CN111811436B - Calibration device and calibration method for zero-returning posture of lamp box - Google Patents

Calibration device and calibration method for zero-returning posture of lamp box Download PDF

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CN111811436B
CN111811436B CN202010697968.XA CN202010697968A CN111811436B CN 111811436 B CN111811436 B CN 111811436B CN 202010697968 A CN202010697968 A CN 202010697968A CN 111811436 B CN111811436 B CN 111811436B
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laser
laser beam
zero
transverse
longitudinal
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CN111811436A (en
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杨炳恒
李武男
张彪
张磊
王文志
张涛
孙婧
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Qingdao Campus of Naval Aviation University of PLA
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Qingdao Campus of Naval Aviation University of PLA
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    • G—PHYSICS
    • 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 techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

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Abstract

The invention relates to a calibration device and a calibration method for a zero-returning posture of a lamp box, wherein the calibration device comprises: the laser alignment module is used for emitting transverse laser beams and longitudinal laser beams which are vertical to each other; the first target indication is arranged corresponding to the laser collimation module and is used for bearing the transverse laser beam and providing the coordinate position information of the transverse laser beam; the second target indication is arranged corresponding to the laser collimation module and is used for bearing the longitudinal laser beam and providing coordinate position information of the longitudinal laser beam; and the attitude angle comparison table is used for comparing the transverse laser beam coordinate position information with the longitudinal laser beam coordinate position information to obtain a final indication for finishing the zero returning operation of the lamp box. The invention can realize the simultaneous detection of the pitch angle and the roll angle of the lamp box and ensure the working stability of the guiding equipment.

Description

Calibration device and calibration method for zero-returning posture of lamp box
Technical Field
The invention belongs to the technical field of photoelectric detection, relates to a laser detection calibration technology of a lamp box, and particularly relates to a calibration device and a calibration method for a zero-returning posture of the lamp box.
Background
The aiming lamp box is an indicating device for safe landing of an airplane, and is susceptible to external factors such as mechanical vibration, impact and collision, for example: in a long-time flight segment and multiple times of heavy aircraft tasks, the zero-returning posture of the aiming lamp box can be greatly changed, so that the working stability of the guiding equipment is reduced, the flight training effect is reduced, and the life safety of a pilot is threatened, therefore, the zero-returning posture of the lamp box needs to be regularly detected and calibrated.
At present, there are three main problems in the detection calibration device of the zero-returning gesture of the aiming lamp box, firstly, the detection precision is lower, only a certain reference effect can be played, and effective description is difficult to be carried out on the zero-returning gesture of the aiming lamp box. Secondly, the detection content is incomplete, only the pitching zero-returning angle of the aiming lamp box can be roughly measured, and the rolling zero-returning angle of the aiming lamp box cannot be detected. Thirdly, the operation is complex, the time consumption is long, and the detection efficiency is low.
Disclosure of Invention
Aiming at the problems of low detection precision and detection efficiency, lack of rolling detection and the like of the conventional lamp box zero-returning posture detection and calibration device, the invention provides the lamp box zero-returning posture calibration device and the calibration method with high detection precision and detection efficiency, which realize simultaneous detection of the pitching and rolling angles of the lamp box and can ensure the working stability of the guide equipment.
In order to achieve the above object, the present invention provides a calibration device for the zero-returning posture of a lamp box, comprising:
the laser alignment module is used for emitting transverse laser beams and longitudinal laser beams which are vertical to each other;
the first target indication is arranged corresponding to the laser collimation module and is used for bearing the transverse laser beam and providing the coordinate position information of the transverse laser beam;
the second target indication is arranged corresponding to the laser collimation module and is used for bearing the longitudinal laser beam and providing coordinate position information of the longitudinal laser beam;
and the attitude angle comparison table is used for comparing the transverse laser beam coordinate position information with the longitudinal laser beam coordinate position information to obtain a final indication for finishing the zero returning operation of the lamp box.
Preferably, the laser collimation module includes a chassis, a laser power supply and a laser light source which are arranged in the chassis, a first optical system for emitting a transverse laser beam, and a second optical system for emitting a longitudinal laser beam, the laser light source is connected with the laser power supply, the first optical system is installed on a first side wall of the chassis, and the second optical system is installed on a second side wall of the chassis, which is perpendicular to the first side wall.
Preferably, the case of the laser collimation module is adsorbed on the top of the lamp box through a magnetic seat, and the laser light path of the laser collimation module is not shielded in the pitching and rolling directions.
Preferably, the first optical system and the second optical system have a length of 109mm, a working distance of 10-60m, and a beam diameter of 25 mm.
Preferably, the first optical system and the second optical system both comprise a collimation system, a focusing system and a focusing system, wherein a focusing spot of the focusing system is less than or equal to 3mm, a focal length of a pre-collimation optical lens of the collimation system is 50mm, a pre-collimation beam width is 12mm, and a pre-collimation divergence angle is 86 μ rad.
Preferably, the attitude angle look-up table is formed by a laser beam lateral distance ratio YuAnd the transverse distance ratio YuCorresponding roll angle beta and longitudinal distance ratio Y of laser beamvAnd the longitudinal distance ratio YvCorresponding pitch angle gamma, wherein beta E [ -1 DEG, 1 DEG]，γ∈[-1°,1°](ii) a The laser beam transverse distance ratio YuIs the transverse displacement dy of the transverse laser beamuIndicating a distance L from the first optical system to the first targetuThe ratio of (a) to (b), namely:
Figure BDA0002592004170000021
the laser beam longitudinal distance ratio YvIs the longitudinal displacement dy of the longitudinal laser beamvIndicating a distance L from the second optical system to the second targetvThe ratio of (a) to (b), namely:
Figure BDA0002592004170000031
the minimum indicating accuracy of the roll angle β is 0.04 °, and the minimum indicating accuracy of the pitch angle γ is 0.01 °.
Preferably, the rolling angle β is calculated through a constructed zero-returning posture optical calibration theoretical simulation model, and the pitching angle γ is calculated through a constructed zero-returning posture optical calibration theoretical simulation model; the zero-returning posture cursor calibration theoretical simulation model is expressed as follows:
Figure BDA0002592004170000032
preferably, the specific steps of constructing the zero-returning posture cursor calibration theoretical simulation model are as follows:
establishing a lamp array body axis coordinate system OXY, wherein O is a lamp array rotation center, Ox is a transverse rocking axis, Oy is a longitudinal rocking axis, and Oz is vertical to Ox and Oy and forms a coordinate system Oxyz;
the point A is the intersection point of the transverse laser beam and the longitudinal laser beam, and the position in the coordinate system Oxyz is (x)A,yA,zA) The direction vector of the transverse laser beam is
Figure BDA0002592004170000033
The direction vector of the longitudinal laser beam is
Figure BDA0002592004170000034
Direction vector
Figure BDA0002592004170000035
Direction vector
Figure BDA0002592004170000036
A plane passing through the point A and parallel to the coordinate system xOy, a direction vector
Figure BDA0002592004170000037
Angle with Ox is epsilon, direction vector
Figure BDA0002592004170000038
Angle delta to Ox, direction vector
Figure BDA0002592004170000039
The target surface indicated by the first target in the direction is BuDirection of rotation(Vector)
Figure BDA00025920041700000310
Target surface B indicated by the second target in the directionvThe rolling angle and the pitching angle are zero,
Figure BDA00025920041700000311
pointing to the origin of the target surface coordinate system indicated by the first target,
Figure BDA00025920041700000312
point A to target surface B pointing to the origin of the target surface coordinate system indicated by the second targetuIs the distance L from the first optical system to the first target indicationuPoint A to target surface BvIs the indicated distance L from the second optical system to the second targetv(ii) a Point a, direction vector
Figure BDA00025920041700000313
And a direction vector
Figure BDA00025920041700000314
The coordinates of (a) are:
Figure BDA00025920041700000315
is provided with
Figure BDA00025920041700000316
Is a target surface BuThe normal vector of (a) is,
Figure BDA00025920041700000317
is a target surface BvThe normal vector of (2), then:
Figure BDA0002592004170000041
establishing a coordinate system Ox 'y' z ', wherein the coordinate system Ox' y 'z' is a lamp array coordinate system with a rolling angle beta and a pitching angle gamma;
assuming that M is a transformation matrix for transforming the coordinate system Oxyz to the coordinate system Ox ' y ' z ', then:
Figure BDA0002592004170000042
point A, direction vector
Figure BDA0002592004170000043
And a direction vector
Figure BDA0002592004170000044
The coordinate of (A) is changed along with the rotation of the coordinate system relative to the coordinate system Oxyz and is not changed relative to the coordinate system Ox 'y' z ', and in the coordinate system Ox' y 'z', the point A and the direction vector are in the coordinate system Oxyz
Figure BDA0002592004170000045
And a direction vector
Figure BDA0002592004170000046
Is still determined by the formula (2), in the coordinate system Oxyz, point a, direction vector
Figure BDA0002592004170000047
And a direction vector
Figure BDA0002592004170000048
The coordinates of (a) are:
Figure BDA0002592004170000049
point A' and
Figure BDA00025920041700000410
the determined equation of the straight line is:
Figure BDA00025920041700000411
in the formula, λuAs parameters of a linear equation；
Then:
(x,y,z)＝(λucosε+xA,λusinε+yA,zA)M (7)
for the same reason, points A' and
Figure BDA00025920041700000412
the determined equation of the straight line is:
(x,y,z)＝(λvcosδ+xA,λvsinδ+yA,zA)M (8)
in the formula, λvIs a linear equation parameter;
target surface BuThe equation of (a) is:
xcosε+ysinε＝Lu+xAcosε+yAsinε (9)
target surface BvThe equation of (a) is:
xcosδ+ysinδ＝Lv+xAcosδ+yAsinδ (10)
simultaneous equations (7) and (9) yield the system of equations:
Figure BDA0002592004170000051
Figure BDA0002592004170000052
Figure BDA0002592004170000053
the target surface B is obtained by the equation system consisting of the formulas (11), (12) and (13)uThe coordinates of the intersection points above are:
Figure BDA0002592004170000054
Figure BDA0002592004170000061
Figure BDA0002592004170000062
set point A' and
Figure BDA0002592004170000063
determined linear equation and target surface BuThe intersection point is B1The target center is Bu0Then point of intersection B1The coordinate in the coordinate system Oxyz is (x)u,yu,zu)，BuPoint coordinates (L)ucosε+xA,Lusinε+yA,zA) Then, there are:
Figure BDA0002592004170000064
the intersection point is on the target surface BuThe coordinate values of (A) are as follows:
Figure BDA0002592004170000065
namely:
Figure BDA0002592004170000066
in the same way, the formula (8) and the formula (10) are combined to obtain the intersection point on the target surface BuThe coordinate values of (A) are as follows:
Figure BDA0002592004170000071
when epsilon is 0 deg., delta is 90 deg., xA＝0、yA＝0、zAWhen the zero-returning attitude of the lamp box is equal to 0, the origin of the calibration device coincides with the origin of the coordinate system Oxyz, and the direction vector
Figure BDA0002592004170000072
Coinciding with the x-axis of the coordinate system Oxyz, BuThe target surface is vertical to the x axis of the coordinate system Oxyz; direction vector
Figure BDA0002592004170000073
Coinciding with the y-axis of the coordinate system Oxyz, BvThe target surface is vertical to the y-axis of the coordinate system Oxyz; then equations (19), (20) are simplified as:
Figure BDA0002592004170000074
Figure BDA0002592004170000075
the following equations (21) and (22) yield:
Figure BDA0002592004170000076
since the roll angle β is small, the measurement range is ± 1 °, then cos β in equation (23) is approximately cos0 ═ 1 in this angle range, and equation (23) is simplified as:
Figure BDA0002592004170000077
the formula (1) is the established zero-returning posture cursor calibration theoretical simulation model.
Preferably, the first target indication and the second target indication are both plane rectangular coordinate systems, and each plane rectangular coordinate system includes an X axis and a Y axis which are perpendicular to each other, the minimum indication precision of the X axis is 0.001m, and the minimum indication precision of the Y axis is 0.05 m.
In order to achieve the above object, the present invention also provides a calibration method for the zero-returning posture of the lamp box, which adopts the calibration device for the zero-returning posture of the lamp box, and comprises the following specific steps:
the laser alignment module is arranged on the top of the lamp box and emits two transverse laser beams and two longitudinal laser beams which are perpendicular to each other;
reading the position coordinate information of the transverse laser beam from the coordinate system indicated by the first target, and reading the position coordinate information of the longitudinal laser beam from the coordinate system indicated by the second target;
and adjusting the angle of the lamp box by contrasting the attitude angle comparison table according to the read position coordinate information of the transverse laser beam and the position coordinate information of the longitudinal laser beam.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) the invention adopts laser with good stability and high collimation as the indication collimation direction, which is about 50 times of the prior calibration device, can realize simultaneous detection and accurate zero-return posture calibration of the rolling angle and the pitching angle of the lamp box, avoids the measurement error caused by the uncertainty of subjective observation of an operator, has high detection precision, simplifies the calibration steps, reduces the calibration time, and improves the quick response capability of the equipment.
(2) The invention can realize the quick calibration of the zero-returning posture of the lamp box, ensures the working stability of the lamp box, has important significance for ensuring the training result and the safety of pilots, and has important military and economic significance.
(3) The invention is erected by utilizing the existing installation conditions, adopts a semi-physical short-distance detection mode, and reduces the cost while ensuring the accuracy and the effectiveness of the detection result.
(4) The calibration device has small volume and light weight, adopts a magnetic base adsorption installation mode, achieves the aims of nondestructive rigid installation and portability, and is quick to assemble and disassemble, and is convenient to realize quick deployment of the device.
Drawings
Fig. 1 is a schematic structural diagram of a laser alignment module according to an embodiment of the present invention;
FIG. 2 is a target surface display diagram of a first target indication and a second target surface indication according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a zero-returning gesture cursor calibration theoretical simulation model according to an embodiment of the present invention;
FIG. 4 is a schematic view of a roll angle and a pitch angle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a model for solving coordinate values of a target surface coordinate system according to an embodiment of the present invention.
In the figure, 1, a case, 101, a first side wall, 102, a second side wall, 2, a laser power supply, 3, a laser light source, 4, a first optical system, 5, a second optical system, 6, a magnetic base, 7, a switch, 8, an indicator light, 9 and a connector.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The invention provides a lamp box zero-returning posture calibration device and a method, which can realize emergency traction and auxiliary power supply of a rail transit vehicle main line and meet shunting and operation requirements of vehicles in non-network areas such as a vehicle section, a test run line and a garage. The following detailed description is given with reference to specific examples.
Example 1: in this embodiment, referring to fig. 1, a calibration device for the zero-returning posture of a light box is provided, which includes:
the laser alignment module is used for emitting transverse laser beams and longitudinal laser beams which are vertical to each other;
the first target indication is arranged corresponding to the laser collimation module and is used for bearing the transverse laser beam and providing the coordinate position information of the transverse laser beam;
the second target indication is arranged corresponding to the laser collimation module and is used for bearing the longitudinal laser beam and providing coordinate position information of the longitudinal laser beam;
and the attitude angle comparison table is used for comparing the transverse laser beam coordinate position information with the longitudinal laser beam coordinate position information to obtain a final indication for finishing the zero returning operation of the lamp box.
Specifically, referring to fig. 1, the laser collimation module includes a chassis 1, a laser power supply 2 and a laser light source 3 disposed in the chassis 1, a first optical system 4 for emitting a transverse laser beam, and a second optical system 5 for emitting a longitudinal laser beam, where the laser light source 3 is connected to the laser power supply 2, the first optical system 4 is mounted on a first sidewall 101 of the chassis 1, and the second optical system 5 is mounted on a second sidewall 102 of the chassis 1 perpendicular to the first sidewall 101. The laser light source adopts a single-mode laser generator to generate single-mode red light laser with the wavelength of 658nm, the MFD of the output optical fiber is 4.3 mu m, the NA of the output optical fiber is 0.12, the optical output power is 40mw, the rated current is 135mA, the rated voltage is 2.5V, and the optical fiber light outlet interface is FC/PC. The laser power supply is a replaceable and chargeable power supply, adopts a series-parallel connection structure, has a voltage value of 1.5V, and ensures that the laser light source can continuously work. Laser generated by the laser source is zoomed and focused by the first optical system and the second optical system to form transverse laser beams and longitudinal laser beams which are vertical to each other.
With continued reference to fig. 1, the case 1 of the laser collimation module is attached to the top of the lamp box through the magnetic base 6, and the laser path of the laser collimation module is not shielded in the pitch and roll directions. The laser alignment module is quickly installed on the lamp box through the adsorption of the magnetic base, the laser alignment module is quickly connected through the magnetic adsorption, and the device is portable and can be quickly deployed.
Specifically, the laser collimation module further comprises a switch 7 connected with the laser power supply 2, an indicator light 8 connected with the laser power supply 2, and a connector 9, wherein the connector 9 is used for connecting the laser power supply 2 and the laser light source 3, the laser power supply is controlled to be turned on and off through the switch, and the working state of the laser collimation module is indicated through the indicator light.
Specifically, the first optical system and the second optical system have a length of 109mm, a working distance of 10-60m, and a beam diameter of 25 mm.
In this embodiment, the first optical system and the second optical system each include a collimating system, a focusing system, and a focusing system, where a focusing spot of the focusing system is less than or equal to 3mm, a focal length of a pre-collimating optical lens of the collimating system is 50mm, a width of a pre-collimated beam is 12mm, and a pre-collimating divergence angle is 86 μ rad. The first optical system and the second optical system change the interval of a primary mirror and a secondary mirror of the focusing system through an adjusting valve of the focusing system to realize laser zooming, and the secondary mirror is fixedly locked through a locking screw on the lens cone after a focusing light spot is minimized. The relationship values of the spot size, the distance and the distance of the primary mirror and the secondary mirror of the two optical systems are shown in the table 1.
TABLE 1
Figure BDA0002592004170000111
Referring to Table 2, the attitude angle comparison table is based on the laser beam lateral distance ratio YuAnd the transverse distance ratio YuCorresponding roll angle beta and longitudinal distance ratio Y of laser beamvAnd the longitudinal distance ratio YvCorresponding pitch angle gamma, wherein beta E [ -1 DEG, 1 DEG]，γ∈[-1°,1°](ii) a The laser beam transverse distance ratio YuIs the transverse displacement dy of the transverse laser beamuIndicating a distance L from the first optical system to the first targetuThe ratio of (a) to (b), namely:
Figure BDA0002592004170000112
the laser beam longitudinal distance ratio YvIs the longitudinal displacement dy of the longitudinal laser beamvIndicating a distance L from the second optical system to the second targetvThe ratio of (a) to (b), namely:
Figure BDA0002592004170000113
the minimum indication precision of the rolling angle beta is 0.04 DEG, and the minimum indication precision of the pitching angle gamma is 0.04 DEGThe accuracy is shown to be 0.01.
TABLE 2
Figure BDA0002592004170000114
Figure BDA0002592004170000121
Figure BDA0002592004170000131
Figure BDA0002592004170000141
Figure BDA0002592004170000151
Figure BDA0002592004170000161
Figure BDA0002592004170000171
Specifically, the rolling angle β is calculated through a constructed zero-returning posture optical calibration theoretical simulation model, and the pitching angle γ is calculated through a constructed zero-returning posture optical calibration theoretical simulation model; the zero-returning posture cursor calibration theoretical simulation model is expressed as follows:
Figure BDA0002592004170000172
in this embodiment, referring to fig. 3, the specific steps of constructing the zero-returning posture cursor calibration theoretical simulation model are as follows:
s1, establishing a lamp array body axis coordinate system Oxy, wherein O is a lamp array rotation center, Ox is a transverse rocking axis, Oy is a longitudinal rocking axis, and Oz is perpendicular to Ox and Oy and forms a coordinate system Oxyz;
s2, point A is the intersection point of the transverse laser beam and the longitudinal laser beam, and the position in the coordinate system Oxyz is (x)A,yA,zA) The direction vector of the transverse laser beam is
Figure BDA0002592004170000173
The direction vector of the longitudinal laser beam is
Figure BDA0002592004170000174
Direction vector
Figure BDA0002592004170000175
Direction vector
Figure BDA0002592004170000176
A plane passing through the point A and parallel to the coordinate system xOy, a direction vector
Figure BDA0002592004170000181
Angle with Ox is epsilon, direction vector
Figure BDA0002592004170000182
Angle delta to Ox, direction vector
Figure BDA0002592004170000183
The target surface indicated by the first target in the direction is BuDirection vector of
Figure BDA0002592004170000184
Target surface B indicated by the second target in the directionvThe rolling angle and the pitching angle are zero,
Figure BDA0002592004170000185
pointing to the origin of the target surface coordinate system indicated by the first target,
Figure BDA0002592004170000186
point A to target surface B pointing to the origin of the target surface coordinate system indicated by the second targetuIs the distance L from the first optical system to the first target indicationuPoint A to target surface BvIs the indicated distance L from the second optical system to the second targetv(ii) a Point a, direction vector
Figure BDA0002592004170000187
And a direction vector
Figure BDA0002592004170000188
The coordinates of (a) are:
Figure BDA0002592004170000189
is provided with
Figure BDA00025920041700001810
Is a target surface BuThe normal vector of (a) is,
Figure BDA00025920041700001811
is a target surface BvThe normal vector of (2), then:
Figure BDA00025920041700001812
s3, referring to fig. 4, establishing a coordinate system Ox ' y ' z ', which is a lamp array coordinate system with a roll angle β and a pitch angle γ;
assuming that M is a transformation matrix for transforming the coordinate system Oxyz to the coordinate system Ox ' y ' z ', then:
Figure BDA00025920041700001813
point A, direction vector
Figure BDA00025920041700001814
And a direction vector
Figure BDA00025920041700001815
The coordinate of (A) is changed along with the rotation of the coordinate system relative to the coordinate system Oxyz and is not changed relative to the coordinate system Ox 'y' z ', and in the coordinate system Ox' y 'z', the point A and the direction vector are in the coordinate system Oxyz
Figure BDA00025920041700001816
And a direction vector
Figure BDA00025920041700001817
Is still determined by the formula (2), in the coordinate system Oxyz, point a, direction vector
Figure BDA00025920041700001818
And a direction vector
Figure BDA00025920041700001819
The coordinates of (a) are:
Figure BDA0002592004170000191
point A' and
Figure BDA0002592004170000192
the determined equation of the straight line is:
Figure BDA0002592004170000193
in the formula, λuIs a linear equation parameter;
then:
(x,y,z)＝(λucosε+xA,λusinε+yA,zA)M (7)
for the same reason, points A' and
Figure BDA0002592004170000194
the determined equation of the straight line is:
(x,y,z)＝(λvcosδ+xA,λvsinδ+yA,zA)M (8)
in the formula, λvIs a linear equation parameter;
target surface BuThe equation of (a) is:
xcosε+ysinε＝Lu+xAcosε+yAsinε (9)
target surface BvThe equation of (a) is:
xcosδ+ysinδ＝Lv+xAcosδ+yAsinδ (10)
simultaneous equations (7) and (9) yield the system of equations:
Figure BDA0002592004170000195
Figure BDA0002592004170000196
Figure BDA0002592004170000201
the target surface B is obtained by the equation system consisting of the formulas (11), (12) and (13)uThe coordinates of the intersection points above are:
Figure BDA0002592004170000202
Figure BDA0002592004170000203
Figure BDA0002592004170000204
s4, see FIG. 5, set points A' and
Figure BDA0002592004170000205
determined linear equation and target surface BuThe intersection point is B1The target center is Bu0Then point of intersection B1The coordinate in the coordinate system Oxyz is (x)u,yu,zu)，BuPoint coordinates (L)ucosε+xA,Lusinε+yA,zA) Then, there are:
Figure BDA0002592004170000211
the intersection point is on the target surface BuThe coordinate values of (A) are as follows:
Figure BDA0002592004170000212
namely:
Figure BDA0002592004170000213
in the same way, the formula (8) and the formula (10) are combined to obtain the intersection point on the target surface BuThe coordinate values of (A) are as follows:
Figure BDA0002592004170000214
when epsilon is 0 deg., delta is 90 deg., xA＝0、yA＝0、zAWhen the zero-returning attitude of the lamp box is equal to 0, the origin of the calibration device coincides with the origin of the coordinate system Oxyz, and the direction vector
Figure BDA0002592004170000215
Coinciding with the x-axis of the coordinate system Oxyz, BuThe target surface is vertical to the x axis of the coordinate system Oxyz; direction vector
Figure BDA0002592004170000216
Coinciding with the y-axis of the coordinate system Oxyz, BvThe target surface is vertical to the y-axis of the coordinate system Oxyz; then equations (19), (20) are simplified as:
Figure BDA0002592004170000217
Figure BDA0002592004170000218
the following equations (21) and (22) yield:
Figure BDA0002592004170000219
since the roll angle β is small, the measurement range is ± 1 °, then cos β in equation (23) is approximately cos0 ═ 1 in this angle range, and equation (23) is simplified as:
Figure BDA0002592004170000221
the formula (1) is the established zero-returning posture cursor calibration theoretical simulation model.
Specifically, referring to fig. 2, the first target indication and the second target indication are both planar rectangular coordinate systems, and include an X axis and a Y axis perpendicular to each other, the minimum indication precision of the X axis is 0.001m, and the minimum indication precision of the Y axis is 0.05 m. In the target indication manufacturing process, the laboratory environment is considered, the target indication is a fixed target surface, according to actual indication, the minimum indication precision of the refined target surface coordinate is 1mm, the minimum indication precision is consistent with the minimum indication precision in the query attitude angle comparison table, the coordinate position of the laser beam on the target surface can be seen through the target surface, then the angle of the current indication position is determined through the query attitude angle comparison table, and the current zero return error can be obtained through comparison with the actually set angle.
The lamp box zero-returning posture calibration device can realize simultaneous detection and accurate zero-returning posture calibration of the rolling angle and the pitching angle of the lamp box, avoids measurement errors caused by uncertainty of subjective observation of an operator, is high in detection precision, simplifies calibration steps, reduces calibration time, and improves quick response capability of equipment.
Example 2: with continued reference to fig. 1, in this embodiment, a method for calibrating a zero-returning posture of a light box is provided, where the method for calibrating a zero-returning posture of a light box described in embodiment 1 is adopted, and the method specifically includes the following steps:
s1, mounting the laser collimation module on the top of the lamp box;
s2, the laser collimation module emits two transverse laser beams and two longitudinal laser beams which are perpendicular to each other;
s3, reading the position coordinate information of the transverse laser beam from the coordinate system indicated by the first target, and reading the position coordinate information of the longitudinal laser beam from the coordinate system indicated by the second target;
and S4, adjusting the lamp box angle according to the read position coordinate information of the transverse laser beam and the read position coordinate information of the longitudinal laser beam by contrasting the attitude angle comparison table.
According to the calibration method, the light box zero-returning posture calibration device is adopted, simultaneous detection of the rolling angle and the pitching angle of the light box and accurate zero-returning posture calibration can be achieved, measurement errors caused by uncertainty of subjective observation of an operator are avoided, the detection precision is high, calibration steps are simplified, calibration time is shortened, and the quick response capability of equipment is improved.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are possible within the spirit and scope of the claims.

Claims (8)

1. The utility model provides a lamp house returns zero gesture calibration device which characterized in that includes:
the laser alignment module is arranged at the top of the lamp box and used for emitting transverse laser beams and longitudinal laser beams which are vertical to each other; the laser alignment module comprises a case, a laser power supply and a laser light source which are arranged in the case, a first optical system for emitting transverse laser beams and a second optical system for emitting longitudinal laser beams, wherein the laser light source is connected with the laser power supply, the first optical system is arranged on a first side wall of the case, and the second optical system is arranged on a second side wall, perpendicular to the first side wall, of the case;
the first target indication is arranged corresponding to the laser collimation module and is used for bearing the transverse laser beam and providing the coordinate position information of the transverse laser beam;
the second target indication is arranged corresponding to the laser collimation module and is used for bearing the longitudinal laser beam and providing coordinate position information of the longitudinal laser beam;
the attitude angle comparison table is used for comparing the transverse laser beam coordinate position information with the longitudinal laser beam coordinate position information to obtain a final indication for finishing the zero returning operation of the lamp box; the attitude angle comparison table is formed by a laser beam transverse distance ratio YuAnd the transverse distance ratio YuCorresponding roll angle beta and longitudinal distance ratio Y of laser beamvAnd the longitudinal distance ratio YvCorresponding pitch angle gamma, wherein beta E [ -1 DEG, 1 DEG]，γ∈[-1°,1°](ii) a The laser beam transverse distance ratio YuIs the transverse displacement dy of the transverse laser beamuIndicating a distance L from the first optical system to the first targetuThe ratio of (a) to (b), namely:
Figure FDA0003348862650000011
the laser beam longitudinal distance ratio YvIs the longitudinal displacement dy of the longitudinal laser beamvIndicating a distance L from the second optical system to the second targetvThe ratio of (a) to (b), namely:
Figure FDA0003348862650000012
2. the device for calibrating the zero-returning posture of the light box as claimed in claim 1, wherein the case of the laser collimation module is attached to the top of the light box through a magnetic base, and the laser light path of the laser collimation module is not shielded in the pitching and rolling directions.
3. A light box zero-return attitude calibration device as claimed in claim 1 or 2, wherein the first optical system and the second optical system have a length of 109mm, a working distance of 10-60m, and a beam diameter of 25 mm.
4. The device for calibrating the zero-returning attitude of the light box according to claim 3, wherein the first optical system and the second optical system comprise a collimation system, a focusing system and a focusing system, wherein the focusing light spot of the focusing system is less than or equal to 3mm, the focal length of a pre-collimation optical lens of the collimation system is 50mm, the width of a pre-collimation beam is 12mm, and the pre-collimation divergence angle is 86 μ rad.
5. The light box zero-return attitude correction apparatus according to claim 1 or 2, wherein the minimum indicating accuracy of the roll angle β is 0.04 °, and the minimum indicating accuracy of the pitch angle γ is 0.01 °.
6. The light box zeroing attitude calibration device of claim 5, wherein: the rolling angle beta is calculated through a constructed zero-returning posture optical calibration theoretical simulation model, and the pitching angle gamma is calculated through the constructed zero-returning posture optical calibration theoretical simulation model; the zero-returning posture cursor calibration theoretical simulation model is expressed as follows:
Figure FDA0003348862650000021
7. the device for calibrating the zero-returning posture of the light box as claimed in claim 1, wherein the first target indication and the second target indication are planar rectangular coordinates and have an X axis and a Y axis which are perpendicular to each other, the minimum indication precision of the X axis is 0.001m, and the minimum indication precision of the Y axis is 0.05 m.
8. A method for calibrating a zero-returning posture of a light box, which is characterized by adopting the device for calibrating the zero-returning posture of the light box according to any one of claims 1 to 7, and comprises the following steps:
the laser alignment module is arranged on the top of the lamp box and emits two transverse laser beams and two longitudinal laser beams which are perpendicular to each other;
reading the position coordinate information of the transverse laser beam from the coordinate system indicated by the first target, and reading the position coordinate information of the longitudinal laser beam from the coordinate system indicated by the second target;
and adjusting the angle of the lamp box by contrasting the attitude angle comparison table according to the read position coordinate information of the transverse laser beam and the position coordinate information of the longitudinal laser beam.
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