CN101114402A - Full-station instrument automatically accurate collimating system - Google Patents
Full-station instrument automatically accurate collimating system Download PDFInfo
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- CN101114402A CN101114402A CNA2007100759854A CN200710075985A CN101114402A CN 101114402 A CN101114402 A CN 101114402A CN A2007100759854 A CNA2007100759854 A CN A2007100759854A CN 200710075985 A CN200710075985 A CN 200710075985A CN 101114402 A CN101114402 A CN 101114402A
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Abstract
The invention relates to an automatic measurement system, in particular to a full automatic aiming system based on a total station instrument. The total station instrument automatic accurate aiming system of the invention comprises a total station instrument servo system, a reflecting mirror servo system, a positional sensor group, an MCU control circuit and a power source, etc., wherein, the total station instrument servo system and the reflecting mirror servo system are respectively provided with a servo device controlled by the MCU, the MCU carries on information communication via a wireless data transmission module; the laser beam of the total station instrument irradiates to a reflecting mirror, the MCU of the reflecting mirror controls the action of the servo system via the signal of the positional sensor and sends signal to the MCU of the total station instrument via the wireless digital transmission module so as to control the rotation of the total station instrument.
Description
Technical field
The present invention relates to automatic measurement system, particularly be specifically related to a kind of system that automatically sights based on total powerstation.
Background technology
At present the automaticity to the various total powerstations that use is all very high, still be that hardware has all been accomplished very strong function no matter from software, but still can not accomplish accurate full-automatic testing, its main cause is still must manually accurately sight, this has not only reduced the automaticity of total powerstation, and has brought many artificial errors into for the achievement of testing.
Technical matters to be solved by this invention is, a kind of system that automatically sights of total powerstation is provided, and this system can be used for the automatic testing of various total powerstations, and the precision of sighting and speed is higher than far away manually, thereby improves the automaticity of total powerstation greatly.
Summary of the invention
For solving the problems of the technologies described above, the present invention has adopted following technical scheme: full-station instrument automatically accurate collimating system of the present invention, servo-drive system, catoptron servo-drive system, alignment sensor group, MCU control circuit and power supply etc. by total powerstation are formed, described total powerstation servo-drive system, catoptron servo-drive system are provided with the servomechanism installation of MCU control respectively, its MCU carries out information interchange by wireless data transmission module: the laser beam irradiation of total powerstation is to catoptron, and the MCU of catoptron is by its servo-drive system action of signal controlling of alignment sensor; The MCU of catoptron sends signal by wireless data transmission module to total powerstation MCU, the rotation of control total powerstation.
The normal at mirror mirror of the present invention center points to the LASER Light Source of total powerstation, and the MCU of catoptron sends signal by wireless data transmission module to total powerstation MCU, and control total powerstation along continuous straight runs is rotated counterclockwise.
Total powerstation servo-drive system of the present invention comprises: seat at the bottom of MCU control circuit and, level servo with interface circuit, wireless data transmission module, level and the vertical fast rotational of total powerstation CPU and the vertical fine motion rotating servo self leveling, (annexations between the above-mentioned parts).Described fast rotational servomechanism installation is made up of the servo motor and a rubber wheel of band reducer casing, and the end that described rotating servo device is individually fixed in total powerstation is taken and the altitude circle outside, and rubber wheel is fitted tightly on the metal shell that needs drive unit.Described fine motion rotating servo is made up of the servo motor of being with reducer casing, fine setting driving wheel, locking driving wheel, shell, torsion torque sensor etc., described fine motion rotating servo device inserts the tangent screw of total powerstation, and described fine setting driving wheel and described locking driving wheel are with the tangent screw and the set and locking screw of the total powerstation that is locked respectively.The servo motor of described band reducer casing will be provided with torsion torque sensor by driving tangent screw and the set and locking screw that described fine setting driving wheel and locking driving wheel drive total powerstation in the reducer casing that drives set and locking screw.The sidewall bonded foiled gage of the reducer casing of described driving set and locking screw detects the distortion of the reducer casing sidewall that causes because of torsion, and total powerstation MCU can control the action of the servo motor of described band reducer casing by the signal that detects torsion torque sensor.
Sensing locating device of the present invention is provided with a centering sensor runing rest on centering sensor drive and protective cradle; one end of described runing rest is fixed with the centering sensor, and runing rest can make the centering sensor screw out protective cradle and its primary optical axis is overlapped with the centre normal of mirror mirror under the control of the driving of protective cradle inner motor and limit sensors.Centering sensor precession protective cradle, the edge, center that is symmetrical in catoptron in described catoptron sheath vertically to having embedded two auxiliary centering sensors with level to each, and described auxiliary centering sensor and described centering sensor construction are basic identical.Described sensor is made up of shell, the convex lens that are coated with filter coating, photovoltaic device etc., describedly be coated with the laser-sensitive that the filter coating convex lens send total powerstation, the dead in line of its primary optical axis and cylindrical shell, the photovoltaic device branch that four plate shapes are identical is symmetrical in primary optical axis up and down and distributes.Differential voltage amplifier of two accesses up and down of described centering sensor, total powerstation MCU will control the spinning movement of catoptron along vertical plane according to the output of this amplifier.Two are inserted another differential voltage amplifier about described centering sensor, and mirror M CU will control the spinning movement of catoptron along surface level according to the output of this amplifier.
The centering sensor of the present invention output of four photovoltaic devices simultaneously also will enter analog to digital converter through amplification respectively, and mirror M CU will gather these four magnitudes of voltage and add up and deposit a specific working storage in; The equal normal direction of primary optical axis of described centering sensor and described four auxiliary centering sensors is in mirror mirror.Described centering sensor and described four auxiliary centering sensors are done in the process of low-angle fine motion along level and vertical direction at mirror M CU control total powerstation, and mirror M CU is incident upon the aplanatic edge of the laser facula of mirror mirror by the total powerstation that relatively comes to determine to the voltage accumulation value that deposits described specific working storage in.
The present invention compared with prior art has the precision height of sighting, and speed is fast, thereby improves the advantages such as automaticity of total powerstation greatly.
Description of drawings
Fig. 1 be total powerstation of the present invention automatically sight the system architecture synoptic diagram.
Fig. 2 is a catoptron servo system structure synoptic diagram of the present invention.
Fig. 3 is a leveling screw drives integrated morphology synoptic diagram of the present invention.
Fig. 4 is a sensor construction synoptic diagram of the present invention.
Fig. 5 is a fast rotational servomechanism installation structural representation of the present invention.
Fig. 6 is a fine motion rotating servo structural representation of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with description of drawings: as shown in Figure 1, the invention provides a kind of system that automatically sights based on total powerstation, this system is made up of total powerstation servo-drive system, catoptron servo-drive system, alignment sensor group 1, wireless data transmission module MCU control circuit 2 and power supply etc.At total powerstation 3 and catoptron 4 servo-drive system that MCU controls is set respectively, the servo-drive system of total powerstation 3 comprises vertically to fine motion rotating servo 7, level is to locking and rotating servo 8 and horizontal base servo 9, the MCU of total powerstation 3 and catoptron 4 does information interchange by wireless data transmission module, when the laser beam irradiation of total powerstation 3 during to catoptron 4, the MCU of catoptron 4 promptly can be by its servo-drive system action of signal controlling of alignment sensor 1, make the LASER Light Source of the normal sensing total powerstation 3 at catoptron 4 minute surface centers, the MCU of catoptron 4 sends signal by wireless data transmission module to the MCU of total powerstation 3 simultaneously, make total powerstation 3 along continuous straight runs be rotated counterclockwise, when its laser beam deflects away from the minute surface of catoptron 4, the MCU of catoptron 4 sends signal to the MCU of total powerstation 3 turns clockwise it, when the center of the edge of laser facula (dividing) by catoptron 4 with the gradient that light intensity changes, alignment sensor 1 on the catoptron 4 is with perception, and the MCU of catoptron 4 can indicate the reading of the MCU storage total powerstation 3 horizontal code-discs of total powerstation 3, when another edge of laser facula passes through the center of catoptron 4, the MCU of catoptron 4 will indicate second reading of the horizontal code-disc of MCU storage total powerstation of total powerstation 1 again, thisly sight the back lash error that pattern can be eliminated instrument internal machinery, the MCU of total powerstation 1 will calculate the reading of the pairing horizontal code-disc in center of laser facula at this moment, and control its servo-drive system by this reading and do horizontal balance, even also the vertical pivot of laser facula is aimed at the center of catoptron 4, if strict calibration was carried out at the collimation axis of total powerstation 3 and the center of its laser facula, at this moment, total powerstation 3 telescopical crosshair vertical lines will be cut in catoptron 4 in the heart.Next the MCU of total powerstation 3 does top-down deflection by telescope 5 vertical directions of its servo-drive system control total powerstation 1; when its laser beam deflects away from the minute surface of catoptron 4; the MCU of catoptron 4 sends signal to the MCU of total powerstation 1 and makes its do deflection from bottom to top; when the coboundary of laser facula passes through the center of catoptron 4; alignment sensor 1 on the catoptron 4 is with perception; and the MCU of catoptron 4 can indicate the reading of the vertical code-disc 6 of MCU storage total powerstation of total powerstation 3; when another edge of laser facula passes through the center of catoptron 4; the MCU of catoptron 4 will indicate second reading of the vertical code-disc 6 of MCU storage total powerstation of total powerstation 1 again; the MCU of total powerstation 3 will calculate the reading of the pairing vertical code-disc 6 in center of laser facula at this moment; and control its servo-drive system 7 by this reading and do vertical action; even also the transverse axis of laser facula is aimed at the center of catoptron 4; at this moment; the crosshair horizontal line of total powerstation 3 telescopes 5 will be cut in catoptron 4 in the heart; after having finished the reading of horizontal angle and vertical angle; the MCU of total powerstation 3 can notify the MCU of catoptron 4 with in the centralized positioning sensor 1 income fender bracket, and control total powerstation 3 is finished range finding.
Catoptron 4 servo-drive systems as shown in Figure 2, this system is by catoptron and sheath 21, centering sensor groups 24, level and vertically form to rotating driving device 30,33, self leveling base 35, MCU control circuit, wireless data transmission module and power supply etc.; Catoptron 4 is general range finding catoptron, be fixed in the catoptron sheath 21, it is 28 that catoptron sheath 21 and centering sensor drive and protective cradle (hereinafter to be referred as protective cradle) are become one, and all stretch out a turning axle on sheath 21 and the protective cradle 28, two axles are connected with the two ends of catoptron runing rest 25 respectively, and the axis of two axles overlaps and passes the optical centre of catoptron 4, form a feathering axis, described protective cradle 28 is provided with centering sensor runing rest 32, one end of described runing rest 32 is fixed with centering sensor 24, runing rest 32 can make the centering sensor screw out protective cradle 32 and the primary optical axis of described centering sensor 24 is overlapped with the centre normal of catoptron 4 minute surfaces under the control of the driving of protective cradle 28 inner motors and limit sensors, can make centering sensor precession protective cradle 28 when finding range again; MCU control circuit, wireless data transmission module and power supply etc. all are integrated in the protective cradle 28; Be provided with between protective cradle 28 and the catoptron runing rest 25 vertically and drive fluted disc 30 to rotation, this fluted disc 30 is that two different gears of radius are consolidated, fluted disc 30 can be along the turning axle rotation of stretching out on the protective cradle 28, be mounted with a micro-stepping on the protective cradle 28 and advance motor 29, be consolidated with a pinion wheel in the rotating shaft of motor 29, the gearing mesh that the radius of this gear and described fluted disc 30 is bigger, end at the described relatively protective cradle 28 of catoptron runing rest 25 also is fixed with a step motor 31, this step motor 31 is by the less gearing mesh of radius of a gear and described fluted disc 30, the less gear of radius makes catoptron 4 do faster rotation in perpendicular to described step motor 31 on the described fluted disc 30 by driving, and motor 29 is advanced in described micro-stepping, and the bigger gear of radius makes catoptron 4 do the rotation of minute angle in perpendicular on the described fluted disc 30 by driving; Be consolidated with a vertical pivot on the described catoptron runing rest 25, the axis of described vertical pivot pass catoptron 4 optical centre and with described catoptron 4 feathering axis quadratures, described vertical pivot is connected with self leveling base 35 to rotation driving-disc 33 (hereinafter to be referred as driving-disc) by the level of a tape code dish, described driving-disc 33 comprises that level drives fluted disc to rotation, motor is advanced in micro-stepping, step motor, photo-electric rotary coding dish, described level drives fluted disc 33 to rotation and is similar to and above-mentioned vertically drives fluted disc 30 to rotation, described driving-disc 33 can drive catoptron do faster rotation with minute angle in surface level under the control of mirror M CU by driving described vertical pivot, by described photo-electric rotary coding dish, the position angle when mirror M CU can remember catoptron 4 certain total powerstation 3 of sensing; Described self leveling base 35 is connect by three adjustable screws by upper plate and lower plate, and it is on the circumference in the center of circle that three adjustable screws are the center that isogonism is distributed in upper and lower plates, also is provided with two leveling screw drives integrated 34 between upper plate and the lower plate.
As shown in Figure 3, described leveling screw drives integrated 34 is made up of servo motor 41, reducer casing 42 and absolute rotary encoder 43, described absolute rotary encoder is by reducer casing 42 and servo motor 41 interlocks, described two leveling screw drives integrated 34 respectively with two leveling luer engages with, mirror M CU can drive two leveling spirals so that the upper plate of described self leveling base 35 keeps level by described two leveling screw drives integrated 34, can calculate in the upper and lower plates in the heart the discrepancy in elevation according to the output of two described absolute rotary encoders simultaneously;
The present invention's design has multiple alignment sensor 1, because the laser that laser instrument sent can be dispersed in the process of propagating uniformly, when arriving catoptron 4 minute surfaces, can form the hot spot of a circle, and in arbitrary space plane of normal direction laser axis, the light of the light at spot center place and hot spot edge can produce optical path difference, periphery at catoptron 4 is provided with several groups of interferometric optical fiber sensors, project the optical path difference of catoptron 4 plane inner laser hot spot differences by detection, and the variation of the optical path difference symbol of the difference in the laser facula moving process, do the change of space angle by the MCU control catoptron 4 of catoptron 4, indicate total powerstation 3 to do the cooperation that beam-pointing is adjusted simultaneously, can make the centre normal of catoptron 4 be tending towards overlapping with laser axis; In Fig. 2, embodiments of the invention show a kind of sensing locating device; A centering sensor runing rest is set on described centering sensor drive and protective cradle 28; one end of described runing rest is fixed with centering sensor 24; runing rest can make centering sensor 24 screw out protective cradles and its primary optical axis is overlapped with the centre normal of catoptron 4 minute surfaces under the control of the driving of protective cradle inner motor and limit sensors; when range finding, can make centering sensor precession protective cradle again; the edge, center that is symmetrical in catoptron 4 in addition in described catoptron sheath 21 vertically to having embedded two auxiliary centering sensors 22 with level to each, and described auxiliary centering sensor 22 is basic identical with described centering sensor 24 structures.
As shown in Figure 4, sensor is made up of shell 44, the convex lens 45 that are coated with filter coating, photovoltaic device 46 etc., described 45 laser-sensitives that total powerstation 3 is sent of filter coating convex lens that are coated with, the dead in line of its primary optical axis and cylindrical shell 44, the photovoltaic device that four plate shapes are identical was symmetrical in primary optical axis in 46 minutes up and down and distributes, and differential voltage amplifier of two accesses up and down of described centering sensor 24, mirror M CU will control the spinning movement of catoptron 4 along vertical plane according to the output of this amplifier; Two are inserted another differential voltage amplifier about described centering sensor 24, mirror M CU will control the spinning movement of catoptron along surface level according to the output of this amplifier, the output of four photovoltaic devices 46 simultaneously also will enter analog to digital converter through amplification respectively, and mirror M CU will gather these four magnitudes of voltage and add up and deposit a specific working storage in; The output signal of four auxiliary centering sensors 22 only provides reference when the center of the laser facula of determining total powerstation 3 for mirror M CU, and the equal normal direction of primary optical axis of described centering sensor 24 and described four auxiliary centering sensors 22 is in catoptron 4 minute surfaces.
When the laser beam directional mirror 4 of total powerstation 1, laser facula promptly can drop on the described centering sensor 24, the light that enters described centering sensor 24 so will be focused to a circle spot and being projeced on the described photovoltaic device 46 by the described filter coating convex lens 45 that are coated with, if the centre normal of catoptron 4 is not pointed to the LASER Light Source of total powerstation 3, so described round spot will depart from the primary optical axis of described centering sensor 24, above-mentioned like this differential voltage amplifier will have output, and mirror M CU will control on the action of described catoptron servo-drive system is positioned at described centering sensor 24 until the round spot that the light that enters described centering sensor 24 forms the primary optical axis according to the output of differential voltage amplifier and make the output of described two differential voltage amplifiers be zero.Subsequently, mirror M CU will send signal to total powerstation MCU by wireless data transmission module, require total powerstation 3 laser beam to do back deflection up and down about the elder generation of low-angle (for example 2 seconds), mirror M CU can constantly gather the accumulated value of the output of four photovoltaic devices in the process, gets maximal value U and deposits a specific working storage in.
Next mirror M CU will send signal to total powerstation MCU by wireless data transmission module, make the counterclockwise fine motion rotation of total powerstation along continuous straight runs, mirror M CU can constantly gather the accumulated value Ui of the output of four photovoltaic devices 46 simultaneously, when Ui＜=K*U (K＜1 is an empirical value), be considered as the minute surface that laser facula deflects away from catoptron, mirror M CU sends signal to total powerstation MCU and makes its fine motion rotation clockwise again, mirror M CU can constantly gather the accumulated value Ui of the output of four photovoltaic devices 46 simultaneously, work as Ui=K*U, be considered as the center of the edge of laser facula by catoptron, mirror M CU can indicate the reading of the horizontal code-disc of total powerstation MCU storage total powerstation, along with the clockwise fine motion rotation of total powerstation 3 along continuous straight runs, the accumulated value Ui that mirror M CU gathers is with ascending, descending again, as Ui＜=K*U, be considered as the center of another edge of laser facula by catoptron 4, mirror M CU will indicate second reading of the horizontal code-disc of total powerstation MCU storage total powerstation again, this moment, total powerstation MCU will calculate the reading of the pairing horizontal code-disc in center of laser facula, be that one of first reading plus thirty is taken advantage of the poor of two readings, and control its servo-drive system by this reading and do horizontal balance, even also the vertical pivot of laser facula is aimed at the center of catoptron, if strict calibration was carried out at the center of the collimation axis of total powerstation and its laser facula, at this moment, the telescopical crosshair vertical line of total powerstation will be cut in catoptron 4 in the heart.Next total powerstation MCU does top-down deflection by the telescope vertical direction of its servo-drive system control total powerstation; when its laser beam deflects away from the minute surface of catoptron 4; mirror M CU sends signal to total powerstation MCU and makes its do deflection from bottom to top; when the coboundary of laser facula passes through the center of catoptron 4; mirror M CU can indicate the reading of the vertical code-disc of total powerstation MCU storage total powerstation; when another edge of laser facula passes through the center of catoptron 4; mirror M CU will indicate second reading of the vertical code-disc of total powerstation MCU storage total powerstation again; this moment, total powerstation MCU can calculate the reading of the pairing vertical code-disc in center of laser facula again; and control its servo-drive system by this reading and do vertical action; even also the transverse axis of laser facula is aimed at the center of catoptron; at this moment; total powerstation 3 telescopical crosshair horizontal lines will be cut in catoptron 4 in the heart; after having finished the reading of horizontal angle and vertical angle; total powerstation MCU can notify mirror M CU with in the centralized positioning sensor income fender bracket; and the control total powerstation is finished range finding; utilize this device and above-mentioned centering method, can overlap fully with the laser beam axis calibration of total powerstation 3 and with the collimation axis of total powerstation 3.
Total powerstation servo-drive system of the present invention comprises: total powerstation MCU control circuit and, level servo with interface circuit, wireless data transmission module, level and the vertical fast rotational of total powerstation CPU and vertical fine motion rotating servo, self leveling base, MCU control circuit and wireless data transmission module are the common recognition technology, do not give unnecessary details at this; For level and vertical rotating servo, the total powerstation 3 that has can be by the CPU control of self, for this kind total powerstation 3, only need to do to instruct to exchange to get final product by total powerstation MCU and total powerstation CPU, sit at the bottom of the self leveling with top basic identical, the total powerstation that does not below only just have level and vertical rotating servo provides a kind of fast rotational servo and fine motion rotating servo embodiment;
As shown in Figure 5, the fast rotational servomechanism installation is made up of the servo motor 52 and a rubber wheel 53 of band reducer casing 51, the end that described rotating servo device is individually fixed in total powerstation 3, taken and the altitude circle outside, rubber wheel 53 is fitted tightly on the metal shell that needs drive unit to get final product, not damage total powerstation 3 and not influence its work is principle, and this point is more easily accomplished.
As shown in Figure 6, the fine motion rotating servo is by the servo motor 62 of band reducer casing 61, fine setting driving wheel 63, locking driving wheel 64, shell 65, compositions such as torsion torque sensor, when described fine motion rotating servo device is inserted the tangent screw of total powerstation 3, described fine setting driving wheel 63 and tangent screw and the set and locking screw of described locking driving wheel 64 with the total powerstation 3 that is locked respectively, the servo motor 62 of described two band reducer casinges 61 will be by driving tangent screw and the set and locking screw that described fine setting driving wheel 63 and locking driving wheel 64 drive total powerstation 3, in the reducer casing 61 that drives set and locking screw, be provided with torsion torque sensor, embodiments of the invention adopt is sidewall bonded foiled gage at the reducer casing that drives set and locking screw, to detect the distortion of the reducer casing sidewall that causes because of torsion, total powerstation MCU can control the action of the servo motor 62 of described band reducer casing by the signal that detects torsion torque sensor.The present invention compared with prior art has the precision height of sighting, and speed is fast, thereby improves the advantages such as automaticity of total powerstation greatly.
Claims (14)
1. full-station instrument automatically accurate collimating system, form by total powerstation servo-drive system, catoptron servo-drive system, alignment sensor group, MCU control circuit and power supply etc., it is characterized in that: described total powerstation servo-drive system, catoptron servo-drive system are provided with the servomechanism installation of MCU control respectively, its MCU carries out information interchange by wireless data transmission module: the laser beam irradiation of total powerstation is to catoptron, and the MCU of catoptron is by its servo-drive system action of signal controlling of alignment sensor; The MCU of catoptron sends signal by wireless data transmission module to total powerstation MCU, the rotation of control total powerstation.
2. full-station instrument automatically accurate collimating system according to claim 1, it is characterized in that the normal at described mirror mirror center points to the LASER Light Source of total powerstation, the MCU of catoptron sends signal by wireless data transmission module to total powerstation MCU, and control total powerstation along continuous straight runs is rotated counterclockwise.
3. full-station instrument automatically accurate collimating system according to claim 1 is characterized in that described total powerstation servo-drive system is made up of MCU control circuit and, level servo with interface circuit, wireless data transmission module, level and the vertical fast rotational of total powerstation CPU and vertical fine motion rotating servo; MCU control circuit and integrated wherein with interface circuit, the wireless data transmission module of total powerstation CPU, and, level servo by MCU signal level control and vertical fast rotational and vertical fine motion rotating servo move.
4. full-station instrument automatically accurate collimating system according to claim 3, it is characterized in that described fast rotational servomechanism installation by the band reducer casing a servo motor and a rubber wheel form, the end that described rotating servo device is individually fixed in total powerstation, taken and the altitude circle outside, rubber wheel is fitted tightly on the metal shell that needs drive unit.
5. full-station instrument automatically accurate collimating system according to claim 3, it is characterized in that described fine motion rotating servo is made up of the servo motor of band reducer casing, fine setting driving wheel, locking driving wheel, shell, torsion torque sensor etc., described fine motion rotating servo device inserts the tangent screw of total powerstation, and described fine setting driving wheel and described locking driving wheel are with the tangent screw and the set and locking screw of the total powerstation that is locked respectively.
6. full-station instrument automatically accurate collimating system according to claim 5, the servo motor that it is characterized in that described band reducer casing will be provided with torsion torque sensor by driving tangent screw and the set and locking screw that described fine setting driving wheel and locking driving wheel drive total powerstation in the reducer casing that drives set and locking screw.
7. full-station instrument automatically accurate collimating system according to claim 6, the sidewall bonded foiled gage that it is characterized in that the reducer casing of described driving set and locking screw, the distortion of the reducer casing sidewall that detection causes because of torsion, total powerstation MCU can control the action of the servo motor of described band reducer casing by the signal that detects torsion torque sensor.
8. full-station instrument automatically accurate collimating system according to claim 1; it is characterized in that described sensing locating device is provided with a centering sensor runing rest on centering sensor drive and protective cradle; one end of described runing rest is fixed with the centering sensor, and runing rest can make the centering sensor screw out protective cradle and its primary optical axis is overlapped with the centre normal of mirror mirror under the control of the driving of protective cradle inner motor and limit sensors.
9. full-station instrument automatically accurate collimating system according to claim 8; it is characterized in that centering sensor precession protective cradle; the edge, center that is symmetrical in catoptron in described catoptron sheath vertically to having embedded two auxiliary centering sensors with level to each, and described auxiliary centering sensor and described centering sensor construction are basic identical.
10. full-station instrument automatically accurate collimating system according to claim 9, it is characterized in that described sensor is made up of shell, the convex lens that are coated with filter coating, photovoltaic device etc., describedly be coated with the laser-sensitive that the filter coating convex lens send total powerstation, the dead in line of its primary optical axis and cylindrical shell, the photovoltaic device branch that four plate shapes are identical is symmetrical in primary optical axis up and down and distributes.
11. full-station instrument automatically accurate collimating system according to claim 10, it is characterized in that and described centering sensor up and down two insert a differential voltage amplifier, total powerstation MCU will control the spinning movement of catoptron along vertical plane according to the output of this amplifier.
12. full-station instrument automatically accurate collimating system according to claim 10, it is characterized in that described centering sensor about two insert another differential voltage amplifiers, mirror M CU will control the spinning movement of catoptron along surface level according to the output of this amplifier.
13. according to claim 10 or 11 or 12 described full-station instrument automatically accurate collimating systems, it is characterized in that the output of four photovoltaic devices simultaneously of described centering sensor also will enter analog to digital converter through amplification respectively, mirror M CU will gather these four magnitudes of voltage and add up and deposit a specific working storage in; The equal normal direction of primary optical axis of described centering sensor and described four auxiliary centering sensors is in mirror mirror.
14. full-station instrument automatically accurate collimating system according to claim 13, described centering sensor and described four auxiliary centering sensors are done in the process of low-angle fine motion along level and vertical direction at mirror M CU control total powerstation, and mirror M CU is incident upon the aplanatic edge of the laser facula of mirror mirror by the total powerstation that relatively comes to determine to the voltage accumulation value that deposits described specific working storage in.
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| CNA2007100759854A CN101114402A (en) | 2007-07-16 | 2007-07-16 | Full-station instrument automatically accurate collimating system |
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| CN107741199A (en) * | 2017-11-09 | 2018-02-27 | 浙江温州沈海高速公路有限公司 | A kind of multidirectional target of 3 D laser scanning |
| CN111174751A (en) * | 2019-12-27 | 2020-05-19 | 北京日月九天科技有限公司 | Portable antenna photoelectric direction and posture measuring instrument and adjusting method and application thereof |
| CN112113550A (en) * | 2020-10-16 | 2020-12-22 | 中铁上海设计院集团有限公司 | Intelligent magnetic suspension power multi-state measuring prism and application method thereof |
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