CN111076697A - Multi-target synchronous orientation device and orientation method - Google Patents
Multi-target synchronous orientation device and orientation method Download PDFInfo
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- CN111076697A CN111076697A CN201911214249.1A CN201911214249A CN111076697A CN 111076697 A CN111076697 A CN 111076697A CN 201911214249 A CN201911214249 A CN 201911214249A CN 111076697 A CN111076697 A CN 111076697A
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Abstract
The invention provides a multi-target synchronous orientation device and an orientation method, which solve the problems of complex measurement process, difficult implementation and maintenance of the existing azimuth angle test mode. The device comprises a reference transmitting unit, a light path turning unit, a target azimuth measuring unit, a polarization azimuth unit, a polarized light receiving and orienting unit, an azimuth reference mirror unit and a control unit; the reference transmitting unit comprises a first laser transmitter and a second laser transmitter; the light path deflection unit is positioned at a light outlet of the first laser transmitter; the target position measuring unit comprises a spectroscope, an imaging angle measuring light pipe and a first photoelectric detector; the polarization orientation unit is arranged at a light outlet of the second laser transmitter; the polarized light receiving and orienting unit is vertically arranged below the polarization orientation unit and comprises a collimation measuring light pipe, an analyzer and a second photoelectric detector; the azimuth reference mirror unit includes a third laser transmitter, a third photodetector, and an azimuth reference mirror.
Description
Technical Field
The invention relates to the field of angle measurement, in particular to a multi-target synchronous orientation device and an orientation method.
Background
In the fields of aviation, aerospace, navigation and industrial precision testing and surveying and mapping, azimuth included angles (geodetic azimuth angles) between a plurality of target points and geographical north directions which are on the same plane, not on the same plane or have certain height difference are often required to be measured accurately at the same time, and the existing measuring method is carried out by adopting a single-point measurement comprehensive resolving mode, but the measuring process of the mode is complex and is difficult to implement and maintain.
Disclosure of Invention
The invention aims to solve the problems of complex measurement process, difficult implementation and maintenance of the existing azimuth angle test mode, and provides a multi-target synchronous orientation device and an orientation method.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a multi-target synchronous orientation device comprises a reference emission unit, a light path turning unit, a plurality of target orientation measurement units, a polarization orientation unit, a polarized light receiving and orientation unit, an orientation reference mirror unit and a control unit; the reference transmitting unit, the light path turning unit and the target azimuth measuring unit are arranged on the same horizontal plane, and the polarized light receiving and orienting unit and the azimuth reference mirror unit are arranged on the same horizontal plane; the reference transmitting unit comprises a first laser transmitter and a second laser transmitter which are arranged on the same horizontal plane; emergent light of the first laser emitter is along the horizontal direction, and emergent light of the second laser emitter is vertically downward; the optical path deflection unit is at least one and is positioned at a light outlet of the first laser transmitter; the target position measuring unit comprises a spectroscope, an imaging angle measuring light pipe and a first photoelectric detector; the polarization orientation unit comprises a polarizer which is arranged at a light outlet of the second laser transmitter; the polarized light receiving and orienting unit is vertically arranged below the polarization orientation unit and comprises a collimation measuring light pipe, an analyzer and a second photoelectric detector, wherein the analyzer and the second photoelectric detector are arranged in the collimation measuring light pipe; the azimuth reference mirror unit comprises a third laser emitter, a third photoelectric detector and an azimuth reference mirror;
the signal light emitted by the first laser emitter is reflected to a plurality of target direction measuring units after being converted by the light path converting unit, emergent light of the light path converting unit is divided into two paths by a spectroscope of the target direction measuring units, one path of emergent light is transmitted to the next target direction measuring unit, the other path of emergent light is reflected to the imaging angle measuring light pipe, the reflected light passes through the imaging angle measuring light pipe and is incident to a target prism to be measured, the reflected light of the target prism to be measured is received by the first photoelectric detector, and the first photoelectric detector converts the received optical signal into an electric signal and transmits the electric signal to the control unit; the signal light emitted by the second laser emitter is converted into linearly polarized light after passing through the polarization azimuth unit, the linearly polarized light passes through the analyzer and is received by the second photoelectric detector, and the second photoelectric detector converts the optical signal into an electric signal and transmits the electric signal to the control unit; the signal light emitted by the third laser emitter is incident to the azimuth reference mirror, the emitted light of the azimuth reference mirror is received by a third photoelectric detector, and the third photoelectric detector converts the optical signal into an electric signal and transmits the electric signal to the control unit; and the control unit receives the electric signals transmitted by the first photoelectric detector, the second photoelectric detector and the third photoelectric detector and processes the electric signals to obtain an azimuth included angle value between the normal of the measured target prism and the normal of the azimuth reference mirror.
Further, the target orientation measuring unit further comprises a second collimating lens, and the second collimating lens is arranged in the imaging angle measuring light pipe and is used for collimating reflected light of the beam splitter.
Further, the azimuth reference mirror unit further includes a first collimating lens, and the first collimating lens is disposed on the light-emitting path of the third laser emitter and is configured to collimate the signal light emitted by the third laser emitter.
Furthermore, the number of the first laser transmitters is two, the number of the light path turning units is four, and the light path turning units are coaxially arranged at the outlets of the first laser transmitters in pairs respectively.
Further, the optical path deflecting unit is an optical path deflecting tube.
Meanwhile, the invention also provides a multi-target synchronous orientation method based on the device, which comprises the following steps:
step one, mounting a target azimuth measuring unit at the equal height of a measured target prism, so that the target azimuth measuring unit can measure the measured target prism;
step two, fixedly connecting and installing the reference emission unit and the polarization azimuth unit, and making the reference emission unit and the polarization azimuth unit have the same height as the target prism to be measured;
placing the polarized light receiving and orienting unit under the polarized orientation unit to enable the polarized light receiving and orienting unit to receive the polarized light of the polarized orientation unit;
step four, opening the first laser transmitter, the second laser transmitter and the third laser transmitter, and receiving electric signals transmitted by the first photoelectric detector, the second photoelectric detector and the third photoelectric detector by the control unit;
step five, according to the electric signal obtained in the step four, the control unit calculates an azimuth included angle value NL between the normal of the prism of the measured target and the normal of the azimuth reference mirror;
NL＝M+S+Δ
wherein M is the collimation angle value of the azimuth reference mirror unit to the azimuth reference mirror;
s is the collimation angle value of the target azimuth measuring unit to the measured target prism;
and delta is an inherent parameter of the polarized light receiving and orienting unit and the azimuth reference mirror unit.
Further, in the sixth step, Δ is 80 to 100 degrees.
Further, in step six, Δ is 90 degrees.
Compared with the prior art, the invention has the following beneficial effects:
1. the multi-target synchronous orientation device provided by the invention is provided with a plurality of target azimuth measuring units, and can be used for simultaneously measuring the azimuth angles of a plurality of measured targets; meanwhile, the device is provided with a polarization orientation unit and a polarized light receiving and orienting unit, so that the problem that the target point and the reference point are not transmitted in the same plane orientation is solved.
2. The multi-target synchronous orientation device provided by the invention has the advantages of simple structure, convenience in operation and simple and easy-to-implement measurement process.
3. The multi-target synchronous orientation method provided by the invention is simple in calculation and does not need complex calculation.
Drawings
FIG. 1 is a schematic diagram of the structural layout of the multi-target synchronous orientation device of the present invention;
FIG. 2 is a schematic diagram of a target orientation measurement unit of the apparatus of the present invention;
FIG. 3 is a schematic diagram of a polarization azimuth cell and a reference emitter cell in the apparatus of the present invention;
FIG. 4 is a schematic diagram of a polarized light receiving and directing unit and an orientation reference mirror unit in the device of the present invention.
Reference numerals: 1-a reference emission unit, 2-a light path turning unit, 3-a target orientation measurement unit, 4-a polarization orientation unit, 5-a polarized light receiving and orienting unit, 6-an orientation reference mirror unit, 7-a measured target prism, 11-a first laser emitter, 12-a second laser emitter, 31-a spectroscope, 32-a first photoelectric detector, 33-an imaging angle measuring light pipe, 34-a second collimating lens, 41-a polarizer, 51-a collimation measurement light pipe, 52-an analyzer, 53-a second photoelectric detector, 61-a third laser emitter, 62-a third photoelectric detector, 63-an orientation reference mirror and 64-a first collimating lens.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The multi-target synchronous orientation device provided by the invention can be applied to a plurality of targets, and when the vertical distance between the polarization azimuth unit and the polarization light receiving orientation unit is 10 meters (or more than 10 meters), the orientation precision of a single target is 8 ".
As shown in fig. 1, the multi-target synchronous orientation device provided by the invention comprises a reference emission unit 1, an optical path turning unit 2, a plurality of target orientation measurement units 3, a polarization orientation unit 4, a polarized light receiving orientation unit 5, an orientation reference mirror unit 6 and a control unit; the reference emitting unit 1, the optical path turning unit 2, the target azimuth measuring unit 3, and the target prism 7 to be measured are disposed on the same horizontal plane, and the polarized light receiving and orienting unit 5 and the azimuth reference mirror 63 are disposed on the same horizontal plane.
As shown in fig. 2, the target orientation measuring unit 3 and the optical path turning unit 2 are disposed on the same horizontal plane, and include a beam splitter 31, an imaging angle measuring light pipe 33, a first photodetector 32 and a second collimating lens 34, where the first photodetector 32 is configured to receive the reflected light of the target prism 7 to be measured, and the second collimating lens 34 is disposed in the imaging angle measuring light pipe 33 and configured to collimate the reflected light of the beam splitter 31.
As shown in fig. 3, the reference emitting unit 1 includes a first laser emitter 11 and a second laser emitter 12 disposed at the same level; the outgoing light from the first laser transmitter 11 is in the horizontal direction and the outgoing light from the second laser transmitter 12 is vertically downward.
The optical path folding unit 2 is at least one, is located at a light outlet of the first laser emitter 11, is arranged on the same horizontal plane with the first laser emitter 11, folds signal light emitted by the first laser emitter 11, and transmits the signal light to the target direction measuring unit 3, and specifically can adopt an optical path folding pipe.
As shown in fig. 3, the polarization orientation unit 4 includes a polarizer 41, which is disposed at the light exit of the second laser transmitter 12 and converts the signal light emitted from the second laser transmitter 12 into linearly polarized light. The signal light emitted by the second laser emitter 12 is converted into linearly polarized light after passing through the polarization direction unit 4, and the linearly polarized light is transmitted downwards to the analyzer of the polarized light receiving and orienting unit 5.
As shown in fig. 4, the polarized light receiving and orienting unit 5 is vertically arranged below the polarization orientation unit 4, and includes a collimation measuring light pipe 51, and an analyzer 52 and a second photodetector 53 arranged in the collimation measuring light pipe 51; the azimuth reference mirror unit 6 includes a third laser emitter 61, a third photodetector 62, a first collimating lens 64, and an azimuth reference mirror 63, and the first collimating lens 64 is disposed on the light-emitting path of the third laser emitter 61, and is configured to collimate the signal light emitted by the third laser emitter 61.
After being refracted by the light path refracting unit 2, the signal light emitted by the first laser emitter 11 is incident to the multiple target direction measuring units 3, the outgoing light of the light path refracting unit 2 is divided into two paths by the spectroscope 31 of the target direction measuring unit 3, one path is transmitted to the next target direction measuring unit 3, the other path is reflected to the imaging angle measuring light pipe 33, the reflected light passes through the imaging angle measuring light pipe 33 and is incident to the target prism 7 to be measured, the reflected light of the target prism 7 to be measured is received by the first photoelectric detector 32, and the first photoelectric detector 32 converts the received light signal into an electric signal and transmits the electric signal to the control unit.
The signal light emitted by the second laser emitter 12 is converted into linearly polarized light by the polarization orientation unit 4, the linearly polarized light passes through the analyzer 52 and is received by the second photodetector 53, and the second photodetector 53 converts the light signal into an electrical signal and transmits the electrical signal to the control unit.
The signal light emitted by the third laser emitter 61 is incident on the azimuth reference mirror 63, the emitted light of the azimuth reference mirror 63 is received by the third photodetector 62, and the third photodetector 62 converts the optical signal into an electrical signal and transmits the electrical signal to the control unit.
The control unit receives the electric signals transmitted by the first photodetector 32, the second photodetector 53 and the third photodetector 62, and processes the electric signals to obtain an azimuth included angle value between the normal of the target prism 7 and the normal of the azimuth reference mirror 63.
In the implementation of the present invention, two first laser transmitters 11 are provided, the directions of the emergent light of the first laser transmitters are opposite, four optical path deflecting units 2 are provided, each two of the optical path deflecting units are coaxially provided at the outlet of the first laser transmitter 11, and the signal light emitted by the first laser transmitter 11 is incident to the plurality of target direction measuring units 3.
The multi-target synchronous orientation method provided by the invention specifically comprises the following steps:
step one, mounting the multi-target azimuth measuring unit 3 at the equal height of the measured target prism 7, so that the target azimuth measuring unit 3 can measure the measured target prism 7;
step two, fixedly connecting and installing the reference emission unit 1 and the polarization azimuth unit 4, and making the reference emission unit and the polarization azimuth unit have the same height as the measured target prism 7;
placing the polarized light receiving and orienting unit 5 right below the polarized orientation unit 4 to ensure that the polarized light emitted by the polarized orientation unit 4 can be received;
step four, opening the first laser emitter 11, the second laser emitter 12 and the third laser emitter 61, and receiving the electric signals transmitted by the first photoelectric detector 32, the second photoelectric detector 53 and the third photoelectric detector 62 by the control unit;
adjusting the polarized light receiving and orienting unit 5 to enable the indicating laser of the second laser transmitter 12 to be completely incident to the light through hole of the polarized light receiving and orienting unit 5;
step five, according to the electric signal obtained in the step four, the control unit calculates an azimuth included angle value NL between the normal of the measured target prism 7 and the normal of the azimuth reference mirror 63;
NL＝M+S+Δ
wherein M is a collimation angle value of the azimuth reference mirror unit 6 to the azimuth reference mirror 63;
s is a collimation angle value of the target azimuth measuring unit 3 to the measured target prism 7;
delta is the inherent parameters of the polarized light receiving and orienting unit 5 and the azimuth reference mirror unit 6, namely the included angle between the optical axes of the second laser and the third laser, and the range value of the included angle is between 80 degrees and 100 degrees after the device is assembled, and the optimal included angle is 90 degrees.
The polarized light receiving and orienting unit 5 automatically completes the tracking and resolving of the orientation sending unit, the comprehensive control platform liquid crystal display sequentially displays orientation included angle values (included angle definition: clockwise increases and anticlockwise decreases with the normal direction of the orientation reference mirror 63 as a starting point and an angle range of 0-360 degrees) between the normals of the plurality of measured target prisms 7 and the normal of the orientation reference mirror 63, the display time interval is adjustable between 1S and 30S, and the resolving result can be inquired through the key operation of the control panel.
Claims (8)
1. A multi-target synchronous orientation device is characterized in that: the device comprises a reference transmitting unit (1), an optical path turning unit (2), a plurality of target azimuth measuring units (3), a polarized azimuth unit (4), a polarized light receiving and orienting unit (5), an azimuth reference mirror unit (6) and a control unit; the reference transmitting unit (1), the light path turning unit (2) and the target azimuth measuring unit (3) are arranged on the same horizontal plane, and the polarized light receiving and orienting unit (5) and the azimuth reference mirror unit (6) are arranged on the same horizontal plane;
the reference transmitting unit (1) comprises a first laser transmitter (11) and a second laser transmitter (12) which are arranged on the same horizontal plane; emergent light of the first laser emitter (11) is along the horizontal direction, and emergent light of the second laser emitter (12) is vertically downward;
the optical path deflection unit (2) is at least one and is positioned at a light outlet of the first laser emitter (11);
the target orientation measuring unit (3) comprises a spectroscope (31), an imaging angle measuring light pipe (33) and a first photoelectric detector (32);
the polarization orientation unit (4) comprises a polarizer (41) which is arranged at the light outlet of the second laser transmitter (12);
the polarized light receiving and orienting unit (5) is vertically arranged below the polarization orientation unit (4) and comprises a collimation measuring light pipe (51), an analyzer (52) arranged in the collimation measuring light pipe (51) and a second photoelectric detector (53);
the azimuth reference mirror unit (6) comprises a third laser transmitter (61), a third photoelectric detector (62) and an azimuth reference mirror (63);
after being converted by the light path converting unit (2), signal light emitted by the first laser emitter (11) enters the target direction measuring units (3), emergent light of the light path converting unit (2) is divided into two paths by the spectroscope (31) of the target direction measuring unit (3), one path is transmitted to the next target direction measuring unit (3), the other path is reflected to the imaging angle measuring light pipe (33), reflected light passes through the imaging angle measuring light pipe (33) and enters the target prism (7) to be measured, reflected light of the target prism (7) to be measured is received by the first photoelectric detector (32), and the first photoelectric detector (32) converts the received optical signal into an electrical signal and transmits the electrical signal to the control unit;
the signal light emitted by the second laser emitter (12) is converted into linearly polarized light after passing through the polarization azimuth unit (4), the linearly polarized light passes through the analyzer (52) and is received by the second photoelectric detector (53), and the second photoelectric detector (53) converts the optical signal into an electric signal and transmits the electric signal to the control unit;
the signal light emitted by the third laser emitter (61) enters an azimuth reference mirror (63), the emitted light of the azimuth reference mirror (63) is received by a third photoelectric detector (62), and the third photoelectric detector (62) converts the optical signal into an electric signal and transmits the electric signal to a control unit;
the control unit receives the electric signals transmitted by the first photoelectric detector (32), the second photoelectric detector (53) and the third photoelectric detector (62), and processes the electric signals to obtain an azimuth included angle value between the normal of the measured target prism (7) and the normal of the azimuth reference mirror (63).
2. The multi-object synchronous pointing device of claim 1, wherein: the target orientation measurement unit (3) further comprises a second collimating lens (34), and the second collimating lens (34) is arranged in the imaging angle measuring light pipe (33) and is used for collimating the reflected light of the beam splitter (31).
3. The multi-object synchronous pointing device of claim 2, wherein: the azimuth reference mirror unit (6) further comprises a first collimating lens (64), and the first collimating lens (64) is arranged on the light outgoing path of the third laser emitter (61) and used for collimating signal light emitted by the third laser emitter (61).
4. The multi-object synchronous pointing device according to claim 1, 2 or 3, characterized in that: the number of the first laser transmitters (11) is two, the number of the light path turning units (2) is four, and the light path turning units are coaxially arranged at the outlets of the first laser transmitters (11) in pairs respectively.
5. The multi-target synchronous pointing device of claim 4, wherein: the light path deflection unit (2) is a light path deflection pipe.
6. The multi-target synchronous orientation method based on the device of any one of claims 1 to 5, characterized by comprising the following steps:
step one, mounting a target azimuth measuring unit at the equal height of a measured target prism, so that the target azimuth measuring unit can measure the measured target prism;
step two, fixedly connecting and installing the reference emission unit and the polarization azimuth unit, and making the reference emission unit and the polarization azimuth unit have the same height as the target prism to be measured;
placing the polarized light receiving and orienting unit under the polarized orientation unit to enable the polarized light receiving and orienting unit to receive the polarized light of the polarized orientation unit;
step four, opening the first laser transmitter, the second laser transmitter and the third laser transmitter, and receiving electric signals transmitted by the first photoelectric detector, the second photoelectric detector and the third photoelectric detector by the control unit;
step five, according to the electric signal obtained in the step four, the control unit calculates an azimuth included angle value NL between the normal of the prism of the measured target and the normal of the azimuth reference mirror;
NL＝M+S+Δ
wherein M is the collimation angle value of the azimuth reference mirror unit to the azimuth reference mirror;
s is the collimation angle value of the target azimuth measuring unit to the measured target prism;
and delta is an inherent parameter of the polarized light receiving and orienting unit and the azimuth reference mirror unit.
7. The multi-objective synchronous orientation method of claim 6, wherein: in the sixth step, the delta is 80-100 degrees.
8. The multi-objective synchronous orientation method of claim 7, wherein: in step six, Δ is 90 degrees.
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