Space orthogonal assembling and adjusting device and method for rotary shaft system for laser scanning

Abstract

The invention discloses a rotary shaft system space orthogonal adjustment device and method for laser scanning. A first optical assembling and adjusting assembly of the device carries out assembling and adjusting on an overturning rotary table of rotary table equipment through first laser emitted by the rotary table equipment, a second optical assembling and adjusting assembly carries out assembling and adjusting on a yaw rotary table of the rotary table equipment through second laser emitted by the rotary table equipment, and a positioning assembling and adjusting assembly is located between the two optical assembling and adjusting assemblies. And coaxial adjustment between the optical axis of the laser and the rotary tables and space orthogonal adjustment between the rotary tables are carried out through light spots generated by the laser. In the process of assembling and adjusting the rotary shaft system and the laser optical axis, not only can the spatial orthogonality of the rotary shaft system be conveniently assembled and adjusted, but also the spatial orthogonality and intersection of the rotary shaft system and the laser optical axis can be assembled and adjusted to be intersected at one point without using special instrument equipment and a high-precision reference surface; the method has the characteristics of low cost, high precision, simplicity and convenience in operation, high efficiency and the like.

Description

Technical Field

[0001] The present invention relates to an orthogonal alignment device and method, belonging to the technical field of alignment of the rotary shaft system in precision measurement and instruments, and particularly relates to a spatial orthogonal alignment device and method for the rotary shaft system used for laser scanning. Background Art

[0002] In precision industrial fields such as precision measurement and precision instruments, multi-axis rotary shaft systems are often used. In these devices or instruments, the axes between the shafts often require to be orthogonal and intersecting. A typical application is the shape deviation measurement device for the head of pressure-bearing equipment in the field of pressure vessels. The head of pressure-bearing equipment is one of the commonly used main pressure-bearing components of pressure vessels and is widely used in the process of manufacturing containers. The shape deviation of the head is a key point in the inspection of the head. To detect the shape curve of the head, the shape deviation measurement device of the head often adopts two orthogonal rotary platforms, and laser rangefinders are installed on the rotary platforms, and the shape curve of the head is measured by two-dimensional rotational scanning. To ensure the measurement accuracy, it is required that the rotary axes of the two rotary platforms are orthogonal and intersecting, and intersect at a point with the optical axis of the laser rangefinder. Therefore, how to achieve the orthogonality and intersection of the two rotary axes through alignment is a key link in the development or production of the shape deviation measurement device of the head.

[0003] The existing spatial orthogonal alignment methods for the rotary shaft system include alignment based on contact measurement and alignment based on non-contact measurement. Patents CN106705821 and CN114111688 use contact methods such as standard balls or coordinate measuring machines to judge the orthogonality between the shaft systems by measuring the included angle between the rotary shaft systems, and then perform alignment. The contact method has high accuracy requirements for the standard ball or coordinate measuring machine and the reference plane, and inevitably introduces additional contact errors during the measurement process, and the efficiency of the measurement and alignment process is low. The alignment based on non-contact measurement mainly adopts the autocollimation principle, such as patents CN101922923, CN117073714, CN117781924. This type of alignment requires the use of instrument equipment such as autocollimators and theodolites, or self-made optical paths based on the autocollimation principle, resulting in high alignment costs, the need for high-precision reference planes, or many components and complex optical paths. Another existing problem is that the axis alignment using the autocollimation principle is based on the principle of light autocollimation. Generally, the deflection of the axis is judged by the offset of the image formed after reflection by the reflecting surface installed on the rotary table. Therefore, if the autocollimation device only detects at a certain point, it cannot truly reflect the axis of the rotary table. If multiple points are detected, the reference plane will be greatly increased, thereby greatly increasing the cost and processing difficulty. Summary of the Invention

[0004] To solve the problems existing in the background technology, the present invention provides a spatial orthogonal alignment device and method for a rotary shaft system used in laser scanning. The present invention solves the problems of the need to use special instruments, high-precision reference planes, and high costs when aligning a shape deviation measuring device for a pressure vessel head by using conventional components.

[0005] The technical solution adopted by the present invention is as follows:

[0006] 1. A spatial orthogonal alignment device for a rotary shaft system used in laser scanning, comprising:

[0007] A first optical alignment component for aligning the rotary table of the rotary table device by using the first laser emitted by the rotary table device.

[0008] A second optical alignment component for aligning the yaw rotary table of the rotary table device by using the second laser emitted by the rotary table device.

[0009] A positioning and alignment component located between the two optical alignment components and used to generate light spots on the positioning and alignment component by the two lasers emitted by the rotary table device through the two optical alignment components, so as to perform coaxial adjustment between the first laser optical axis and the rotary table, coaxial adjustment between the second laser optical axis and the yaw rotary table, and spatial orthogonal alignment between the two rotary tables.

[0010] The positioning and adjustment component includes a camera, an optical display device, a first spatial filter and a second spatial filter. The turntable equipment includes a flip turntable and a yaw turntable to be spatially orthogonally adjusted, a first laser emitter and a second laser emitter to be laser optical axis adjusted, and a connecting piece with a slide groove. The slide groove of the connecting piece is parallel to the radial direction of the flip turntable and is slidably installed on the side of the flip turntable. The yaw turntable is installed on the connecting piece. The first laser emitter is installed at the bottom center of the yaw turntable and the laser emission direction is approximately along the direction of the flip turntable rotation axis and outward. The second laser emitter is installed at the bottom center of the first laser emitter and the laser emission direction is approximately along the direction of the yaw turntable rotation axis and outward. The second spatial filter and the first spatial filter are respectively located at the optical display device. On the opposite sides of the same side of the optical display device, the first optical adjustment component will cause the first laser emitted by the first laser emitter to be incident on the pinhole of the second spatial filter, and then be incident on the top surface of one side of the optical display device through the pinhole of the second spatial filter to generate a first light spot, and cause the first laser to be incident on the top surface of the other side of the optical display device to generate a second light spot; the second optical adjustment component will cause the second laser emitted by the second laser emitter to be incident on the pinhole of the first spatial filter, and then be incident on the bottom surface of one side of the optical display device through the pinhole of the first spatial filter to generate a third light spot, and cause the second laser to be incident on the bottom surface of the other side of the optical display device to generate a fourth light spot; the camera is located on the side of the optical display device and records the pixel coordinate position of the center point of each light spot on the optical display device.

[0011] The first optical adjustment component includes a first semi-transparent and semi-reflective prism and a third pentaprism which are arranged in sequence along the first laser incident direction. The first semi-transparent and semi-reflective prism and the third pentaprism are both located on the side of the optical display device and the second spatial filter away from the second optical adjustment component. The first laser emitted by the first laser emitter is incident on the first semi-transparent and semi-reflective prism to generate mutually perpendicular transmitted light and reflected light respectively. The transmitted light of the first semi-transparent and semi-reflective prism is incident on the third pentaprism and then vertically emitted to the pinhole of the second spatial filter, and then incident on one side of the top surface of the optical display device through the pinhole of the second spatial filter to generate a first light spot. The reflected light of the first semi-transparent and semi-reflective prism is directly incident on the other side of the top surface of the optical display device to generate a second light spot.

[0012] The second optical alignment component described above includes a first pentaprism, a second semi-transmissive semi-reflective prism, and a second pentaprism that are arranged at intervals in sequence along the second laser transmission direction. The first pentaprism, the second semi-transmissive semi-reflective prism, and the second pentaprism are located on the side of the optical display device and the first spatial filter that is far from the first optical alignment component. The second laser emitted by the second laser emitter is incident on the first pentaprism and then vertically exits to the second semi-transmissive semi-reflective prism. The second semi-transmissive semi-reflective prism generates mutually perpendicular transmitted light and reflected light. The transmitted light of the second semi-transmissive semi-reflective prism is incident on the second pentaprism and then vertically exits into the pinhole of the first spatial filter, and then enters the bottom surface on one side of the optical display device through the pinhole of the first spatial filter to generate a third light spot. The reflected light of the second semi-transmissive semi-reflective prism directly enters the bottom surface on the other side of the optical display device to generate a fourth light spot.

[0013] The optical display device described above is a frosted glass or a device for recording the state of the displayed light spot.

[0014] II. A method for spatially orthogonal alignment of a rotary shaft system for laser scanning, including:

[0015] 1) Control the flipping rotary table of the rotary table equipment to rotate around its own flipping rotation axis θ, and then turn on the first laser emitter. Then, display the first and second light spots on the optical display device through the first optical alignment component and the positioning alignment component.

[0016] 2) The flipping rotary table rotates in real time, and at the same time, adjust the spatial position and attitude of the first laser emitter and the connecting piece, so that when the flipping rotary table rotates, both the first and second light spots maintain their positions and shapes unchanged, and there is no requirement for the specific position coordinates of the light spots.

[0017] 3) Remove the optical display device and adjust the spatial position of the first spatial filter.

[0018] 4) Place the optical display device back to its original position before removal, and record the pixel coordinate positions of the center points of the first and second light spots on the optical display device through a camera.

[0019] 5) Turn off the first laser emitter, stop rotating the flipping rotary table, and control the yaw rotary table of the rotary table equipment to rotate around its own yaw rotation axis Rotate, and then turn on the second laser emitter. Then, display the third and fourth light spots on the optical display device through the second optical alignment component and the positioning alignment component.

[0020] 6) The yaw rotary table rotates in real time, and at the same time, adjust the spatial position and attitude of the second laser emitter, so that when the yaw rotary table rotates, both the third and fourth light spots maintain their positions and shapes unchanged, and there is no requirement for the specific position coordinates of the light spots.

[0021] 7) Adjust the third light spot according to the pixel coordinate position of the center point of the first light spot to achieve spatial orthogonal alignment.

[0022] After the alignment is completed, when the yaw turntable rotates around the central rotating shaft of the turntable, the flip turntable can rotate around the axis orthogonal to the central rotating shaft of the yaw turntable.

[0023] In the step 1) described above, when the first and second light spots are displayed, the spatial position of the second spatial filter is adjusted so that the outgoing light of the third pentaprism completely passes through the pinhole of the second spatial filter.

[0024] In the step 3) described above, after removing the optical display device, the outgoing light of the second spatial filter is made to enter the first spatial filter, and then the spatial position of the first spatial filter is adjusted so that the outgoing light of the second spatial filter completely passes through the pinhole on the first spatial filter.

[0025] In the step 5) described above, when the third and fourth light spots are displayed, the spatial position of the second optical alignment assembly is adjusted so that the outgoing light of the second pentaprism completely passes through the pinhole on the first spatial filter.

[0026] In the steps 3) and 5) described above, the diameter of the pinhole of the spatial filter is respectively the same as or slightly larger than the beam diameter of the outgoing light of the laser emitter.

[0027] In the step 7) described above, according to the pixel coordinate position of the center point of the first light spot, adjust the spatial position and attitude of the yaw turntable and the second optical alignment assembly so that the pixel coordinate positions of the center points of the third and first light spots are the same, thereby completing the spatial orthogonal alignment. When the rotating shaft systems of the installed flip turntable and yaw turntable not only require spatial orthogonality but also intersection, it is only necessary to make the pixel coordinate positions of the center points of the third and first light spots the same, and the pixel coordinate positions of the center points of the fourth and second light spots the same.

[0028] The yaw turntable is connected to the flip turntable through a connecting piece with a chute to achieve relative position adjustment, and angle adjustment is achieved through pads and other means. It is only required that the pixel coordinate positions of the center points of the light spots on the optical display device are the same, and there is no requirement for the specific coordinate positions of the light spots within the field of view of the camera. When the installed rotating shaft systems require not only spatial orthogonality but also intersection, it is only necessary to make the pixel coordinate positions of the center points of the third and first light spots the same, and the pixel coordinate positions of the center points of the fourth and second light spots the same.

[0029] After the spatial orthogonality and intersection of the rotary shaft system are adjusted, rotate the rotary table and turn on the first laser emitter. Adjust the first laser emitter so that when the rotary table rotates, both the first and second light spots maintain their positions and shapes unchanged. At this time, the rotary shaft system is spatially orthogonal and intersecting, and intersects with the optical axis of the first laser emitter at a point.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1) During the adjustment process of the rotary shaft system and the laser optical axis of the present invention, there is no need to use complex special instruments or equipment. Only conventional components are required for detection and adjustment; there is no need for high machining accuracy or high installation accuracy of the parts or equipment for adjustment. These make the adjustment cost very low; during the adjustment process, it is only necessary to observe whether the light spot is stationary and whether the position of the light spot is consistent before and after. The adjustment is simple, convenient, efficient, and has low requirements for user adjustment.

[0032] 2) During the adjustment process of the rotary shaft system and the laser optical axis of the present invention, it is less affected by problems such as the machining or installation accuracy of the parts or equipment for adjustment, and has high detection accuracy and reliability.

[0033] 3) The present invention can not only conveniently adjust the spatial orthogonality of the rotary shaft system, but also adjust the spatial orthogonality and intersection of the rotary shaft system, and intersect with the laser optical axis at a point. Description of the Drawings

[0034] Figure 1 are the schematic diagrams showing the first and second light spots of the present invention.

[0035] Figure 2 is the schematic diagram of the adjustment of the spatial filter of the present invention.

[0036] Figure 3 are the schematic diagrams showing the third and fourth light spots of the present invention.

[0037] Figure 4 is the schematic diagram of the rotary table equipment during the specific implementation of the present invention.

[0038] In the figure: 1. First semi-transparent and semi-reflective prism, 2. Camera, 3. Ground glass, 4. First pentaprism, 5. Second semi-transparent and semi-reflective prism, 6. Second pentaprism, 7. First spatial filter, 8. Second spatial filter, 9. Third pentaprism, 10. First laser emitter, 11. Second laser emitter, 12. Rotary table, 13. Connector, 14. Yaw rotary table. Detailed Description of the Invention

[0039] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0040] The spatial orthogonal alignment device for the rotary shaft system used in laser scanning according to the present invention includes two optical alignment components and a positioning and alignment component. The first optical alignment component is used to align the rotary table 12 of the rotary table device by the first laser emitted by the rotary table device; the second optical alignment component is used to align the yaw rotary table 14 of the rotary table device by the second laser emitted by the rotary table device; the positioning and alignment component is located between the two optical alignment components and is used to generate light spots on the positioning and alignment component through the two lasers emitted by the rotary table device after passing through the two optical alignment components, so as to perform the coaxial adjustment between the first laser optical axis and the rotary table 12, the coaxial adjustment between the second laser optical axis and the yaw rotary table 14, and the spatial orthogonal alignment between the two rotary tables.

[0041] The positioning and alignment component includes a camera 2, an optical display device, a first spatial filter 7 and a second spatial filter 8. As Figure 4 shown, it is the object of the rotary shaft system for laser scanning to be aligned according to the present invention, that is, the rotary table device. The rotary table device includes a rotary table 12 to be spatially orthogonally aligned and a yaw rotary table 14, a first laser emitter 10 and a second laser emitter 11 to be laser optical axis aligned, and a connecting member 13 with a chute. The chute of the connecting member 13 is parallel to the radial direction of the rotary table 12 and is slidably installed on the side of the rotary table 12. The yaw rotary table 14 is installed on the connecting member 13. The rotary shaft system of the rotary table device consists of the first rotary shaft system θ of the rotary table 12 and the second rotary shaft system direction of the yaw rotary table 14. Among them, the first laser emitter 10 is used as the laser emitter for laser scanning of the object to be measured, and the second laser emitter 11 is used as the auxiliary laser emitter during the orthogonal alignment of the rotary shaft system of the rotary table device. The first laser emitter 10 is installed at the center of the bottom surface of the yaw rotary table 14, and the laser emission direction is along the approximate direction of the axis of the rotary table 12 and outward. During alignment, the second laser emitter 11 is installed at the center of the bottom surface of the first laser emitter 10, and the laser emission direction is along the approximate direction of the axis of the yaw rotary table 14 and outward. It is required that the rotary shaft system It is orthogonal and intersects with the θ direction, and intersects with the optical axis of the first laser emitter 10 at a point. The second spatial filter 8 and the first spatial filter 7 are respectively located on opposite sides of the same side of the optical display device. When the optical display device is horizontally arranged, the second spatial filter 8 and the first spatial filter 7 are respectively located directly above and directly below the same side of the optical display device and are horizontally arranged. The first optical alignment assembly makes the first laser emitted from the first laser emitter 10 enter the pinhole of the second spatial filter 8, and then enter the top surface of one side of the optical display device through the pinhole of the second spatial filter 8 to generate a first light spot, and makes the first laser enter the top surface of the other side of the optical display device to generate a second light spot; the second optical alignment assembly makes the second laser emitted from the second laser emitter 11 enter the pinhole of the first spatial filter 7, and then enter the bottom surface of one side of the optical display device through the pinhole of the first spatial filter 7 to generate a third light spot, and makes the second laser enter the bottom surface of the other side of the optical display device to generate a fourth light spot; the camera 2 is located on the side of the optical display device and records the pixel coordinate positions of the center points of each light spot on the optical display device. The optical display device is a frosted glass 3 or a device for recording and displaying the state of the light spot. The device for recording and displaying the state of the light spot includes a charge-coupled device (CCD), a position-sensitive detector (PSD), a four-quadrant photodetector (QD), a complementary metal-oxide-semiconductor (CMOS) image sensor, etc.

[0042] The first optical alignment assembly includes a first half-transmissive and half-reflective prism 1 and a third pentaprism 9 arranged at intervals in sequence along the incident direction of the first laser. Both the first half-transmissive and half-reflective prism 1 and the third pentaprism 9 are located on the side of the optical display device and the second spatial filter 8 away from the second optical alignment assembly. The first laser emitted from the first laser emitter 10 generates mutually perpendicular transmitted light and reflected light after entering the first half-transmissive and half-reflective prism 1. The transmitted light of the first half-transmissive and half-reflective prism 1 enters the third pentaprism 9 and then exits vertically into the pinhole of the second spatial filter 8, and then enters the top surface of one side of the optical display device through the pinhole of the second spatial filter 8 to generate a first light spot. The reflected light of the first half-transmissive and half-reflective prism 1 directly enters the top surface of the other side of the optical display device to generate a second light spot.

[0043] The second optical alignment component includes a first pentaprism 4, a second semi-transmissive semi-reflective prism 5, and a second pentaprism 6 that are arranged at intervals in sequence along the second laser transmission direction. The first pentaprism 4, the second semi-transmissive semi-reflective prism 5, and the second pentaprism 6 are located on the other side of the optical display device and the first spatial filter 7 away from the first optical alignment component. The second laser emitted by the second laser emitter 11 is incident on the first pentaprism 4 and then vertically exits to the second semi-transmissive semi-reflective prism 5. The second semi-transmissive semi-reflective prism 5 generates transmitted light and reflected light that are perpendicular to each other. The transmitted light of the second semi-transmissive semi-reflective prism 5 is incident on the second pentaprism 6 and then vertically exits into the pinhole of the first spatial filter 7, and then enters the bottom surface of one side of the optical display device through the pinhole of the first spatial filter 7 to generate a third light spot. The reflected light of the second semi-transmissive semi-reflective prism 5 directly enters the bottom surface of the other side of the optical display device to generate a fourth light spot.

[0044] As Figure 1 shown, during the internal alignment of the first optical alignment component Ⅰ, each component is arranged in sequence according to the horizontal incident light direction ①, and the outgoing light is emitted in the vertical direction. There is no strict requirement for the spacing distance between the first semi-transmissive semi-reflective prism 1 and the third pentaprism 9. Generally, the higher the coaxiality requirement between the laser optical axis and the axis of the rotary table, the larger the spacing distance; after the internal alignment of the first optical alignment component Ⅰ, each component is fixed respectively and assembled into a single integrated unit. During the internal alignment of the second optical alignment component Ⅱ, the vertically incident light is made to enter the first pentaprism 4, and then the remaining components are arranged in sequence according to the horizontal light direction ②, and the outgoing light is emitted in the vertical direction. There is no strict requirement for the spacing distance between the second semi-transmissive semi-reflective prism 5 and the second pentaprism 6. Generally, the higher the coaxiality requirement between the laser optical axis and the axis of the rotary table, the larger the spacing distance. The characteristics and dimensions of each component inside the first optical alignment component Ⅰ are the same as those of the corresponding components inside the second optical alignment component Ⅱ, including optical characteristics, etc., and the spacing distance between the second semi-transmissive semi-reflective prism 5 and the second pentaprism 6 in the second optical alignment component Ⅱ is the same as the spacing distance between the first semi-transmissive semi-reflective prism 1 and the third pentaprism 9 in the first optical alignment component Ⅰ; after the internal alignment of the second optical alignment component Ⅱ, each component is fixed respectively and assembled into a single integrated unit.

[0045] The method for spatially orthogonal alignment of the rotary shaft system for laser scanning according to the present invention is as follows:

[0046] 1) First, align the axis of the flipping rotary table 12. Control the flipping rotary table of the rotary table equipment to rotate around its own flipping rotation axis θ, and then turn on the first laser emitter 10, and then display the first and second light spots on the frosted glass 3 through the first optical alignment component and the positioning alignment component, as Figure 1 shown; when displaying the first and second light spots, the spatial position of the second spatial filter 8 is adjusted so that the outgoing light of the third pentaprism 9 completely passes through the pinhole of the second spatial filter 8.

[0047] 2) The flip turntable 12 rotates in real time, and at the same time adjusts the spatial position and posture of the first laser emitter 10 and the connecting member 13, so that the first and second light spots maintain their respective positions and shapes when the flip turntable rotates, and there is no requirement for the specific position coordinates of the light spots.

[0048] 3) Remove the frosted glass 3, and adjust the spatial position of the first spatial filter 7 so that the outgoing light of the second spatial filter 8 is incident on the first spatial filter 7, and then adjust the spatial position of the first spatial filter 7 so that the outgoing light of the second spatial filter 8 completely passes through the pinhole on the first spatial filter 7, as shown in FIG. Figure 2 shown.

[0049] 4) Place the frosted glass 3 to its original position before removal, and use the camera 2 to record the pixel coordinate positions of the center points of the first and second light spots on the frosted glass 3. At this point, the axis adjustment of the turning turntable 12 in the θ direction of the first rotating axis system is completed.

[0050] 5) Then adjust the axis of the yaw rotary table 14. There is no laser transmitter in the direction. For installation and adjustment, an additional second laser transmitter 11 is fixed to the yaw turntable 14. The type of the second laser transmitter 11 is not limited. Turn off the first laser transmitter 10, stop rotating the turntable 12, and control the yaw turntable 14 of the turntable equipment to rotate around its own yaw rotation axis. Rotate, then turn on the second laser emitter 11, and then display the third and fourth light spots on the frosted glass 3 through the second optical adjustment component and the positioning adjustment component, as shown in FIG. Figure 3 As shown; when displaying the third and fourth light spots, the spatial position of the second optical adjustment component is adjusted to the point where the outgoing light of the second pentaprism 6 completely passes through the pinhole on the first spatial filter 7.

[0051] The diameters of the pinholes of the spatial filters 7 and 8 are respectively consistent with or slightly larger than the beam diameters of the outgoing lights of the laser emitters 11 and 10 .

[0052] 6) The yaw turntable 14 rotates in real time, and at the same time adjusts the spatial position and posture of the second laser emitter 11, so that when the yaw turntable 14 rotates, the third and fourth light spots maintain their respective positions and shapes unchanged, and there is no requirement for the specific position coordinates of the light spots.

[0053] 7) Adjust the third light spot according to the pixel coordinate position of the center point of the first light spot. The yaw turntable 14 is connected to the flip turntable 12 through a connector 13 with a slide groove, so that the position of the yaw turntable 14 can be adjusted, and the angle of the yaw turntable 14 can be adjusted by means of pads and the like. According to the pixel coordinate position of the center point of the first light spot, adjust the spatial position and posture of the yaw turntable 14 and the second optical adjustment component so that the pixel coordinate positions of the center points of the third and first light spots are consistent. Here, only the pixel coordinate position of the center point of the light spot on the frosted glass 3 is required to be consistent, and there is no requirement for the specific coordinate position of the light spot within the field of view of the camera 2. At this point, the second rotating axis system The yaw rotary table 14 axis is installed and adjusted. The axis of the yaw turntable 14 in the θ direction and the axis of the flip turntable 12 in the θ direction of the first rotation axis system are orthogonal in space.

[0054] When the rotating axis systems of the installed flip turntable 12 and the yaw turntable 14 are required to be not only spatially orthogonal but also intersecting, it is only necessary to make the pixel coordinate positions of the center points of the third and first light spots consistent, and the pixel coordinate positions of the center points of the fourth and second light spots consistent. After the rotating axis systems are installed and adjusted to be spatially orthogonal and intersecting, the flip turntable 12 is rotated, and the first laser emitter 10 is turned on, and the first laser emitter 10 is readjusted so that the first and second light spots each maintain their positions and shapes unchanged when the flip turntable 12 rotates. At this point, the rotating axis systems are spatially orthogonal and intersecting, and intersect with the optical axis of the first laser emitter 10 at one point.

[0055] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A spatial orthogonal alignment device for a rotary shaft system used in laser scanning, characterized in that, Comprising: A first optical alignment component for aligning the flipping turntable (12) of the turntable device by using the first laser emitted by the turntable device; A second optical alignment component for aligning the yaw turntable (14) of the turntable device by using the second laser emitted by the turntable device; A positioning and alignment component located between the two optical alignment components and used to generate light spots on the positioning and alignment component through the two lasers emitted by the turntable device via the two optical alignment components, so as to perform coaxial adjustment between the first laser optical axis and the flipping turntable (12), coaxial adjustment between the second laser optical axis and the yaw turntable (14), and spatial orthogonality alignment between the two turntables.

2. The space orthogonal alignment device for the rotary shaft system used in laser scanning according to claim 1, wherein: The described positioning and alignment component includes a camera (2), an optical display device, a first spatial filter (7) and a second spatial filter (8). The turntable device includes a flipping turntable (12) and a yaw turntable (14) to be spatially orthogonally aligned, a first laser emitter (10) and a second laser emitter (11) to be laser optical axis aligned, and a connecting member (13) with a chute. The chute of the connecting member (13) is parallel to the radial direction of the flipping turntable (12) and is slidably mounted on the side of the flipping turntable (12). The yaw turntable (14) is mounted on the connecting member (13). The first laser emitter (10) is mounted at the center of the bottom surface of the yaw turntable (14) and the laser emission direction is along the axis direction of the flipping turntable (12). The second laser emitter (11) is mounted at the center of the bottom surface of the first laser emitter (10) and the laser emission direction is along the axis direction of the yaw turntable (14). The second spatial filter (8) and the first spatial filter (7) are respectively located on the opposite sides of the same side of the optical display device. The first optical alignment component makes the first laser emitted from the first laser emitter (10) enter the pinhole of the second spatial filter (8), and then enter the top surface on one side of the optical display device through the pinhole of the second spatial filter (8) to generate a first light spot, and makes the first laser enter the top surface on the other side of the optical display device to generate a second light spot. The second optical alignment component makes the second laser emitted from the second laser emitter (11) enter the pinhole of the first spatial filter (7), and then enter the bottom surface on one side of the optical display device through the pinhole of the first spatial filter (7) to generate a third light spot, and makes the second laser enter the bottom surface on the other side of the optical display device to generate a fourth light spot. The camera (2) is located on the side of the optical display device and records the pixel coordinate positions of the center points of each light spot on the optical display device.

3. The spatial orthogonal alignment device for the rotary shaft system used in laser scanning according to claim 2, characterized in that: The described first optical alignment component includes a first half-reflecting and half-transmitting prism (1) and a third pentaprism (9) arranged at intervals along the first laser incident direction. Both the first half-reflecting and half-transmitting prism (1) and the third pentaprism (9) are located on the side of the optical display device and the second spatial filter (8) away from the second optical alignment component. After the first laser emitted by the first laser emitter (10) is incident on the first half-reflecting and half-transmitting prism (1), transmitted light and reflected light perpendicular to each other are generated respectively. The transmitted light of the first half-reflecting and half-transmitting prism (1) is incident on the third pentaprism (9) and then perpendicularly exits into the pinhole of the second spatial filter (8), and then enters the top surface on one side of the optical display device through the pinhole of the second spatial filter (8) to generate a first light spot. The reflected light of the first half-reflecting and half-transmitting prism (1) directly enters the top surface on the other side of the optical display device to generate a second light spot.

4. The spatial orthogonal alignment device for the rotary shaft system used in laser scanning according to claim 2, wherein: The described second optical alignment component includes a first pentaprism (4), a second half-reflecting and half-transmitting prism (5), and a second pentaprism (6) arranged at intervals along the second laser transmission direction. The first pentaprism (4), the second half-reflecting and half-transmitting prism (5), and the second pentaprism (6) are located on the other side of the optical display device and the first spatial filter (7) away from the first optical alignment component. After the second laser emitted by the second laser emitter (11) is incident on the first pentaprism (4), it perpendicularly exits to the second half-reflecting and half-transmitting prism (5). The second half-reflecting and half-transmitting prism (5) generates transmitted light and reflected light perpendicular to each other. The transmitted light of the second half-reflecting and half-transmitting prism (5) is incident on the second pentaprism (6) and then perpendicularly exits into the pinhole of the first spatial filter (7), and then enters the bottom surface on one side of the optical display device through the pinhole of the first spatial filter (7) to generate a third light spot. The reflected light of the second half-reflecting and half-transmitting prism (5) directly enters the bottom surface on the other side of the optical display device to generate a fourth light spot.

5. The space orthogonal alignment device for the rotary shaft system used in laser scanning according to claim 2, characterized in that: The described optical display device is frosted glass (3) or a device for recording the state of the display light spot.

6. The method for spatially orthogonal alignment of the rotary shaft system for laser scanning of the device according to any one of claims 1-5, characterized in that, Including: 1) Control the flipping turntable (12) of the turntable equipment to rotate around its flipping rotation axis θ, and then turn on the first laser emitter (10), and then display the first and second light spots on the optical display device through the first optical alignment component and the positioning and alignment component; 2) The flipping turntable (12) rotates in real time, and at the same time, adjust the spatial position and attitude of the first laser emitter (10) and the connecting member (13) so that the first and second light spots each maintain their positions unchanged when the flipping turntable (12) rotates; 3) Remove the optical display device and adjust the spatial position of the first spatial filter (7); 4) Place the optical display device back to its original position before removal, and record the pixel coordinate positions of the center points of the first and second light spots on the optical display device through the camera (2); 5) Turn off the first laser emitter (10), stop rotating and flipping the rotary table (12), and control the yaw turntable (14) of the rotary table device to rotate around its own yaw axis Then turn on the second laser emitter (11), and then display the third and fourth light spots on the optical display device through the second optical alignment component and the positioning alignment component; 6) The yaw turntable (14) rotates in real time, and at the same time, adjust the spatial position and attitude of the second laser emitter (11) so that the third and fourth light spots each maintain their positions unchanged when the yaw turntable (14) rotates; 7) Adjust the third light spot according to the pixel coordinate position of the center point of the first light spot to achieve spatial orthogonal alignment and adjustment.

7. The alignment method of the alignment device for the space orthogonal alignment of the rotary shaft system for laser scanning according to claim 6, characterized in that: In the step 1) described above, when displaying the first and second light spots, the spatial position of the second spatial filter (8) is adjusted so that the outgoing light of the third pentaprism (9) completely passes through the pinhole of the second spatial filter (8).

8. The alignment method of the alignment device for the space orthogonal alignment of the rotary shaft system for laser scanning according to claim 6, characterized in that: In the step 3) described above, after removing the optical display device, the outgoing light of the second spatial filter (8) is made to enter the first spatial filter (7), and then the spatial position of the first spatial filter (7) is adjusted so that the outgoing light of the second spatial filter (8) completely passes through the pinhole on the first spatial filter (7).

9. The alignment method of the alignment device for the space orthogonal alignment of the rotary shaft system for laser scanning according to claim 6, characterized in that: In the step 5) described above, when displaying the third and fourth light spots, the spatial position of the second optical alignment and adjustment component is adjusted so that the outgoing light of the second pentaprism (6) completely passes through the pinhole on the first spatial filter (7).

10. The alignment method of the alignment device for the space orthogonal alignment of the rotary shaft system for laser scanning according to claim 6, characterized in that: In the step 7) described above, according to the pixel coordinate position of the center point of the first light spot, adjust the spatial position and attitude of the yaw turntable (14) and the second optical alignment and adjustment component so that the pixel coordinate positions of the center points of the third and first light spots are the same, thereby completing the spatial orthogonal alignment and adjustment; when the axis systems of the flipping turntable (12) and the yaw turntable (14) to be aligned and adjusted are not only spatially orthogonal but also intersect, only make the pixel coordinate positions of the center points of the third and first light spots the same, and the pixel coordinate positions of the center points of the fourth and second light spots the same.

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