CN106094889B - Active self-adaptive adjusting device for laser reflection target ball - Google Patents
Active self-adaptive adjusting device for laser reflection target ball Download PDFInfo
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- CN106094889B CN106094889B CN201610596871.3A CN201610596871A CN106094889B CN 106094889 B CN106094889 B CN 106094889B CN 201610596871 A CN201610596871 A CN 201610596871A CN 106094889 B CN106094889 B CN 106094889B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/10—Nuclear fusion reactors
Abstract
The invention discloses an active self-adaptive adjusting device for a laser reflection target sphere, which comprises a supporting mechanism, a steering mechanism, a target sphere envelope and a base. The supporting mechanism comprises a supporting frame and a supporting probe arranged at the bottom of the supporting frame, and the supporting frame is supported at the edge of a through hole of the base by a plurality of elastic pieces. One side of the supporting probe in the spherical crown shape penetrates through the base through the through hole so as to be contacted with the surface of the tested object. The target ball envelope is arranged on the support frame and is positioned above the propping probe, a target ball is placed, and the center of the target ball is concentric with the propping probe. The steering mechanism is arranged on the support frame, and the directions of the target ball envelope are respectively adjusted in a rotating way in the Y-axis direction and the Z-axis direction, so that the reflecting surface of the target ball on the target ball envelope contacts and reflects the laser. The X-axis direction is the direction perpendicular to the circular section of the target ball envelope, the Y-axis direction is the direction translating in the circular section of the target ball envelope, the Z-axis direction is the direction perpendicular to the X-axis direction and the Y-axis direction, and a rectangular coordinate system is established in the three-axis direction.
Description
Technical Field
The invention relates to an adjusting device in a measuring technology, in particular to an active self-adaptive adjusting device for a laser reflection target ball.
Background
With the development of digital measurement technology, digital technology is adopted to ensure the high efficiency and high reliability of the measurement process in more and more fields such as mechanical engineering, bridge construction, address exploration and the like. For small-size target objects, the existing measurement technology can well obtain measurement results under the design requirement, but for measurement processes under the requirements of large size, high precision, long distance and the like, special technical equipment is needed, and the laser tracking measurement technology is a typical application example. Due to its strong anti-interference capability, low error accumulation and good reliability, it has been increasingly used in engineering practice.
However, the laser tracking measurement is that a laser emitter (Tracker) generates a laser beam to a target reflection target sphere (Spherically Mounted Retroreflector (SMR)), and then returns through a transmitting path, re-enters the emitter and converts the laser beam into an electric signal, and the electric signal is calculated by a computer to obtain the spatial data of the target, so that the feedback path of the laser emission cannot be blocked, which limits the application environment of the technology to a certain extent. Although the existing instrument manufacturers all use the cut-off light continuous connection technology to ensure the continuous measurement capability after short shielding, on one hand, the continuous connection technology needs that the reflecting target ball and the laser are in a particularly narrow angle area, and under the condition of increasing the distance, the angle area is difficult to align; on the other hand, when measuring a large target object, the problem that the laser and the target ball are disconnected easily when the target ball is manually moved, or the target ball is not tightly attached to the target point, so that the measurement result is invalid is solved.
Disclosure of Invention
In order to solve the defects, the invention provides an active self-adaptive adjusting device for a laser reflection target ball, which mainly aims to enable the target ball to actively respond to the direction change of laser on the basis of accurately measuring a target object.
The invention is realized by the following technical scheme: an active self-adaptive adjusting device for a laser reflection target sphere comprises a supporting mechanism, a steering mechanism, a target sphere envelope and a base; wherein, the liquid crystal display device comprises a liquid crystal display device,
the base is provided with a through hole;
the supporting mechanism comprises a supporting frame and a supporting probe arranged at the bottom of the supporting frame, and the supporting frame is supported at the edge of the through hole by a plurality of elastic pieces; one side of the supporting probe in a spherical crown shape penetrates through the base through the through hole so as to be in contact with the surface of the measured object;
the target ball envelope is arranged on the support frame and is positioned above the propping probe, and is used for placing a target ball and ensuring that the center of the target ball is concentric with the propping probe;
the steering mechanism is arranged on the support frame and used for respectively rotating and adjusting the azimuth of the target ball envelope in the Y-axis direction and the Z-axis direction so that the reflecting surface of the target ball on the target ball envelope contacts and reflects the laser; the X-axis direction is defined as the direction perpendicular to the circular section of the target ball envelope, the Y-axis direction is the direction translating in the circular section of the target ball envelope, the Z-axis direction is the direction perpendicular to the X-axis direction and the Y-axis direction, and a rectangular coordinate system is established in the three-axis direction.
As a further improvement of the above, the elastic member is a spring.
Further, a plurality of guide posts opposite to the springs are arranged on the base, and each guide post is sleeved with one spring.
As a further improvement of the scheme, the base is further provided with a plurality of guide grooves, each guide groove is communicated with the through hole, and the support frame is provided with a plurality of sliding strips which are contained in the guide grooves and guided by the guide grooves.
As a further improvement of the scheme, the steering mechanism comprises a mounting seat, and two ends of the target ball envelope are respectively mounted on the mounting seat in a plug-in manner by adopting a positioning column.
Further, the steering mechanism further comprises a first rotating motor for driving the first positioning column to rotate.
Still further, the top of mount pad adopts a reference column to install on the support frame through the mode of pegging graft.
Preferably, the steering mechanism further comprises a second rotating motor for driving the second positioning column to rotate.
Still preferably, the two rotating motors are respectively connected with the corresponding positioning columns through hexagonal boss structures.
As a further improvement of the above scheme, the target ball auxiliary self-adaptive response device further comprises a control module, wherein the control module receives control information through a wireless network or a bluetooth module and feeds back the angular position information of the target ball envelope.
The technical scheme has the following advantages: by adopting the device, the efficiency and the precision of the laser tracking technology for measuring the large object can be greatly improved, and the manual intervention is reduced; because the placement of the target ball of the large-sized measured object, the transformation of the measuring points and the difficulty of continuous measurement limit the engineering practical application of the high-precision laser tracking technology, the device can be used for self-adaptively attaching the surface of the measured object without manual intervention, and the reflecting surface of the target ball can be regulated according to the optical path of laser, so that the problem of laser off-target is effectively solved; meanwhile, the device can further realize the continuous measurement effect on a large-sized measured object through the auxiliary moving mechanism.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an active adaptive adjustment device for a laser reflection target sphere according to the present invention.
Fig. 2 is a partial schematic view of the mechanism and associated dimensions of the various parts of the device of fig. 1.
Fig. 3 is a partial illustration of the principle of action of the support and base of the device of fig. 1.
Fig. 4 is a partial schematic view of the device of fig. 1 in terms of application and associated dimensions.
Detailed Description
The present invention will be described in further detail with reference to examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, 2, 3 and 4, the active adaptive adjustment device for laser reflection target spheres of the present invention mainly aims to: the target ball can actively respond to the direction change of the laser on the basis of accurately measuring the target object, and the rotation phase change is reflected in the rotation around the Y and Z directions because the reflecting surface of the target ball is round. The target ball auxiliary self-adaptive response device mainly comprises: the device comprises a propping mechanism 1, a steering mechanism 2, a target ball envelope 3, a base 4 and a control module 5.
The propping mechanism 1 comprises a supporting frame 11 and a propping probe 12 arranged at the bottom of the supporting frame 11. The base 4 is provided with a through hole 41 and may also be provided with a plurality of guide grooves 42, each guide groove 42 being in communication with the through hole 41. The base 4 is rigidly connected with the supporting frame 11 and is used as a rigid constraint support of the first three mechanisms; four corners are provided with adjustable perforation slots for flexibly connecting other device mechanisms, such as auxiliary movement mechanisms and the like.
The support 11 is supported at the edge of the through hole 41, and the support mode can adopt a plurality of elastic pieces to support at the edge of the through hole, so that the whole support 11 realizes elastic adjustment, and the elastic pieces can be springs 14. The base 4 may be provided with a plurality of guide posts 15 opposite the plurality of springs 14, each guide post 15 being sleeved with a spring 14. The support frame 11 and the target ball envelope 3 placed on the support frame 11 are moved to the Z-axis direction by the tensile force of the springs 14. In this embodiment, a guiding post 15 may be disposed in each spring 14, and the support 11 is connected with the base 4 by the spring 14, so as to move the support 11 and the target ball envelope 3 placed on the support 11 in the Z-axis direction by using the tension of the spring 14, and solve the shake problem in the Z-axis movement process by using the design of the guiding groove 42. Therefore, the spring 14 is used for fixing the movement and rotation degrees of freedom of the support frame 11 in the X, Y direction, and dynamically adjusting the movement degrees of freedom in the Z direction by using the spring, so as to ensure that the bottom surface of the support seat keeps contact with the object to be measured at any time in the measuring process. The shape of the bracket is shown in figure 3.
One side of the supporting probe 12 in the spherical crown shape penetrates the base 4 via the through hole 41 to be in contact with the surface of the object to be measured, and the supporting probe 12 is used for contacting the area to be measured. The invention adopts the propping mechanism 1 to ensure the self-adaptive real-time contact of the device with the surface of the measured object, and utilizes the concentric and circular arc propping probe 12 to ensure that the contact of any point at the bottom with the surface of the measured object does not influence the measurement result. The support frame 11 is provided with a plurality of sliding bars 110 which are accommodated in a plurality of guide grooves 42 and are guided by a corresponding plurality of guide grooves 42.
The target ball envelope 3 is mounted on the support frame 11 above the support probe 12 for receiving a target ball and ensuring that the center of the target ball is concentric with the support probe 12. The purpose of the center of the supporting probe 12 being coincident with the center of the target sphere is to ensure that any point contact object of the arc surface ensures that the contact position is consistent with the distance between the center of the target sphere. The arcuate diameter of the abutment probe 12 is 60mm as shown in figure 4.
The steering mechanism 2 is mounted on the support frame 11 and is used for respectively rotating and adjusting the orientation of the target ball envelope 3 in the Y-axis direction and the Z-axis direction, so that the reflecting surface of the target ball on the target ball envelope 3 contacts and reflects laser. The X-axis direction is defined as the direction perpendicular to the circular section of the target ball envelope 3, the Y-axis direction is the direction translated to the circular section of the target ball envelope 3, the Z-axis direction is the direction perpendicular to the X-axis direction and the Y-axis direction, and the three-axis direction establishes a rectangular coordinate system.
The steering mechanism 2 may include a mount 21, a first rotary motor 22, and a first rotary motor 23. The two ends of the target ball envelope 3 can be respectively arranged on the mounting seat 21 in a plugging manner by adopting a positioning column one 24. The top of the mounting seat 21 can be mounted on the support frame 11 in a plugging manner by adopting a second positioning column 25. The first rotating motor 22 drives the first positioning column 24 to rotate, and the second rotating motor 23 drives the second positioning column 25 to rotate. The two rotating motors can be connected with corresponding positioning columns through hexagonal boss structures respectively. For example, the outer shape of a positioning column connected with a rotating motor is an outer hexagon; the hexagonal boss structure is coaxially connected with the corresponding rotating motor, and is provided with an inner hexagonal groove which can accommodate a positioning column with an outer hexagonal shape, and one inner hexagonal groove accommodates a corresponding positioning column. Therefore, the first positioning column 24 and the second positioning column 25 can be both in a hexagonal structure, so that the steering mechanism 2 is designed to be inner hexagonal, and the problem of center deviation caused by frequent replacement can not be caused under the condition that the target ball envelope 3 can be rapidly replaced, which is very practical and has very outstanding effect.
The control module 5 feeds back the current angle information through a wireless network or a Bluetooth module, calculates the pre-judging light path information in real time in control computer software, and simultaneously receives the control information by utilizing a wireless technology to adjust the rotation of the motor so as to determine the azimuth which the reflecting surface of the target ball should face. The working angle of the target ball envelope 3 is that the Y-axis is wound to minus 30 degrees to 60 degrees and the Z-axis is wound to 45 degrees to 315 degrees, so that the situation that laser cannot be emitted to the reflecting ball can be avoided in most of placing positions of the device. The two rotating motors are respectively arranged at the top end and the side surface of the supporting frame 11 and are used for controlling the Y, Z direction of the target ball envelope 3 to rotate as shown in the figure. The wireless control module 5 is placed on the top end of the supporting frame 11, is connected with a computer through a wireless network or Bluetooth, and can control the rotation angle and the rotation direction of the rotating motor by utilizing a cable. As shown in figure 4, the working angle is that the Y-axis is wound to minus 30 degrees to 60 degrees and the Z-axis is wound to 45 degrees to 315 degrees.
The target ball envelope is a hollow container for placing a target ball, and has the following characteristics: the device has the advantages that the device can be replaced, and the envelope structure in the device can be ensured to be replaced by utilizing the boss combined screw as the envelope structure is required to be replaced due to different sizes of the target ball; the measuring device is highly reliable, and the target ball is required to be ensured not to swing, shake and the like along with the movement adjustment of the mechanism, so that the measuring precision is affected, therefore, the envelope appearance of the target ball is similar to a hollowed cylinder, and a hexagonal boss is arranged at the center of the side surface and the center of the top surface and is connected with a steering mechanism, so that the envelope mechanism is ensured not to be changed, and the eccentric condition is not caused, as shown in the attached figure 2.
According to the active self-adaptive adjusting device for the laser reflection target ball, the supporting mechanism 1 is utilized to realize the contact between the supporting probe 12 and the surface of a measured object; the rotation adjustment of the Y, Z shaft is adjusted by using the steering mechanism 2, so that the contact and reflection of the reflecting surface of the target ball and the laser are ensured; the target ball envelope 3 is used for placing the target ball and ensuring that the center of the target ball is concentric with the propping probe 12; the base 4 is mainly used for placing the whole device and moves by the guide groove 42 and the guide supporting mechanism 1 guided by the guide post 15.
By adopting the device, the efficiency and the precision of the laser tracking technology for measuring the large object can be greatly improved, the manual intervention is reduced, the device is self-adaptively attached to the surface of the measured object under the condition of getting rid of the manual intervention, the target ball reflecting surface is regulated according to the optical path of laser, and the problem of laser off-target is effectively solved. Because the control box is used for collecting and feeding back data, and the servo motor is used for controlling the rotation of the Y, Z shaft, the target ball reflecting surface can be ensured to be on a laser emission line in real time, and the problem of light path off-target cannot be caused.
In summary, the device uses the center of the target ball as the origin, uses the front surface perpendicular to the front of the target ball envelope 3 as the X direction, uses the circular cross section parallel to the target ball envelope 3 as the Y direction, and uses the direction perpendicular to X, Y as the Z direction to establish a rectangular coordinate system, as shown in fig. 1. The device is fixed on an object to be measured or other device mechanisms by placing a base plate, namely a base 4, and the supporting frame 11 is pulled up in the Z direction by the stretching force of a spring 14 in the supporting mechanism 1, so that a supporting probe 12 at the bottom of the supporting frame 11 is ensured to be contacted with the surface to be measured. The center of the arc to-be-measured surface of the supporting probe 12 coincides with the center of the target sphere, the radius is 60mm, namely the distance between the measured point and the target sphere is a fixed value: 60mm; during the action of the springs 14, the guide grooves 42 in the back of the support frame 11 and in the base 4 form guide means ensuring a limitation of the freedom of movement and rotation of the device X, Y, as shown in fig. 4. Since the use of the laser tracking technique needs to ensure no shielding in the light path transmission direction, the device opens the front region of the target ball envelope 3 in the design of the bracket, uses the center of the target ball as the origin, uses the left and right 270 degrees of the Z direction as the axis, and uses the up and down 90 degrees of the Y direction as the axis as the light path incidence and reflection regions without shielding.
In order to ensure that the driving response to laser can be realized, the device is provided with a rotating motor at the top end and the side surface of the supporting frame 11 of the supporting mechanism 1, and can control the rotation freedom degree in the Y, Z direction. The rotating motor is connected with a control module 5 arranged on a supporting frame 11 through a circuit, and the control module 5 receives control information and feeds back angle position information through a wireless network or a Bluetooth module, so that the purpose of remote control is achieved.
The rotating motor is connected with a rotating platform, namely a positioning column, an inner hexagonal concave cavity with the depth of 6mm is formed in the rotating platform, and three screw holes are distributed on the spacing surface of the inner hexagonal concave cavity. The side surface of the target ball envelope 3 and the top end of the mounting seat 21 are also provided with hexagonal convex columns and screw holes, and during the assembly process, the position of the sphere center of the target ball envelope can be ensured not to deviate due to factors such as vibration, replacement and the like to influence the measurement accuracy due to the fit effect of the inner hexagon and the fixation of the screw holes, as shown in the figure 2. Considering the different application scenes, the sizes of the target balls are in various specifications, so that the types of the target ball envelope 3 are also various, and the replacement operation is convenient at any time.
The base 4 of the device has two connecting positions with the supporting mechanism 1: one is connected by the tension of the spring 14, so that the freedom degree of Z-direction movement is ensured; the second is the engagement of the support frame 11 with the guide groove 42 on the base 4, and the guide effect is formed by concave-convex engagement (as shown in fig. 2), and the X, Y movement freedom and X, Y, Z rotation freedom of the support frame 11 are fixed. The four corners of the base 4 are provided with elongated rounded corner perforation slots 410 for the fixed or flexible connection of other device mechanisms, such as auxiliary movement mechanisms, etc.
In the actual measurement process, the computer can calculate the proper azimuth of the target ball envelope 3 according to the current emission angle of the laser and the position of the laser emitter relative to the laser emitter, so that the laser can be effectively reflected, meanwhile, the azimuth of the current target ball envelope 3 is obtained through wireless network or Bluetooth connection, the Y, Z rotation adjustment angle is calculated, and then the adjustment information is sent to the control module 5 to drive the rotation motor to carry out corresponding adjustment.
In summary, the advantages of the invention are as follows:
1. the supporting mechanism (namely the supporting seat with the elastic piece) is adopted to ensure that the device is in self-adapting real-time contact with the surface of the measured object, and the concentric and circular arc supporting probe is utilized to ensure that any contact point at the bottom with the surface of the measured object does not influence the measurement result;
2. the control box is used for collecting and feeding back data, and a servo motor is used for controlling the rotation of the Y, Z shaft, so that the target ball reflecting surface can be on a laser emission line in real time, and the problem of light path off-target cannot occur;
3. the rotating mechanism adopts an inner hexagonal design, so that the problem of spherical center deviation caused by frequent replacement can not be caused under the condition that the target ball envelope mechanism can be rapidly replaced in specification;
4. the inside of the supporting seat is connected with the placing bottom plate through a spring, the support and the target ball mechanism placed on the support are moved towards the Z axis in a normal direction by utilizing the tension of the spring, and meanwhile, the shaking problem in the Z direction moving process is solved by utilizing the design of the guide groove;
5. the working angle of the target ball envelope design is that the Y-axis winding direction is-30-60 and the Z-axis winding direction is 45-315, so that the situation that laser cannot be emitted to the reflecting ball can be avoided in most of the placing positions of the device;
6. the wireless control (wifi or bluetooth technology) is utilized to receive the light path signal in the control box, and the rotation of the servo motor can be prejudged and controlled in advance through real-time calculation, so that the direction in which the target ball reflecting surface should face is determined.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. An active self-adaptive adjusting device for a laser reflection target ball is characterized in that: the device comprises a supporting mechanism, a steering mechanism, a target ball envelope and a base; wherein, the liquid crystal display device comprises a liquid crystal display device,
the base is provided with a through hole;
the supporting mechanism comprises a supporting frame and a supporting probe arranged at the bottom of the supporting frame, and the supporting frame is supported at the edge of the through hole by a plurality of elastic pieces; one side of the supporting probe in a spherical crown shape penetrates through the base through the through hole so as to be in contact with the surface of the measured object;
the target ball envelope is arranged on the support frame and is positioned above the propping probe, and is used for placing a target ball and ensuring that the center of the target ball is concentric with the propping probe;
the steering mechanism is arranged on the support frame and used for respectively rotating and adjusting the azimuth of the target ball envelope in the Y-axis direction and the Z-axis direction so that the reflecting surface of the target ball on the target ball envelope contacts and reflects the laser; defining an X-axis direction as a direction perpendicular to a circular section of the target ball envelope, a Y-axis direction as a direction translating in the circular section of the target ball envelope, a Z-axis direction as a direction perpendicular to the X-axis direction and the Y-axis direction, and establishing a rectangular coordinate system in the three-axis direction;
the supporting probe is contacted with the surface of the measured object, the rotation of the Y, Z shaft is regulated by the steering mechanism, the target ball reflecting surface is regulated according to the light path of laser, and the target ball reflecting surface is on a laser reflecting line in real time.
2. The active adaptive adjustment device for a laser reflection target sphere according to claim 1, wherein: the elastic piece is a spring.
3. The active adaptive adjustment device for a laser reflection target sphere according to claim 2, wherein: the base is provided with a plurality of guide posts opposite to the springs, and each guide post is sleeved with one spring.
4. The active adaptive adjustment device for a laser reflection target sphere according to claim 1, wherein: the base is also provided with a plurality of guide grooves, each guide groove is communicated with the through hole, and the support frame is provided with a plurality of sliding strips which are contained in the guide grooves and guided by the corresponding guide grooves.
5. The active adaptive adjustment device for a laser reflection target sphere according to claim 1, wherein: the steering mechanism comprises a mounting seat, and two ends of the target ball envelope are respectively mounted on the mounting seat in a plug-in manner by adopting a positioning column.
6. The active adaptive adjustment device of the laser reflection target ball according to claim 5, wherein: the steering mechanism further comprises a first rotating motor for driving the first positioning column to rotate.
7. The active adaptive adjustment device of the laser reflection target ball according to claim 6, wherein: the top of the mounting seat is mounted on the support frame in a two-way inserting manner by adopting a positioning column.
8. The active adaptive adjustment device of a laser reflection target sphere according to claim 7, wherein: the steering mechanism further comprises a second rotating motor for driving the second positioning column to rotate.
9. The active adaptive adjustment device of a laser reflection target sphere according to claim 8, wherein: the two rotating motors are respectively connected with corresponding positioning columns through hexagonal boss structures.
10. The active adaptive adjustment device for a laser reflection target sphere according to claim 1, wherein: the target ball auxiliary self-adaptive response device also comprises a control module, wherein the control module receives control information through a wireless network or a Bluetooth module and feeds back the angle position information of the target ball envelope.
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| CN106949833A (en) * | 2017-03-31 | 2017-07-14 | 成都齐友科技有限公司 | The fixing protector of three-dimensional coordinate tracker target ball |
| CN108692680B (en) * | 2018-08-13 | 2023-12-26 | 北京行易道科技有限公司 | Laser calibration tool |
| WO2020142968A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device and movable platform |
| CN109813218B (en) * | 2019-01-23 | 2020-11-13 | 南京工程学院 | Precision compensation method for three-degree-of-freedom target of laser tracker |
| CN115015880A (en) * | 2022-05-30 | 2022-09-06 | 中国科学院合肥物质科学研究院 | Quick adjustable structure suitable for automatic adjustable speculum standard target ball of gesture |
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