CN105758370B - A laser tracking measurement system - Google Patents
A laser tracking measurement system Download PDFInfo
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- CN105758370B CN105758370B CN201510524418.7A CN201510524418A CN105758370B CN 105758370 B CN105758370 B CN 105758370B CN 201510524418 A CN201510524418 A CN 201510524418A CN 105758370 B CN105758370 B CN 105758370B
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Abstract
一种激光跟踪测量系统，具有激光跟踪测量仪和移动靶，所述激光跟踪测量仪包括基座、水平回转平台、支架和竖轴，支架上设有主横轴；在主横轴上固定有一号主观测装置，在一号主观测装置上设置连杆；在连杆上设有轴架，轴架上设有副轴；在副轴上固定有一号副观测装置，一号主观测线和一号副观测线处于同一平面；所述移动靶具有半球体座和固定在半球体座上的PSD传感器，半球体座的球心在PSD传感器光敏面上。本发明在满足跟踪测量的同时，电子系统大大简化，测距过程，无需考虑实际光速，使用前，无需进行温度、气压等测量，无需气象改正。
A laser tracking measurement system has a laser tracking measurement instrument and a moving target. The laser tracking measurement instrument includes a base, a horizontal rotating platform, a bracket and a vertical axis, and a main horizontal axis is arranged on the bracket; a main horizontal axis is fixed on the main horizontal axis. No. 1 main observation device, a connecting rod is set on the No. 1 main observation device; a shaft frame is arranged on the connecting rod, and a secondary shaft is arranged on the shaft frame; No. 1 auxiliary observation device is fixed on the auxiliary shaft, and No. 1 main observation line and The No. 1 sub-observation line is in the same plane; the moving target has a hemisphere seat and a PSD sensor fixed on the hemisphere seat, and the center of the hemisphere seat is on the photosensitive surface of the PSD sensor. The invention satisfies the tracking measurement and greatly simplifies the electronic system, the distance measurement process does not need to consider the actual speed of light, and before use, it does not need to measure temperature, air pressure, etc., and does not need meteorological correction.
Description
Technical field
The present invention relates to laser tracking measurement systems.
Background technique
Laser tracking measurement to space movement target can track simultaneously its space coordinate of real-time measurement.Currently on the market
Laser tracking measurement instrument, mainly by Switzerland LEICA, U.S. API, FARO company of the U.S. provide.Collect laser interference ranging, photoelectricity
The functions such as detection, precision machinery, computer control, numerical value calculating are based on one.
When existing laser tracking measurement instrument works, a running target is added on measured target as measurement target, is being moved
When moving-target is mobile, follower head adjusts in real time under the control of tracking servo, tracks running target and measures.Existing laser with
Track measuring instrument, using laser interference ranging.Although precision is very high, electronic system is extremely complex, and must also in structure
One " Bird's Nest " must be increased, can just obtain absolute distance.Existing measurement method needs to guarantee incident light backtracking, this makes
Mobile target structure is more complicated, for example needs corner lens or opal lens, and the requirement on machining accuracy of these lens is very high.
In addition, its range accuracy depends on the precise measurement to the light velocity in atmosphere.And during actual measurement, the light velocity is by big temperature
Situations such as degree, humidity, air pressure, influences, and needs to measure these meteorologic parameters in advance, and carry out relevant atmospheric correction.Because digital
Thermobarometer just becomes the standard accessory of laser tracking measurement instrument.Generally require that laser tracking measurement instrument is warmer indoors
It is measured under the operating condition of degree.See that Li Guangyun, Li Zongchun are edited, Mapping Press publishes its " commercial measurement in January, 2011
System principle and application " the 6th chapter.
In general, existing laser tracking measurement instrument, powerful, precision is high, but technology is complicated, by environmental constraints compared with
Greatly.
Ranging information plays a significant role in laser scanning.According to range measurement principle, can be divided into trigonometry, impulse method,
Phase method.Trigonometry is that beam of laser is irradiated on object, part diffusing reflection laser by prism on photoelectric detection equipment at
Picture.Trigonometry above has many positional parameter requirements in application, very cumbersome and time-consuming in measuring device calibration, if when actual measurement
A certain parameter can not be obtained accurately in system, will be so that measurement data generates error.When measuring device has small variations, system
In each parameter must all re-scale.See that the intelligence Sun Changku that admires writes perhaps, " 3D reverse-engineering " (China Measuring Press 2002
April the 1st edition in year) p16.
He Baoxi chief editor, the Yellow River water conservancy publishing house in August, 2005 publish its " total station survey technology " second section of chapter 2,
The range measurement principle of current total station, mainly impulse method, ranging phase method are described, the Department of Electronics of corresponding complexity is required
System.The pulse that impulse method ranging, directly measurement rangefinder issue is tested the time of distance back and forth.It is military according to Ye Xiaoming, Ling Mozhu
Chinese university press publishes its " total station errors of principles " p8 in March, 2004, even if the clock frequency for timing have it is atomic small
Error, also result in very big measurement error.For example clock frequency is 100MHz, even if having the frequency error of ± 1Hz, ranging
Error is also up to ± 1.5m.So impulse method measurement accuracy is low, it is mainly used for long-range low precision measure.Ranging phase method,
Principle be by measuring the phase change that continuous modulated signal generates back and forth on testing distance come the indirect determination propagation time,
To acquire propagation distance.Ranging phase method is related to complicated control and operation, such as measurement ruler conversion and control, light path converting
Control, dim light automatically control, and survey phase rhythm (timing control), the conversion of phase distance, coarse-fine ruler apart from Linking operation etc. (see leaf
Know bright, Ling Mozhu, publishing house of Wuhan University publishes its " total station errors of principles " p15 in March, 2004).The electronic system of measurement
More than impulse method complexity.Thus many problems be will lead to.Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publish it in March, 2004
The 3rd chapter of " the total station errors of principles " p42 is analyzed, for example the same frequency photoelectricity in circuit harasses the mistake of period caused by signal
Difference, inner quartz crystal oscillator are affected by temperature caused error.Li Guangyun, Li Zongchun chief editor, Mapping Press 2011 1
" industrial measuring system principle and application " p134 of moon publication, caused by also referring to that practical range frequency and design frequency are inconsistent
Range error problem.
Have a problem most important to range accuracy, no matter pulse ranging or phase ranging, range accuracy all takes
Certainly in the precise measurement to the light velocity in atmosphere.And during actual measurement, the light velocity is by feelings such as atmospheric temperature, humidity, air pressures
Condition influences, and needs to measure these meteorologic parameters in advance, and carry out relevant atmospheric correction.It is edited according to Li Zeqiu, Wuhan science and engineering
University press publishes its " total station survey technology " p22 in July, 2012, and the atmospheric correction of total station is also and used in the total station
The wavelength of ranging light wave is related.
Summary of the invention
It is an object of the invention to propose a kind of to measure accurate, easy to operate laser tracking measurement equipment.
In order to achieve the above objectives, the present invention takes the first following technical solution: the present invention has laser tracking measurement instrument
And running target；The laser tracking measurement instrument includes pedestal, horizontal rotation platform, bracket and vertical pivot, and bracket is fixed on horizontal return
Turn on platform, vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in the axial line on pedestal and around vertical pivot and rotates, vertical pivot
Horizontal limb is installed between horizontal rotation platform, bracket is equipped with horizontal and can surround what self-axis line be rotated
Main horizontal axis；The axial line of main horizontal axis intersects with the axial line of vertical pivot, forms main intersection point；The survey of No.1 subjectivity is fixed on main horizontal axis
Device, is a laser, and optical axis is known as No.1 subjectivity survey line；No.1 subjectivity survey line is by main intersection point and perpendicular to main horizontal axis
Axial line；Connecting rod is set on the main observation device of No.1, and the axial line of connecting rod is by main intersection point and perpendicular to No.1 subjectivity survey line；
Pedestal is equipped on connecting rod, pedestal is equipped with can be around the countershaft that self-axis line is rotated；The axial line and No.1 of countershaft
Subjective survey line intersects vertically at spatial vertical, and with the axial line of connecting rod, forms auxiliary intersection point；The sight of No.1 pair is fixed on countershaft
Device is surveyed, No.1 pair observation device is the telescope of an in-built CCD digital camera, and collimation axis is known as the No.1 pair line of observation；One
Number secondary line of observation passes through auxiliary intersection point and the axial line perpendicular to countershaft；No.1 subjectivity survey line and the No.1 pair line of observation are in same flat
Face；Main dial is installed between main horizontal axis and bracket corresponding site, secondary scale is installed between countershaft and pedestal corresponding site；On
It is electronic for stating the rotation of horizontal rotation platform, main horizontal axis and countershaft；The running target has hemisphere housing and is fixed on hemisphere
PSD sensor in housing, the centre of sphere of hemisphere housing is on PSD sensor photosurface；The holding movable target on scanned object,
When measurement starts, the main observation device of No.1 makees pitching, automatic searching running target, when the photosurface of PSD sensor is hemispheroidal
When experiencing the laser of the main observation device transmitting of No.1 at the centre of sphere, No.1 pair observation device makees pitching, until built-in CCD number
Camera observes that the main observation device of No.1 is irradiated to the illuminated laser spot on PSD sensor on the No.1 pair line of observation, completes the
It a little measures, running target is mobile, repeats the above process, and completes second point measurement, is achieved in tracking measurement.
In order to achieve the above objectives, the present invention takes following second of technical solution: the present invention has laser tracking measurement instrument
And running target；The laser tracking measurement instrument includes pedestal, horizontal rotation platform, bracket and vertical pivot, and bracket is fixed on horizontal return
Turn on platform, vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in the axial line on pedestal and around vertical pivot and rotates, vertical pivot
Horizontal limb is installed between horizontal rotation platform, bracket is equipped with horizontal and can surround what self-axis line be rotated
Main horizontal axis；The axial line of main horizontal axis intersects with the axial line of vertical pivot, forms main intersection point；No. two subjective surveys are fixed on main horizontal axis
Device, No. two main observation devices are a laser, and optical axis is known as No. two subjective surveys line；No. two subjective surveys line by main intersection point and
Perpendicular to the axial line of main horizontal axis；Connecting rod is set on No. two main observation devices, and the axial line of connecting rod is by main intersection point and vertical
In No. two subjective surveys line；Pedestal is equipped on connecting rod, pedestal is equipped with can be around the countershaft that self-axis line is rotated；Countershaft
Axial line and No. two subjective surveys line intersect vertically at spatial vertical, and with the axial line of connecting rod, form auxiliary intersection point；On countershaft
No. two secondary observation devices are fixed with, No. two secondary observation devices are a laser, and optical axis is known as No. two secondary lines of observation；No. two secondary sights
Survey line passes through auxiliary intersection point and the axial line perpendicular to countershaft；No. two subjective surveys line and No. two secondary lines of observation are in same plane；?
Main dial is installed between main horizontal axis and bracket corresponding site, secondary scale is installed between countershaft and pedestal corresponding site；Above-mentioned water
Rotating to be for flat revolving platform is electronic, and rotating to be for main horizontal axis is electronic, and rotating to be for countershaft is electronic；The running target has hemisphere
Housing and the PSD sensor being fixed in hemisphere housing, the centre of sphere of hemisphere housing is on PSD sensor photosurface；Scanned
Holding movable target on object, when measurement starts, No. two main observation devices make pitching, automatic searching running target, when PSD sensor
When photosurface experiences the laser of No. two main observation device transmittings at the hemispheroidal centre of sphere, No. two secondary observation devices is driven to bow
It faces upward, until the photosurface of PSD sensor experiences the laser of No. two main observation devices transmittings at the hemispheroidal centre of sphere, completes the
It a little measures, running target is mobile, repeats the above process, and completes second point measurement, is achieved in tracking measurement.
The present invention has following good effect: while meeting tracking measurement, electronic system is greatly simplified, ranging
Journey without considering the practical light velocity, therefore before use, is not necessarily to atmospheric correction without carrying out the measurement such as temperature, air pressure.
Detailed description of the invention
Fig. 1 is 1 schematic diagram of embodiment.
Fig. 2 is the simple side view of Fig. 1.
Fig. 3 is 1 measurement angle schematic diagram of embodiment.
Fig. 4 is 2 schematic diagram of embodiment.
Fig. 5 is the simple side view of Fig. 4.
Fig. 6 is 2 measurement angle schematic diagram of embodiment.
Specific embodiment
Embodiment 1
See that Fig. 1 to Fig. 3, the present embodiment have laser tracking measurement instrument and running target.The laser tracking measurement instrument includes
Pedestal 1, horizontal rotation platform 2, bracket 4 and vertical pivot 9, bracket 4 are fixed on horizontal rotation platform 2, and vertical pivot 9 and pedestal 1 are fixed
Connection, horizontal rotation platform 2 be on pedestal 1 and rotate around the axial line 9a of vertical pivot 9, vertical pivot 9 and horizontal rotation platform 2 it
Between horizontal limb 3 is installed, bracket 4 is equipped with horizontal and can surround the main horizontal axis 5 that self-axis line is rotated；Main horizontal axis
5 axial line 5a intersects with the axial line 9a of vertical pivot 9, forms main intersection point；The main observation device 6- of No.1 is fixed on main horizontal axis 5
1, the main observation device 6-1 of No.1 are a laser, and optical axis is known as No.1 subjectivity survey line 6-1a；No.1 subjectivity survey line 6-1a passes through
Main intersection point and perpendicular to the axial line 5a of main horizontal axis 5；Connecting rod 13, the axle center of connecting rod 13 are set on the main observation device 6-1 of No.1
Line 13a is by main intersection point and perpendicular to No.1 subjectivity survey line 6-1a；Pedestal 10 is equipped on connecting rod 13, pedestal 10, which is equipped with, to be enclosed
The countershaft 8 rotated around self-axis line；The axial line 8a and No.1 subjectivity survey line 6-1a of countershaft 8 at spatial vertical, and with
The axial line 13a of connecting rod 13 intersects vertically, and forms auxiliary intersection point；No.1 pair observation device 7-1, No.1 pair are fixed on countershaft 8
Observation device 7-1 is the telescope of an in-built CCD digital camera, and collimation axis is known as No.1 pair line of observation 7-1a；No.1 pair is seen
Survey line 7-1a passes through auxiliary intersection point and the axial line 8a perpendicular to countershaft 8；No.1 subjectivity survey line 6-1a and No.1 pair line of observation 7-1a
In same plane；Main dial 11 is installed between 4 corresponding site of main horizontal axis 5 and bracket, in 10 corresponding site of countershaft 8 and pedestal
Between secondary scale 12 is installed；The rotation of above-mentioned horizontal rotation platform 2, main horizontal axis 5 and countershaft 8 is respectively driven by motor, motor or
Servo motor or ultrasound electric machine.
The PSD sensor 16 that the running target has hemisphere housing 15 and is fixed in hemisphere housing, hemisphere housing 15
The centre of sphere is on 16 photosurface of PSD sensor.
Horizontal limb 3 is used to measure the angle of revolution of horizontal rotation platform 2.Main dial 11 is for measuring No.1 subjectivity survey line
Angle, that is, pitch angle α size between 6-1a and the axial line 9a of vertical pivot 9.Secondary scale 12 is for measuring No.1 pair line of observation 7-
Angle, that is, angle of rotation β size between 1a and the axial line 13a of connecting rod 13.
Under the action of horizontal rotation platform 2, the main observation device 6-1 of No.1 can synchronous water with No.1 pair observation device 7-1
Flat revolution.The rotational energy of main horizontal axis 5 drives the main observation device 6-1 of No.1 to make pitching, and the main observation device 6-1 of No.1 passes through connecting rod 13
No.1 pair observation device 7-1 is driven to make pitching, the rotation of countershaft 8 makes No. two pair observation device 7-2 rotations, No.1 subjectivity survey line 6-
1a and No.1 pair line of observation 7-1a be in conplane, No.1 pair line of observation 7-1a be in above-mentioned rotation in surface, so
No.1 subjectivity survey line 6-1a and No.1 pair line of observation 7-1a can be intersected at a bit.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In survey station point, laser tracking measurement instrument, the holding movable target on scanned object are set.When measurement starts, level is returned
Turning 2 electronic rotation of platform, main horizontal axis 5, which is motor driven, drives the main observation device 6-1 of No.1 to make pitching, automatic searching running target,
When the photosurface of PSD sensor 16 experiences the laser of the main observation device 6-1 transmitting of No.1 at the centre of sphere, horizontal limb 3 is given
The angle of revolution of horizontal revolving platform 2, main dial 11 provide the value of pitch angle α out.Countershaft 8, which is motor driven, drives No.1 pair to see
It surveys device 7-1 and makees pitching, until built-in CCD digital camera observes the main observation device of No.1 on No.1 pair line of observation 7-1a
6-1 is irradiated to the illuminated laser spot on PSD sensor 16, and secondary scale 12 provides angle of rotation β, completes first point of measurement.According to turn
The value of dynamic angle beta can obtain distance S value of the point apart from main intersection point according to the distance between main intersection point and auxiliary intersection point h.Thus
Determine the coordinate of the relatively main intersection point of the point.Running target is mobile, and according to the feedback of PSD sensor 16, the main observation device 6-1 of No.1 is certainly
Motion tracking running target, until when the photosurface of PSD sensor 16 experiences swashing for the main observation device 6-1 transmitting of No.1 at the centre of sphere
Light repeats the above process, and completes measurement.Hereby it is achieved that tracking measurement.
Embodiment 2
See fig. 4 to fig. 6, the present embodiment has laser tracking measurement instrument and running target.The laser tracking measurement instrument includes
Pedestal 1, horizontal rotation platform 2, bracket 4 and vertical pivot 9, bracket 4 are fixed on horizontal rotation platform 2, and vertical pivot 9 and pedestal 1 are fixed
Connection, horizontal rotation platform 2 be on pedestal 1 and rotate around the axial line 9a of vertical pivot 9, vertical pivot 9 and horizontal rotation platform 2 it
Between horizontal limb 3 is installed, bracket 4 is equipped with horizontal and can surround the main horizontal axis 5 that self-axis line is rotated；Main horizontal axis
5 axial line 5a intersects with the axial line 9a of vertical pivot 9, forms main intersection point；No. two main observation device 6- are fixed on main horizontal axis 5
2, No. two main observation device 6-2 are a laser, and optical axis is known as No. two subjective survey line 6-2a；No. two subjectivity survey line 6-2a pass through
Main intersection point and perpendicular to the axial line 5a of main horizontal axis 5；Connecting rod 13, the axle center of connecting rod 13 are set on No. two main observation device 6-2
Line 13a is by main intersection point and perpendicular to No. two subjective survey line 6-2a；Pedestal 10 is equipped on connecting rod 13, pedestal 10, which is equipped with, to be enclosed
The countershaft 8 rotated around self-axis line；The axial line 8a of countershaft 8 and No. two subjectivity survey line 6-2a at spatial vertical, and with
The axial line 13a of connecting rod 13 intersects vertically, and forms auxiliary intersection point；No. two secondary observation device 7-2, No. two pairs are fixed on countershaft 8
Observation device 7-2 is a laser, and optical axis is known as No. two secondary line of observation 7-2a；No. two pair line of observation 7-2a by auxiliary intersection point and
Perpendicular to the axial line 8a of countershaft 8；No. two subjectivity survey line 6-2a and No. two pair line of observation 7-2a are in same plane；In main horizontal axis
Main dial 11 is installed between 5 and 4 corresponding site of bracket, secondary scale 12 is installed between 10 corresponding site of countershaft 8 and pedestal；It is above-mentioned
The rotation of horizontal rotation platform 2, main horizontal axis 5 and countershaft 8 is respectively driven by motor, motor servo motor or ultrasound electric machine.
The PSD sensor 16 that the running target has hemisphere housing 15 and is fixed in hemisphere housing, hemisphere housing 15
The centre of sphere is on 16 photosurface of PSD sensor.
Horizontal limb 3 is used to measure the angle of revolution of horizontal rotation platform 2.Main dial 11 is for measuring No. two subjective surveys line
Angle, that is, pitch angle α size between 6-2a and the axial line 9a of vertical pivot 9.Secondary scale 12 is for measuring No. two secondary line of observation 7-
Angle, that is, angle of rotation β size between 2a and the axial line 13a of connecting rod 13.
Under the action of horizontal rotation platform 2, No. two main observation device 6-2 and No. two pair observation device 7-2 can synchronize water
Flat revolution.The rotational energy of main horizontal axis 5 drives No. two main observation device 6-2 to make pitching, and No. two main observation device 6-2 pass through connecting rod 13
No. two pair observation device 7-2 are driven to make pitching, the rotation of countershaft 8 makes No. two pair observation device 7-2 rotations, No. two subjective survey line 6-
2a and No. two pair line of observation 7-2a be in conplane, No. two pair line of observation 7-2a be in above-mentioned rotation in surface, so
No. two subjectivity survey line 6-2a and No. two pair line of observation 7-2a can be intersected at a bit.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In survey station point, laser tracking measurement equipment, the holding movable target on scanned object are set.When measurement starts, No. two
Main observation device 6-2 is opened, and No. two pair observation device 7-2 are closed.2 electronic rotation of horizontal rotation platform, main horizontal axis 5 is by driving band
Dynamic No. two main observation device 6-2 make pitching, automatic searching running target, when the photosurface of PSD sensor 16 is experienced at the centre of sphere
When the laser of No. two main observation device 6-2 transmittings, horizontal limb 3 provides the angle of revolution of horizontal rotation platform 2, and main dial 11 is given
The value of pitch angle α out, No. two main observation device 6-2 are closed, and No. two pair observation device 7-2 are opened.Countershaft 8 drives No. two by driving
Secondary observation device 7-2 makees pitching, until the photosurface of PSD sensor 16 experiences No. two main observation device 7-2 hairs at the centre of sphere
The laser penetrated completes first point of measurement, at this point, secondary scale 12 provides the value of angle of rotation β, the distance between main intersection point and auxiliary intersection point
H is determining, data processing acquisition distance S value.Thereby determine that the coordinate of the relatively main intersection point of the point.No. two secondary observation device 7-2
It closes, No. two main observation device 6-2 are opened.Running target is mobile, according to the feedback of PSD sensor 16, No. two main observation device 6-2
Running target is automatically tracked, until when the photosurface of PSD sensor 16 experiences No. two main observation device 6-1 transmittings at the centre of sphere
Laser repeats the above process, and completes second point measurement.Hereby it is achieved that tracking measurement.
In-built CCD digital camera telescope is mentioned in above-described embodiment, it is seen that He Baoxi chief editor, the Yellow River water conservancy publishing house
In August, 2005 publishes its " total station survey technology " chapter 2.See also plum text victory, Yang Hongzhu, publishing house of Wuhan University 2011
Publish its " robot measurement exploitation and application " the 2nd chapter November.
Claims (2)
1. a kind of laser tracking measurement system has laser tracking measurement instrument and running target, it is characterised in that: the laser tracking
Measuring instrument includes pedestal (1), horizontal rotation platform (2), bracket (4) and vertical pivot (9), and bracket (4) is fixed on horizontal rotation platform
(2) on, vertical pivot (9) is fixedly connected with pedestal (1), and horizontal rotation platform (2) is in the axis on pedestal (1) and surrounding vertical pivot (9)
Heart line (9a) rotation, is equipped with horizontal limb (3) between vertical pivot (9) and horizontal rotation platform (2), and bracket (4) is equipped with level
And the main horizontal axis (5) that can be rotated around self-axis line；The axial line (5a) of main horizontal axis (5) and the axle center of vertical pivot (9)
Line (9a) intersection, forms main intersection point；The main observation device of No.1 (6-1) is fixed on main horizontal axis (5), the main observation device of No.1 is
One laser, optical axis are known as No.1 subjectivity survey line (6-1a)；No.1 subjectivity survey line (6-1a) is by main intersection point and perpendicular to master
The axial line (5a) of horizontal axis (5)；Connecting rod (13) are set on the main observation device of No.1 (6-1), the axial line (13a) of connecting rod (13)
By main intersection point and perpendicular to No.1 subjectivity survey line (6-1a)；Pedestal (10) are equipped on connecting rod (13), pedestal (10) is equipped with
It can be around the countershaft (8) that self-axis line is rotated；The axial line (8a) and No.1 subjectivity survey line (6-1a) of countershaft (8) are at sky
Between it is vertical, and intersect vertically with the axial line (13a) of connecting rod (13), form auxiliary intersection point；The sight of No.1 pair is fixed on countershaft (8)
It surveys device (7-1), No.1 pair observation device is the telescope of an in-built CCD digital camera, and collimation axis is known as the observation of No.1 pair
Line (7-1a)；The No.1 pair line of observation (7-1a) is by auxiliary intersection point and perpendicular to the axial line of countershaft (8) (8a)；No.1 subjectivity survey line
(6-1a) and the No.1 pair line of observation (7-1a) are in same plane；Master is installed between main horizontal axis (5) and bracket (4) corresponding site
Scale (11) installs secondary scale (12) between countershaft (8) and pedestal (10) corresponding site；Above-mentioned horizontal rotation platform (2)
Rotate to be electronic, rotating to be for main horizontal axis (5) is electronic, and rotating to be for countershaft (8) is electronic；The running target has hemisphere housing
(15) and the PSD sensor (16) that is fixed in hemisphere housing, the centre of sphere of hemisphere housing (15) is in PSD sensor (16) photosurface
On；The holding movable target on scanned object, when measurement starts, the main observation device of No.1 (6-1) makees pitching, and automatic searching is mobile
Target, when the photosurface of PSD sensor (16) experiences the laser of the main observation device of No.1 (6-1) transmitting at the hemispheroidal centre of sphere
When, No.1 pair observation device (7-1) makees pitching, until built-in CCD digital camera is observed on the No.1 pair line of observation (7-1a)
It is irradiated to the illuminated laser spot on PSD sensor (16) to the main observation device of No.1 (6-1), completes first point of measurement, running target
It is mobile, it repeats the above process, completes second point measurement, be achieved in tracking measurement.
2. a kind of laser tracking measurement system has laser tracking measurement instrument and running target, it is characterised in that: the laser tracking
Measuring instrument includes pedestal (1), horizontal rotation platform (2), bracket (4) and vertical pivot (9), and bracket (4) is fixed on horizontal rotation platform
(2) on, vertical pivot (9) is fixedly connected with pedestal (1), and horizontal rotation platform (2) is in the axis on pedestal (1) and surrounding vertical pivot (9)
Heart line (9a) rotation, is equipped with horizontal limb (3) between vertical pivot (9) and horizontal rotation platform (2), and bracket (4) is equipped with level
And the main horizontal axis (5) that can be rotated around self-axis line；The axial line (5a) of main horizontal axis (5) and the axle center of vertical pivot (9)
Line (9a) intersection, forms main intersection point；No. two main observation devices (6-2) are fixed on main horizontal axis (5), No. two main observation devices are
One laser, optical axis are known as No. two subjective surveys line (6-2a)；No. two subjective surveys line (6-2a) are by main intersection point and perpendicular to master
The axial line (5a) of horizontal axis (5)；Connecting rod (13) are set on No. two main observation devices (6-2), the axial line (13a) of connecting rod (13)
By main intersection point and perpendicular to No. two subjective surveys line (6-2a)；Pedestal (10) are equipped on connecting rod (13), pedestal (10) is equipped with
It can be around the countershaft (8) that self-axis line is rotated；The axial line (8a) of countershaft (8) is with No. two subjective surveys line (6-2a) at sky
Between it is vertical, and intersect vertically with the axial line (13a) of connecting rod (13), form auxiliary intersection point；No. two secondary sights are fixed on countershaft (8)
It surveys device (7-2), No. two secondary observation devices are a laser, and optical axis is known as No. two secondary lines of observation (7-2a)；No. two secondary observations
Line (7-2a) is by auxiliary intersection point and perpendicular to the axial line of countershaft (8) (8a)；No. two subjective surveys line (6-2a) and No. two secondary observations
Line (7-2a) is in same plane；Main dial (11) are installed between main horizontal axis (5) and bracket (4) corresponding site, in countershaft (8)
Secondary scale (12) is installed between pedestal (10) corresponding site；Above-mentioned horizontal rotation platform (2) rotates to be electronic, main horizontal axis
(5) rotate to be is electronic, and rotating to be for countershaft (8) is electronic；The running target has hemisphere housing (15) and is fixed on hemisphere
PSD sensor (16) on seat, the centre of sphere of hemisphere housing (15) is on PSD sensor (16) photosurface；On scanned object
Holding movable target, when measurement starts, No. two main observation devices (6-2) make pitching, automatic searching running target, when PSD sensor
(16) when photosurface experiences the laser of No. two main observation device (6-2) transmittings at the hemispheroidal centre of sphere, No. two pairs are driven
Observation device (7-2) makees pitching, until the photosurface of PSD sensor (16) experiences No. two subjective surveys at the hemispheroidal centre of sphere
The laser of device (7-2) transmitting completes first point of measurement, and running target is mobile, repeats the above process, and completes second point measurement, by
This realizes tracking measurement.
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| WO2008153127A1 (en) * | 2007-06-15 | 2008-12-18 | Kabushiki Kaisha Toshiba | Instrument for examining/measuring object to be measured |
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