CN204612674U - Three-dimensional corner measuring apparatus - Google Patents

Abstract

The utility model relates to a kind of three-dimensional corner measuring apparatus, comprise reflection part, first autocollimator, second autocollimator, reflection part is arranged on testee, reflection part comprises normal reflection face and oblique reflection face, the angle in normal reflection face and oblique reflection face is θ, 5 °≤θ≤20 °, the angle of the first autocollimator and the second autocollimator is also θ, first autocollimator is just aligning reflecting surface and the optical axis of the first autocollimator is vertical with normal reflection face, second autocollimator is just to oblique reflection face and the optical axis of the second autocollimator is vertical with oblique reflection face, the arrangement achieves the 3 d pose variable quantity of testee in space, there is implementation simple, technology maturation is reliable, easy to operate feature is installed.

Description

Three-dimensional corner measuring apparatus

Technical field

The utility model belongs to technical field of electro-optical measurement, relates to a kind of device realizing three-dimensional outer corner measurement based on self-collimation measurement technology.

Background technology

Object has three degree of freedom at Space Rotating: the angle of pitch, deflection angle and roll angle, wherein the angle of pitch and deflection angle are measured and conventional photo measuring method (as autocollimator is measured) can be adopted to obtain, and the high-acruracy survey realizing roll angle is a difficult problem in Technology of Precision Measurement field always.At present, laser interferance method, polarized light measurement method and the measuring method etc. based on image procossing are mainly contained to rolling angle measurement both at home and abroad.

Laser interferance method is by converting roll angle change to optical path difference thus realizing measuring, measure although laser interferance method can realize High precision roll angle, but prerequisite needs to ensure that other two dimension angulars (angle of pitch and deflection angle) can not change in measuring process, otherwise can have influence on rolling angle measurement precision.

Polarized light measurement method is based on magneto-optic modulation principle, utilizes the linearly polarized light polarization direction that detects and analyzer optical axis included angle to calculate roll angle, and the polarizer and analyzer need to be in respectively in two units and just can complete measurement of angle.The optical-mechanical system design of polarized light detection method is complicated, and measuring equipment volume is unfavorable for more greatly being arranged on testee, there is certain application limitation.

Based on the measuring method of image procossing, be, on testee, cooperative target is installed, realize rolling angle measurement by the change of taking cooperative target.Although this method realizes than being easier to, the image sensor resolutions of taking camera used is the bottleneck limiting its measuring accuracy, and measuring accuracy is difficult to improve.

Summary of the invention

The utility model, for problems of the prior art, provides a kind of based on self-collimation measurement device, utilizes the high-acruracy survey that this device can realize three-dimensional corner.

For solving prior art Problems existing, the technical scheme that the utility model provides is as follows:

A kind of three-dimensional corner measuring apparatus, its special character is: comprise reflection part, first autocollimator, second autocollimator, described reflection part is arranged on testee, described reflection part comprises normal reflection face and oblique reflection face, the angle in described normal reflection face and oblique reflection face is θ, 5 °≤θ≤20 °, the angle of described first autocollimator and the second autocollimator is also θ, described first autocollimator is just aligning reflecting surface and the optical axis of the first autocollimator is vertical with normal reflection face, described second autocollimator is just to oblique reflection face and the optical axis of the second autocollimator is vertical with oblique reflection face.

Above-mentioned first autocollimator and the second autocollimator are Two-Axis Autocollimator or one dimension autocollimator,

When for one dimension autocollimator, the quantity of described first autocollimator is 2 and parallel setting, and the quantity of described second autocollimator is 2 and parallel setting,

When for Two-Axis Autocollimator, the quantity of described first autocollimator is 1, and the quantity of described second autocollimator is 1.

Photoelectric detector in Two-Axis Autocollimator is face array CMOS image sensor or area array CCD, and the photoelectric detector in one dimension autocollimator is line array CCD.

The span of the θ in the utility model can be preferably 10 °≤θ≤20 °.

Consider the factors such as the measuring accuracy of utility model device, equipment volume and measuring distance, in the utility model, the preferable range of θ is 10 ° ± 2 '.

The optical axis of above-mentioned first autocollimator and normal reflection face normal angle, described first autocollimator optical axis and oblique reflection face normal angle error are all within the scope of ± 2 ＇.

Utilize said apparatus to carry out the method for three-dimensional outer corner measurement, its special character is:

1) OXYZ coordinate system, O is set up ₁x ₁y ₁z ₁coordinate system, O ₂x ₂y ₂z ₂coordinate system, OXYZ is testee surving coordinate system, O ₁x ₁y ₁z ₁be the first autocollimator surving coordinate system, O ₂x ₂y ₂z ₂be the second autocollimator surving coordinate system,

Wherein OXZ, O ₁x ₁z ₁, O ₂x ₂z ₂all in surface level, OY axle, O ₁y ₁axle, O ₂y ₂axle and horizontal plane, coordinate system meets right-hand rule, coordinate system OXYZ and coordinate system O ₁x ₁y ₁z ₁overlap, coordinate system O ₂x ₂y ₂z ₂for coordinate system O ₁x ₁y ₁z ₁around O ₁y ₁axle obtains after being rotated counterclockwise θ angle, and θ value is the fixed angle of reflection part two reflecting surface;

2) the first autocollimator aligns reflecting surface and carries out alignment measurement, draws two measured angular angle value: α 1 _xwith α 1 _y, wherein α 1 _xfor reflection part is around the corner variable quantity of Y-axis, i.e. the deflection angle β of testee; α 1 _yfor reflection part is around the corner variable quantity of Z axis, i.e. the angle of pitch ω of testee;

3) the second autocollimator carries out alignment measurement to oblique reflection face, draws two measured angular angle value: α 2 _xwith α 2 _y, wherein α 2 _xfor reflection part is around the corner variable quantity of Y-axis, with α 1 _xbe worth identical; α 2 _ybe the angle variable quantity that the second autocollimator records in pixel coordinate system Y-axis, it contains two kinds of angle informations: roll angle component α and α 1 _ycomponent ω;

4) according to step 2), 3) the angle value α 1 that records _y, α 2 _yand two reflecting surface fixed angle θ calculate the roll angle of testee.

The computing formula of roll angle is corresponding with concrete derivation, and the roll angle computing formula in the utility model is:

$\mathrm{\α}=\frac{\sin \mathrm{\α}{2}_y-\mathrm{\α}{1}_y*\cos \mathrm{\θ}}{\sin \mathrm{\θ}}.$

The utility model has the following advantages:

1, the utility model belongs to optical non-contact and measures, and utilizes self-collimation measurement technology to realize three-dimensional outer corner measurement, has that implementation is simple, technology maturation is reliable, install easy to operate feature;

2, the utility model adopts large face array CMOS image sensor at a high speed as the photoelectric detector of autocollimator, can meet the requirement such as the high precision of corner, real-time response measurement;

3, the utility model solves the limitation to rolling angle measurement in background technology, and roll angle can be measured with other bidimensional corners simultaneously, and has comparatively high measurement accuracy certain measurement in field range.

Accompanying drawing explanation

Fig. 1 is composition schematic diagram (vertical view) of the present utility model;

Fig. 2 is measuring principle schematic diagram (vertical view) of the present utility model;

Fig. 3 is the coordinate system graph of a relation of three-dimensional outer corner measurement;

Fig. 4 is vector of unit length position view in surving coordinate system that reflection part normal is corresponding.

Accompanying drawing 1 label declaration:

1-testee; 2-reflection part; 3-collimated light source 1; The three-dimensional angle-measuring equipment of 4-installs carrier; The three-dimensional angle-measuring equipment casing of 5-; 6-face array CMOS image sensor 1; 7-first autocollimator; 8-collimated light source 2; 9-face array CMOS image sensor 2; 10-second autocollimator; 11-reflection part normal reflection face; 12-reflection part oblique reflection face; 71-first autocollimator light path; 72-second autocollimator light path; 61-first returns picture point 1; 91-second returns picture point.

Embodiment

The utility model is measured according to autocollimator Cleaning Principle, and three-dimensional corner measuring apparatus comprises a measurement mechanism body be made up of two Two-Axis Autocollimator and a reflection part 2 (i.e. cooperative target).During measurement, the first autocollimator 7 in measurement mechanism aims at reflection part normal reflection face 11, is measured the bidimensional angle variable quantity in reflection part normal reflection face by optical autocollimating measuring principle; In like manner, the bidimensional angle variable quantity in reflection part oblique reflection face 12 measured by the second autocollimator 10.After the data processing centre (DPC) of three-dimensional measuring apparatus receives these angle informations, the angle value of three-dimensional corner can be calculated according to formula, achieve the 3 d pose variable quantity of testee 1 in space.

Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail:

As shown in Figure 1, reflection part 2 is arranged on testee 1, by three-dimensional measuring apparatus erection with on reflection part isometry position.Regulate measurement mechanism position, the first autocollimator 7 is made to aim at reflection part normal reflection face 11, reflection part oblique reflection face 12 aimed at by second autocollimator 10, and first of two the autocollimators receptions of guarantee simultaneously return picture point 61 and second and return to the position of picture point 91 substantially in the center of imageing sensor.After possessing above-mentioned condition, three-dimensional outer corner measurement can be carried out.

As shown in Figure 2, in figure, coordinate system OXYZ is systematic survey coordinate system, coordinate system O ₁x ₁y ₁z ₁be the first autocollimator surving coordinate system, O ₂x ₂y ₂z ₂be the second autocollimator surving coordinate system, wherein OXZ, O ₁x ₁z ₁, O ₂x ₂z ₂all in surface level, OY axle, O ₁y ₁axle, O ₂y ₂axle and horizontal plane, coordinate system meets right-hand rule.Coordinate system OXYZ and coordinate system O ₁x ₁y ₁z ₁overlap, coordinate system O ₂x ₂y ₂z ₂for coordinate system O ₁x ₁y ₁z ₁around O ₁y ₁axle obtains after being rotated counterclockwise θ angle, and θ value is the fixed angle of reflection part two reflecting surface.

As shown in Figure 3, the normal vector in the corresponding reflection part normal reflection face of the vector of unit length I1 in surving coordinate system OXYZ, the normal vector in the corresponding reflection part oblique reflection face of vector of unit length I2, I1 and I2 has a fixed angle θ, and θ is the angle between normal reflection face normal and oblique reflection face normal.In surving coordinate system OXYZ, set vectorial I1 coordinate as (1,0,0) ^t, vectorial I2 coordinate is (cos θ, 0 ,-sin θ) ^t, the change of vectorial I1, I2 is consistent with the change of normal N 1, N2, namely correspond to the change of the normal reflection face of reflection part and the three-dimensional corner in oblique reflection face.

After equipment under test rotation alpha, β, ω angle, vectorial I1, I2 become I1 ', I2 ' (in surving coordinate system OXYZ):

$\left\{\begin{array}{c}I{1}^{\′}=C_2*C_3*C_1/I1=\left[\begin{array}{c}\cos \mathrm{\ω}\cos \mathrm{\β}\\ \sin \mathrm{\ω}\\ -\cos \mathrm{\ω}\sin \mathrm{\β}\end{array}\right]\\ {I2}^{\′}=C_2*C_3*C_1/I2=\begin{array}{}\left[\begin{array}{c}\cos \mathrm{\ω}\cos \mathrm{\β}\cos \mathrm{\θ}-\sin \mathrm{\θ}(\sin \mathrm{\β}\cos \mathrm{\α}+\sin \mathrm{\α}\cos \mathrm{\β}\sin \mathrm{\ω})\\ \sin \mathrm{\ω}\cos \mathrm{\θ}+\sin \mathrm{\θ}\sin \mathrm{\α}\cos \mathrm{\ω}\\ -\cos \mathrm{\ω}\sin \mathrm{\β}\cos \mathrm{\θ}-\sin \mathrm{\θ}(\cos \mathrm{\β}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\ω})\end{array}\right]\end{array}\end{array}\right.$

C in formula ₁, C ₂, C ₃transformation matrix of coordinates for rotating around OX axle, OY axle, OZ axle:

$C_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\α}& -\sin \mathrm{\α}\\ 0& \sin \mathrm{\α}& \cos \mathrm{\α}\end{array}\right],C_2=\left[\begin{array}{ccc}\cos \mathrm{\β}& 0& \sin \mathrm{\β}\\ 0& 1& 0\\ -\sin \mathrm{\β}& 0& \cos \mathrm{\β}\end{array}\right],C_3=\left[\begin{array}{ccc}\cos \mathrm{\ω}& -\sin \mathrm{\ω}& 0\\ \sin \mathrm{\ω}& \cos \mathrm{\ω}& 0\\ 0& 0& 1\end{array}\right]$

As shown in Figure 4, define postrotational vectorial I1 ', I2 ' and be respectively α 1 with the variable angle amount of plane OXZ _y, α 2 _y, vectorial I1 ', I2 ' and plane X ₁oY ₁variable angle amount be respectively α 1 _x, α 2 _x.Can be obtained by I1 ', I2 ' coordinate:

${\mathrm{\α}1}_y=\arcsin \left(\frac{\sin \mathrm{\ω}}{1}\right)=\arcsin \left(\sin \mathrm{\ω}\right)=\mathrm{\ω}$

${\mathrm{\α}1}_x=\arctan \left(\frac{-\cos \mathrm{\ω}\sin \mathrm{\β}}{\cos \mathrm{\ω}\cos \mathrm{\β}}\right)=-\arctan \left(\tan \mathrm{\β}\right)=-\mathrm{\β}$

The first autocollimator is utilized can directly to measure α 1 _y, α 1 _x, namely can obtain deflection angle β and angle of pitch ω according to the first autocollimator measurement result.

According to vectorial I2 ' coordinate, I2 ' and plane X can be calculated ₁oZ ₁variable angle amount a2:

$\begin{array}{c}{\mathrm{\α}2}_y=\arcsin \left(\frac{\sin \mathrm{\ω}\cos \mathrm{\θ}+\sin \mathrm{\θ}\cos \mathrm{\ω}\sin \mathrm{\α}}{1}\right)\\ =\arcsin (\sin \mathrm{\ω}\cos \mathrm{\θ}+\sin \mathrm{\θ}\cos \mathrm{\ω}\sin \mathrm{\α})\end{array}$

When α, ω are low-angle (in-20 ' ~+20 ' scope), can be similar to sin α ≈ α, sin ω ≈ ω, cos ω ≈ 1, above formula is reduced to:

α2 _y≈arcsin(ωcosθ+αsinθ)

Thus draw the computing formula of roll angle α:

$\mathrm{\α}=\frac{\sin \mathrm{\α}{2}_y-\mathrm{\α}{1}_y*\cos \mathrm{\θ}}{\sin \mathrm{\θ}}.$

Claims (6)

1. a three-dimensional corner measuring apparatus, it is characterized in that: comprise reflection part, first autocollimator, second autocollimator, described reflection part is arranged on testee, described reflection part comprises normal reflection face and oblique reflection face, the angle in described normal reflection face and oblique reflection face is θ, 5 °≤θ≤20 °, the angle of described first autocollimator and the second autocollimator is also θ, described first autocollimator is just aligning reflecting surface and the optical axis of the first autocollimator is vertical with normal reflection face, described second autocollimator is just to oblique reflection face and the optical axis of the second autocollimator is vertical with oblique reflection face.

2. three-dimensional corner measuring apparatus according to claim 1, is characterized in that: described first autocollimator and the second autocollimator are Two-Axis Autocollimator or one dimension autocollimator,

When for one dimension autocollimator, the quantity of described first autocollimator is 2 and parallel setting, and the quantity of described second autocollimator is 2 and parallel setting,

When for Two-Axis Autocollimator, the quantity of described first autocollimator is 1.

3. three-dimensional corner measuring apparatus according to claim 2, is characterized in that: the photoelectric detector in Two-Axis Autocollimator is face array CMOS image sensor or area array CCD, and the photoelectric detector in one dimension autocollimator is line array CCD.

4. according to the three-dimensional corner measuring apparatus one of claims 1 to 3 Suo Shu, it is characterized in that: 10 °≤θ≤20 °.

5. three-dimensional corner measuring apparatus according to claim 4, is characterized in that: θ=10 ° ± 2 '.

6. three-dimensional corner measuring apparatus according to claim 5, is characterized in that: the optical axis of described first autocollimator and normal reflection face normal angle, described first autocollimator optical axis and oblique reflection face normal angle error are all within the scope of ± 2 ＇.