting hole of the pitching shaft, and the pitching shaft realizes precise rotation guide through the left precise bearing 103 of the pitching shaft and the right precise bearing 109 of the pitching shaft; the pitching shaft is driven by a direct-drive torque motor arranged at the right end of the pitching shaft, the pitching shaft direct-drive torque motor 110 is arranged on a pitching shaft seat 107 through a direct-drive torque motor mounting seat, an inclination sensor 108 is arranged at the top of the pitching shaft seat 107 and used for realizing leveling and compensation of an instrument, a horizontal rotating shaft is arranged on the horizontal rotating shaft mounting seat through a precision bearing on the horizontal rotating shaft and a lower precision bearing, the angle of the horizontal rotating shaft is measured through a horizontal angle measuring circular grating, the driving of the horizontal rotating shaft is provided by the horizontal rotating shaft direct-drive torque motor, a plane mirror 105 is arranged on the pitching shaft with a reflecting surface at the center of the pitching shaft and the center of the horizontal shaft, the pitching shaft direct-drive torque motor 110 and the horizontal rotating shaft direct-drive torque motor realize rotation of pitching and horizontal angles, the pitching and precision measurement of the horizontal angle are realized through the horizontal angle measuring circular grating and the pitching angle measuring circular grating 102, an annular handle is connected with the horizontal rotating shaft mounting seat through handle mounting seats arranged on two sides, deformation of the horizontal rotating shaft mounting seat caused by overlarge annular handle carrying force can be effectively prevented, the main mirror 105 is arranged on the bottom of a hollow laser tracking assembly 107 on the inner side of the pitching shaft seat, and the laser tracking assembly is arranged on the bottom of the pitching shaft seat in a hollow laser tracking assembly 2, and the laser assembly is integrated on the bottom of the pitching assembly 107, the collimation indicating light and the optical central axis in the automatic zooming collimation component 3 arranged in the middle of the horizontal rotating shaft are converged together, and reach the detected cooperative target component after being reflected by the reflecting mirror, the protection cover is arranged on the left side and the right side of the pitching shaft installation seat and used for comprising parts arranged on the pitching shaft installation seat, and the cable protection cover is arranged on the top of the horizontal rotating shaft installation seat and used for protecting an internal wiring cable.
Referring to fig. 3, the integrated optical component 2 includes a collimated light laser 201, a collimated laser diffraction lenslet 202, a diffraction mirror 203, a laser displacement sensor 204, a laser displacement sensor mount 205, a mirror group mount 206, a laser lens mount 207, a laser collimation lens 208, a filter 209, a planar transflector 210, an additive layer mirror 211, a transflector mount 212, a mirror 213, a diffraction ranging converging transflector 214, a ranging laser fiber collimator 215, a diffraction macro lens 216, and a diffraction macro lens mount 217. The collimating light laser is installed on the lens group installation seat through the collimating light laser installation seat, meanwhile, the collimating light laser diffraction small lens is also installed on the collimating light laser installation seat and is used for being matched with the diffraction big lens installed on the diffraction big lens installation seat to generate annular collimating light based on a diffraction principle, the annular collimating light is converged through the diffraction ranging converging lens and the ranging laser emitted by the ranging laser fiber collimating lens, then enters the planar lens after being reflected by the reflecting mirror, the planar lens is installed on the lens reflecting mirror installation seat and is installed at 45 degrees, the converging light enters the main lens installed on the two-dimensional tracking angle measuring assembly 1 after being reflected by the planar lens, then enters the cooperative target after being reflected by the plane reflecting mirror 105, the light of the cooperative target is reflected by the plane reflecting mirror after being returned by an original path, is respectively beaten to the laser displacement sensing sensor installed on the laser displacement sensing sensor installation seat after being collimated by the optical filter and the laser collimating lens, and is combined with a horizontal angle measuring component and a pitch angle measuring value of the two-dimensional tracking angle measuring assembly 1 after being processed by signals, and reaches the optical fiber after being processed by the integrated distance measuring and distance measuring assembly 5, the distance measuring device is controlled to achieve the realization of the optical fiber.
Referring to fig. 4, the automatic zoom collimation assembly 3 includes a collimation image acquisition camera 301, a zoom mounting seat 302, a zoom lens group 303, a focusing motor 304 and a reflecting mirror 305, wherein the zoom lens group is integrally installed in a zoom lens group barrel, the optical center of the zoom lens group barrel is strictly coaxial with the mechanical center of the external shaft of the zoom lens group barrel after being adjusted, the zoom lens group barrel is installed in a horizontal rotating shaft, the optical center of the zoom lens group is coaxial with the rotating shaft center of the rotating shaft through the cooperation of an upper precise ball bearing and a lower precise ball bearing, the zoom lens group realizes zooming in a mode that the zoom motor drives a rack through a zoom motor driving gear, and automatic zooming is realized by feedback of zooming based on feedback of distance measurement, so that the aim of automatic acquisition of a collimation image is achieved.
Referring to fig. 5, the ranging component 4 is integrally installed in a control box of the integrated control measuring component 5, where the ranging component 4 includes a measuring optical fiber 401, a measuring interference optical fiber 402, a balance detector a403, a balance detector B404, a reference optical fiber 405, an external frequency-modulated laser 406, an external frequency-modulated laser frequency-modulated control and ranging processing circuit 407, and a ranging laser fiber collimator 408, and mainly implements absolute distance measurement.
The integrated control and measurement assembly 5 includes a control box upper cover plate 501, an image processing circuit 502, a graphics processing circuit mounting plate 503, an integrated motion control circuit 504, an integrated control circuit mounting plate 505, a dual read head processor 506, a motion driver 507, a joint mounting plate 508, a control box 509, and a control box lower connection plate 510. The integrated motion control circuit is arranged on the upper cover plate of the control box through the integrated control circuit mounting plate, and mainly controls the pitching axis direct drive torque motor 110, the horizontal rotating shaft direct drive torque motor and the focusing motor through controlling three motion drivers, and the control box body is arranged between the upper cover plate of the control box and the lower connecting plate of the control box, so that the functions of protecting control devices and supporting are achieved.
In the two-dimensional tracking angle measurement assembly 1, a pitch axis left precision bearing 103 and a pitch axis right precision bearing 109 for pitch axis precision rotation guide and a horizontal rotation axis upper precision bearing and a horizontal rotation axis lower precision bearing for horizontal rotation axis rotation guide are all precise angular contact bearings so as to pretighten a horizontal axis and a pitch axis, and the rotation axis support installation rigidity and rotation precision are improved.
The inclination angle sensor 108 for horizontal measurement in the two-dimensional tracking angle measurement assembly 1 adopts the two-dimensional high-precision inclination angle sensor 108, so that the monitoring and the lifting and the leveling efficiency during leveling are convenient.
The horizontal rotating shaft mounting seat in the two-dimensional tracking angle measurement assembly 1 adopts a side hollow structure, so that the horizontal rotating shaft direct-drive torque motor and the horizontal angle measurement circular grating are arranged in the middle of the upper and lower precision bearings, the driving stability and the measuring precision are improved, and meanwhile, a space is provided for the automatic zoom collimation assembly 3 to be arranged in the middle of the horizontal rotating shaft.
The pitch angle measurement circular grating 102 and the horizontal angle measurement circular grating in the two-dimensional tracking angle measurement assembly 1 are both provided with double reading heads, so that eccentric compensation is conveniently realized, and angle measurement precision is improved.
The pitching axis for installing plane reflection precision in the two-dimensional tracking angle measurement assembly 1 adopts a middle concave structure of an integral axis structure, and simultaneously adopts a pitching axis counterweight 104 to realize pitching rotation balance of the two-dimensional tracking angle measurement assembly.
The mounting seat of the transflector and the reflector in the integrated optical assembly 2 adopts an upper layer design and a lower layer design, so that the mounting of the transflector and the reflector is realized respectively, and the mounting space is saved through a double-layer design.
The lens and reflector installed on the lens and reflector installation seat in the integrated optical assembly 2 adopts a plane lens and reflector, so that the influence of reflection brought by adopting a three-dimensional lens on the laser displacement induction sensor is reduced, and the laser tracking effect is improved.
The mounting seat of the transflector reflector in the integrated optical assembly 2 is connected with the mounting seat of the lens group by adopting a front thread rear pin structure, so that the distance between the transflector reflector and the laser displacement sensor can be conveniently adjusted, and an optimized measuring position can be obtained.
The collimating light laser and the ranging laser fiber collimating mirror are connected with the laser through optical fibers, the laser is installed in the integrated control measuring assembly 5, optical devices installed on the pitching shaft seat 107 are reduced, and meanwhile the heating value of the pitching shaft installation seat is reduced.
The automatic zooming method adopted by the automatic zooming collimation assembly 3 is real-time zooming based on distance measurement, so that the processing time when zooming based on image definition is reduced, and the zooming efficiency is improved.
The ranging component 4 adopts an absolute laser ranging principle ranging device based on laser sweep frequency, so that the measurement of the spatial position of the cooperative target at any position is conveniently realized.
The frequency modulation control and the distance measurement processing circuit of the external frequency modulation laser adopted by the distance measurement component 4 can simultaneously realize the frequency modulation control and the distance measurement signal processing of the external frequency modulation laser, realize the modularization of absolute distance measurement laser generation and data processing, improve the reliability of the instrument and simultaneously facilitate the maintenance.
The invention discloses a working method of an instrument for simultaneously carrying out coordinate tracking measurement and high-precision collimation attitude measurement, which comprises the following steps:
Referring to fig. 6, the apparatus of the present invention is mounted and fixed on a special support frame 7, and the height and position of the special support frame 7 are manually adjusted, so that the measured piece has visual conditions within the movement range after being mounted on the cooperative target, and then the machine is opened and connected with an upper computer. When the measured piece needs to carry out large-range spatial position and posture measurement, the measurement target is required to be tracked and collimated, at the moment, the indication laser coupled in the ranging laser enters the diffraction ranging converging lens through the ranging laser fiber collimator lens, then reaches the plane lens through the reflection of the reflecting lens, the plane lens is arranged on the lens-reflecting lens mounting seat at 45 degrees, the indication ranging laser enters the main lens arranged at the bottom of the hollow frame of the pitching shaft seat 107 along the normal direction of the lens-group mounting seat after reflection, the reflection of the main lens enters the reflecting lens, then the measurement of the spherical coordinates in a wide range can be realized through the reflection of the reflecting lens, the adjustment of the horizontal angle and the pitching angle, the angle of the reflecting lens is manually adjusted, and the plane lens angle cone lens of the self-adapting target, the indication laser emitted by the instrument of the invention is led to the plane angle conical mirror of the collimation tracking target, the collimation tracking collimation target 6 can adjust the horizontal angle and the pitch angle of the collimation tracking target according to the laser, the original path of the light path is returned, the laser enters the main lens through the reflection of the reflecting mirror, the laser enters the plane lens through the reflection of the main lens, at the moment, the returned laser is divided into two paths, one path enters the layering reflecting mirror through the projection of the plane lens, the ranging laser is filtered after the laser enters the optical filter through the reflection of the layering reflecting mirror, the laser is collimated by the laser collimation lens and is led to the laser displacement sensor, the laser displacement sensor senses that the displacement of the indication laser is not adjusted if the displacement is zero, the displacement is given if the displacement is not zero, the laser displacement is input into the integrated motion control circuit, the control signal is generated to reach the motor motion driver, the pitching axis direct drive torque motor 110 and the horizontal rotation axis direct drive torque motor in the two-dimensional tracking angle measurement assembly 1 are controlled to drive the pitching axis and the horizontal rotation axis respectively, so that the plane mirror 105 arranged on the pitching axis is driven to adjust the angle until the laser displacement sensing sensor senses that the displacement of the indication laser is smaller than the control limit, and the indication laser is hit on the pyramid center of the tracking collimation measurement target pyramid mirror. The other path of indication distance measurement enters the distance measurement laser optical fiber collimating mirror through reflection of the reflecting mirror and projection of the diffraction distance measurement converging reflecting mirror after being reflected by the plane reflecting mirror, and then reaches the distance measurement component 4 through transmission of the optical fiber to realize absolute distance measurement, so that the distance of the angle cone point of the tracking collimating target 6 is obtained, and meanwhile, the space coordinate measurement of the tracking collimating target 6 can be realized by utilizing a spherical coordinate formula when the horizontal and pitching rotation angles of the reflecting mirror are measured.
The tracking collimation measurement target is connected with the instrument and can realize tracking measurement after acquiring the space coordinate measurement, namely, after the tracking collimation measurement target is arranged on a measured piece, the measured piece can automatically adjust the plane angle cone mirror according to the incoming light direction after moving, so that the space tracking measurement is realized. When the space attitude measurement is required, a collimating light laser arranged on the integrated optical component 2 is turned on, emitted light passes through a small collimating laser diffraction lens and a large collimating laser diffraction lens, then is converged with indication ranging laser at a diffraction ranging converging lens, then is reflected by a reflecting mirror to reach a plane lens, the plane lens is arranged on a lens-reflecting mirror mounting seat at 45 degrees, the indication ranging laser enters a main lens arranged at the bottom of the hollow frame of the pitching shaft seat 107 along the normal direction of the lens-group mounting seat after reflection, enters the reflecting mirror after reflection of the main lens, reaches a plane angle cone of an adaptive collimating target, enters the reflecting mirror after reflection of a plane part reflecting mirror on the plane angle cone, and then the diffraction laser enters the main lens to reach the main lens and is projected by the main lens to enter a zoom lens group of the automatic zoom collimating component 3, the zoom lens group is driven by a focusing motor to realize real-time automatic zooming under the feedback of the ranging laser, and enters an image of clear collimated light on a collimated image camera, then the attitude measurement of a plane angle cone lens can be realized by combining the ranging laser with the angle measurement information of a horizontal angle and a pitch angle, and the attitude measurement of the plane angle cone lens can be realized by combining the central point position of the diffracted light with the angle measurement information of a horizontal angle and a pitch angle in the real-time processing acquisition of an image processing circuit in an integrated control measurement assembly 5, when a tracking collimation measurement target is adopted, the angle of the plane angle cone lens can be self-adaptively adjusted, the self-adaptively adjusted angle can be acquired and then is combined with a high-precision inclination sensor 108 arranged on the tracking collimation measurement target, the high-precision attitude measurement of a measured piece provided with the tracking collimation measurement target can be realized, and the error of the attitude angle based on the collimation measurement can be controlled within +/-5', and further, the measurement accuracy of the spatial position posture, particularly the posture angle, in a large-size measurement range is improved.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the application. Other structures and principles are the same as in the prior art and will not be described in detail here.