Calibration and calibration method and device for ranging laser guiding mechanism

Abstract

The invention discloses a calibration and calibration method and device for a ranging laser guiding mechanism. The method comprises the following steps: controlling a two-dimensional turntable to rotate around a horizontal axis and a pitch axis by taking a preset angle as a step length, collecting space coordinates of each rotation position, and performing track fitting on the space coordinates to establish a coordinate system of the ranging laser guide mechanism; and acquiring space coordinates of at least three point positions on the propagation path of the current laser beam, fitting to obtain a space linear equation of the current laser beam, and adjusting the fine adjustment device according to the space linear equation until the straight line where the current laser beam is located coincides with the original point of the coordinate system. Taking the original point of the coordinate system as a ranging starting point, calculating the optical path difference of a reference optical path of the optical frequency scanning interference ranging system and the true value of the optical path difference from each target point to the ranging starting point, and calibrating the absolute zero point of the ranging laser guiding mechanism. The technical scheme provided by the embodiment of the invention is simple to operate and high in efficiency.

Description

Technical Field

[0001] This invention relates to the field of spatial ranging technology, and in particular to a calibration and standardization method and apparatus for a ranging laser guidance mechanism. Background Technology

[0002] Spatial ranging often uses a two-dimensional turntable as a beam guiding mechanism to drive the ranging beam to measure the target points in the measurement space one by one. During the rotation of the two-dimensional turntable, the ranging origin should be a fixed point to reduce ranging error. Therefore, the precise alignment and calibration between the ranging origin and the rotation center of the two-dimensional turntable is particularly important.

[0003] Currently, the calibration and standardization methods for ranging laser guidance mechanisms mainly use multifaceted prisms or multi-tooth indexing tables and autocollimators for calibration and standardization. This method is simple in principle, but it requires repeated manual fine-tuning of the instrument, which is complex and inefficient. Summary of the Invention

[0004] This invention provides a calibration and standardization method and apparatus for a ranging laser guidance mechanism, which solves the problems of existing calibration and standardization methods for ranging laser guidance mechanisms requiring repeated manual fine-tuning of the instrument, resulting in complex operation and low efficiency.

[0005] According to one aspect of the present invention, a calibration and standardization method for a ranging laser guiding mechanism is provided. The ranging laser guiding mechanism is used in an optical frequency scanning interferometric ranging system. The ranging laser guiding mechanism includes a two-dimensional turntable, a laser collimator, a fine-tuning device, and a platform. The platform is mounted on the two-dimensional turntable, the fine-tuning device is fixed to the platform, and the laser collimator is mounted on the fine-tuning device. The two-dimensional turntable is capable of 360° horizontal rotation and 120° pitch rotation. The method includes:

[0006] The two-dimensional turntable is controlled to rotate around the horizontal axis and the pitch axis in steps of a preset angle. The spatial coordinates of each rotation position are collected, and the spatial coordinates are fitted to obtain the spatial attitude of the horizontal axis and the pitch axis.

[0007] Based on the spatial attitude of the horizontal axis and the pitch axis, the axis direction and origin of the coordinate system of the ranging laser guidance mechanism are defined to establish the coordinate system of the ranging laser guidance mechanism.

[0008] Collect the spatial coordinates of at least three points along the propagation path of the current ranging beam in the coordinate system, fit the spatial straight line equation of the current ranging beam, and adjust the fine-tuning device according to the spatial straight line equation until the straight line of the current ranging beam coincides with the origin of the coordinate system.

[0009] Using the origin of the coordinate system as the ranging starting point, calculate the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point. Based on the optical path difference of the reference optical path and the true value of the optical path difference, calibrate the absolute zero point of the ranging laser guiding mechanism.

[0010] Optionally, controlling the two-dimensional turntable to rotate around the horizontal axis and the pitch axis in steps of a preset angle, acquiring the spatial coordinates of each rotation position, and performing trajectory fitting on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis includes:

[0011] The two-dimensional turntable is controlled to rotate around the horizontal axis in steps of a preset angle. The spatial coordinates of each rotation position are collected, and the spatial coordinates are fitted to obtain the coordinates of the center of the first fitted circle and the normal vector of the first fitted circle, so as to obtain the spatial attitude of the horizontal axis.

[0012] The two-dimensional turntable is controlled to rotate around the pitch axis in steps of the preset angle, and the spatial coordinates of each rotation position are collected. The spatial coordinates are then fitted to obtain the coordinates of the center of the second fitted circle and the normal vector of the second fitted circle, so as to obtain the spatial attitude of the pitch axis; wherein, the spatial attitude includes spatial direction and spatial position.

[0013] Optionally, based on the spatial attitude of the horizontal and pitch axes, the coordinate system orientation and origin of the ranging laser guidance mechanism are defined to establish the coordinate system of the ranging laser guidance mechanism, including:

[0014] The spatial direction of the horizontal axis is defined as the Z-axis direction of the coordinate system of the ranging laser guidance mechanism;

[0015] The point where the spatial position of the pitch axis intersects the Z-axis after translation is defined as the origin of the coordinate system of the ranging laser guide mechanism;

[0016] The straight line passing through the origin is defined as the Y-axis of the coordinate system of the ranging laser guidance mechanism; the straight line lies in the plane formed by the Z-axis and the translation and pitch axis, and is perpendicular to the Z-axis;

[0017] The X-axis of the coordinate system of the ranging laser guidance mechanism is determined based on the Z-axis and the Y-axis using the right-hand rule.

[0018] Establish a coordinate system for the ranging laser guidance mechanism based on the X-axis, Y-axis, Z-axis, and origin.

[0019] Optionally, taking the origin of the coordinate system as the ranging starting point, the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point are calculated. Based on the optical path difference of the reference optical path and the true value of the optical path difference, the absolute zero point of the ranging laser guiding mechanism is calibrated, including:

[0020] Using the origin of the coordinate system as the starting point for distance measurement, the spatial coordinates of each target point are collected;

[0021] Based on the spatial coordinates of each target point, calculate the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point.

[0022] The absolute zero point of the ranging laser guidance mechanism is calibrated based on the optical path difference of the reference optical path and the true value of the optical path difference.

[0023] Optionally, based on the spatial coordinates of each target point, the calculation of the reference optical path difference of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point includes:

[0024] Collect the spatial coordinates of any two target points and the equal optical frequency sampling frequency of any two target points;

[0025] Calculate the optical path difference between any two target points based on their spatial coordinates and a preset air refractive index.

[0026] Calculate the reference optical path path difference of the optical frequency scanning interferometric ranging system based on the optical path difference between any two target points and the equal optical frequency sampling frequency.

[0027] The true optical path difference from each target point to the ranging starting point is calculated using the following formula:

[0028] In the formula, Let be the true value of the optical path difference from the i-th target point to the ranging starting point, where i is an integer greater than or equal to 1; To preset the air refractive index, The spatial coordinates of the distance measurement starting point. Let be the spatial coordinates of the i-th target point.

[0029] Optionally, calibrating the absolute zero point of the ranging laser guidance mechanism based on the optical path difference of the reference optical path and the true value of the optical path difference includes:

[0030] The absolute zero point of the ranging laser guidance mechanism is calibrated using the following formula:

[0031] In the formula, The absolute zero point of the ranging laser guidance mechanism, The number of target points For reference optical path difference, Let be the true value of the optical path difference from the i-th target point to the ranging starting point. is the equal optical frequency sampling frequency of the i-th target point.

[0032] Optionally, calculating the optical path difference between any two target points based on their spatial coordinates and a preset air refractive index includes:

[0033] The optical path difference between any two target points is calculated using the following formula:

[0034] In the formula, The optical path difference between any two target points is [missing information]. The distance between any two of the target points is [missing information]. , Let be the spatial coordinates of any two target points.

[0035] Optionally, calculating the reference optical path path difference of the optical frequency scanning interferometric ranging system based on the optical path difference between any two target points and the equal optical frequency sampling frequency includes:

[0036] The optical path difference of the reference optical path in the optical frequency scanning interferometric ranging system is calculated using the following formula:

[0037] In the formula, The optical path difference is the reference optical path difference for the optical frequency scanning interferometric ranging system. The optical path difference between any two target points is [missing information]. , The sampling frequency is the same optical frequency for any two target points.

[0038] Optionally, the two-dimensional turntable is controlled to rotate around the horizontal axis and the pitch axis in steps of preset angles, and the spatial coordinates of each rotation position are collected. Trajectory fitting is then performed on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis, including:

[0039] The spatial attitude of the horizontal and pitch axes is obtained using the following formula:

[0040] In the formula, The spatial coordinates of the rotational position acquired by the two-dimensional turntable rotating around the horizontal axis. Let the coordinates be the center coordinates of the first fitted circle. Let the radius be the first fitted circle. Preset angle; The spatial coordinates of the rotational position acquired by the two-dimensional turntable rotating around the pitch axis. The coordinates of the center of the second fitted circle are... The radius of the second fitted circle is... This is a preset angle.

[0041] According to another aspect of the present invention, a calibration and standardization device for a ranging laser guiding mechanism is provided. The ranging laser guiding mechanism is used in an optical frequency scanning interferometric ranging system. The ranging laser guiding mechanism includes a two-dimensional turntable, a laser collimator, a fine-tuning device, and a platform. The platform is mounted on the two-dimensional turntable, the fine-tuning device is fixed to the platform, and the laser collimator is mounted on the fine-tuning device. The two-dimensional turntable is capable of 360° horizontal rotation and 120° pitch rotation. The device includes:

[0042] The acquisition module is used to control the two-dimensional turntable to rotate around the horizontal axis and the pitch axis with a preset angle as the step size, collect the spatial coordinates of each rotation position, and perform trajectory fitting on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis.

[0043] A coordinate system establishment module is used to define the axis direction and origin of the coordinate system of the ranging laser guidance mechanism according to the spatial attitude of the horizontal axis and the pitch axis, so as to establish the coordinate system of the ranging laser guidance mechanism.

[0044] The calibration module is used to collect the spatial coordinates of at least three points on the propagation path of the current laser beam in the coordinate system, fit the spatial straight line equation of the current laser beam, and adjust the fine-tuning device according to the spatial straight line equation until the straight line where the current laser beam is located coincides with the origin of the coordinate system.

[0045] The calibration module is used to calculate the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point, with the origin of the coordinate system as the ranging starting point, and to calibrate the absolute zero point of the ranging laser guiding mechanism based on the optical path difference of the reference optical path and the true value of the optical path difference.

[0046] The technical solution provided by this invention establishes a coordinate system for the ranging laser guide mechanism, binding the rotation center of the two-dimensional turntable, the starting point of the propagation path of the ranging beam, and the absolute zero point of the distance measurement of the ranging laser guide mechanism to the origin of this coordinate system. Subsequent alignment calibration between the ranging starting point and the rotation center of the two-dimensional turntable, and calibration of the absolute zero point of the ranging laser guide mechanism, are all based on the origin of this coordinate system. This avoids the complex operation of traditional calibration and calibration methods that require repeated manual fine-tuning of the instrument. The entire process only requires working around the same coordinate system, making the operation simple and efficient.

[0047] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A flowchart illustrating a calibration and standardization method for a ranging laser guidance mechanism, provided as an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the ranging laser guidance mechanism provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram illustrating the construction of the coordinate system for the ranging laser guidance mechanism provided in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram illustrating the alignment calibration between the ranging origin and the rotation center of the two-dimensional turntable, as provided in an embodiment of the present invention.

[0053] Figure 5 A flowchart illustrating another calibration and standardization method for a ranging laser guidance mechanism provided in an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram illustrating the calibration of the absolute zero point of the optical frequency scanning interferometric ranging system provided in an embodiment of the present invention;

[0055] Figure 7 A schematic diagram of a calibration and standardization device for a ranging laser guidance mechanism provided in an embodiment of the present invention;

[0056] Figure 8 This is a schematic diagram of an electronic device for a calibration and standardization method of a ranging laser guidance mechanism provided in an embodiment of the present invention. Detailed Implementation

[0057] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0058] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0059] Figure 1 This is a flowchart of a calibration and standardization method for a ranging laser guidance mechanism provided in an embodiment of the present invention. This embodiment is applicable to precision ranging in the manufacturing of large-scale high-end equipment. The method can be performed by a calibration and standardization device for a ranging laser guidance mechanism. The device can be implemented in hardware and / or software and can be configured in any electronic device with communication function. Figure 2 This is a schematic diagram of the ranging laser guidance mechanism provided in an embodiment of the present invention. This ranging laser guidance mechanism is used in an optical frequency scanning interferometric ranging system. (See also...) Figure 2 The ranging laser guidance mechanism includes a two-dimensional turntable 1, a laser collimator 2, a fine-tuning device 3, and a loading platform 4. The loading platform 4 is mounted on the two-dimensional turntable 1, the fine-tuning device 3 is fixed to the loading platform 4, and the laser collimator 2 is mounted on the fine-tuning device 3. The two-dimensional turntable 1 is capable of rotating 360° horizontally and 120° vertically. See also... Figure 1 The method includes:

[0060] S110 controls the two-dimensional turntable to rotate around the horizontal axis and the pitch axis in steps of a preset angle, collects the spatial coordinates of each rotation position, and performs trajectory fitting on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis.

[0061] The preset angle can be pre-set according to the calibration accuracy requirements of the spatial attitude. The more precise the calibration accuracy, the smaller the preset angle should be. For example, if the preset angle is set to 1°, the 2D turntable will rotate around the horizontal axis from 0°→1°→2°→…360°, and the spatial coordinates of that position will be collected once each time it stops. Spatial attitude refers to the comprehensive description of the position and direction of the horizontal axis and pitch axis of the 2D turntable in three-dimensional space. For example, spatial attitude can include spatial direction and spatial position. Spatial position can be used to characterize the specific position of the horizontal axis / pitch axis in three-dimensional space; spatial direction can be used to characterize the direction of extension of the horizontal axis / pitch axis.

[0062] Specifically, the 2D turntable is controlled to pitch at its initial position, and its pitch axis is fixed and locked, allowing the turntable to rotate only around its horizontal axis. Rotation is performed in increments of a preset angle, stopping after each increment, and the spatial coordinates of that position are collected each time it stops. Similarly, the 2D turntable is controlled to horizontal at its initial position, and its horizontal axis is fixed and locked, allowing the turntable to rotate only around its pitch axis. Rotation is performed in increments of the same preset angle, stopping each time, and the spatial coordinates of that position are collected each time it stops. The data collection process is as follows: a pyramidal reflector is mounted on the platform of the 2D turntable. A laser tracker emits a laser beam onto the pyramidal reflector, which reflects the laser beam back to the laser tracker. The laser tracker then calculates the spatial coordinates of the pyramidal reflector at its current position. The spatial coordinates of the pyramidal reflector are collected each time the 2D turntable stops; that is, rotation around the horizontal axis yields a set of coordinate points distributed along a circular trajectory, and rotation around the pitch axis yields another set of coordinate points distributed along a circular trajectory. The fitting process is as follows: Since the trajectory of the cone-shaped reflector sphere rotating around a certain axis is a circle or arc centered on that axis, a circle fitting is performed on the coordinate points of these circularly distributed points based on mathematical algorithms, such as the standard equation of a spatial circle. By fitting two sets of coordinate points respectively, the coordinates of the center of the fitted circle and the normal vector of the circular plane can be obtained. The coordinates of the center determine the spatial position of the horizontal / pitch axis, and the normal vector of the circular plane determines the spatial direction of the horizontal / pitch axis, thus obtaining the spatial attitude of the horizontal and pitch axes.

[0063] S120. Based on the spatial attitude of the horizontal axis and the pitch axis, define the axis direction and origin of the coordinate system of the ranging laser guidance mechanism to establish the coordinate system of the ranging laser guidance mechanism.

[0064] Specifically, the spatial direction of the horizontal axis is defined as the Z-axis direction of the coordinate system of the ranging laser guidance mechanism. The intersection of the pitch axis (after translation) and the Z-axis is defined as the origin of the coordinate system of the ranging laser guidance mechanism. The straight line passing through the origin is defined as the Y-axis of the coordinate system of the ranging laser guidance mechanism. This straight line lies in the plane formed by the Z-axis and the translated pitch axis, and is perpendicular to the Z-axis. The X-axis of the coordinate system of the ranging laser guidance mechanism is determined based on the Z-axis and Y-axis using the right-hand rule; the coordinate system of the ranging laser guidance mechanism is established based on the X-axis, Y-axis, Z-axis, and the origin. See also... Figure 3 , Figure 3This is a schematic diagram illustrating the construction of the coordinate system of the ranging laser guidance mechanism provided in this embodiment of the invention. According to a specific explanation of step S110: rotating around the horizontal axis yields a set of coordinate points distributed along a circular trajectory, and rotating around the pitch axis yields another set of coordinate points distributed along a circular trajectory. By fitting the two sets of coordinate points respectively, the center coordinates of the two fitted circles and the normal vector of the circular plane can be obtained. The center coordinates determine the spatial position of the horizontal / pitch axis, and the normal vector of the circular plane determines the spatial direction of the horizontal / pitch axis, thus obtaining the spatial attitude of the horizontal and pitch axes. Based on the spatial attitude of the horizontal and pitch axes, the axis directions and origin of the coordinate system of the ranging laser guidance mechanism are defined to establish the coordinate system OXYZ of the ranging laser guidance mechanism.

[0065] S130. Collect the spatial coordinates of at least 3 points on the propagation path of the current ranging beam in the coordinate system, fit the spatial straight line equation of the current ranging beam, adjust the fine-tuning device according to the spatial straight line equation, and iterate the fitting and adjustment process repeatedly until the straight line where the current ranging beam is located coincides with the origin of the coordinate system.

[0066] Specifically, using a laser tracker, at least three discrete physical points are selected along the propagation path of the current ranging beam, for example, at distances of 1m, 2m, and 3m from the laser collimator. The spatial coordinates of each point in the established coordinate system of the ranging laser guidance mechanism are collected. The spatial coordinates of the at least three points are then used to calculate, through mathematical algorithms such as the least squares method, a mathematical equation for the common spatial line containing these points is derived, such as a parametric / point-direction equation for a three-dimensional spatial line. This mathematical equation characterizes the deviation between the current ranging beam and the origin of the coordinate system of the ranging laser guidance mechanism; that is, it calculates the adjustment margin between the current ranging beam and the origin of the coordinate system. The fine-tuning device is then adjusted based on this adjustment margin. After one adjustment, the spatial coordinates of at least three points along the new ranging beam path are collected again, and a new spatial line equation is fitted again. The alignment of the new ranging beam line with the origin of the coordinate system is then checked. If they still do not coincide, a new adjustment margin is calculated based on the new line equation, and fine-tuning is performed again. The iteration stops when the fitted spatial linear equation shows that the line containing the current ranging beam coincides with the origin of the coordinate system. At this point, precise coincidence between the line containing the current ranging beam and the origin of the coordinate system is achieved; that is, the ranging origin of the ranging beam and the rotation center of the two-dimensional turntable are aligned. Figure 4 As shown, Figure 4This is a schematic diagram illustrating the alignment calibration between the ranging origin and the rotation center of the two-dimensional turntable, as provided in an embodiment of the present invention. The fine-tuning device is a core component connecting the two-dimensional turntable and the laser collimator. Its function is to change the attitude of the laser collimator with a small range and high precision, thereby altering the propagation path of the ranging beam. Selecting at least three points is to compensate for the random errors of the laser tracker, making the fitted spatial linear equation closer to the actual propagation trajectory of the current ranging beam.

[0067] S140. Using the origin of the coordinate system as the ranging starting point, calculate the optical path difference of the reference optical path and the true value of the optical path difference from each target point to the ranging starting point of the optical frequency scanning interferometric ranging system, and calibrate the absolute zero point of the ranging laser guidance mechanism based on the optical path difference of the reference optical path and the true value of the optical path difference.

[0068] Specifically, the origin of the coordinate system of the ranging laser guidance mechanism is defined as the ranging starting point of the optical frequency scanning interferometric ranging system. By acquiring the spatial coordinates of each target point, and based on the measurement principle of the optical frequency scanning interferometric ranging system, the optical path difference of the reference optical path and the true value of the optical path difference from each target point to the ranging starting point are calculated. Based on the optical path difference of the reference optical path and the true value of the optical path difference, the absolute zero point of the ranging laser guidance mechanism is calibrated. The measurement principle of the optical frequency scanning interferometric ranging system is as follows: The main structure of the optical frequency scanning interferometric ranging system includes a single light source, a beam splitter, a measurement optical path, a reference optical path, a beam combiner, and a photodetector. The optical frequency scanning interferometric ranging system generates laser light from a single light source. The laser light is then split into two beams by the beam splitter: a measurement beam and a reference beam. The measurement beam enters the measurement optical path, exits through the laser collimator, illuminates the target point, is reflected, and returns to the beam combiner along the original optical path. The reference beam enters the reference optical path, is not reflected, and returns directly to the beam combiner along the fixed optical path. Because of the optical path difference between the measuring optical path and the reference optical path, interference occurs when the two beams are combined. The resulting optical signal is received by a photodetector and converted into an electrical signal. The frequency of this electrical signal is the frequency difference between the two beams, known as the equal-frequency sampling frequency. By acquiring the equal-frequency sampling frequency and combining it with the optical path difference of the reference optical path and the refractive index of the medium, such as the refractive index of air, the absolute distance from the target point to the ranging starting point is calculated using the frequency-distance quantitative relationship. This allows for the calibration of the absolute zero point of the ranging laser guidance mechanism. The specific expansion of the frequency-distance quantitative relationship is as follows: In the formula, For equal optical frequency sampling frequency, To measure the refractive index of the medium in the optical path, The refractive index of the medium for the reference optical path, To measure the physical length of the optical path, The physical length of the reference optical path is used. The true optical path difference is the actual optical path from each target point to the ranging starting point, calculated by the laser tracker. It is an objective standard value that eliminates all errors and is used to calibrate the measurement deviation of the ranging laser guidance mechanism to achieve accurate calibration of the absolute zero point.

[0069] The technical solution provided by this invention establishes a coordinate system for the ranging laser guide mechanism, binding the rotation center of the two-dimensional turntable, the starting point of the propagation path of the ranging beam, and the absolute zero point of the distance measurement of the ranging laser guide mechanism to the origin of this coordinate system. Subsequent alignment calibration between the ranging starting point and the rotation center of the two-dimensional turntable, and calibration of the absolute zero point of the ranging laser guide mechanism, are all based on the origin of this coordinate system. This avoids the complex operation of traditional calibration and calibration methods that require repeated manual fine-tuning of the instrument. The entire process only requires working around the same coordinate system, making the operation simple and efficient.

[0070] In some other embodiments, step S110 may optionally include:

[0071] The two-dimensional turntable is controlled to rotate around the horizontal axis in steps of a preset angle. The spatial coordinates of each rotation position are collected, and the spatial coordinates are fitted with a trajectory to obtain the center coordinates of the first fitted circle and the normal vector of the first fitted circle, so as to obtain the spatial attitude of the horizontal axis. The two-dimensional turntable is controlled to rotate around the pitch axis in steps of a preset angle. The spatial coordinates of each rotation position are collected, and the spatial coordinates are fitted with a trajectory to obtain the center coordinates of the second fitted circle and the normal vector of the second fitted circle, so as to obtain the spatial attitude of the pitch axis.

[0072] Specifically, the spatial attitude of the pitch axis is obtained using the following formula:

[0073] In the formula, The spatial coordinates of the rotational position acquired by the two-dimensional turntable rotating around the horizontal axis. Let the coordinates be the center coordinates of the first fitted circle. Let the radius be the first fitted circle. Preset angle; The spatial coordinates of the rotational position acquired by the two-dimensional turntable rotating around the pitch axis. The coordinates of the center of the second fitted circle are... The radius of the second fitted circle is... This is a preset angle.

[0074] Figure 5 This is a flowchart illustrating another calibration and standardization method for a ranging laser guidance mechanism provided by an embodiment of the present invention. This embodiment further refines the aforementioned embodiments. See also... Figure 5 Optionally, step S140 specifically includes:

[0075] S210. Using the origin of the coordinate system as the starting point for distance measurement, collect the spatial coordinates of each target point.

[0076] Each target point can be pre-set according to actual measurement needs. Each target point can be located at any effective position within the measurement space, either in the direction of laser emission or in other directions covered by the laser after the 2D turntable rotates. The number of targets can be set based on experience, generally at least three.

[0077] S220. Based on the spatial coordinates of each target point, calculate the optical path difference of the reference optical path and the true value of the optical path difference from each target point to the ranging starting point of the optical frequency scanning interferometric ranging system.

[0078] Specifically, see Figure 6 , Figure 6 This is a schematic diagram illustrating the calibration of the absolute zero point of the optical frequency scanning interferometric ranging system provided in an embodiment of the present invention. In the diagram, The absolute zero point of the ranging laser guidance mechanism, , , These are the first target point, the i-th target point, and the N-th target point, respectively. Let be the true value of the optical path difference from the i-th target point to the ranging starting point. Let N be the true value of the optical path difference from the Nth target point to the ranging starting point. Let be the true optical path difference from the i-th target point to the optical frequency scanning interferometric ranging system.

[0079] Acquire the spatial coordinates of any two target points and the same optical frequency sampling frequency of any two target points; calculate the optical path difference between any two target points based on the spatial coordinates of any two target points and the preset air refractive index; calculate the reference optical path difference of the optical frequency scanning interferometric ranging system based on the optical path difference between any two target points and the same optical frequency sampling frequency.

[0080] Specifically, the optical path difference between any two target points is calculated using the following formula:

[0081] In the formula, Let be the optical path difference between any two target points. Let be the distance between any two target points. To preset the air refractive index, , Let be the spatial coordinates of any two target points.

[0082] The optical path difference of the reference optical path in the optical frequency scanning interferometric ranging system is calculated using the following formula:

[0083] In the formula, The optical path difference is the reference optical path difference for the optical frequency scanning interferometric ranging system. Let be the optical path difference between any two target points. , is the equal optical frequency sampling frequency for any two target points.

[0084] The true optical path difference from each target point to the ranging starting point is calculated using the following formula:

[0085] In the formula, Let be the true value of the optical path difference from the i-th target point to the ranging starting point, where i is an integer greater than or equal to 1; To preset the air refractive index, The spatial coordinates of the distance measurement starting point. Let be the spatial coordinates of the i-th target point.

[0086] S230. Based on the optical path difference of the reference optical path and the true value of the optical path difference, calibrate the absolute zero point of the ranging laser guidance mechanism.

[0087] Specifically, the absolute zero point of the ranging laser guidance mechanism is calibrated using the following formula:

[0088] In the formula, The absolute zero point of the ranging laser guidance mechanism, The number of target points For reference optical path difference, Let be the true value of the optical path difference from the i-th target point to the ranging starting point. is the equal optical frequency sampling frequency of the i-th target point.

[0089] See also Figure 6 The equal optical frequency sampling frequency for each target point is calculated using the following formula:

[0090] In the formula, Let be the equal optical frequency sampling frequency of the i-th target point. This represents the true optical path difference from each target point to the ranging starting point. For reference optical path difference, The absolute zero point of the ranging laser guidance mechanism, Let be the true optical path difference from the i-th target point to the optical frequency scanning interferometric ranging system.

[0091] Figure 7 This is a schematic diagram of a calibration and standardization device for a ranging laser guidance mechanism provided in an embodiment of the present invention. See also: Figure 2The ranging laser guidance mechanism includes a two-dimensional turntable 1, a laser collimator 2, a fine-tuning device 3, and a loading platform 4. The loading platform 4 is mounted on the two-dimensional turntable 1, the fine-tuning device 3 is fixed to the loading platform 4, and the laser collimator 2 is mounted on the fine-tuning device 3. The two-dimensional turntable 1 is capable of rotating 360° horizontally and 120° vertically. See also... Figure 7 The device includes: an acquisition module 310, a coordinate system establishment module 320, a calibration module 330, and a standardization module 340.

[0092] The acquisition module 310 is used to control the two-dimensional turntable to rotate around the horizontal axis and the pitch axis in steps of a preset angle, collect the spatial coordinates of each rotation position, and perform trajectory fitting on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis.

[0093] The coordinate system establishment module 320 is used to define the axis direction and origin of the coordinate system of the ranging laser guide mechanism according to the spatial attitude of the horizontal axis and the pitch axis, so as to establish the coordinate system of the ranging laser guide mechanism.

[0094] The calibration module 330 is used to collect the spatial coordinates of at least three points on the propagation path of the current laser beam in the coordinate system, fit the spatial straight line equation of the current laser beam, and adjust the fine-tuning device according to the spatial straight line equation until the straight line of the current laser beam coincides with the origin of the coordinate system.

[0095] The calibration module 340 is used to calculate the optical path difference of the reference optical path and the true value of the optical path difference from each target point to the ranging starting point, with the origin of the coordinate system as the ranging starting point. Based on the optical path difference and the true value of the optical path difference, the absolute zero point of the ranging laser guidance mechanism is calibrated.

[0096] The calibration and standardization device for a ranging laser guiding mechanism provided in this embodiment of the invention can execute the calibration and standardization method for a ranging laser guiding mechanism provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method, which will not be elaborated here.

[0097] Figure 8 This is a schematic diagram of an electronic device for a calibration and standardization method of a ranging laser guidance mechanism provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, smartphones, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0098] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, the ROM 12, and the RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0099] Multiple components in electronic device 10 are connected to input / output I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0100] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a calibration and standardization method for a ranging laser guidance mechanism.

[0101] In some embodiments, a calibration and standardization method for a ranging laser guide mechanism may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or mounted on electronic device 10 via read-only memory ROM 12 and / or communication unit 19. When the computer program is loaded into random access memory RAM 13 and executed by processor 11, one or more steps of the calibration and standardization method for a ranging laser guide mechanism described above may be performed. Alternatively, in other embodiments, processor 11 may be configured in any other suitable manner to perform a calibration and standardization method for a ranging laser guide mechanism.

[0102] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0103] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0104] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0105] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to a user; and a keyboard and pointing device through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with a user; for example, feedback provided to the user can be any form of sensory feedback; and input from the user can be received in any form.

[0106] The systems and technologies described herein can be implemented in computing systems that include backend components, middleware components, or frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0107] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0108] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0109] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A calibration and standardization method for a ranging laser guidance mechanism, characterized in that, The ranging laser guiding mechanism is used in an optical frequency scanning interferometric ranging system. The ranging laser guiding mechanism includes a two-dimensional turntable, a laser collimator, a fine-tuning device, and a platform. The platform is mounted on the two-dimensional turntable, the fine-tuning device is fixed to the platform, and the laser collimator is mounted on the fine-tuning device. The two-dimensional turntable is capable of 360° horizontal rotation and 120° pitch rotation. The method includes: The two-dimensional turntable is controlled to rotate around the horizontal axis and the pitch axis in steps of a preset angle. The spatial coordinates of each rotation position are collected, and the spatial coordinates are fitted to obtain the spatial attitude of the horizontal axis and the pitch axis. Based on the spatial attitude of the horizontal axis and the pitch axis, the axis direction and origin of the coordinate system of the ranging laser guidance mechanism are defined to establish the coordinate system of the ranging laser guidance mechanism. Collect the spatial coordinates of at least three points along the propagation path of the current ranging beam in the coordinate system, fit the spatial straight line equation of the current ranging beam, and adjust the fine-tuning device according to the spatial straight line equation until the straight line of the current ranging beam coincides with the origin of the coordinate system. Using the origin of the coordinate system as the ranging starting point, calculate the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point. Based on the optical path difference of the reference optical path and the true value of the optical path difference, calibrate the absolute zero point of the ranging laser guiding mechanism.

2. The method according to claim 1, characterized in that, The process of controlling the two-dimensional turntable to rotate around the horizontal axis and the pitch axis in steps of preset angles, acquiring the spatial coordinates of each rotation position, and performing trajectory fitting on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis includes: The two-dimensional turntable is controlled to rotate around the horizontal axis in steps of a preset angle. The spatial coordinates of each rotation position are collected, and the spatial coordinates are fitted to obtain the coordinates of the center of the first fitted circle and the normal vector of the first fitted circle, so as to obtain the spatial attitude of the horizontal axis. The two-dimensional turntable is controlled to rotate around the pitch axis in steps of the preset angle, and the spatial coordinates of each rotation position are collected. The spatial coordinates are then fitted to obtain the coordinates of the center of the second fitted circle and the normal vector of the second fitted circle, so as to obtain the spatial attitude of the pitch axis; wherein, the spatial attitude includes spatial direction and spatial position.

3. The method according to claim 2, characterized in that, Based on the spatial attitude of the horizontal and pitch axes, the coordinate system orientation and origin of the ranging laser guidance mechanism are defined to establish the coordinate system of the ranging laser guidance mechanism, including: The spatial direction of the horizontal axis is defined as the Z-axis direction of the coordinate system of the ranging laser guidance mechanism; The point where the spatial position of the pitch axis intersects the Z-axis after translation is defined as the origin of the coordinate system of the ranging laser guide mechanism; The straight line passing through the origin is defined as the Y-axis of the coordinate system of the ranging laser guidance mechanism; the straight line lies in the plane formed by the Z-axis and the translation and pitch axis, and is perpendicular to the Z-axis; The X-axis of the coordinate system of the ranging laser guidance mechanism is determined based on the Z-axis and the Y-axis using the right-hand rule. Establish a coordinate system for the ranging laser guidance mechanism based on the X-axis, Y-axis, Z-axis, and origin.

4. The method according to claim 1, characterized in that, Using the origin of the coordinate system as the ranging starting point, the optical path difference of the reference optical path and the true value of the optical path difference from each target point to the ranging starting point are calculated. Based on the optical path difference of the reference optical path and the true value of the optical path difference, the absolute zero point of the ranging laser guidance mechanism is calibrated, including: Using the origin of the coordinate system as the starting point for distance measurement, the spatial coordinates of each target point are collected; Based on the spatial coordinates of each target point, calculate the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point. The absolute zero point of the ranging laser guidance mechanism is calibrated based on the optical path difference of the reference optical path and the true value of the optical path difference.

5. The method according to claim 4, characterized in that, Based on the spatial coordinates of each target point, the calculation of the reference optical path difference of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point includes: Collect the spatial coordinates of any two target points and the equal optical frequency sampling frequency of any two target points; Calculate the optical path difference between any two target points based on their spatial coordinates and a preset air refractive index. Calculate the reference optical path path difference of the optical frequency scanning interferometric ranging system based on the optical path difference between any two target points and the equal optical frequency sampling frequency. The true optical path difference from each target point to the ranging starting point is calculated using the following formula: In the formula, Let be the true value of the optical path difference from the i-th target point to the ranging starting point, where i is an integer greater than or equal to 1; To preset the air refractive index, The spatial coordinates of the distance measurement starting point, Let be the spatial coordinates of the i-th target point.

6. The method according to claim 4, characterized in that, Based on the optical path difference of the reference optical path and the true value of the optical path difference, calibrating the absolute zero point of the ranging laser guidance mechanism includes: The absolute zero point of the ranging laser guidance mechanism is calibrated using the following formula: In the formula, The absolute zero point of the optical ranging laser guidance mechanism. The number of target points For reference optical path difference, Let be the true value of the optical path difference from the i-th target point to the ranging starting point. is the equal optical frequency sampling frequency of the i-th target point.

7. The method according to claim 5, characterized in that, Calculating the optical path difference between any two target points based on their spatial coordinates and a preset air refractive index includes: The optical path difference between any two target points is calculated using the following formula: In the formula, The optical path difference between any two target points is [missing information]. The distance between any two of the target points is [missing information]. , Let be the spatial coordinates of any two target points.

8. The method according to claim 5, characterized in that, The calculation of the reference optical path path difference of the optical frequency scanning interferometric ranging system, based on the optical path difference between any two target points and the equal optical frequency sampling frequency, includes: The optical path difference of the reference optical path in the optical frequency scanning interferometric ranging system is calculated using the following formula: In the formula, The optical path difference is the reference optical path difference for the optical frequency scanning interferometric ranging system. The optical path difference between any two target points is [missing information]. , The sampling frequency is the same optical frequency for any two target points.

9. The method according to claim 2, characterized in that, The two-dimensional turntable is controlled to rotate around the horizontal axis and the pitch axis in preset angle steps, and the spatial coordinates of each rotation position are collected. Trajectory fitting is then performed on the spatial coordinates to obtain the spatial attitude of the horizontal and pitch axes, including: The spatial attitude of the horizontal and pitch axes is obtained using the following formula: In the formula, The spatial coordinates of the rotational position acquired by the two-dimensional turntable rotating around the horizontal axis. Let the coordinates be the center coordinates of the first fitted circle. Let the radius be the first fitted circle. Preset angle; The spatial coordinates of the rotational position acquired by the two-dimensional turntable rotating around the pitch axis. The coordinates of the center of the second fitted circle are... The radius of the second fitted circle is... This is a preset angle.

10. A calibration and standardization device for a ranging laser guidance mechanism, characterized in that, The ranging laser guiding mechanism is used in an optical frequency scanning interferometric ranging system. The ranging laser guiding mechanism includes a two-dimensional turntable, a laser collimator, a fine-tuning device, and a platform. The platform is mounted on the two-dimensional turntable, the fine-tuning device is fixed to the platform, and the laser collimator is mounted on the fine-tuning device. The two-dimensional turntable is capable of 360° horizontal rotation and 120° pitch rotation. The device includes: The acquisition module is used to control the two-dimensional turntable to rotate around the horizontal axis and the pitch axis with a preset angle as the step size, collect the spatial coordinates of each rotation position, and perform trajectory fitting on the spatial coordinates to obtain the spatial attitude of the horizontal axis and the pitch axis. A coordinate system establishment module is used to define the axis direction and origin of the coordinate system of the ranging laser guidance mechanism according to the spatial attitude of the horizontal axis and the pitch axis, so as to establish the coordinate system of the ranging laser guidance mechanism. The calibration module is used to collect the spatial coordinates of at least three points on the propagation path of the current ranging beam in the coordinate system, fit the spatial straight line equation of the current ranging beam, and adjust the fine-tuning device according to the spatial straight line equation until the straight line where the current ranging beam is located coincides with the origin of the coordinate system. The calibration module is used to calculate the optical path difference of the reference optical path of the optical frequency scanning interferometric ranging system and the true value of the optical path difference from each target point to the ranging starting point, with the origin of the coordinate system as the ranging starting point, and to calibrate the absolute zero point of the ranging laser guiding mechanism based on the optical path difference of the reference optical path and the true value of the optical path difference.

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