CN105203050A - Method for detecting included angle between tracking reflector and cross shaft of laser tracker - Google Patents
Method for detecting included angle between tracking reflector and cross shaft of laser tracker Download PDFInfo
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- CN105203050A CN105203050A CN201510640648.XA CN201510640648A CN105203050A CN 105203050 A CN105203050 A CN 105203050A CN 201510640648 A CN201510640648 A CN 201510640648A CN 105203050 A CN105203050 A CN 105203050A
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Abstract
The invention discloses a method for detecting the included angle between a tracking reflector and a cross shaft of a laser tracker. The method is suitable for installation adjustment and error correction of the tracking reflector of the laser tracker. The method plays an important role in designing a high-accuracy adjustable end face reflector, establishing a corresponding detection mathematic model and providing high-accuracy standard angles through autocollimators and a polyhedron.
Description
Technical field
The present invention relates to the detection method of angle between a kind of laser tracker tracking mirror and transverse axis, be applicable to mounting and adjusting and the error correction of laser tracker tracking mirror.
Background technology
Also there is blank in the manufacture of current domestic laser tracker, lacks the method detecting for tracker geometry error and adjust, there is no correlation technique patent and bibliographical information at present.
The tracking mirror of laser tracker is used for laser beam to point to measured target.Ideally transverse axis should be coplanar with the minute surface of tracking mirror.Because physical construction exists processing and alignment error, cause tracking mirror and transverse axis not coplanar, there is certain angle between the two, this error makes tracker BEAM SQUINT ideal position, thus produces measuring error.Therefore need to adopt high-precision detection means, detect this angle value, be beneficial to the adjustment to tracking mirror and error correction.
The present invention is based on the detection method that above-mentioned technical background proposes a kind of laser tracker tracking mirror and transverse axis angle, for the Detection and adjustment of laser tracker tracking mirror and transverse axis droop error, for the measuring accuracy improving laser tracker, there is vital role.
Summary of the invention
The present invention adopts high precision adjustable positioning clamp that end mirror is fixed on tracker transverse axis one end and vertical with transverse axis, utilizes its position of autocollimator record.Control tracker transverse axis after vertical pivot 90-degree rotation, utilize autocollimator record tracking mirror position.The alternate position spike of end mirror and tracking mirror is utilized to extrapolate tracker tracking mirror and transverse axis angle.
Compared with prior art, the present invention can angle error between high precision test laser tracker tracking mirror and transverse axis, and that improves laser tracker tracking mirror debugs precision, and the method has that measuring accuracy is high, the feature of good reliability.
Accompanying drawing explanation
In order to more clearly and accurately illustrates the technical scheme in the embodiment of the present invention, introduce doing the accompanying drawing used required in embodiment or description of the prior art simply below, obviously, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 is structure of the detecting device schematic diagram
Wherein, 1: adjustable end mirror; 2,4: autocollimator; 3: polygon; 5: follower head; 6: tracker transverse axis; 7: tracking mirror.
Fig. 2 A-Fig. 2 B is end mirror regulating device figure
Wherein, 11,12,13: tracker end face gib screw; 14,15: forward position set screw (regulating the vertical paper in direction inwards, namely near 5); 16,17: reverse position set screw (regulating the vertical paper in direction outside, namely away from 5); 18: end mirror; 19: end face reflection lens barrel.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out accurately, intactly describing to the technical side's case in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, is not whole embodiments.Based on this, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.
As shown in Figure 1, this device is for the angle between the transverse axis 6 on detection laser tracker follower head 5 and tracking mirror 7 for device used in the present invention.Its ingredient comprises the adjustable end mirror 1 of high precision, autocollimator 2, polygon 3 and autocollimator 4.Wherein, 1 be fixed on 6 one end, utilize 2 to detect its position.3 are fixed on 5, utilize 4 to detect its position.Embodiment is as follows:
1, as shown in Figure 2, tighten tracker end face gib screw 11,12,13, thus be fixed on 1 on 6.The center position of 1 is equipped with end mirror 18,2 detect be 18 concrete orientation relative to 2.Forward position set screw 14,15 and reverse position set screw 16,17 is had on 1.Tighten 14,15 respectively, then 1 tilts to the direction near 5 in level and pitching orientation respectively; Tighten 16,17 respectively, then 1 tilts to the direction away from 5 in level and pitching orientation respectively.
2, detect the position of 1 with 2, regulate 1 perpendicular to 6.Concrete operations are: keep 5 level orientation constant, and 3 are fixed on 5, then the reading of 4 is substantially constant.Rotating the angle of pitch, is V1, V2 at the angle of pitch ..., during Vn (dividing equally 360 ° at equal intervals), record the reading of each position 2, be designated as respectively (x1, x2 ..., xn), (y1, y2 ..., yn) and (i ∈ [i, n]).Regulate the position of 1, until the reading xmax-xmin < 3 of 2 ", record the two-dimentional reading of now 2, be denoted as X respectively, Y (vector).Due to installation deviation, the reason such as degree of regulation and experimenter's operate miss of experimental provision, 1 can not be strictly perpendicular to 6, namely there is measuring error.Therefore carry out data fitting respectively for two-dimentional reading X, the Y of 2, replace measured value X with fitting result, Y.
For the horizontal reading X of 2, founding mathematical models, data fitting curve is: x=A
xsin (V+ φ
x)+B
x
Wherein, Ax is the horizontal sextant angle of 1 physical location and ideal position, Bx be the collimation axis and 6 of 2 at the angle of level orientation, namely during 1 select shaft 2 desirable level reading.Least square fitting is utilized to calculate B
svalue.In like manner according to y
1, y
2..., y
nalso matching By value can be obtained.
3, utilize 4 to detect, with 3 for reference, control follower head and horizontally rotate 90 °.Namely regulate the position of 5, make the horizontal reading of before and after 3 half-twists 2 identical.Regulate the pitch position of 7, make its Y-component be By, even if the pitch attitude of 1 is basically identical in 7 pitch position now and step 1.Record the two-dimentional reading of now 2, be denoted as X ', Y '.
Experimentally data, laser tracker tracking lens droop error is: c=X '-B
x
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention, will be apparent to the multiple amendment of these embodiments concerning the patented technology personnel of this area.General Principle as defined herein when not departing from spirit of the present invention or scope, can realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet principle disclosed herein and the consistent the widest scope of novel features.
Claims (2)
1. laser tracker tracking mirror and a transverse axis angle detection method, comprise,
The adjustable end mirror 1 of high precision, autocollimator 2, polygon 3 and autocollimator 4; Wherein, 1 be fixed on 6 one end, utilize 2 to detect its position.3 are fixed on 5, utilize 4 to detect its position,
The center position of (1) 1 is equipped with end mirror 18,2 detect be 18 concrete orientation relative to 2; Have forward position set screw 14,15 and reverse position set screw 16,17 on 1, tighten 14,15 respectively, then 1 tilts to the direction near 5 in level and pitching orientation respectively; Tighten 16,17 respectively, then 1 tilts to the direction away from 5 in level and pitching orientation respectively;
(2) detect the position of 1 with 2, regulate 1 perpendicular to 6; Concrete operations are: keep 5 level orientation constant, and 3 are fixed on 5, then the reading of 4 is substantially constant, and rotating the angle of pitch, is V at the angle of pitch
1, V
2..., V
ntime (dividing equally 360 ° at equal intervals), record the reading of each position 2, be designated as (x respectively
1, x
2..., x
n), (y
1, y
2..., y
n) (i ∈ [1, n]).Regulate the position of 1, until the reading x of 2
max-x
min< 3 ", record the two-dimentional reading of now 2, be denoted as X respectively, Y (vector);
For the horizontal reading X of 2, founding mathematical models, data fitting curve is: x=A
xsin (V+ φ
x)+B
x
Wherein, A
xbe the horizontal sextant angle of 1 physical location and ideal position, B
xbe the collimation axis and 6 of 2 at the angle of level orientation, namely during 1 select shaft 2 desirable level reading, utilize least square fitting to calculate B
xvalue; In like manner according to y
1, y
2..., y
nalso matching B can be obtained
yvalue;
(3) utilize 4 to detect, with 3 for reference, control follower head and horizontally rotate 90 °, namely regulate the position of 5, make the horizontal reading of before and after 3 half-twists 2 identical; Regulate the pitch position of 7, make its Y-component be B
yeven if the pitch attitude of 1 is basically identical in 7 pitch position now and step 1; Record the two-dimentional reading of now 2, be denoted as X ', Y ';
Experimentally data, laser tracker tracking lens droop error is: c=X '-B
x.
2. experimental data according to claim 1, laser tracker tracking lens droop error is: c=X '-B
x.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510640648.XA CN105203050A (en) | 2015-10-08 | 2015-10-08 | Method for detecting included angle between tracking reflector and cross shaft of laser tracker |
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| CN201510640648.XA CN105203050A (en) | 2015-10-08 | 2015-10-08 | Method for detecting included angle between tracking reflector and cross shaft of laser tracker |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470178A (en) * | 2018-12-27 | 2019-03-15 | 赛纳生物科技(北京)有限公司 | A kind of optical system angle of assembling detection device and its method |
| CN110779469A (en) * | 2019-11-07 | 2020-02-11 | 中国科学院合肥物质科学研究院 | Shafting perpendicularity detection device and method for horizontal photoelectric tracking system |
| CN112325777A (en) * | 2020-11-04 | 2021-02-05 | 北京交通大学 | Optical measuring device for measuring six-degree-of-freedom geometric error of rotating shaft |
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| CN1605829A (en) * | 2004-11-11 | 2005-04-13 | 天津大学 | Device and method for field calibration of vision measurement system |
| JP2005347790A (en) * | 2004-05-31 | 2005-12-15 | Nec Viewtechnology Ltd | Projector provided with trapezoidal distortion correction apparatus |
| CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN103884492A (en) * | 2014-03-07 | 2014-06-25 | 中国科学院光电研究院 | Method for detecting included angle of tracking reflector and cross shaft of laser tracker |
-
2015
- 2015-10-08 CN CN201510640648.XA patent/CN105203050A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005347790A (en) * | 2004-05-31 | 2005-12-15 | Nec Viewtechnology Ltd | Projector provided with trapezoidal distortion correction apparatus |
| CN1605829A (en) * | 2004-11-11 | 2005-04-13 | 天津大学 | Device and method for field calibration of vision measurement system |
| CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN103884492A (en) * | 2014-03-07 | 2014-06-25 | 中国科学院光电研究院 | Method for detecting included angle of tracking reflector and cross shaft of laser tracker |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470178A (en) * | 2018-12-27 | 2019-03-15 | 赛纳生物科技(北京)有限公司 | A kind of optical system angle of assembling detection device and its method |
| CN110779469A (en) * | 2019-11-07 | 2020-02-11 | 中国科学院合肥物质科学研究院 | Shafting perpendicularity detection device and method for horizontal photoelectric tracking system |
| CN112325777A (en) * | 2020-11-04 | 2021-02-05 | 北京交通大学 | Optical measuring device for measuring six-degree-of-freedom geometric error of rotating shaft |
| CN112325777B (en) * | 2020-11-04 | 2021-12-07 | 北京交通大学 | Optical measuring device for measuring six-degree-of-freedom geometric error of rotating shaft |
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