CN101949711A - Device and method for detecting dynamic angle measurement precision of large-sized photoelectric theodolite - Google Patents

Device and method for detecting dynamic angle measurement precision of large-sized photoelectric theodolite Download PDF

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Publication number
CN101949711A
CN101949711A CN 201010261525 CN201010261525A CN101949711A CN 101949711 A CN101949711 A CN 101949711A CN 201010261525 CN201010261525 CN 201010261525 CN 201010261525 A CN201010261525 A CN 201010261525A CN 101949711 A CN101949711 A CN 101949711A
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target
light
fixed
angle
support arm
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CN 201010261525
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Chinese (zh)
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CN101949711B (en
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卓仁善
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中国科学院长春光学精密机械与物理研究所
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Abstract

The invention discloses a device and a method for detecting dynamic angle measurement precision of a large-sized photoelectric theodolite, and belongs to the technical field of photoelectric observation equipment. The device comprises a collimated light tube, a rotary support arm, a rotary shaft, a right-angled reflector, a large reflector, an angle seat, a shaft angle encoder, a drive motor, a turning reflector, a target pedestal, a common platform, a record sensor, a sensor adjusting mechanism and a data storage and processing module. The method comprises the following steps of: separating a beam of light from the last stage of a target working light path by adopting two reflectors, guiding the light to the back of a target by passing through the rotary support arm, transforming large-angle motion of the light beam into small-angle motion through the turning reflector fixed at the tail end of the rotary shaft, receiving the formed image by adopting the record sensor so as to record the real-time change condition of the target light beam, and processing the recorded data through the data storage and processing module so as to acquire the dynamic precision of the target. The device and the method can record and measure the change of the motion parameters of the dynamic target in real time, and can be used for measuring the dynamic precision of the theodolite.

Description

The pick-up unit and the method for large photoelectric transit dynamic testing angle precision
Technical field
The invention belongs to the photoelectric observation equipment technical field, relate to a kind of pick-up unit and method of large photoelectric transit dynamic testing angle precision.
Background technology
The large photoelectric transit is the scope that is used for extraterrestrial target kinematic parameter such as artificial satellite, has characteristics such as measuring accuracy height real time imagery but compare it with measurement means such as radar, especially is celebrated so that measuring accuracy is high.Be that first and second of main measurement means on the transit in generation with photorecording, angle measurement accuracy as the auxiliary TV sensor that disposes is by determining with the method for camera chain comparison, its advantage is that the target light tube side position on the testing stand can be determined with high-precision Lycra transit, so testing result is with a high credibility.Along with the development of CCD image device, the sensor on the transit has replaced the photorecording system by television camera, and it has visual strong, easy to operate advantage, but the accuracy detection of TV sensor can not adopt the method for comparing with camera chain again.
The prior art the most approaching with the present invention is the optical target that can carry out the tracking accuracy measurement of Changchun Institute of Optics, Fine Mechanics and Physics, CAS's development, as shown in Figure 1, this optical target comprises support 1, collimating light pipe 2, catoptron 3, catoptron pressing plate 4, rotation support arm 5, precise rolling bearing 6, supporting seat 7, rotating shaft 8, shaft coupling 9 and motor 10.Collimating light pipe 2 is installed in an end of rotation support arm 5, the other end at rotation support arm 5 is fixed with catoptron 3 by catoptron pressing plate 4, the light beam that collimating light pipe 2 penetrates is turned back after catoptron 3 reflections, be fixed with rotating shaft 8 on the rotation support arm 5, rotating shaft 8 is connected with supporting seat 7 by precise rolling bearing 6, and motor 10 is given rotating shaft 8 by shaft coupling 9 with transmission of power.Under motor 10 drives, 5 rotations of rotation support arm, the ray envelop after the reflection goes out conical surface, and guiding transit 11 is made pursuit movement.
At present, the problem that target exists is: because the dynamic accuracy in target lead beam orientation can not determine that existing target can only be used for the tracking accuracy of transit to be measured, and can not be used for the detection of transit dynamic testing angle precision.Therefore, definite method of seeking optics dynamic target precision is a problem anxious to be solved.
Summary of the invention
To have target now because the dynamic accuracy in lead beam orientation be can not determine in order solving, thereby can not to be used for the problem that the transit dynamic accuracy is measured, the invention provides a kind of pick-up unit and method of large photoelectric transit dynamic testing angle precision.
The technical scheme that technical solution problem of the present invention is adopted is as follows:
The pick-up unit of large photoelectric transit dynamic testing angle precision, comprise collimating light pipe, catoptron pressing plate, rotation support arm, precise rolling bearing, revolving shaft, corner cube mirror, large reflective mirror, angle seat, shaft-position encoder, drive motor, refluxing reflection mirror, refluxing reflection mirror seat, target pedestal, common platform, record sensor, sensor adjusting mechanism and data storage and processing module, collimating light pipe is fixed on an end of rotation support arm; Offer logical light window on the rotation support arm, the other end of rotation support arm is fixed with the angle seat; Large reflective mirror is fixed on the angle seat by the catoptron pressing plate, and corner cube mirror is glued on the large reflective mirror; Revolving shaft is fixed on the middle part of rotation support arm, and is enclosed within by precise rolling bearing in the bearing mounting hole of target pedestal, forms rotary axis system; Drive motor and shaft-position encoder are enclosed within the target pedestal, and are connected with revolving shaft; Refluxing reflection mirror is fixed on the revolution the tip of the axis by the refluxing reflection mirror seat; The target pedestal is fixed on the common platform; The record sensor is fixed on the sensor adjusting mechanism, and the sensor adjusting mechanism is fixed on the common platform; Data storage and processing module are connected with the record sensor by cable, and data storage and processing module are fixed on the common platform.
The using method of large photoelectric transit dynamic testing angle precision pick-up unit comprises the steps:
Step 1, send light beam, and this light beam is radiated on large reflective mirror and the corner cube mirror simultaneously by collimating light pipe;
Step 2, by adjusting the target pedestal, make through the large reflective mirror beam reflected and form target beam, utilize target beam guiding transit to carry out work;
Step 3, the corner cube mirror beam reflected of passing through form to detect uses light beam, detection is passed the rotation support arm with light beam by logical light window, be radiated on the refluxing reflection mirror,, the detection light beam through the refluxing reflection mirror reflection received and imaging by the record sensor by adjusting the sensor adjusting mechanism;
Step 4, with drive motor energising, rotate by drive motor driven rotary support arm, make the movement locus envelope of target beam go out a conical surface, transit is made the change regular movement of orientation, pitching under this light beam guiding; Meanwhile, drive refluxing reflection mirror by revolving shaft and rotate, make the detection light beam do low-angle motion, the record sensor is with the position of this light beam of miss distance form real time record;
Step 5, by cable with above-mentioned miss distance data transmission to data storage and processing module, data storage and processing module are handled these data, transit is compared with target optic angle bundle calibration value to the measurement data of target beam, finish the detection of transit dynamic testing angle precision.
The invention has the beneficial effects as follows: can measure the variation of the kinematic parameter of dynamic target in real time, can be used for the measurement of transit dynamic accuracy.
Description of drawings
Fig. 1 is that prior art is used for the optical target structural representation that tracking accuracy is measured.
Fig. 2 is the pick-up unit synoptic diagram of large photoelectric transit dynamic testing angle precision of the present invention.
Among the figure: 1, support, 2, collimating light pipe, 3, catoptron, 4, the catoptron pressing plate, 5, the rotation support arm, 6, precise rolling bearing, 7, supporting base, 8, rotating shaft, 9, shaft coupling, 10, motor, 11, transit, 12, revolving shaft, 13, corner cube mirror, 14, large reflective mirror, 15, the angle seat, 16, logical light window, 17, shaft-position encoder, 18, drive motor, 19, detect and use light beam, 20, refluxing reflection mirror, 21, the refluxing reflection mirror seat, 22, detect light beam, 23, bracing frame, 24, target tightens up mechanism, and 25, angle-adjusting mechanism, 26, common platform, 27, the record sensor, 28, the three-dimensional seat of adjusting, 29, leading screw, 30, nut, 31, anti-turn screw, 32, base, 33, cable, 34, data storage and processing module, 35, target beam, 36, centre hole of base, 37, the leading screw elongated slot.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
As shown in Figure 2, the pick-up unit of large photoelectric transit dynamic testing angle precision of the present invention comprises: can produce collimating light pipe 2, revolving shaft 12, rotation support arm 5, corner cube mirror 13, large reflective mirror 14, angle seat 15, catoptron pressing plate 4, logical light window 16, precise rolling bearing 6, shaft-position encoder 17, drive motor 18, refluxing reflection mirror 20, refluxing reflection mirror seat 21, target pedestal, common platform or ground 26, record sensor 27, sensor adjusting mechanism, cable 33, data storage and the processing module 34 of representing the infinite distance target beam; Described target pedestal comprises that bracing frame 23, target tighten up mechanism 24 and angle-adjusting mechanism 25, and bracing frame 23 tightens up mechanism 24 by target and angle-adjusting mechanism 25 is fixed on the common platform 26; Described sensor adjusting mechanism comprises three-dimensional seat 28, leading screw 29, nut 30, anti-turn screw 31, base 32, leading screw elongated slot 37 and the centre hole of base 36 adjusted, described record sensor 27 is fixed on three-dimensional the adjustment on the seat 28, three-dimensional adjustment seat 28 is fixed on an end of leading screw 29, leading screw 29 other ends screw in the nut 30, anti-turn screw 31 is fixed on the base 32, one end of anti-turn screw 31 inserts in the leading screw elongated slot 37, and nut 30 is connected with base 32 by centre hole of base 36.
Collimating light pipe 2 is fixed on an end of rotation support arm 5, on the angle seat 15 of rotation support arm 5 other ends large reflective mirror 14 is installed, the light beam that is sent by collimating light pipe 2 is radiated on large reflective mirror 14 and the corner cube mirror 13 simultaneously, forms the target beam 35 of guiding transit 11 work through large reflective mirror 14 beam reflected; And pass rotation support arm 5 with light beam 19 by logical light window 16 through the detection of corner cube mirror 13 reflections, be radiated on the refluxing reflection mirror 20, the angle of the detection light beam 22 after turning back obtains adjusting, and is converted into small-angle movement, detect light beam 22 and receive, be used for error-detecting by record sensor 27.Middle part at rotation support arm 5 is fixedly connected with revolving shaft 12, revolving shaft 12 is enclosed within the bearing mounting hole on the target bracing frame 23 by a pair of precise rolling bearing 6, form rotary axis system, drive motor 18 and shaft-position encoder 17 are enclosed within the corresponding mounting hole of bracing frame 23, and are connected with revolving shaft 12.
With drive motor 18 energisings, driven rotary support arm 5 rotates, and the movement locus envelope of target beam 35 goes out a conical surface, and transit 11 is made the change regular movement of orientation, pitching under this light beam guiding; Meanwhile, the tiny light beam 19 that detects usefulness is after corner cube mirror 13 reflections, the logical light window 16 that passes on the rotation support arm 5 shines on the workplace of refluxing reflection mirror 20, accurately adjust refluxing reflection mirror 20, make the direction of the detection light beam 22 after the reflection basic consistent with the axis of revolving shaft 12, this light beam promptly writes down sensor 27 by ccd sensor and receives also imagings; Record sensor 27 is fixed on the three-dimensional adjustment seat 28, and when drive motor 18 drove support arms 5 rotations, record sensor 27 was with the position of miss distance form real time record detection light beam 22, and the miss distance data are transferred to data recording and processing module 34 by cable 33.
Only change the light beam direction of transfer and do not change the character of beam motion rate of change according to reflective optical devices, in the one-period 360 degree scopes of target rotation, 30 degree are chosen at 12 and are measured at interval, and the position of every bit is miss distance ξ with centre coordinate Xi, ξ YiExpression, i=1 ..., n; Utilize 12 point data to carry out fourier expansion according to pitching, orientation both direction, on behalf of catoptron, the constant term coefficient of fourier series adjust error ξ Xo, ξ Y0, comprehensive miss distance is x, the resultant error of y both direction, promptly Maximum dynamic error μ=ξ ImaxIf very high, then can rock further and revise axle system to the measuring accuracy requirement.
The present invention adopts two catoptrons to isolate a branch of light from the afterbody of target working light path, pass the logical light window 16 on the rotation support arm 5, it is guided to the back side of target, again the refluxing reflection mirror 20 by being fixed in revolving shaft 12 ends with the wide-angle conversion of motion of target beam 35 for detecting the small-angle movement of light beam 22, employing is fixed on the three-dimensional record sensor of adjusting on the seat 28 27 and receives imaging, thereby the real-time change situation of record target light beam is with the dynamic accuracy of assessment optics dynamic target.
Operation power of the present invention is from drive motor 18, shaft-position encoder 17 is used to write down the angle position of rotation support arm 5, the light beam of collimating light pipe 2 outgoing reflects to form the target beam 35 of guiding transit 11 work through large reflective mirror 14, shine on the refluxing reflection mirror 20 after the part target beam reflection that corner cube mirror 13 obtains, refluxing reflection mirror 20 main effects are to adjust the direction that detects with light beam 19, make its reflection back as far as possible little, the record sensor 27 that is fixed on the three-dimensional adjustment seat 28 can be received with the angle of revolving shaft 12; Because large reflective mirror 14 adopts the method for glueing joint to be fixed together with corner cube mirror 13, transmit the character of how much light according to the plane reflection element, the situation of change of target beam 35 has directly been reacted in the variation that detects light beam 22, handles the dynamic accuracy that can obtain target by data recording and 34 pairs of recorded data of processing module.

Claims (5)

1. the pick-up unit of large photoelectric transit dynamic testing angle precision, comprise collimating light pipe (2), catoptron pressing plate (4), rotation support arm (5) and precise rolling bearing (6), it is characterized in that, this device also comprises revolving shaft (12), corner cube mirror (13), large reflective mirror (14), angle seat (15), shaft-position encoder (17), drive motor (18), refluxing reflection mirror (20), refluxing reflection mirror seat (21), the target pedestal, common platform (26), record sensor (27), sensor adjusting mechanism and data storage and processing module (34), collimating light pipe (2) are fixed on an end of rotation support arm (5); Offer logical light window (16) on the rotation support arm (5), the other end of rotation support arm (5) is fixed with angle seat (15); Large reflective mirror (14) is fixed on the angle seat (15) by catoptron pressing plate (4), and corner cube mirror (13) is glued on the large reflective mirror (14); Revolving shaft (12) is fixed on the middle part of rotation support arm (5), and is enclosed within the bearing mounting hole of target pedestal by precise rolling bearing (6), forms rotary axis system; Drive motor (18) and shaft-position encoder (17) are enclosed within the target pedestal, and are connected with revolving shaft (12); Refluxing reflection mirror (20) is fixed on the end of revolving shaft (12) by refluxing reflection mirror seat (21); The target pedestal is fixed on the common platform (26); Record sensor (27) is fixed on the sensor adjusting mechanism, and the sensor adjusting mechanism is fixed on the common platform (26); Data storage and processing module (34) are connected with record sensor (27) by cable (33), and data storage and processing module (34) are fixed on the common platform (26).
2. the pick-up unit of large photoelectric transit dynamic testing angle precision as claimed in claim 1, it is characterized in that, described target pedestal comprises that bracing frame (23), target tighten up mechanism (24) and angle-adjusting mechanism (25), described revolving shaft (12) is enclosed within the bearing mounting hole of bracing frame (23) by precise rolling bearing (6), and drive motor (18) and shaft-position encoder (17) are enclosed within the corresponding mounting hole of bracing frame (23); Support frame as described above (23) tightens up mechanism (24) by target and angle-adjusting mechanism (25) is fixed on the common platform (26).
3. the pick-up unit of large photoelectric transit dynamic testing angle precision as claimed in claim 1, it is characterized in that, described sensor adjusting mechanism comprises the three-dimensional seat (28) of adjusting, leading screw (29), nut (30), anti-turn screw (31), base (32), leading screw elongated slot (37) and centre hole of base (36), described record sensor (27) is fixed on three-dimensional the adjustment on the seat (28), three-dimensional adjustment seat (28) is fixed on an end of leading screw (29), leading screw (29) other end screws in the nut (30), anti-turn screw (31) is fixed on the base (32), one end of anti-turn screw (31) inserts in the leading screw elongated slot (37), and nut (30) is connected with base (32) by centre hole of base (36).
4. the using method of each described large photoelectric transit dynamic testing angle precision pick-up unit among the claim 1-3 is characterized in that this method comprises the steps:
Step 1, send light beam, and this light beam is radiated on large reflective mirror (14) and the corner cube mirror (13) simultaneously by collimating light pipe (2);
Step 2, by adjusting the target pedestal, make through large reflective mirror (14) beam reflected and form target beam (35), utilize target beam (35) guiding transit (11) to carry out work;
Step 3, corner cube mirror (13) beam reflected of passing through form and detect with light beam (19), detect with light beam (19) and pass rotation support arm (5) by logical light window (16), be radiated on the refluxing reflection mirror (20), by adjusting the sensor adjusting mechanism, the detection light beam (22) through refluxing reflection mirror (20) reflection is received and imaging by record sensor (27);
Step 4, with drive motor (18) energising, rotate by drive motor (18) driven rotary support arm (5), make the movement locus envelope of target beam (35) go out a conical surface, transit (11) is made the change regular movement of orientation, pitching under this light beam guiding; Meanwhile, drive refluxing reflection mirror (20) by revolving shaft (12) and rotate, make detection light beam (22) do low-angle motion, record sensor (27) is with the position of this light beam of miss distance form real time record;
Step 5, by cable (33) with above-mentioned miss distance data transmission to data storage and processing module (34), data storage and processing module (34) are handled these data, transit is compared with target optic angle bundle calibration value to the measurement data of target beam, finish the detection of transit dynamic testing angle precision.
5. the detection method of large photoelectric transit dynamic testing angle precision as claimed in claim 4, it is characterized in that, the method that data storage and processing module (34) are handled data in the described step 5 is: only change the light beam direction of transfer according to reflective optical devices and do not change the character of beam motion rate of change, in 360 ° of scopes of one-period of target rotation, the interval is chosen at 12 for 30 ° and is measured, and the position of every bit is miss distance ξ with centre coordinate Xi, ξ YiExpression, i=1 ..., n; Utilize 12 point data to carry out fourier expansion according to pitching, orientation both direction, the constant term coefficient of fourier series is represented the adjustment error ξ of refluxing reflection mirror (20) Xo, ξ Y0, comprehensive miss distance is x, the resultant error of y both direction, promptly Maximum dynamic error μ=ξ Imax
CN2010102615252A 2010-08-25 2010-08-25 Device and method for detecting dynamic angle measurement precision of large-sized photoelectric theodolite CN101949711B (en)

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CN103364011A (en) * 2013-07-11 2013-10-23 中国科学院西安光学精密机械研究所 Super-large visual field multi-target scenery simulation system
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CN103727961A (en) * 2014-01-14 2014-04-16 中国科学院长春光学精密机械与物理研究所 Method for correcting dynamic error of electro-optic theodolite
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CN104647144A (en) * 2014-12-12 2015-05-27 西安航天计量测试研究所 Coordinate transformation based optical angle measuring device and method
CN105375097A (en) * 2015-12-02 2016-03-02 成都锦江电子系统工程有限公司 Large-scale paraboloid antenna surface operation angle control and loading measurement system
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CN103175546B (en) * 2013-03-21 2015-12-02 中国人民解放军63908部队 Automatic detection device for vertical angle of angle measurement orientation equipment
CN103175546A (en) * 2013-03-21 2013-06-26 中国人民解放军63908部队 Automatic detection device for vertical angle of angle measurement orientation equipment
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CN103727961B (en) * 2014-01-14 2016-07-06 中国科学院长春光学精密机械与物理研究所 Method for correcting dynamic error of electro-optic theodolite
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CN106871926B (en) * 2016-12-30 2019-08-06 中国科学院西安光学精密机械研究所 The measuring device and measuring method of heavy caliber electro-optic theodolite angle measurement accuracy

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