CN106017314A - Integrated rapid calibration apparatus and calibration method - Google Patents

Abstract

The invention relates to an integrated rapid calibration apparatus and calibration method. The apparatus comprises four photoelectric detection target bodies, a calibration frame and an automatic calibration control system, wherein the four photoelectric detection target bodies are installed on the calibration frame, the automatic calibration control system is connected with the calibration frame, and the bottom surface of the calibration frame is provided with pulleys. The operation is flexible, the use is convenient, the automation is high, manual errors are avoided, and a convenient, efficient and high-automation method is provided for installation of four photoelectric detection target geometric structures and calibration of space parameters.

Description

A kind of integral type fast calibration device and scaling method

Technical field

The present invention relates to demarcation field, be specifically related to a kind of integral type fast calibration device and demarcation side Method.

Background technology

In the weapon parameter testing of target range, the flight speed of bullet and bullet coordinate are to bullet The important parameter that can test, particularly for the nearly bomb ball when high-altitude target target miss value measuring, Use the measuring method of contact, poor repeatability, and high-altitude target test be difficult to realize, Employing sound targets etc., measurement error is relatively big, and is easily subject to the interference of outdoor test environment.

Four photodetection targets are one of visual plants of high-altitude weapon test, in target range weapon is tested Being widely used in a variety of applications, it is mainly used in open air and tests bullet parameter, the weight of optical target Wanting one of parameter is the space position parameter between each light curtain of target body self, photodetection target space The levels of precision of location parameter, directly determines the success or not of four photodetection target research and development.High-altitude The height on target range ground is generally higher than 25 meters, and the miss distance of measured target is typically small, even if There is the least error in the geometrical structure parameter of four photodetection target test systems, also can be for target There is relatively large deviation in the test of miss distance, time serious, it may not be possible to reach to test miss-distance of projectile Purpose, therefore four photodetection targets geometrical structure parameter need carry out precision when structure is installed School is in harmonious proportion to be measured, thus accurately installing and parameter accurate four photodetection target geometries Measurement seems particularly significant.

Traditional scaling method is placement light source in the slit of four photodetection targets, can by slit Transmitting light, this light may be considered light curtain, by artificially rotating light curtain target, observes light Relation between curtain face so that corresponding light curtain face overlaps, records corresponding rotation by range quadrant Angle, such that it is able to indirectly demarcate the angle between light curtain face, obtains four photodetection target detections Geometric parameter information between light curtain, although the method can be to the geometric parameter of four photodetection targets Demarcate, but artificial participation link be more during four photodetection target geometrical parameter calibrations, Often there is certain personal error in final calibration result, this error need to be fixed by follow-up test reactionary slogan, anti-communist poster, Finally give the actual value of optical target geometric parameter；Meanwhile, while optical target manufactures in a large number, Owing to calibration process is relatively complicated, time-consuming, thus extend the manufacturing cycle of optical target.Automatically Today that change equipment is universal, this kind of complex operation, the low traditional method of automaticity is the most far away The needs that current optical target produces can not be met.

Summary of the invention

In order to solve the technical problem of above-mentioned appearance, the present invention provides a kind of integral type Fast Calibration dress Put and scaling method.

The integral type fast calibration device that the present invention relates to includes four photodetection target bodys, calibration frame With automatic Calibration control system, four photodetection target bodys are arranged on calibration frame, automatic Calibration control System processed is connected with calibration frame, is provided with pulley in calibration frame bottom surface.

As preferably, the first photodetection target in four photodetection target bodys and the second photodetection target One-body molded in same housing, the 3rd photodetection target and the 4th photodetection target one-body molded In same housing, the first photodetection target, the second photodetection target, the 3rd photodetection target and Four photodetection targets are provided with infrared laser light source and photoelectric slot in each photodetection target body, and And the surface of each photodetection target body is equipped with cone, each photodetection target body forms light Curtain.

As preferably, the one side of calibration frame is provided with the first demarcation bar of vertically layout and inclines The the second demarcation bar tiltedly arranged, the first two ends demarcating bar and the second demarcation bar all should with calibration frame The connection of side, demarcates second and is provided with multiple calibrating block on bar and the first demarcation bar.

As preferably, being provided with calibration frame platform in the inside of calibration frame, calibration frame platform leads to Crossing support column and be fixed on the inside of calibration frame, the two ends of a side of calibration frame platform pass through two Individual support column is fixed respectively with calibration frame two base respectively, another side of calibration frame platform Middle part is fixed by another base of a support column with calibration frame, the two ends of another side and mark The dual-side determining framework is fixed respectively.

As preferably, being provided with demarcation turntable on calibration frame platform, four photodetection target bodys are solid Be scheduled on demarcation turntable on, infrared laser light source injection iraser after respective photoelectric slot Second demarcates bar and first demarcates formation slit irradiating laser hot spot on bar, demarcates turntable and has circular arc Side, is provided with driving cog on circular arc side, demarcates turntable and is fixed on calibration frame by bracing frame On platform, bracing frame includes at least 3 height adjusters, is additionally provided with turntable level on bracing frame Pivoting controller and platform rotational angle detector, turntable horizontally rotates controller and turns with turntable level Dynamic control rotating shaft is connected, and turntable horizontally rotates on the circular arc side controlling rotating shaft and demarcation turntable Driving cog is coupled transmission.

As preferably, it is provided with assembly wall near outside demarcating on turntable, on assembly wall and arrange It is equipped with two groups of identical adjusting meanss, the respectively first adjusting means and the second adjusting means, wherein, First adjusting means includes the first vertically-mounted mounting rod, is provided with photoelectricity in the first mounting rod upper end Slit first controls motor, and photoelectric slot first controls motor and is connected with photoelectric slot the first actuator Connecing, photoelectric slot the first actuator is horizontally disposed；Second adjusting means includes vertically-mounted Two mounting rods, are provided with photoelectric slot second in the second mounting rod upper end and control motor, photoelectric slot Two control motor is connected with photoelectric slot the second actuator, and photoelectric slot the second actuator is level Arrange.

As preferably, the panel of automatic Calibration control system is provided with the first calibration mode setting and opens Close, the second calibration mode arrange switch, angular encoder information read button, time-out calibration switch, Caliberating device power control switch, automatic Calibration control system switch, transmission line interface and beginning Calibration switch.

The present invention also provides for a kind of integral type quick calibrating method, and it uses any of the above-described technical side Integral type fast calibration device in case, method includes the demarcation to four photodetection targets and to four light Electrical resistivity survey is surveyed the light curtain of target formation and is demarcated.

As preferably, the demarcation to four photodetection targets includes: by the first and second photodetection targets It is fixed on demarcation turntable, then opens automatic Calibration control system switch, caliberating device power supply control System switch and the first calibration mode switch, the pattern of setting is the first calibration mode, starts and starts to demarcate Switch, now fast calibration device starts to control turntable and horizontally rotates controller, photoelectric slot first Actuator and photoelectric slot the second actuator thus automatically to the first photodetection target and the second photoelectricity The first photoelectric slot and the second photoelectric slot in detection target are adjusted, respectively when first and second After the position adjustments of photoelectric slot is good, starts and suspend calibration switch, fix the first and second photoelectricity narrow The position of seam, starts angular encoder information and reads button, reading platform rotational angle detector Angle information, then releases and suspends calibration switch, now, to the first photodetection target and the second light Electrical resistivity survey is surveyed the demarcation of target and is i.e. terminated, and repeat the above steps is to the 3rd photodetection target and the 4th smooth electrical resistivity survey Survey target to demarcate.

As preferably, the light curtain forming four photodetection targets is demarcated, and concrete grammar is as follows: first First carry out the first light curtain and the demarcation of the second light curtain angle and installation, demarcate bar including (1) by first It is adjusted to perpendicular with horizontal plane, according to demarcating the pre-of the first light curtain and the second light curtain intersection point on turntable Location is put, and adjusts the second demarcation bar and first and demarcates the position of intersecting point between bar so that two intersection points It is positioned at sustained height position, and to make the second demarcation bar and the first angle demarcated between bar be α；(2) Demarcate bar and first according to second and demarcate the position of intersecting point of bar, by the first photodetection target and the second light Electrical resistivity survey is surveyed target and is fixed on demarcation turntable, and by photoelectric slot the first actuator, photoelectric slot second Actuator is separately fixed at the first photoelectric slot and second photoelectric slot of the photodetection target being calibrated On, then try to achieve the first photodetection target and demarcate two position of intersecting point being calibrated light curtain on turntable； Adjust calibration frame platform and demarcate the height of turntable so that the first light curtain and the intersection point of the second light curtain It is positioned at same level height with two intersection points demarcating bar；Fine setting fixed platform height adjuster, makes Two the first orthogonally located spirit bubbles and the second spirit bubble on turntable must be demarcated and be level； (3) automatic Calibration control system switch and the first calibration mode switch are opened, by automatic Calibration control System is arranged on the first calibration mode, starts automatic Calibration switch, now, high precision electro chance band Dynamic turntable horizontally rotates controller and rotates, thus turntable horizontally rotates control rotating shaft drive demarcation Turntable rotates, the laser meeting transmitted by the first photoelectric slot of the first photodetection target It is radiated on the first demarcation bar, when automatic Calibration control system judges to learn through the first photoelectric slot When the laser facula irradiated falls uniformly in the 7th calibrating block, turntable horizontally rotates controller and can stop Spline is moved, and then automatic Calibration control system controls photoelectric slot first and controls motor and rotate, Thus drive the first machine shaft to rotate, photoelectric slot the first actuator rotating shaft concomitant rotation gets up, Then photoelectric slot the first actuator starts to rotate, and drives the first photoelectric slot to rotate；When certainly Dynamic control system of demarcating judges that the injection laser of the first photoelectric slot is radiated at the first demarcation bar uniformly In each calibrating block after, photoelectric slot the first actuator just stops operating, start suspend demarcation open Closing, fix the first photoelectric slot, the most now the first light curtain is perpendicular with horizontal plane；(4) release temporarily Stopping calibration switch, automatic Calibration control system starts to control photoelectric slot second and controls motor and carry out turning Dynamic, thus drive the second machine shaft to rotate, photoelectric slot the second actuator rotating shaft can rotate therewith Getting up, then photoelectric slot the second actuator starts to rotate, and regulates the second of the second photodetection target Photoelectric slot so that the iraser transmitted from the second photoelectric slot is radiated at the second demarcation bar, When the laser that the second light curtain transmits falls uniformly in each calibrating block that second demarcates bar, light Electricity slit the second actuator stops operating, and starts and suspends calibration switch, fixed slit, then the first light It is α that electrical resistivity survey surveys the angle of target and the second photodetection target；Now, the demarcation to the first photodetection target End, closes and starts calibration switch, closes caliberating device power control switch, closes integral type certainly Dynamic demarcation control system on and off switch；Then the demarcation to the 3rd light curtain Yu the 4th light curtain angle, bag Include: the 3rd photodetection target and the 4th photodetection target are arranged on demarcation turntable by (1), and will Photoelectric slot the first actuator, photoelectric slot the second actuator are separately fixed at the 3rd light being calibrated Electrical resistivity survey is surveyed on the 3rd photoelectric slot of target and the 4th photoelectric slot of the 4th photodetection target, then adjusts Feast-brand mark determines turntable height adjuster so that demarcate on turntable two the first orthogonally located spirit bubbles with Second spirit bubble is level；(2) open automatic Calibration control system switch, be set to the Two calibration mode, open caliberating device power control switch, start and start calibration switch, then turntable Horizontally rotate controller to start to rotate, thus demarcate turntable and horizontally rotate control rotating shaft drive demarcation turn Platform rotates, when automatic Calibration control system judges the 7th calibrating block and photoelectric slot transmission laser During coincidence, then demarcate turntable horizontal rotation actuator and stop operating, then automatic Calibration control system Control photoelectric slot first controls motor and rotates, thus drives the first machine shaft to rotate, light Electricity slit the first actuator rotating shaft also can rotate, and then photoelectric slot the first actuator starts to turn Dynamic, photoelectric slot the first actuator starts automatically to adjust the 3rd photoelectric slot of the 3rd photodetection target Position so that be radiated at the first demarcation article from the laser of the 3rd photoelectric slot outgoing, when automatically Demarcating control system and judge when laser falls uniformly in each calibrating block, photoelectric slot first regulates Device quits work, and starts and suspends calibration switch, fixing photoelectric slot, now the 3rd light curtain and level Face is vertical, starts angular encoder information and reads button, the letter of reading platform rotational angle detector Breath β₁ ³；(3) then release time-out calibration switch, demarcate turntable horizontal rotation actuator and be rotated further, When automatic Calibration control system judges the 4th photoelectric slot of the first demarcation article and the 4th photodetection target When transmission laser overlaps, demarcating turntable horizontal rotation actuator and stop operating, automatic Calibration controls system System starts to control photoelectric slot second and controls motor and rotate, thus drives the second machine shaft to turn Dynamic, photoelectric slot the second actuator rotating shaft also can rotate, then photoelectric slot the second actuator Start to rotate, the 4th photoelectric slot of regulation the 4th photodetection target so that from the 4th photoelectric slot The iraser of injection is radiated at the first demarcation bar, judges that laser is uniform when automatic Calibration controls system When falling in first each calibrating block demarcating bar, photoelectric slot the second actuator quits work, and opens The dynamic calibration switch that suspends, fixing photoelectric slot, now the 4th light curtain and horizontal plane, start angle Degree encoder information reads button, information β of reading platform rotational angle detector₁ ⁴, then release Suspend calibration switch；(4) in order to be accurately obtained the angle between the 3rd and the 4th light curtain, automatically mark Determine control system meeting repeat the above steps (2) and (3) n time；(5) automatic Calibration control system pair The data processing method of above-mentioned n test is: remove minimax data for each position, Then residue 2n-2 group data, if the 3rd light curtain article overlaps with the second demarcation, in the data of gained the M, d group data are the maximum in the data recorded and minima, then the angle recorded at the 3rd light curtain Average be

$\stackrel{\‾}{{\mathrm{\β}}^3}=\frac{1}{n-2}\underset{k\≠m,d}{\overset{n}{\underset{k=1}{\mathrm{\Σ}}}}{\mathrm{\β}}_k^3$

In like manner, for the angle value at the 4th light curtain, can angled average be

(wherein m2, d2 are the maximum in this group and minima)

The 3rd light curtain then can be had with the angle of the 4th light curtain to be

$\stackrel{\‾}{\mathrm{\β}}=\frac{|\stackrel{\‾}{{\mathrm{\β}}^3}-\stackrel{\‾}{{\mathrm{\β}}^4}|}{2};$

(6) calibration switch is closed successively, caliberating device power control switch, integral type automatic Calibration Control system switchs.

The integral type fast calibration device that the present invention relates to is capable of four photodetection target assemblies Fast Calibration and the test of spatial parameter, flexible operation, easy to use, automaticity is high, Avoid the personal error that traditional photodetection target timing may introduce, it is often more important that solve The problem such as complex operation in photodetection target tradition calibration process, automaticity are low.It is four light The demarcation of installation and spatial parameter that electrical resistivity survey surveys target geometry provides a kind of convenient, the most also And the method that automaticity is high.

Accompanying drawing explanation

Fig. 1 is the layout drawing of the integral type fast calibration device that the present invention relates to；

Fig. 2 is the layout drawing of the integral type fast calibration device that the present invention relates to；

Fig. 3 is the layout drawing of the integral type fast calibration device that the present invention relates to；

Fig. 4 is the structural representation demarcating turntable in the integral type fast calibration device that the present invention relates to；

Fig. 5 is the front view demarcating turntable in the integral type fast calibration device that the present invention relates to；

Fig. 6 is that in the integral type fast calibration device that the present invention relates to, four photodetection targets turn in demarcation Schematic diagram on platform；

Fig. 7 is the schematic diagram of four photodetection targets in the integral type fast calibration device that the present invention relates to；

Fig. 8 is the schematic diagram demarcating bar in the integral type fast calibration device that the present invention relates to.

Wherein, 1, calibration frame；2, second bar is demarcated；3, first bar is demarcated；4, the first light Curtain；5, the second calibrating block；6 the 7th calibrating block；7, slit irradiating laser hot spot；8, photoelectricity is narrow Seam the first control motor；9, the first machine shaft；10, photoelectric slot the first actuator rotating shaft；11、 Photoelectric slot the first actuator；12, the second light curtain；13, turntable horizontally rotates controller；14、 Platform rotational angle detector；15, support column jack；16, support column latch；17, automatically mark Determine control system；18, the 5th calibrating block；19, the 6th calibrating block；20, the 8th calibrating block；21、 9th calibrating block；22, the first calibrating block；23, the 3rd calibrating block；24, the 4th calibrating block；25、 Calibration frame platform；26, control system connecting line；27, turntable is demarcated；28, the first horizontal water Bubble；29, the second horizontal blister；30, photoelectric slot the second actuator；31, the second machine shaft； 32, photoelectric slot the second actuator rotating shaft；33, angle detection device rotating shaft；34, turntable level Rotate and control rotating shaft；35, turntable height adjuster is demarcated；36, photoelectric slot second controls motor； 37, the first calibration mode switch；38, the second calibration mode switch；39, angular encoder information Read button；40, calibration switch is suspended；41, caliberating device power control switch；42, automatic Demarcation control system switchs；；43, transmission line interface；44, infrared laser light source；45, mark is started Fixed switch；46, assembly wall；47, the first mounting rod；48, the second mounting rod；49, connecting rod； 50, pulley；51, the first photoelectric slot；52, the second photoelectric slot；53, the 3rd photoelectric slot； 54, the 4th photoelectric slot；55, the first photodetection target；56, the second photodetection target；57 Three photodetection targets；58, the 4th photodetection target；59, the 3rd light curtain；60, the 4th light curtain； 61, the tenth calibrating block.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.

As illustrated in fig. 1 and 2, Fig. 1 shows a kind of integral type fast calibration device, and it includes four Photodetection target body, calibration frame 1 and automatic Calibration control system 17, wherein, this calibration frame 1 is by the end to end cuboid framework made of connecting rod 49, at four of calibration frame 1 bottom surface It is provided with pulley 50 at angle, by pulley 50, calibration frame 1 can be moved freely on the ground, Four photodetection target bodys are arranged on this calibration frame 1, and this automatic Calibration control system 17 is by number It is connected with calibration frame 1 according to line.

Combining shown in Fig. 7 by Fig. 1, Fig. 7 shows position and the structure of four photodetection targets, Wherein, in Fig. 7, a and c shows the first photodetection target 55 and the second photodetection target 56, figure In 7, b and d shows the 3rd photodetection target 57 and the 4th photodetection target 58, wherein, first Photodetection target 55 and the second photodetection target 56 are one-body molded in same housing, the 3rd photoelectricity Detection target 57 and the 4th photodetection target 58 are one-body molded in same housing.At the first smooth electrical resistivity survey It is provided with the first photoelectric slot 51 in surveying target 55, in the second photodetection target 56, is provided with the second photoelectricity Slit 52, is provided with the 3rd photoelectric slot 53 in the 3rd photodetection target 57, at the 4th smooth electrical resistivity survey It is provided with the 4th photoelectric slot 54, in first photodetection target the 55, second photodetection in surveying target 58 The surface of target the 56, the 3rd photodetection target 57 and the 4th photodetection target 58 is equipped with cone, Additionally, at first photodetection target the 55, second photodetection target the 56, the 3rd photodetection target 57 Be respectively equipped with infrared laser light source 44 in the 4th photodetection target 58, infrared laser light source 44 The iraser penetrated is the visible linear laser of 20mW, respectively at the first photodetection target 55, second Iraser in photodetection target the 56, the 3rd photodetection target 57 and the 4th photodetection target 58 The laser that light source 44 is launched is respectively by first photoelectric slot the 51, second photoelectric slot the 52, the 3rd Photoelectric slot 53 and the 4th photoelectric slot 54 are also penetrated by respective cone, ultimately form light Curtain, the respectively first light curtain the 4, second light curtain the 12, the 3rd light curtain 59 and the 4th light curtain 60.Excellent Choosing, the first photodetection target the 55, second photodetection target 56 and the 4th photodetection target 58 In cone the most vertically arrange, the cone in the 3rd photodetection target 57 is in tilted layout, the most just It is that the laser that the infrared laser light source 44 in the 3rd photodetection target 57 is launched is to tilt, And the laser that the infrared laser light source 44 in other three detection targets is launched is straight up.

As it is shown in figure 1, be provided with the first demarcation bar 3 and the second mark on the one side of calibration frame 1 Determining bar 2, first demarcates bar 3 and second demarcates all upper with this side of calibration frame 1 of the two ends of bar 2 Lower both sides connect respectively, and as preferably, second demarcates bar 2 is in tilted layout, and first demarcates bar 3 erects Straight layout, demarcates second and is sequentially provided with first calibrating block the 22, second demarcation on bar 2 from top to bottom Block the 5, the 3rd calibrating block the 23, the 4th calibrating block 24 and the 5th calibrating block 18, demarcate bar 3 first On be sequentially provided with from top to bottom the 6th calibrating block 19, the 7th calibrating block 6, the 8th calibrating block 20, Nine calibrating block 21 and the tenth calibrating block 61.Four photodetection target bodys and two levels demarcated between bar Distance is 1.8m.Wherein, the first to the 9th calibrating block is the Infrared Detectors mark of a diameter of 2mm Determining block, the optical maser wavelength that this Infrared Detectors calibrating block receives is 650nm～750nm.

As Figure 1-3, it is provided with calibration frame platform 25 in the inside of calibration frame 1, this demarcation Framework platform 25 is fixed on the inside of calibration frame 1 by support column, and specifically, calibration frame is put down The two ends of one side of platform 25 are solid respectively with 1 liang of base of calibration frame respectively by two support columns Fixed, the middle part of another side of calibration frame platform 25 is another by a support column and calibration frame 1 One base fixes, and the dual-side of the two ends of this another side and calibration frame 1 is fixed respectively.Make For preferably, the equal adjustable-height of each support column, specifically, it is provided with support column on the support columns and inserts Hole 15, regulates support column by support column latch 16 is inserted different support column jacks 15 Height.

As shown in Figures 3 and 4, calibration frame platform 25 is provided with demarcation turntable 27, the first light Electrical resistivity survey surveys target 55 and the second photodetection target 56 or the 3rd photodetection target 57 and the 4th smooth electrical resistivity survey Surveying target 58 to be fixed on demarcation turntable 27, the infrared laser light source 44 in four photodetection targets penetrates Iraser after respective photoelectric slot, demarcate bar 2 and first second demarcate and formed on bar 3 Slit irradiating laser hot spot 7.Additionally, demarcate turntable 27 there is circular arc side, on circular arc side It is provided with driving cog, as it is shown in figure 5, demarcate turntable 27 to be fixed on calibration frame platform by bracing frame On 25, this bracing frame includes at least 3 height adjusters 35, is additionally provided with turntable water on bracing frame Flat turn movement controller 13 and platform rotational angle detector 14, turntable horizontally rotate controller 13 with Turntable horizontally rotates control rotating shaft 34 and is connected, and turntable horizontally rotates control rotating shaft 34 and turns with demarcating Driving cog on the circular arc side of platform 27 is coupled transmission, so can drive demarcation turntable 27 turns Dynamic.Wherein, turntable horizontally rotate controller 13 can to demarcate turntable 27 in horizontal plane turn Moving and be controlled, the amount of spin demarcating turntable 27 can be carried out by platform rotational angle detector 14 Detection, its precision is 5 ".

It is provided with assembly wall 46 near outside demarcating on turntable 27, assembly wall 46 is arranged side by side There are two groups of identical adjusting meanss, the respectively first adjusting means and the second adjusting means, wherein, First adjusting means includes the first vertically-mounted mounting rod 47, is provided with in the first mounting rod 47 upper end Photoelectric slot first controls motor 8, and photoelectric slot first controls motor 8 and regulates with photoelectric slot first Device 11 is connected, and specifically, photoelectric slot first controls the first machine shaft 9 and light of motor 8 Photoelectric slot the first actuator rotating shaft 10 of electricity slit the first actuator 11 is coaxially connected, wherein, Photoelectric slot the first actuator 11 is in horizontally disposed；Second adjusting means includes vertically-mounted second Mounting rod 48, is provided with photoelectric slot second in the second mounting rod 48 upper end and controls motor 36, photoelectricity Slit second controls motor 36 and is connected with photoelectric slot the second actuator 30, specifically, and photoelectricity Slit second controls the second machine shaft 31 of motor 36 and the light of photoelectric slot the second actuator 30 Electricity slit the second actuator rotating shaft 32 coaxially connected, wherein, photoelectric slot the second actuator 30 in Horizontally disposed.When placing the first photodetection target 55 and the second photodetection on demarcation turntable 27 During target 56, photoelectric slot the first actuator 11 can be to the first photoelectricity of the first photodetection target 55 Slit 51 is adjusted, and photoelectric slot the second actuator 30 can be to the second photodetection target 56 Second photoelectric slot 52 is adjusted, in like manner, when demarcating placement the 3rd smooth electrical resistivity survey on turntable 27 When surveying target 57 and the 4th photodetection target 58, photoelectric slot the first actuator 11 can be to the 3rd light Electrical resistivity survey is surveyed the 3rd photoelectric slot 53 of target 57 and is adjusted, and photoelectric slot the second actuator 30 can Second photoelectric slot 54 of the 4th photodetection target 58 is adjusted.

From the foregoing, it will be observed that two photoelectric slot actuators are to corresponding one group (two) photoelectric slot Position and size are adjusted, and automatic Calibration control system 17 is by judging that each photoelectric slot penetrates Laser facula and second demarcate bar 2 and first and demarcate the position relationship of bar 3, thus narrow to photoelectricity Seam output regulating command, to reach to demarcate the parameter of the light curtain that each photodetection target is formed Purpose.Additionally, in order to preferably each photoelectric slot actuator is controlled, photoelectric slot First control motor 8 and photoelectric slot second control the moment of torsion of motor 36 more than 3.5N.m.Demarcating Orthogonal first horizontal blister 28 and the second horizontal blister it is additionally provided with on the upper surface of turntable 27 29, to judge rotatable platform 27 whether level, wherein, the precision of the horizontal blister of the two is 10 ".

Additionally, as it is shown in figure 1, be provided with the first demarcation on the panel of automatic Calibration control system 17 Mode setting switch the 37, second calibration mode arranges switch 38, angular encoder information reads button 39, time-out calibration switch 40, caliberating device power control switch 41, automatic Calibration control system are opened Close 42, transmission line interface 43 and beginning calibration switch 45.

Timing signal is carried out, the most respectively to four smooth electrical resistivity surveys using above-mentioned integral type fast calibration device Survey first photodetection target the 55, second photodetection target the 56, the 3rd photodetection target 57 in target Demarcate with the 4th photodetection target 58.

First the first photodetection target 55 and the second photodetection target 56 are demarcated, by first It is fixed on demarcation turntable 27 with the second photodetection target 55,56, then opens automatic Calibration control System switching 42, caliberating device power control switch 41 and the first calibration mode switch 37, arranged Pattern is the first calibration mode, starts and starts calibration switch 45, and now fast calibration device starts control Turntable processed horizontally rotates controller 13, photoelectric slot the first actuator 11 and photoelectric slot second and adjusts Save device 30 thus automatically to the first light in the first photodetection target 55 and the second photodetection target 57 Electricity slit 51 and the second photoelectric slot 52 are adjusted, respectively when the first and second photoelectric slot The position of 51,52 and size adjustment good after, start suspend calibration switch 40, fix first and second Photoelectric slot 51, the position of 52, start angular encoder information and read button 39, reading platform turns The angle information of dynamic angle detector 14, then releases and suspends calibration switch 40, now, to first The demarcation of photodetection target 55 and the second photodetection target 56 i.e. terminates, and repeat the above steps is to Three photodetection targets 57 and the 4th photodetection target 58 are demarcated.

After completing the demarcation to four photodetection targets, continue four photoelectricity photodetection targets formation Light curtain is demarcated, and concrete grammar is as follows:

1, the demarcation of the first light curtain and the second light curtain angle and installation

(1) the first demarcation bar 3 is adjusted to perpendicular with horizontal plane, according to demarcating on turntable 27 the One light curtain 4 and the precalculated position of the second light curtain 12 intersection point, adjusts the second demarcation bar 2 and first and demarcates Position of intersecting point between bar 3 so that two intersection points are positioned at sustained height position, and make the second demarcation Bar 2 and the first angle demarcated between bar 3 are α；

(2) bar 2 and the position of intersecting point of the first demarcation bar 3 are demarcated according to second, by the first smooth electrical resistivity survey Survey target 55 and the second photodetection target 56 is fixed on demarcation turntable 27, and by photoelectric slot first Actuator 11, photoelectric slot the second actuator 30 are separately fixed at the of the photodetection target being calibrated On one photoelectric slot 51 and the second photoelectric slot 52, then try to achieve the first photodetection target 55 at mark Determine two position of intersecting point being calibrated light curtain on turntable 27；By adjusting the height of respective support post, Specifically the support column latch 16 on respective support post is put into support column jack 15 to adjust demarcation The height of framework platform 25, turntable height adjuster 35 is demarcated in regulation simultaneously so that demarcate turntable On 27, the first light curtain 4 and the intersection point of the second light curtain 12 and two intersection points demarcating bar are positioned at same level Highly；Fine setting fixed platform height adjuster 35 so that demarcate on turntable 27 two orthogonally located First spirit bubble 28 and the second spirit bubble 29 are level.

(3) automatic Calibration control system switch 42 and the first calibration mode switch 37 are opened, will be from Dynamic control system 17 of demarcating is arranged on the first calibration mode, starts automatic Calibration switch 45, now, High precision electro chance drives turntable to horizontally rotate controller 13 and rotates, thus turntable horizontally rotates Controlling rotating shaft 34 drives demarcation turntable 27 to rotate, by the first of the first photodetection target 55 The laser that photoelectric slot 51 transmits can be radiated on the first demarcation bar 3, when automatic Calibration control System 17 judges to learn that the laser facula 7 irradiated through the first photoelectric slot 51 falls uniformly the Time in seven calibrating block 6, turntable horizontally rotates controller 13 and can stop operating, then automatic Calibration control System 17 processed controls photoelectric slot first and controls motor 8 and rotate, thus drives the first motor to turn Axle 9 rotates, and photoelectric slot the first actuator rotating shaft 10 concomitant rotation gets up, then photoelectric slot One actuator 11 starts to rotate, and drives the first photoelectric slot 51 to rotate；When automatic Calibration control System 17 processed judges that the injection laser of the first photoelectric slot 51 is radiated at the first demarcation bar 3 uniformly In each calibrating block after, photoelectric slot the first actuator 11 just stops operating, start suspend demarcate Switch 40, fixes the first photoelectric slot 51, and the most now the first light curtain 4 is perpendicular with horizontal plane；

(4) releasing time-out calibration switch 40, automatic Calibration control system 17 starts to control photoelectric slot Second controls motor 36 rotates, thus drives the second machine shaft 31 to rotate, photoelectric slot Second actuator rotating shaft 32 can rotate therewith, and then photoelectric slot the second actuator 30 starts Rotate, regulate the second photoelectric slot 52 of the second photodetection target 56 so that from the second photoelectric slot 52 irasers transmitted are radiated on the second demarcation bar 2, when the second light curtain 12 transmits Laser falls when each calibrating block that second demarcates bar 2 uniformly, photoelectric slot the second actuator 30 Stop operating, start and suspend calibration switch 40, fixed slit, then the first photodetection target 55 and the The angle of two photodetection targets 56 is α；Now, the demarcation to the first photodetection target 55 terminates, Close and start calibration switch 45, close caliberating device power control switch 41, close integral type automatic Demarcate control system on and off switch 42.

2, the 3rd light curtain and the demarcation of the 4th light curtain angle.

(1) the 3rd photodetection target 57 and the 4th photodetection target 58 are arranged on demarcation turntable 27 On, and photoelectric slot the first actuator 11, photoelectric slot the second actuator 30 are separately fixed at by The of the 3rd photoelectric slot 53 of the 3rd photodetection target 55 demarcated and the 4th photodetection target 58 On four photoelectric slot 54, then turntable height adjuster 35 is demarcated in regulation so that demarcate turntable 27 Upper two the first orthogonally located spirit bubbles 28 and the second spirit bubble 29 are level；

(2) open automatic Calibration control system switch 42, be set to the second calibration mode, open mark Determine installation's power source and control switch 41, start and start calibration switch 45, then turntable horizontally rotates controller 13 start rotate, thus demarcate turntable horizontally rotate control rotating shaft 34 drive demarcate turntable rotate, When automatic Calibration control system 17 judges that the 7th calibrating block 6 overlaps with photoelectric slot transmission laser, Then demarcating turntable horizontal rotation actuator 13 to stop operating, then automatic Calibration control system 17 is controlled Photoelectric slot processed first controls motor 8 and rotates, thus drives the first machine shaft 9 to rotate, Photoelectric slot the first actuator rotating shaft 10 also can rotate, then photoelectric slot the first actuator 11 Starting to rotate, photoelectric slot the first actuator 11 starts automatically to adjust the 3rd photodetection target 57 The position of the 3rd photoelectric slot 53 so that be radiated at from the laser of the 3rd photoelectric slot 53 outgoing One demarcates on bar 3, when automatic Calibration control system 17 judges that laser falls uniformly in each calibrating block Time upper, photoelectric slot the first actuator 11 quits work, and starts and suspends calibration switch 40, fixing light Electricity slit, now the 3rd light curtain 59 and horizontal plane, start angular encoder information and read button 39, the information of reading platform rotational angle detector 14

(3) then release time-out calibration switch 40, demarcate turntable horizontal rotation actuator 13 and continues Rotate, when automatic Calibration control system 17 judges the first demarcation article 3 and the 4th photodetection target 58 The 4th photoelectric slot 54 transmission laser overlap time, demarcate turntable horizontal rotation actuator 13 stops Rotating, automatic Calibration control system 17 starts to control photoelectric slot second and controls motor 36 and carry out turning Dynamic, thus drive the second machine shaft 31 to rotate, photoelectric slot the second actuator rotating shaft 32 also can Rotating, then photoelectric slot the second actuator 30 starts to rotate, and regulates the 4th photodetection target 4th photoelectric slot 54 of 58 so that be radiated at from the iraser of the 4th photoelectric slot 54 injection First demarcates bar 3, controls to be that 17 judgement laser fall uniformly at the first demarcation bar 3 when automatic Calibration Each calibrating block on time, photoelectric slot the second actuator 30 quits work, start suspend demarcation open Close 40, fix photoelectric slot, now the 4th light curtain 60 and horizontal plane, start angular encoder Information reads button 39, information β of reading platform rotational angle detector 14₁ ⁴, then release temporarily Stop calibration switch 40；

(4) in order to be accurately obtained the 3rd and the 4th light curtain 59, the angle between 60, automatic Calibration control System 17 processed meeting repeat the above steps (2) and (3) n time；

(5) data processing method of above-mentioned n test is by automatic Calibration control system 17: right Minimax data, then residue 2n-2 group data are removed in each position, if the 3rd light curtain 59 Demarcate bar 2 with second when overlapping, in the data of gained m, d group data be in the data recorded Big value and minima, then the average of the angle recorded at the 3rd light curtain 59 is

$\stackrel{\‾}{{\mathrm{\β}}^3}=\frac{1}{n-2}\underset{k\≠m,d}{\overset{n}{\underset{k=1}{\mathrm{\Σ}}}}{\mathrm{\β}}_k^3$

In like manner, for the angle value at the 4th light curtain 60, can angled average be

(wherein m2, d2 are the maximum in this group and minima)

The 3rd light curtain 59 then can be had with the angle of the 4th light curtain 60 to be

$\stackrel{\‾}{\mathrm{\β}}=\frac{|\stackrel{\‾}{{\mathrm{\β}}^3}-\stackrel{\‾}{{\mathrm{\β}}^4}|}{2}$

(6) closing calibration switch 45 successively, caliberating device power control switch 41, integral type is certainly Dynamic control system of demarcating switchs 42.

One representative embodiment of the present invention has obtained detailed description referring to the drawings.These are detailed Description only give those skilled in the art further believe content, for implement the present invention Preferred aspect, and the scope of the present invention will not be limited.Only have claim for really Determine protection scope of the present invention.Therefore, the combination of the feature in foregoing detailed description and step is not It is necessary for implementing the present invention in the broadest scope, and the most only to the present invention The representative embodiment described in detail especially provide teaching.Additionally, in order to obtain the attached of the present invention Adding useful embodiment, the various different feature providing teaching in the description can be in several ways In conjunction with, but these modes are not enumerated out especially.

Claims (10)

1. an integral type fast calibration device, it includes four photodetection target bodys, calibration frame (1) With automatic Calibration control system (17), described four photodetection target bodys are arranged on described calibration frame (1) On, described automatic Calibration control system (17) is connected with described calibration frame (1), described Calibration frame (1) bottom surface is provided with pulley (50).

Integral type fast calibration device the most according to claim 1, it is characterised in that described The first photodetection target (55) in four photodetection target bodys and the second photodetection target (56) Body formed in same housing, the 3rd photodetection target (57) and the 4th photodetection target (58) One-body molded in same housing, described first photodetection target (55), described second photodetection In target (56), described 3rd photodetection target (57) and described 4th photodetection target (58) often Infrared laser light source (44) and photoelectric slot (51) it is provided with in individual photodetection target body, and each The surface of described photodetection target body is equipped with cone, and each described photodetection target body is formed Light curtain.

Integral type fast calibration device the most according to claim 2, it is characterised in that in institute The one side stating calibration frame (1) is provided with the first demarcation bar (3) of vertically layout and tilts cloth The second demarcation bar (2) put, described first demarcates bar (3) and described second demarcates bar (2) Two ends all with the connection of described calibration frame (1) this side, described second demarcate bar (2) and Described first demarcates bar (3) is provided with multiple calibrating block.

Integral type fast calibration device the most according to claim 3, it is characterised in that in institute The inside stating calibration frame (1) is provided with calibration frame platform (25), described calibration frame platform (25) The inside of described calibration frame (1), described calibration frame platform (25) it is fixed on by support column The two ends of a side solid respectively with described calibration frame (1) two base respectively by two support columns Fixed, the middle part of another side of described calibration frame platform (25) is by support column and institute described in one Another base stating calibration frame (1) fixes, the two ends of another side described and described demarcation frame The dual-side of frame (1) is fixed respectively.

Integral type fast calibration device the most according to claim 4, it is characterised in that in institute Stating and be provided with demarcation turntable (27) on calibration frame platform (25), described four photodetection target bodys are solid It is scheduled on described demarcation turntable (27), the iraser that described infrared laser light source (44) penetrates After respective photoelectric slot, demarcate bar (2) and described first described second demarcate on bar (3) Forming slit irradiating laser hot spot (7), described demarcation turntable (27) has circular arc side, in institute Stating circular arc side and be provided with driving cog, described demarcation turntable (27) is fixed on described by bracing frame On calibration frame platform (25), support frame as described above includes at least 3 height adjusters (35), It is additionally provided with turntable on support frame as described above and horizontally rotates controller (13) and platform rotational angle detector (14), described turntable horizontally rotates controller (13) and horizontally rotates control rotating shaft (34) with turntable Being connected, described turntable horizontally rotates the institute controlling rotating shaft (34) with described demarcation turntable (27) State the described driving cog on circular arc side to be coupled transmission.

Integral type fast calibration device the most according to claim 5, it is characterised in that in institute State the upper close outside of demarcation turntable (27) and be provided with assembly wall (46), on described assembly wall (46) It is arranged side by side with two groups of identical adjusting meanss, the respectively first adjusting means and the second adjusting means, Wherein, described first adjusting means includes vertically-mounted the first mounting rod (47), described first Mounting rod (47) upper end is provided with photoelectric slot first and controls motor (8), described photoelectric slot first Control motor (8) to be connected with photoelectric slot the first actuator (11), described photoelectric slot first Actuator (11) is in horizontally disposed；Described second adjusting means includes the second vertically-mounted installation Bar (48), is provided with photoelectric slot second in described second mounting rod (48) upper end and controls motor (36), Photoelectric slot second controls motor (36) and is connected with photoelectric slot the second actuator (30), institute State photoelectric slot the second actuator (30) in horizontally disposed.

Integral type fast calibration device the most according to claim 6, it is characterised in that in institute State the panel of automatic Calibration control system (17) be provided with the first calibration mode arrange switch (37), Second calibration mode arranges switch (38), angular encoder information reads button (39), suspend mark Fixed switch (40), caliberating device power control switch (41), automatic Calibration control system switch (42), Transmission line interface (43) and beginning calibration switch (45).

8. an integral type quick calibrating method, it uses institute any one of the claims 1-7 The integral type fast calibration device stated, described method include the demarcation to described four photodetection targets and The light curtain forming described four photodetection targets is demarcated.

Integral type quick calibrating method the most according to claim 8, it is characterised in that to institute The demarcation stating four photodetection targets includes: be fixed on by the first and second photodetection targets (55,56) Demarcate on turntable (27), then open automatic Calibration control system switch (42), caliberating device electricity Source controls switch (41) and the first calibration mode switch (37), and the pattern of setting is the first calibration mode, Starting and start calibration switch (45), now fast calibration device starts to control turntable and horizontally rotates control Device (13), photoelectric slot the first actuator (11) and photoelectric slot the second actuator (30) from And automatically to the first photoelectricity in the first photodetection target (55) and the second photodetection target (56) Slit (51) and the second photoelectric slot (52) are adjusted respectively, when the first and second photoelectricity are narrow Seam (51), after the position adjustments of (52) is good, starts and suspends calibration switch (40), fix first With the position of the second photoelectric slot (51,52), start angular encoder information and read button (39), The angle information of reading platform rotational angle detector (14), then releases and suspends calibration switch (40), Now, the demarcation to the first photodetection target (55) and the second photodetection target (56) i.e. terminates, 3rd photodetection target (57) and the 4th photodetection target (58) are marked by repeat the above steps Fixed.

Integral type quick calibrating method the most according to claim 9, it is characterised in that right The light curtain that described four photodetection targets are formed is demarcated, and concrete grammar is as follows: first carry out the first light Curtain and the demarcation of the second light curtain angle and installation, be adjusted to the first demarcation bar (3) including (1) Perpendicular with horizontal plane, according to demarcating turntable (27) upper first light curtain (4) and the second light curtain (12) The precalculated position of intersection point, adjusts the second demarcation bar (2) and first and demarcates the intersection point between bar (3) Position so that two intersection points are positioned at sustained height position, and make the second demarcation bar (2) and the first mark Determining the angle between bar (3) is α；(2) demarcate bar (2) according to second and demarcate bar (3) with first Position of intersecting point, the first photodetection target (55) and the second photodetection target (56) are fixed on Demarcate on turntable (27), and photoelectric slot the first actuator (11), photoelectric slot second are regulated Device (30) is separately fixed at first photoelectric slot (51) and second of the photodetection target being calibrated On photoelectric slot (52), then try to achieve the first photodetection target (55) and demarcating turntable (27) Upper two position of intersecting point being calibrated light curtain；Adjust calibration frame platform (25) and demarcate turntable (27) Height so that the first light curtain (4) and the intersection point of the second light curtain (12) and two demarcate the friendships of bars Point is positioned at same level height；Fine setting fixed platform height adjuster (35) so that demarcate turntable (27) Upper two orthogonally located the first spirit bubbles (28) and the second spirit bubble (29) are level； (3) automatic Calibration control system switch (42) and the first calibration mode switch (37) are opened, will Automatic Calibration control system (17) is arranged on the first calibration mode, starts automatic Calibration switch (45), Now, high precision electro chance drives turntable to horizontally rotate controller (13) and rotates, thus turns Platform horizontally rotates control rotating shaft (34) and drives demarcation turntable (27) to rotate, by the first light The laser that first photoelectric slot (51) of electrical resistivity survey survey target (55) transmits can be radiated at the first mark Determine on bar (3), when automatic Calibration control system (17) judges to learn through the first photoelectric slot (51) The laser facula 7 irradiated falls uniformly when the 7th calibrating block (6) is upper, and turntable horizontally rotates control Device (13) can stop operating, and then automatic Calibration control system (17) controls photoelectric slot first Control motor (8) to rotate, thus drive the first machine shaft (9) to rotate, photoelectric slot First actuator rotating shaft (10) concomitant rotation gets up, then photoelectric slot the first actuator (11) Start to rotate, drive the first photoelectric slot (51) to rotate；When automatic Calibration control system (17) Judge that the injection laser of the first photoelectric slot (51) is radiated in the first demarcation bar (3) uniformly After each calibrating block, photoelectric slot the first actuator (11) just stops operating, and starts to suspend and demarcates Switch (40), fixes the first photoelectric slot (51), the most now the first light curtain (4) and horizontal plane phase Vertically；(4) releasing time-out calibration switch (40), automatic Calibration control system (17) starts to control Photoelectric slot second controls motor (36) and rotates, thus drives the second machine shaft (31) Rotating, photoelectric slot the second actuator rotating shaft (32) can rotate therewith, then photoelectric slot Second actuator (30) starts to rotate, and the second photoelectricity regulating the second photodetection target (56) is narrow Seam (52) so that the iraser transmitted from the second photoelectric slot (52) is radiated at the second demarcation On bar (2), the laser transmitted when the second light curtain (12) falls uniformly in the second demarcation bar (2) Each calibrating block time, photoelectric slot the second actuator (30) stops operating, start suspend demarcate Switch (40), fixed slit, then the first photodetection target (55) and the second photodetection target (56) Angle be α；Now, the demarcation to the first photodetection target (55) terminates, and closes and starts to demarcate Switch (45), cuts out caliberating device power control switch (41), closes integral type automatic Calibration control System power switch processed (42)；Then the demarcation to the 3rd light curtain Yu the 4th light curtain angle, including: (1) the 3rd photodetection target (57) and the 4th photodetection target (58) are arranged on demarcation turntable (27) on, and by photoelectric slot the first actuator (11), photoelectric slot the second actuator (30) It is separately fixed at the 3rd photoelectric slot (53) of the 3rd photodetection target (55) being calibrated and the On 4th photoelectric slot (54) of four photodetection targets (58), then turntable height is demarcated in regulation Actuator (35) so that demarcate turntable (27) upper two orthogonally located the first spirit bubbles (28) It is level with the second spirit bubble (29)；(2) automatic Calibration control system switch (42) is opened, It is set to the second calibration mode, opens caliberating device power control switch (41), start and start to demarcate Switch (45), then turntable horizontally rotates controller (13) and starts to rotate, thus demarcates turntable level Rotating control rotating shaft (34) drives demarcation turntable to rotate, when automatic Calibration control system (17) Judge when the 7th calibrating block (6) overlaps with photoelectric slot transmission laser, then demarcate turntable horizontal rotation Actuator (13) stops operating, and then automatic Calibration control system (17) controls photoelectric slot the One controls motor (8) rotates, thus drives the first machine shaft (9) to rotate, and photoelectricity is narrow Stitch the first actuator rotating shaft (10) also can rotate, then photoelectric slot the first actuator (11) Starting to rotate, photoelectric slot the first actuator (11) starts automatically to adjust the 3rd photodetection target (57) The position of the 3rd photoelectric slot (53) so that from the laser of the 3rd photoelectric slot (53) outgoing It is radiated on the first demarcation bar (3), when automatic Calibration control system (17) judges that laser is uniform When falling in each calibrating block, photoelectric slot the first actuator (11) quits work, and starts and suspends Calibration switch (40), fixing photoelectric slot, now the 3rd light curtain (59) and horizontal plane, opens Dynamic angular encoder information reads button (39), the letter of reading platform rotational angle detector (14) Breath(3) then release time-out calibration switch (40), demarcate turntable horizontal rotation actuator (13) It is rotated further, when automatic Calibration control system (17) judges the first demarcation article (3) and the 4th photoelectricity When 4th photoelectric slot (54) transmission laser of detection target (58) overlaps, demarcate the rotation of turntable level Turning actuator (13) to stop operating, automatic Calibration control system (17) starts to control photoelectric slot Second controls motor (36) rotates, thus drives the second machine shaft (31) to rotate, light Electricity slit the second actuator rotating shaft (32) also can rotate, then photoelectric slot the second actuator (30) start to rotate, the 4th photoelectric slot (54) of regulation the 4th photodetection target (58), make The first demarcation article (3) must be radiated at, when certainly from the iraser that the 4th photoelectric slot (54) penetrates Dynamic demarcation controls to be that (17) judge that laser falls uniformly in first each calibrating block demarcating bar (3) Time upper, photoelectric slot the second actuator (30) quits work, and starts and suspends calibration switch (40), Fixing photoelectric slot, now the 4th light curtain (60) and horizontal plane, start angular encoder letter Breath reads button (39), the information of reading platform rotational angle detector (14)Then release Suspend calibration switch (40)；(4) in order to be accurately obtained between the 3rd and the 4th light curtain (59,60) Angle, automatic Calibration control system (17) can repeat the above steps (2) and (3) n time；(5) The data processing method of above-mentioned n test is by automatic Calibration control system (17): for each Minimax data are removed in position, then residue 2n-2 group data, if the 3rd light curtain (59) and the Two demarcate bar (2) when overlapping, in the data of gained m, d group data be in the data recorded Big value and minima, then the average of the angle that the 3rd light curtain (59) place records is

$\stackrel{\‾}{{\mathrm{\β}}^3}=\frac{1}{n-2}\underset{k\≠m,d}{\overset{n}{\underset{k=1}{\Σ}}}{\mathrm{\β}}_k^3$

In like manner, for the angle value at the 4th light curtain (60) place, can angled average be

(wherein m2, d2 are the maximum in this group and minima)

The 3rd light curtain (59) then can be had with the angle of the 4th light curtain (60) to be

(6) close calibration switch (45) successively, demarcate dress Put power control switch (41), integral type automatic Calibration control system switch (42).