A space orthogonal assembling device and method for a rotation shaft system of laser scanning

Abstract

The application discloses a kind of rotary shaft system space orthogonal installation device and method for laser scanning.The first optical installation component of device is carried out the installation of yawing rotary table of rotary table equipment by the first laser emitted by rotary table equipment, the second optical installation component is carried out the installation of yawing rotary table of rotary table equipment by the second laser emitted by rotary table equipment, positioning installation component is located between two optical installation components, and the coaxial adjustment between laser optical axis and rotary table and the space orthogonal installation between rotary table are carried out by the light spot generated by laser.The installation of the application in the process of rotary shaft system and laser optical axis, not only can install rotary shaft system space orthogonal, but also install rotary shaft system space orthogonal and intersect, and intersect with laser optical axis at a point, without using special instrument equipment, without high-precision reference surface, with low cost, high precision, simple operation, convenient, efficient and so on.

Description

Technical Field

[0001] The present invention relates to an orthogonal adjustment device and method, and relates to the technical field of rotary axis adjustment of precision measurement and instruments, and in particular to a rotary axis spatial orthogonal adjustment device and method for laser scanning. Background Art

[0002] Multi-axis rotary shaft systems are often used in precision measurement, precision instruments, and other precision industrial fields. In these devices or instruments, the axes are often required to be orthogonal and intersecting. A typical application is the shape deviation measurement device for the head of pressure-bearing equipment in the pressure vessel field. The head of pressure-bearing equipment is one of the main pressure-bearing components commonly used in pressure vessels and is widely used in the vessel manufacturing process. The shape deviation of the head is a key point in head inspection. To detect the shape curve of the head, the head shape deviation measurement device often uses two orthogonal rotary platforms with a laser rangefinder installed on the rotary platform to measure the head shape curve through two-dimensional rotation scanning. To ensure measurement accuracy, the rotary axes of the two rotary platforms are required to be orthogonal and intersecting, and to intersect with the optical axis of the laser rangefinder at one point. Therefore, how to achieve orthogonality and intersection of the two rotary axes through adjustment is a key link in the development or production of the head shape deviation measurement device.

[0003] Existing methods for spatial orthogonal adjustment of rotating shaft systems include adjustment based on contact measurement and adjustment based on non-contact measurement. Patents CN106705821 and CN114111688 use contact methods such as standard balls or three-coordinate measuring machines to determine the orthogonality between the shaft systems by measuring the angle between the rotating shaft systems, and then perform adjustment. The contact method has high precision requirements for the standard ball or three-coordinate measuring machine and the reference surface. The additional contact error is inevitably introduced during the measurement process, and the measurement and adjustment process is inefficient. Adjustment based on non-contact measurement mainly adopts the principle of autocollimation, such as patents CN101922923, CN117073714, and CN117781924. This type of adjustment requires the use of instruments and equipment such as autocollimators and theodolites, or self-made optical paths based on the principle of autocollimation, which makes the adjustment cost high, requires a high-precision reference surface, or has multiple and complex optical paths for components. Another issue is that axis alignment using the autocollimation principle utilizes the self-collimation of light, typically determining axis deflection by measuring the image offset formed by reflection from a reflective surface mounted on the turntable. Therefore, if the autocollimation device only detects a single point, it may not accurately reflect the turntable axis. Detecting multiple points significantly increases the number of reference surfaces, significantly increasing costs and processing complexity. Summary of the Invention

[0004] To address the problems in the prior art, the present invention provides a device and method for orthogonal alignment of a rotary axis system for laser scanning. This invention uses conventional components to address the current issues with alignment of pressure vessel head shape deviation measurement devices, which require specialized instruments, high-precision reference surfaces, and high costs.

[0005] The technical solution adopted in the present invention is:

[0006] 1. A rotary axis spatial orthogonal adjustment device for laser scanning, comprising:

[0007] The first optical adjustment component is used to adjust the turning turntable of the turntable device by using the first laser emitted by the turntable device.

[0008] The second optical adjustment component is used to adjust the yaw turntable of the turntable device through the second laser emitted by the turntable device.

[0009] The positioning and adjustment component is located between the two optical adjustment components and is used to generate light spots on the positioning and adjustment component through the two lasers emitted by the turntable equipment via the two optical adjustment components, so as to perform coaxial adjustment between the first laser optical axis and the flip turntable, coaxial adjustment between the second laser optical axis and the yaw turntable, and spatial orthogonal adjustment between the two turntables.

[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 center of the bottom surface of the yaw turntable and the laser emission direction is approximately along the direction of the flip turntable axis and outward. The second laser emitter is installed at the center of the bottom surface of the first laser emitter and the laser emission direction is approximately along the direction of the yaw turntable axis and outward. The second spatial filter and the first spatial filter are respectively located on the optical display device. On opposite sides of the same side, 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 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, thereby generating mutually perpendicular transmitted light and reflected light. 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, thereby generating 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, thereby generating a second light spot.

[0012] The second optical adjustment component includes a first pentaprism, a second semi-transparent and semi-reflective prism, and a second pentaprism arranged in sequence along the second laser transmission direction. The first pentaprism, the second semi-transparent and semi-reflective prism, and the second pentaprism are located on the other side of the optical display device and the first spatial filter away from the first optical adjustment component. The second laser emitted by the second laser emitter is incident on the first pentaprism and then vertically emitted to the second semi-transparent and semi-reflective prism. The second semi-transparent and semi-reflective prism generates mutually perpendicular transmitted light and reflected light. The transmitted light of the second semi-transparent and semi-reflective prism is incident on the second pentaprism and then vertically emitted to the pinhole of the first spatial filter, and then incident on one side bottom surface of the optical display device through the pinhole of the first spatial filter, thereby generating a third light spot. The reflected light of the second semi-transparent and semi-reflective prism is directly incident on the other side bottom surface of the optical display device, thereby generating a fourth light spot.

[0013] The optical display device is frosted glass or a device that records and displays the state of light spots.

[0014] 2. A method for orthogonal spatial alignment of a rotary axis system for laser scanning, comprising:

[0015] 1) Controlling the turning turntable of the turntable device to rotate around its own turning axis θ, then turning on the first laser emitter, and then displaying the first and second light spots on the optical display device through the first optical adjustment component and the positioning adjustment component.

[0016] 2) The flip turntable rotates in real time, and at the same time adjusts the spatial position and posture of the first laser emitter and the connecting part, so that the first and second light spots maintain their respective positions and shapes unchanged when the flip turntable rotates, and there is no requirement for the specific position coordinates of the light spots.

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

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

[0019] 5) Turn off the first laser transmitter, stop rotating the turntable, and control the yaw turntable of the turntable equipment to rotate around its own yaw axis. The optical display device is rotated and then the second laser emitter is turned on, thereby displaying the third and fourth light spots on the optical display device through the second optical adjustment component and the positioning adjustment component.

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

[0021] 7) The third light spot is adjusted according to the pixel coordinate position of the center point of the first light spot to achieve spatial orthogonal adjustment.

[0022] After the installation and adjustment is completed, when the yaw turntable rotates around the turntable center axis, the flip turntable can rotate around an axis orthogonal to the yaw turntable center axis.

[0023] In the above step 1), 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), after removing the optical display device, the outgoing light of the second spatial filter is incident on 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 above step 5), when the third and fourth light spots are displayed, the spatial position of the second optical adjustment component is adjusted so that the outgoing light of the second pentaprism completely passes through the pinhole on the first spatial filter.

[0026] In step 3) and step 5), the diameter of the pinhole of the spatial filter is consistent with or slightly larger than the beam diameter of the output light of the laser emitter.

[0027] In step 7), the spatial position and posture of the yaw turntable and the second optical alignment assembly are adjusted based on the pixel coordinate position of the center point of the first light spot, so that the pixel coordinate positions of the center points of the third and first light spots coincide, thereby completing spatial orthogonal alignment. When the rotational axes of the tilt turntable and yaw turntable being aligned require not only spatial orthogonality but also intersecting axes, it is sufficient to align the pixel coordinate positions of the center points of the third and first light spots, and to align the pixel coordinate positions of the center points of the fourth and second light spots.

[0028] The yaw turntable is connected to the tilt turntable via a connector with a slide slot to achieve relative position adjustment, while angular adjustment is achieved using spacers and other means. The only requirement is that the pixel coordinates of the center points of the light spots on the optical display device are consistent; there is no requirement for the specific coordinate positions of the light spots within the camera's field of view. When the rotating axis system being adjusted requires not only spatial orthogonality but also intersecting alignment, the pixel coordinates of the center points of the third and first light spots, as well as the pixel coordinates of the center points of the fourth and second light spots, need only be consistent.

[0029] After the rotating axis system is adjusted to be spatially orthogonal and intersecting, the turntable is flipped and rotated, and the first laser emitter is turned on and adjusted so that the first and second light spots maintain their positions and shapes as the turntable rotates. At this point, the rotating axis system is spatially orthogonal and intersecting, and intersects the optical axis of the first laser emitter at a single point.

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

[0031] 1) In the process of aligning the rotary shaft system and the laser optical axis, the present invention does not require the use of complex special instruments or equipment, and only conventional parts can be used to detect the alignment; there is no need for high processing precision or high installation precision of the parts or equipment required for alignment, which makes the alignment cost very low; the alignment process only requires observing whether the light spot is stationary and whether the light spot position is consistent before and after, which makes the alignment simple, convenient, efficient, and has low requirements for user alignment.

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

[0033] 3) The present invention can not only facilitate the adjustment of the rotating axis system to be orthogonal in space, but also can adjust the rotating axis system to be orthogonal in space and intersect with each other, and intersect with the laser optical axis at one point. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram showing the first and second light spots of the present invention.

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

[0036] Figure 3 Schematic diagram showing the third and fourth light spots of the present invention.

[0037] Figure 4 It is a schematic diagram of a turntable device during the specific implementation of the present invention.

[0038] In the figure: 1. first semi-transparent and semi-reflective prism, 2. camera, 3. frosted 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. flip turntable, 13. connector, 14. yaw turntable. DETAILED DESCRIPTION

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

[0040] The spatial orthogonal adjustment device of the rotating axis system for laser scanning of the present invention includes two optical adjustment components and a positioning adjustment component. The first optical adjustment component is used to adjust the flip turntable 12 of the turntable device through the first laser emitted by the turntable device; the second optical adjustment component is used to adjust the yaw turntable 14 of the turntable device through the second laser emitted by the turntable device; the positioning adjustment component is located between the two optical adjustment components, and is used to generate light spots on the positioning adjustment component through the two lasers emitted by the turntable device via the two optical adjustment components, so as to perform coaxial adjustment between the first laser optical axis and the flip turntable 12, coaxial adjustment between the second laser optical axis and the yaw turntable 14, and spatial orthogonal adjustment between the two turntables.

[0041] The positioning and adjustment assembly includes a camera 2, an optical display device, a first spatial filter 7 and a second spatial filter 8. Figure 4 As shown in the figure, the rotary axis system object for laser scanning required for adjustment in the present invention is a turntable device, which includes a flip turntable 12 and a yaw turntable 14 to be adjusted orthogonally in space, a first laser emitter 10 and a second laser emitter 11 to be adjusted for the laser optical axis, and a connecting member 13 with a slide groove. The slide groove of the connecting member 13 is parallel to the radial direction of the flip turntable 12 and is slidably installed on the side of the flip turntable 12. The yaw turntable 14 is installed on the connecting member 13. The rotary axis system of the turntable device consists of the first rotary axis system θ of the flip turntable 12 and the second rotary axis system of the yaw turntable 14. The first laser emitter 10 is used as a laser emitter for laser scanning of the object to be measured, and the second laser emitter 11 is used as an auxiliary laser emitter when the rotary axis system of the turntable equipment is orthogonally adjusted. The first laser emitter 10 is installed at the center of the bottom surface of the yaw turntable 14, and the laser emission direction is approximately along the direction of the rotation axis of the flip turntable 12 and outward. During adjustment, 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 approximately along the direction of the rotation axis of the yaw turntable 14 and outward, requiring the rotary axis system The first optical alignment component directs the first laser beam emitted from the first laser emitter 10 to the pinhole of the second spatial filter 8, which then passes through the pinhole of the second spatial filter 8 and enters the top surface of one side of the optical display device, thereby generating a first light spot. The second optical alignment component directs the second laser beam emitted from the second laser emitter 11 to the pinhole of the first spatial filter 7, which then passes through the pinhole of the first spatial filter 7 and enters the bottom surface of one side of the optical display device, thereby generating a second light spot. The second optical alignment component directs the second laser beam emitted from the second laser emitter 11 to the pinhole of the first spatial filter 7, which then passes through the pinhole of the first spatial filter 7 and enters the bottom surface of one side of the optical display device, thereby generating a third light spot. The second laser beam is then incident on the bottom surface of the other side of the optical display device, thereby generating a fourth light spot. The camera 2 is located to 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. The optical display device is frosted glass 3 or a device that records the state of the display light spot. The device that records the state of the display light spot includes a photoelectric coupling device CCD (Charge-coupled Device), a position sensitive sensor PSD (Position Sensitive detector), a four-quadrant detector QD (Four-quadrant photodetector), an image sensor CMOS (Complementary Metal-Oxide-Semiconductor), etc.

[0042] The first optical adjustment component includes a first semi-transparent and semi-reflective prism 1 and a third pentaprism 9 arranged in sequence along the first laser incident direction. The first semi-transparent and semi-reflective prism 1 and the third pentaprism 9 are both located on the side of the optical display device and the second spatial filter 8 away from the second optical adjustment component. The first laser emitted by the first laser emitter 10 is incident on the first semi-transparent and semi-reflective prism 1 and generates mutually perpendicular transmitted light and reflected light respectively. The transmitted light of the first semi-transparent and semi-reflective prism 1 is incident on the third pentaprism 9 and then vertically emitted to the pinhole of the second spatial filter 8, and then is incident on one side of the top surface of the optical display device through the pinhole of the second spatial filter 8, thereby generating a first light spot. The reflected light of the first semi-transparent and semi-reflective prism 1 is directly incident on the other side of the top surface of the optical display device, thereby generating a second light spot.

[0043] The second optical adjustment component includes a first pentaprism 4, a second semi-transparent and semi-reflective prism 5 and a second pentaprism 6 arranged in sequence along the second laser transmission direction. The first pentaprism 4, the second semi-transparent and 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 adjustment component. The second laser emitted by the second laser emitter 11 is incident on the first pentaprism 4 and then vertically emitted to the second semi-transparent and semi-reflective prism 5. The second semi-transparent and semi-reflective prism 5 generates mutually perpendicular transmitted light and reflected light. The transmitted light of the second semi-transparent and semi-reflective prism 5 is incident on the second pentaprism 6 and then vertically emitted to the pinhole of the first spatial filter 7, and then is incident on the bottom surface of one side of the optical display device through the pinhole of the first spatial filter 7, thereby generating a third light spot. The reflected light of the second semi-transparent and semi-reflective prism 5 is directly incident on the bottom surface of the other side of the optical display device, thereby generating a fourth light spot.

[0044] like Figure 1 As shown, during the internal adjustment of the first optical adjustment component I, the components are arranged in sequence according to the horizontal incident light direction ①, and the outgoing light is emitted in a vertical direction. There is no strict requirement for the spacing distance between the first semi-transparent semi-reflective prism 1 and the third pentaprism 9. Generally, the higher the coaxiality requirement between the laser optical axis and the turntable axis, the larger the spacing distance. After the internal adjustment of the first optical adjustment component I, the components are fixed separately and assembled into a separate whole. During the internal adjustment of the second optical adjustment component II, the vertical incident light is incident on 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 a vertical direction. There is no strict requirement for the spacing distance between the second semi-transparent semi-reflective prism 5 and the second pentaprism 6. Generally, the higher the coaxiality requirement between the laser optical axis and the turntable axis, the larger the spacing distance. The internal components of the first optical adjustment component I have the same characteristics and dimensions, including optical characteristics, as those of the similar components of the second optical adjustment component II, and the spacing between the second semi-transparent and semi-reflective prism 5 and the second pentaprism 6 in the second optical adjustment component II is the same as the spacing between the first semi-transparent and semi-reflective prism 1 and the third pentaprism 9 in the first optical adjustment component I. After the internal adjustment of the second optical adjustment component II, the components are fixed separately and assembled into a separate whole.

[0045] The spatial orthogonal adjustment method of the rotary axis system for laser scanning of the present invention is as follows:

[0046] 1) First, adjust the axis of the turning table 12. Control the turning table of the turning table device to rotate around its own turning axis θ, 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 adjustment component and the positioning adjustment component, as shown in FIG. Figure 1 When displaying the first and second light spots, the spatial position of the second spatial filter 8 is adjusted to the third pentaprism 9 so that the outgoing light 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 unchanged 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. 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 back 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 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 the rotation of the turntable 12, and control the yaw turntable 14 of the turntable equipment to rotate around its own yaw 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 When displaying the third and fourth light spots, the spatial position of the second optical adjustment component is adjusted to allow the outgoing light of the second pentaprism 6 to completely pass 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 light from 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 the third and fourth light spots maintain their respective positions and shapes when the yaw turntable 14 rotates, 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. So far, 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 first rotation axis system θ in the tilt turntable 12 are orthogonal in space.

[0054] When the rotating axes of the tilting turntable 12 and the yaw turntable 14 are required to be not only spatially orthogonal but also intersecting, it is sufficient to align the pixel coordinates of the center points of the third and first light spots, and the pixel coordinates of the center points of the fourth and second light spots. After the rotating axes are aligned to be spatially orthogonal and intersecting, the tilting turntable 12 is rotated, and the first laser emitter 10 is turned on and readjusted so that the first and second light spots maintain their respective positions and shapes during the rotation of the tilting turntable 12. At this point, the rotating axes are spatially orthogonal and intersecting, and intersect with the optical axis of the first laser emitter 10 at a single 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 described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and these modifications or replacements do not cause the essence of the corresponding technical solutions to 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 rotary axis spatial orthogonal adjustment device for laser scanning, characterized in that: include: A first optical adjustment component is used for adjusting the turning turntable (12) of the turntable device by using a first laser emitted by the turntable device; A second optical adjustment component is used for adjusting the yaw turntable (14) of the turntable device by using a second laser emitted by the turntable device; A positioning adjustment component is located between the two optical adjustment components and is used to generate light spots on the positioning adjustment component through two lasers emitted by the turntable device via the two optical adjustment components, so as to perform coaxial adjustment between the first laser optical axis and the flip turntable (12), coaxial adjustment between the second laser optical axis and the yaw turntable (14), and spatial orthogonal adjustment between the two turntables; The positioning and adjustment component includes a camera (2), an optical display device, a first spatial filter (7) and a second spatial filter (8), a turntable device includes a flip turntable (12) and a yaw turntable (14) to be spatially orthogonally adjusted, a first laser emitter (10) and a second laser emitter (11) to be laser optical axis adjusted, and a connecting member (13) with a slide groove, the slide groove of the connecting member (13) is parallel to the radial direction of the flip turntable (12) and is slidably installed on the side of the flip turntable (12), the yaw turntable (14) is installed on the connecting member (13), the first laser emitter (10) is installed at the center of the bottom surface of the yaw turntable (14) and the laser emission direction is along the rotation axis direction of the flip turntable (12), 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 rotation axis direction of the yaw turntable (14); 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, the first optical adjustment component causes the first laser emitted from the first laser emitter (10) to be incident on the pinhole of the second spatial filter (8), and then to be incident on 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 causes 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 causes the second laser emitted from the second laser emitter (11) to be incident on the pinhole of the first spatial filter (7), and then to be incident on 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 causes 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 (2) 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.

2. The rotary axis spatial orthogonal adjustment device for laser scanning according to claim 1, characterized in that: The first optical adjustment component comprises a first semi-transparent semi-reflective prism (1) and a third pentaprism (9) which are arranged in sequence along the incident direction of the first laser. The first semi-transparent semi-reflective prism (1) and the third pentaprism (9) are both located on a side of the optical display device and the second spatial filter (8) away from the second optical adjustment component. The first laser emitted by the first laser emitter (10) is incident on the first semi-transparent semi-reflective prism (1), and then generates mutually perpendicular transmitted light and reflected light. The transmitted light of the first semi-transparent semi-reflective prism (1) is incident on the third pentaprism (9), and then vertically emerges into the pinhole of the second spatial filter (8). Then, the light is incident on the top surface of one side of the optical display device through the pinhole of the second spatial filter (8), thereby generating a first light spot. The reflected light of the first semi-transparent semi-reflective prism (1) is directly incident on the top surface of the other side of the optical display device, thereby generating a second light spot.

3. The rotary axis spatial orthogonal adjustment device for laser scanning according to claim 1, characterized in that: The second optical adjustment component comprises a first pentaprism (4), a second semi-transparent semi-reflective prism (5) and a second pentaprism (6) which are arranged in sequence along the second laser transmission direction. The first pentaprism (4), the second semi-transparent 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 adjustment component. The second laser emitted by the second laser emitter (11) is incident on the first pentaprism (4) and then vertically emitted to the second semi-transparent semi-reflective prism (5). The second semi-transparent semi-reflective prism (5) generates mutually perpendicular transmitted light and reflected light. The transmitted light of the second semi-transparent semi-reflective prism (5) is incident on the second pentaprism (6) and then vertically emitted to the pinhole of the first spatial filter (7). Then, it is incident on the bottom surface of one side of the optical display device through the pinhole of the first spatial filter (7), thereby generating a third light spot. The reflected light of the second semi-transparent semi-reflective prism (5) is directly incident on the bottom surface of the other side of the optical display device, thereby generating a fourth light spot.

4. The rotary axis spatial orthogonal adjustment device for laser scanning according to claim 1, characterized in that: The optical display device is frosted glass (3) or a device that records and displays the state of a light spot.

5. The method for spatial orthogonal adjustment of a rotary axis system for laser scanning according to any one of claims 1 to 4, characterized in that: include: 1) controlling the turning turntable (12) of the turntable device to rotate around its own turning axis, and then turning on the first laser emitter (10), thereby displaying the first and second light spots on the optical display device through the first optical adjustment component and the positioning adjustment component; 2) the flip turntable (12) rotates in real time, and simultaneously 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 each maintain their respective positions unchanged when the flip turntable (12) rotates; 3) removing the optical display device and adjusting the spatial position of the first spatial filter (7); 4) placing the optical display device to its original position before removal, and recording the pixel coordinate positions of the center points of the first and second light spots on the optical display device by means of a camera (2); 5) turning off the first laser emitter (10), stopping the rotation of the flip turntable (12), controlling the yaw turntable (14) of the turntable device to rotate around its own yaw rotation axis, and then turning on the second laser emitter (11), thereby displaying the third and fourth light spots on the optical display device through the second optical adjustment component and the positioning adjustment component; 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 the third and fourth light spots each maintain their positions unchanged when the yaw turntable (14) rotates; 7) The third light spot is adjusted according to the pixel coordinate position of the center point of the first light spot to achieve spatial orthogonal adjustment.

6. The method for aligning a rotary axis spatial orthogonal alignment device for laser scanning according to claim 5, characterized in that: In the step 1), when the first and second light spots are displayed, 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).

7. The method for aligning a rotary axis spatial orthogonal alignment device for laser scanning according to claim 5, characterized in that: In the step 3), after removing the optical display device, the outgoing light of the second spatial filter (8) is incident on 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).

8. The method for aligning a rotary axis spatial orthogonal alignment device for laser scanning according to claim 5, characterized in that: In the step 5), when the third and fourth light spots are displayed, the spatial position of the second optical 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).

9. The method for aligning a rotary axis spatial orthogonal alignment device for laser scanning according to claim 5, characterized in that: In the step 7), the spatial position and posture of the yaw turntable (14) and the second optical adjustment component are adjusted according to the pixel coordinate position of the center point of the first light spot, so that the pixel coordinate positions of the center points of the third and first light spots are consistent, thereby completing the spatial orthogonal adjustment; when the rotation axis systems of the adjusted flip turntable (12) and yaw turntable (14) are not only spatially orthogonal but also intersect, only the pixel coordinate positions of the center points of the third and first light spots are consistent, and the pixel coordinate positions of the center points of the fourth and second light spots are consistent.

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