CN217179540U - Measuring device applied to motion attitude of astronomical negative scanner - Google Patents
Measuring device applied to motion attitude of astronomical negative scanner Download PDFInfo
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- CN217179540U CN217179540U CN202220380651.8U CN202220380651U CN217179540U CN 217179540 U CN217179540 U CN 217179540U CN 202220380651 U CN202220380651 U CN 202220380651U CN 217179540 U CN217179540 U CN 217179540U
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Abstract
The utility model provides a be applied to measuring device of astronomical film scanner motion gesture, including the astronomical film scanner that awaits measuring and the photoelectric autocollimator and the target device that set up relatively each other, the target device includes plane wedge mirror and the three-dimensional guiding mechanism who all is connected with the motion platform of plane wedge mirror and astronomical film scanner. The utility model discloses a be applied to measuring device of astronomical film scanner motion gesture has solved the problem that astronomical film scanner three-dimensional motion gesture can not simultaneous measurement, realizes the simultaneous measurement of motion gesture.
Description
Technical Field
The utility model belongs to the technical field of the optical detection, concretely relates to be applied to measuring device of astronomical negative film scanner motion gesture, it is applicable to the measurement of astronomical negative film scanner motion gesture.
Background
Cameras are now widely used in telescopic imaging. The astronomical negative film is used for the telescope photographing which is not developed in the early camera, and the size of the astronomical negative film is larger: mostly 300mm x 300 mm; however, the astronomical negative film is data observed for a long time, records the position and activity information of the celestial body for more than 100 years, is the only irreproducible observation record of the celestial body target shot at the moment, is difficult to store and easy to damage, and needs to be stored digitally.
The digitalization of the astronomical negative film is to use an imaging lens to image a plurality of small-size areas of the large-size astronomical negative film on a camera target surface through platform scanning movement, and finally, to splice and process a plurality of groups of imaging units according to a certain sequence and processing mode to restore the images into the large-size astronomical negative film, thereby realizing the digital storage. The astronomical negative film scanner is a special instrument for scanning astronomical negative films to realize the digitalization of the astronomical negative films.
Most of the astronomical negatives are glass negatives with the size of 300mm multiplied by 300mm, and an astronomical negative scanner developed by an astronomical stage in Shanghai of Chinese academy of sciences is shown in figure 1 according to the size of the astronomical negatives and the characteristics of negative material.
As shown in fig. 1, the main components of the astronomical negative scanner include: the device comprises an imaging camera 1, an imaging lens 2, a light source 3, an astronomical negative film 4, a negative film bin 5, a motion platform 6, a marble platform 7, a scanner base 8 and a scanner control system 9. In this embodiment, the motion platform 6 is a two-dimensional air rail motion platform, which is capable of moving in two directions X, Y.
The working principle and process of the existing astronomical negative scanner are as follows:
the scanner base 8, the marble platform 7, the motion platform 6 and the film bin 5 are fixed in sequence from bottom to top. The light source 3 is fixed at the bottom of the celestial negative film bin 5 (namely on the moving platform 6) and does not move, the imaging lens 2 is fixed on the adjusting frame on the marble gantry beam by screws and does not move, and the imaging camera 1 is fixed on the imaging lens 2 by screws, so that the light source 3, the celestial negative film 4, the imaging lens 2 and the imaging camera 1 form an imaging light path structure of the celestial negative film. The scanner control system 9 is in communication connection with the motion platform 6, the light source 3 and the imaging camera 1 to control the motion scanning of the motion platform 6, the activation of the light source 3 and the shooting of the imaging camera 1.
When the astronomical negative film scanner works, firstly, the astronomical negative film 4 is placed in the negative film bin 5, the scanner control system 9 is started, firstly, the moving platform 6 is in the initial position, and meanwhile, the light source 3 is turned on to illuminate the astronomical negative film 4 and turn off indoor illumination. The imaging principle is as follows: the light source 3 illuminates the astronomical negative film from the bottom, and then the celestial body target information 1:1 on the negative film is imaged on the imaging camera 1 at the top through the imaging lens 2; since the target surface of the imaging camera 1 is small and the size of the astronomical negative film 4 is large, the scanner employs a surface scanning mode: namely, the scanner control software is opened to start scanning the astronomical negative film 4 in a surface scanning mode, the imaging lens 2 and the imaging camera 1 are used for carrying out surface scanning shooting on the astronomical negative film during scanning, the astronomical negative film 4 is moved to a shooting position, the imaging camera 1 shoots and images, multiple times of shooting are carried out, and finally image splicing and image data processing are carried out on the shot photos, so that the digital storage of the negative film is realized, and the image is restored. During the scanning process of the astronomical negative 4, the motion platform 6 only drives the astronomical negative 4 and the negative bin 5 to move. Wherein, only a negative film and a negative film bin are arranged on the motion platform 6 during working.
When periodic precision detection calibration is required, other devices may also need to be placed on the motion platform 6 to measure platform errors. The surface scanning and photographing of the astronomical negative are realized through the two-dimensional motion platform of the astronomical negative scanner, so the precision of the motion platform of the astronomical negative scanner directly influences the precision of recovering the astronomical negative. The accuracy error comes from motion error of the negative scanner: the method comprises the following steps: linearity, position positioning precision and repeated positioning precision; the attitude error includes: pitch angle, rotation angle and roll angle, wherein, the motion gesture of astronomical film scanner has certain influence to scanning concatenation precision. Therefore, the motion attitude of the astronomical negative scanner needs to be measured regularly and error compensation is carried out, so that the scanning splicing precision is improved.
The method for measuring the motion attitude of the motion platform of the astronomical negative scanner is usually a laser interferometer in Renysha or Agilent to measure the attitude. The Renysha laser interferometer is a time-sharing and step-by-step measurement method for respectively measuring motion postures by utilizing a pitch angle measurement system, a rotation angle measurement system and a roll angle measurement system which are formed by a laser interferometer and a plurality of angle measurement blocks, and different motion postures need to be combined with different angle measurement modules for measurement to build a measurement system. Another agilent dual-frequency laser interferometer angle measurement method is more complex in scheme, and a complex motion attitude measurement system consisting of a plurality of optical elements including a spectroscope, a plurality of interference mirrors, a plane mirror, an angle mirror and the like is used for measurement.
Although the two measurement methods can measure the angular motion attitude, the agilent dual-frequency laser interferometer can measure the angular motion attitude only by building a complex measurement system, and the structure is complex and time-consuming. When the raney shao laser interferometer measures different angle errors, different angle components are needed to respectively measure and obtain measurement results, and the motion attitude errors of three-dimensional angles cannot be obtained simultaneously.
The photoelectric autocollimator can measure the inclination angle. Specifically, the photoelectric autocollimator and a plane mirror jointly establish an autocollimation measurement system, when the plane mirror is placed on a motion platform to move, the two-dimensional data pitch angle and the rotation angle of the motion attitude of the guide rail are calculated through position data of an autocollimation reflection image on an image surface. However, the motion attitude of the scanner is a three-dimensional angle, and besides a pitch angle and a rotation angle, a roll angle exists, and the inclination of a reflected light beam cannot be caused by the roll angle of the plane mirror rotating around the collimated light beam, so that the roll angle cannot be measured.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a be applied to measuring device of astronomical film scanner motion gesture to solve astronomical film scanner three-dimensional motion gesture problem that can not simultaneous measurement, realize the simultaneous measurement of motion gesture.
In order to achieve the above object, the present invention provides a measuring device applied to the motion attitude of an astronomical negative film scanner, which comprises an astronomical negative film scanner to be measured, and a photoelectric autocollimator and a target device which are arranged relatively to each other, wherein the target device comprises a plane wedge mirror and a three-dimensional adjusting mechanism which is connected with the plane wedge mirror and the motion platform of the astronomical negative film scanner.
The photoelectric autocollimator is fixed on a frame outside the astronomical negative scanner by screws, and the target device is detachably mounted on a moving platform of the astronomical negative scanner to be detected.
The astronomical negative film scanner to be tested comprises a scanner base, a marble platform, a motion platform and a negative film bin which are sequentially fixed from bottom to top, wherein an astronomical negative film is placed in the negative film bin, and a light source is fixed at the bottom of the astronomical negative film bin; the marble platform is provided with a marble gantry beam, the imaging camera is fixed on an adjusting frame on the marble gantry beam by using a screw, and the imaging camera is fixed on the imaging camera by using a screw; the scanner control system is in communication with the motion platform, the light source, and the imaging camera.
The target device is fixed on a platform of the negative film bin through screws so as to be fixed on a moving platform of the astronomical negative film scanner to be detected through the negative film bin.
The two surfaces of the plane wedge mirror are both planes, the front surface and the rear surface are both processed by optics, and a fixed wedge angle is arranged between the two surfaces.
The wedge angle of the plane wedge mirror is 30'.
The front surface of the plane wedge mirror is plated with a semi-transparent semi-reflective film layer, and the rear surface is plated with a metal reflective film.
The metal reflective film includes one of an aluminum film, a gold film, and a silver film.
The utility model discloses a be applied to measuring device of astronomical film scanner motion gesture, it is specific to use the target device (including plane wedge mirror and three-dimensional guiding mechanism) on photoelectric autocollimator aligns astronomical film scanner motion platform, obtains the initial reflection of plane wedge mirror front and back two surfaces and attitude angle data on photoelectric autocollimator image plane, obtains two reflection new attitude angles and data of image after the platform motion again, assesses motion platform's three-dimensional motion attitude state through the slope to two reflection image attitude angles. This measuring device is through the measurement at the two surface reflection image inclination of photoelectric autocollimator to plane wedge mirror, solves astronomical film scanner three-dimensional motion gesture problem that can not simultaneous measurement, realizes the simultaneous measurement of motion gesture, moreover the utility model discloses simple structure, light path build advantages such as convenience.
Drawings
FIG. 1 is a system diagram of the construction of a typical astronomical negative scanner.
Fig. 2 is a system structure diagram of the measuring device applied to the motion attitude of the astronomical negative scanner of the present invention.
Fig. 3 is a structural diagram of a target device of the measuring device applied to the motion attitude of the astronomical negative film scanner of the present invention.
Fig. 4 is a diagram for defining the attitude angle of the motion in three dimensions of the astronomical negative scanner.
FIG. 5 is a reflectance image data acquisition interface diagram.
Reference numerals are as follows: 1-an imaging camera, 2-an imaging lens, 3-a light source, 4-an astronomical negative film, 5-a negative film bin, 6-an air-floating two-dimensional motion platform, 7-a marble platform, 8-a scanner base and 9-a scanning control system; 10-astronomical negative scanner; 20-photoelectric autocollimator; 30-a target device; 31-a plane wedge mirror; 32-a three-dimensional adjustment mechanism; i1-front surface reflection image, I2-rear surface reflection image, I0-center of photoelectric autocollimator.
Detailed Description
The present invention will be further described with reference to the following specific embodiments. It should be understood that the following examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
The utility model provides a be applied to measuring device of astronomical film scanner motion gesture, it is applicable to the three-dimensional motion gesture angle's of astronomical film scanner measurement. The utility model discloses a motion gesture measuring device is based on the method that photoelectric autocollimator measured inclination, uses through the cooperation of target device and photoelectric autocollimator to realize real-time motion gesture and measure to adopt a wedge mirror to replace the level crossing as the cooperation device of photoelectric autocollimator, realize the measurement of the roll angle except angle of pitch, rotation angle.
As shown in fig. 2 and 3, the measuring device applied to the motion attitude of the astronomical negative film scanner of the present invention is used for measuring the three-dimensional motion attitude angle of the astronomical negative film scanner, and comprises an astronomical negative film scanner 10 to be measured, and a photoelectric autocollimator 20 and a target device 30 which are arranged opposite to each other.
The astronomical negative film scanner 10 to be measured comprises a scanner base 8, a marble platform 7, a motion platform 6 and a negative film bin 5 which are sequentially fixed from bottom to top, wherein an astronomical negative film 4 is placed in the negative film bin 5, and the light source 3 is fixed at the bottom of the astronomical negative film bin 5. The marble platform 7 is provided with a marble gantry beam, the imaging camera 2 is fixed on an adjusting frame on the marble gantry beam through screws and does not move, and the imaging camera 1 is fixed on the imaging camera 2 through screws, so that the light source 3, the astronomical negative 4, the imaging camera 2 and the imaging camera 1 form an imaging light path structure of the astronomical negative. The scanner control system 9 is in communication connection with the motion platform 6, the light source 3 and the imaging camera 1 to control the motion scanning of the motion platform 6, the activation of the light source 3 and the shooting of the imaging camera 1.
The electro-optic autocollimator 20 is screwed to a stable stand outside the astronomical negative scanner 10, in particular outside the motion stage of the astronomical negative scanner 10. The target device 30 is detachably mounted on the moving platform 6 of the astronomical negative scanner 10 to be measured, and specifically, the target device 30 is fixed on the platform of the negative magazine 5 by screws to be fixed on the moving platform 6 of the astronomical negative scanner 10 to be measured by the negative magazine 5. The target device 30 includes a planar wedge 31 and a three-dimensional adjustment mechanism 32 connected to both the planar wedge 31 and the motion platform of the astronomical negative scanner 10.
As shown in fig. 4, the three-dimensional adjustment mechanism 32 is used to adjust a three-dimensional motion attitude angle of the plane wedge 31, which includes a pitch angle θ about the x-axis x Pitch angle theta around x-axis x And roll angle theta about the z-axis z . Similarly, the three-dimensional motion attitude angle of the astronomical negative scanner also includes the rotation angle θ y Angle of pitch theta x And roll angle theta z 。
The photoelectric autocollimator is an instrument for measuring small angle by using the autocollimation principle of light. The utility model discloses use photoelectric autocollimator to measure scanner motion platform's motion gesture, its theory of operation as follows: the utility model discloses a target device 30 includes plane wedge mirror 31 and three-dimensional guiding mechanism 32, and this target device detachably fixes on the scanner platform, decomposes out three-dimensional motion attitude angle through the information of the reflection image of target device in photoelectric autocollimator: rotation angle theta y Angle of pitch theta x And roll angle theta z . Specifically, the method comprises the following steps: the cross parallel light (i.e. a beam of parallel light with a cross-shaped cross section) emitted from the photoelectric autocollimator is reflected by the front and rear surfaces of the plane wedge 31 of the target device, returns to the photoelectric autocollimator 20, and is imaged on a detection camera in the photoelectric autocollimator 20 to obtain a front surface reflection image I1 and a rear surface reflection image I2. When the plane wedge is inclined by an inclination angle α, according to the law of light reflection, the front surface reflection image I1 will generate a displacement d on the camera, and the light source of the photoelectric autocollimator 20 and the target surface of the camera are both located on the focal plane of the objective lens, so that the relationship between the displacement d and the inclination angle α of the plane wedge 31 can be obtained: and tan α ═ d/2f, where f is the distance between the photoelectric autocollimator 20 and the plane wedge 31. The change of the inclination angle of the plane wedge mirror caused by the change of the three-dimensional motion attitude angle can be calculated according to the relational expression.
Therefore, when the two surfaces of the plane wedge 31 are irradiated by the photoelectric autocollimator 20, and the motion platform of the astronomical negative scanner 10 to be measured has a rolling angle posture change, the displacement d between the front surface reflection image I1 and the rear surface reflection image I2 rotates around the center of the photoelectric autocollimator 20, and the rolling angle can be measured at the moment.
The utility model discloses in, two surfaces of plane wedge mirror 31 are the plane, and front surface and rear surface all pass through optical machining, and two surfaces have the face type precision of high accuracy, and have a fixed wedge angle between two surfaces. The magnitude of the wedge angle is not particularly specified, which is related to the distance d between the photoelectric autocollimator and the plane wedge mirror, and the field of view of the photoelectric autocollimator, if the wedge angle is too large, the reflected image will not be in the field of view, and in the embodiment, the wedge angle of the plane wedge mirror 31 is 30 ″. The front surface of the plane wedge mirror 31 is plated with a semi-transparent and semi-reflective film layer (50% of light is reflected and 50% of light is transmitted), and the rear surface is plated with a metal reflective film, wherein the metal reflective film comprises one of an aluminum film, a gold film and a silver film. Therefore, the three-dimensional motion attitude of the motion platform can be measured by using the reflection data of the two surfaces of the plane wedge 31.
Based on the measuring device applied to the motion attitude of the astronomical negative film scanner and the working principle thereof, the realized measuring method applied to the motion attitude of the astronomical negative film scanner comprises the following steps:
step S1: building the measuring device applied to the motion attitude of the astronomical negative film scanner by using the astronomical negative film scanner 10 to be measured;
as shown in fig. 4, the measuring device applied to the motion attitude of the astronomical negative film scanner comprises the astronomical negative film scanner 10 to be measured, and the photoelectric autocollimator 20 and the target device 30 which are arranged opposite to each other, and the plane wedge 31 and the three-dimensional adjusting mechanism 32 which is connected with the plane wedge 31 and the motion platform 10 of the astronomical negative film scanner.
The step S1 specifically includes:
step S11: mounting a plane wedge 31 on a three-dimensional adjusting mechanism 32 to constitute a target device 30;
step S12: the target device 30 is mounted on the motion platform of the astronomical negative scanner 10 to be measured.
Step S2: aligning the photoelectric autocollimator 1 to the front surface of the plane wedge mirror 31, by adjusting the pitch angle and the rotation angle of the plane wedge mirror 31, the emergent light of the photoelectric autocollimator 20 returns to the detection plane of the photoelectric autocollimator 20 through the front surface of the plane wedge mirror 31 to form a front surface reflection image I1, and the front surface reflection image I1 coincides with the center of the detection plane of the photoelectric autocollimator 20;
as shown in fig. 4, the center of the photoelectric autocollimator 20 is I0, and the center of the cross image returned to the detection plane of the photoelectric autocollimator 20 via the front surface of the plane wedge 31 is a front surface reflection image I1, so I0 and I1 in the figure coincide, that is, the front surface reflection image coincides with the center of the photoelectric autocollimator 20. This optical axis center I0 is an inherent invariant center within the electro-optic autocollimation.
At this time, there are two reflection images in the photoelectric autocollimator 1: one is the front surface reflection image I1, and the other is the back surface reflection image I2, and the initial data of the two reflection images are obtained: since the refractive index and wedge angle of the planar wedge mirror are fixed, the relative positions of the two reflected images are fixed.
Step S3: as shown in fig. 4, the plane wedge 31 is adjusted to rotate around the optical axis (i.e. z axis) where the light emitted by the photoelectric autocollimator 1 is located, so that the coordinate of the back surface reflection image I2 on the detection plane of the photoelectric autocollimator 1 is (x, 0), i.e. the data of the coordinate of the adjusted back surface reflection image I2 on the y axis is 0;
step S4: two sets of tilt data of the front surface reflected image I1 and the rear surface reflected image I2 of the plane wedge 31 are recorded as initial tilt data;
step S5: measuring current tilt data of the front surface reflection image I1 and the back surface reflection image I2 when the astronomical negative scanner scans and moves to a certain position to form a three-dimensional tilt angle posture;
when the platform moves to a certain position and has a three-dimensional posture change, the positions of the front surface reflection image I1 and the rear surface reflection image I2 on the coordinates of the detection surface of the photoelectric autocollimator 1 are changed, and at the moment, inclination angle data of the two reflection images are obtained.
Step S6: the three-dimensional motion attitude of the motion platform is measured by performing data processing on the current tilt data and the initial tilt data of the acquired front surface reflection image I1 and rear surface reflection image I2, resolving the pitch angle and the rotation angle from the current tilt data of the front surface reflection image I1, and resolving roll angle data excluding the pitch angle and the rotation angle from the current tilt data, the initial tilt data, and the fixed wedge angle data of the rear surface reflection image I2.
The formula of the pitch angle and the rotation angle is as described above, when the plane wedge 31 is tilted by a tilt angle α (the tilt angle α includes the resultant angle of the pitch angle and the rotation angle), according to the reflection law of light, the front surface reflection image I1 will generate a displacement d on the camera, and the light source of the photoelectric autocollimator 20 and the target surface of the camera are both located on the focal plane of the objective lens, so that the relationship between the displacement d and the tilt angle α of the plane wedge 31 can be obtained: and tan α ═ d/2f, where f is the distance between the photoelectric autocollimator 20 and the plane wedge 31. The tilt direction of the plane wedge is obtained from the direction of the displacement d.
Since the initial position of the specific rear surface reflection image I2 is (x, 0), when only the roll angle of the plane wedge 31 changes, the position of the rear surface reflection image I2 is (x1, y1), and the roll angle is tan θ z — y1/x 1.
Therefore, the measuring device of the utility model can move together with the plane wedge mirror by putting the plane wedge mirror on the motion platform of the astronomical negative scanner, simultaneously obtain the position data of the front surface reflection image and the rear surface reflection image through the software of the photoelectric autocollimator, judge the inclination angle data of the two reflection images through data processing analysis, and solve the pitch angle, the rotation angle and the corresponding roll angle; the problem of simultaneous measurement of the three-dimensional attitude angle of a scanner motion platform is solved. And resolving three-dimensional motion attitude angles of the platform, namely pitch angle, rotation angle and roll angle data by using tilt data of the measured front and rear surface reflection images and the tilt deviation amount of the center of the autocollimator, and finally obtaining the three-dimensional motion attitude angle of the scanner.
What has been described above is only the preferred embodiment of the present invention, not for limiting the scope of the present invention, but various changes can be made to the above-mentioned embodiment of the present invention. All the simple and equivalent changes and modifications made according to the claims and the content of the specification of the present invention fall within the scope of the claims of the present invention. The present invention is not described in detail in the conventional technical content.
Claims (8)
1. The device is characterized by comprising an astronomical negative scanner to be measured, a photoelectric autocollimator and a target device which are arranged oppositely, wherein the target device comprises a plane wedge mirror and a three-dimensional adjusting mechanism connected with the plane wedge mirror and a moving platform of the astronomical negative scanner.
2. The device as claimed in claim 1, wherein the electro-optical autocollimator is fixed on a stand outside the scanner by screws, and the target device is detachably mounted on the motion platform of the scanner.
3. The device for measuring the motion attitude of the astronomical negative film scanner according to claim 2, wherein the astronomical negative film scanner to be measured comprises a scanner base, a marble platform, a motion platform and a negative film bin which are fixed from bottom to top in sequence, an astronomical negative film is placed in the negative film bin, and the light source is fixed at the bottom of the astronomical negative film bin; the marble platform is provided with a marble gantry beam, the imaging lens is fixed on an adjusting frame on the marble gantry beam through screws, and the imaging camera is fixed on the imaging lens through screws; the motion platform, the light source and the imaging camera are in communication connection with the scanner control system.
4. The device as claimed in claim 3, wherein the target device is fixed on the platform of the film magazine by screws so as to be fixed on the motion platform of the astronomical film scanner to be measured through the film magazine.
5. The device of claim 1, wherein the planar wedge mirror has two planar surfaces, a front surface and a back surface that are optically machined, and a fixed wedge angle between the two surfaces.
6. The device for measuring the motion attitude of an astronomical negative scanner according to claim 5, wherein said plane wedge mirror has a wedge angle of 30 ".
7. The device for measuring the motion attitude of an astronomical negative scanner according to claim 5, wherein said planar wedge mirror has a semi-transparent and semi-reflective film coated on its front surface and a metal reflective film coated on its rear surface.
8. The device as claimed in claim 7, wherein the metal reflective film comprises one of aluminum film, gold film and silver film.
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| CN202220380651.8U CN217179540U (en) | 2022-02-24 | 2022-02-24 | Measuring device applied to motion attitude of astronomical negative scanner |
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