CN110487217B - Ball hinge space corner detection method - Google Patents
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- CN110487217B CN110487217B CN201910734999.5A CN201910734999A CN110487217B CN 110487217 B CN110487217 B CN 110487217B CN 201910734999 A CN201910734999 A CN 201910734999A CN 110487217 B CN110487217 B CN 110487217B
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Abstract
The invention discloses a ball hinge space corner detection method. Currently, optical angle measurement methods are limited. According to the invention, by arranging a laser transmitter and a plurality of four-quadrant photoelectric detectors, the spatial two-dimensional corner of the ball head, namely the deflection angle and the azimuth angle, can be solved according to the principle of the four-quadrant photoelectric detectors and the simple triangular relation. The invention has low requirement on the installation position of the laser transmitter, has simpler realization mode, can realize non-contact measurement and obtain higher resolution and measurement precision.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a ball hinge space corner detection method based on a four-quadrant photoelectric detector.
Background
The ball hinge is a commonly used three-degree-of-freedom mechanical joint, has the advantages of compact structure, flexible movement, strong bearing capacity and the like, and becomes a key component in mechanical equipment such as parallel mechanisms, industrial robots (mechanical arms), automobile parts and the like. For example, a parallel machine tool is used as novel numerical control machining equipment, each branched chain is connected with a movable platform and a static platform through a hinge, the quasi-static error of a system has about 70% of influence on the precision of the machine tool, and the error of a ball hinge has an important influence on the alignment of the static error. Because the motion of the spherical hinge is limited by the joint clearance of the hinge, the structural rigidity and the like, and the caused motion error influences the transmission precision of the system, the detection of the spatial rotation angle of the spherical hinge is very necessary for the prediction analysis, feedback and compensation of the system error, and is beneficial to the optimization of the control of a motion mechanism.
The traditional angle measurement is mainly carried out on a single-degree-of-freedom moving object, and usually, the angle measurement is carried out mechanically and electromagneticallyAngle measurement, optical angle measurement and the like. The research and application of the optical measurement technology are rapidly developed, and the detection instruments are various due to different angle measurement methods, such as a photoelectric encoder method, a circular grating method, a laser interferometry, a ring laser method and the like, most of the methods are applied to the precise measurement of small angles, so that higher resolution and measurement precision can be obtained, and the 360-degree full-circle angle measurement needs to be improved appropriately. For example, shin-Customs, Tokagawa Kaisha, Japan, proposes a method for measuring the absolute angle of a spherical body, wherein the spherical body is made of a transparent material or a material capable of transmitting an electromagnetic wave recognizable by an image recognition device, and the surface of the spherical body is sprayed with a pattern QR
Two-dimensional or one-dimensional bar codes record information such as position in the code. The image recognition device is arranged outside the sphere, and the detected pattern is processed to obtain the angle information of the sphere, however, the measurement method is not found in practical application occasions, and the actual effect of the measurement method is not questioned.
Disclosure of Invention
The invention aims to provide a ball hinge space corner detection method based on a four-quadrant photoelectric detector aiming at the defects of the prior art, so as to realize the measurement of the deflection angle and the azimuth angle of a ball hinge.
The method comprises the following specific steps:
1) the hemispherical shell is fixed on the ball head output rod, so that the hemispherical shell and the ball head are concentric, and the hemispherical shell faces the ball head.
2) A laser emitter is fixedly arranged at the ball socket.
3) N four-quadrant photoelectric detector groups distributed along the warp direction are arranged on the spherical surface in the hemispherical shell, and each four-quadrant photoelectric detector group consists of N four-quadrant photoelectric detectors which are uniformly distributed and fixed on the spherical surface in the hemispherical shell along the weft direction; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the length of the overlapped edges of two adjacent four-quadrant photoelectric detectors aligned along the same meridian in each four-quadrant photoelectric detector group is equal; the symmetrical center lines in the warp direction of all the four quadrant photodetectors aligned on one warp are the sides of the inscribed regular polygon of the warp; then, the four-quadrant photoelectric detectors are arranged in sequence, specifically as follows: the four quadrant photodetectors in the four quadrant photodetector group with the lowest latitude are sequentially numbered from 1 to N, the N four quadrant photodetector groups are sequentially numbered from low to high according to the latitude, the number of the four quadrant photodetector in the ith four quadrant photodetector group aligned with the jth four quadrant photodetector in the first four quadrant photodetector group with the lowest latitude along the longitude direction is j + (i-1) N, j is more than or equal to 1 and less than or equal to N, and i is more than or equal to 2 and less than or equal to N; n is more than or equal to 20, and N is more than or equal to 8;
4) establishing a Cartesian coordinate system O-XYZ, wherein the origin O of the coordinate system is arranged at the center of the ball head, the plane XY formed by the X axis and the Y axis is parallel to the plane where the latitude lines are located, and the plane where the latitude lines are located is parallel to the bottom surface of the ball socket; the Z axis is perpendicular to the plane XY.
5) When the point M on the central axis of the ball output rod is rotated to the point M', the ball rotates forwards and backwards through the azimuth angle
The laser emitted by the rear laser emitter is irradiated on two four-quadrant photoelectric detectors, and the imaging facula energy center P of the emergent light of the laser emitter on one of the four-quadrant photoelectric detectors is measured according to the measuring principle of the four-quadrant photoelectric detectors1Latitudinal offset d from the geometric center of the four-quadrant photodetectorx1And a warp offset dy1And the imaging spot energy center P of the emergent light of the laser transmitter on the other four-quadrant photoelectric detector2Latitudinal offset d from the geometric center of the four-quadrant photodetectorx2And a warp offset dy2. The first quadrant, the second quadrant, the third quadrant and the fourth quadrant of the four-quadrant photoelectric detector are divided in the same way as the four quadrants in a plane coordinate system, and P is set1In the first and fourth quadrant dx1Is positive, in the second and third quadrant dx1Is negative, P1In the first and second boundaries dy1Is positive, in the third and fourth quadrant dy1Is negative;setting P2In the first and fourth quadrant dx2Is positive, in the second and third quadrant dx2Is negative, P2In the first and second boundaries dy2Is positive, in the third and fourth quadrant dy2Is negative.
6) The interior angle omega of the positive N-shaped polygon formed by the four quadrant photodetectors in the same four quadrant photodetector group and surrounded by the latitudinal sides is solved as follows:
7) when P is present1And P2When two four-quadrant photoelectric detectors are positioned at adjacent longitude lines, the rotating azimuth angle
Calculated according to the formula (2), when P is1And P2When two four-quadrant photoelectric detectors are not adjacent to the longitude line, the rotating azimuth angle
Calculating according to the formula (3);
in the formula (3), m1Is P1And P2The number of the four-quadrant photoelectric detectors is equal to the number of the four-quadrant photoelectric detectors spaced along the weft direction between the two four-quadrant photoelectric detectors; setting P1The latitudinal edge length of the four-quadrant photoelectric detector is k, P2The length v of the latitudinal edge of the four-quadrant photoelectric detector is k +/-c1×p，P2The four-quadrant photoelectric detector is positioned at P1When the detector is above the four-quadrant photoelectric detector, taking a positive sign, otherwise, taking a negative sign, c1Taking the value in the range of 0.02-0.05, wherein the unit of the length of the latitudinal edge is mm, and P is P1And P2The number difference of the four quadrant photoelectric detector groups; p1The four-quadrant photoelectric detector is close to P2The latitudinal edge of the four-quadrant photoelectric detector is set as E1，P2The four-quadrant photoelectric detector is close to P1The latitudinal edge of the four-quadrant photoelectric detector is set as E2Then P is1To E1A distance of 0.5k-dx1，P2To E2Distance b is 0.5v-dx2。P1And the latitudinal edge E1Point of intersection, P1And a coordinate system origin O, wherein the angle corresponding to the side length with the length a is
P2And the latitudinal edge E2Point of intersection, P2And the coordinate system origin O, the angle corresponding to the side length with the length b is
Regardless of P1And P2Whether the two four quadrant photodetectors are located at adjacent meridian lines,
and
the following processes are adopted:
solving the origin O to P of the coordinate system according to the formula (4) according to the cosine theorem1Distance L of1Solving the origin O to P of the coordinate system according to the formula (5) according to the cosine theorem2Distance L of2(ii) a Then, the solution is obtained according to the formula (6) based on the sine theorem
Solving according to the sine theorem and the formula (7)
In equations (4) and (5), r is the inner spherical radius of the hemispherical shell.
8) Setting the length of the warp-wise edge of all the four-quadrant photoelectric detectors as t, and solving the included angle between two adjacent four-quadrant photoelectric detectors along the warp direction according to a formula (8) if the included angle is 180-alpha:
9) when P is present1And P2When two adjacent four-quadrant photoelectric detectors are arranged in two adjacent four-quadrant photoelectric detector groups, the rotating deflection angle theta is calculated according to the formula (9), and when P is1And P2When the two four-quadrant photoelectric detectors are in two nonadjacent four-quadrant photoelectric detector groups, the rotated yaw angle theta is calculated according to a formula (10);
θ＝θ1+θ2 (9)
in the formula (10), m2Is P1And P2Two of themThe number of the four-quadrant photoelectric detectors which are arranged among the four-quadrant photoelectric detectors at intervals along the meridian direction is as follows, T is the number of the edges of a regular polygon where symmetrical center lines of all the four-quadrant photoelectric detectors aligned on one meridian are located along the meridian direction, and the solution of T is as follows:
by
Push out
P1The four-quadrant photoelectric detector is close to P2The radial edge of the four quadrant photoelectric detector is set as E3，P2The four-quadrant photoelectric detector is close to P1The radial edge of the four-quadrant photoelectric detector is set as E4Then P is1To E3C is 0.5t-dx2，P2To E2D is 0.5t-dy2。P1And the latitudinal edge E3Point of intersection, P1And the coordinate system origin O, the angle corresponding to the side length with the length c is theta1；P2And the latitudinal edge E4Point of intersection, P2And a coordinate system origin O, wherein the angle corresponding to the side length with the length d is theta2。
Regardless of P1And P2Two four-quadrant photoelectric detectors are arranged in two adjacent four-quadrant photoelectric detector groups, theta1And theta2The following processes are adopted:
solving the origin O to P of the coordinate system according to the cosine theorem and the formula (11)1Distance L of3Solving the origin O to P of the coordinate system according to the formula (12) according to the cosine theorem2Distance L of4(ii) a Then, the theta is solved according to the formula (13) based on the sine theorem1Solving for theta according to the sine theorem and equation (14)2。
Furthermore, the four-quadrant photodetectors of the same four-quadrant photodetector group have the same size.
Furthermore, the distance between adjacent four-quadrant photodetectors in the same four-quadrant photodetector group is less than 0.05 mm.
Furthermore, the four-quadrant photoelectric detector group is not distributed on the inner spherical surface of the whole hemispherical shell.
The invention has the beneficial effects that:
1. according to the invention, by arranging the laser transmitter and the four-quadrant photoelectric detectors, the spatial two-dimensional corner, namely the deflection angle and the azimuth angle of the ball head can be solved according to the principle of the four-quadrant photoelectric detectors and the simple triangular relation, the requirement on the installation position of the laser transmitter is not high, and the implementation mode is simple.
2. The invention can realize non-contact measurement and obtain higher resolution and measurement precision.
3. The invention has the advantages of low cost, low requirement on equipment and high practicability.
Drawings
FIG. 1 is an assembly schematic of a hemispherical shell, laser transmitter, ball head output shaft and ball socket of the present invention;
FIG. 2 is a schematic diagram of a four quadrant photodetector arrangement within a hemispherical shell of the present invention;
FIG. 3 is a schematic diagram of the present invention for measuring the deflection angle and azimuth angle of the ball head;
FIG. 4 shows P in the process of the present invention1Schematic diagram of the four-quadrant photoelectric detector;
FIG. 5 shows P in the method of the present invention2Schematic diagram of the four-quadrant photoelectric detector;
FIG. 6 shows P in the method of the present invention1And P2Measuring an azimuth angle schematic diagram when the two four-quadrant photoelectric detectors are positioned at adjacent warps;
FIG. 7 shows P in the method of the present invention1And P2Measuring an azimuth angle schematic diagram when the two four-quadrant photoelectric detectors are not adjacent to the longitude line;
FIG. 8 shows P in the method of the present invention1And P2The schematic diagram of the deflection angle is measured when the two four-quadrant photodetectors are in the two adjacent four-quadrant photodetector groups;
FIG. 9 shows P in the method of the present invention1And P2And the schematic diagram of the deflection angle is measured when the two four-quadrant photodetectors are not arranged in the two adjacent four-quadrant photodetector groups.
Detailed Description
The invention is further explained below with reference to the drawings and examples.
A ball hinge space corner detection method comprises the following specific steps:
1) as shown in fig. 1, the hemispherical case 3 is fixed to the ball output shaft 1 such that the hemispherical case 3 is concentric with the ball 4 and the hemispherical case 3 faces the ball 4.
2) A laser emitter 2 is fixedly arranged on the ball socket 5.
3) As shown in fig. 2, N four-quadrant photodetector groups arranged along the warp direction are arranged on the inner spherical surface of the hemispherical shell 3, and each four-quadrant photodetector group is composed of N four-quadrant photodetectors 6 uniformly distributed and fixed on the inner spherical surface of the hemispherical shell 3 along the weft direction; the four-quadrant photoelectric detectors of the same four-quadrant photoelectric detector group have the same size; the distance between adjacent four-quadrant photoelectric detectors in the same four-quadrant photoelectric detector group is less than 0.05mm, which can be approximate to 0, and the receiving of emergent light of the laser emitter 2 is not influenced; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the length of the overlapped edges of two adjacent four-quadrant photoelectric detectors aligned along the same meridian in each four-quadrant photoelectric detector group is equal; the symmetrical center lines in the warp direction of all the four quadrant photodetectors aligned on one warp are the sides of the inscribed regular polygon of the warp; the four-quadrant photoelectric detector group does not need to be fully distributed on the inner spherical surface of the whole hemispherical shell 3, and only the laser emitted by the laser emitter 2 in the rotating process of the hemispherical shell 3 can be shot on the arranged four-quadrant photoelectric detector 6. Then, the four-quadrant photodetectors 6 are arranged in sequence, and the sequence is used as the identifier of the four-quadrant photodetector, which is as follows: the four quadrant photodetectors in the four quadrant photodetector group with the lowest latitude are sequentially numbered from 1 to N, the N four quadrant photodetector groups are sequentially numbered from low to high according to the latitude, the number of the four quadrant photodetector in the ith four quadrant photodetector group aligned with the jth four quadrant photodetector in the first four quadrant photodetector group with the lowest latitude along the longitude direction is j + (i-1) N, j is more than or equal to 1 and less than or equal to N, and i is more than or equal to 2 and less than or equal to N; n is more than or equal to 20, and N is more than or equal to 8;
4) as shown in fig. 3, a cartesian coordinate system O-XYZ is established, the origin O of the coordinate system is arranged at the center of the ball head 4, the plane XY formed by the X axis and the Y axis is parallel to the plane of the latitude line, and the plane of the latitude line is parallel to the bottom surface of the ball socket 5; the Z axis is perpendicular to the plane XY; the coordinate of the point M on the central axis of the ball-head output rod 1 in the cartesian coordinate system O-XYZ is:
wherein the content of the first and second substances,
is an azimuth angle, theta is a yaw angle, and R is the distance between the point M and the origin O of the coordinate system; according to the above formula, R is determined directly after the point M is selected, and thus, it is measuredAzimuth angle
And the yaw angle theta, the space rotation angle (azimuth angle) of the ball hinge can be solved
And yaw angle θ collectively referred to as a space rotation angle).
5) When a point M on the center axis of the ball output shaft 1 is rotated to a point M', the ball 4 is rotated to the front and over the azimuth angle, as shown in FIGS. 3, 4 and 5
The laser emitted by the rear laser emitter 2 is irradiated on the two four-quadrant photoelectric detectors 6, and the imaging facula energy center P of the emergent light of the laser emitter 2 on one four-quadrant photoelectric detector 6 is measured according to the measuring principle of the four-quadrant photoelectric detector 61From the geometric center O of the four-quadrant photodetector 61Latitudinal offset d of pointsx1And a warp offset dy1And the imaging spot energy center P of the light emitted by the laser emitter 2 on the other four-quadrant photoelectric detector 62From the geometric center O of the four-quadrant photodetector 62Latitudinal offset d of pointsx2And a warp offset dy2，dx1And dy1And dx2And dy2The solving process according to the measurement principle of the four-quadrant photodetector 6 is a mature algorithm in the four-quadrant photodetector 6, such as the solving process from pages 7 to 11 in the paper "research on fast and precise detection technology based on QD laser visual axis" published by Wangqian in 2008 at Changchun university of science. In FIG. 4, S1、S2、S3And S4Are respectively P1The areas of a first quadrant, a second quadrant, a third quadrant and a fourth quadrant of the four-quadrant photoelectric detector are all the same; in FIG. 5, S5、S6、S7And S8Are respectively P2The areas of the first quadrant, the second quadrant, the third quadrant and the fourth quadrant of the four-quadrant photoelectric detector, and the areas of the first quadrant, the second quadrant, the third quadrant and the fourth quadrant of the four-quadrant photoelectric detectorConsistent with the four quadrant division in a planar coordinate system. Setting P1In the first and fourth quadrant dx1Is positive, in the second and third quadrant dx1Is negative, P1In the first and second boundaries dy1Is positive, in the third and fourth quadrant dy1Is negative; setting P2In the first and fourth quadrant dx2Is positive, in the second and third quadrant dx2Is negative, P2In the first and second boundaries dy2Is positive, in the third and fourth quadrant dy2Is negative.
6) As shown in fig. 6 and 7, the interior angle ω of the regular N-sided shape enclosed by the edges of the four quadrant photodetectors in the same four quadrant photodetector group along the latitudinal direction is solved as follows:
7) when P is present, as shown in FIGS. 6 and 71And P2The two four-quadrant photoelectric detectors 6 are positioned at the rotating azimuth angles of the adjacent longitude lines (which may not be in the same four-quadrant photoelectric detector group)
Calculated according to the formula (2), when P is1And P2When the two four-quadrant photoelectric detectors 6 are not adjacent to the longitude line, the rotating azimuth angle
Calculating according to the formula (3) (when two four-quadrant photoelectric detectors are not in the same four-quadrant photoelectric detector group,
and
the solution should be separately solved in two different regular N-polygons, but fig. 6 and 7 only draw one regular N-polygon for the sake of simplifying the schematic diagram);
in the formula (3), m1Is P1And P2The number of the four-quadrant photoelectric detectors is equal to the number of the four-quadrant photoelectric detectors spaced along the weft direction between the two four-quadrant photoelectric detectors; because all the four-quadrant photodetectors 6 are processed by approximating a rectangle (the four-quadrant photodetectors 6 are isosceles trapezoids, but because the four-quadrant photodetectors 6 are not large in size and are approximated to a rectangle, the accuracy is affected within an allowable range), regardless of P1And P2Where the four quadrant photo-detectors are located, P1On the four-quadrant photoelectric detector passing through P1And the lengths of the straight lines along the weft direction are all equal to the lengths of the latitudinal sides of the four-quadrant photoelectric detector, P2On the four-quadrant photoelectric detector passing through P2The length of the straight line along the weft direction is equal to the length of the latitudinal edge of the four-quadrant photoelectric detector; setting P1The latitudinal edge length of the four-quadrant photoelectric detector is k, P2The length v of the latitudinal edge of the four-quadrant photoelectric detector is k +/-c1×p，P2The four-quadrant photoelectric detector is positioned at P1When the detector is above the four-quadrant photoelectric detector, taking a positive sign, otherwise, taking a negative sign, c1Taking the value in the range of 0.02-0.05, wherein the unit of the length of the latitudinal edge is mm, and P is P1And P2The number difference of the four quadrant photoelectric detector groups; p1The four-quadrant photoelectric detector is close to P2The latitudinal edge of the four-quadrant photoelectric detector is set as E1，P2The four-quadrant photoelectric detector is close to P1The latitudinal edge of the four-quadrant photoelectric detector is set as E2Then P is1To E1A distance of 0.5k-dx1，P2To E2Distance b is 0.5v-dx2。P1And the latitudinal edge E1Point of intersection, P1And a coordinate system origin O, wherein the angle corresponding to the side length with the length a is
P2And the latitudinal edge E2Point of intersection, P2And the coordinate system origin O, the angle corresponding to the side length with the length b is
Regardless of P1And P2Whether the two four quadrant photodetectors are located at adjacent meridian lines,
and
the following processes are adopted:
solving the origin O to P of the coordinate system according to the formula (4) according to the cosine theorem1Distance L of1Solving the origin O to P of the coordinate system according to the formula (5) according to the cosine theorem2Distance L of2(ii) a Then, the solution is obtained according to the formula (6) based on the sine theorem
Solving according to the sine theorem and the formula (7)
In equations (4) and (5), r is the inner spherical radius of the hemispherical shell 3.
8) As shown in fig. 8 and 9, if the length of the warp-wise edge of all the four-quadrant photodetectors 6 is set to be t, the included angle between two adjacent four-quadrant photodetectors along the warp direction is 180 ° - α, α is solved according to the formula (8):
9) when P is present, as shown in FIGS. 8 and 91And P2When the two four-quadrant photoelectric detectors 6 are in the two adjacent four-quadrant photoelectric detector groups (which may not be in the positions of the adjacent meridians), the rotated yaw angle theta is calculated according to the formula (9), and when P is1And P2When the two four-quadrant photodetectors 6 are in the two non-adjacent four-quadrant photodetector groups, the rotated yaw angle theta is calculated according to the formula (10) (when the two four-quadrant photodetectors are in the two non-adjacent four-quadrant photodetector groups, the theta is1And theta2The solution should be separately solved in two different regular T-polygons, but fig. 8 and 9 only draw n sides of one regular T-polygon for simplifying the schematic diagram);
θ＝θ1+θ2 (9)
in the formula (10), m2Is P1And P2The number of four-quadrant photoelectric detectors spaced along the meridian direction between the two four-quadrant photoelectric detectors is, T is the number of edges of a regular polygon where the meridian direction symmetric center lines of all the four-quadrant photoelectric detectors aligned on one meridian are located, and the solution of T is as follows:
by
Push out
P1The four-quadrant photoelectric detector is close to P2The radial edge of the four quadrant photoelectric detector is set as E3，P2The four-quadrant photoelectric detector is close to P1The radial edge of the four-quadrant photoelectric detector is set as E4Then P is1To E3C is 0.5t-dx2，P2To E2D is 0.5t-dy2。P1And the latitudinal edge E3Point of intersection, P1And the coordinate system origin O, the angle corresponding to the side length with the length c is theta1；P2And the latitudinal edge E4Point of intersection, P2And a coordinate system origin O, wherein the angle corresponding to the side length with the length d is theta2。
Regardless of P1And P2Two four-quadrant photodetectors 6 are located in two adjacent four-quadrant photodetector groups, theta1And theta2The following processes are adopted:
solving the origin O to P of the coordinate system according to the cosine theorem and the formula (11)1Distance L of3Solving the origin O to P of the coordinate system according to the formula (12) according to the cosine theorem2Distance L of4(ii) a Then, the theta is solved according to the formula (13) based on the sine theorem1Solving for theta according to the sine theorem and equation (14)2。
Claims (4)
1. A ball hinge space corner detection method is characterized in that: the method comprises the following specific steps:
1) fixing a hemispherical shell on the ball head output rod, so that the hemispherical shell and the ball head are concentric, and the hemispherical shell faces the ball head;
2) a laser emitter is fixedly arranged at the ball socket;
3) n four-quadrant photoelectric detector groups distributed along the warp direction are arranged on the spherical surface in the hemispherical shell, and each four-quadrant photoelectric detector group consists of N four-quadrant photoelectric detectors which are uniformly distributed and fixed on the spherical surface in the hemispherical shell along the weft direction; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the length of the overlapped edges of two adjacent four-quadrant photoelectric detectors aligned along the same meridian in each four-quadrant photoelectric detector group is equal; the symmetrical center lines in the warp direction of all the four quadrant photodetectors aligned on one warp are the sides of the inscribed regular polygon of the warp; then, the four-quadrant photoelectric detectors are arranged in sequence, specifically as follows: the four quadrant photodetectors in the four quadrant photodetector group with the lowest latitude are sequentially numbered from 1 to N, the N four quadrant photodetector groups are sequentially numbered from low to high according to the latitude, the number of the four quadrant photodetector in the ith four quadrant photodetector group aligned with the jth four quadrant photodetector in the first four quadrant photodetector group with the lowest latitude along the longitude direction is j + (i-1) N, j is more than or equal to 1 and less than or equal to N, and i is more than or equal to 2 and less than or equal to N; n is more than or equal to 20, and N is more than or equal to 8;
4) establishing a Cartesian coordinate system O-XYZ, wherein the origin O of the coordinate system is arranged at the center of the ball head, the plane XY formed by the X axis and the Y axis is parallel to the plane where the latitude lines are located, and the plane where the latitude lines are located is parallel to the bottom surface of the ball socket; the Z axis is perpendicular to the plane XY;
5) when the point M on the central axis of the ball output rod is rotated to the point M', the ball rotates forwards and backwards through the azimuth angle
The laser emitted by the rear laser emitter is irradiated on two four-quadrant photoelectric detectors, and the imaging facula energy center P of the emergent light of the laser emitter on one of the four-quadrant photoelectric detectors is measured according to the measuring principle of the four-quadrant photoelectric detectors1Latitudinal offset d from the geometric center of the four-quadrant photodetectorx1And a warp offset dy1And the imaging spot energy center P of the emergent light of the laser transmitter on the other four-quadrant photoelectric detector2Latitudinal offset d from the geometric center of the four-quadrant photodetectorx2And a warp offset dy2(ii) a The first quadrant, the second quadrant, the third quadrant and the fourth quadrant of the four-quadrant photoelectric detector are divided in the same way as the four quadrants in a plane coordinate system, and P is set1In the first and fourth quadrant dx1Is positive, in the second and third quadrant dx1Is negative, P1In the first and second boundaries dy1Is positive, in the third and fourth quadrant dy1Is negative; setting P2In the first and fourth quadrant dx2Is positive, in the second and third quadrant dx2Is negative, P2In the first and second boundaries dy2Is positive, in the third and fourth quadrant dy2Is negative;
6) the interior angle omega of the positive N-shaped polygon formed by the four quadrant photodetectors in the same four quadrant photodetector group and surrounded by the latitudinal sides is solved as follows:
7) when P is present1And P2When the two four quadrant photodetectors are located at adjacent meridian lines,azimuth of rotation
Calculated according to the formula (2), when P is1And P2When two four-quadrant photoelectric detectors are not adjacent to the longitude line, the rotating azimuth angle
Calculating according to the formula (3);
in the formula (3), m1Is P1And P2The number of the four-quadrant photoelectric detectors is equal to the number of the four-quadrant photoelectric detectors spaced along the weft direction between the two four-quadrant photoelectric detectors; setting P1The latitudinal edge length of the four-quadrant photoelectric detector is k, P2The length v of the latitudinal edge of the four-quadrant photoelectric detector is k +/-c1×p，P2The four-quadrant photoelectric detector is positioned at P1When the detector is above the four-quadrant photoelectric detector, taking a positive sign, otherwise, taking a negative sign, c1Taking the value in the range of 0.02-0.05, wherein the unit of the length of the latitudinal edge is mm, and P is P1And P2The number difference of the four quadrant photoelectric detector groups; p1The four-quadrant photoelectric detector is close to P2The latitudinal edge of the four-quadrant photoelectric detector is set as E1，P2The four-quadrant photoelectric detector is close to P1Setting the latitudinal edge of the four-quadrant photoelectric detector as E2, then P1To E1A distance of 0.5k-dx1，P2To E2Distance b is 0.5v-dx2；P1And the latitudinal edge E1Point of intersection, P1And a coordinate system origin O, wherein the angle corresponding to the side length with the length a is
P2And the latitudinal edge E2Point of intersection, P2And the coordinate system origin O, the angle corresponding to the side length with the length b is
Regardless of P1And P2Whether the two four quadrant photodetectors are located at adjacent meridian lines,
and
the following processes are adopted:
solving the origin O to P of the coordinate system according to the formula (4) according to the cosine theorem1Distance L of1Solving the origin O to P of the coordinate system according to the formula (5) according to the cosine theorem2Distance L of2(ii) a Then, the solution is obtained according to the formula (6) based on the sine theorem
Solving according to the sine theorem and the formula (7)
In the formulas (4) and (5), r is the inner spherical radius of the hemispherical shell;
8) setting the length of the warp-wise edge of all the four-quadrant photoelectric detectors as t, and solving the included angle between two adjacent four-quadrant photoelectric detectors along the warp direction according to a formula (8) if the included angle is 180-alpha:
9) when P is present1And P2When two adjacent four-quadrant photoelectric detectors are arranged in two adjacent four-quadrant photoelectric detector groups, the rotating deflection angle theta is calculated according to the formula (9), and when P is1And P2When the two four-quadrant photoelectric detectors are in two nonadjacent four-quadrant photoelectric detector groups, the rotated yaw angle theta is calculated according to a formula (10);
θ＝θ1+θ2 (9)
in the formula (10), m2Is P1And P2The number of four-quadrant photoelectric detectors spaced along the meridian direction between the two four-quadrant photoelectric detectors is, T is the number of edges of a regular polygon where the meridian direction symmetric center lines of all the four-quadrant photoelectric detectors aligned on one meridian are located, and the solution of T is as follows:
by
Push out
P1The four-quadrant photoelectric detector is close to P2The radial edge of the four quadrant photoelectric detector is set as E3，P2The four-quadrant photoelectric detector is close to P1The radial edge of the four-quadrant photoelectric detector is set as E4Then P is1To E3C is 0.5t-dx2，P2To E2D is 0.5t-dy2；P1And the latitudinal edge E3Point of intersection, P1And the coordinate system origin O, the angle corresponding to the side length with the length c is theta1；P2And the latitudinal edge E4Point of intersection, P2And a coordinate system origin O, wherein the angle corresponding to the side length with the length d is theta2；
Regardless of P1And P2Two four-quadrant photoelectric detectors are arranged in two adjacent four-quadrant photoelectric detector groups, theta1And theta2The following processes are adopted:
solving the origin O to P of the coordinate system according to the cosine theorem and the formula (11)1Distance L of3Solving the origin O to P of the coordinate system according to the formula (12) according to the cosine theorem2Distance L of4(ii) a Then, the theta is solved according to the formula (13) based on the sine theorem1Solving for theta according to the sine theorem and equation (14)2；
2. The ball hinge space corner detection method according to claim 1, characterized in that: the four-quadrant photodetectors of the same four-quadrant photodetector group have the same size.
3. The ball hinge space corner detection method according to claim 1, characterized in that: the distance between adjacent four-quadrant photodetectors in the same four-quadrant photodetector group is less than 0.05 mm.
4. The ball hinge space corner detection method according to claim 1, characterized in that: the four-quadrant photoelectric detector group is not fully distributed on the inner spherical surface of the whole hemispherical shell.
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| CN209055114U (en) * | 2018-11-14 | 2019-07-02 | 杭州临安博乐测绘有限公司 | A kind of high accurate laser output plotting board |
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