CN107228649B - Automatic fluxgate theodolite for absolute geomagnetic observation - Google Patents
Automatic fluxgate theodolite for absolute geomagnetic observation Download PDFInfo
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- CN107228649B CN107228649B CN201710592311.5A CN201710592311A CN107228649B CN 107228649 B CN107228649 B CN 107228649B CN 201710592311 A CN201710592311 A CN 201710592311A CN 107228649 B CN107228649 B CN 107228649B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/30—Assessment of water resources
Abstract
The utility model provides an automatic fluxgate theodolite for absolute geomagnetic observation, which comprises: the device comprises a supporting mechanism (1), a two-dimensional non-magnetic rotating mechanism (2), a measuring unit (3) and a master controller; the two-dimensional non-magnetic rotating mechanism (2) comprises a horizontal non-magnetic rotating unit and a vertical non-magnetic rotating unit; the measuring unit (3) comprises: parallel support (3.1), laser instrument (3.2), single component fluxgate probe (3.3) and electronic level sensor (3.4). The advantages are that: a laser is introduced into the fluxgate theodolite, so that the accuracy of the alignment marker is ensured; the horizontal rotation and the vertical rotation of the single-component fluxgate probe can be automatically and highly accurately realized, and finally the automatic and highly-accurate measurement of the geomagnetic deflection angle D and the geomagnetic inclination angle I is realized.
Description
Technical Field
The utility model belongs to the technical field of geomagnetic observation, and particularly relates to an automatic fluxgate theodolite for absolute geomagnetic observation.
Background
Fluxgate theodolites are instruments for measuring absolute geomagnetic parameters, and generally comprise fluxgate sensors and common theodolites; a common theodolite is equipped with a telescope. The fluxgate sensor is fixed on the telescope, and a magnetic axis of the fluxgate sensor is substantially parallel to an optical axis of the telescope. Fluxgate theodolite can measure geomagnetic deflection angleDAnd geomagnetic inclination angleI. By geomagnetic declinationDFor example, the measurement principle is as follows: firstly, manually rotating a telescope, and aiming the telescope at a marker by means of naked eye observation, wherein a marker azimuth angle alpha is obtained through theodolite graduation; then, the magnetic flux gate sensor is continuously rotated manually in the horizontal plane until the magnetic field measured by the magnetic flux gate sensor is 0, namely the geomagnetic horizontal strengthHAt this time, the reading of the theodolite horizontal reading disk is beta, so beta+90 degrees is the geomagnetic north direction m; then the geomagnetic declination angle can be calculated by means of the mark azimuth angle alphaD。
The geomagnetic deflection angle is measured by means of the fluxgate theodoliteDAnd geomagnetic inclination angleIThe method of (2) has the following disadvantages:
(1) The telescope is aligned with the marker by adopting a visual observation method, and a larger observation error is unavoidable, so that the reduction ofGeomagnetic declination obtained by final measurementDAnd geomagnetic inclination angleIIs measured with the precision of the measurement;
(2) The magnetic flux gate sensor is manually rotated, and the position of the magnetic field is determined to be 0 by naked eye observation, so that larger observation errors are unavoidable, and further the measurement accuracy is reduced.
Disclosure of Invention
Aiming at the defects existing in the prior art, the utility model provides an automatic fluxgate theodolite for absolute geomagnetic observation, which can effectively solve the problems.
The technical scheme adopted by the utility model is as follows:
the utility model provides an automatic fluxgate theodolite for absolute geomagnetic observation, which comprises: the device comprises a supporting mechanism (1), a two-dimensional non-magnetic rotating mechanism (2), a measuring unit (3) and a master controller;
wherein the supporting mechanism (1) comprises an upper panel (1.1), a lower panel (1.2) and an upright post (1.3); the upper panel (1.1) and the lower panel (1.2) are arranged symmetrically and horizontally; the number of the upright posts (1.3) is at least two, and the upright posts are fixedly arranged between the upper panel (1.1) and the lower panel (1.2);
the two-dimensional non-magnetic rotating mechanism (2) comprises a horizontal non-magnetic rotating unit and a vertical non-magnetic rotating unit; the horizontal non-magnetic rotation unit is used for rotating the measuring unit (3) in a horizontal space, and comprises: the device comprises a non-magnetic shaft frame (2.1), a1 st vertical shaft (2.2), a2 nd vertical shaft (2.3), a1 st round grating code disc (2.4), a1 st laser reading head (2.5), a1 st piezoelectric ceramic ring (2.6) and a1 st piezoelectric motor (2.7);
the non-magnetic shaft frames (2.1) are vertically arranged, and the 1 st vertical shaft (2.2) and the 2 nd vertical shaft (2.3) are fixedly installed at the bottom center and the top center of the non-magnetic shaft frames (2.1) respectively; the bottom of the 1 st vertical shaft (2.2) is rotatably arranged at the center of the lower panel (1.2) through a bearing; the 1 st piezoelectric ceramic ring (2.6) is positioned above the lower panel (1.2), the center of the 1 st piezoelectric ceramic ring (2.6) is fixedly sleeved on the 2 nd vertical shaft (2.3), the 1 st piezoelectric motor (2.7) is fixedly arranged on the upper surface of the lower panel (1.2), the output end of the 1 st piezoelectric motor (2.7) is tightly contacted with the surface of the 1 st piezoelectric ceramic ring (2.6), and the 1 st piezoelectric motor (2.7) drives the 2 nd vertical shaft (2.3) to rotate in a horizontal space through the 1 st piezoelectric ceramic ring (2.6), so as to drive the nonmagnetic shaft frame (2.1) to rotate in the horizontal space; the top of the 2 nd vertical shaft (2.3) is rotatably arranged at the center of the upper panel (1.1) through a bearing and extends to the upper part of the upper panel (1.1); the 1 st round grating code disc (2.4) is positioned above the upper panel (1.1), the center of the 1 st round grating code disc (2.4) is fixedly connected with the 2 nd vertical shaft (2.3), and the 1 st laser reading head (2.5) is connected with the 1 st round grating code disc (2.4) and is used for reading a rotation angle value measured by the 1 st round grating code disc (2.4);
the vertical nonmagnetic rotating unit comprises a transverse shaft (2.8), a2 nd round grating code disc (2.9), a2 nd laser reading head (2.10), a2 nd piezoelectric ceramic ring (2.11) and a2 nd piezoelectric motor (2.12); the transverse shaft (2.8) is horizontally arranged between the left side longitudinal beam and the right side longitudinal beam of the non-magnetic shaft frame (2.1), and the right end of the transverse shaft (2.8) is rotatably arranged in the center of the right side longitudinal beam through a bearing; the 2 nd piezoelectric ceramic ring (2.11) is positioned at the inner side of the right side longitudinal beam, the center of the 2 nd piezoelectric ceramic ring (2.11) is fixedly sleeved at the right end of the transverse shaft (2.8), the 2 nd piezoelectric motor (2.12) is fixedly installed at the inner side of the right side longitudinal beam, the output end of the 2 nd piezoelectric motor (2.12) is tightly contacted with the surface of the 2 nd piezoelectric ceramic ring (2.11), and the 2 nd piezoelectric motor (2.12) drives the transverse shaft (2.8) to rotate in a vertical space through the 2 nd piezoelectric ceramic ring (2.11); the left end of the transverse shaft (2.8) is rotatably arranged at the center position of the left side longitudinal beam through a bearing and extends to the outer side of the left side longitudinal beam; the 2 nd round grating code disc (2.9) is positioned outside the left side longitudinal beam, the center of the 2 nd round grating code disc (2.9) is fixedly connected with the left end of the transverse shaft (2.8), and the 2 nd laser reading head (2.10) is connected with the 2 nd round grating code disc (2.9) and is used for reading the rotation angle value measured by the 2 nd round grating code disc (2.9);
the measuring unit (3) comprises: the device comprises a parallel bracket (3.1), a laser (3.2), a single-component fluxgate probe (3.3) and an electronic level sensor (3.4); the geometric center of the parallel support (3.1) is provided with a mounting hole matched with the transverse shaft (2.8); the parallel support (3.1) is fixedly arranged at the center of the transverse shaft (2.8) through the mounting hole; the upper end and the lower end of the parallel support (3.1) are provided with the laser (3.2) and the single-component fluxgate probe (3.3) which are arranged in parallel; the electronic level sensor (3.4) is fixedly arranged on the side surface of the parallel bracket (3.1);
the master controller is respectively connected with the 1 st laser reading head (2.5), the 1 st piezoelectric motor (2.7), the 2 nd laser reading head (2.10), the 2 nd piezoelectric motor (2.12), the laser (3.2), the single component fluxgate probe (3.3) and the electronic level sensor (3.4) in an electric mode.
Preferably, the supporting mechanism (1) further comprises an adjusting screw (1.4); the number of the adjusting screws (1.4) is 3, and the adjusting screws are fixedly arranged at the bottom of the lower panel (1.2) at equal intervals.
Preferably, the method further comprises: a marker position sensor and a data collector; the marker position sensor is connected to the master controller through the data collector.
Preferably, the marker position sensor is a position measuring device based on a PSD sensor, and comprises an outer shell (4.1), a beam splitter (4.2), a reflector (4.3) and the PSD position sensor (4.4);
the outer shell (4.1) is of a cavity structure with an opening at the front end; the beam splitter (4.2) is obliquely fixed in the outer shell (4.1), and a beam splitting surface of the beam splitter (4.2) forms an included angle of 45 degrees with the axis; the central line of the light splitting surface of the beam splitter (4.2) is a central line A, and the central line A is communicated with the front end opening of the outer shell (4.1); the PSD position sensor (4.4) is fixedly arranged on the inner wall of the rear end of the outer shell (4.1) and positioned on a transmission light path of the beam splitter (4.2) passing through the central line A;
the reflection mirror (4.3) is obliquely fixed on the bottom wall of the outer shell (4.1), the reflection surface of the reflection mirror (4.3) is parallel to the beam splitting surface of the beam splitting mirror (4.2), and the central line of the reflection surface of the reflection mirror (4.3) is a central line B which is positioned right below the central line A, so that laser horizontally incident on the central line B of the reflection mirror (4.3) is reflected upwards by the reflection mirror (4.3) and then vertically incident on the central line A of the beam splitting mirror (4.2), then is reflected by the beam splitting mirror (4.2) and then horizontally incident on the PSD position sensor (4.4), and the PSD position sensor (4.4) detects the azimuth of the initially incident laser on the horizontal plane.
Preferably, the vertical distance from the reflecting mirror (4.3) to the beam splitter (4.2) is adjustable;
the beam splitter support frame (4.6) is also included; the beam splitter (4.2) is fixed in the inner cavity of the outer shell (4.1) through the beam splitter support frame (4.6);
a light hole (4.7) is formed in the top of the outer shell (4.1) and located on a reflection light path of the beam splitter (4.2) passing through the center line A.
The automatic fluxgate theodolite for absolute geomagnetic observation has the following advantages:
(1) The laser replaces the traditional marker, and the laser alignment marker mode can effectively ensure the accuracy of the alignment marker, thereby ensuring the geomagnetic deflection angle obtained by measurementDAnd geomagnetic inclination angleIIs measured with the precision of the measurement;
(2) The two-dimensional non-magnetic rotating mechanism for bearing the single-component fluxgate probe is designed, and can automatically and accurately realize the horizontal rotation and the vertical rotation of the single-component fluxgate probe, and finally realize the geomagnetic deflection angleDAnd geomagnetic inclination angleIIs an automatic measurement of (a);
(3) The marker position sensor with the special structure is designed, so that the azimuth measurement of two paths of incident lasers with different heights by the PSD sensor at the same position can be skillfully realized, the measurement error when the positive and negative mirrors are aligned to the markers is reduced, and the geomagnetic field measurement precision is improved.
Drawings
FIG. 1 is a schematic view of a perspective 1 view of an automated fluxgate theodolite for absolute geomagnetic observation according to the present utility model;
FIG. 2 is a schematic view of a perspective view of an automated fluxgate theodolite for absolute geomagnetic observation according to the present utility model;
FIG. 3 is a schematic view of a 3 rd perspective of an automated fluxgate theodolite for absolute geomagnetic observation according to the present utility model;
FIG. 4 is a schematic view of a perspective 1 view of an automated fluxgate theodolite for absolute geomagnetic observation according to the present utility model, without additional columns;
FIG. 5 is a schematic view of a perspective view of an automated fluxgate theodolite for absolute geomagnetic observation according to the present utility model, showing a2 nd perspective view of the fluxgate theodolite without an additional column;
FIG. 6 is a schematic view of a1 st perspective structure of a measuring unit according to the present utility model;
FIG. 7 is a schematic view of a2 nd perspective structure of a measuring unit according to the present utility model;
fig. 8 is a schematic perspective view of a marker position sensor according to the present utility model;
FIG. 9 is a schematic diagram of the structure of the marker position sensor provided by the present utility model when the outer housing is not shown;
FIG. 10 is a schematic diagram of a marker position sensor measuring the 1 st elevation incident laser bearing;
FIG. 11 is a schematic diagram of a marker position sensor measuring the 2 nd elevation incident laser bearing;
fig. 12 is a schematic diagram of measurement of the actual declination D.
Description of the embodiments
In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. 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 utility model.
The utility model provides an automatic fluxgate theodolite for absolute geomagnetic observation, which can be used for absolute geomagnetic measurement in the fields of resource exploration, geomagnetic detection, earth detection, geomagnetic navigation and the like, and is mainly characterized by comprising the following steps of:
(1) The single-component fluxgate probe and the laser are fixedly arranged on the non-magnetic shaft frame in an absolute parallel manner, the traditional marker is replaced by the PSD position sensor, therefore, the laser is matched with the PSD position sensor, when the marker is aligned, the laser emitted by the laser is projected to the sensing window of the PSD position sensor, whether the marker is aligned with the laser is determined through the output signal of the PSD position sensor, and the accuracy of the alignment marker can be effectively ensured by adopting a laser alignment marker mode, so that the geomagnetic deflection angle obtained by measurement is ensuredDAnd geomagnetic inclination angleIIs measured with the precision of the measurement;
(2) The two-dimensional non-magnetic rotating mechanism comprises a horizontal non-magnetic rotating unit and a vertical non-magnetic rotating unit, wherein the horizontal non-magnetic rotating unit and the vertical non-magnetic rotating unit are closed-loop control systems consisting of a non-magnetic piezoelectric motor, a laser reading head and a circular grating code disc, so that the horizontal rotation and the vertical rotation of the single-component fluxgate probe can be automatically realized with high precision, and the geomagnetic deflection angle is finally realizedDAnd geomagnetic inclination angleIIs an automatic measurement of (a);
(3) The marker position sensor with a special structure is designed, so that the azimuth measurement of the PSD sensor at the same position on two paths of incident lasers with different heights can be skillfully realized, the measurement error when the positive and negative mirrors are aligned to the markers is reduced, and the geomagnetic deflection angle is further improvedDAnd geomagnetic inclination angleIIs used for measuring the accuracy of the measurement.
The utility model will be described in detail below with reference to the attached drawings:
referring to fig. 1-5, an automated fluxgate theodolite for absolute geomagnetic observation includes: the system comprises a supporting mechanism 1, a two-dimensional non-magnetic rotating mechanism 2, a measuring unit 3 and a general controller. The following details each of the components:
the supporting mechanism 1 is a bearing foundation structure of the whole automatic fluxgate theodolite and comprises an upper panel 1.1, a lower panel 1.2 and an upright post 1.3; the upper panel 1.1 and the lower panel 1.2 are arranged symmetrically and horizontally; the number of the upright posts 1.3 is at least two, and the upright posts are fixedly arranged between the upper panel 1.1 and the lower panel 1.2; the supporting mechanism 1 also comprises an adjusting screw 1.4; the setting number of the adjusting screws 1.4 can be 3, the adjusting screws are fixedly arranged at the bottom of the lower panel 1.2 at equal intervals, and the levelness of the whole instrument can be adjusted through the adjusting effect of the adjusting screws.
The two-dimensional non-magnetic rotation mechanism 2 is a mechanism for realizing horizontal rotation and vertical rotation of the single-component fluxgate probe while precisely measuring the rotation angle. Because the single component fluxgate probe has very high requirement on the non-magnetism of the working environment, the two-dimensional rotating mechanism needs to ensure the non-magnetism.
The two-dimensional nonmagnetic rotating mechanism comprises a horizontal nonmagnetic rotating unit and a vertical nonmagnetic rotating unit; the horizontal non-magnetic rotation unit for rotating the measuring unit 3 in a horizontal space includes: the non-magnetic shaft frame 2.1, the 1 st vertical shaft 2.2, the 2 nd vertical shaft 2.3, the 1 st round grating code disc 2.4, the 1 st laser reading head 2.5, the 1 st piezoelectric ceramic ring 2.6 and the 1 st piezoelectric motor 2.7;
the non-magnetic shaft frames 2.1 are vertically arranged, and the 1 st vertical shaft 2.2 and the 2 nd vertical shaft 2.3 are fixedly arranged at the bottom center and the top center of the non-magnetic shaft frames 2.1 respectively; the bottom of the 1 st vertical shaft 2.2 is rotatably arranged at the center of the lower panel 1.2 through a bearing; the 1 st piezoelectric ceramic ring 2.6 is positioned above the lower panel 1.2, the center of the 1 st piezoelectric ceramic ring 2.6 is fixedly sleeved on the 2 nd vertical shaft 2.3, the 1 st piezoelectric motor 2.7 is fixedly installed on the upper surface of the lower panel 1.2, the output end of the 1 st piezoelectric motor 2.7 is tightly contacted with the surface of the 1 st piezoelectric ceramic ring 2.6, and the 1 st piezoelectric motor 2.7 drives the 2 nd vertical shaft 2.3 to rotate in the horizontal space through the 1 st piezoelectric ceramic ring 2.6 so as to drive the nonmagnetic shaft frame 2.1 to rotate in the horizontal space; the top of the 2 nd vertical shaft 2.3 is rotatably arranged at the center of the upper panel 1.1 through a bearing and extends to the upper part of the upper panel 1.1; the 1 st round grating code disc 2.4 is positioned above the upper panel 1.1, the center of the 1 st round grating code disc 2.4 is fixedly connected with the 2 nd vertical shaft 2.3, and the 1 st laser reading head 2.5 is connected with the 1 st round grating code disc 2.4 and is used for reading the rotation angle value measured by the 1 st round grating code disc 2.4;
the vertical nonmagnetic rotating unit comprises a transverse shaft 2.8, a2 nd round grating code disc 2.9, a2 nd laser reading head 2.10, a2 nd piezoelectric ceramic ring 2.11 and a2 nd piezoelectric motor 2.12; the transverse shaft 2.8 is horizontally arranged between the left side longitudinal beam and the right side longitudinal beam of the non-magnetic shaft frame 2.1, and the right end of the transverse shaft 2.8 is rotatably arranged at the center of the right side longitudinal beam through a bearing; the 2 nd piezoelectric ceramic ring 2.11 is positioned on the inner side of the right side longitudinal beam, the center of the 2 nd piezoelectric ceramic ring 2.11 is fixedly sleeved at the right end of the transverse shaft 2.8, the 2 nd piezoelectric motor 2.12 is fixedly installed on the inner side of the right side longitudinal beam, the output end of the 2 nd piezoelectric motor 2.12 is tightly contacted with the surface of the 2 nd piezoelectric ceramic ring 2.11, and the 2 nd piezoelectric motor 2.12 drives the transverse shaft 2.8 to rotate in a vertical space through the 2 nd piezoelectric ceramic ring 2.11; the left end of the transverse shaft 2.8 is rotatably arranged at the center position of the left side longitudinal beam through a bearing and extends to the outer side of the left side longitudinal beam; the 2 nd round grating code disc 2.9 is positioned outside the left side longitudinal beam, the center of the 2 nd round grating code disc 2.9 is fixedly connected with the left end of the transverse shaft 2.8, and the 2 nd laser reading head 2.10 is connected with the 2 nd round grating code disc 2.9 and is used for reading the rotation angle value measured by the 2 nd round grating code disc 2.9;
the horizontal nonmagnetic rotating unit and the vertical nonmagnetic rotating unit are closed-loop control systems consisting of nonmagnetic piezoelectric motors, laser reading heads and circular grating code discs. Specifically, for the horizontal nonmagnetic rotation unit, horizontal space rotation is realized by controlling the 1 st piezoelectric motor; the horizontal rotation angle can be read by the 1 st laser reading head. For the vertical nonmagnetic rotation unit, the vertical space rotation is realized by controlling the 2 nd piezoelectric motor; the vertical rotation angle can be read by the 2 nd laser reading head. Thus, the high-precision and automatic rotation of the single-component fluxgate probe is realized.
The driving mechanism of the piezoelectric motor and the piezoelectric ceramic ring is adopted, so that the non-magnetism of the driving mechanism is ensured, and the measurement of the single-component fluxgate probe is not interfered.
Referring to fig. 6 to 7, the measuring unit 3 includes: a parallel bracket 3.1, a laser 3.2, a single-component fluxgate probe 3.3 and an electronic level sensor 3.4;
the geometric center of the parallel bracket 3.1 is provided with a mounting hole matched with the transverse shaft 2.8; the parallel bracket 3.1 is fixedly arranged in the center of the transverse shaft 2.8 through a mounting hole; the upper end and the lower end of the parallel bracket 3.1 are provided with a laser 3.2 and a single-component fluxgate probe 3.3 which are arranged in parallel; the side surface of the parallel bracket 3.1 is fixedly provided with an electronic level sensor 3.4; in the initial installation process, the laser 3.2 and the single-component fluxgate probe 3.3 are fixed on the parallel support, so that the absolute horizontality of the laser 3.2 and the single-component fluxgate probe 3.3 can be ensured, and the absolute geomagnetic measurement precision is further ensured.
The marker is an auxiliary object in absolute geomagnetic measurement, the traditional marker is a cement pier or a marble pier fixed at a specific position, and when the marker is matched with a telescope, only the alignment marker can be observed by naked eyes.
The automatic fluxgate theodolite provided by the utility model does not need to adopt a telescope at all, but innovatively adopts a laser, and the corresponding marker adopts a PSD position sensor, so that the laser is matched with the PSD position sensor, and the marker can be aligned with high precision.
In addition, in the process of automatic absolute geomagnetic measurement, in order to eliminate the included angle between the optical axis of the laser and the axis of the fluxgate probe, a mode of aligning the marker twice by adopting a positive mirror alignment mode and a reverse mirror alignment mode is generally needed, so that the installation error of an instrument is eliminated and reduced. Wherein, positive mirror alignment refers to: the laser is positioned above the fluxgate probe; mirror alignment refers to: the laser is located below the fluxgate probe. Therefore, if a conventional PSD position sensor is adopted, two identical PSD position sensors are required to be installed up and down to realize the front mirror alignment and the back mirror alignment respectively. This approach has the following disadvantages: (1) Two PSD position sensors are required to be installed, so that the installation cost is increased; (2) The upper PSD position sensor and the lower PSD position sensor need to ensure complete parallel coaxial centers, otherwise, errors of alignment markers are introduced, and therefore, the installation accuracy is very strict; (3) Even if PSD position sensors of the same model are purchased, measurement errors are still increased due to the difference between the two PSD position sensors, since the performance of the two PSD position sensors cannot be identical.
Therefore, the inventor innovatively provides a novel position measuring device based on the PSD position sensor, so that the azimuth measurement of the PSD sensor at the same position on two paths of incident lasers with different heights can be realized, and the defects of the traditional mode are thoroughly overcome.
Referring to fig. 8-9, the PSD-based marker position sensor includes an outer housing 4.1, a beam splitter 4.2, a mirror 4.3, and a PSD position sensor 4.4;
the outer shell 4.1 is of a cavity structure with an opening at the front end; the beam splitter 4.2 is obliquely fixed in the outer casing 4.1, and specifically, the beam splitter 4.2 can be fixed in the inner cavity of the outer casing 4.1 through the beam splitter support frame 4.6.
The beam splitting surface of the beam splitter 4.2 forms an included angle of 45 degrees with the axis; the central line of the beam splitting surface of the beam splitter 4.2 is a central line A which is communicated with the front end opening of the outer shell 4.1; the PSD position sensor 4.4 is fixedly arranged on the inner wall of the rear end of the outer shell 4.1 and positioned on a transmission light path of the beam splitter 4.2 passing through the center line A; the front of the photosensitive surface of the PSD position sensor 4.4 can be fixedly provided with a light filter 4.5. A light hole 4.7 is formed in the top of the outer casing 4.1 and on the reflected light path of the beam splitter 4.2 passing through the center line a.
The reflecting mirror 4.3 is obliquely fixed to the bottom wall of the outer case 4.1, the reflecting surface of the reflecting mirror 4.3 is parallel to the beam splitting surface of the beam splitter 4.2, and the center line of the reflecting surface of the reflecting mirror 4.3 is the center line B, which is located right below the center line a, so that the laser beam horizontally incident on the center line B of the reflecting mirror 4.3 is reflected upward by the reflecting mirror 4.3, vertically enters the position of the center line a of the beam splitter 4.2, is reflected by the beam splitter 4.2, then horizontally enters the PSD position sensor 4.4, and the PSD position sensor 4.4 detects the azimuth of the initially incident laser beam on the horizontal plane.
Of course, in practical application, in order to adapt to different use scenes, the structure with adjustable vertical distance from the reflecting mirror to the beam splitter can be designed, so that the azimuth measurement of two paths of laser beams with different height differences is realized.
Specifically, when the positive mirror is adopted to align the laser mark, as shown in fig. 10, the laser is located above the single component fluxgate probe, at this time, the laser beam emitted by the laser is directly incident on the center line a of the beam splitter 4.2, and the laser beam transmitted by the beam splitter 4.2 is projected to the PSD position sensor 4.4, so that the PSD position sensor detects the azimuth of the laser beam emitted by the laser.
When the mirror is adopted to align the laser mark, the transverse axis rotates to drive the parallel support to rotate in the vertical plane, so that the laser is positioned below the single-component fluxgate probe, as shown in fig. 11, therefore, the laser beam emitted by the laser is incident on the mirror, is reflected upwards by the mirror, vertically enters the position of the central line A of the beam splitter, is reflected by the beam splitter, and horizontally enters the PSD position sensor, and the PSD position sensor detects the azimuth of the laser beam emitted by the laser.
Therefore, the position measuring device based on the PSD position sensor provided by the utility model skillfully realizes the azimuth measurement of the PSD sensor at the same position on two paths of incident lasers with different heights through a simple structure, thereby improving the measuring precision.
The master controller is respectively and electrically connected with the 1 st laser reading head 2.5, the 1 st piezoelectric motor 2.7, the 2 nd laser reading head 2.10, the 2 nd piezoelectric motor 2.12, the laser 3.2, the single component fluxgate probe 3.3 and the electronic level sensor 3.4. The master controller is connected with the marker position sensor through the data acquisition device.
Therefore, the automatic fluxgate theodolite for absolute geomagnetic observation has the following advantages:
(1) The laser replaces the traditional marker, and the laser alignment marker mode can effectively ensure the accuracy of the alignment marker, thereby ensuring the geomagnetic deflection angle obtained by measurementDAnd geomagnetic inclination angleIIs measured with the precision of the measurement;
(2) The two-dimensional non-magnetic rotating mechanism for bearing the single-component fluxgate probe is designed, and can automatically and accurately realize the horizontal rotation and the vertical rotation of the single-component fluxgate probe, and finally realize the geomagnetic deflection angleDAnd geomagnetic inclination angleIIs an automatic measurement of (a);
(3) The marker position sensor with the special structure is designed, so that the azimuth measurement of two paths of incident lasers with different heights by the PSD sensor at the same position can be skillfully realized, the measurement error when the positive and negative mirrors are aligned to the markers is reduced, and the geomagnetic field measurement precision is improved.
It will be appreciated by those skilled in the art that the automatic fluxgate theodolite for absolute geomagnetic observation provided by the present utility model may be implemented by any measurement method in the prior art, and the present utility model is not limited to a specific measurement method, however, in order to facilitate a full understanding of the automatic fluxgate theodolite provided by the present utility model, a specific absolute geomagnetic measurement method is listed below, and the following measurement method does not limit the scope of the present utility model:
referring to fig. 12, the automated absolute geomagnetic measurement method includes the steps of:
in the instrument erection process, rotating a vertical shaft, taking an electronic horizontal sensor (3.4) as a reference at an initial zero position and positive and negative 90-degree positions of an instrument, leveling a measuring unit (3) by adjusting three adjusting pins and a2 nd piezoelectric motor (2.12), and ensuring that a laser (3.2) and a single-component fluxgate probe (3.3) of the measuring unit (3) are positioned on a horizontal test surface; meanwhile, according to the height of a laser spot emitted by the laser (3.2) after leveling, the height of a window of the marker position sensor is adjusted to make the height of the window and the height of the window equal;
step 2.1, arranging the lasers (3.2) above the single-component fluxgate probe (3.3) in parallel;
step 2.2, the master controller turns on the laser (3.2), and simultaneously, the master controller controls the 1 st piezoelectric motor (2.7) so as to enable the horizontal non-magnetic rotating unit to rotate around the vertical axis, and enable the horizontal laser emitted by the laser (3.2) to approach to the sensing window of the marker position sensor, namely: approaching the sensing window of the PSD position sensor (4.4);
step 2.3, the master controller continuously controls the horizontal non-magnetic rotation unit to rotate around the vertical axis, and enables laser emitted by the laser to horizontally enter the edge of an induction window of the PSD position sensor (4.4) after the laser is transmitted by the beam splitter (4.2), so that the data collector collects induction voltage; then, the master controller controls the horizontal non-magnetic rotation unit to continuously rotate around the vertical shaft; because the lasers correspond to different induced voltages at different positions of the PSD position sensor induction window, when the data acquisition device acquires the specified induced voltages, namely, the horizontal nonmagnetic rotation unit rotates around the vertical axis to a specified direction, at the moment, the master controller controls the horizontal nonmagnetic rotation unit to stop rotating, and the master controller obtains the precise azimuth angle of the nonmagnetic shaft frame (2.1) at the moment through the 1 st laser reading head (2.5) and marks the precise azimuth angle as N 1 Thereby completing the standard mirror measurement;
step 2.4, then, the master controller controls the 2 nd piezoelectric motor (2.12) so as to drive the transverse shaft (2.8) to rotate 180 degrees, and further drive the measuring unit (3) to rotate 180 degrees, so that the lasers (3.2) are arranged below the single-component fluxgate probe (3.3) in parallel, and then the 2 nd piezoelectric motor (2.12) is locked;
step 2.5, then the master controller controls the 1 st piezoelectric motor (2.7) again, so that the horizontal non-magnetic rotation unit rotates around the vertical axis, and the horizontal laser emitted by the laser (3.2) is reflected upwards by the reflecting mirror (4.3) and then passes through the beam splitter (4.2)After reflection, the light enters the edge of an induction window of the PSD position sensor (4.4), so that the data collector collects induction voltage; then, the master controller controls the horizontal non-magnetic rotation unit to continuously rotate around the vertical shaft; because the lasers correspond to different induced voltages at different positions of the PSD position sensor induction window, when the data acquisition device acquires the specified induced voltages, namely, the horizontal nonmagnetic rotation unit rotates around the vertical axis to a specified direction, at the moment, the master controller controls the horizontal nonmagnetic rotation unit to stop rotating, and the master controller obtains the precise azimuth angle of the nonmagnetic shaft frame (2.1) at the moment through the 1 st laser reading head (2.5) and marks the precise azimuth angle as N 2 Thus completing the standard reflection mirror measurement;
step 2.6, the master controller will N 1 And N 2 Calculating the average value to obtain a sign reading N;
due to machining and assembly errors, there is a small non-orthogonal angle μ between the laser axis and the transverse axis of the automatic fluxgate theodolite. The purpose of the laser light emitted by the laser is to calculate the reading of the geographic north on the horizontal code wheel by looking at the markers. If the marker is aligned only once with a positive mirror or a negative mirror, the marker angle obtained by the automatic fluxgate theodolite will introduce errors due to the non-orthogonal angle μ. However, if the positive and negative mirror measurement method is adopted, the positive and negative errors are respectively brought by the positive and negative mirrors, the average value is obtained by adding the readings of the two times, and the positive and negative errors can be counteracted, that is, the errors brought by the non-orthogonality mu can be effectively counteracted.
step 3.1, the master controller turns off the laser (3.2) and turns on the single-component fluxgate probe (3.3), and at the moment, the laser (3.2) is arranged below the single-component fluxgate probe (3.3) in parallel;
step 3.2, the master controller controls the horizontal non-magnetic rotation unit to rotate around the vertical axis, and simultaneously, the master controller judges whether an external magnetic field intensity signal output by the single component fluxgate probe (3.3) is 0 in real time, and when the external magnetic field intensity signal reaches 0, the master controller obtains a first geomagnetic deflection angle measurement of an external magnetic field 0 value through a1 st laser reading head (2.5)Angle value D of measuring position 1 ；
Then, the master controller controls the horizontal non-magnetic rotation unit to reversely rotate around the vertical axis, and simultaneously, the master controller judges whether an external magnetic field intensity signal output by the single component fluxgate probe (3.3) is 0 in real time, and when the external magnetic field intensity signal reaches 0, the master controller obtains an angle value D of a second measurement position of the geomagnetic deflection angle of the 0-value external magnetic field through a1 st laser reading head (2.5) 2 ；
Step 3.3, then, the master controller controls the 2 nd piezoelectric motor (2.12) so as to drive the transverse shaft (2.8) to rotate 180 degrees, and further drive the measuring unit (3) to rotate 180 degrees, so that the laser (3.2) is arranged above the single-component fluxgate probe (3.3) in parallel, and then the 2 nd piezoelectric motor (2.12) is locked;
step 3.4, then, the master controller controls the horizontal non-magnetic rotation unit to rotate around the vertical axis, and simultaneously, the master controller judges whether the external magnetic field intensity signal output by the single component fluxgate probe (3.3) is 0 in real time, and when the external magnetic field intensity signal reaches 0, the master controller obtains an angle value D of a third measurement position of geomagnetic deflection angle of 0 value of the external magnetic field through the 1 st laser reading head (2.5) 3 ；
Then, the master controller controls the horizontal non-magnetic rotation unit to reversely rotate around the vertical axis, and simultaneously, the master controller judges whether an external magnetic field intensity signal output by the single component fluxgate probe (3.3) is 0 in real time, and when the external magnetic field intensity signal reaches 0, the master controller obtains an angle value D of a fourth measurement position of a geomagnetic deflection angle of an external magnetic field 0 value through a1 st laser reading head (2.5) 4 ；
Step 3.5, the angle value D of the geomagnetic drift angle first measurement position 1 Angle value D of geomagnetic declination second measurement position 2 Angle value D of geomagnetic declination third measurement position 3 And an angle value D of a fourth measurement position of geomagnetic drift angle 4 The average value is obtained as geomagnetic north reading D 0 ；
The actual declination D is calculated according to the following formula:
actual declination D = geomagnetic north reading D 0 Geographic north direction reading = geomagnetic north reading D 0 - (signature reading N-signature azimuth);
the marker azimuth angle is obtained by measuring a geomagnetic station in advance, namely, an included angle between the geographic north and the marker by taking a measuring point as a circle center;
referring to FIG. 12, geomagnetic north reading D 0 The reference of (1) is an automatic fluxgate theodolite instrument zero point, as shown as the angle A2 in the figure;
the reference of the sign reading N is an automatic fluxgate theodolite instrument zero point, as shown in the figure as A1, the consistency of the angle alignment is mainly used for ensuring whether the instrument is displaced in a plurality of measuring processes or placing processes;
the actual declination D is referenced to geographic north, as indicated by +.a4 in the figure.
step 4.1, arranging the lasers (3.2) above the single-component fluxgate probe (3.3) in parallel, and controlling the horizontal non-magnetic rotating unit to rotate around the vertical axis to the geomagnetic north reading D by the master controller 0 A location; at this time, the single component fluxgate probe (3.3) is positioned in the magnetic meridian plane;
then, the locking vertical shaft is not rotated any more; the master controller controls the 2 nd piezoelectric motor (2.12) so as to drive the transverse shaft (2.8) to rotate, and the transverse shaft (2.8) drives the laser (3.2) and the single-component fluxgate probe (3.3) to synchronously rotate in a magnetic noon through the parallel bracket (3.1); meanwhile, the master controller judges whether the external magnetic field intensity signal measured by the single component fluxgate probe (3.3) is 0 in real time, and when the external magnetic field intensity signal reaches 0, the master controller obtains an angle value I of a first measurement position of the geomagnetic inclination angle of the external magnetic field 0 value through a2 nd laser reading head (2.10) 1 ；
Then, the master controller continuously controls the transverse shaft to rotate in the opposite direction, and when the fluxgate probe again measures that the external magnetic field intensity signal is 0, the master controller obtains an angle value I of an external magnetic field 0 value geomagnetic inclination angle second measurement position through a2 nd laser reading head (2.10) 2 ；
Step 4.2, next, the master controller controls the vertical axis to rotate so that the vertical axis stops at D ０ Position +180° or D ０ Position-180 deg. position;
then, the locking vertical shaft is not rotated any more;
the master controller controls the 2 nd piezoelectric motor (2.12) so as to drive the transverse shaft (2.8) to rotate, and the transverse shaft (2.8) drives the laser (3.2), the single-component fluxgate probe (3.3) and the electronic level sensor (3.4) to synchronously rotate in a magnetic noon through the parallel bracket (3.1); meanwhile, the master controller judges whether the external magnetic field intensity signal measured by the single component fluxgate probe (3.3) is 0 in real time, and when the external magnetic field intensity signal reaches 0, the master controller obtains an angle value I of a third measurement position of the geomagnetic inclination angle of the external magnetic field 0 value through a2 nd laser reading head (2.10) 3 ；
Step 4.3, the master controller continuously controls the transverse axis to rotate in the opposite direction, and when the single-component fluxgate probe (3.3) again measures that the external magnetic field intensity signal is 0, the master controller obtains an angle value I of an external magnetic field 0 value geomagnetic inclination angle fourth measurement position through a2 nd laser reading head (2.10) 4 ；
Step 4.4, obtaining the magnetic inclination angle I based on the following formula:
magnetic tilt i= (I 1 +I 2 -I 3 -I 4 ）/4。
The automatic absolute geomagnetic measurement method provided by the utility model has the following advantages:
(1) The laser alignment marker mode is adopted, so that the accuracy of the alignment marker can be effectively ensured, and the absolute geomagnetic measurement accuracy is ensured;
(2) The two-dimensional non-magnetic rotating mechanism is used as a driving motion mechanism of the fluxgate probe, so that the horizontal rotation and the vertical rotation of the single-component fluxgate probe can be automatically realized with high precision, and finally the absolute geomagnetic measurement precision is ensured;
(3) In the absolute geomagnetic measurement process, the same marker position sensor is adopted to skillfully realize azimuth measurement of two paths of incident lasers with different heights, so that measurement errors when the positive and negative mirrors are aligned with the markers are reduced, and geomagnetic field measurement accuracy is improved.
The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which is also intended to be covered by the present utility model.
Claims (3)
1. An automated fluxgate theodolite for absolute geomagnetic observation, comprising: the device comprises a supporting mechanism (1), a two-dimensional non-magnetic rotating mechanism (2), a measuring unit (3) and a master controller;
wherein the supporting mechanism (1) comprises an upper panel (1.1), a lower panel (1.2) and an upright post (1.3); the upper panel (1.1) and the lower panel (1.2) are arranged symmetrically and horizontally; the number of the upright posts (1.3) is at least two, and the upright posts are fixedly arranged between the upper panel (1.1) and the lower panel (1.2);
the two-dimensional non-magnetic rotating mechanism (2) comprises a horizontal non-magnetic rotating unit and a vertical non-magnetic rotating unit; the horizontal non-magnetic rotation unit is used for rotating the measuring unit (3) in a horizontal space, and comprises: the device comprises a non-magnetic shaft frame (2.1), a1 st vertical shaft (2.2), a2 nd vertical shaft (2.3), a1 st round grating code disc (2.4), a1 st laser reading head (2.5), a1 st piezoelectric ceramic ring (2.6) and a1 st piezoelectric motor (2.7);
the non-magnetic shaft frames (2.1) are vertically arranged, and the 1 st vertical shaft (2.2) and the 2 nd vertical shaft (2.3) are fixedly installed at the bottom center and the top center of the non-magnetic shaft frames (2.1) respectively; the bottom of the 1 st vertical shaft (2.2) is rotatably arranged at the center of the lower panel (1.2) through a bearing; the 1 st piezoelectric ceramic ring (2.6) is positioned above the lower panel (1.2), the center of the 1 st piezoelectric ceramic ring (2.6) is fixedly sleeved on the 2 nd vertical shaft (2.3), the 1 st piezoelectric motor (2.7) is fixedly arranged on the upper surface of the lower panel (1.2), the output end of the 1 st piezoelectric motor (2.7) is tightly contacted with the surface of the 1 st piezoelectric ceramic ring (2.6), and the 1 st piezoelectric motor (2.7) drives the 2 nd vertical shaft (2.3) to rotate in a horizontal space through the 1 st piezoelectric ceramic ring (2.6), so as to drive the nonmagnetic shaft frame (2.1) to rotate in the horizontal space; the top of the 2 nd vertical shaft (2.3) is rotatably arranged at the center of the upper panel (1.1) through a bearing and extends to the upper part of the upper panel (1.1); the 1 st round grating code disc (2.4) is positioned above the upper panel (1.1), the center of the 1 st round grating code disc (2.4) is fixedly connected with the 2 nd vertical shaft (2.3), and the 1 st laser reading head (2.5) is connected with the 1 st round grating code disc (2.4) and is used for reading a rotation angle value measured by the 1 st round grating code disc (2.4);
the vertical nonmagnetic rotating unit comprises a transverse shaft (2.8), a2 nd round grating code disc (2.9), a2 nd laser reading head (2.10), a2 nd piezoelectric ceramic ring (2.11) and a2 nd piezoelectric motor (2.12); the transverse shaft (2.8) is horizontally arranged between the left side longitudinal beam and the right side longitudinal beam of the non-magnetic shaft frame (2.1), and the right end of the transverse shaft (2.8) is rotatably arranged in the center of the right side longitudinal beam through a bearing; the 2 nd piezoelectric ceramic ring (2.11) is positioned at the inner side of the right side longitudinal beam, the center of the 2 nd piezoelectric ceramic ring (2.11) is fixedly sleeved at the right end of the transverse shaft (2.8), the 2 nd piezoelectric motor (2.12) is fixedly installed at the inner side of the right side longitudinal beam, the output end of the 2 nd piezoelectric motor (2.12) is tightly contacted with the surface of the 2 nd piezoelectric ceramic ring (2.11), and the 2 nd piezoelectric motor (2.12) drives the transverse shaft (2.8) to rotate in a vertical space through the 2 nd piezoelectric ceramic ring (2.11); the left end of the transverse shaft (2.8) is rotatably arranged at the center position of the left side longitudinal beam through a bearing and extends to the outer side of the left side longitudinal beam; the 2 nd round grating code disc (2.9) is positioned outside the left side longitudinal beam, the center of the 2 nd round grating code disc (2.9) is fixedly connected with the left end of the transverse shaft (2.8), and the 2 nd laser reading head (2.10) is connected with the 2 nd round grating code disc (2.9) and is used for reading the rotation angle value measured by the 2 nd round grating code disc (2.9);
the measuring unit (3) comprises: the device comprises a parallel bracket (3.1), a laser (3.2), a single-component fluxgate probe (3.3) and an electronic level sensor (3.4); the geometric center of the parallel support (3.1) is provided with a mounting hole matched with the transverse shaft (2.8); the parallel support (3.1) is fixedly arranged at the center of the transverse shaft (2.8) through the mounting hole; the upper end and the lower end of the parallel support (3.1) are respectively provided with the laser (3.2) and the single-component fluxgate probe (3.3); the laser (3.2) and the single-component fluxgate probe (3.3) are arranged in parallel; the electronic level sensor (3.4) is fixedly arranged on the side surface of the parallel bracket (3.1);
the master controller is respectively and electrically connected with the 1 st laser reading head (2.5), the 1 st piezoelectric motor (2.7), the 2 nd laser reading head (2.10), the 2 nd piezoelectric motor (2.12), the laser (3.2), the single-component fluxgate probe (3.3) and the electronic level sensor (3.4);
wherein the supporting mechanism (1) further comprises an adjusting screw (1.4); the number of the adjusting screws (1.4) is 3, and the adjusting screws are fixedly arranged at the bottom of the lower panel (1.2) at equal intervals;
wherein, still include: a marker position sensor and a data collector; the marker position sensor is connected to the master controller through the data collector.
2. An automated fluxgate theodolite for absolute geomagnetic observation according to claim 1, wherein the marker position sensor is a PSD sensor based position measurement device comprising an outer housing (4.1), a beam splitter (4.2), a mirror (4.3) and a PSD position sensor (4.4);
the outer shell (4.1) is of a cavity structure with an opening at the front end; the beam splitter (4.2) is obliquely fixed in the outer shell (4.1), and a beam splitting surface of the beam splitter (4.2) forms an included angle of 45 degrees with the axis; the central line of the light splitting surface of the beam splitter (4.2) is a central line A, and the central line A is communicated with the front end opening of the outer shell (4.1); the PSD position sensor (4.4) is fixedly arranged on the inner wall of the rear end of the outer shell (4.1) and positioned on a transmission light path of the beam splitter (4.2) passing through the central line A;
the reflection mirror (4.3) is obliquely fixed on the bottom wall of the outer shell (4.1), the reflection surface of the reflection mirror (4.3) is parallel to the beam splitting surface of the beam splitting mirror (4.2), and the central line of the reflection surface of the reflection mirror (4.3) is a central line B which is positioned right below the central line A, so that laser horizontally incident on the central line B of the reflection mirror (4.3) is reflected upwards by the reflection mirror (4.3) and then vertically incident on the central line A of the beam splitting mirror (4.2), then is reflected by the beam splitting mirror (4.2) and then horizontally incident on the PSD position sensor (4.4), and the PSD position sensor (4.4) detects the azimuth of the initially incident laser on the horizontal plane.
3. An automated fluxgate theodolite for absolute geomagnetic observation according to claim 2, characterised in that the vertical distance of the mirror (4.3) to the beam splitter (4.2) is adjustable;
the beam splitter support frame (4.6) is also included; the beam splitter (4.2) is fixed in the inner cavity of the outer shell (4.1) through the beam splitter support frame (4.6);
a light hole (4.7) is formed in the top of the outer shell (4.1) and located on a reflection light path of the beam splitter (4.2) passing through the center line A.
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| GB0008400D0 (en) * | 2000-04-05 | 2000-05-24 | Seos Displays Ltd | Apparatus for converting an optical theodolite into a laser theodolite |
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| GB0008400D0 (en) * | 2000-04-05 | 2000-05-24 | Seos Displays Ltd | Apparatus for converting an optical theodolite into a laser theodolite |
| CN101014829A (en) * | 2004-07-22 | 2007-08-08 | 莱卡地球系统公开股份有限公司 | Geodesic measuring instrument with a piezo drive |
| CN202361980U (en) * | 2011-12-08 | 2012-08-01 | 北方光电集团有限公司 | Nonmagnetic theodolite |
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