Dual-axis coaxiality in-situ detection system and method based on optical dynamic reference coupling

Abstract

The dual-axis coaxiality in-situ detection system and method based on optical dynamic reference coupling relates to the field of real-time calibration of photoelectric tracking equipment, and solves the technical defects of reference transmission error and dynamic response delay caused by mechanical stress deformation in traditional contact measurement. The system includes a pitch assembly, a laser light source, a two-dimensional mobile platform, a stable platform, a base, a standard retaining ring, a left axis, a right axis and a photosensitive position sensor; a stable platform is provided on the base, and a two-dimensional mobile platform is provided on the stable platform. The laser light source emitted by the laser penetrates the through hole of the standard retaining ring and forms a light spot on the photosensitive position sensor. The two photosensitive position sensors realize coordinate correlation mapping through a dynamic coordinate system mapping algorithm, and simultaneously obtain two coordinate systems; the standard retaining ring is symmetrically installed on the end faces of the left and right axes, and the back-facing photosensitive position sensors are symmetrically arranged in the gap between the left and right axes; and data collaborative collection is achieved through a synchronous controller.

Description

Technical Field

[0001] The present invention relates to the field of real-time calibration of photoelectric tracking equipment, and in particular to a dual-axis coaxiality in-situ detection system and method based on optical dynamic reference coupling. Background Art

[0002] The dual-axis coaxiality of a dual-axis turntable is an important accuracy indicator of precision equipment and directly affects the motion control stability and dynamic response performance.

[0003] In high-precision scenarios such as optoelectronic tracking and aerospace, excessive coaxiality deviation may lead to systemic risks such as optical path offset and trajectory distortion. However, the current turntable dual-axis coaxiality detection mainly has the following technical bottlenecks:

[0004] Offline detection distortion: Traditional three-dimensional coordinate measuring machines require the turntable to be disassembled and moved to a dedicated testing room for measurement. This process will destroy the original assembly form of the equipment, resulting in a systematic deviation between the measurement benchmark and the actual working condition benchmark of the equipment:

[0005] Contact space constraints: Mechanical probe measurement requires reserved contact space, making online inspection impossible in compact assemblies.

[0006] Dynamic working condition mismatch: It is difficult for equipment such as laser trackers to perform synchronous measurements under the actual motion conditions of the turntable.

[0007] In summary, in high-precision scenarios such as optoelectronic tracking and aerospace, traditional non-contact measurement has technical defects such as reference transfer errors caused by mechanical stress deformation and dynamic response delay. Summary of the Invention

[0008] The present invention addresses the technical deficiencies of the prior art in turntable dual-axis coaxiality detection, such as offline detection distortion, contact space constraints, and dynamic working condition mismatch. To solve the above technical problems, the present invention is implemented through the following technical solutions:

[0009] Solution 1: The present invention proposes a dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling, the system comprising a pitch assembly, a laser light source, a two-dimensional mobile platform, a stable platform, a base, a standard retaining ring, a left axis, a right axis, and a photosensitive position sensor;

[0010] A stable platform is provided on the base, and a two-dimensional movable platform is provided on the stable platform. The laser light source emitted by the laser penetrates the through hole of the standard retaining ring and forms a light spot on the photosensitive position sensor. The two photosensitive position sensors realize coordinate correlation mapping through the dynamic coordinate system mapping algorithm, and obtain two coordinate systems at the same time.

[0011] The standard retaining rings are symmetrically mounted on both side end faces of the left shaft and the right shaft, and back-facing photosensitive position sensors are symmetrically arranged in the gap between the left shaft and the right shaft; data collaborative collection is achieved through a synchronous controller.

[0012] Furthermore, a preferred embodiment is provided, wherein the system further comprises a photosensor bracket, wherein the photosensor bracket is vertically arranged on a stable platform, and photosensor position sensors are arranged on both sides of the photosensor bracket.

[0013] Solution 2: The present invention proposes a method for in-situ detection of biaxial coaxiality based on optical dynamic reference coupling. The method is implemented based on the system described in Solution 1 and includes the following steps:

[0014] Step 1: The left and right axes rotate to form a spot curve, and the spot coordinate sequence of the two photosensitive position sensors is collected in real time. The right axis measurement data is mapped to the left axis reference coordinate system through the transformation matrix to construct the envelope surface of the spatial error motion trajectory;

[0015] Step 2: Based on the spatial error motion trajectory envelope constructed in step 1, the centroid of the spatial error motion trajectory of the left-axis light spot trajectory is calculated. The coordinates of the center of the light spot are extracted through the error analysis algorithm. As the reference origin, the dynamic coordinate system origin O(0,0) is established on the plane of the photosensitive position sensor. The maximum radial offset Δmax of the right-axis light spot trajectory point set to the reference axis is calculated.

[0016] Step 3. Similarly, calculate the centroid of the spatial error motion trajectory of the right-axis spot trajectory, extract the center coordinates of the spot through the error analysis algorithm, and use it as the reference origin. Establish the dynamic coordinate system origin O(0,0) on the plane of the photosensitive position sensor, and calculate the maximum radial offset Δmax of the left-axis trajectory point set to the reference axis.

[0017] Step 4: If the maximum radial offset Δmax of the right-axis spot trajectory point set to the reference axis and the maximum radial offset Δmax of the left-axis trajectory point set to the reference axis in steps 2 and 3 do not exceed the design tolerance D, output the detection result.

[0018] Furthermore, a preferred embodiment is provided, in which the error analysis algorithm described in step 2 is:

[0019] S2.1. Calculate the coordinates of the centroid of the reference axis trajectory O(0,0) and construct a dynamic reference coordinate system.

[0020] S2.2, the non-reference axis trajectory point set {P i (x i ,y i )} mapped to the reference coordinate system;

[0021] S2.3. Calculate the maximum radial offset .

[0022] Furthermore, a preferred embodiment is provided, wherein the calculation of the maximum radial offset Δmax from the right-axis spot trajectory point set to the reference axis in step 2 and the calculation of the maximum radial offset Δmax from the left-axis trajectory point set to the reference axis in step 3 are performed simultaneously.

[0023] The present invention is beneficial in that:

[0024] The dual-axis coaxiality in-situ detection system and method based on optical dynamic reference coupling described in the present invention significantly improves the accuracy of reference transfer, which is mainly achieved through a stress-free optical coupling mechanism and a dynamic coordinate system mapping algorithm. The stress-free optical coupling mechanism uses an ultra-narrow divergence angle laser and a photosensitive position sensor to construct a dual-optical path collaborative mapping system, replacing the traditional mechanical contact reference transfer method, eliminating the reference drift problem caused by contact stress deformation, and ensuring the stability and accuracy of the reference transfer.

[0025] The dynamic coordinate system mapping algorithm described in the present invention is based on the real-time transformation matrix of the spot coordinate sequence collected by the dual photosensitive position sensors, and accurately realizes the mapping of the right-axis data to the left-axis reference coordinate system. The calculation accuracy of the spatial error trajectory envelope surface can reach the micron level, effectively overcoming the inevitable cumulative error in traditional mechanical transmission and providing a solid foundation for high-precision measurement.

[0026] The dual-axis in-situ coaxiality detection system and method based on optical dynamic reference coupling, described in this invention, can capture the trajectory of a dual-axis rotating light spot in real time while the device is operating, directly reflecting coaxiality deviations during actual motion, such as the risk of optical path offset in photoelectric tracking. This feature addresses the problem of assembly morphology distortion caused by offline testing (such as disassembly measurement on a three-coordinate machine), ensuring that the test results truly reflect the device's operating status. Furthermore, the symmetrical arrangement of back-facing photosensitive position sensors in the dual-axis gap eliminates the need for additional mechanical probe operating space, making it ideally suited for compact assembly scenarios such as aerospace attitude control platforms, facilitating the application of high-precision measurement in complex space environments.

[0027] The method described in this paper is suitable for high-dynamic industrial scenarios. It supports synchronous data acquisition during full-speed turntable rotation and meets the stringent millisecond-level precision requirements for real-time calibration of optoelectronic tracking equipment and motion accuracy monitoring of missile seekers, providing reliable measurement support for these scenarios. Compared with traditional equipment such as laser trackers, this system maintains baseline stability under complex operating conditions such as vibration and temperature fluctuations. This is due to the high-rigidity support provided by the silicon carbide ceramic retaining ring, ensuring the accuracy and reliability of measurement results.

[0028] The method described in the present invention shortens the detection cycle, that is, the retaining ring and the photosensitive position sensor are directly installed on the working shaft system, the detection time is greatly shortened, and the efficiency is significantly higher than the offline detection of the three-coordinate machine. It is particularly suitable for the rapid calibration scenario of the production line and can effectively improve production efficiency.

[0029] The method of the present invention can realize automatic interpretation and closed-loop correction. The algorithm automatically determines the compliance of coaxiality tolerance, and the output results can directly drive the adjustment mechanism to realize the "detection-feedback-correction" closed-loop operation, further optimize the detection process and improve work efficiency.

[0030] The method described in this paper supports synchronous data collection while the turntable is in operation, enabling real-time monitoring of the dynamic changes in the shaft system, providing strong support for real-time adjustment and optimization of the equipment. The coordinate sequence captured by the photosensitive position sensor is recorded in real time, accurately analyzing dynamic error components such as eccentricity and wobble during the shaft system's rotation, providing comprehensive data support for equipment performance evaluation and optimization.

[0031] The method described in this paper enables consistent verification of operating conditions and immediate correction of assembly errors. Direct testing at the equipment's rated speed and load accurately reflects the combined error between assembly deformation and bearing clearance. The results are more valuable than data obtained under ideal laboratory conditions, providing an accurate assessment of the equipment's actual operating performance. These results can be used to directly guide adjustments to gasket thickness or bolt preload, avoiding the time and potential risks associated with repeated disassembly and assembly in traditional measurement methods, significantly improving assembly efficiency and quality.

[0032] The present invention is also applicable to industrial scenarios with high dynamic precision requirements, such as real-time calibration of optoelectronic tracking equipment, motion precision monitoring of aerospace attitude control platforms, and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a front view of a dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling described in embodiment 1.

[0034] Figure 2 This is a top view of a dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling described in embodiment 1.

[0035] Among them, there are a pitch component 1, a laser light source 2, a two-dimensional mobile platform 3, a stabilizing platform 4, a base 5, a standard retaining ring 7, a left axis 8, a photosensitive element bracket 9, a right axis 10, and a photosensitive position sensor 11. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the implementation methods of this application clearer, the technical solutions in the implementation methods of this application will be clearly and completely described below in combination with the drawings in the implementation methods of this application. Obviously, the described implementation methods are only part of the implementation methods of this application, not all of the implementation methods.

[0037] Embodiment 1: This embodiment provides a dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling, the system comprising a pitch assembly 1, a laser light source 2, a two-dimensional mobile platform 3, a stabilizing platform 4, a base 5, a standard retaining ring 7, a left axis 8, a right axis 10, and a photosensitive position sensor 11;

[0038] A stable platform 4 is provided on the base 5, and a two-dimensional movable platform 3 is provided on the stable platform 4. The laser light source 2 emitted by the laser penetrates the through hole of the standard retaining ring 7 and forms a light spot on the photosensitive position sensor 11. The two photosensitive position sensors 11 realize coordinate correlation mapping through the dynamic coordinate system mapping algorithm, and simultaneously obtain two coordinate systems;

[0039] The standard retaining ring 7 is symmetrically mounted on both side end faces of the left shaft 8 and the right shaft 10, and the back-facing photosensitive position sensor 11 is symmetrically arranged in the gap between the left shaft 8 and the right shaft 10; data collaborative collection is achieved through a synchronous controller.

[0040] Implementation method 2. This implementation method further limits the dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling described in implementation method 1. The system also includes a photosensitive element bracket 9, which is vertically arranged on a stable platform 4, and photosensitive position sensors 11 are arranged on both sides of the photosensitive element bracket 9.

[0041] Implementation method 3: This implementation method proposes a biaxial coaxiality in-situ detection method based on optical dynamic reference coupling. The method is implemented based on the system described in implementation method 1 and includes the following steps:

[0042] Step 1: The left axis 8 and the right axis 10 rotate to form a spot curve, and the spot coordinate sequence of the two photosensitive position sensors 11 is collected in real time. The measurement data of the right axis 10 is mapped to the left axis reference coordinate system through the transformation matrix to construct the envelope surface of the spatial error motion trajectory;

[0043] Step 2: Based on the spatial error motion trajectory envelope constructed in step 1, the centroid of the spatial error motion trajectory of the left-axis light spot trajectory 8 is calculated. The coordinates of the light spot center are extracted through the error analysis algorithm and used as the reference origin. The dynamic coordinate system origin O(0,0) is established on the plane of the photosensitive position sensor 11, and the maximum radial offset Δmax of the right-axis light spot trajectory point set to the reference axis is calculated.

[0044] Step 3: Similarly, calculate the centroid of the spatial error motion trajectory of the right axis 10 spot trajectory, extract the center coordinates of the spot through the error analysis algorithm, and use it as the reference origin. Establish the dynamic coordinate system origin O(0,0) on the plane of the photosensitive position sensor 11, and calculate the maximum radial offset Δmax of the left axis trajectory point set to the reference axis.

[0045] Step 4: If the maximum radial offset Δmax of the right-axis spot trajectory point set to the reference axis and the maximum radial offset Δmax of the left-axis trajectory point set to the reference axis in steps 2 and 3 do not exceed the design tolerance D, output the detection result.

[0046] Implementation 4: This implementation further limits the biaxial coaxiality in-situ detection method based on optical dynamic reference coupling described in Implementation 3. The error analysis algorithm described in step 2 is:

[0047] S2.1. Calculate the coordinates of the centroid of the reference axis trajectory O(0,0) and construct a dynamic reference coordinate system.

[0048] S2.2, mapping the non-reference axis trajectory point set {Pi(xi,yi)} to the reference coordinate system;

[0049] S2.3. Calculate the maximum radial offset .

[0050] Implementation method five. This implementation method further limits the dual-axis coaxiality in-situ detection method based on optical dynamic reference coupling described in implementation method three. The calculation of the maximum radial offset Δmax of the right-axis light spot trajectory point set to the reference axis in step 2 and the calculation of the maximum radial offset Δmax of the left-axis trajectory point set to the reference axis in step 3 are performed simultaneously.

[0051] Embodiment 6. This embodiment provides the following examples to explain the above-mentioned embodiments 1 to 5. The specific examples are as follows:

[0052] This embodiment proposes a dual-axis coaxiality in-situ detection system and method based on optical dynamic reference coupling, which solves the spatial constraint and dynamic mismatch problems of traditional contact measurement and realizes real-time coaxiality detection when the turntable is in place.

[0053] Example 1. A dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling described in this embodiment is installed on both sides of the left and right axes through high-rigidity silicon carbide ceramic standard retaining rings, symmetrically installed on the end faces of the two axes, and cooperates with an ultra-narrow divergence angle laser to generate a reference light spot. Back-facing photosensitive position sensors 11 are symmetrically arranged in the gap between the two axes, and data collaborative collection is achieved through a synchronous controller to establish a dual-optical path collaborative mapping system.

[0054] Example 2: The dual-axis in-situ coaxiality detection method based on optical dynamic reference coupling, described in this embodiment, proposes a new dynamic reference generation mechanism: The laser emitted by the optical mapping system penetrates the retaining ring through-hole, and the light spot coordinate sequence is collected by the photosensitive position sensor. The two photosensitive position sensors are then mapped to each other using a dynamic coordinate system mapping algorithm to form a coordinate system. This means that two coordinate systems are generated simultaneously. Here, we first discuss the case where the left axis is used as the reference.

[0055] The left and right axes rotate to form a spot curve, and the spot coordinate sequence collected by the dual photosensitive position sensors is collected in real time. The right axis measurement data is mapped to the left axis reference coordinate system through the transformation matrix to construct the envelope surface of the spatial error motion trajectory.

[0056] The centroid of the left-axis light spot trajectory is calculated, and the coordinates of the center of the light spot are extracted through the algorithm as the reference origin. The dynamic coordinate system origin O(0,0) is established on the plane of the photosensitive position sensor, and the maximum radial offset Δmax of the right-axis trajectory point set to the reference axis is calculated.

[0057] Similarly, the centroid of the right-axis light spot trajectory is calculated, and the coordinates of the center of the light spot are extracted through the algorithm as the reference origin. The dynamic coordinate system origin O(0,0) is established on the plane of the photosensitive position sensor, and the maximum radial offset Δmax from the left-axis trajectory point set to the reference axis is calculated.

[0058] The error analysis algorithm is:

[0059] Calculate the coordinates of the centroid of the reference axis trajectory O(0,0) and construct a dynamic reference coordinate system;

[0060] The non-reference axis trajectory point set {P i (x i ,y i )} mapped to the reference coordinate system;

[0061] Calculate the maximum radial offset .

[0062] In summary, the dual-axis in-situ coaxiality detection system and method based on optical dynamic reference coupling described in this embodiment breaks through the traditional mechanical contact-based reference transfer paradigm. By establishing a stress-free measurement reference through optical dynamic coupling, the system improves reference stability. Furthermore, it can simulate actual operating conditions and monitor coaxiality during use. Furthermore, it supports rapid detection, gradually shortening the single detection cycle, making it suitable for high-precision and rapid calibration in industrial sites.

[0063] Those skilled in the art will appreciate that the features described in the various embodiments and / or technical solutions of this disclosure may be combined or coupled in various ways, even if such combinations or couplings are not explicitly described in this disclosure. In particular, the various embodiments of this disclosure may be combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations fall within the scope of this disclosure.

[0064] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the underlying inventive concepts. Therefore, the accompanying technical solutions are intended to be interpreted as including the preferred embodiments and all variations and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to encompass such changes and modifications as fall within the scope of the claims and their equivalents.

Claims

1. The dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling is characterized by: The system comprises a pitch assembly (1), a laser light source (2), a two-dimensional moving platform (3), a stabilizing platform (4), a base (5), a standard retaining ring (7), a left axis (8), a right axis (10), and a photosensitive position sensor (11); A stable platform (4) is provided on the base (5), and a two-dimensional movable platform (3) is provided on the stable platform (4). The laser light source (2) emitted by the laser penetrates the through hole of the standard clamping ring (7) to form a light spot on the photosensitive position sensor (11). The two photosensitive position sensors (11) realize coordinate association mapping through a dynamic coordinate system mapping algorithm, and simultaneously obtain two coordinate systems; The standard retaining ring (7) is symmetrically mounted on both side end faces of the left shaft (8) and the right shaft (10), and a back-facing photosensitive position sensor (11) is symmetrically arranged in the gap between the left shaft (8) and the right shaft (10); and data collaborative collection is achieved through a synchronous controller.

2. The dual-axis coaxiality in-situ detection system based on optical dynamic reference coupling according to claim 1 is characterized in that: The system further comprises a photosensitive element bracket (9), wherein the photosensitive element bracket (9) is vertically arranged on the stable platform (4), and photosensitive position sensors (11) are arranged on both sides of the photosensitive element bracket (9).

3. The in-situ detection method of biaxial coaxiality based on optical dynamic reference coupling is characterized in that: The method is implemented based on the system of claim 1, and the method comprises the following steps: Step 1: The left axis (8) and the right axis (10) rotate to form a spot curve, and the spot coordinate sequence of the two photosensitive position sensors (11) is collected in real time. The measurement data of the right axis (10) is mapped to the left axis reference coordinate system through the transformation matrix to construct the envelope surface of the spatial error motion trajectory; Step 2: Based on the spatial error motion trajectory envelope constructed in step 1, the centroid of the spatial error motion trajectory of the left axis (8) light spot trajectory is calculated, and the coordinates of the center of the light spot are extracted by the error analysis algorithm. As the reference origin, the dynamic coordinate system origin O(0,0) is established on the plane of the photosensitive position sensor (11), and the maximum radial offset Δmax of the right axis light spot trajectory point set to the reference axis is calculated; Step 3. Similarly, calculate the centroid of the spatial error motion trajectory of the right axis (10) spot trajectory, extract the center coordinates of the spot through the error analysis algorithm, and use it as the reference origin. Establish the dynamic coordinate system origin O(0,0) on the plane of the photosensitive position sensor (11), and calculate the maximum radial offset Δmax of the left axis trajectory point set to the reference axis. Step 4: If the maximum radial offset Δmax of the right-axis spot trajectory point set to the reference axis and the maximum radial offset Δmax of the left-axis trajectory point set to the reference axis in steps 2 and 3 do not exceed the design tolerance D, output the detection result.

4. The method for in-situ detection of biaxial coaxiality based on optical dynamic reference coupling according to claim 3, characterized in that: The error resolution algorithm described in step 2 is: S2.

1. Calculate the coordinates of the centroid of the reference axis trajectory O(0,0) and construct a dynamic reference coordinate system. S2.2, mapping the non-reference axis trajectory point set {Pi(xi,yi)} to the reference coordinate system; S2.

3. Calculate the maximum radial offset .

5. The method for in-situ detection of biaxial coaxiality based on optical dynamic reference coupling according to claim 3, characterized in that: The calculation of the maximum radial offset Δmax from the right-axis light spot trajectory point set to the reference axis in step 2 and the calculation of the maximum radial offset Δmax from the left-axis trajectory point set to the reference axis in step 3 are performed simultaneously.

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