CN103616662A - Transmitting base station capable of being reversely arranged at top for angle intersection measurement - Google Patents

Abstract

The invention belongs to the technical field of large-scale three-dimensional coordinate measurement on industrial sites, and relates to a top-mounted inverted transmitting base station for angle intersection measurement, which includes a fixed bracket, an inverted tightening mechanism and a turntable, and the rotating shaft is fixed by an inverted tightening mechanism through a bearing. The mechanism is connected, the lower part of the rotating shaft is fixed with a turntable driven by a DC motor, a code disc is connected to the motor spindle, and at least two lasers for emitting scanning light are fixed downward at the bottom of the turntable. The optical plane of the laser and the rotation The axes are obliquely intersected so that the cone angle of the measurement blind zone is within the range of 25 degrees to 35 degrees, and a synchronous pulse laser is fixed on the fixed bracket; every time the turntable rotates once, when the zero position of the code disc is passed, the synchronous pulse laser is triggered once sync pulse output. The invention can improve the adaptability and precision of the whole space measurement system.

Description

A Top-Mounted Inverted Transmitting Base Station for Angle Intersection Measurement

Technical field

The invention belongs to the technical field of large-scale three-dimensional coordinate measurement on industrial sites, and relates to a transmitting base station for angle intersection measurement.

Background technique

Workspace Measuring Position System (workspace Measuring Position System) is a fully automated, multi-task parallel processing, high-precision, high-real-time three-dimensional coordinate measurement system. Similar to the composition of the Global Positioning System (GPS), the system mainly includes a transmitting base station and a receiver. The transmitting base station is arranged at the industrial measurement site to form a regional measurement field, and the receiver in this measurement field can realize the measurement of its own three-dimensional coordinates. The basic principle is the principle of multi-plane constrained positioning, that is, each transmitting base station provides two rotating laser planes, and n transmitting base stations can provide 2n laser planes; the receiver perceives the initial position of the transmitting base station at each rotation cycle. The time interval between the synchronous optical signal and the signal when a laser plane rotates to the position of the receiver, the angle of the plane rotated from the initial position of each revolution to the position of the receiver is obtained, similarly, the receiver can perceive The other planes are rotated from their initial position to the angle at which they are located. In this way, multiple planes in the space intersect at the point of the receiver, and the spatial position coordinates of the receiver are obtained by solving the equation.

The transmitting base station in this measurement system generates a light plane rotating around a fixed axis through mechanical and optical means to scan the surrounding space. During the measurement, the receiver equipped with photosensitive elements is installed at the target position to be measured, and the scanning angle passed by the scanning light signal when it transfers from the predetermined initial position to the receiver is measured by timing method. When the scanning light plane is in the initial position, the transmitting base station sends a synchronous light pulse to the receiver as the synchronization signal of the goniometer timing start point, and when the scanning light plane sweeps across the photosensitive area of the receiver, a scanning pulse signal is generated as the receiver timing end signal. The receiver can calculate the scanning angle of the scanning light signal from the initial position to the receiver by measuring the time interval between the synchronization signal and the scanning signal.

Usually, the transmitting base station is installed on a column at a certain height on the ground, and conducts photoelectric scanning to the whole circumference of 360 degrees, so as to realize the measurement, but there are many shortcomings:

(1) In the actual application process, since the transmitting base station is arranged on the ground, it will be blocked due to personnel, surrounding equipment and other reasons during the measurement;

(2) Due to the change of working conditions in the factory area, it is necessary to move the base station from time to time. When it is used again, it must be recalibrated, thus increasing the measurement time;

(3) There are too many ground cables, which are more prominent when the number of transmitting base stations is large, affecting the passability of other equipment;

(4) The vibration of the shaft system caused by the transmission of the coupling reduces the accuracy of the scanning angle measurement.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and provide a transmitting base station, so as to solve the problems of affecting the passability of other equipment when the station is installed on the ground, occlusion in some measurement occasions, and frequent calibration, etc., and improve the whole space. The adaptability and precision of the measurement system provide reliable hardware support for the measurement and calibration of the measured points in space. At the same time, in the design of the shaft system, the direct drive of the DC motor is used to reduce the intermediate link that generates vibration, and the spindle speed is balanced. Technical scheme of the present invention is as follows:

A top-mounted inverted transmitting base station for angle intersection measurement, including a fixed bracket (4), an inverted tightening mechanism (5) and a turntable (3), the rotating shaft (11) is connected to the inverted tightening mechanism through a bearing (7) The fixed mechanism (5) is connected, the lower part of the rotating shaft is fixed with a turntable (3) driven by a DC motor, a code disc (10) is connected to the motor shaft, and at least two are fixed on the bottom of the turntable (3). For the laser (1) that emits scanning light, the optical plane of the laser (1) is obliquely intersected with the rotation axis (11), so that the cone angle of the measurement blind area is in the range of 25 degrees to 35 degrees, and the fixed bracket (4) A synchronous pulse laser (2) is fixed on the top; every time the turntable (3) rotates once, when passing through the zero position of the code disc (10), the synchronous pulse output of the synchronous pulse laser (2) is triggered once.

The transmitting base station provided by the invention can be installed on the roof, which overcomes the shortcomings of common ground-mounted transmitting base stations. At the same time, in the design of the internal shafting of the launching base station, a direct drive of a DC motor and an upside-down clamping device are used, and the motor directly drives the turntable to rotate, avoiding the vibration of the common rotating shafting. The laser 1 and the synchronous pulse laser 2 on the transmitting base station are installed on the end face of the instrument at the same time, and the installation angle is properly adjusted to make it form a certain scanning inclination angle with the rotating shaft. The present invention redesigns the installation form of the laser 1 and the synchronous pulse laser 2 on the transmitting base station for the requirement of top installation, so that the scanning range is directly below the instrument. By reasonably setting the installation angle of the laser 1, the scanning range is expanded, and the top-level installation effectively reduces the occlusion problem in the measurement occasion and the possible human collision problem, making the measurement more convenient and humanized. The DC motor is directly driven, which reduces the power loss during the long-axis transmission, greatly increases the stability, greatly increases the speed stability, and improves the measurement accuracy.

Description of drawings

Fig. 1 is a schematic diagram of the design of the top-mounted inverted transmitting base station of the present invention.

The names corresponding to the serial numbers in the figure: 1. Laser 2. Synchronous pulse laser 3. Transmitting base station turntable 4. Bracket 5. Inversion tightening mechanism 6. Motor controller 7. Bearing 8. Motor stator 9. Motor rotor 10. Code disc, 11 axis of rotation

Detailed ways

The present invention will be described below in conjunction with the accompanying drawings and embodiments.

The transmitting base station designed by the present invention is suitable for roof installation. Firstly, the whole structure is introduced. The transmitting base station turntable 3 is installed on the bearing 7 through the rotating shaft 11. The DC motor rotor 9 is fixedly connected with the transmitting base station turntable 3, and the motor stator 8 is fixed with the bracket 4. Even, the code disc 10 is connected with the main shaft for speed regulation. The synchronous pulse laser 2 is installed on the bracket 4, and every time it rotates once, when passing through the zero position of the code disc, the internal circuit triggers a synchronous pulse output, which marks the start of timing for the angle measurement of this week. The laser 1 and the turntable 3 of the transmitting base station are connected together at a certain angle, and are rotated under the action of the motor controller 6 .

By placing the laser 1 and the synchronous pulse laser 2 at the end of the instrument, and properly designing the angle between the optical plane of the laser 1 and the rotation axis, the apex angle of the measurement blind zone is within the range of 25 degrees to 35 degrees. When the top installation is upside down, the installation height is 12 meters, and the radius of the scanning blind zone is 3.2 meters. By arranging multiple top-mounted transmitting base stations, the influence of the blind zone can be eliminated. And because the scanning measurement range is located above the factory building, it will hardly be disturbed by pedestrians and other equipment.

Structurally, by inverting the tightening mechanism 5, the turntable 3 of the transmitting base station can still rotate flexibly when it is turned upside down, avoiding the influence of the gravity of the turntable. Compared with the form of ground installation, when the top is installed upside down, the preload applied to the inner ring of the bearing 7 ensures that the turntable 3 of the transmitting base station does not drift downward. The motor rotor 9 is directly connected with the turntable 3 of the transmitting base station, thereby improving the stability during operation.

During operation, the base station turntable 3 rotates with the motor rotor 9 through the motor controller 6, so that the base station turntable 3 directly obtains driving power, and the speed regulation feedback of the code disc 10 makes the rotation speed stable and convenient for measurement. At the same time, the downwardly arranged synchronous light 2 is driven by the code disc to generate a periodic signal every time the turntable 3 rotates once, and the downwardly arranged laser 1 rotates with the transmitting base station turntable 3 to scan the space below the instrument. Due to the angle of the light beam, an inherent measurement blind zone with a cone angle of about 30 degrees will be formed directly below the transmitting base station. As mentioned earlier, this dead zone can be eliminated by rationally arranging multiple stations.

Claims (1)

1. A top-mounted inverted transmitting base station for angle intersection measurement, including a fixed bracket (4), an inverted fastening mechanism (5) and a turntable (3), the rotating shaft (11) passes through the bearing (7) and the inverted The tightening mechanism (5) is connected, the lower part of the rotating shaft is fixed with a turntable (3) driven by a DC motor, a code disc (10) is connected to the motor shaft, and at least two bottoms of the turntable (3) are fixed downward. A laser (1) for emitting scanning light, the light plane of the laser (1) is obliquely intersected with the rotation axis (11), so that the cone angle of the measurement blind zone is in the range of 25 degrees to 35 degrees, and the fixed bracket ( 4) A synchronous pulse laser (2) is fixed on the top; every time the turntable (3) rotates once, when passing through the zero position of the code disc (10), the synchronous pulse output of the synchronous pulse laser (2) is triggered once.

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