Instrument for simultaneous coordinate tracking measurement and high-precision alignment attitude measurement

Abstract

The present invention discloses an instrument for simultaneously performing coordinate tracking measurement and high-precision alignment posture measurement, belonging to the technical field of measuring devices. The present invention mainly consists of a two-dimensional tracking angle measurement component, an integrated optical component, an automatic zoom collimation component, a distance measurement component, and an integrated control measurement component. The present invention utilizes a distance measurement component and a two-dimensional tracking angle measurement component to form a spherical coordinate measurement system to achieve coordinate tracking measurement of a cooperative target within a large spatial range; utilizes the indicator light integrated in the integrated optical component in combination with the zoom collimation measurement component and the distance measurement component to synchronously achieve automatic measurement of the standard alignment posture of a cooperative target with a plane reference mirror, so as to solve the problem of automatic alignment measurement of the payload posture during the manufacturing process of the space probe payload; utilizes an adaptive collimation target component to achieve adaptive adjustment of the return light direction, and based on the collimation method, achieves high-precision measurement of the spatial position and posture of the measured part equipped with the adaptive collimation target.

Description

Technical Field

[0001] The present invention belongs to the technical field of measuring devices, and in particular relates to an instrument that simultaneously provides coordinate tracking measurement and high-precision alignment posture measurement. Background Art

[0002] The manufacturing, inspection, and spatial positioning processes of large-scale component assembly and docking, space probe payload assembly, high-precision positioning of drones, and robot calibration all require six-dimensional measurement of spatial position and attitude. Currently, there are five methods suitable for simultaneous spatial position and attitude measurement over a large scale:

[0003] The first is the multi-station multi-point spatial coordinate method. This method uses a portable single-point coordinate measurement system to measure cooperative target points fixed at different positions on the target to be measured, obtain the spatial coordinate values ​​of this series of cooperative target points, and then realize the position and attitude angle of the measurement point of the target to be measured through multi-point coordinate matching calculation. Typical representative instruments of the portable single-point coordinate measurement system include articulated arm flexible three-coordinate measurement system, laser tracker spherical coordinate measurement system, electronic theodolite coordinate measurement system, and portable light pen coordinate measurement system. The advantage of this method is that the portable single-point coordinate measurement system has high spatial coordinate measurement accuracy. By measuring the cooperative target points at different positions on the target, a higher attitude measurement accuracy can be obtained, and the attitude measurement error can be controlled within ±0.01°. The disadvantage is that the portable single-point coordinate measurement system can only measure one point at a time, and multiple measurement systems are required for synchronous measurement to achieve real-time measurement of position and attitude, or a single station is used to measure the cooperative target points separately for static solution to obtain position and attitude. This method is currently mainly used in the fields of docking of large aircraft components and attitude angle calibration of flight control actuators. However, the attitude measurement of this scheme is converted through coordinates, and a larger measurement surface is required to achieve the goal of attitude measurement. The attitude measurement error is difficult to further reduce. In addition, this scheme cannot perform high-precision attitude measurement for vector references established on mirror surfaces.

[0004] The second method is the single-station multi-point spatial coordinate method. This method uses a convenient imaging multi-point coordinate measurement system to simultaneously measure cooperative target points fixed at different positions on the target to be measured, obtain the spatial coordinates of this series of cooperative target points, and then achieve the measurement of the position and attitude angle of the measurement points of the target to be measured by matching and calculating the multi-point coordinates obtained at the same time. Typical representative instruments of the convenient multi-point coordinate measurement system include monocular vision measurement systems and binocular vision measurement systems. The advantage of this method is that it can obtain the spatial coordinates of multiple cooperative target points at one time through the measurement system, and can achieve real-time spatial position and attitude measurement; the disadvantage is that it is limited by the measurement principle of the photogrammetry system, and the spatial coordinate measurement accuracy is low. The spatial attitude measurement error within a small range can only be less than ±0.05°. This method is mainly used for the attitude positioning of space targets and the control of the full-field measurement network. The attitude measurement accuracy is low. Similarly, this solution cannot perform high-precision attitude measurement work for vector references established on mirror surfaces.

[0005] The third method is a composite spatial position and attitude measurement method. This method includes two approaches. One approach utilizes a portable single-point coordinate measurement system for real-time, high-precision coordinate measurement of a single point in space, combined with a portable imaging-based multi-point coordinate measurement system for simultaneous attitude measurement of multiple points. This achieves the goal of real-time, high-precision measurement of spatial position and attitude based on cooperative targets. A typical system is a laser tracker combined with a T-MAC 6D, comprising a laser tracking dynamic attitude measurement system. Typical applications include robot calibration, as shown in CN109591019B, "A Method for Precise Spatial Positioning of Objects with Undeterministic Positioning Features," and CN111633687A, "A System and Method for Detecting Jitter Parameters of an Industrial Robot Endpoint." The other approach utilizes a portable single-point coordinate measurement system for real-time, high-precision position measurement of a single point in space, combined with angle measurement and inertial navigation devices for three-dimensional attitude measurement. This also achieves the goal of real-time, high-precision measurement of spatial position and attitude based on cooperative targets. A typical system is a laser tracking dynamic attitude measurement system composed of a US API laser tracker (a multi-dimensional measurement system with a 360° angular working range, as disclosed in US Patent US20170370700A1) combined with an STS six-dimensional intelligent sensor. The above composite spatial position and attitude measurement method currently has a measurement radius of up to 30m, a spatial coordinate point measurement error of ±(15μm + 6μm / m), and an attitude measurement error of ±0.01°. However, the disadvantage is that it is difficult to perform high-precision attitude measurement on a vector reference based on a mirror, and further improvement in attitude measurement accuracy is difficult.

[0006] The fourth method is the inertial device measurement method. This method uses the strapdown inertial navigation device to adopt the integration method to obtain the spatial position, and obtains the attitude by sensing gravity and acceleration. It has the characteristics of high measurement rate and independent operation. However, since it adopts the integration method to obtain the spatial position, the spatial position measurement accuracy is low. In addition, in order to achieve higher spatial position and attitude measurement accuracy, the strapdown inertial navigation system requires a complex structure to ensure low reliability, short fault interval time, and high cost. It is currently mainly used in missile navigation, aircraft control and other long-range guidance and attitude control fields.

[0007] The fifth method is a position and attitude measurement method based on a combination of alignment and sighting. This method primarily utilizes alignment to achieve attitude measurement, using optical sighting or laser methods to measure two-dimensional displacement. Since a two-dimensional alignment measuring instrument can only measure two attitudes, two alignment measuring instruments can be used to simultaneously align adjacent perpendicular cubic mirrors to achieve high-precision attitude measurement. A typical application is the dual-longitude and latitude manual sighting measurement scheme for measuring the attitude of space probe payloads during assembly. In this scheme, the probe being measured is fixed, and two theodolites are used to align the reference cubic mirrors attached to different payloads on the probe. The attitude relationships between the different payloads are then established through manual mutual sighting. This scheme obtains the payload attitude angles by aligning the electronic theodolite with the reference mirror, then manually sighting each other to determine the horizontal and elevation angles between the measuring theodolite and the ground theodolite. Therefore, each payload position to be measured requires manual setting up of the theodolite for alignment measurement. Furthermore, due to the complex structure of space probes and the diverse placement of payloads, this scheme presents challenges such as high manual measurement difficulty, low efficiency, and susceptibility to external influences. In addition, patent CN111879496A discloses a device for high-precision real-time resetting measurement of a wind tunnel balance loading head that uses this method. However, this method has a small measurement range. The general attitude measurement range is less than 0.1°, and the displacement measurement range is generally less than 5mm. Therefore, its applicability is insufficient and it is mainly used in the field of wind tunnel balance attitude measurement that requires collimation measurement. Summary of the Invention

[0008] The purpose of the present invention is to provide an instrument for simultaneously performing coordinate tracking measurement and high-precision collimation posture measurement, utilizing a distance measurement component and a two-dimensional tracking angle measurement component to form a spherical coordinate measurement system to realize coordinate tracking measurement of a cooperative target within a large spatial range; utilizing the indicator light integrated in the integrated optical component in combination with the zoom collimation measurement component and the distance measurement component to synchronously realize automatic measurement of the standard collimation posture of a cooperative target with a plane reference mirror, so as to solve the problem of automatic collimation measurement of the payload posture during the manufacturing process of the space probe payload; utilizing an adaptive collimation target component to realize adaptive adjustment of the return light direction, and based on the collimation method, realizing high-precision spatial position and high-precision measurement of the measured part equipped with the adaptive collimation target, thereby meeting the requirements of robot position and posture calibration and large-scale component assembly and docking position and posture measurement.

[0009] The purpose of the present invention is achieved through the following technical solutions.

[0010] The invention discloses an instrument for simultaneously performing coordinate tracking measurement and high-precision collimation posture measurement, which mainly consists of a two-dimensional tracking angle measurement component, an integrated optical component, an automatic zoom collimation component, a distance measurement component and an integrated control measurement component.

[0011] The two-dimensional tracking angle measurement component is the main body of the structural component of the present invention, which is used to install the reflecting plane mirror to realize the high-precision horizontal rotation and measurement and pitch rotation and measurement of the reflecting plane mirror. The ranging laser provides the horizontal angle, pitch angle and ranging information of the ranging light after being reflected by the rotation center of the plane mirror; a reflective mirror is installed on it at the same time, which can bring together the ranging laser, tracking indicator laser, collimation indicator light and the optical center axis of the automatic zoom collimation component in the integrated optical component, and reach the measured cooperative target component after being reflected by the reflective mirror, and return to the integrated optical component and the automatic zoom collimation component after being reflected by the measured cooperative target component, and obtain the ranging information combined with the horizontal angle, pitch angle and ranging component through the integrated control measurement component, so as to realize the high-precision measurement of the spatial coordinates or posture of the measured cooperative target; the integrated optical component is mainly used to collect the ranging laser, tracking indicator laser, collimation indicator light and the optical center axis of the automatic zoom collimation component in the integrated optical component. The tracking indicator laser and the collimated indicator light converge and adjust to the same optical path to achieve the merging of the optical paths. At the same time, the modular assembly facilitates installation and overall adjustment. The automatic zoom collimation component is used to achieve automatic zooming based on the distance information to the cooperative target measured by the ranging component, thereby being able to obtain clear image information of the collimated indicator light reflected by the cooperative target, and to achieve high-precision attitude measurement through center point solution combined with ranging information. The ranging component is used to achieve distance measurement of the cooperative target point and provide real-time distance measurement information for tracking and collimation attitude solution. The integrated control and measurement component is used to achieve motion control of the two-dimensional angle of the two-dimensional tracking angle measurement component and real-time horizontal angle and pitch angle feedback measurement and output, and is also used to achieve ranging information acquisition and output of the ranging component, extraction and processing of the center point of the collimated indicator light, and achieve spatial position and attitude measurement.

[0012] Preferably, the two-dimensional tracking angle measurement assembly includes a circular grating reading head, a pitch angle measurement circular grating, a pitch axis left precision bearing, a pitch axis counterweight, a plane reflector, a pitch axis, a pitch axis seat, an inclination sensor, a pitch axis right precision bearing, a pitch axis direct-drive torque motor, a pitch direct-drive torque motor mounting seat, a protective cover, a main reflective mirror, a precision bearing on the horizontal rotation axis, a cable protective cover, a ring handle, a lower precision bearing, a bearing locking thread, a ball bearing, a horizontal rotation axis direct-drive torque motor, a handle mounting seat, a horizontal angle measurement circular grating, a horizontal rotation axis mounting seat and a horizontal rotation axis. The pitch angle measurement circular grating is installed on the pitch axis and cooperates with the reading head to achieve high-precision pitch angle measurement; after the left precision bearing of the pitch axis is installed on the left side of the pitch axis, the right precision bearing of the pitch axis is installed through the bearing mounting hole of the pitch axis. The pitch axis realizes precise rotation guidance through the left precision bearing of the pitch axis and the right precision bearing of the pitch axis; the pitch axis is driven by the direct-drive torque motor installed at its right end; the pitch axis direct-drive torque motor is installed on the pitch axis seat through the direct-drive torque motor mounting seat; the inclination sensor is installed on the top of the pitch axis seat to realize the leveling and compensation of the instrument; the horizontal rotation axis is installed on the horizontal rotation axis mounting seat through the upper precision bearing and the lower precision bearing of the horizontal rotation axis. The angle of the horizontal rotation axis is measured by the horizontal angle measurement circular grating; its drive is provided by the horizontal rotation axis direct-drive torque motor; the plane reflector is installed on the pitch axis, and its reflecting surface is located at the center of the pitch axis and the center of the horizontal axis. The torque motor and the horizontal rotation axis direct-drive torque motor are driven to realize the rotation of the pitch and horizontal angles, and the horizontal angle measurement circular grating and the pitch angle measurement circular grating are used to realize the precise measurement of the pitch and horizontal angles; the ring handle is connected to the horizontal rotation axis mount through the mounting handle mount installed on both sides, and the buffering of the mounting handle mount can effectively prevent the deformation of the horizontal rotation axis mount caused by excessive force when the ring handle is carried; the main reflector is installed at the bottom of the hollow frame inside the pitch axis mount, and is used to converge the ranging laser, tracking indication laser, collimation indication light emitted by the integrated optical component installed on the left side of the pitch axis mount, and the optical center axis of the automatic focus collimation component installed in the middle of the horizontal rotation axis, and reach the measured cooperative target component after reflection by the reflector; the protective cover is installed on the left and right sides of the pitch axis mount to include the components installed thereon, and the cable protective cover is installed on the top of the horizontal rotation axis mount to protect the internal wiring cables.

[0013] Preferably, the integrated optical component includes a collimated light laser, a collimated laser diffraction lens, a diffraction reflector, a laser displacement sensing sensor, a laser displacement sensing sensor mounting seat, a lens assembly mounting seat, a laser lens mounting seat, a laser collimating lens, a filter, a flat reflector, a layered reflector, a reflector reflector mounting seat, a reflector, a diffraction ranging convergence reflector, a ranging laser fiber collimator, a diffraction large lens and a diffraction large lens mounting seat. The collimated light laser is installed on the lens assembly mount through the collimated light laser mount, and a collimated laser diffraction small lens is also installed on it to cooperate with the diffraction large lens installed on the diffraction large lens mount to produce an annular collimated laser based on the diffraction principle; the annular collimated laser passes through the diffraction ranging convergence reflector and the ranging laser emitted by the ranging laser fiber collimator, and then enters the plane reflector after reflection by the reflector. The plane reflector is installed on the reflector reflector mount and is installed at 45 degrees. The converged light is reflected by the plane reflector and enters the main reflector installed on the two-dimensional tracking angle measurement component, and then enters the plane reflected by the main reflector. The reflector reflects the light onto the cooperative target. The light from the cooperative target returns through the original path, passes through the flat reflective mirror, and is reflected by the added reflector. It is collimated by the filter and the laser collimator lens and then hits the laser displacement sensor installed on the laser displacement sensor mounting base. After signal processing, it is combined with the horizontal angle and pitch angle values ​​measured by the two-dimensional tracking angle measurement component and processed by the integrated control and measurement component to realize the tracking control of the two-dimensional tracking angle measurement component. The ranging light returns through the original path and reaches the ranging laser fiber collimator. After entering the optical fiber, it reaches the laser detector surface and is processed by the integrated control and measurement component to realize the distance measurement of the cooperative target.

[0014] Preferably, the automatic zoom collimation assembly includes a collimation image acquisition camera, a zoom mount, a zoom lens group, a focusing motor and a reflector. The zoom lens group is integrated and installed in the zoom lens group barrel. The optical center of the zoom lens group is strictly coaxial with the mechanical center of the external axis of the zoom lens group barrel after adjustment. The zoom lens group barrel is then installed in the horizontal rotation shaft. The optical center of the zoom lens group is coaxial with the rotation axis of the rotation shaft through the cooperation of the upper and lower precision ball bearings. The zoom lens group realizes zooming by driving the gear and rack by the zoom motor. The feedback of the zoom adopts the feedback based on ranging to realize automatic zooming, so as to achieve the goal of automatically acquiring the collimated image.

[0015] Preferably, the distance measuring component is integrated and installed in the control box of the integrated control and measurement component, and the distance measuring component includes a measuring optical fiber, a measuring interference optical fiber, a balanced detector A, a balanced detector B, a reference optical fiber, an external frequency modulated laser, an external frequency modulated laser frequency modulation control and ranging processing circuit, and a ranging laser fiber collimator, mainly realizing the measurement of absolute distance;

[0016] Preferably, the integrated control and measurement assembly includes a control box upper cover, an image processing circuit, an image processing circuit mounting plate, an integrated motion control circuit, an integrated control circuit mounting plate, a dual-reading head processor, a motion driver, a connector mounting plate, a control box body, and a control box lower connecting plate. The image processing circuit is used to realize real-time processing of the collimated image to obtain the center point position of the collimated image. The collimated image processing circuit is mounted on the control box upper cover via the image processing circuit mounting plate. The integrated motion control circuit is mounted on the control box upper cover via the integrated control circuit mounting plate. It mainly controls the pitch axis direct drive torque motor, the horizontal rotation axis direct drive torque motor, and the focusing motor by controlling three motion drivers. The control box body is mounted between the control box upper cover and the control box lower connecting plate to protect the control components and provide support.

[0017] Preferably, the horizontal rotating axis mounting seat adopts a side hollow structure, which is used to realize the installation of the horizontal rotating axis direct-drive torque motor and the horizontal angle measurement circular grating between the upper and lower precision bearings, thereby increasing the driving stability and measurement accuracy; at the same time, it provides space for installing an automatic zoom collimation component in the middle of the horizontal rotating axis.

[0018] The working method of the instrument disclosed in the present invention for simultaneously performing coordinate tracking measurement and high-precision collimation posture measurement is as follows:

[0019] The instrument of the present invention is installed and fixed on the support frame, and the height and position of the support frame are adjusted so that the measured object has visualization conditions within the motion range after being installed on the cooperative target. Then, the machine is turned on and connected to the host computer. When the measured object needs to be measured in a wide range of spatial position and attitude, the tracking and collimation target is used to meet the requirements of the wide range of spatial position and attitude measurement. The tracking and collimation measurement target is turned on. At this time, the indicator laser coupled in the ranging laser enters the diffraction ranging convergence mirror through the ranging laser fiber collimator, and then is reflected by the reflector to reach the plane reflector. The plane reflector is installed at a 45° angle on the reflector reflector mount. After reflection, the indicator ranging laser enters the main reflector installed at the bottom of the hollow frame inside the pitch axis mount along the normal direction of the mirror assembly mount, and then enters the reflector after reflection from the main reflector. Then, after reflection from the reflector and adjustment of the horizontal angle and pitch angle, the measurement of the wide range of spherical coordinates is achieved. By adjusting the angle of the reflector and the plane mirror corner conic mirror of the adaptive target, the indicator laser emitted by the integrated optical component hits the plane corner conic mirror of the collimation tracking target. The collimation tracking target can then adjust its own horizontal angle and pitch angle according to the incoming laser to achieve the original return of the optical path. After being reflected by the reflector, the laser enters the main transflective mirror, and then is reflected by the main transflective mirror and enters the plane transflective mirror. At this time, the returning laser is split into two paths. One path is projected by the plane transflective mirror and enters the added layer reflector. After being reflected by the added layer reflector, it enters the filter and filters out the ranging laser. The laser is then collimated by the laser collimator lens and hits the laser displacement sensor PSD. The laser displacement sensor PSD senses the displacement of the indicator laser. If the offset is zero, no adjustment is made. If the offset is not zero, the displacement is given and input into the integrated motion control circuit, which generates a control signal to the motor motion driver, controlling the pitch axis direct drive torque motor and the horizontal rotation axis direct drive torque motor in the two-dimensional tracking and angle measurement assembly to drive the pitch axis and the horizontal rotation axis respectively, thereby driving the plane reflector installed on the pitch axis to adjust the angle until the laser displacement sensor PSD senses that the displacement of the indicator laser is less than the control limit. At this time, the indicator laser will hit the center of the corner of the tracking and collimation measurement target corner reflector. The other indication distance measurement is reflected by the plane transflective mirror, then reflected by the reflector, projected by the diffraction ranging convergence transflective mirror, and enters the ranging laser fiber collimator. It is then transmitted through the optical fiber to reach the ranging component to achieve absolute distance measurement, and obtain the distance of the tracking collimated target angle cone point. At the same time, the horizontal and pitch rotation angles of the reflector are measured, and the spherical coordinate formula can be used to achieve the spatial coordinate measurement of the tracking collimated target.

[0020] Tracking measurement can be achieved after the tracking and collimation measurement target is connected to the instrument of the present invention and spatial coordinate measurement is obtained. That is, after the tracking and collimation measurement target is installed on the measured object, it can automatically adjust the plane corner conic mirror according to the direction of the incoming light after the measured object moves, thereby achieving spatial tracking measurement. When it is necessary to perform spatial posture measurement, turn on the collimated light laser installed on the integrated optical component, and the light emitted by it passes through the collimated laser diffraction small lens and the diffraction large lens, and then merges with the indicating ranging laser at the diffraction ranging convergence mirror, and then is reflected by the reflector to reach the plane reflector. The plane reflector is installed at a 45° angle on the reflector reflector mounting seat. After reflection, the indicating ranging laser enters the main reflector at the bottom of the hollow frame installed on the pitch axis seat along the normal direction of the mirror assembly mounting seat, and enters the reflector after being reflected by the main reflector, and reaches the plane corner conic mirror of the adaptive collimation target. After being reflected by the plane partial reflector on the plane corner conic mirror, the diffracted laser enters the reflector to reach the main reflector, and is projected through the main reflector into the zoom lens group of the automatic focus collimation assembly, the zoom lens group Driven by the focusing motor and with the feedback of the ranging laser, real-time automatic zoom is achieved, and a clear collimated light image can be formed on the collimated image camera. The center point position of the diffracted light is then obtained through real-time processing by the image processing circuit in the integrated control and measurement component. Combined with the ranging laser and horizontal angle measurement and pitch angle measurement information, the attitude measurement of the stationary plane corner conic mirror can be achieved. When tracking and collimating the measurement target, the plane corner conic mirror can adaptively adjust the angle. After adjustment, the adaptively adjusted angle can be obtained and combined with the high-precision inclination sensor installed on the tracking and collimating measurement target, high-precision attitude measurement of the measured part installed with the tracking and collimating measurement target can be achieved. Based on the collimation measurement, the error of the attitude angle is reduced, thereby improving the measurement accuracy of the spatial position attitude, especially the attitude angle, within a large-scale measurement range.

[0021] The measurement range refers to a size of more than 1m.

[0022] Preferably, the collimation target is used to sense and track the direction of emission of the collimation measuring instrument, and to perform two-dimensional horizontal rotation and pitch rotation adjustment, so that the reference plane angle conic plane mirror installed thereon can return the incident laser to its original path, and at the same time measure the horizontal and pitch rotation angles with high precision, thereby providing a reference for the attitude angle of the tracking collimation measuring instrument.

[0023] Beneficial effects:

[0024] 1. The instrument disclosed in the present invention is used for simultaneous coordinate tracking measurement and high-precision collimation posture measurement. In conjunction with the tracking and collimation measurement targets, it can achieve synchronous measurement of the spatial position and posture of the measured part. It can provide an integrated position and posture measurement method for large-scale component assembly and docking and robot calibration. Compared with existing large-scale measuring instruments, it realizes the integration of tracking coordinate and collimation posture measurement, adds the posture measurement function based on the collimation method, realizes multi-purpose use of one device, and expands the scope of application.

[0025] 2. The present invention discloses an instrument for simultaneously performing coordinate tracking measurement and high-precision collimation attitude measurement. The attitude measurement of the plane corner conic mirror target is based on the collimation method, so it can greatly improve the accuracy of the collimation measurement. In addition, the automatic collimation measurement based on diffracted light can effectively solve the problem of high-precision collimation automatic aiming of plane mirror collimation measurement, and can provide an automated aiming method for space probe payload assembly measurement.

[0026] 3. The instrument disclosed in the present invention is used for simultaneous coordinate tracking measurement and high-precision alignment attitude measurement. The tracking alignment measurement target is fixed as a reference target, while the instrument of the present invention moves. The relative position and attitude relationship with the alignment measurement target can be obtained through real-time position and alignment attitude measurement. Then, the normal measurement of the fixed reference mirror is realized through the automatic alignment function of the instrument of the present invention, and the comprehensive measurement error is controlled within ±5", which effectively solves the problem of automated high-precision attitude measurement of space probe payloads and wind tunnel balance loading heads.

[0027] 4. The instrument disclosed in the present invention is used for simultaneous coordinate tracking measurement and high-precision collimation attitude measurement. In conjunction with tracking and collimating measurement targets, it can realize dynamic spatial coordinate measurement of the measured target, with a measurement speed of up to 4m / s. Simultaneously, tracking and collimating measurement targets can realize adaptive adjustment, effectively expanding the measurement range to a pitch angle of ±45° and a horizontal angle of ±180°. It can provide a spatial positioning measurement means for targets that require real-time positioning, such as high-precision positioning of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0029] Figure 1 This is a diagram showing the overall structure of an instrument suitable for both coordinate tracking measurement and high-precision alignment posture measurement according to the present invention;

[0030] Figure 2 Schematic diagram of the structure of the two-dimensional tracking angle measurement assembly of the present invention;

[0031] Figure 3 is a schematic structural diagram of the integrated optical component of the present invention;

[0032] Figure 4 Schematic diagram of the structure of the automatic zoom collimation assembly of the present invention;

[0033] Figure 5 Schematic diagram of the structure of the distance measurement component and the integrated control and measurement component of the present invention;

[0034] Figure 6 This is a diagram showing the working effect of the present invention and the tracking and collimation measurement target.

[0035] In the figure: 1-2D tracking angle measurement component, 2-integrated optical component, 3-automatic zoom collimation component, 4-distance measurement component, 5-integrated control measurement component, 6-tracking collimation target, 7-special support frame, 101-circular grating reading head, 102-pitch angle measurement circular grating, 103-pitch axis left precision bearing, 104-pitch axis counterweight, 105-plane reflector, 106-pitch axis, 107-pitch axis seat, 108-tilt sensor, 109-pitch axis right precision bearing, 110-pitch axis direct drive torque motor, 111-pitch direct drive torque motor mounting seat, 112 -Protective cover, 113-Main reflective mirror, 114-Precision bearing on horizontal rotation axis, 115-Cable protective cover, 116-Ring handle, 117-Lower precision bearing, 118-Bearing locking thread, 119-Dense ball bearing, 120-Horizontal rotation axis direct drive torque motor, 121-Handle mounting seat, 122-Horizontal angle measurement circular grating, 123-Horizontal rotation axis mounting seat, 124-Horizontal rotation axis, 201-Collimated light laser, 202-Collimated laser diffraction lenslet, 203-Diffraction reflector, 204-Laser displacement sensor, 205-Laser displacement sensor 206-lens mount, 207-laser lens mount, 208-laser collimating lens, 209-filter, 210-plane reflector, 211-layer reflector, 212-reflector reflector mount, 213-reflector, 214-diffraction ranging convergence reflector, 215-ranging laser fiber collimator, 216-diffraction large lens, 217-diffraction large lens mount, 301-collimation image acquisition camera, 302-zoom mount, 303-zoom lens group, 304-focusing motor, 305-reflector, 401-measuring fiber, 402-measuring Interference fiber, 403-Balanced detector A, 404-Balanced detector B, 405-Reference fiber, 406-External frequency modulated laser, 407-External frequency modulated laser frequency modulation control and ranging processing circuit, 408-Ranging laser fiber collimator, 501-Control box upper cover, 502-Image processing circuit, 503-Image processing circuit mounting plate, 504-Integrated motion control circuit, 505-Integrated control circuit mounting plate, 506-Dual reading head processor, 507-Motion driver, 508-Connector mounting plate, 509-Control box, 510-Control box lower connecting plate. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions of this application in conjunction with the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0037] See attached Figure 1 As shown, the instrument disclosed in this embodiment for simultaneously performing coordinate tracking measurement and high-precision collimation posture measurement includes a two-dimensional tracking angle measurement component 1, an integrated optical component 2, an automatic focus collimation component 3, a distance measurement component 4 and an integrated control measurement component 5.

[0038] The two-dimensional tracking angle measurement assembly 1 is the main structural component of the present invention. It is used to mount a reflective plane mirror, enabling high-precision horizontal and elevation rotation and measurement of the reflective plane mirror. The ranging laser, after reflecting off the plane mirror's rotation center, provides the horizontal angle, pitch angle, and ranging information of the ranging light. A transflective mirror is also mounted on it, which can converge the ranging laser, tracking indicator laser, collimating indicator light, and the optical center axis of the automatic focus collimating assembly 3 in the integrated optical assembly 2. After reflection from the measured cooperative target assembly, it returns to the integrated optical assembly 2 and the automatic focus collimating assembly 3 along the same path. The integrated control and measurement assembly 5 obtains ranging information combined with the horizontal angle, pitch angle, and ranging assembly 4, achieving high-precision measurement of the spatial coordinates or posture of the measured cooperative target. The integrated optical assembly 2 is primarily used to converge and adjust the ranging laser, tracking indicator laser, and collimating indicator light onto the same optical path, achieving optical path convergence. Its modular assembly facilitates installation and overall adjustment. The automatic zoom collimation component 3 is used to automatically adjust the focus based on the distance information from the cooperating target measured by the ranging component 4, thereby obtaining clear image information of the collimated indicator light reflected by the cooperating target. By combining the center point solution with the ranging information, high-precision attitude measurement is achieved. The ranging component 4 is used to measure the distance of the cooperating target point, providing real-time distance measurement information for tracking and collimation attitude solution. The integrated control and measurement component 5 is used to achieve the two-dimensional angle motion control of the two-dimensional tracking angle measurement component 1 and the real-time horizontal angle and pitch angle feedback measurement and output. It is also used to realize the acquisition and output of the ranging information of the ranging component 4, the extraction and processing of the center point of the collimated indicator light, and ultimately achieve the measurement of the spatial position and attitude of the target.

[0039] See attached Figure 2As shown, the two-dimensional tracking angle measurement assembly 1 includes a circular grating reading head 101, a pitch angle measurement circular grating 102, a pitch axis left precision bearing 103, a pitch axis counterweight 104, a plane reflector 105, a pitch axis 106, a pitch axis seat 107, an inclination sensor 108, a pitch axis right precision bearing 109, a pitch axis direct drive torque motor 110, a pitch direct drive torque motor mounting seat 111, a protective cover 112, a main reflective mirror 113, an upper precision bearing 114 of the horizontal rotation axis, a cable protective cover 115, a ring handle 116, a lower precision bearing 117, a bearing locking thread 118, a ball bearing 119, a horizontal rotation axis direct drive torque motor 120, a handle mounting seat 121, a horizontal angle measurement circular grating 122, a horizontal rotation axis mounting seat 123, and a horizontal rotation axis 124. The pitch angle measurement circular grating 102 is installed on the pitch axis and cooperates with the reading head to achieve high-precision pitch angle measurement; after the pitch axis left precision bearing 103 is installed on the left side of the pitch axis, the pitch axis right precision bearing 109 is installed through the bearing mounting hole of the pitch axis. The pitch axis realizes precise rotation guidance through the pitch axis left precision bearing 103 and the pitch axis right precision bearing 109; the pitch axis is driven by the direct-drive torque motor installed at its right end; the pitch axis direct-drive torque motor 110 realizes the rotation of the pitch axis through the direct-drive torque motor 111. The drive torque motor mounting seat is mounted on the pitch axis seat 107; the inclination sensor 108 is mounted on the top of the pitch axis seat 107 to achieve instrument leveling and compensation; the horizontal rotation axis is mounted on the horizontal rotation axis mounting seat through the horizontal rotation axis upper precision bearing and the lower precision bearing, and the angle of the horizontal rotation axis is measured by the horizontal angle measurement circular grating; its drive is provided by the horizontal rotation axis direct drive torque motor; the plane reflector 105 is mounted on the pitch axis, and its reflecting surface is located at the center of the pitch axis and the center of the horizontal axis. , which realizes the rotation of pitch and horizontal angles under the drive of the pitch axis direct-drive torque motor 110 and the horizontal rotation axis direct-drive torque motor, and realizes the precise measurement of pitch and horizontal angles through the horizontal angle measurement circular grating and the pitch angle measurement circular grating 102; the ring handle is connected to the horizontal rotation axis mounting seat through the handle mounting seats installed on both sides. The buffering of the handle mounting seat can effectively prevent the deformation of the horizontal rotation axis mounting seat caused by excessive force of the ring handle during transportation. The main reflector is installed at the bottom of the hollow frame inside the pitch axis seat 107, and is used to converge the ranging laser, tracking indicator laser, collimation indicator light emitted by the integrated optical component 2 installed on the left side of the pitch axis seat 107, and the optical center axis of the automatic focus collimation component 3 installed in the middle of the horizontal rotation axis. After reflection by the reflector, it reaches the cooperative target component to be measured. The protective cover is installed on the left and right sides of the pitch axis mounting seat to include the components installed thereon, and the cable protective cover is installed on the top of the horizontal rotation axis mounting seat to protect the internal wiring cables.

[0040] See attached Figure 3As shown, the integrated optical component 2 includes a collimated light laser 201, a collimated laser diffraction lenslet 202, a diffraction reflector 203, a laser displacement sensing sensor 204, a laser displacement sensing sensor mounting seat 205, a lens assembly mounting seat 206, a laser lens mounting seat 207, a laser collimating lens 208, a filter 209, a plane transflector 210, a layered reflector 211, a transflector reflector mounting seat 212, a reflector 213, a diffraction ranging convergence transflector 214, a ranging laser fiber collimator 215, a diffraction large lens 216 and a diffraction large lens mounting seat 217. The collimated light laser is installed on the lens assembly mounting seat through the collimated light laser mounting seat, and a collimated laser diffraction small lens is also installed on it for cooperating with the diffraction large lens installed on the diffraction large lens mounting seat to produce an annular collimated laser based on the diffraction principle; the annular collimated laser passes through the diffraction ranging convergence reflector and the ranging laser emitted by the ranging laser fiber collimator to converge, and then enters the plane reflector after reflection by the reflector. The plane reflector is installed on the reflector reflector mounting seat and installed at 45 degrees. The converged light is reflected by the plane reflector and enters the main reflector installed on the two-dimensional tracking angle measurement component 1, and then enters the plane reflector after reflection by the main reflector. 105 is reflected and enters the cooperative target. The light of the cooperative target returns through the original path, passes through the plane reflective mirror, and is reflected by the added reflector. It is collimated by the filter and the laser collimator lens and then hits the laser displacement sensor installed on the laser displacement sensor mounting base. After signal processing, it is combined with the horizontal angle and pitch angle values ​​measured by the two-dimensional tracking and angle measurement component 1 and processed by the integrated control and measurement component 5 to realize the tracking control of the two-dimensional tracking and angle measurement component 1; the ranging light returns through the original path and reaches the ranging laser fiber collimator, enters the optical fiber, reaches the laser detector surface, and is processed by the integrated control and measurement component 5 to realize the distance measurement of the cooperative target.

[0041] See attached Figure 4 As shown, the automatic zoom collimation assembly 3 includes a collimation image acquisition camera 301, a zoom mount 302, a zoom lens group 303, a focusing motor 304 and a reflector 305. The zoom lens group is integrated and installed in the zoom lens group barrel. The optical center of the zoom lens group is strictly coaxial with the mechanical center of the external axis of the zoom lens group barrel after adjustment. The zoom lens group barrel is then installed in the horizontal rotation shaft. The optical center of the zoom lens group is coaxial with the rotation axis of the rotation shaft through the cooperation of the upper and lower precision ball bearings. The zoom lens group realizes zooming by driving the gear and rack by the zoom motor. The zoom feedback adopts the feedback based on the distance measurement to realize automatic zooming, so as to achieve the goal of automatically acquiring the collimated image.

[0042] See attached Figure 5As shown, the ranging component 4 is integrated into the control box of the integrated control and measurement component 5. The ranging component 4 includes a measuring optical fiber 401, a measuring interference optical fiber 402, a balanced detector A403, a balanced detector B404, a reference optical fiber 405, an external frequency modulated laser 406, an external frequency modulated laser frequency modulation control and ranging processing circuit 407 and a ranging laser fiber collimator 408, which mainly realizes the measurement of absolute distance.

[0043] The integrated control and measurement assembly 5 includes a control box upper cover 501, an image processing circuit 502, an image processing circuit mounting plate 503, an integrated motion control circuit 504, an integrated control circuit mounting plate 505, a dual-reading head processor 506, a motion driver 507, a connector mounting plate 508, a control box body 509, and a control box lower connecting plate 510. The image processing circuit is used to perform real-time processing of the collimated image to obtain the center point position of the collimated image. The collimated image processing circuit is mounted on the control box upper cover via the image processing circuit mounting plate. The integrated motion control circuit is mounted on the control box upper cover via the integrated control circuit mounting plate. It primarily controls the pitch axis direct-drive torque motor 110, the horizontal axis direct-drive torque motor, and the focus motor by controlling three motion drivers. The control box body is mounted between the control box upper cover and the control box lower connecting plate to protect and support the control components.

[0044] The left precision bearing 103 and the right precision bearing 109 of the pitch axis used for the precision rotation guide of the pitch axis in the two-dimensional tracking and angle measurement component 1, as well as the upper precision bearing and the lower precision bearing of the horizontal rotation axis used for the rotation guide of the horizontal rotation axis, all adopt precision angular contact bearings to pre-tighten the horizontal axis and the pitch axis, thereby improving the support installation stiffness and rotation accuracy of the rotation axis.

[0045] The inclination sensor 108 used for horizontal measurement in the two-dimensional tracking angle measurement component 1 adopts a two-dimensional high-precision inclination sensor 108 to facilitate monitoring during leveling and improve leveling efficiency.

[0046] The horizontal rotation axis mounting seat in the two-dimensional tracking angle measurement component 1 adopts a side hollow structure, which enables the horizontal rotation axis direct-drive torque motor and the horizontal angle measurement circular grating to be centrally installed between the upper and lower precision bearings, thereby increasing the drive stability and measurement accuracy, and providing space for installing the automatic zoom collimation component 3 in the middle of the horizontal rotation axis.

[0047] The pitch angle measurement circular grating 102 and the horizontal angle measurement circular grating in the two-dimensional tracking angle measurement component 1 are both equipped with dual reading heads to facilitate eccentricity compensation and improve angle measurement accuracy.

[0048] The two-dimensional tracking and angle measurement component 1 is used to install the plane reflection precision pitch axis using an integrated axis structure with a concave structure in the middle, and a pitch axis counterweight 104 is used to achieve its own pitch rotation balance.

[0049] The transflector and reflector mounting seat in the integrated optical component 2 adopts a two-layer design, which realizes the installation of the transflector and reflector respectively, and saves installation space through the double-layer design.

[0050] The transflective mirror installed on the transflective mirror mounting seat in the integrated optical component 2 adopts a flat transflective mirror to reduce the influence of the reflection caused by the stereo transflective mirror on the laser displacement sensing sensor and improve the laser tracking effect.

[0051] The transflective mirror mount in the integrated optical component 2 is connected to the lens assembly mount using a front thread and rear pin structure, which facilitates adjustment of the distance between the transflective mirror and the laser displacement sensing sensor to obtain the optimized measurement position.

[0052] The collimating light laser and the ranging laser fiber collimator are both connected to the laser by optical fiber. The laser is installed in the integrated control and measurement component 5, which reduces the optical devices installed on the pitch axis seat 107 and reduces the heat generated by the pitch axis mounting seat.

[0053] The automatic zoom method adopted by the automatic zoom collimating component 3 is real-time zoom based on distance measurement, which reduces the processing time when zooming based on image clarity and improves zoom efficiency.

[0054] The distance measuring component 4 adopts a distance measuring device based on the absolute laser distance measuring principle of laser frequency sweeping, which facilitates the measurement of the spatial position of the cooperative target at any position.

[0055] The distance measurement component 4 adopts an external frequency modulation laser frequency modulation control and distance measurement processing circuit that can simultaneously realize the external frequency modulation laser frequency modulation control and distance measurement signal processing, realize the modularization of absolute distance measurement laser generation and data processing, improve the reliability of the instrument, and facilitate maintenance.

[0056] The working method of the instrument disclosed in the present invention for simultaneously performing coordinate tracking measurement and high-precision collimation posture measurement is as follows:

[0057] See attached Figure 6As shown, the instrument of the present invention is installed and fixed on a special support frame 7, and the height and position of the special support frame 7 are manually adjusted so that the measured part has visualization conditions within the movement range after being installed on the cooperative target. Then, the machine is turned on and connected to the host computer. When the measured object needs to be measured in a wide range of spatial position and posture, it is necessary to equip it with a tracking and collimating measurement target. When the tracking and collimating measurement target is turned on, the indicator laser coupled in the ranging laser enters the diffraction ranging convergence mirror through the ranging laser fiber collimator, and then is reflected by the reflector to reach the plane reflector. The plane reflector is installed at a 45° angle on the reflector reflector mounting seat. After reflection, the indicator ranging laser enters the main reflector installed at the bottom of the hollow frame inside the pitch axis seat 107 along the normal direction of the mirror assembly mounting seat, and enters the reflector after being reflected by the main reflector. After reflection by the reflector, the reflector enters the reflector, and then the reflection of the reflector and the adjustment of the horizontal angle and pitch angle can achieve the measurement of the spherical coordinates in a wide range. The angle of the reflector and the plane mirror corner conic mirror of the adaptive target are manually adjusted so that the indicator laser emitted by the instrument of the present invention hits the plane corner conic mirror of the collimating tracking target. The collimating tracking target 6 can adjust its own horizontal angle and pitch angle according to the incoming laser to realize the original return of the optical path, and then return to the original path through the reflector. The laser beam is reflected by the projecting mirror and then enters the main reflective mirror. After being reflected by the main reflective mirror, it enters the plane reflective mirror. At this time, the returning laser beam is split into two paths. One path is projected by the plane reflective mirror and enters the added layer reflector. After being reflected by the added layer reflector, it enters the filter, which filters out the ranging laser beam. The laser beam is then collimated by the laser collimating lens and hits the laser displacement sensor. If the laser displacement sensor senses the displacement of the indicator laser beam and the offset is zero, no adjustment is made. If the offset is not zero, the displacement is output and input into the integrated motion control circuit. The integrated motion control circuit generates a control signal to the motor motion driver, which controls the pitch axis direct-drive torque motor 110 and the horizontal rotation axis direct-drive torque motor in the two-dimensional tracking and angle measurement assembly 1 of the present invention to drive the pitch axis and the horizontal rotation axis respectively, thereby driving the plane reflector 105 installed on the pitch axis to adjust its angle until the laser displacement sensor senses that the displacement of the indicator laser beam is less than the control limit. At this time, the indicator laser beam will hit the center of the corner of the corner reflector of the tracking and collimation measurement target. The other indication distance measurement is reflected by the plane transflective mirror, then reflected by the reflector, projected by the diffraction ranging convergence transflective mirror, and enters the ranging laser fiber collimator, and then transmitted through the optical fiber to reach the ranging component 4 to realize absolute distance measurement, and obtain the distance of the tracking collimation target 6 corner cone point. At the same time, the horizontal and pitch rotation angles of the reflector are measured, and the spherical coordinate formula can be used to realize the spatial coordinate measurement of the tracking collimation target 6.

[0058] Tracking measurement can be achieved after the tracking and collimation measurement target is connected to the instrument of the present invention and spatial coordinate measurement is obtained. That is, after the tracking and collimation measurement target is installed on the measured object, it can automatically adjust the plane corner conic mirror according to the direction of the incoming light after the measured object moves, thereby achieving spatial tracking measurement. When it is necessary to perform spatial posture measurement, the collimated light laser installed on the integrated optical component 2 is turned on, and the light emitted by it passes through the collimated laser diffraction small lens and the diffraction large lens, and then merges with the indicating ranging laser at the diffraction ranging convergence mirror, and then is reflected by the reflector to reach the plane reflector. The plane reflector is installed at 45 degrees on the reflector reflector mounting seat. After reflection, the indicating ranging laser enters the main reflector installed at the bottom of the hollow frame inside the pitch axis seat 107 along the normal direction of the mirror group mounting seat, enters the reflector after being reflected by the main reflector, and reaches the plane corner conical mirror of the adaptive collimation target. After being reflected by the plane partial reflector on the plane corner conical mirror, the diffraction laser enters the reflector to reach the main reflector, and is projected by the main reflector into the zoom lens group of the automatic zoom collimation component 3. The zoom lens group is adjusted Driven by the focusing motor, real-time automatic zooming is achieved under the feedback of the ranging laser, and a clear collimated light image is formed on the collimated image camera. The center point position of the diffracted light is then obtained through real-time processing by the image processing circuit in the integrated control and measurement component 5. Combined with the ranging laser and horizontal angle measurement and pitch angle measurement information, the attitude measurement of the stationary plane corner mirror can be achieved. When tracking and collimating the measurement target, the plane corner mirror can be adaptively adjusted. After adjustment, the adaptively adjusted angle can be obtained. Combined with the high-precision inclinometer 108 installed on the tracking and collimating measurement target, high-precision attitude measurement of the measured part installed with the tracking and collimating measurement target can be achieved. The error of the attitude angle based on the collimation measurement can be controlled within ±5", thereby improving the measurement accuracy of spatial position attitude, especially attitude angle, within a large-scale measurement range.

[0059] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application. Other structures and principles are the same as those in the prior art and will not be repeated here.

Claims

1. An instrument for simultaneous coordinate tracking measurement and high-precision collimation attitude measurement, characterized by: It consists of a two-dimensional tracking angle measurement component, an integrated optical component, an automatic zoom collimation component, a distance measurement component and an integrated control and measurement component; The two-dimensional tracking angle measurement component is used to install a reflecting plane mirror to achieve high-precision horizontal rotation and measurement and pitch rotation and measurement of the reflecting plane mirror. The ranging laser provides the horizontal angle, pitch angle and ranging information of the ranging light after being reflected by the rotation center of the plane mirror; a reflective mirror is also installed on the two-dimensional tracking angle measurement component, which can bring together the ranging laser, tracking indicator laser, collimation indicator light in the integrated optical component and the optical center axis in the automatic zoom collimation component, and reach the measured cooperative target after being reflected by the reflective mirror, and return to the integrated optical component and the automatic zoom collimation component along the original path after being reflected by the measured cooperative target, and obtain the ranging information combined with the horizontal angle, pitch angle and ranging component through the integrated control measurement component, so as to achieve high-precision measurement of the spatial coordinates or posture of the measured cooperative target; the integrated optical component is used to collect the ranging laser, tracking indicator laser, collimation indicator light in the integrated optical component and the optical center axis in the automatic zoom collimation component, so as to achieve high-precision measurement of the spatial coordinates or posture of the measured cooperative target. The collimated indicator light converges and adjusts to the same optical path to achieve the convergence of the optical paths. At the same time, the modular assembly facilitates installation and overall adjustment. The automatic zoom collimation component is used to achieve automatic zooming based on the distance information from the measured cooperative target measured by the ranging component, thereby being able to obtain clear image information of the collimated indicator light reflected by the measured cooperative target, and achieve high-precision attitude measurement through center point solution combined with ranging information. The ranging component is used to achieve distance measurement of the cooperative target point, providing real-time distance measurement information for tracking and collimation attitude solution. The integrated control and measurement component is used to achieve motion control of the two-dimensional angle of the two-dimensional tracking angle measurement component and real-time horizontal angle and pitch angle feedback measurement and output, and is also used to achieve ranging information acquisition and output of the ranging component, extraction and processing of the center point of the collimated indicator light, and achieve measurement of spatial position and attitude. The cooperative target to be measured is a tracking and alignment target installed on the measured object.

2. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 1, characterized in that: The two-dimensional tracking angle measurement assembly includes a circular grating reading head, a pitch angle measurement circular grating, a pitch axis left precision bearing, a pitch axis counterweight, a plane reflector, a pitch axis, a pitch axis seat, an inclination sensor, a pitch axis right precision bearing, a pitch axis direct drive torque motor, a pitch direct drive torque motor mounting seat, a protective cover, a main reflective mirror, a horizontal rotation axis upper precision bearing, a cable protective cover, a ring handle, a lower precision bearing, a bearing locking thread, a ball bearing, a horizontal rotation axis direct drive torque motor, a handle mounting seat, a horizontal angle measurement circular grating, a horizontal rotation axis mounting seat and a horizontal rotation axis; the pitch angle measurement circular grating is mounted on the pitch axis, Cooperate with the reading head to realize high-precision pitch angle measurement; After the left precision bearing of the pitch axis is installed on the left side of the pitch axis, the right precision bearing of the pitch axis is installed through the bearing mounting hole of the pitch axis. The pitch axis realizes precise rotation guidance through the left precision bearing of the pitch axis and the right precision bearing of the pitch axis; the pitch axis is driven by the direct-drive torque motor installed at its right end; the pitch axis direct-drive torque motor is installed on the pitch axis seat through the direct-drive torque motor mounting seat; the inclination sensor is installed on the top of the pitch axis seat to realize the leveling and compensation of the instrument; the horizontal rotation axis is installed through the upper precision bearing and the lower precision bearing of the horizontal rotation axis It is installed on the horizontal rotation axis mounting base, and the angle of the horizontal rotation axis is measured by the horizontal angle measuring circular grating; its drive is provided by the horizontal rotation axis direct drive torque motor; the plane reflector is installed on the pitch axis, and its reflecting surface is located at the center of the pitch axis and the center of the horizontal rotation axis. It realizes the rotation of the pitch and horizontal angles under the drive of the pitch axis direct drive torque motor and the horizontal rotation axis direct drive torque motor, and realizes the precise measurement of the pitch and horizontal angles through the horizontal angle measuring circular grating and the pitch angle measuring circular grating; the annular handle is connected to the horizontal rotation axis mounting base through the mounting handle mounting base installed on both sides, and is The punch prevents the deformation of the horizontal rotation axis mount caused by excessive force when the ring handle is carried. The main reflector is installed at the bottom of the hollow frame inside the pitch axis mount. It is used to converge the ranging laser, tracking indication laser, collimation indication light emitted by the integrated optical component installed on the left side of the pitch axis mount, and the optical center axis of the automatic focus collimation component installed in the middle of the horizontal rotation axis. After reflection by the reflector, it reaches the cooperative target to be measured. The protective cover is installed on the left and right sides of the pitch axis mount to wrap the components installed thereon. The cable protection cover is installed on the top of the horizontal rotation axis mount to protect the internal wiring cables.

3. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 2, characterized in that: The integrated optical component includes a collimated light laser, a collimated laser diffraction lenslet, a diffraction reflector, a laser displacement sensing sensor, a laser displacement sensing sensor mounting seat, a lens assembly mounting seat, a laser lens mounting seat, a laser collimating lens, a filter, a plane transflector, a layered reflector, a transflector reflector mounting seat, a reflector, a diffraction ranging convergent transflector, a ranging laser fiber collimator, a diffraction large lens and a diffraction large lens mounting seat; the collimated light laser is mounted on the lens assembly mounting seat through the collimated light laser mounting seat, and a collimated laser diffraction lenslet is also mounted on the lens assembly mounting seat for cooperating with the diffraction large lens mounted on the diffraction large lens mounting seat to generate an annular collimated laser based on the diffraction principle; the annular collimated laser is combined with the ranging laser emitted by the ranging laser fiber collimator through the diffraction ranging convergent transflector and the ranging laser, and then enters the plane transflector after being reflected by the reflector. The mirror is installed on the reflective mirror mounting seat and is installed at 45°. The converged light is reflected by the plane reflective mirror and enters the main reflective mirror installed on the two-dimensional tracking angle measurement component. The converged light is then reflected by the plane reflective mirror entering the measured cooperative target. The light of the measured cooperative target returns through the original path, passes through the plane reflective mirror, and is reflected by the added layer reflector. It is collimated by the filter and the laser collimator lens and then hits the laser displacement sensor installed on the laser displacement sensor mounting seat. After signal processing, combined with the horizontal angle and pitch angle values ​​measured by the two-dimensional tracking angle measurement component, it is processed by the integrated control and measurement component to realize the tracking control of the two-dimensional tracking angle measurement component; the ranging light returns through the original path to reach the ranging laser fiber collimator, enters the optical fiber, reaches the laser detector surface, and is processed by the integrated control and measurement component to realize the distance measurement of the measured cooperative target.

4. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 3, characterized in that: The automatic zoom collimation assembly includes a collimation image acquisition camera, a zoom mount, a zoom lens group, a focusing motor and a reflector. The zoom lens group is integrated and installed in the zoom lens group barrel. The optical center of the zoom lens group is strictly coaxial with the mechanical center of the external axis of the zoom lens group barrel after adjustment. The zoom lens group barrel is then installed in the horizontal rotation shaft. The automatic zoom collimation assembly realizes the coaxiality of the optical center of the zoom lens group and the rotation axis of the rotation shaft through the cooperation of upper and lower ball bearings; the zoom lens group realizes zooming by driving the gear and rack by the zoom motor. The zoom feedback adopts distance measurement-based feedback to realize automatic zooming, so as to achieve automatic acquisition of the collimated image.

5. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 4, characterized in that: The distance measurement component is integrated and installed in the control box of the integrated control and measurement component. The distance measurement component includes a measuring optical fiber, a measuring interference optical fiber, a balanced detector A, a balanced detector B, a reference optical fiber, an external frequency modulated laser, an external frequency modulated laser frequency modulation control and ranging processing circuit and a ranging laser fiber collimator to achieve absolute distance measurement.

6. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 5, characterized in that: The integrated control and measurement component includes a control box upper cover, an image processing circuit, an image processing circuit mounting plate, an integrated motion control circuit, an integrated control circuit mounting plate, a dual-reading head processor, a motion driver, a connector mounting plate, a control box body, and a control box lower connecting plate; the image processing circuit is used to realize real-time processing of the collimated image to obtain the center point position of the collimated image, and the collimated image processing circuit is installed on the control box upper cover through the image processing circuit mounting plate; the integrated motion control circuit is installed on the control box upper cover through the integrated control circuit mounting plate, and it realizes control of the pitch axis direct-drive torque motor, the horizontal rotation axis direct-drive torque motor, and the focusing motor by controlling three motion drivers. The control box body is installed between the control box upper cover and the control box lower connecting plate to protect the control components and provide support.

7. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 6, characterized in that: The horizontal rotation axis mounting seat adopts a side hollow structure, which is used to realize the installation of the horizontal rotation axis direct drive torque motor and the horizontal angle measurement circular grating between the upper and lower precision bearings, and provides space for the installation of the automatic zoom collimation component in the middle of the horizontal rotation axis.

8. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 7, characterized in that: Install and fix the instrument on the support frame, adjust the height and position of the support frame so that the measured object has visualization conditions within the motion range after installing the tracking collimation target, then turn on the machine and connect it to the host computer; when the measured object needs to perform a large range of spatial position and posture measurement, the large range of spatial position and posture measurement requirements can be met by tracking the collimation target, turn on the tracking collimation target, and the indicator laser coupled in the ranging laser enters the diffraction ranging convergence mirror through the ranging laser fiber collimator, and then reaches the plane mirror after reflection by the reflector. The plane mirror is installed at 45 degrees on the mirror reflector mounting seat, and after reflection, it indicates the ranging laser Along the normal direction of the mirror assembly mounting seat, it enters the main reflective mirror at the bottom of the hollow frame installed in the pitch axis seat, and enters the reflector after being reflected by the main reflective mirror. Then, through the reflection of the reflector and the adjustment of the horizontal angle and pitch angle, the measurement of a wide range of spherical coordinates is achieved. By adjusting the angle of the reflector and the plane mirror corner conic mirror of the adaptive target, the indicator laser emitted by the integrated optical component hits the plane corner conic mirror of the tracking collimation target. The tracking collimation target can adjust its own horizontal angle and pitch angle according to the incoming laser to realize the original return of the light path, and then enter the main reflective mirror after being reflected by the reflector, and enter the plane reflective mirror after being reflected by the main reflective mirror. At this time, the return The returned laser is divided into two paths. One path is projected by the plane reflective mirror and enters the layered reflector. After being reflected by the layered reflector, it enters the filter to filter out the ranging laser, and then is collimated by the laser collimating lens and hits the laser displacement sensing sensor PSD. The laser displacement sensing sensor PSD senses the displacement of the indicator laser. If the offset is zero, no adjustment is made. If the offset is not zero, the displacement is given and input into the integrated motion control circuit, which generates a control signal to reach the motor motion driver, controlling the pitch axis direct drive torque motor and the horizontal rotation axis direct drive torque motor in the two-dimensional tracking angle measurement component to drive the pitch axis and the horizontal rotation axis respectively, and then The plane reflector installed on the pitch axis is driven to adjust its angle until the laser displacement sensor PSD senses that the displacement of the indicator laser is less than the control limit. At this time, the indicator laser will hit the center of the corner cone of the tracking collimated target corner reflector; the other indicator ranging is reflected by the plane reflector and then reflected by the reflector and projected by the diffraction ranging convergence reflector into the ranging laser fiber collimator. It is then transmitted through the optical fiber to reach the ranging component to achieve absolute distance measurement, obtain the distance to the tracking collimated target corner cone point, and at the same time measure the horizontal and pitch rotation angles of the reflector to achieve spatial coordinate measurement of the tracking collimated target using the spherical coordinate formula; After the tracking collimation target is connected to the instrument and the spatial coordinate measurement is obtained, tracking measurement can be achieved. That is, after the tracking collimation target is installed on the measured object, it can automatically adjust the plane corner conical mirror according to the direction of the incoming light after the measured object moves, thereby realizing spatial tracking measurement; when spatial posture measurement is required, the collimated light laser installed on the integrated optical component is turned on, and the emitted light passes through the small diffraction lens and the large diffraction lens of the collimated laser and then merges with the indicating ranging laser at the diffraction ranging convergence mirror, and then is reflected by the reflector to reach the plane transflective mirror. The plane transflective mirror is installed at 45° on the transflective mirror reflector mounting seat. After reflection, the indicating ranging laser enters the main transflective mirror installed at the bottom of the hollow frame inside the pitch axis seat along the normal direction of the lens group mounting seat, enters the reflector after reflection from the main transflective mirror, reaches the plane corner conical mirror of the adaptive collimation target, and is reflected by the plane partial reflector on the plane corner conical mirror. The diffracted laser enters the reflector and reaches the main reflective mirror, and is projected through the main reflective mirror into the zoom lens group of the automatic zoom collimation component. The zoom lens group is driven by the focusing motor and realizes real-time automatic zoom under the feedback of the ranging laser, so that a clear image of the collimated light can be formed on the collimation image camera. The center point position of the diffracted light is obtained through real-time processing by the image processing circuit in the integrated control and measurement component. Combined with the ranging laser and the horizontal angle measurement and pitch angle measurement information, the posture measurement of the stationary plane corner conic mirror can be realized. When the tracking collimation target is adopted, the plane corner conic mirror can adaptively adjust the angle. After adjustment, the adaptively adjusted angle can be obtained and combined with the high-precision inclination sensor installed on the tracking collimation target, the high-precision posture measurement of the measured part installed with the tracking collimation target can be realized. The error of the posture angle is reduced based on the collimation measurement, thereby improving the measurement accuracy of the spatial posture angle within a large-scale measurement range.

9. The instrument for simultaneous coordinate tracking measurement and high-precision alignment posture measurement according to claim 8, characterized in that: The tracking and collimation target is used to sense the direction of the tracking and collimation measuring instrument's emission and perform two-dimensional horizontal and pitch rotation adjustments, so that the plane corner conic mirror installed on the tracking and collimation target can return the incident laser to its original path, while simultaneously measuring the horizontal and pitch rotation angles with high precision, thereby providing a reference for the attitude angle of the tracking and collimation measuring instrument.

Images