CN103309357A - Two-degree-of-freedom laser scanning method and hollow numerical control holder - Google Patents
Two-degree-of-freedom laser scanning method and hollow numerical control holder Download PDFInfo
- Publication number
- CN103309357A CN103309357A CN2013102561523A CN201310256152A CN103309357A CN 103309357 A CN103309357 A CN 103309357A CN 2013102561523 A CN2013102561523 A CN 2013102561523A CN 201310256152 A CN201310256152 A CN 201310256152A CN 103309357 A CN103309357 A CN 103309357A
- Authority
- CN
- China
- Prior art keywords
- impact point
- laser
- freedom
- controller
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a two-degree-of-freedom laser scanning method and a hollow numerical control holder. The scanning method includes the following steps of 1 scanning target points setting which includes selecting N ground points in a preset scanning area as target points, 2 target points three-dimensional coordinates determining which includes determining three-dimensional coordinates of the selected N target points respectively and 3 automatic scanning which includes that the hollow numerical control holder comprises a two-degree-of-freedom holder body which comprises a cabinet body and a hollow horizontal rotating platform installed on the cabinet body, a laser is installed in the cabinet body, and a light reflection mirror used for reflecting laser light beams transmitted by the laser and driven by a pitching adjusting mechanism to rotate vertically in the vertical face is installed on the horizontal rotating platform. The method and the holder are reasonable in design, convenient to operate and achieve, good in use effect and capable of solving the problem that complex and accurate coordinate demarcation is required on site in use of the existing two-degree-of-freedom holder, a laser facula position calculation result is low in accuracy and the like.
Description
Technical field
The invention belongs to two degrees of freedom scanning technique field, especially relate to a kind of two degrees of freedom Laser Scanning and hollow type numerical control console.
Background technology
Flying bird on the airport consists of very large hidden danger to flight safety, and bird is sucked into the tragedy that aircraft engine might cause the fatal crass.Driving bird is a very heavy task of each airport, and unattended laser bird expelling equipment just arises at the historic moment.Laser bird expelling is respond well, but has a key issue to be solved well, the accurate calculating of facula position under the polar coordinate system that Here it is.
The principle of laser bird expelling is by a cradle head of two degrees of freedom high more than a meter, the left and right rotation angles u of control cradle head of two degrees of freedom transverse axis and the angle of pitch v of pitch axis, laser beam is projected on tens meters to more than the 1000 meters ground far away, and hot spot in the interscan of regulation scanning area of corresponding formation, thereby flying bird is frightened away.This just needs to determine facula position computing method namely how accurately to calculate two angles under the two degrees of freedom polar coordinate system, so that on the ground on demand track while scan (such as straight line) motion of hot spot.That is to say, how any point coordinate P (x, y) on the ground is converted to corner u and the v of lower two axles of polar coordinate system.
Nowadays, when any point coordinate P (x, y) on the ground is converted to the corner u of lower two axles of polar coordinate system and v, adopt following methods to carry out coordinate conversion: when the horizontal ordinate x of ordering as P under the known plane right-angle coordinate and ordinate y, according to formula
With
Calculate the left and right rotation angles u of cradle head of two degrees of freedom transverse axis when being scanned up to the P point and the angle of pitch v of pitch axis; When the angle of pitch v of the left and right rotation angles u of cradle head of two degrees of freedom transverse axis under the known polar coordinate system and pitch axis, according to formula
With
The flat square that calculates current time institute scanning light spot is coordinate x and y.
Like this, in the actual application, at the scene cradle head of two degrees of freedom being adjusted to zero first and tackled mutually the null position of scanning determines, manually adjust afterwards the left and right rotation angles u of cradle head of two degrees of freedom transverse axis and the angle of pitch v of pitch axis, so that a series of impact points of laser guide, when being four summits of a rectangle on the ground such as intended target point, obtain first the four group (us corresponding with these four summits, v) then coordinate passes through above-mentioned four groups of (u, v) coordinates
With
Be transformed into plane right-angle coordinate, and corresponding obtaining and four groups of four groups of (x, y) coordinates that (u, v) coordinate is corresponding; Then, determine track while scan and sweep velocity, and automatically after the operation every interval certain hour (for example 1ms) be scanned up to a new analyzing spot in the plane right-angle coordinate, (x, y) coordinate of this analyzing spot is passed through
With
Be converted to (the u in the polar coordinate system, v) coordinate, the left and right rotation angles u of cradle head of two degrees of freedom transverse axis and the angle of pitch v of pitch axis when just obtaining to be scanned up to this analyzing spot, according to the left and right rotation angles u that obtains and the angle of pitch v transverse axis and the pitch axis of cradle head of two degrees of freedom are controlled again, thus reach laser facula on the ground in accordance with regulations track while scan (such as straight line) carry out the purpose of uniform speed scanning.
There is not any problem in theory in above-mentioned coordinate transformation method, but non-constant of effect during practical application, its reason is exactly that above-mentioned Formula of Coordinate System Transformation is extremely responsive to the setting angle of cradle head of two degrees of freedom, for example when the height h of cradle head of two degrees of freedom is 1.5 meters and dot projection to 1000 meter, angle of pitch v value only has 0.08594 °, therefore as long as the levelness that cradle head of two degrees of freedom is installed has the deviation of 0.1 degree, the rectangular coordinate system coordinate figure error that its coordinate conversion obtains just can't be stood, even angle of pitch v value also negative value can occur, causes above-mentioned Formula of Coordinate System Transformation to use.In the actual use procedure, only have the installation accuracy of cradle head of two degrees of freedom levelness to reach 0.01 when spending, above-mentioned Formula of Coordinate System Transformation just has use value.But using the scene, requiring to accomplish that levelness is that 0.01 installation accuracy of spending almost is impossible thing.
Therefore, just must carry out at the scene very complicated, very accurate coordinate during actual the use demarcates, and the levelness deviate of definite cradle head of two degrees of freedom on all directions, and when using above-mentioned Formula of Coordinate System Transformation calculating, deduct one by one corresponding levelness deviate according to different position angles again, thereby obtain the acceptable coordinate conversion result of precision.But the process of carrying out at the scene the coordinate demarcation is too complicated, bothers very much, and cost is very high, and the user almost can't accept.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, provide a kind of method step simple, realize convenient and need not in advance to carry out the two degrees of freedom Laser Scanning that coordinate is demarcated, scanning is effective.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of two degrees of freedom Laser Scanning is characterized in that the method may further comprise the steps:
Step 2, impact point three-dimensional coordinate are determined: the three-dimensional coordinate to selected N in the step 1 described impact point is determined respectively, and according to the scanning sequencing of in advance design N described impact point is numbered, N described impact point according to the scanning sequencing by first to after be respectively impact point P
1, impact point P
2..., impact point P
N
Wherein, definite method of N described impact point three-dimensional coordinate is all identical; For any impact point P in N the impact point
iThree-dimensional coordinate (x
i, y
i, z
i) when determining, the horizontal adjusting mechanism of the described cradle head of two degrees of freedom of manual adjustment and aligning elevation gear are also so that laser beam that laser instrument sends is projected to impact point P first
iOn, this moment, the level angle of described horizontal adjusting mechanism was u
iAnd the angle of pitch of described aligning elevation gear is v
iAfterwards, controller is according to formula
Calculate x
i, y
iAnd z
iWherein, i be positive integer and i=1,2 ..., N; In the formula, d
iBy being sent laser beam, described laser instrument is projected to impact point P
iProjection distance when upper;
Described horizontal adjusting mechanism and described aligning elevation gear are controlled by controller;
Step 301, manually be adjusted to the preliminary sweep position: manually adjust the horizontal adjusting mechanism of described cradle head of two degrees of freedom and aligning elevation gear and so that laser beam that laser instrument sends is projected to impact point P
1On, this moment, the level angle of described horizontal adjusting mechanism was u
1And the angle of pitch of described aligning elevation gear is v
1
Step 302, by impact point P
kAutoscan is to impact point P
K+1: treat that laser beam that laser instrument sends is projected to impact point P
kWhen upper, controller calls the linear interpolation module and obtains by impact point P
kTo impact point P
K+1The analyzing spot movement locus, and the three-dimensional coordinate of each analyzing spot on this analyzing spot movement locus of corresponding acquisition; Afterwards, described controller all is converted to polar coordinates with the three-dimensional coordinate of each analyzing spot, and obtains the polar coordinates corresponding with the three-dimensional coordinate of each analyzing spot; Then, described controller is controlled described horizontal adjusting mechanism and described aligning elevation gear according to the polar coordinates corresponding with the three-dimensional coordinate of each analyzing spot, and corresponding drive laser instrument treats that by to rear each analyzing spot on this analyzing spot movement locus being scanned respectively first laser beam that laser instrument sends is projected to impact point P
K+1Finished when upper by impact point P
kTo impact point P
K+1The autoscan process; Wherein, k be positive integer and k=1,2 ..., N-1;
By impact point P
kTo impact point P
K+1Carry out in the autoscan process, the time interval on the described analyzing spot movement locus between adjacent two analyzing spots in front and back is all identical;
The coordinate transformation method of all analyzing spots is all identical on the described analyzing spot movement locus, for the three-dimensional coordinate (x of any analyzing spot on the described analyzing spot movement locus
m, y
m, z
m) when changing, according to formula
The level angle of described horizontal adjusting mechanism is u when calculating laser beam and being projected to this analyzing spot
mAnd the angle of pitch of described aligning elevation gear is v
m, (u wherein
m, v
m) be three-dimensional coordinate (x
m, y
m, z
m) corresponding polar coordinates;
Step 303, repeating step 302 repeatedly are until finish by impact point P
N-1To impact point P
NThe autoscan process;
Step 304, answer preliminary sweep position: controller is according to level angle u
1With angle of pitch v
1Described horizontal adjusting mechanism and described aligning elevation gear are controlled, and so that laser beam that laser instrument sends is projected to impact point P
1On;
Step 305, return step 302, scan next time.
Above-mentioned a kind of two degrees of freedom Laser Scanning is characterized in that: in the step 302 by impact point P
kTo impact point P
K+1Carry out in the autoscan process, the time interval on the described analyzing spot movement locus between adjacent two analyzing spots in front and back is Δ t, wherein Δ t=0.1ms～10ms.
Above-mentioned a kind of two degrees of freedom Laser Scanning is characterized in that: N=4 in the step 1, and the scanning area of predefined laser instrument is the rectangular scanning zone, 4 described impact points are respectively four summits in described rectangular scanning zone.
Above-mentioned a kind of two degrees of freedom Laser Scanning is characterized in that: 4 described impact points are respectively P
1, P
2, P
3And P
4, P wherein
1Be the summit, lower left in described rectangular scanning zone, P
2Be the summit, lower right in described rectangular scanning zone, P
3Be the summit, upper left side in described rectangular scanning zone, P
4Summit, upper right side for described rectangular scanning zone.
Above-mentioned a kind of two degrees of freedom Laser Scanning is characterized in that: in the step 302 by impact point P
kTo impact point P
K+1Carry out in the autoscan process, the regulate the speed luffing angle that is V1 and described aligning elevation gear of the level angle of described horizontal adjusting mechanism is regulated the speed and is V2.
Simultaneously, the invention also discloses a kind of simple in structure, reasonable in design, processing and fabricating and install and lay convenient and use hollow type numerical control console easy and simple to handle, that result of use is good, it is characterized in that: comprise cradle head of two degrees of freedom and the laser instrument that is installed on the described cradle head of two degrees of freedom, described cradle head of two degrees of freedom comprise cabinet and be installed on the cabinet and inner hollow horizontally rotate platform, described laser instrument is installed in the cabinet, and described cabinet top and the described platform bottom that horizontally rotates all have the through hole that passes for laser beam that laser instrument sends; Described horizontally rotate to be equipped with in the platform laser beam that laser instrument sends is reflected and drives the reflective mirror that rotates up and down at vertical plane by described aligning elevation gear, described reflective mirror and described aligning elevation gear join; The described platform that horizontally rotates is driven by described horizontal adjusting mechanism and carries out left rotation and right rotation at surface level, and describedly horizontally rotates platform and described horizontal adjusting mechanism joins; Described horizontal adjusting mechanism and described aligning elevation gear are controlled by controller; Have the laser projection mouth that passes for the laser beam after the reflective mirror reflection on the described sidewall that horizontally rotates platform, described reflective mirror is laid on the Laser emission light path of laser instrument.
Above-mentioned hollow type numerical control console, it is characterized in that: the described platform that horizontally rotates comprises top turntable and the tumbler that is fixedly mounted on turntable bottom, top, described top turntable is installed on the cabinet by tumbler, and cabinet top correspondence has the installing port of installing for tumbler; Described tumbler middle part and top turntable bottom all have the through hole that passes for laser beam that laser instrument sends.
Above-mentioned hollow type numerical control console is characterized in that: described tumbler is cylindric, and tumbler top is coaxially arranged with the annular top board, and described tumbler is fixedly mounted on turntable bottom, top by described annular top board; Described top turntable is cylindric, and described top turntable is coaxial laying with tumbler.
Above-mentioned hollow type numerical control console, it is characterized in that: described horizontal adjusting mechanism comprises the horizontal adjustment driving mechanism, be in transmission connection by gear train one between described horizontal adjustment driving mechanism and the tumbler, described horizontal adjustment driving mechanism is controlled by controller and itself and controller join; Described horizontal adjustment driving mechanism and described gear train one are installed in the cabinet; Described aligning elevation gear comprises that pitching adjusts driving mechanism, and described pitching is adjusted between driving mechanism and the reflective mirror and is in transmission connection by gear train two, and described pitching adjusts that driving mechanism is controlled by controller and itself and controller join; Driving mechanism is adjusted in described pitching and described gear train two is installed in the turntable of top.
Above-mentioned hollow type numerical control console is characterized in that: described gear train one is pulley transmission mechanism one; Described horizontal adjustment driving mechanism comprises horizontal rotation drive motor and the motor reducer one that joins with the horizontal rotation drive motor, and described horizontal rotation drive motor is controlled by controller and itself and controller join; Described pulley transmission mechanism one comprises the belt pulley one on the coaxial power output shaft that is installed in motor reducer one, and described belt pulley one is parallel laying with tumbler, and is connected by driving belt one between belt pulley one and the tumbler;
Described gear train two is pulley transmission mechanism two; Described pitching is adjusted driving mechanism and is comprised pitching motor and the motor reducer two that joins with pitching motor, and described pitching motor is controlled by controller and itself and controller join; Described pulley transmission mechanism two comprises the belt pulley three on belt pulley two and the coaxial power output shaft that is installed in motor reducer one, described belt pulley two is parallel laying with belt pulley three, and is connected by driving belt two between belt pulley two and the belt pulley three; Described belt pulley two is installed on the installation shaft by coaxial bearing, and described installation shaft is fixedly mounted on the turntable of top, and described reflective mirror is installed on the described installation shaft by bearing, and reflective mirror and belt pulley two are connected to one.
The present invention compared with prior art has the following advantages:
1, the scan method step that adopts is simple, realization is convenient and need not in advance to carry out coordinate demarcates, scans effective.
2, the scan method that adopts is reasonable in design.Because the cradle head of two degrees of freedom scene is just no longer mobile after installing, can think that therefore the level angle of cradle head of two degrees of freedom after installing is a desirable level face, there is not any error, that is to say it is a reference plane; Correspondingly, think that ground is out-of-level, inclination, and there is vertical error in each analyzing spot on the ground, thereby any one analyzing spot that polar coordinate system is pointed to must transform in the polar coordinate system, that is to say, polar coordinates (u, v) corresponding to an arbitrary scanning mode may be shifted into the three-dimensional coordinate (x in the three dimensions rectangular coordinate system in the polar coordinate system, y, z); Equally, the three-dimensional coordinate (x, y, z) that sweeps arbitrarily described point in the three dimensions rectangular coordinate system also may be shifted into the polar coordinates (u, v) of scanning mode corresponding in the polar coordinate system.
After adopting scan method disclosed in this invention, levelness installation requirement to on-the-spot cradle head of two degrees of freedom is very loose, without any requirement to levelness in theory, if two kinematic axiss (are transverse axis and pitch axis, also become horizontal adjusting mechanism and aligning elevation gear) in the targeted scans zone, rotate the restriction on the machinery-free, the cradle head of two degrees of freedom droop error that any installation brings all can be converted into the elevation coordinate of targeted scans point, demarcation, correction without any need for form, make things convenient for the Installation and Debugging of field apparatus, had very high practical value.Through the Practical on-site test check, in the situation that cradle head of two degrees of freedom tilts 10 °, the scanning work that process is set scanning area is fully normal.That is to say, the two degrees of freedom platform also can work in 10 ° the situation even if the gradient on airport reaches.
3, the hollow type numerical control console that adopts is simple in structure, reasonable in design, processing and fabricating and install to lay convenient and use easy and simple to handle, result of use good.Laser instrument and horizontal adjusting mechanism etc. place in the airtight cabinet of equipment bottom, and connect temperature control device (specifically integral industrial air-conditioning) equipment and solve the constant temperature and humidity problem, rack top is the platform that horizontally rotates of a hollow type, the hole that horizontally rotates the platform center gives over to the laser optical path passage, horizontally rotates that be provided with in the platform can be at the reflective mirror that vertically rotates up and down to carry out the pitching adjustment.Wherein, cabinet and horizontally rotate platform middle part and all leave optical path space, thereby can under the control action of controller, accurately adjust the laser beam projecting direction, satisfy each user's laser bird expelling requirement.
4, controller adopts dsp chip and FPGA field programmable gate array module, can finish easy, fast and reliably the mathematical operation of various complexity, and, high-quality quick with coordinate conversion process in the assurance scanning process carries out.
5, the precision speed reduction device of AC servo motor and big retarding ratio is all adopted in level and pitching adjustment, therefore can realize the precision control of horizontal angle and the angle of pitch.During actual the use, horizontally rotate platform by horizontal rotation drive motor and one drive of motor reducer one drive belt transmission mechanism and carry out left rotation and right rotation at surface level, thereby reach the purpose of accurate control horizontal rotation amount; Correspondingly, drive reflective mirror by pitching motor and motor reducer two drive belt transmission mechanisms two and rotate up and down at vertical plane, thereby reach the accurate purpose of controlling reflective mirror revolution amount.
6, the hollow type The Cloud Terrace that adopts can satisfy the installation requirements of large scale equipment.
In sum, the present invention is reasonable in design, use is easy and simple to handle and it is convenient to realize, result of use is good, and existence must carry out the problems such as very complicated, very accurate coordinate is demarcated, the laser spot position computational solution precision is lower at the scene in the time of effectively solving existing cradle head of two degrees of freedom use.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is the position view that P is ordered on the ground under the plane right-angle coordinate.
Fig. 2 is the scanning mode schematic diagram under the corresponding polar coordinate system when being scanned up to P point on the ground.
Fig. 3 is the method flow block diagram of two degrees of freedom Laser Scanning of the present invention.
Fig. 4 is P on the ground under the three-dimensional cartesian coordinate system of the present invention
iThe position view of point.
Fig. 5 is that laser beam of the present invention is scanned up to P on the ground
iWhen point the scanning mode schematic diagram under the corresponding polar coordinate system.
Fig. 6 is the structural representation of hollow type numerical control console of the present invention.
Fig. 7 is the schematic block circuit diagram of hollow type numerical control console of the present invention.
Description of reference numerals:
1-laser instrument; 2-controller; 2-1-dsp chip;
2-2-FPGA field programmable gate array module; 3-annular base plate;
4-cabinet; 5-1-top turntable; 5-2-tumbler;
6-reflective mirror; 7-laser projection mouth; 8-1-horizontal rotation drive motor;
8-2-motor reducer one; 8-3-belt pulley one; 8-4-driving belt one;
9-3-pitching motor; 9-4-motor reducer two; 9-5-belt pulley two;
9-6-belt pulley three; 9-7-driving belt two; 10-1-light intensity detection unit;
10-2-wireless communication module; 10-3-hand-held control terminal;
10-4-temperature control device; 10-5-RS232 interface; 10-6-A/D modular converter;
10-7-RS485 interface.
Embodiment
A kind of two degrees of freedom Laser Scanning as shown in Figure 3 may further comprise the steps:
In the present embodiment, N=4, the scanning area of predefined laser instrument 1 is the rectangular scanning zone, 4 described impact points are respectively four summits in described rectangular scanning zone.
In the present embodiment, 4 described impact points are respectively P
1, P
2, P
3And P
4, P wherein
1Be the summit, lower left in described rectangular scanning zone, P
2Be the summit, lower right in described rectangular scanning zone, P
3Be the summit, upper left side in described rectangular scanning zone, P
4Summit, upper right side for described rectangular scanning zone.
During actual the use, P
1, P
2, P
3And P
4Also can be respectively summit, lower right, summit, lower left, summit, upper right side and the summit, upper left side in described rectangular scanning zone, perhaps be respectively summit, upper right side, summit, upper left side, summit, lower right and the summit, lower left in described rectangular scanning zone, perhaps be respectively summit, upper left side, summit, upper right side, summit, lower left and the summit, lower right in described rectangular scanning zone.
Step 2, impact point three-dimensional coordinate are determined: the three-dimensional coordinate to selected N in the step 1 described impact point is determined respectively, and according to the scanning sequencing of in advance design N described impact point is numbered, N described impact point according to the scanning sequencing by first to after be respectively impact point P
1, impact point P
2..., impact point P
N
Wherein, definite method of N described impact point three-dimensional coordinate is all identical; For any impact point P in N the impact point
iThree-dimensional coordinate (x
i, y
i, z
i) when determining, the horizontal adjusting mechanism of the described cradle head of two degrees of freedom of manual adjustment and aligning elevation gear are also so that laser instrument 1 laser beam that sends is projected to impact point P first
iOn, this moment, the level angle of described horizontal adjusting mechanism was u
iAnd the angle of pitch of described aligning elevation gear is v
iAfterwards, controller 2 is according to formula
Calculate x
i, y
iAnd z
iWherein, i be positive integer and i=1,2 ..., N; In the formula, d
iBy being sent laser beam, described laser instrument 1 is projected to impact point P
iProjection distance when upper sees Fig. 4 and Fig. 5 for details.
Described horizontal adjusting mechanism and described aligning elevation gear are controlled by controller 2.
Step 301, manually be adjusted to the preliminary sweep position: manually adjust the horizontal adjusting mechanism of described cradle head of two degrees of freedom and aligning elevation gear and so that laser instrument 1 laser beam that sends is projected to impact point P
1On, this moment, the level angle of described horizontal adjusting mechanism was u
1And the angle of pitch of described aligning elevation gear is v
1
Step 302, by impact point P
kAutoscan is to impact point P
K+1: treat that laser instrument 1 laser beam that sends is projected to impact point P
kWhen upper, controller 2 calls the linear interpolation module and obtains by impact point P
kTo impact point P
K+1The analyzing spot movement locus, and the three-dimensional coordinate of each analyzing spot on this analyzing spot movement locus of corresponding acquisition; Afterwards, described controller 2 all is converted to polar coordinates with the three-dimensional coordinate of each analyzing spot, and obtains the polar coordinates corresponding with the three-dimensional coordinate of each analyzing spot; Then, described controller 2 is controlled described horizontal adjusting mechanism and described aligning elevation gear according to the polar coordinates corresponding with the three-dimensional coordinate of each analyzing spot, and corresponding drive laser instrument 1 treats that by to rear each analyzing spot on this analyzing spot movement locus being scanned respectively first laser instrument 1 laser beam that sends is projected to impact point P
K+1Finished when upper by impact point P
kTo impact point P
K+1The autoscan process; Wherein, k be positive integer and k=1,2 ..., N-1.
By impact point P
kTo impact point P
K+1Carry out in the autoscan process, the time interval on the described analyzing spot movement locus between adjacent two analyzing spots in front and back is all identical.
The coordinate transformation method of all analyzing spots is all identical on the described analyzing spot movement locus, for the three-dimensional coordinate (x of any analyzing spot on the described analyzing spot movement locus
m, y
m, z
m) when changing, according to formula
The level angle of described horizontal adjusting mechanism is u when calculating laser beam and being projected to this analyzing spot
mAnd the angle of pitch of described aligning elevation gear is v
m, (u wherein
m, v
m) be three-dimensional coordinate (x
m, y
m, z
m) corresponding polar coordinates.
Described analyzing spot movement locus is for after carrying out discrete approximation by the linear interpolation module and according to the linear interpolation principle, obtain by impact point P
kTo impact point P
K+1Track while scan.Be provided with a plurality of analyzing spots on the described analyzing spot movement locus, the trace interval between adjacent two described analyzing spots all equates.That is to say, described analyzing spot movement locus is by impact point P
kTo impact point P
K+1Discrete approximation analyzing spot movement locus.Wherein, described analyzing spot is sent laser beam by described laser instrument 1 and is projected to ground incident point.In the present embodiment, described analyzing spot movement locus is a broken line that is formed by connecting by a plurality of straight-line segments, and a plurality of described analyzing spots are respectively each summit of described broken line.
Step 303, repeating step 302 repeatedly are until finish by impact point P
N-1To impact point P
NThe autoscan process.
Step 304, answer preliminary sweep position: controller 2 is according to level angle u
1With angle of pitch v
1Described horizontal adjusting mechanism and described aligning elevation gear are controlled, and so that laser instrument 1 laser beam that sends is projected to impact point P
1On.
Step 305, return step 302, scan next time.
In the present embodiment, in the step 302 by impact point P
kTo impact point P
K+1Carry out in the autoscan process, the time interval on the described analyzing spot movement locus between adjacent two analyzing spots in front and back is Δ t, wherein Δ t=0.1ms～10ms.
In the actual use procedure, can be according to concrete needs, the value size of Δ t is adjusted accordingly.
In the present embodiment, in the step 302 by impact point P
kTo impact point P
K+1Carry out in the autoscan process, the regulate the speed luffing angle that is V1 and described aligning elevation gear of the level angle of described horizontal adjusting mechanism is regulated the speed and is V2.
That is to say, can automatically realize uniform speed scanning.Wherein, the sweep velocity of laser instrument 1 is faster, and the value of V1 and V2 is larger; Otherwise the sweep velocity of laser instrument 1 is slower, and the value of V1 and V2 is less.
A kind of hollow type numerical control console as shown in Figure 6 and Figure 7 comprises cradle head of two degrees of freedom and the laser instrument 1 that is installed on the described cradle head of two degrees of freedom, described cradle head of two degrees of freedom comprise cabinet 4 and be installed on the cabinet 4 and inner hollow horizontally rotate platform, described laser instrument 1 is installed in the cabinet 4, and described cabinet 4 tops and the described platform bottom that horizontally rotates all have the through hole that passes for laser instrument 1 laser beam that sends.Described horizontally rotate to be equipped with in the platform laser instrument 1 laser beam that sends is reflected and drives the reflective mirror 6 that rotates up and down at vertical plane by described aligning elevation gear, described reflective mirror 6 joins with described aligning elevation gear; The described platform that horizontally rotates is driven by described horizontal adjusting mechanism and carries out left rotation and right rotation at surface level, and describedly horizontally rotates platform and described horizontal adjusting mechanism joins.Described horizontal adjusting mechanism and described aligning elevation gear are controlled by controller 2.Have the laser projection mouth 7 that passes for the laser beam after reflective mirror 6 reflections on the described sidewall that horizontally rotates platform, described reflective mirror 6 is laid on the Laser emission light path of laser instrument 1.
In the present embodiment, the described platform that horizontally rotates comprises top turntable 5-1 and the tumbler 5-2 that is fixedly mounted on top turntable 5-1 bottom, described top turntable 5-1 is installed on the cabinet 4 by tumbler 5-2, and cabinet 4 top correspondences have the installing port of installing for tumbler 5-2.Described tumbler 5-2 middle part and top turntable 5-1 bottom all have the through hole that passes for laser instrument 1 laser beam that sends.
Actual man-hour, the inner hollow of described top turntable 5-1 of adding.Described cabinet 4 is closed cabinet body.
In the present embodiment, described tumbler 5-2 is cylindric, and tumbler 5-2 top is coaxially arranged with the annular top board, and described tumbler 5-2 is fixedly mounted on top turntable 5-1 bottom by described annular top board.
Described cabinet 4 tops are provided with annular base plate 3, described annular base plate 3 be positioned at described annular top board under, and be connected by bearing between annular base plate 3 and the described annular top board.
During actual processing and fabricating, described tumbler 5-2 and described annular top board processing and fabricating are integrated.
In the present embodiment, described top turntable 5-1 is cylindric, and described top turntable 5-1 is coaxial laying with tumbler 5-2.
Described horizontal adjusting mechanism comprises the horizontal adjustment driving mechanism, is in transmission connection by gear train one between described horizontal adjustment driving mechanism and the tumbler 5-2, and described horizontal adjustment driving mechanism is controlled by controller 2 and itself and controller 2 join; Described horizontal adjustment driving mechanism and described gear train one are installed in the cabinet 4.
In the present embodiment, described gear train one is pulley transmission mechanism one; Described horizontal adjustment driving mechanism comprises horizontal rotation drive motor 8-1 and motor reducer one 8-2 that joins with horizontal rotation drive motor 8-1, and described horizontal rotation drive motor 8-1 is controlled by controller 2 and itself and controller 2 join; Described pulley transmission mechanism one comprises belt pulley one 8-3 on the coaxial power output shaft that is installed in motor reducer one 8-2, described belt pulley one 8-3 is parallel laying with tumbler 5-2, and is connected by driving belt one 8-4 between belt pulley one 8-3 and the tumbler 5-2.
During actual the use, described gear train one also can adopt the gear train of other type, such as gear drive etc.
In the present embodiment, described aligning elevation gear comprises the pitching adjustment driving mechanism that drive reflective mirror 6 rotates up and down, described pitching is adjusted between driving mechanism and the reflective mirror 6 and is in transmission connection by gear train two, and described pitching adjustment driving mechanism is controlled by controller 2 and itself and controller 2 join; Driving mechanism is adjusted in described pitching and described gear train two is installed in the turntable 5-1 of top.
In the present embodiment, described gear train two is pulley transmission mechanism two; Described pitching is adjusted driving mechanism and is comprised pitching motor 9-3 and motor reducer two 9-4 that join with pitching motor 9-3, and described pitching motor 9-3 is controlled by controller 2 and itself and controller 2 join; Described pulley transmission mechanism two comprises belt pulley three 9-6 on belt pulley two 9-5 and the coaxial power output shaft that is installed in motor reducer one 8-2, described belt pulley two 9-5 are parallel laying with belt pulley three 9-6, and are connected by driving belt two 9-7 between belt pulley two 9-5 and belt pulley three 9-6; Described belt pulley two 9-5 are installed on the installation shaft by coaxial bearing, and described installation shaft is fixedly mounted on the turntable 5-1 of top, and described reflective mirror 6 is installed on the described installation shaft by bearing, and reflective mirror 6 is connected to one with belt pulley two 9-5.
During actual the use, described gear train two also can adopt the gear train of other type, such as gear drive etc.
In the present embodiment, described cabinet 4 is cube, and described top turntable 5-1 is coaxial laying with cabinet 4, and described laser instrument 1 is installed in the middle part of cabinet 4.
In the present embodiment, described laser projection mouth 7 is laid on the right side wall of top turntable 5-1.
During actual the use, also can be according to concrete needs, the installation position of laser projection mouth 7 is adjusted accordingly.
In the present embodiment, d in the step 2
iFor laser projection mouth 7 to impact point P
iAir line distance.
In the present embodiment, hollow type numerical control console of the present invention also comprises wireless communication module 10-2, hand-held control terminal 10-3, the light intensity detection unit 10-1 that is laid in the temperature control device 10-4 in the cabinet 4 and the light intensity of laser instrument 1 laser beam that sends is detected in real time, described controller 2 comprises dsp chip 2-1 and the FPGA field programmable gate array module 2-2 that joins with dsp chip 2-1, described wireless communication module 10-2, hand-held control terminal 10-3, temperature control device 10-4 and light intensity detection unit 10-1 all join with dsp chip 2-1, and described FPGA field programmable gate array module 2-2 and pitching motor 9-3 and horizontal rotation drive motor 8-1 join.The light intensity of described laser instrument 1 laser beam that sends is controlled by dsp chip 2-1 and laser instrument 1 joins with dsp chip 2-1.
In the present embodiment, described pitching motor 9-3 and horizontal rotation drive motor 8-1 are AC servo motor, and described motor reducer one 8-2 and motor reducer two 9-4 are the precision speed reduction device of big retarding ratio.
During physical cabling, described wireless communication module 10-2 be GPRS communication module and its with dsp chip 2-1 between be connected by RS232 interface 10-5.Be connected by A/D modular converter 10-6 between described light intensity detection unit 10-1 and the dsp chip 2-1, all be connected by RS485 interface 10-7 between described hand-held control terminal 10-3 and temperature control device 10-4 and the dsp chip 2-1.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, every any simple modification, change and equivalent structure of above embodiment being done according to the technology of the present invention essence changes, and all still belongs in the protection domain of technical solution of the present invention.
Claims (10)
1. two degrees of freedom Laser Scanning is characterized in that the method may further comprise the steps:
Step 1, scanning impact point are set: choose N ground point as impact point in the scanning area of predefined laser instrument (1), wherein N 〉=3; Described laser instrument (1) is installed on the cradle head of two degrees of freedom;
Step 2, impact point three-dimensional coordinate are determined: the three-dimensional coordinate to selected N in the step 1 described impact point is determined respectively, and according to the scanning sequencing of in advance design N described impact point is numbered, N described impact point according to the scanning sequencing by first to after be respectively impact point P
1, impact point P
2..., impact point P
N
Wherein, definite method of N described impact point three-dimensional coordinate is all identical; For any impact point P in N the impact point
iThree-dimensional coordinate (x
i, y
i, z
i) when determining, the horizontal adjusting mechanism of the described cradle head of two degrees of freedom of manual adjustment and aligning elevation gear are also so that laser instrument (1) laser beam that sends is projected to impact point P first
iOn, this moment, the level angle of described horizontal adjusting mechanism was u
iAnd the angle of pitch of described aligning elevation gear is v
iAfterwards, controller (2) is according to formula
Calculate x
i, y
iAnd z
iWherein, i be positive integer and i=1,2 ..., N; In the formula, d
iBy being sent laser beam, described laser instrument (1) is projected to impact point P
iProjection distance when upper;
Described horizontal adjusting mechanism and described aligning elevation gear are controlled by controller (2);
Step 3, autoscan, process is as follows:
Step 301, manually be adjusted to the preliminary sweep position: manually adjust the horizontal adjusting mechanism of described cradle head of two degrees of freedom and aligning elevation gear and so that laser instrument (1) laser beam that sends is projected to impact point P
1On, this moment, the level angle of described horizontal adjusting mechanism was u
1And the angle of pitch of described aligning elevation gear is v
1
Step 302, by impact point P
kAutoscan is to impact point P
K+1: treat that laser instrument (1) laser beam that sends is projected to impact point P
kWhen upper, controller (2) calls the linear interpolation module and obtains by impact point P
kTo impact point P
K+1The analyzing spot movement locus, and the three-dimensional coordinate of each analyzing spot on this analyzing spot movement locus of corresponding acquisition; Afterwards, described controller (2) all is converted to polar coordinates with the three-dimensional coordinate of each analyzing spot, and obtains the polar coordinates corresponding with the three-dimensional coordinate of each analyzing spot; Then, described controller (2) is controlled described horizontal adjusting mechanism and described aligning elevation gear according to the polar coordinates corresponding with the three-dimensional coordinate of each analyzing spot, and corresponding drive laser instrument (1) treats that by to rear each analyzing spot on this analyzing spot movement locus being scanned respectively first laser instrument (1) laser beam that sends is projected to impact point P
K+1Finished when upper by impact point P
kTo impact point P
K+1The autoscan process; Wherein, k be positive integer and k=1,2 ..., N-1;
By impact point P
kTo impact point P
K+1Carry out in the autoscan process, the time interval on the described analyzing spot movement locus between adjacent two analyzing spots in front and back is all identical;
The coordinate transformation method of all analyzing spots is all identical on the described analyzing spot movement locus, for the three-dimensional coordinate (x of any analyzing spot on the described analyzing spot movement locus
m, y
m, z
m) when changing, according to formula
The level angle of described horizontal adjusting mechanism is u when calculating laser beam and being projected to this analyzing spot
mAnd the angle of pitch of described aligning elevation gear is v
m, (u wherein
m, v
m) be three-dimensional coordinate (x
m, y
m, z
m) corresponding polar coordinates;
Step 303, repeating step 302 repeatedly are until finish by impact point P
N-1To impact point P
NThe autoscan process;
Step 304, answer preliminary sweep position: controller (2) is according to level angle u
1With angle of pitch v
1Described horizontal adjusting mechanism and described aligning elevation gear are controlled, and so that laser instrument (1) laser beam that sends is projected to impact point P
1On;
Step 305, return step 302, scan next time.
2. according to a kind of two degrees of freedom Laser Scanning claimed in claim 1, it is characterized in that: in the step 302 by impact point P
kTo impact point P
K+1Carry out in the autoscan process, the time interval on the described analyzing spot movement locus between adjacent two analyzing spots in front and back is Δ t, wherein Δ t=0.1ms～10ms.
3. according to claim 1 or 2 described a kind of two degrees of freedom Laser Scannings, it is characterized in that: N=4 in the step 1, the scanning area of predefined laser instrument (1) is the rectangular scanning zone, and 4 described impact points are respectively four summits in described rectangular scanning zone.
4. according to a kind of two degrees of freedom Laser Scanning claimed in claim 3, it is characterized in that: 4 described impact points are respectively P
1, P
2, P
3And P
4, P wherein
1Be the summit, lower left in described rectangular scanning zone, P
2Be the summit, lower right in described rectangular scanning zone, P
3Be the summit, upper left side in described rectangular scanning zone, P
4Summit, upper right side for described rectangular scanning zone.
5. according to claim 1 or 2 described a kind of two degrees of freedom Laser Scannings, it is characterized in that: in the step 302 by impact point P
kTo impact point P
K+1Carry out in the autoscan process, the regulate the speed luffing angle that is V1 and described aligning elevation gear of the level angle of described horizontal adjusting mechanism is regulated the speed and is V2.
6. realize the as claimed in claim 1 hollow type numerical control console of two degrees of freedom Laser Scanning for one kind, it is characterized in that: comprise cradle head of two degrees of freedom and the laser instrument (1) that is installed on the described cradle head of two degrees of freedom, described cradle head of two degrees of freedom comprises cabinet (4) and is installed in the platform that horizontally rotates of the upper and inner hollow of cabinet (4), described laser instrument (1) is installed in the cabinet (4), and described cabinet (4) top and the described platform bottom that horizontally rotates all have the through hole that passes for laser instrument (1) laser beam that sends; Described horizontally rotate to be equipped with in the platform laser instrument (1) laser beam that sends is reflected and drives the reflective mirror (6) that rotates up and down at vertical plane by described aligning elevation gear, described reflective mirror (6) joins with described aligning elevation gear; The described platform that horizontally rotates is driven by described horizontal adjusting mechanism and carries out left rotation and right rotation at surface level, and describedly horizontally rotates platform and described horizontal adjusting mechanism joins; Described horizontal adjusting mechanism and described aligning elevation gear are controlled by controller (2); Have the laser projection mouth (7) that passes for the laser beam after reflective mirror (6) reflection on the described sidewall that horizontally rotates platform, described reflective mirror (6) is laid on the Laser emission light path of laser instrument (1).
7. according to hollow type numerical control console claimed in claim 6, it is characterized in that: describedly horizontally rotate the tumbler (5-2) that platform comprises top turntable (5-1) and is fixedly mounted on top turntable (5-1) bottom, described top turntable (5-1) is installed on the cabinet (4) by tumbler (5-2), and cabinet (4) top correspondence has the installing port of installing for tumbler (5-2); Described tumbler (5-2) middle part and top turntable (5-1) bottom all have the through hole that passes for laser instrument (1) laser beam that sends.
8. according to hollow type numerical control console claimed in claim 7, it is characterized in that: described tumbler (5-2) is for cylindric, and tumbler (5-2) top is coaxially arranged with the annular top board, and described tumbler (5-2) is fixedly mounted on top turntable (5-1) bottom by described annular top board; Described top turntable (5-1) is cylindric, and described top turntable (5-1) is coaxial laying with tumbler (5-2).
9. according to claim 7 or 8 described hollow type numerical control consoles, it is characterized in that: described horizontal adjusting mechanism comprises the horizontal adjustment driving mechanism, be in transmission connection by gear train one between described horizontal adjustment driving mechanism and the tumbler (5-2), described horizontal adjustment driving mechanism is controlled by controller (2) and itself and controller (2) join; Described horizontal adjustment driving mechanism and described gear train one are installed in the cabinet (4); Described aligning elevation gear comprises pitching adjustment driving mechanism, described pitching is adjusted between driving mechanism and the reflective mirror (6) and is in transmission connection by gear train two, and described pitching adjustment driving mechanism is controlled by controller (2) and itself and controller (2) join; Driving mechanism is adjusted in described pitching and described gear train two is installed in the top turntable (5-1).
10. according to hollow type numerical control console claimed in claim 9, it is characterized in that: described gear train one is pulley transmission mechanism one; Described horizontal adjustment driving mechanism comprises horizontal rotation drive motor (8-1) and the motor reducer one (8-2) that joins with horizontal rotation drive motor (8-1), and described horizontal rotation drive motor (8-1) is controlled by controller (2) and itself and controller (2) join; Described pulley transmission mechanism one comprises the belt pulley one (8-3) on the coaxial power output shaft that is installed in motor reducer one (8-2), described belt pulley one (8-3) is parallel laying with tumbler (5-2), and is connected by driving belt one (8-4) between belt pulley one (8-3) and the tumbler (5-2);
Described gear train two is pulley transmission mechanism two; Described pitching is adjusted driving mechanism and is comprised pitching motor (9-3) and the motor reducer two (9-4) that joins with pitching motor (9-3), and described pitching motor (9-3) is controlled by controller (2) and itself and controller (2) join; Described pulley transmission mechanism two comprises the belt pulley three (9-6) on belt pulley two (9-5) and the coaxial power output shaft that is installed in motor reducer one (8-2), described belt pulley two (9-5) is parallel laying with belt pulley three (9-6), and is connected by driving belt two (9-7) between belt pulley two (9-5) and the belt pulley three (9-6); Described belt pulley two (9-5) is installed on the installation shaft by coaxial bearing, described installation shaft is fixedly mounted on the top turntable (5-1), described reflective mirror (6) is installed on the described installation shaft by bearing, and reflective mirror (6) is connected to one with belt pulley two (9-5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310256152.3A CN103309357B (en) | 2013-06-25 | 2013-06-25 | A kind of two degrees of freedom Laser Scanning and hollow type numerical control console |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310256152.3A CN103309357B (en) | 2013-06-25 | 2013-06-25 | A kind of two degrees of freedom Laser Scanning and hollow type numerical control console |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103309357A true CN103309357A (en) | 2013-09-18 |
| CN103309357B CN103309357B (en) | 2016-03-02 |
Family
ID=49134680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310256152.3A Expired - Fee Related CN103309357B (en) | 2013-06-25 | 2013-06-25 | A kind of two degrees of freedom Laser Scanning and hollow type numerical control console |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103309357B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760912A (en) * | 2014-01-21 | 2014-04-30 | 北京华信创通科技有限公司 | Adaptive laser scanning method and device |
| CN104089615A (en) * | 2014-06-26 | 2014-10-08 | 青岛浩海网络科技股份有限公司 | Forest fire point positioning system based on laser ranging and application method thereof |
| CN107247270A (en) * | 2017-06-13 | 2017-10-13 | 蔡优飞 | Optical distance measurement apparatus and its scan method |
| WO2018120012A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆灵眸科技有限公司 | Method and device for controlling cradle head, and cradle head |
| CN109696126A (en) * | 2019-02-27 | 2019-04-30 | 中国矿业大学(北京) | The system for measuring heading machine pose |
| US11178865B2 (en) * | 2019-04-19 | 2021-11-23 | David Michael Anderson | Animal dispersion system and method of using the same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07281628A (en) * | 1994-04-08 | 1995-10-27 | Sumitomo Densetsu Kk | Plotting method by laser beam and marking device by laser beam |
| EP0902280A2 (en) * | 1997-09-11 | 1999-03-17 | Hitachi Software Engineering Co., Ltd. | Apparatus for reading a luminescence pattern of a sample |
| CN201413140Y (en) * | 2009-05-31 | 2010-02-24 | 西安康柏自动化工程有限责任公司 | Two-degree-of-freedom vector digital inclination angle testing instrument |
| CN202773895U (en) * | 2012-09-15 | 2013-03-13 | 西安康柏自动化工程有限责任公司 | Numerical control optical bird damage preventing and controlling equipment |
| CN103017653A (en) * | 2012-11-27 | 2013-04-03 | 武汉海达数云技术有限公司 | Registration and measurement method of spherical panoramic image and three-dimensional laser scanning point cloud |
| CN203338179U (en) * | 2013-06-25 | 2013-12-11 | 西安康柏自动化工程有限责任公司 | Hollow two-degree-of-freedom numerical control holder |
-
2013
- 2013-06-25 CN CN201310256152.3A patent/CN103309357B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07281628A (en) * | 1994-04-08 | 1995-10-27 | Sumitomo Densetsu Kk | Plotting method by laser beam and marking device by laser beam |
| EP0902280A2 (en) * | 1997-09-11 | 1999-03-17 | Hitachi Software Engineering Co., Ltd. | Apparatus for reading a luminescence pattern of a sample |
| CN201413140Y (en) * | 2009-05-31 | 2010-02-24 | 西安康柏自动化工程有限责任公司 | Two-degree-of-freedom vector digital inclination angle testing instrument |
| CN202773895U (en) * | 2012-09-15 | 2013-03-13 | 西安康柏自动化工程有限责任公司 | Numerical control optical bird damage preventing and controlling equipment |
| CN103017653A (en) * | 2012-11-27 | 2013-04-03 | 武汉海达数云技术有限公司 | Registration and measurement method of spherical panoramic image and three-dimensional laser scanning point cloud |
| CN203338179U (en) * | 2013-06-25 | 2013-12-11 | 西安康柏自动化工程有限责任公司 | Hollow two-degree-of-freedom numerical control holder |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760912A (en) * | 2014-01-21 | 2014-04-30 | 北京华信创通科技有限公司 | Adaptive laser scanning method and device |
| CN104089615A (en) * | 2014-06-26 | 2014-10-08 | 青岛浩海网络科技股份有限公司 | Forest fire point positioning system based on laser ranging and application method thereof |
| WO2018120012A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆灵眸科技有限公司 | Method and device for controlling cradle head, and cradle head |
| US11086202B2 (en) | 2016-12-30 | 2021-08-10 | Sz Dji Osmo Technology Co., Ltd. | Gimbal control method, device, and gimbal |
| US11852958B2 (en) | 2016-12-30 | 2023-12-26 | Sz Dji Osmo Technology Co., Ltd. | Gimbal control method, device, and gimbal |
| CN107247270A (en) * | 2017-06-13 | 2017-10-13 | 蔡优飞 | Optical distance measurement apparatus and its scan method |
| CN109696126A (en) * | 2019-02-27 | 2019-04-30 | 中国矿业大学(北京) | The system for measuring heading machine pose |
| CN109696126B (en) * | 2019-02-27 | 2020-12-15 | 中国矿业大学(北京) | System for measuring pose of heading machine |
| US11178865B2 (en) * | 2019-04-19 | 2021-11-23 | David Michael Anderson | Animal dispersion system and method of using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103309357B (en) | 2016-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103309357B (en) | A kind of two degrees of freedom Laser Scanning and hollow type numerical control console | |
| CN104792261B (en) | The fine measuring system of underground chamber three dimensions | |
| CN106501783B (en) | A kind of spacecrafts rendezvous microwave radar angle measurement performance system error calibration system and method | |
| CN108919825A (en) | The unmanned plane indoor locating system and method for having barrier avoiding function | |
| US5100229A (en) | Spatial positioning system | |
| CN208314192U (en) | A kind of TOF mould group caliberating device | |
| CN105563450B (en) | A kind of ship facade operation Multifunctional creeping robot | |
| CN105492860A (en) | Laser measurement system and method capable of detecting 21 geometric errors | |
| CN105319536A (en) | Radar three-dimensional scanning control method and system | |
| CN109631826B (en) | Satellite automation precision detection method | |
| CN205718980U (en) | A kind of prism bar system being quickly accurately positioned laser labelling | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| CN102944188A (en) | Calibration method of spot scanning three-dimensional topography measuring system | |
| CN103345269A (en) | Laser emitting device and automatic tracking method | |
| CN110455498A (en) | A kind of composite shaft pointing system performance testing device and test method | |
| CN102494632B (en) | Device and method for detecting heliostat face shape error | |
| CN109000127A (en) | A kind of instrument and equipment self-level(l)ing device and its method | |
| CN109341701A (en) | Ground robot course angle real time acquiring method based on laser tracking total station | |
| CN108802754A (en) | A kind of optical property measurement system and its application process | |
| CN106546217A (en) | A kind of target apparatus | |
| CN112526488A (en) | Laser radar calibration test system based on environment and calibration method thereof | |
| CN203338179U (en) | Hollow two-degree-of-freedom numerical control holder | |
| CN106527497A (en) | Intelligent sunshine simulation system based on unmanned aerial vehicle | |
| CN111844066A (en) | Inspection type substation inspection robot and control and moving method thereof | |
| CN111750773B (en) | Method for measuring response of different light spot points on position sensitive detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20170625 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |