CN106918447A - Target automatic direction regulating formula plain shaft parallelism detection method and device - Google Patents
Target automatic direction regulating formula plain shaft parallelism detection method and device Download PDFInfo
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Abstract
The invention provides a kind of target automatic direction regulating formula plain shaft parallelism detection means, including：Video acquisition device；Target automatic direction regulating device, connect with parallel light tube and servo-control system respectively, target automatic direction regulating device includes speculum, x-axis tuning speculum, the first motor that y-axis tuning speculum is fixedly connected with x-axis tuning speculum and the second motor being fixedly connected with y-axis tuning speculum, and code-disc is mounted on the first motor and the second motor；Parallel light tube, connects with target automatic direction regulating device；Servo-control system, connects with target automatic direction regulating device and computer respectively；Computer, connects with servo-control system and video acquisition device.With target automatic direction regulating metering system be combined the measuring principle that cross-graduation center is aligned by the present invention, the precision that plain shaft parallelism is detected can be brought up into Pixel-level.
Description
Technical field
It is parallel more particularly, to a kind of target automatic direction regulating formula optical axis the present invention relates to a kind of plain shaft parallelism detection technique
Property detection method and device.
Background technology
In modern composite photoelectric detecting system, typically all include the multiple photoelectricity such as TV, infrared imaging, laser ranging
Sensor.Plain shaft parallelism is easily damaged during this kind of photoelectric detection system use in the wild, easily imbalance, has a strong impact on detecting knot
The validity of fruit, so regular calibration guarantee is carried out to it having very important significance.
Traditional plain shaft parallelism detection is broadly divided into subjective interpretation and objective interpretation two types.Subjective interpretation type
Detection method is directly observed with human eye., there is human error in consumption length during interpretation categorical measures device detection, measurement operation is certainly
Dynamicization low degree.
The detection method of objective interpretation type is detected by computer and video acquisition device etc.：It is true first
Surely optical axis on the basis of an optical axis of photoelectric detection system is tested, target axle and reference light shaft alignement is carried out, then to target
Parallel axis, the distance of target axle and tested another axle of photoelectric detection system in detection video acquisition device, finally by detection
Algorithm mathematics model is asked and calculates plain shaft parallelism error.When the detection method of the type extracts cross-graduation centre coordinate, produce
Measurement error；When carrying out the measurement of cross-graduation centre distance, calibrated error is also brought in Pixel Dimensions calibration process；Count in addition
During according to substituting into the resolving of detection algorithm Mathematical Modeling, the focal length value of target colimated light system also attracts with the difference of real focal length value and is
System error.
The content of the invention
An object of the present invention is just to provide a kind of target automatic direction regulating formula plain shaft parallelism detection means, existing to solve
The larger problem of detection error present in some plain shaft parallelism detection means.
The second object of the present invention is just to provide a kind of target automatic direction regulating formula plain shaft parallelism detection method, existing to solve
Accuracy of detection present in some plain shaft parallelism detection methods is low, complex operation and the poor problem of reliability.
What an object of the present invention was realized in：
A kind of target automatic direction regulating formula plain shaft parallelism detection means, including：
Video acquisition device, for the image on the imaging system graticle for gathering tested photoelectric detection system；
Target automatic direction regulating device, connects with parallel light tube and servo-control system respectively, for being sent to parallel light tube
Collimated light beam carry out tuning treatment, the target automatic direction regulating device includes that speculum, x-axis tuning speculum, y-axis tuning are anti-
Penetrate mirror be fixedly connected with the x-axis tuning speculum and for control x-axis tuning speculum rotational angle the first motor and
It is fixedly connected with the y-axis tuning speculum and for controlling the second motor of y-axis tuning speculum rotational angle, described
The code-disc for measuring angular displacement is mounted on first motor and second motor；The speculum, the x-axis are adjusted
Set gradually from down to up to speculum and the y-axis tuning speculum；
Parallel light tube, connects with the target automatic direction regulating device, for producing plain shaft parallelism to detect the parameter ten that hits
Collimated light beam needed for word collimator graduation image；
Servo-control system, connects with the target automatic direction regulating device and computer respectively, for according to computer institute
The vision signal that the video acquisition device for receiving is gathered adjusts the target automatic direction regulating device, by the video
The center of the target cross-graduation image that harvester is gathered and the cross-graduation for treating photometer axis of tested photoelectric detection system
The center alignment of image；
Computer, connects with the servo-control system and the video acquisition device, for processing the video acquisition
The picture signal of device conveying, and SERVO CONTROL life is sent to the servo-control system according to the result of view data
Order.
It is provided with for realizing the high-precision of the target automatic direction regulating device in the bottom of the target automatic direction regulating device
Spend the translating rails of translation.
The present invention includes video acquisition device, target automatic direction regulating device, parallel light tube, servo-control system and calculating
Machine, during plain shaft parallelism detection is carried out to tested photoelectric detection system, by video acquisition device to vision signal
Real-time Collection, extracts the target cross-graduation image that the parallel light tube is produced using image processing algorithm in a computer
The center of center and the cross-graduation image for treating photometer axis of tested photoelectric detection system, with the target cross-graduation image
Plane right-angle coordinate is set up on the basis of center, in the cross-graduation image for treating photometer axis of the tested photoelectric detection system of identification
The distance of quadrant and the cross searching away from target cross-graduation image where the heart, target is controlled certainly by the servo-control system
Dynamic device for regulating direction adjustment beam direction, it is ensured that two cross-graduation center superpositions.Control parameter is read from code-disc.By to by light-metering
Two data acquisitions for treating photometer axis of electric detecting system, draw two groups of control parameters, finally using detection algorithm mathematical modulo
Type calculates plain shaft parallelism error, reduces the error in the plain shaft parallelism detection of tested photoelectric detection system, improves
Accuracy of detection.
What the second object of the present invention was realized in：
A kind of target automatic direction regulating formula plain shaft parallelism detection method, comprises the following steps：
A, according to claim 1 install target automatic direction regulating formula plain shaft parallelism detection means：Target automatic direction regulating formula light
Axle device for detecting parallelism includes video acquisition device, target automatic direction regulating device, parallel light tube, servo-control system and calculating
Machine；The target automatic direction regulating device includes that speculum, x-axis tuning speculum, y-axis tuning speculum and the x-axis tuning are anti-
Penetrate mirror be fixedly connected and for control x-axis tuning speculum rotational angle the first motor and with the y-axis tuning speculum
It is fixedly connected and for controlling the second motor of y-axis tuning speculum rotational angle, in first motor and described
The code-disc for measuring angular displacement is mounted on two motor；The speculum, the x-axis tuning speculum and the y-axis
Tuning speculum sets gradually from down to up；It is provided with for realizing the target in the bottom of the target automatic direction regulating device
The translating rails of the high precision translational of automatic direction regulating device；
The output end of the parallel light tube connects with the incidence end of the speculum of the target automatic direction regulating device, institute
The input for stating tested photoelectric detection system connects with the output end of the y-axis tuning speculum, the servo-control system point
Not with first motor, the code-disc being arranged on first motor, second motor and be arranged on institute
The code-disc stated on the second motor connects, and the input of the video acquisition device connects with tested photoelectric detection system, and will
Video acquisition device is positioned at the eyepiece of tested photoelectric detection system, the output end of the video acquisition device and the calculating
The input of machine connects, and the output end of the computer connects with the servo-control system；
B, the figure being tested by video acquisition device collection on the imaging system cross-graduation plate of photoelectric detection system
Picture, photometer axis cross-graduation image is treated as first；The input for treating photometer axis by the first of tested photoelectric detection system and institute
The output end for stating the y-axis tuning speculum in target automatic direction regulating device connects, and by the target automatic direction regulating device
In the x-axis tuning speculum and the y-axis tuning speculum be transferred to initial position；
C, unlatching parallel light tube make the parallel light tube produce collimated light beam, the parallel light tube to produce collimated light beam through institute
State target automatic direction regulating device and incide tested photoelectric detection system, the collimated light beam that the parallel light tube is produced is by directional light
Turn into the tested photoelectric detection system of target cross-graduation image after cross-graduation plate inside pipe to receive, be tested photoelectric detection system
The target cross-graduation image that will be received is input to the video acquisition device, then is input to calculating by video acquisition device
Machine；
D, it is input to the target cross that the vision signal of computer produces the parallel light tube by image processing method
The first of the cross searching of collimator graduation image and tested photoelectric detection system treats that the cross searching of photometer axis cross-graduation image is extracted
Out, and on the basis of the cross searching of the target cross-graduation image plane right-angle coordinate, the tested photoelectricity of identification are set up
The first of detecting system treat the cross searching of photometer axis cross-graduation image where quadrant and away from target cross-graduation image
Cross searching distance, by the servo-control system control target automatic direction regulating device in the first motor and second
Motor, adjusts what the parallel light tube was produced by adjusting the deflection angle of x-axis tuning speculum and y-axis tuning speculum
The beam direction of collimated light beam, it is ensured that the cross searching of target cross-graduation image and first treats photometer axis cross-graduation image
Cross searching overlaps；
E, read respectively from the code-disc on first motor and the code-disc on second motor
Go out the cross searching of target cross-graduation image by initial position to the cross searching that photometer axis cross-graduation image is treated with first
The deflection angle α of x-axis tuning speculum during coincidence1With y reflecting optics deflection angles β1, by α1With β1Export to the computer；
F, the x-axis tuning speculum in the target automatic direction regulating device and the y-axis tuning speculum are recovered
To initial position, the figure on the imaging system cross-graduation plate of tested photoelectric detection system is gathered by the video acquisition device
Picture, photometer axis cross-graduation image is treated as second；The target automatic direction regulating device is put down using the translating rails
Move, make the second of tested photoelectric detection system to treat the y-axis in the input of photometer axis and the target automatic direction regulating device
The output end of tuning speculum connects；
G, treat that photometer axis carries out figure to being tested the second of photoelectric detection system according to the method for step c, step d and step e
The treatment of picture, the cross searching for obtaining target cross-graduation image treats photometer axis cross-graduation image by original state to second
Cross searching overlap when x-axis tuning speculum deflection angle α2With y-axis tuning mirror deflecting angle β2, by α2With β2It is defeated
Go out to the computer；
H, the data α that will enter into computer1、β1、α2And β2Substitute into the detection algorithm Mathematical Modeling meter of setting in computer
Plain shaft parallelism error γ is calculated, and result is shown on computers.
In stepb, x is set up on the target automatic direction regulating device according to left-handed coordinate system rule0y0z0Rectangular co-ordinate
System, its origin is o0, wherein y0Axle points to the top of the target automatic direction regulating device, the initial bit of the x-axis tuning speculum
It is set to the minute surface and x of the x-axis tuning speculum0o0z0Plane angle at 45 °, and the central axis of the x-axis tuning speculum with
z0Axle is parallel；
The initial position of the y-axis tuning speculum is the minute surface and x of the y-axis tuning speculum0o0y0Plane is at 45 °
Angle, and the y-axis tuning speculum central axis and x0Axle is parallel.
The present invention breaches traditional target translation measurement method, it is proposed that a kind of optical axis of target automatic direction regulating formula is parallel
Property detection method, the cross searching of target cross-graduation image treats photometer axis cross-graduation image with tested photoelectric detection system
Cross searching the error brought of the range measurement to two traditional cross-graduation centers will definitely be avoided, the present invention is by ten
The measuring principle of word graduation center alignment is combined with target automatic direction regulating metering system, the essence that can have both detected plain shaft parallelism
Degree brings up to Pixel-level, and the automaticity of plain shaft parallelism detection means and detection method is improve again.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation of target automatic direction regulating device of the invention.
Fig. 3 is the theory diagram of plain shaft parallelism detection method of the present invention.
In figure：1st, video acquisition device；2nd, target automatic direction regulating device；2-1, speculum；2-2, x-axis tuning speculum；
2-3, y-axis tuning speculum；2-4, the first motor；2-5, the second motor；2-6, translating rails；3rd, parallel light tube；3-1、
Cylinder；3-2, light source；3-3, cross-graduation target plate；3-4, principal reflection mirror；3-5, secondary mirror；4th, servo-control system；5-1、
Computer；5-2, TT＆C software；6th, it is tested photoelectric detection system；6-1, first treat photometer axis；6-2, second treat photometer axis；7th, mark
Note plane.
Specific embodiment
Embodiment 1：A kind of target automatic direction regulating formula plain shaft parallelism detection means.
As depicted in figs. 1 and 2, the target automatic direction regulating formula plain shaft parallelism detection means in the present invention includes video acquisition
Device 1, target automatic direction regulating device 2, parallel light tube 3, servo-control system 4 and computer 5-1.Video acquisition device 1 is set
At the eyepiece of tested photoelectric detection system 6, for the figure on the imaging system graticle for gathering tested photoelectric detection system 6
Picture, the imaging system graticle for being tested photoelectric detection system 6 is cross-graduation plate, and video acquisition device 1 uses CCD video acquisitions
Device 1.It is when video acquisition device 1 is built-in with tested photoelectric detection system 6, the video of tested photoelectric detection system 6 is defeated
Exit port connects with computer 5-1, what tested photoelectric detection system 6 was directly collected its internal video acquisition device 1
Vision signal passes to computer 5-1.
Target automatic direction regulating device 2 includes speculum 2-1, x-axis tuning speculum 2-2, y-axis tuning speculum 2-3, first
Motor 2-4 and the second motor 2-5.Target automatic direction regulating device 2 also includes being arranged on its bottom and for supporting speculum
2-1, x-axis tuning speculum 2-2, y-axis tuning speculum 2-3, the support base of the first motor 2-4 and the second motor 2-5,
Wherein, x-axis tuning speculum 2-2 and y-axis tuning speculum 2-3 are rotatable, in the central axis of x-axis tuning speculum 2-2
Rotary shaft is provided with the central axis of place and y-axis tuning speculum 2-3；Speculum 2-1 is fixed, in speculum
Fixing axle is provided with the central axis of 2-1.First motor 2-4 is fixedly connected and for controlling with x-axis tuning speculum 2-2
X-axis tuning speculum 2-2 rotational angles, the second motor 2-5 is fixedly connected and for controlling y-axis with y-axis tuning speculum 2-3
Tuning speculum 2-3 rotational angles, are mounted on for measuring angular displacement on the first motor 2-4 and the second motor 2-5
Code-disc, the code-disc on code-disc and the second motor 2-5 on the first motor 2-4 uses photoelectric code disk.Code-disc is arranged on
On the motor shaft of corresponding motor, it is provided with for realizing that target automatic direction regulating is filled in the bottom of target automatic direction regulating device 2
Put the translating rails 2-6 of 2 high precision translational, in the present embodiment, the support base of the bottom of target automatic direction regulating device 2 with
Translating rails 2-6 is slidably connected.Speculum, x-axis tuning speculum 2-2 and y-axis tuning speculum 2-3 set successively from down to up
Put, and x-axis tuning speculum 2-2 and y-axis tuning speculum 2-3 are all disposed within initial position when not being operated.In this implementation
In example, x is set up on the target automatic direction regulating device according to left-handed coordinate system rule0y0z0Rectangular coordinate system, in x0y0z0Directly
In angular coordinate system, y0Axle points to the top of target automatic direction regulating device 2, the minute surface and x of speculum 2-10y0z0In rectangular coordinate system
X0o0y0Plane angle at 45 °, the central axis and y of speculum 2-10Axle is parallel, and speculum 2-1 is fixedly installed on target certainly
In support base on dynamic device for regulating direction 2.The initial position of x-axis tuning speculum 2-2 is the minute surface of x-axis tuning speculum 2-2
With x0o0z0Plane angle at 45 °, and x-axis tuning speculum 2-2 central axis and z0Axle is parallel；Y-axis tuning speculum 2-3's
Initial position is the minute surface and x of y-axis tuning speculum 2-30o0y0Plane angle at 45 °, and y-axis tuning speculum 2-3 central shaft
Line and x0Axle is parallel.Target automatic direction regulating device 2 respectively with parallel light tube 3, tested photoelectric detection system 6 and servo-control system
4 connect, and the collimated light beam for being sent to parallel light tube 3 carries out tuning treatment.Parallel light tube 3, with target automatic direction regulating device 2
Connect, the collimated light beam needed for for producing plain shaft parallelism to detect the parameter cross-graduation image that hits, parallel light tube 3 includes cylinder
Cross-graduation target plate 3-3 that body 3-1, the exit end of the light source 3-2 and light source 3-2 for being arranged on cylinder 3-1 front ends are oppositely arranged and
The colimated light system of cross-graduation target plate 3-3 exiting side is arranged on, colimated light system is included near cross-graduation target plate 3-3 exiting side
Two principal reflection mirror 3-4 the being arranged side by side and secondary mirror 3-5 away from cross-graduation target plate 3-3 exiting side, principal reflection mirror 3-4
Arranged in isosceles triangle with secondary mirror 3-5.
Servo-control system 4 connects with target automatic direction regulating device 2 and computer 5-1 respectively, for according to computer 5-1
The vision signal adjustment target automatic direction regulating device 2 that received video acquisition device 1 is gathered, by video acquisition device
The center of the 1 target cross-graduation image for being gathered and the cross-graduation image for treating photometer axis of tested photoelectric detection system 6
Center is aligned.TT＆C software 5-2 for processing detection data is installed on computer 5-1.In the present embodiment, servo control
System processed 4 be servo controller, the input of servo-control system 4 be arranged on the first motor 2-4 on code-disc, be arranged on
Code-disc electrical connection on second motor 2-5, the output end of servo-control system 4 and the first motor 2-4, the second motor 2-
5 electrical connections.The output end of computer 5-1 is electrically connected with the input of servo-control system 4, the input of computer 5-1 with regard
Frequency harvester 1 is electrically connected.Computer 5-1 is used to process the picture signal of the conveying of video acquisition device 1, and according to view data
Result to servo-control system 4 send servo control command.
Embodiment 2：A kind of target automatic direction regulating formula plain shaft parallelism detection method.
As shown in FIG. 1 to 3, a kind of target automatic direction regulating formula plain shaft parallelism detection method, comprises the following steps：
A, according to embodiment 1 install target automatic direction regulating formula plain shaft parallelism detection means：Target automatic direction regulating formula optical axis
Device for detecting parallelism includes video acquisition device 1, target automatic direction regulating device 2, parallel light tube 3, servo-control system 4 and meter
Calculation machine 5-1；Target automatic direction regulating device 2 includes that speculum, x-axis tuning speculum 2-2, y-axis tuning speculum 2-3 and x-axis are adjusted
It is fixedly connected to speculum 2-2 and for controlling the first motor 2-4 of x-axis tuning speculum 2-2 rotational angles and being adjusted with y-axis
It is fixedly connected to speculum 2-3 and for controlling the second motor 2-5 of y-axis tuning speculum 2-3 rotational angles, in the first electricity
The code-disc for measuring angular displacement is mounted on motivation 2-4 and the second motor 2-5.The mounting axis of the first motor 2-4
Mounting axis with the second motor 2-5 are mutually perpendicular to.Speculum, x-axis tuning speculum 2-2 and y-axis tuning speculum 2-3 by
Under to above setting gradually；It is provided with for realizing the high-precision of target automatic direction regulating device 2 in the bottom of target automatic direction regulating device 2
Spend the translating rails 2-6 of translation.Because the rotary shaft of x-axis tuning speculum 2-2 is parallel with z-axis, x-axis tuning speculum 2-2's
The collimated light beam that deflection sends parallel light tube 3 realizes its azimuthal deflection；Due to the rotary shaft of y-axis tuning speculum 2-3
Parallel with x-axis, the deflection of y-axis tuning speculum 2-3 makes the collimated light beam that parallel light tube 3 sends realize the deflection of its angle of pitch.
The output end of parallel light tube 3 connects with the incidence end of the speculum of target automatic direction regulating device 2, is tested photoelectric detection
The input of system 6 connects with the output end of y-axis tuning speculum 2-3, servo-control system 4 respectively with the first motor 2-4,
The code-disc that is arranged on the first motor 2-4, the second motor 2-5 and the code-disc being arranged on the second motor 2-5 connect, depending on
The input of frequency harvester 1 connects with tested photoelectric detection system 6, and video acquisition device 1 is positioned over into tested photoelectricity detects
At the eyepiece of examining system 6, the output end of video acquisition device 1 connects with the input of computer 5-1, the output of computer 5-1
End connects with servo-control system 4.When video acquisition device 1 is built-in with tested photoelectric detection system 6, tested photoelectricity is detectd
The video-out port of examining system 6 connects with computer 5-1, is tested photoelectric detection system 6 directly by its internal video acquisition
The vision signal that device 1 is collected passes to computer 5-1.
B, the image being tested by the collection of video acquisition device 1 on the imaging system cross-graduation plate of photoelectric detection system 6,
Photometer axis 6-1 cross-graduation images are treated as first；The input for treating photometer axis 6-1 by the first of tested photoelectric detection system 6
Output end with the y-axis tuning speculum 2-3 in target automatic direction regulating device 2 connects, and by target automatic direction regulating device 2
X-axis tuning speculum 2-2 and y-axis tuning speculum 2-3 are transferred to initial position.In the present embodiment, advised according to left-handed coordinate system
Then x is set up on target automatic direction regulating device0y0z0Rectangular coordinate system, its origin is o0, wherein y0Axle points to target automatic direction regulating
The top of device, z0Axle points to its beam projecting side along the longitudinal axis of target automatic direction regulating device 2.X-axis tuning speculum 2-2's is first
Beginning position for x-axis tuning speculum 2-2 minute surface and x0o0z0Plane angle at 45 °, and x-axis tuning speculum 2-2 central axis
With z0Axle is parallel, and the rotary shaft of x-axis tuning speculum 2-2 overlaps with the central axis of x-axis tuning speculum 2-2, and x-axis is adjusted
Axle can be rotated about to speculum 2-2 to rotate；The initial position of y-axis tuning speculum 2-3 is the mirror of y-axis tuning speculum 2-3
Face and x0o0y0Plane angle at 45 °, and y-axis tuning speculum 2-3 central axis and x0Axle is parallel, y-axis tuning speculum 2-3
Rotary shaft overlapped with the central axis of y-axis tuning speculum 2-3, and y-axis tuning speculum 2-3 can rotate about axle turn
It is dynamic.
C, open parallel light tube 3 make parallel light tube 3 produce collimated light beam, parallel light tube 3 produce collimated light beam through target from
Dynamic device for regulating direction 2 incides tested photoelectric detection system 6, the collimated light beam that parallel light tube 3 is produced by parallel light tube 3 inside
Turn into the tested photoelectric detection system 6 of target cross-graduation image after cross-graduation target plate 3-3 to receive, be tested photoelectric detection system 6
The target cross-graduation image that will be received is input to video acquisition device 1, then is input to computer 5- by video acquisition device 1
On 1 computer.
D, it is input to what vision signal on the computer of computer 5-1 produced parallel light tube 3 by image processing method
The first of the cross searching of target cross-graduation image and tested photoelectric detection system 6 treats photometer axis 6-1 cross-graduation images
Cross searching is extracted, and sets up plane right-angle coordinate on the basis of the cross searching of target cross-graduation image, identification
The first of tested photoelectric detection system 6 treat the cross searching of photometer axis 6-1 cross-graduation images where quadrant and away from target ten
The distance of the cross searching of word collimator graduation image, it is electronic by first in the control target of servo-control system 4 automatic direction regulating device 2
Machine 2-4 and the second motor 2-5, is adjusted by adjusting the deflection angle of x-axis tuning speculum 2-2 and y-axis tuning speculum 2-3
The beam direction of the collimated light beam that whole parallel light tube 3 is produced, it is ensured that the cross searching of target cross-graduation image is to be measured with first
The cross searching of optical axis 6-1 cross-graduation images overlaps.
The cross searching and tested photoelectric detection of the target cross-graduation image for producing the parallel light tube in step d
The image processing method that the cross searching for treating photometer axis cross-graduation image of system is extracted is：
D-1, the picture signal that will be received from video acquisition device using Kalman filtering in a computer are made an uproar
The filtering of sound；
D-2, target cross-graduation image is extracted using the method for Hough transformation and photometer axis cross-graduation image is treated
Straight line, finds out the intersection point of respective straight.
E, read respectively from the code-disc on the first motor 2-4 and the code-disc on the second motor 2-5
The cross searching of target cross-graduation image is by initial position to the cross searching that photometer axis 6-1 cross-graduation images are treated with first
The deflection angle α of x-axis tuning speculum 2-2 during coincidence1With y-axis tuning mirror deflecting angle β1, by α1With β1Output is extremely calculated
Machine 5-1.
F, the x-axis tuning speculum 2-2 in target automatic direction regulating device 2 and y-axis tuning speculum 2-3 are returned to initially
Position, the image on the imaging system cross-graduation plate of tested photoelectric detection system 6 is gathered by video acquisition device 1, is turned into
Second treats photometer axis 6-2 cross-graduation images.Target automatic direction regulating device 2 is translated using translating rails 2-6, makes to be tested
The second of photoelectric detection system 6 treats the y-axis tuning speculum 2-3 in the input and target automatic direction regulating device 2 of photometer axis 6-2
Output end connect.In the present embodiment, two of photoelectric detection system 6 are tested when the distance between axles between photometer axis is smaller,
Relative position of the target automatic direction regulating device 2 on translating rails 2-6 is constant；Two of tested photoelectric detection system 6 treat light-metering
When distance between axles between axle is larger, target automatic direction regulating device 2 is moved to realize target automatic direction regulating on translating rails 2-6
The high precision translational of device 2.
G, treat that photometer axis 6-2 enters to being tested the second of photoelectric detection system 6 according to the method for step c, step d and step e
The treatment of row image, the cross searching for obtaining target cross-graduation image treats photometer axis 6-2 crosses by original state to second
The deflection angle α of x-axis tuning speculum 2-2 when the cross searching of collimator graduation image overlaps2With y reflecting optics deflection angles β2, by α2
With β2Export to computer 5-1.
H, the data α that will enter into computer 5-11、β1、α2And β2It is updated in computer 5-1, using computer 5-1's
The detection algorithm Mathematical Modeling of setting calculates plain shaft parallelism error γ in TT＆C software 5-2, and result is included to calculate
On machine 5-1.
As shown in Figures 2 and 3, the method for building up of detection algorithm Mathematical Modeling is：
H-1, as shown in Fig. 2 setting up tag plane 7 in the left-handed coordinate system set up in stepb.In target automatic direction regulating
The beam projecting side of device 2 is set up the xyz rectangular coordinate systems at the place of tag plane 7 by left-handed coordinate system rule, and its origin is o,
X-axis, y-axis, the z-axis of xyz rectangular coordinate systems respectively with x0y0z0X in rectangular coordinate system0Axle, y0Axle, z0Axle is parallel and points to phase
Together, then when x-axis tuning speculum 2-2 is in initial position, minute surface and the xoz planes angle at 45 ° of x-axis tuning speculum 2-2, and
The central axis of x-axis tuning speculum 2-2 is parallel with z-axis；When y-axis tuning speculum 2-3 is in initial position, y-axis tuning is anti-
Minute surface and the xoy planes angle at 45 ° of mirror 2-3 are penetrated, and the central axis of y-axis tuning speculum 2-3 is parallel with x-axis.Left hand is sat
Xoy planes in mark system define azimuth angle theta as tag plane 7xIt is that optical axis vector projects the angle with z-axis in xoz faces, bows
Elevation angle thetayIt is optical axis vector and the angle in xoz faces.
H-2, as shown in Fig. 2 when the parallel beam incident that parallel light tube sends is to target automatic direction regulating device, will be parallel
In z0Enter on the basis of axle and light definition that can be coplanar with the rotary shaft of x-axis tuning speculum 2-2 after speculum 2-1 reflects
Penetrate light, will through initial position when successively reflected mirror 2-1, x-axis tuning speculum 2-2 and y-axis tuning speculum 2-3 reflection after
The reflected beams RMNCO on the basis of beam path.The anglec of rotation of x-axis tuning speculum 2-2 is controlled by the first motor 2-4
Degree, the anglec of rotation of y-axis tuning speculum 2-3 is controlled by the second motor 2-5, by the cross of target cross-graduation image
The heart by initial position to one of them when the cross searching of photometer axis cross-graduation image overlaps, x-axis tuning speculum 2-2
The anglec of rotation be designated as α, the y-axis tuning speculum 2-3 anglecs of rotation and be designated as β, after now being reflected through target automatic direction regulating device
The reflected beams produce skew, and it is scanning angle with the angle of the emergent ray of reference beam light path.
H-3, solution azimuth angle thetaxAnd pitching angle thetay。
As shown in Fig. 2 light beam RM points to vector by the unit of the reflected beams MN after speculum 2-1 reflections being：
When the anglec of rotation of x-axis tuning speculum 2-2 is α, the normal of the x-axis tuning speculum postrotational minute surfaces of 2-2 to
Measure and be：
The mirror reflecting matrix of x-axis tuning speculum 2-2 is：
Incident beam MN points to vector by the unit of the reflected beams after x-axis tuning speculum 2-2 reflections：
When the anglec of rotation of y-axis tuning speculum 2-3 is β, the normal of the y-axis tuning speculum postrotational minute surfaces of 2-3 to
Measure and be：
The mirror reflecting matrix of y-axis tuning speculum 2-3 is：
The unit vector of the reflected beams after being reflected through y-axis tuning speculum 2-3 is：
According to the unit vector of the reflected beamsThe azimuth angle theta of the reflected beams relative datum beam path can be tried to achievexWith
Pitching angle thetay：
H-4, the coordinate for solving final the reflected beams and tag plane intersection point.
As shown in Figure 2, the unit vector of final the reflected beamsStart position be B, then
CB=etan2 α (9)
As shown in Fig. 2 final the reflected beams are with the coordinate of tag plane intersection point：
Due to 1-sin22βcos22 α=sin22α+cos22βcos22α (11)
Formula (11) is substituted into formula (10), is drawn：
In formula (9), formula (10) and formula (12), e is between x-axis tuning speculum 2-2 to y-axis tuning speculum 2-3
Distance, d arrives the distance between tag plane for y-axis tuning speculum 2-3.
Parallelism error γ between h-5, solution optical axis.
The deflection of the collimated light beam emitted by parallel light tube is controlled by controlling target automatic direction regulating device, target ten is completed
The cross searching that the cross searching of word collimator graduation image treats photometer axis cross-graduation image with the first of tested photoelectric detection system
Alignment, and the cross searching of target cross-graduation image treats photometer axis cross-graduation figure with the second of tested photoelectric detection system
The alignment of the cross searching of picture.
The cross searching of target cross-graduation image treats photometer axis cross-graduation figure with the first of tested photoelectric detection system
During the alignment of the cross searching of picture, the output angle α on code-disc corresponding with x-axis tuning speculum 2-2 is recorded1It is anti-with y-axis tuning
The output angle β penetrated on the corresponding code-disc of mirror1；The cross searching of target cross-graduation image and the second of tested photoelectric detection system
When the alignment of the cross searching of photometer axis cross-graduation image, record defeated on code-disc corresponding with x-axis tuning speculum 2-2
Angle of departure α2Output angle β on code-disc corresponding with y-axis tuning speculum2。
The cross searching of target cross-graduation image is treated into photometer axis cross-graduation with the first of tested photoelectric detection system
During the alignment of the cross searching of image, the vector of the reflected beams after being reflected through y-axis tuning speculum 2-3, i.e. scan vector note
ForThe cross searching of target cross-graduation image is treated into photometer axis cross-graduation image with the second of tested photoelectric detection system
Cross searching alignment when, the vector of the reflected beams after being reflected through y-axis tuning speculum 2-3, i.e. scan vector is designated as
The parallelism error of optical axis isWithBetween angle γ, drawn according to dot product equation：
Formula (13) is the formula of detection algorithm Mathematical Modeling.
Claims (4)
1. a kind of target automatic direction regulating formula plain shaft parallelism detection means, it is characterised in that including：
Video acquisition device, for the image on the imaging system graticle for gathering tested photoelectric detection system；
Target automatic direction regulating device, connects with parallel light tube and servo-control system respectively, flat for what is sent to parallel light tube
Row light beam carries out tuning treatment, and the target automatic direction regulating device includes speculum, x-axis tuning speculum, the reflection of y-axis tuning
Mirror be fixedly connected with the x-axis tuning speculum and for control x-axis tuning speculum rotational angle the first motor and with
The y-axis tuning speculum is fixedly connected and for controlling the second motor of y-axis tuning speculum rotational angle, described
The code-disc for measuring angular displacement is mounted on one motor and second motor；The speculum, the x-axis tuning
Speculum and the y-axis tuning speculum set gradually from down to up；
Parallel light tube, connects with the target automatic direction regulating device, for producing plain shaft parallelism to detect the parameter cross point that hits
Collimated light beam needed for drawing image；
Servo-control system, connects, with the target automatic direction regulating device and computer for being received according to computer respectively
To the vision signal that is gathered of the video acquisition device adjust the target automatic direction regulating device, by the video acquisition
The center of the target cross-graduation image that device is gathered and the cross-graduation image for treating photometer axis of tested photoelectric detection system
Center alignment；
Computer, connects with the servo-control system and the video acquisition device, for processing the video acquisition device
The picture signal of conveying, and servo control command is sent to the servo-control system according to the result of view data.
2. target automatic direction regulating formula plain shaft parallelism detection means according to claim 1, it is characterised in that in the target
The bottom for marking automatic direction regulating device is provided with the translating rails of the high precision translational for realizing the target automatic direction regulating device.
3. a kind of target automatic direction regulating formula plain shaft parallelism detection method, it is characterised in that comprise the following steps：
A, according to claim 1 install target automatic direction regulating formula plain shaft parallelism detection means：Target automatic direction regulating formula optical axis is put down
Row detection means includes video acquisition device, target automatic direction regulating device, parallel light tube, servo-control system and computer；
The target automatic direction regulating device includes the reflection of speculum, x-axis tuning speculum, y-axis tuning speculum and the x-axis tuning
Mirror is fixedly connected and for controlling the first motor of x-axis tuning speculum rotational angle and consolidating with the y-axis tuning speculum
Fixed connection and the second motor for controlling y-axis tuning speculum rotational angle, in first motor and described second
The code-disc for measuring angular displacement is mounted on motor；The speculum, the x-axis tuning speculum and the y-axis are adjusted
Set gradually from down to up to speculum；It is provided with for realizing the target certainly in the bottom of the target automatic direction regulating device
The translating rails of the high precision translational of dynamic device for regulating direction；
The output end of the parallel light tube connects with the incidence end of the speculum of the target automatic direction regulating device, the quilt
Light-metering electricity detecting system input connect with the output end of the y-axis tuning speculum, the servo-control system respectively with
First motor, the code-disc being arranged on first motor, second motor and it is arranged on described
Code-disc on two motor connects, and the input of the video acquisition device connects with tested photoelectric detection system, and by video
Harvester is positioned at the eyepiece of tested photoelectric detection system, the output end of the video acquisition device and the computer
Input connects, and the output end of the computer connects with the servo-control system；
B, the image being tested by video acquisition device collection on the imaging system cross-graduation plate of photoelectric detection system, into
Photometer axis cross-graduation image is treated for first；The input and the target for treating photometer axis by the first of tested photoelectric detection system
The output end of the y-axis tuning speculum in automatic direction regulating device connects, and by the institute in the target automatic direction regulating device
State x-axis tuning speculum and the y-axis tuning speculum is transferred to initial position；
C, unlatching parallel light tube make the parallel light tube produce collimated light beam, the parallel light tube to produce collimated light beam through the target
Mark automatic direction regulating device incides tested photoelectric detection system, and the collimated light beam that the parallel light tube is produced is by parallel light tube
Turn into the tested photoelectric detection system of target cross-graduation image after the cross-graduation plate in portion to receive, tested photoelectric detection system will connect
The target cross-graduation image for receiving is input to the video acquisition device, then is input to computer by video acquisition device；
D, it is input to the target cross-graduation that the vision signal of computer produces the parallel light tube by image processing method
The first of the cross searching of image and tested photoelectric detection system treats that the cross searching of photometer axis cross-graduation image is extracted,
And plane right-angle coordinate, the tested photoelectric detection system of identification are set up on the basis of the cross searching of the target cross-graduation image
System first treat the cross searching of photometer axis cross-graduation image where quadrant and the cross away from target cross-graduation image
The distance at center, it is electronic by the first motor in servo-control system control target automatic direction regulating device and second
Machine, the parallel of the parallel light tube generation is adjusted by adjusting x-axis tuning speculum with the deflection angle of y-axis tuning speculum
The beam direction of light beam, it is ensured that the cross searching of target cross-graduation image and the first cross for treating photometer axis cross-graduation image
Center superposition；
E, target is read respectively from the code-disc on first motor and the code-disc on second motor
The cross searching of cross-graduation image is marked by initial position to treating that the cross searching of photometer axis cross-graduation image overlaps with first
When x-axis tuning speculum deflection angle α1With y reflecting optics deflection angles β1, by α1With β1Export to the computer；
F, by the x-axis tuning speculum and the y-axis tuning speculum in the target automatic direction regulating device return to just
Beginning position, the image on the imaging system cross-graduation plate of tested photoelectric detection system is gathered by the video acquisition device,
Photometer axis cross-graduation image is treated as second；The target automatic direction regulating device is translated using the translating rails,
The second of tested photoelectric detection system is set to treat the y-axis tuning in the input of photometer axis and the target automatic direction regulating device
The output end of speculum connects；
G, treat that photometer axis carries out image to being tested the second of photoelectric detection system according to the method for step c, step d and step e
Treatment, obtains the cross searching of target cross-graduation image by original state to treating the ten of photometer axis cross-graduation image with second
The deflection angle α of x-axis tuning speculum during word center superposition2With y-axis tuning mirror deflecting angle β2, by α2With β2Output is extremely
The computer；
H, the data α that will enter into computer1、β1、α2And β2The detection algorithm Mathematical Modeling for substituting into setting in computer calculates light
Axle parallelism error γ, and result is shown on computers.
4. target automatic direction regulating formula plain shaft parallelism detection method according to claim 3, it is characterised in that in step b
In, set up x on the target automatic direction regulating device according to left-handed coordinate system rule0y0z0Rectangular coordinate system, its origin is o0,
Wherein y0Axle points to the top of the target automatic direction regulating device, and the initial position of the x-axis tuning speculum is x-axis tune
To the minute surface and x of speculum0o0z0Plane angle at 45 °, and the x-axis tuning speculum central axis and z0Axle is parallel；
The initial position of the y-axis tuning speculum is the minute surface and x of the y-axis tuning speculum0o0y0Plane angle at 45 °, and
The central axis and x of the y-axis tuning speculum0Axle is parallel.
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| CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
| CN114252239A (en) * | 2020-09-25 | 2022-03-29 | 北京振兴计量测试研究所 | Optical axis calibration device for multispectral composite photoelectric detection equipment |
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