CN111102918B  Automatic measuring system of cubic mirror coordinate system  Google Patents
Automatic measuring system of cubic mirror coordinate system Download PDFInfo
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 CN111102918B CN111102918B CN201811269462.8A CN201811269462A CN111102918B CN 111102918 B CN111102918 B CN 111102918B CN 201811269462 A CN201811269462 A CN 201811269462A CN 111102918 B CN111102918 B CN 111102918B
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 G01—MEASURING; TESTING
 G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
 G01B11/00—Measuring arrangements characterised by the use of optical means
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Abstract
The invention relates to an automatic measuring system of a cubic mirror coordinate system, which belongs to the technical field of attitude measurement of sensors and comprises a control terminal, a measuring instrument, a supporting platform for horizontal rotation and a supporting bracket for lifting, wherein the control terminal is used for determining and calculating the cubic mirror coordinate system, the supporting platform is used for placing a tested device and a cubic mirror on the tested device, the supporting bracket is used for placing the measuring instrument, and the measuring instrument is used for aligning the cubic mirror on the tested device. The invention can realize the automatic measurement of the attitude parameters of the coordinate system of the cube mirror, greatly reduce the labor intensity of measuring personnel, eliminate artificial measurement errors and improve the stability and the precision of the measurement result and the measurement efficiency.
Description
Technical Field
The invention belongs to the technical field of attitude measurement of sensors, and particularly relates to an automatic measurement system of a cubic mirror coordinate system.
Background
In the actual measurement operation, a cubic mirror is usually additionally arranged on the sensor, the cubic mirror is measured by collimation, and a cubic mirror coordinate system is established to express the attitude information of the sensor. The cube mirror is a cube composed of 6 mirror surfaces, two adjacent surfaces of the cube mirror have higher verticality, the maximum inclination angle error is 3' generally, a cube mirror coordinate system can be constructed by measuring the two adjacent surfaces of the cube mirror, and the cube mirror coordinate system is often used for replacing a sensor to measure the attitude in industrial measurement. For example, the author Shenmeixin published 2006, "cube mirror coordinate system creation techniques in electronic theodolite measurement system", journal, "astronavigation measurement techniques", Vol.26, pp.4, 7375, the coordinate rotation method in this paper establishes the normal of a cube mirror by rotating one of the coordinate axes (the collimation axis of the instrument) of the measurement coordinate system to be parallel to the normal of the cube mirror, and then constructing the coordinate axes in the rotated coordinate system.
The method for determining the coordinate system of the cubic mirror by collimating the cubic mirror by the theodolite has the following defects:
1. the station can be built only by the processes of mutual aiming, reference ruler measurement and the like of at least two theodolites, the process is complicated, 34 persons are needed to operate the instruments and control resolving respectively, and the labor cost is high;
2. the theodolite measures the collimation of the cube mirror by depending on human eyes to observe, the collimation needs to be finished by focusing continuously in the collimation process, the collimation precision is easily influenced by human factors, and the measurement efficiency is low;
3. the alignment position needs to be continuously searched in the manual alignment measurement process, the measurement difficulty is high, the repeated workload is high, the consumed time is long, and the automation degree is low.
Therefore, with the continuous development of industrial products, the complexity and the measurement items of the products are greatly changed, the requirements for improving the automation operation level and the production efficiency of the collimation measurement of the coordinate system of the cubic mirror are higher and higher, and the current theodolite measurement technology cannot meet the practical requirements. Therefore, the collimation measurement method with high measurement efficiency, high automation degree and low labor intensity is a necessary requirement of industrial collimation measurement.
Disclosure of Invention
The invention aims to provide an automatic measuring system of a cubic mirror coordinate system, which is used for solving the problems of low automation degree, large manpower workload, low measuring efficiency and high cost caused by adopting a manual measuring mode to determine the cubic mirror coordinate system in the prior art.
In order to solve the technical problem, the invention provides an automatic measuring system of a cubic mirror coordinate system, which comprises a control terminal, wherein the control terminal is respectively connected with a measuring instrument, a supporting platform for horizontal rotation and a supporting bracket for lifting, the supporting platform is used for placing a tested device and a cubic mirror on the tested device, the supporting bracket is used for placing the measuring instrument, the measuring instrument is used for aligning the cubic mirror on the tested device, and the control terminal is used for executing instructions for realizing the following steps:
1) establishing a measuring instrument coordinate system of the measuring instrument center, taking the coordinate system of the horizontally rotating supporting platform as a tested equipment coordinate system, and determining the relation between the measuring instrument coordinate system and the tested equipment coordinate system;
2) acquiring prior parameters of a cubic mirror mounted on the equipment to be tested, wherein the prior parameters comprise coordinate values of the center of the cubic mirror under a coordinate system of the equipment to be tested and a relation between the coordinate system of the cubic mirror and the coordinate system of the equipment to be tested, obtaining a normal of the measured surface of the cubic mirror before collimation by using the prior parameters, calculating the rotation amount of the supporting platform by combining the fact that the normal of the measured surface of the cubic mirror after collimation passes through the center of the coordinate system of the measuring instrument, and driving the supporting platform according to the rotation amount;
calculating the height movement amount of the supporting bracket according to the center of a measuring instrument coordinate system under a measured device coordinate system and the normal of a measured surface of the cube mirror behind the driving supporting platform under the measured device coordinate system; calculating a horizontal angle required to be adjusted by the measuring instrument according to the center of the cubic mirror under the coordinate system of the measuring instrument after the supporting platform is driven and the center of the coordinate system of the measuring instrument; calculating a vertical angle required to be adjusted by the measuring instrument according to the center of a coordinate system of the measuring instrument and a normal of a measured surface of the cube mirror behind the supporting platform under the coordinate system of the measuring instrument; driving the supporting bracket according to the height movement amount, and driving a measuring instrument according to the horizontal angle and the vertical angle to realize the collimation of the measured surface of the cube mirror;
3) after the measured surface of the cubic mirror is collimated, obtaining a first collimation vector of the cubic mirror under the coordinate system of the equipment to be measured, collimating the other measured surface of the cubic mirror, and repeating the contents of the step 1) and the step 2) to obtain a second collimation vector of the cubic mirror under the coordinate system of the equipment to be measured; and determining the attitude parameters of the cubic mirror coordinate system under the coordinate system of the equipment to be tested according to the first collimation vector and the second collimation vector and the functional relation between the attitude parameters of the cubic mirror coordinate system and the rotation matrix of the cubic mirror coordinate system under the coordinate system of the equipment to be tested.
The invention can realize the automatic measurement of the attitude parameters of the coordinate system of the cube mirror, greatly reduce the labor intensity of measuring personnel, eliminate artificial measurement errors, and improve the stability and the precision of the measurement result and the measurement efficiency; the automatic measuring system of the cubic mirror coordinate system reduces the labor cost, the collimation measurement of the cubic mirror by the theodolite in the prior art needs 34 persons and more than two theodolites, and the invention can complete all the measuring work by only one operator and one measuring instrument, thereby reducing the workload of labor.
In order to realize the calculation of the horizontal angle adjusted by the measuring instrument, the method further comprises the following steps:
and converting the center of the cubic mirror under the coordinate system of the equipment to be measured after the supporting platform is driven into the coordinate system of the measuring instrument according to the relation between the coordinate system of the measuring instrument and the coordinate system of the equipment to be measured, and calculating the horizontal angle adjusted by the measuring instrument by combining the center of the coordinate system of the measuring instrument according to the projection of the center of the cubic mirror under the coordinate system of the measuring instrument on the XOY plane of the coordinate system of the measuring instrument.
In order to increase the collimation precision of the measured surface of the cubic mirror, the measuring instrument is a laser tracker or a total station, the center of the cubic mirror under the coordinate system of the equipment to be measured is converted to be under the coordinate system of the measuring instrument after the supporting platform is driven according to the relation between the coordinate system of the measuring instrument and the coordinate system of the equipment to be measured, and the adjusted horizontal angle of the measuring instrument is calculated according to the projection of the center of the cubic mirror under the coordinate system of the measuring instrument on the XOY surface of the coordinate system of the measuring instrument and the center of the coordinate system of the measuring instrument.
In order to obtain the coordinate system of the device to be tested, the target point on the supporting platform is measured through the measuring instrument in the step 1), and the coordinate system of the horizontally rotating supporting platform is determined according to the measured value of the target point, so that the coordinate system of the horizontally rotating supporting platform is used as the coordinate system of the device to be tested.
Drawings
FIG. 1 is a schematic diagram of an automated measurement system for a cube mirror coordinate system of the present invention;
FIG. 2 is a schematic diagram of the device under test coordinate system of the present invention;
FIG. 3 is a schematic representation of a measuring instrument coordinate system of the present invention;
FIG. 4 is a schematic diagram of a model for calculating the amount of rotation of a onedimensional horizontal turntable according to the present invention;
FIG. 5 is a schematic view of a calculation model of the horizontal angle of the measuring instrument of the present invention;
FIG. 6 is a schematic diagram of a model for calculating the amount of height shift of the onedimensional elevating bracket according to the present invention;
FIG. 7 is a schematic view of a vertical angle calculation model of the measurement instrument of the present invention;
FIG. 8 is a simplified flow chart of the present invention for determining the coordinate system of a cube mirror;
the reference numerals of the above figures are explained as follows: the device comprises a control terminal 1, a onedimensional horizontal turntable 2, a measuring instrument 3, a onedimensional lifting support 4 and a tested device 5.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The invention discloses an automatic measuring system of a cubic mirror coordinate system, which comprises a control terminal 1 and a measuring device 3, wherein the control terminal 1 is used for determining and calculating the cubic mirror coordinate system, and the control terminal 1 is respectively connected with a onedimensional horizontal turntable 2, the measuring device 3 and a onedimensional lifting support 4 for lifting the measuring device 3; the onedimensional horizontal turntable 2 is provided with a tested device 5 and a cubic mirror on the tested device 5, the onedimensional lifting support 4 is provided with a measuring instrument 3, the measuring instrument 3 is a laser tracker or a total station, the onedimensional horizontal turntable is used as a supporting platform for horizontal rotation, and the onedimensional lifting support is used as a supporting support for lifting. The specific implementation mode is as follows:
(1) establishing a coordinate system of a measuring instrument
And arranging and leveling a measuring instrument 3 at the zero position height of the lifting platform, establishing a measuring instrument coordinate system with the center of the measuring instrument as an original point, wherein the vertical upward direction is the positive direction of the Z axis of the coordinate system, and the horizontal plane after leveling of the measuring instrument 3 is the XOY plane of the coordinate system.
Leveling of the surveying instrument 3 is by means of a precision leveling bubble or plumb line, so that the reference plane or datum line of the surveying instrument 3 is parallel to the local ground level or the datum line is parallel to the local gravity plumb line.
(2) Establishing a coordinate system of the device under test
Leveling a onedimensional horizontal rotary table 2, placing target points at a plurality of positions on the plane of the onedimensional horizontal rotary table 2, measuring each target point by using a measuring instrument 3 placed at the zero position height of a onedimensional lifting support 4, fitting each target point to be measured, establishing a onedimensional horizontal rotary table coordinate system under a measuring instrument coordinate system, and taking the zero position direction of the rotary table as the positive Xaxis direction and the positive Zaxis direction to be vertically upward, wherein the onedimensional horizontal rotary table coordinate system is superposed with a measured equipment coordinate system. In the process of establishing a coordinate system of a measuring instrument and a coordinate system of a tested device, converting parameters (x) of the coordinate system of the measuring instrument under the condition of obtaining the coordinate system of the tested device by measuring and calculating Metroin measuring software_{T},y_{T},z_{T},R_{x},R_{y},R_{z}) Measuring instrument center T coordinate (x)_{T},y_{T},z_{T}) As shown in FIG. 2, and obtaining the transformation parameters (x) of the coordinate system of the device under test under the coordinate system of the measuring instrument_{R},y_{R},z_{R},R_{rx},R_{ry},R_{rz}) As shown in fig. 3. The coordinate system conversion can be carried out through the conversion parameters of the coordinate system of the measuring instrument under the coordinate system of the measured equipment or the conversion parameters of the coordinate system of the measured equipment under the coordinate system of the measuring instrument, and the relation between the coordinate system of the measuring instrument and the coordinate system of the measured equipment is determined.
The method for converting the coordinate system by using the conversion parameters comprises the following steps:
for example, in coordinate system A, the transformation parameters of coordinate system B are (x, y, z, R)_{x},R_{y},R_{z}) The coordinate of a point C under the coordinate system A is (A)_{x},A_{y},A_{z}) Then, let the rotation matrix be M_{AB}The coordinate of the point C in the coordinate system B is (B)_{x},B_{y},B_{z}) The coordinates of point C in coordinate system a are transformed to coordinate system B as follows:
as another example, in coordinate system A, the transformation parameters for coordinate system B are (x, y, z, R)_{x},R_{y},R_{z}) The coordinate of a point C under the coordinate system B is (B)_{x},B_{y},B_{z}) Then, let the rotation matrix be M_{AB}The coordinate of the point C in the coordinate system A is (A)_{x},A_{y},A_{z}) The coordinates of point C in coordinate system B are transformed to coordinate system a as follows:
(3) obtaining prior parameters of a cubic mirror installed on the tested equipment 5, wherein the prior parameters comprise coordinate values of the center of the cubic mirror under a coordinate system of the tested equipment, Euler angles between the coordinate system of the cubic mirror and the coordinate system of the tested equipment, obtaining a normal of the tested surface of the cubic mirror before collimation by using the prior parameters, and calculating the rotation amount of the onedimensional horizontal turntable 2, the horizontal angle and the vertical angle adjusted by the measuring instrument 3 and the height movement amount of the onedimensional lifting support 4 by combining the normal of the tested surface of the cubic mirror after collimation. Then, the onedimensional horizontal turntable 2 is driven according to the calculated rotation amount, the onedimensional lifting support 4 is driven according to the calculated height movement amount, and the measuring instrument 3 is driven according to the calculated horizontal angle and vertical angle, so that the alignment of the measured surface of the cubic mirror is realized.
Specifically, the rotation amount of the onedimensional horizontal turntable 2 is obtained by the following steps:
obtaining a normal of a measured surface under a cubic mirror coordinate system by using prior parameters, and obtaining the normal of the measured surface under the coordinate system of the measured device by combining the relation between the cubic mirror coordinate system and the coordinate system of the measured device; and obtaining the normal line of the measured surface of the onedimensional horizontal turntable 2 after driving according to the rotation matrix represented by the rotation amount and the normal line of the measured surface under the coordinate system of the measured device, and calculating to obtain the rotation amount by using the normal line of the measured surface after driving and the center of the coordinate system of the measured device.
For example, in the coordinate system of the device under test, the calculation model of the rotation amount is shown in fig. 4, where O is the origin of the coordinate system of the device under test (i.e. the center of the coordinate system of the device under test), and I is_{1}The coordinate is (x) for the center of the measured cubic mirror and can be known by the prior parameter_{1},y_{1},z_{1})；I_{2}Is a point on the normal of the collimated (i.e. measured) face of the cube mirror,is the normal of the measured surface of the cubic mirror; under the coordinate system of the tested equipment, the transformation parameter of the coordinate system of the measuring instrument is (x)_{T},y_{T},z_{T},R_{x},R_{y},R_{z}) T is the center of the coordinate system of the measuring instrument and the coordinate is (x)_{T},y_{T}Z), wherein the value of z varies with the raising and lowering of the lifting frame.
When the measuring instrument collimates the cubic mirror, the measured surface normal of the cubic mirrorShould pass through T, with the cube mirror center at I_{1}' position, I_{2}Moving the point to I_{2}', the cube moves to the alignment position. Taking a point I on the measured axis under the coordinate system of the cubic mirror_{2}From the cube mirror prior parameter (x)_{1},y_{1},z_{1},R_{xs},R_{ys},R_{zs}) Obtaining the I value under the coordinate system of the tested equipment through a coordinate system conversion formula_{2}Has the coordinates of (x)_{2},y_{2},z_{2})。
Under the coordinate system of the device under test, I_{1}The coordinate of' is (x)_{1}′,y_{1}′,z_{1}′)，I_{2}' coordinate (x)_{2}′,y_{2}′,z_{2}') can be obtained by the following formula:
in the collimated state, the normal lineThrough T, then I_{1}′、I_{2}', T are collinear, i.e. Projecting the vector on the XOY surface of the coordinate system of the tested device to obtain:
(x_{2}′x_{1}′)(y_{T}y_{1}′)＝(x_{T}x_{1}′)(y_{2}′y_{1}′)
will I_{1}' and I_{2}The coordinates of' are substituted into the above equation to yield the rotation amount as follows:
wherein m is y_{2}y_{T}y_{1}y_{T}+x_{2}x_{T}x_{1}x_{T}，n＝x_{1}y_{T}x_{2}y_{T}+y_{2}x_{T}y_{1}x_{T}The rotation amount ω is a rotation angle value of the onedimensional horizontal turntable 2 which needs to rotate counterclockwise relative to the initial zero position in the collimation state.
Next, the horizontal angle of the adjustment measuring instrument 3 is obtained by the following steps:
according to the relation between the coordinate system of the measuring instrument and the coordinate system of the equipment to be measured, the centers of the cubic mirrors are converted to be under the coordinate system of the measuring instrument, and the horizontal angle adjusted by the measuring instrument 3 is calculated according to the projection of the centers of the cubic mirrors on the XOY plane of the coordinate system of the measuring instrument.
The model of the calculation of the azimuth angle in the XOY plane in the coordinate system of the surveying instrument is shown in fig. 5. Where T' is the origin of the coordinate system of the measuring instrument (i.e., the center of the coordinate system of the measuring instrument), I_{1}"is the cube center. Conversion parameter (x) of coordinate system of tested equipment under coordinate system of measuring instrument_{R},y_{R},z_{R},R_{rx},R_{ry},R_{rz}) I to be obtained in the rotation amount calculation process_{1}The coordinate is converted through a coordinate system to obtain the center of a cubic mirror I under the coordinate system of the measuring instrument_{1}″，I_{1}"has the coordinate of (x)_{1}″,y_{1}″,z_{1}″)。
Will I_{1}"projected on the XOY plane with the coordinates (x)_{1}″,y_{1}") determine the quadrant, Xaxis andthe included angle α in the counterclockwise direction is a numerical value of a horizontal angle displayed by an instrument to which the measuring instrument 3 should rotate in the collimation state.
Then, the height movement amount of the onedimensional lifting support 4 is obtained by the following steps:
and calculating the height movement amount of the onedimensional lifting support 4 according to the center of the coordinate system of the measuring instrument under the coordinate system of the measured equipment and the normal of the measured surface of the onedimensional horizontal turntable 2 after driving.
Specifically, a model for calculating the amount of height movement of the onedimensional lifting frame 4 in the coordinate system of the device under test is shown in fig. 6. Wherein T is the center of the coordinate system of the measuring instrument, I_{1}' is the cube center. According to I obtained in the process of rotation quantity calculation_{1}′、I_{2}' coordinates, from I_{1}' making a straight line parallel to the XOY plane of the coordinate system of the tested device, making a straight line parallel to the Z axis of the coordinate system of the measuring device from T, and intersecting two vectors at a point T_{0}Let it have coordinates ofIt can be seen that under the device under test coordinate system:
andcross over at point T_{1}Is provided with T_{1}The coordinates areWherein:
according to the formula of the included angle between two vectorsAndthe angle θ of (c) can be obtained by:
the length d of (d) is:
from the angle θ and the length d, in combination with the relationship between the points in fig. 6, we can find:
△H＝d×tanθ
the lifting height H of the onedimensional lifting support 4 is T to T_{1}The vertical direction changes, and the calculation formula is as follows:
H＝△h+△H
h is a height movement value (a value is positive to indicate ascending, and a value is negative to indicate descending) of the onedimensional lifting support 4 relative to the initial zero position in the collimation state.
Finally, the vertical angle of the adjustment gauge 3 is obtained by the following steps:
and calculating the vertical angle adjusted by the measuring instrument 3 according to the center of the cubic mirror under the coordinate system of the measuring instrument and the normal of the measured surface of the onedimensional horizontal turntable 2 after driving.
Specifically, in the coordinate system of the surveying instrument, the vertical angle calculation model of the surveying instrument 3 is shown in FIG. 7, where T', T_{0}′、T_{1}′、I_{1}The expression of corresponding points under the coordinate system of the tested equipment under the coordinate system of the measuring instrument is realized, and the points are converted according to the method for converting the coordinate system.
I_{1}"coordinate (x)_{1}″,y_{1}″,z_{1}") has been calculated to yield, T_{1}' coordinate SystemIs T_{1}Coordinates of the objectAccording to the coordinate system of the measuring instrument, the conversion parameters of the coordinate system of the measured equipment are converted and calculated through the coordinate system, and the vertical angle beta adjusted by the measuring instrument 3 is as follows:
beta is the value of the vertical angle displayed by the instrument to which the measuring instrument 3 should be rotated in the aligned state, d isIs also of length ofLength of (d).
After the rotation amount, the horizontal angle, the vertical angle and the height movement amount are solved, the onedimensional horizontal turntable 2 is driven according to the solved rotation amount, the onedimensional lifting support 4 is driven according to the solved height movement amount, the measuring instrument 3 is driven according to the horizontal angle and the vertical angle, then the fine adjustment values of the horizontal angle and the vertical angle are calculated by utilizing the ATR function of the measuring instrument 3 (a laser tracker or a total station), and the measuring instrument 3 is driven according to the fine adjustment values, so that the accurate collimation of the measured surface of the cubic mirror is realized.
If the measuring instrument is not driven by the fine adjustment value, namely the measuring instrument does not have an ATR (Auto Targets Recognition) function, the approximate collimation of the measured surface of the cubic mirror is realized, and the precision of the precise collimation is higher than that of the approximate collimation. When the measuring instrument has the ATR function, the measuring instrument can continuously and automatically adjust the horizontal angle and the vertical angle of the measuring instrument in a small range to search a specific angle position, so that after infrared light or laser is emitted by the measuring instrument at the position, the infrared light or the laser reflected by an original path can be received to complete the ATR function, the light emitted by the measuring instrument is shown to be incident perpendicular to the measured surface of the cubic mirror and is reflected back to the measuring instrument according to an incident path, and the current position of the measuring instrument is the accurate collimation position according to the collimation principle of the cubic mirror.
(4) After the roughly collimating or the precisely collimating is completed on the measured surface of the cubic mirror, obtaining a first collimating vector of the cubic mirror under the coordinate system of the equipment to be measured, collimating the other measured surface of the cubic mirror, and repeating the contents of the steps (1) to (3) to obtain a second collimating vector of the cubic mirror under the coordinate system of the equipment to be measured; and determining the attitude parameters of the cubic mirror coordinate system under the coordinate system of the equipment to be tested according to the first collimation vector and the second collimation vector and the functional relation between the attitude parameters of the cubic mirror coordinate system and the rotation matrix of the cubic mirror coordinate system under the coordinate system of the equipment to be tested.
Specifically, after the measured surface of the cubic mirror is accurately collimated, the rotation amount omega of the onedimensional horizontal turntable, the movement amount H of the lifting platform and the collimation state which are obtained by the rough collimation are obtained, and the coordinates (x, y and z) of the point position I on the cubic mirror and the center T of the measuring instrument in a coordinate system of the measuring instrument are measured_{0}Coordinates (0,0, 0).
It can be known that in the coordinate system of the measuring instrument in the alignment state, the transformation parameters of the coordinate system of the initial measuring instrument are (0,0, H,0,0,0), and the rotation matrix is set as M_{T1}；
According to the initial measuring instrument coordinate system, the conversion parameter of the initial measured equipment coordinate system is (x)_{R},y_{R},z_{R},R_{rx},R_{ry},R_{rz}) Let its rotation matrix M_{TR}The coordinate of the point position I on the cubic mirror under the initial tested equipment coordinate system isMeasuring instrument center T_{0}The coordinates are
According to the rotation amount omega of the onedimensional horizontal rotary table, the conversion parameters of the coordinate system of the equipment to be tested after rotation are (0,0,0, R) in the coordinate system of the equipment to be tested_{ωx},R_{ωy},R_{ωz}) That is, after the onedimensional horizontal turntable 2 rotates according to the calculated rotation amount ω, it indicates that the coordinate system of the device to be tested rotates counterclockwise around the Z axis thereof by an angle ωDegree (coordinate system origin coordinate is unchanged, coordinate system is rotated around Z axis), therefore, in the transformation parameters, R_{ωx}＝0,R_{ωy}＝0,R_{ωz}ω π/180 (convert angle to radian), and let the rotation matrix be M_{R1}The coordinate of the point position I on the cubic mirror under the coordinate system of the tested equipment after rotation isMeasuring instrument center T_{0}The coordinates are
Calculating to obtain the coordinates of a point I on the cubic mirror under the coordinate system of the equipment to be tested after rotationMeasuring instrument center T_{0}Coordinates of (2)Two points can form a collimation vector, two measured surfaces of the set square mirror are a collimation A surface and a collimation B surface, and the obtained collimation vector isA value of (x)_{A},y_{A},z_{A}) Obtaining the vector (i) by vector unit_{A},j_{A},k_{A}) (ii) a Obtaining the collimation vector of the collimation B surface in the same wayA value of (i)_{B},j_{B},k_{B}) Crossmultiplying the two collimation vectors to obtain a third vector perpendicular to the two collimation vectorsCollimation vectorAnd the third vector is three axes (X, Y, Z axes) of the cubic mirror coordinate system, and the direction pointed by the axes is judged according to the axial directions of the collimation A surface and the collimation B surface.
Let three unit vectors be (i)_{x},j_{x},k_{x})，(i_{y},j_{y},k_{y})，(i_{z},j_{z},k_{z}) Respectively corresponding to X, Y, Z axial directions of the cubic mirror coordinate system, the rotation matrix of the cubic mirror coordinate system under the tested device coordinate system is:
according to the transformation matrix and the attitude parameter R_{x}，R_{y}，R_{z}Functional relationship of (a):
the attitude parameter R of the cubic mirror coordinate system under the coordinate system of the tested equipment can be obtained by inverse calculation_{x}、R_{y}、R_{z}。
According to the invention, a measuring instrument (a laser tracker/an intelligent total station) is arranged on a lifting platform and leveled, a single instrument is built, and a measuring instrument coordinate system based on a measuring instrument center is established; the equipment to be tested 5 is arranged on a onedimensional turntable and is unified in coordinate axial direction, a measuring instrument 3 is used for measuring a plurality of point position coordinates of a onedimensional turntable plane, a coordinate system of the equipment to be tested is established according to the defined axial direction, the position relation between the coordinate system of the equipment to be tested and the coordinate system of the measuring instrument is obtained, the driving quantity is calculated by combining the prior parameters of the cubic mirror installation on the equipment to be tested 5, the driving quantity comprises the rotation quantity of a onedimensional horizontal turntable 2, the height movement quantity of a onedimensional lifting support 4 and the angle value (horizontal angle and vertical angle) of the measuring instrument 3, the onedimensional horizontal turntable 2, the onedimensional lifting support 4 and the measuring instrument 3 are driven to move according to the calculated driving quantity, after the approximate collimation is completed, the accurate collimation is realized by depending on the ATR function of the measuring instrument, the numerical values of the turntable, the support and the measuring instrument in the accurate collimation state are obtained by a control terminal 1, and the actual attitude parameter of the cubic mirror to be tested is calculated, the flow is shown in fig. 8.
Compared with the prior collimation measurement technology of manually operating a plurality of theodolites, the invention has the following advantages:
1) the station building process is simplified, the use of measuring instruments and equipment is reduced, and the operation is simple and convenient;
2) the fullautomatic measurement and calculation are realized, the labor intensity of measurement personnel is greatly reduced, the artificial measurement error is eliminated, and the stability and the precision of the measurement result are improved;
3) the manpower cost is reduced, the original theodolite collimation measurement needs 34 persons, and the whole measurement work can be completed by only one operator;
4) the measurement data can be managed and utilized more effectively, and the measurement efficiency and the data utilization rate are improved.
The onedimensional horizontal turntable is singleshaft platform equipment, has the functions of angular position, rotation rate and the like, can provide angular rotation in the horizontal direction by adopting a computer for control, and has the dynamic characteristics of highprecision positioning capability, stable speed and the like. The above is only one embodiment of the onedimensional horizontal turntable, and other support platforms with a rotation function can also be adopted, and are not limited to the specific shape of the onedimensional horizontal turntable.
The onedimensional lifting support can carry a measuring instrument to perform lifting motion in the vertical direction, has the characteristics of high stability, low thermal expansion coefficient, good creep resistance and the like, and is controlled by a computer. The above is only one embodiment of the onedimensional lifting support, and other support supports with lifting function may also be adopted, and are not limited to a lifting support.
The intelligent total station provided by the invention comprises an electronic angle measurement unit, an electronic distance measurement unit, an electronic calculation unit, a data storage unit and the like, and is a multifunctional measuring instrument integrating horizontal angle, vertical angle, distance (oblique distance and horizontal distance) and height difference measurement functions. The manual optical micrometer reading is replaced by automatic recording and displaying, so that the angle measurement operation is simplified, the reading error can be avoided, and the whole measurement work on the measuring station can be completed by arranging the instrument once. The intelligent total station is provided with an ATR function on the basis, and can automatically complete the identification, the collimation and the measurement of a plurality of targets under the condition of no human intervention.
The laser tracker can measure the distance, the horizontal angle and the vertical angle from the center of the instrument to the center of the target with high precision, and calculates the threedimensional coordinate of the space target according to the space sphere coordinate principle. The laser tracker mainly comprises modules of angle measurement, distance measurement, tracking control and the like, the distance measurement principle mainly comprises two modes of laser interference distance measurement and absolute distance measurement, the angle measurement mainly adopts coded disc angle measurement, and the tracking control principle mainly comprises two modes of PSD (Position Sensitive Detector) and ATR (photoelectric Position sensor).
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (4)
1. The automatic measuring system of the cubic mirror coordinate system is characterized by comprising a control terminal, wherein the control terminal is respectively connected with a measuring instrument, a supporting platform for horizontal rotation and a supporting bracket for lifting, the supporting platform is used for placing tested equipment and a cubic mirror on the tested equipment, the supporting bracket is used for placing the measuring instrument, the measuring instrument is used for aligning the cubic mirror on the tested equipment, and the control terminal is used for executing instructions for realizing the following steps:
1) establishing a measuring instrument coordinate system of the measuring instrument center, taking the coordinate system of the horizontally rotating supporting platform as a tested equipment coordinate system, and determining the relation between the measuring instrument coordinate system and the tested equipment coordinate system;
2) acquiring prior parameters of a cubic mirror mounted on the equipment to be tested, wherein the prior parameters comprise coordinate values of the center of the cubic mirror under a coordinate system of the equipment to be tested and a relation between the coordinate system of the cubic mirror and the coordinate system of the equipment to be tested, obtaining a normal of the measured surface of the cubic mirror before collimation by using the prior parameters, calculating the rotation amount of the supporting platform by combining the fact that the normal of the measured surface of the cubic mirror after collimation passes through the center of the coordinate system of the measuring instrument, and driving the supporting platform according to the rotation amount;
calculating the height movement amount of the supporting bracket according to the center of a measuring instrument coordinate system under a measured device coordinate system and the normal of a measured surface of the cube mirror behind the driving supporting platform under the measured device coordinate system; calculating the horizontal angle of the measuring instrument to be adjusted, comprising the following steps:
converting the center of a cubic mirror under the coordinate system of the equipment to be measured after the supporting platform is driven into the coordinate system of the measuring instrument according to the relation between the coordinate system of the measuring instrument and the coordinate system of the equipment to be measured, and calculating the horizontal angle adjusted by the measuring instrument by combining the center of the coordinate system of the measuring instrument according to the projection of the center of the cubic mirror under the coordinate system of the measuring instrument on the XOY plane of the coordinate system of the measuring instrument;
calculating a vertical angle required to be adjusted by the measuring instrument according to the center of a coordinate system of the measuring instrument and a normal of a measured surface of the cube mirror behind the supporting platform under the coordinate system of the measuring instrument; driving the supporting bracket according to the height movement amount, and driving a measuring instrument according to the horizontal angle and the vertical angle to realize the collimation of the measured surface of the cube mirror;
3) after the measured surface of the cubic mirror is collimated, obtaining a first collimation vector of the cubic mirror under the coordinate system of the equipment to be measured, collimating the other measured surface of the cubic mirror, and repeating the contents of the step 1) and the step 2) to obtain a second collimation vector of the cubic mirror under the coordinate system of the equipment to be measured; and determining the attitude parameters of the cubic mirror coordinate system under the coordinate system of the equipment to be tested according to the first collimation vector and the second collimation vector and the functional relation between the attitude parameters of the cubic mirror coordinate system and the rotation matrix of the cubic mirror coordinate system under the coordinate system of the equipment to be tested.
2. The automated measurement system of a cube coordinate system of claim 1, wherein the measurement instrument is a laser tracker or a total station.
3. The automated measuring system of a cube mirror coordinate system of claim 2, further comprising, after the support platform, support cradle and measuring instrument are all driven in step 2): and calculating fine adjustment values of the horizontal angle and the vertical angle by using an ATR function of the measuring instrument, and driving the measuring instrument according to the fine adjustment values.
4. Automated measuring system for the coordinate system of a cube mirror according to claim 1, characterized in that in step 1) a target point on the support platform is measured by a measuring instrument, and the coordinate system of the horizontally rotating support platform is determined from the measurement of the target point.
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