CN119043182A - Three-dimensional space optical tracking measurement system - Google Patents

Abstract

The application provides a three-dimensional space optical tracking measurement system, which comprises a laser transmitter, a mounting platform and a light path module, wherein the laser transmitter is used for being mounted on an object to be measured and emitting light beams, the light path module is fixedly mounted on the mounting platform, the light path module comprises a first reflecting component, a first measuring rule, a second reflecting component and a second measuring rule which are sequentially arranged on a light path, the first reflecting component guides the light beams to vertically irradiate into the first measuring rule, the first measuring rule is used for receiving the light beams to perform first-stage reading, the second reflecting component guides the light beams to vertically irradiate into the second measuring rule, the second reflecting component comprises a divergent lens group, the divergent lens group amplifies the light beams in proportion, and the second measuring rule is used for receiving the light beams to perform second-stage reading. The three-dimensional space optical tracking measurement system can improve the applicable scene of measurement. The three-dimensional space optical tracking measurement system is used in the field of coordinate measurement.

Description

Three-dimensional space optical tracking measurement system

Technical Field

The application relates to the field of coordinate measurement, in particular to a three-dimensional space optical tracking measurement system.

Background

In scientific experiments, accurately measuring the position of an object is a key step for acquiring accurate experimental data, and no matter what type of experiment, the experimental condition needs to be determined by accurately measuring the position of the object, so as to obtain an accurate experimental result. In the industrial field, accurate measurement of the position of an object is also a key link for processing and detecting the object, and has important influence on multiple aspects such as ensuring the quality of products, improving the production efficiency, ensuring the safety of equipment, realizing automatic control and the like.

At present, the problem of measurement precision exists in the related patents for measuring the spatial position of an object, and the high-precision spatial position measuring equipment generally needs professional installation and debugging, and has larger limitation on the application range. The proposal of the application number CN202310467525 discloses a device and a method for measuring the space position, which are characterized in that the space point to be measured is contacted with the free end of a connecting rod provided with a gyroscope, and the attitude angle of each gyroscope is read to calculate the distance and the position relation of the two points of the space, but the connecting rod mechanism has weak stability and easy deviation when in motion, and is difficult to meet the requirement of high-precision measurement.

The proposal of the application number CN202410380087 discloses a crankshaft machining device, which is characterized in that a grating ruler is used for detecting the displacement distance of a tool apron in cooperation with a linear motor, the linear motor drives a tool apron to move and simultaneously drives a reading head on the linear motor to synchronously move, so that the fixed grating ruler and the reading head generate relative movement, the reading head generates an electric signal through detecting sinusoidal interference fringes formed by a grating, so that accurate tool apron position information is obtained, but on one hand, the grating ruler is not suitable for three-dimensional coordinate measurement of an object moving independently because the grating ruler is required to be matched with the linear motor, and on the other hand, if various electrical equipment or electromagnetic equipment exist around the device, electromagnetic interference can be generated to influence the reading accuracy of the linear motor.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a three-dimensional space optical tracking measurement system which can improve the accuracy of three-dimensional coordinate measurement of an object and can also improve the applicable scene of measurement.

The application provides a three-dimensional space optical tracking measurement system, which comprises a laser transmitter, a mounting platform and a light path module, wherein the laser transmitter is used for being mounted on an object to be measured and emitting light beams, the light path module is fixedly mounted on the mounting platform, the light path module comprises a first reflection assembly, a first measuring rule, a second reflection assembly and a second measuring rule which are sequentially arranged on a light path, the first reflection assembly guides the light beams to vertically irradiate into the first measuring rule, the first measuring rule is used for receiving the light beams to perform first-level reading, the second reflection assembly guides the light beams to vertically irradiate into the second measuring rule, the second reflection assembly comprises a divergent lens group, and the divergent lens group is used for proportionally amplifying the light beams, and the second measuring rule is used for receiving the light beams to perform second-level reading.

According to some embodiments of the application, the primary scale comprises an orthogonal X-axis rough scale, a Y-axis rough scale, and a Z-axis rough scale, and the secondary scale comprises an orthogonal X-axis finish scale, a Y-axis finish scale, and a Z-axis finish scale.

According to some embodiments of the application, the light beams are parallel light, the light beams include orthogonal first, second and third light beams, the first light beam is emitted along a Y-axis, and the second and third light beams are emitted along a Z-axis.

According to some embodiments of the application, the first reflection assembly includes a first Z-axis electro-optic mirror group, the first Z-axis electro-optic mirror group having a plane perpendicular to the Y-axis, the first Z-axis electro-optic mirror group including a plurality of first Z-axis electro-optic lenses arranged in an array along the X-axis, the first Z-axis electro-optic lenses being perpendicular to the XOY-plane and having an angle of 45 ° with respect to the XOZ-plane, the first Z-axis electro-optic lenses being capable of changing refractive index in response to illumination of the first light beam so that the first light beam is directed along the X-axis towards the receiving window of the Z-axis rough ruler.

According to some embodiments of the application, the second reflective assembly comprises a second Z-axis electro-optic lens set disposed within the receiving window of the Z-axis rough scale, the second Z-axis electro-optic lens set comprising a plurality of second Z-axis electro-optic lenses disposed in an array along a Z-axis direction, the second Z-axis electro-optic lenses being perpendicular to an XOZ plane and having an angle of 45 ° to the YOZ plane, the second Z-axis electro-optic lenses being capable of changing refractive index in response to illumination by the first light beam such that the first light beam is directed along the Z-axis direction to the diverging lens set.

According to some embodiments of the application, the first reflection assembly comprises a first X-axis electro-optic lens group and a first Y-axis electro-optic lens group, the first X-axis electro-optic lens group and the first Y-axis electro-optic lens group are arranged in parallel at intervals and are perpendicular to the Z-axis, the first X-axis electro-optic lens group enables the second light beam to be directed to the receiving window of the X-axis rough ruler along the Y-axis direction, and the first Y-axis electro-optic lens group enables the third light beam to be directed to the receiving window of the Y-axis rough ruler along the X-axis direction.

According to some embodiments of the application, the second and third light beams are alternately emitted at a set frequency.

According to some embodiments of the application, the first reflecting assembly further comprises a spacer disposed between the first X-axis electro-optic mirror set and the first Y-axis electro-optic mirror set, the spacer being capable of changing the refractive index in response to the set frequency such that a portion of the non-reflected, negative Z-axis refracted residual laser light of the third light beam when reflected by the first Y-axis electro-optic mirror set toward the Y-axis does not enter the first X-axis electro-optic mirror set.

According to some embodiments of the application, the three-dimensional optical tracking measurement system includes a leveling base on which the mounting platform is mounted.

According to some embodiments of the application, the three-dimensional optical tracking measurement system includes a level mounted on the mounting platform.

The three-dimensional space optical tracking measurement system has the advantages that the mounting platform and the optical path module are kept fixed when the system is used, the laser transmitter moves along with an object to be measured and transmits light beams to the optical path module, the first-stage measuring ruler coarsely reads the coordinates of the light beams, the light beams leaving the first-stage measuring ruler are guided by the optical path to the divergent lens group, the second-stage measuring ruler finely reads the coordinates of the light beams after amplification, the accuracy of coordinate measurement of the object can be improved by adopting at least two-stage measurement reading design, and due to the design that the laser transmitter is mounted on the object to be measured and the first-stage measuring ruler and the second-stage measuring ruler are fixedly arranged, the first-stage measuring ruler, the second-stage measuring ruler and the object to be measured are separated and can be fixed at a position far away from the laser transmitter, so that the system is more suitable for three-dimensional coordinate measurement of the object to be autonomously moved and the applicable scene of measurement can be improved.

The laser scanning device comprises an electro-optical lens group, a reflecting mirror, a concave lens and a convex lens, wherein the electro-optical lens group, the reflecting mirror, the concave lens and the convex lens are arranged and combined at fixed positions to conduct special reflection and refraction treatment on a laser light path, the scanning range of a light beam on an object is enlarged, stable high-precision measurement is achieved, real-time tracking measurement on three-dimensional coordinates of an autonomous moving object in a measurement range is achieved through reasonable design arrangement of spatial positions of optical elements, and the influence of electromagnetic interference in the environment on reading accuracy is avoided by adopting a system formed by the lens, the reflecting mirror and the electro-optical lens with stable material properties.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic three-dimensional structure of a three-dimensional spatial optical tracking measurement system according to some embodiments of the present application;

FIG. 2 is a schematic three-dimensional structure of a portion related to an optical path in a three-dimensional space optical tracking measurement system according to some embodiments of the present application;

FIG. 3 is a schematic three-dimensional structure of a portion of a three-dimensional optical tracking measurement system associated with a Z-axis measurement light path according to some embodiments of the present application;

FIG. 4 is a schematic side view of a portion of a three-dimensional optical tracking measurement system associated with a Z-axis measurement light path, illustrating the path of a first light beam, in accordance with some embodiments of the present application;

FIG. 5 is a schematic diagram of a side view of a portion of a three-dimensional optical tracking measurement system illustrating the routing of a second beam of light in accordance with some embodiments of the present application;

FIG. 6 is a schematic diagram of a side view of a portion of a three-dimensional optical tracking measurement system illustrating the routing of a third light beam in accordance with some embodiments of the present application;

fig. 7 is a schematic structural diagram of an object carrying platform in a three-dimensional optical tracking measurement system according to some embodiments of the present application.

Reference numerals:

A laser emitter 100, a first beam 110, a second beam 120, a third beam 130;

X-axis rough scale 210, Y-axis rough scale 220, Z-axis rough scale 230, X-axis fine scale 240, Y-axis fine scale 250, Z-axis fine scale 260;

The first Z-axis electro-optic mirror group 310, the first X-axis electro-optic mirror group 320, the first Y-axis electro-optic mirror group 330, the partition 340, the second Z-axis electro-optic mirror group 350, the second X-axis electro-optic mirror group 360, the second Y-axis electro-optic mirror group 370 and the shift light path box 380;

A first Z-axis lens 410, a second Z-axis lens 420, a first X-axis lens 430, a second X-axis lens 440, a first Y-axis lens 450, a second Y-axis lens 460;

mounting platform 510, leveling base 520, round level 530, tube level 540;

The device comprises a carrying platform 610, a binding belt 611, a container 612, a locking piece 613, a bottom plate 614, a limiting shaft 615, a first driver 620, a second driver 630 and a third driver 640;

An object 900.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

In the description of the present application, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The three-dimensional coordinate measuring method based on the grating ruler, which is used in the industrial field, can improve the precision, but is difficult to realize that the reading head moves along with the object to be measured under the condition of not influencing the object to be measured when the object to be measured is measured, is not suitable for three-dimensional coordinate measurement of the object to be measured and is limited in use.

Therefore, the application provides a three-dimensional space optical tracking measurement system, which can improve the accuracy of three-dimensional coordinate measurement of an object and can also improve the applicable scene of measurement.

Referring to fig. 1 and 2, in some embodiments, a three-dimensional optical tracking measurement system includes a laser transmitter 100, a mounting platform 510, and an optical path module, the laser transmitter 100 configured to be mounted on an object 900 to be measured and to emit a light beam, the optical path module fixedly mounted on the mounting platform 510, the optical path module including a first reflective assembly, a first stage measuring scale, a second reflective assembly, and a second stage measuring scale sequentially arranged on an optical path, the first reflective assembly directing the light beam to vertically impinge on the first stage measuring scale, the first stage measuring scale configured to receive the light beam for a first stage reading, the second reflective assembly directing the light beam to vertically impinge on the second stage measuring scale, the second reflective assembly including a diverging lens group, the diverging lens group scaling the light beam, the second stage measuring scale configured to receive the light beam for a second stage reading.

The three-dimensional space optical tracking measurement system can realize coordinate measurement of the three-dimensional space according to the following flow.

Step S110, mounting the laser emitter 100 on the object to be measured, and generating a beam by the laser emitter 100.

Step S120, the light beam is injected into the primary measuring scale to perform primary reading on the object 900 to be measured.

Step S130, the light beam leaving the primary measuring scale is injected into the corresponding secondary measuring scale, and the object 900 to be measured is subjected to secondary reading.

Step S140, calculating to obtain the three-dimensional coordinates of the object 900 to be measured according to the reading results of the light beams.

According to the three-dimensional space optical tracking measurement system provided by the embodiment of the application, the primary measuring ruler carries out rough reading on the three-dimensional coordinates of the light beam, the light beam leaving the primary measuring ruler is emitted to the divergent lens group under the guidance of the light path, and the secondary measuring ruler carries out fine reading on the three-dimensional coordinates of the light beam after amplification, so that the accuracy of measuring the three-dimensional coordinates of the object 900 can be improved by adopting at least two-stage measurement reading design.

In addition, due to the fact that the laser transmitter 100 is arranged on the object 900 to be measured, the primary measuring ruler and the secondary measuring ruler are fixedly arranged, the primary measuring ruler, the secondary measuring ruler and the laser transmitter 900 are separated and can be fixedly arranged at a position far away from the laser transmitter 100, and therefore the device is more suitable for three-dimensional coordinate measurement of the object 900 to be measured which moves autonomously, and the measurement application scene can be improved.

It will be appreciated that in the present application, the reading may be an artificial eye reading or a computer automated reading. For example, in some embodiments, the surfaces of the primary and secondary gauges form graduation marks, one portion of the beam impinges on the graduation marks of the primary gauge to read the value roughly, and the other portion of the beam continues to advance and ultimately impinges on the graduation marks of the secondary gauge to read the value finely. Or in other embodiments, the primary measuring ruler and the secondary measuring ruler are provided with photoelectric sensors, the photoelectric sensors trigger different electric signals in response to different positions irradiated by the light beams, and the computer processes the electric signals to obtain the numerical value. Other possible ways of irradiating the position with the reading beam may refer to the related art, and will not be described herein.

It should be further noted that, in the cartesian coordinate system, the three-dimensional space position of the object 900 to be measured may be uniquely determined by three coordinate values, so the three-dimensional space optical tracking measurement system needs at least three primary measuring scales and corresponding three secondary measuring scales to obtain the complete space position information of the object to be measured. Optionally, in some embodiments, the number of the primary measuring ruler and the secondary measuring ruler can be further increased, so that more information of the object to be measured can be reflected, and further requirements of scientific experiments are met. Such as rotatable objects to be measured or shape-changeable object posture information of the objects to be measured.

To intuitively reflect the three-dimensional coordinates of the object 900, the coordinate scaling process is omitted, and in some embodiments, the Cartesian coordinate system is a rectangular Cartesian coordinate system, where the primary scale includes orthogonal X-axis rough scale, Y-axis rough scale, and Z-axis rough scale. Correspondingly, the secondary measuring ruler comprises an orthogonal X-axis fine reading ruler, a Y-axis fine reading ruler and a Z-axis fine reading ruler.

Specifically, referring to fig. 1 and 2, in some embodiments, three-dimensional coordinates of an object to be measured are measured using orthogonal cartesian coordinate systems, and a three-dimensional spatial optical tracking measurement system uses three primary scales including an orthogonal X-axis rough scale 210, a Y-axis rough scale 220, and a Z-axis rough scale 230, and three secondary scales including an orthogonal X-axis fine scale 240, a Y-axis fine scale 250, and a Z-axis fine scale 260.

Of course, in other embodiments, the three primary scales may be constructed from non-orthogonal Cartesian coordinate systems, as the application is not limited in this regard.

Returning to embodiments using orthogonal Cartesian coordinate systems, in response to this, in some embodiments the light beam emitted by the laser emitter 100 is parallel light, including the orthogonal first 110, second 120, and third 130 light beams. The orthogonal beams are adapted to convey coordinate information of the object 900 to be measured in an orthogonal cartesian coordinate system.

Illustratively, in some embodiments, the first beam 110 is emitted along the Y-axis, and the second beam 120 and the third beam 130 are emitted along the Z-axis. The first light beam 110 is used for reading coordinate information of the Z axis, the second light beam 120 is used for reading coordinate information of the X axis, and the third light beam 130 is used for reading coordinate information of the Y axis.

Alternatively, in order to improve the perpendicularity between the first, second, and third beams 110, 120, 130 and the reference plane, in some embodiments, the attitude of the laser transmitter 100 may be corrected by a gyroscope, specifically, the gyroscope may be mounted on the object 900 to be measured, and then the laser transmitter 100 may be mounted on the gyroscope.

Meanwhile, to improve accuracy of coordinates, in some embodiments, the three-dimensional space optical tracking measurement system further includes a leveling base 520, and the mounting platform 510 is mounted on the leveling base 520. Leveling base 510 can adjust the levelness of mounting platform 510, makes X axle rough scale, Y axle rough scale and Z axle rough scale and the X axle of world coordinate system, Y axle, the accurate correspondence of Z axle.

Specifically, in some embodiments, the three-dimensional spatial optical tracking measurement system includes a level mounted on the mounting platform 510. Leveling is performed by means of a leveling base 510 in cooperation with a leveling instrument, and referring to fig. 1, the leveling instrument may include a round leveling instrument 530 and a tube leveling instrument 540, and the two tube leveling instruments 540 are orthogonally mounted on the mounting platform 510 to reflect angles relative to an X axis and a Y axis respectively, and the readings of the round leveling instrument 530 are roughly adjusted first, and the readings of the tube leveling instrument 540 are finely adjusted second.

It will be appreciated that the emission coordinates of the beam will also change during the movement following the object 900 to be measured. In order to enable the light beam with the continuously changing emission position to be accurately incident on the fixedly arranged primary measuring tape, referring to fig. 3 and 4, taking the first light beam 110 as an example, in some embodiments, the first reflection assembly includes a first Z-axis electro-optic mirror group 310, a plane of the first Z-axis electro-optic mirror group 310 is perpendicular to the Y-axis, the first Z-axis electro-optic mirror group 310 includes a plurality of first Z-axis electro-optic lenses arranged along the X-axis direction array, the first Z-axis electro-optic lenses are perpendicular to the XOY-plane and have an included angle of 45 ° with the XOZ-plane, and the first Z-axis electro-optic lenses are capable of changing refractive index in response to the irradiation of the first light beam 110, so that the first light beam 110 is directed to the Z-axis rough measuring tape along the X-axis direction.

Specifically, the first Z-axis electro-optic lens is formed of an electro-optic crystal (e.g., potassium dihydrogen phosphate KH ₂PO₄) that is capable of changing its refractive index by voltage control, and becomes a mirror in response to the irradiation of the first light beam 110 when the three-dimensional optical tracking measurement system is implemented, so that X-coordinate information in the first light beam 110 is eliminated by reflection in the X-axis direction.

At the same time, the unirradiated first Z-axis electro-optic lens becomes a transmissive mirror, allowing the first light beam 110 to pass through reflection and then enter the Z-axis thickness scale 230 in an unobstructed, normal direction.

More specifically, in some embodiments, electrodes are disposed at two ends of the first Z-axis electro-optic lens in the Z-axis direction, and the electrodes of each first Z-axis electro-optic lens are independently controlled, and the voltage of the first Z-axis electro-optic lens is controlled by the electrodes, so that the refractive index is changed.

In this embodiment, the first Z-axis electro-optic mirror set 310 and the Z-axis rough ruler 230 are coplanar, so that the first light beam 110 reflected by the first Z-axis electro-optic mirror set 310 can be directly directed to the Z-axis rough ruler 230, the Z-axis rough ruler 230 has a receiving window and a scale line facing the first Z-axis electro-optic mirror set 310, the scale line and the receiving window are arranged side by side, a part of the first light beam 110 irradiates on the scale line to implement rough reading, and another part of the first light beam 110 irradiates on the receiving window to continue downstream along the light path, and irradiates on the Z-axis finish ruler 260 after being amplified by the transmitting lens set to implement finish reading.

It is understood that "the diverging lens group amplifies the light beam proportionally" refers to that the moving range of the light beam is increased by refraction of the diverging lens group, for example, the moving range of the light beam is equally proportionally amplified from the (m, n) interval to the (k×m, k×n) interval, where k is an amplification factor greater than 1, so as to improve the resolution when reading coordinates, and allow the Z-axis fine ruler 260 to read the coordinate values of the object 900 to be measured more accurately.

Since the interval is scaled up, if not processed, it is necessary to use a secondary scale that is scaled up with respect to the primary scale to accurately read the coordinate information, however, in order to improve measurement accuracy, the magnification may be several orders of magnitude, and thus it is necessary to process the light beam emitted from the primary scale to remove the coordinate information that has been coarsely read therein.

Optionally, in some embodiments, the second reflective assembly divides the primary meter into a plurality of reading intervals and reflects the light beam incident on each reading interval downstream in the same manner.

For example, in some embodiments, the range of the primary measuring rule is 300cm, the range of each reading interval is 1cm, and the light beam in each reading interval is reflected downstream in the same manner, so that the numerical value before the decimal point in the coordinate information carried by the light beam is filtered, so that each reading interval is remapped to the range of the (0, 1) interval, and then amplified (for example, amplified 300 times), that is, the secondary measuring rule with the same range as the primary measuring rule can be adopted, and high-precision accurate reading is realized.

Still taking the reading of the Z-axis coordinate as an example, in some embodiments, the Z-axis roughness rule 230 has a range of 30cm, the range of the reading interval is 1mm, the Z-axis finish rule 260 has a range of 10cm, and the magnification factor k is 100.

Illustratively, in some embodiments, referring to fig. 4, the second reflective assembly comprises a second Z-axis electro-optic lens group 350, the second Z-axis electro-optic lens group 350 disposed within the receiving window of the Z-axis rough scale 230, the second Z-axis electro-optic lens group 350 comprising a plurality of second Z-axis electro-optic lenses disposed in an array along the Z-axis, the second Z-axis electro-optic lenses being perpendicular to the XOZ plane and having an angle of 45 ° to the YOZ plane, the second Z-axis electro-optic lenses being capable of changing refractive index in response to illumination by the first light beam 110 such that the first light beam 110 is directed toward the diverging lens group along the Z-axis.

It will be appreciated that the reading interval is determined by the second Z-axis electro-optic mirror group 350, and that the projection size of the second Z-axis electro-optic lens on the Z-axis is the size of the reading interval (1 mm in the embodiment shown in fig. 3), specifically, the second Z-axis electro-optic lens reflects the first light beam 110 in the Z-axis direction in response to the irradiation of the first light beam 110 becoming a mirror, while the coordinate information in the first light beam 110 is mapped into the interval of (0, 1) for subsequent magnification.

Continuing to refer to FIG. 4, in some embodiments, the diverging lens group includes a first Z-axis lens 410 and a second Z-axis lens 420, wherein the first Z-axis lens 410 is a concave lens for magnifying the first light beam 110, the second Z-axis lens 420 is downstream of the first Z-axis lens, and the second Z-axis lens 420 is a convex lens for re-collimating the diverging first light beam 110 into parallel light, and the magnification of the first light beam 110 can be varied by adjusting the parameters and positions of the first Z-axis lens and the second Z-axis lens 420.

The enlarged first light beam 110 is guided by the light path to the Z-axis finishing rule 260, and it is understood that the specific design of the light path can be flexibly adjusted according to the position change of the Z-axis finishing rule 260, referring to fig. 4, the light path of the first light beam 110 during a certain measurement is exemplarily shown in fig. 4, in some embodiments, the Z-axis finishing rule 260 and the Z-axis rough reading rule 230 are coaxially arranged along the Z-axis, the receiving window of the Z-axis finishing rule 260 faces the X-axis direction, and the first light beam 110 is guided by a plurality of mirrors to vertically enter the receiving window of the Z-axis finishing rule 260 along the X-axis direction and then reflected in the receiving window, and is internally irradiated on the scale line of the Z-axis finishing rule 260 along the Y-axis direction.

It should be noted that in the embodiment of fig. 4, the receiving window of the Z-axis rough ruler 230 faces the positive direction of the X-axis, and the receiving window of the Z-axis fine ruler 260 faces the negative direction of the X-axis, so as to reduce the risk of mutual interference of the optical paths.

Similar to the reading of the Z-axis coordinate, in some embodiments, the first reflective assembly further arranges a first X-axis electro-optic mirror set 320 and a first Y-axis electro-optic mirror set 330 to effect rough reading of the X-axis coordinate and the Y-axis coordinate, and the second reflective assembly further arranges a second X-axis electro-optic mirror set 360 and a second Y-axis electro-optic mirror set 370 to effect fine reading of the X-axis coordinate and the Y-axis coordinate.

It will be appreciated that the first X-axis electro-optic lens set 320 comprises a first X-axis electro-optic lens, the first Y-axis electro-optic lens set 330 comprises a first Y-axis electro-optic lens, the second X-axis electro-optic lens set 360 comprises a second X-axis electro-optic lens, and the second Y-axis electro-optic lens set 370 comprises a second Y-axis electro-optic lens.

Referring to FIG. 2, in some implementations, the first X-axis electro-optic mirror set 320 and the first Y-axis electro-optic mirror set 330 are spaced apart in parallel and lie in a plane perpendicular to the Z-axis, the first X-axis electro-optic mirror set 320 directs the second light beam 120 along the Y-axis toward the receiving window of the X-axis rough scale 210, and the first Y-axis electro-optic mirror set 330 directs the third light beam 130 along the X-axis toward the receiving window of the Y-axis rough scale 220.

It should be noted that since both the second beam 120 and the third beam 130 are emitted along the Z-axis, in order to avoid mutual interference of the optical paths, in some embodiments, the second beam 120 and the third beam 130 are staggered in time. Specifically, the three-dimensional optical tracking measurement system sets the second light beam 120 and the third light beam 130 to alternately emit at a set frequency.

In the embodiment of fig. 5, the first Y-axis electro-optic lens set 330 is located above the first X-axis electro-optic lens set 320, and whenever the laser transmitter 100 emits a laser plane perpendicular to the Y-axis (i.e., the third beam 130), the first Y-axis electro-optic lens set 330 controls the first Y-axis electro-optic lens that receives the third beam 130 to become a mirror, and the remaining first Y-axis electro-optic lenses are transmissive mirrors, so that the third beam 130 is directed along the X-axis to the receiving window of the Y-axis rough ruler 220.

When the laser transmitter emits the laser plane perpendicular to the X-axis (i.e., the second beam 120), the first Y-axis electro-optic lens group 330 is changed into a transmissive lens, the second beam 120 can pass through the first Y-axis electro-optic lens group 330 to reach the first X-axis electro-optic lens group 320 below it, and the first X-axis electro-optic lens group 320 controls the first X-axis electro-optic lens that receives the second beam 120 to become a reflective lens, and the remaining first X-axis electro-optic lenses are transmissive mirrors, so that the second beam 120 is directed to the receiving window of the X-axis rough ruler 210 along the Y-axis direction.

The arrangement mode of the first Y-axis electro-optic lens and the first X-axis electro-optic lens is similar to that of the first Z-axis electro-optic lens, the included angle between the first Y-axis electro-optic lens and the YOZ plane is 45 degrees, the included angle between the first X-axis electro-optic lens and the XOZ plane is 45 degrees, and other relevant information can refer to the first Z-axis electro-optic lens and is not repeated here.

Of course, in other embodiments, it is also possible to spatially offset the second and third beams 120, 130, i.e., the laser transmitter 100 transmits the second and third beams 120, 130 from two locations, respectively, but this increases the number of transmitters.

Additionally, in some embodiments, the first reflective assembly further comprises a spacer 340, the spacer 340 being disposed between the first X-axis electro-optic mirror set 320 and the first Y-axis electro-optic mirror set 330, the spacer 340 being capable of changing the refractive index in response to a set frequency.

That is, when the third light beam 130 is emitted, the barrier 340 is controlled as a mirror by the electrode to prevent the third light beam 130 from being transmitted, and when the second light beam 120 is emitted, the barrier 340 is controlled as a transmissive mirror by the electrode to allow the second light beam 120 to be transmitted.

With continued reference to FIG. 2, in some embodiments, the first Y-axis electro-optic mirror set 330 and the Y-axis rough scale 220 are not coplanar, and the first X-axis electro-optic mirror set 320 and the X-axis rough scale 210 are coplanar, so that the second light beam 120 reflected by the first X-axis electro-optic mirror set 320 can directly strike the X-axis rough scale 210, and the third light beam 130 reflected by the first Y-axis electro-optic mirror set 330 can strike the Y-axis rough scale 220 after being shifted by an additional arrangement of two parallel mirrors.

In the embodiment of fig. 2, the three-dimensional optical tracking measurement system includes a shift light path box 380, where the shift light path box 380 is disposed downstream of the light path of the first Y-axis electro-optic mirror group 330, and two mirrors parallel to each other and forming an angle of 45 ° with the YOZ plane are disposed inside the shift light path box 380 to shift the third light beam 130.

Similar to the Z-axis rough scale 210, the x-axis rough scale 210 and the Y-axis rough scale 220 are also provided with receiving windows and graduations for visual readings.

It will be appreciated that with reference to fig. 5, within the receiving window of the X-axis rough reading scale 210, the second X-axis electro-optic lens 360 divides the reading interval, and the second X-axis electro-optic lens becomes a mirror in response to the illumination of the second light beam 120, reflecting the second light beam 120 in the X-axis direction, while causing the coordinate information in the second light beam 120 to be mapped into the interval of (0, 1) for subsequent magnification.

The second beam 120 is then directed by the mirror into a diverging lens group along the Z-axis, after being magnified by the first X-axis lens 430 and collimated by the second X-axis lens 440, and finally directed by the mirror to the X-axis precision scale 240.

Referring to fig. 6, in the receiving window of the Y-axis rough reading scale 220, the second Y-axis electro-optic lens group 370 divides a reading section, and the second Y-axis electro-optic lens becomes a mirror in response to the irradiation of the third light beam 130, reflects the second light beam 120 in the Y-axis direction, and simultaneously causes coordinate information in the third light beam 130 to be mapped into the section of (0, 1) for subsequent magnification.

The third beam 130 is then directed by the mirror into the diverging lens group along the Z-axis, after magnification by the first Y-axis lens and collimation by the second Y-axis lens 460, and finally directed by the mirror to the Y-axis precision scale 250.

The second X-axis electro-optic lens set 360, the second Y-axis electro-optic lens set 370, the first X-axis lens, the second X-axis lens 440, the first Y-axis lens and the second Y-axis lens 460 may refer to the second Z-axis electro-optic lens set, the first Z-axis lens and the second Z-axis lens 420, and will not be described herein.

Returning to fig. 1, in the embodiment shown in fig. 1, the three-dimensional optical tracking measurement system is used for tracking measurement of a passively moving object 900, so that the three-dimensional optical tracking measurement system further includes a carrier platform 610 that can move spatially, and the object 900 is placed on the carrier platform 610.

Illustratively, referring to fig. 1, the three-dimensional optical tracking measurement system includes a first driver 620, a second driver 630, and a third driver 640 for driving the motion of the carrying platform 610, and the first driver 620, the second driver 630, and the third driver 640 extend along an X-axis, a Y-axis, and a Z-axis, respectively, so as to implement free motion of the carrying platform 610 in three-dimensional space. The first, second and third drivers 620, 630 and 640 may be driven using linear motors.

The object 900 may be placed in different manners, and referring to fig. 7, for example, the carrying platform 610 includes a binding belt 611, the object 900 is fastened and fixed by the binding belt 611, and the binding belt 611 can be flexibly deformed, so that the shape of the object 900 is adapted to different experiments in different departments, and the applicability of the three-dimensional space optical tracking measurement system is improved. The binding band 611 may be a braid woven from steel wires, thereby improving the reliability of installation.

Further, the carrying platform 610 further includes a container 612 and a locking member 613, one end of the binding band 611 is fixed on a rotating shaft inside the container 612, the idle binding band 611 is stored inside the container 612 in a winding manner, and is drawn out when needed, and the container 612 can lock the binding band 611, so as to control the paying-out length of the binding band 611.

The locking member 613 is connected to the other end of the binding band 611, and the locking member 613 is movably mounted on the bottom plate 614 of the carrying platform 610, for example, in some embodiments, the locking member 613 is screwed with the bottom plate 614, and the binding force of the binding band 611 can be finely adjusted by adjusting the screwing degree of the locking member 613.

In addition, in some embodiments, the carrying platform 610 further includes a limiting shaft 615, the limiting shaft 615 is mounted on the bottom plate 614 at intervals, and the binding belt 611 extending out of the receptacle 612 passes through the limiting shaft 615 and then is connected with the locking member 613, so that the binding belt 611 and the bottom plate 614 are connected together to fix the object 900 to the bottom plate 614.

It should be appreciated that the embodiment shown in fig. 1 is merely illustrative of one use scenario of a three-dimensional spatial optical tracking measurement system, and is not a specific limitation of the present application. The three-dimensional optical tracking measurement system can of course also be used in other scenes, and can also be replaced by or combined with the corresponding technical features.

For example, a three-dimensional optical tracking measurement system may be used to measure three-dimensional coordinate changes when a building subsides, and may also be used for non-contact measurement of an autonomous moving object 900 in scientific experiments, instead of the original grating ruler-based measurement method in some industrial fields. In these measurement scenarios, either orthogonal rectangular cartesian coordinate systems can be used or coordinate systems can be constructed in other ways, and electro-optic lens sets based on electro-optic crystal designs can be adapted for coordinate measurements in various coordinate systems.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims (10)

1. A three-dimensional optical tracking measurement system, comprising:

A laser emitter for mounting on an object to be measured and emitting a light beam;

A mounting platform;

The light path module, light path module fixed mounting is in on the mounting platform, the light path module includes first reflection subassembly, one-level measuring tape, second reflection subassembly and the second measuring tape that order arranged on the light path, first reflection subassembly guide the light beam vertically penetrates into one-level measuring tape, one-level measuring tape is used for receiving the light beam is in order to carry out one-level reading, second reflection subassembly guide the light beam vertically penetrates into the second measuring tape, the second reflection subassembly includes divergently lens group, divergently lens group proportion is enlarged the light beam, the second measuring tape is used for receiving the light beam is in order to carry out the second reading.

2. The three-dimensional space optical tracking measurement system of claim 1, wherein the primary scale comprises an orthogonal X-axis rough scale, a Y-axis rough scale, and a Z-axis rough scale, and the secondary scale comprises an orthogonal X-axis fine scale, a Y-axis fine scale, and a Z-axis fine scale.

3. The three-dimensional space optical tracking measurement system of claim 2, wherein the light beams are parallel light, the light beams comprising orthogonal first, second and third light beams, the first light beam exiting along a Y-axis, the second and third light beams exiting along a Z-axis.

4. The three-dimensional optical tracking measurement system of claim 3 wherein the first reflective assembly comprises a first Z-axis electro-optic lens set having a plane in which the first Z-axis electro-optic lens set lies perpendicular to the Y-axis, the first Z-axis electro-optic lens set comprising a plurality of first Z-axis electro-optic lenses arranged in an array along the X-axis, the first Z-axis electro-optic lenses being perpendicular to the XOY-plane and having an angle of 45 ° with respect to the XOZ-plane, the first Z-axis electro-optic lenses being capable of changing refractive index in response to illumination by the first light beam to direct the first light beam along the X-axis toward the receiving window of the Z-axis rough scale.

5. The three-dimensional spatial optical tracking measurement system of claim 3 wherein the second reflective assembly comprises a second Z-axis electro-optic lens set disposed within the receiving window of the Z-axis rough scale, the second Z-axis electro-optic lens set comprising a plurality of second Z-axis electro-optic lenses disposed in a Z-axis direction array, the second Z-axis electro-optic lenses being perpendicular to the XOZ plane and having an angle of 45 ° to the YOZ plane, the second Z-axis electro-optic lenses being capable of changing refractive index in response to illumination by the first light beam such that the first light beam is directed in a Z-axis direction toward the diverging lens set.

6. The three-dimensional optical tracking measurement system of claim 3 wherein the first reflective assembly comprises a first X-axis electro-optic lens group and a first Y-axis electro-optic lens group, the first X-axis electro-optic lens group and the first Y-axis electro-optic lens group being spaced apart in parallel and lying in a plane perpendicular to the Z-axis, the first X-axis electro-optic lens group directing the second light beam along the Y-axis toward the receiving window of the X-axis rough scale, the first Y-axis electro-optic lens group directing the third light beam along the X-axis toward the receiving window of the Y-axis rough scale.

7. The three-dimensional space optical tracking measurement system of claim 6 wherein the second and third beams are alternately emitted at a set frequency.

8. The three-dimensional optical tracking measurement system according to claim 7 wherein the first reflective assembly further comprises a spacer disposed between the first X-axis electro-optic mirror set and the first Y-axis electro-optic mirror set, the spacer being capable of changing refractive index in response to the set frequency such that a portion of the third light beam generated when it is reflected toward the Y-axis by the first Y-axis electro-optic mirror set is not reflected and the third light beam refracted toward the negative Z-axis does not enter the first X-axis electro-optic mirror set.

9. The three-dimensional space optical tracking measurement system of claim 1, wherein the three-dimensional space optical tracking measurement system comprises a leveling base on which the mounting platform is mounted.

10. The three-dimensional space optical tracking measurement system of claim 9, wherein the three-dimensional space optical tracking measurement system comprises a level mounted on the mounting platform.