Parallel posture adjusting robot and spliced mirror surface optical intelligent adjusting system

Abstract

The utility model relates to a parallel posture adjusting robot and a spliced mirror surface optical intelligent adjusting system, and belongs to the technical field of optical adjusting. The spliced mirror surface optical intelligent adjusting system comprises a target lens and a parallel posture adjusting robot, the parallel posture adjusting robot comprises a base and three posture adjusting branch chains distributed in a triangular shape, the first ends of the posture adjusting branch chains are connected with the base, the second ends of the posture adjusting branch chains are connected with the target lens through a fixing disc, and the posture adjusting branch chains comprise a fixed branch chain and two moving branch chains; the two motion branch chains are telescopically arranged on the base so as to change the inclination of the target lens relative to the base. According to the parallel posture adjusting robot and the spliced mirror surface optical intelligent adjusting system, the posture of the target lens in the target equipment can be automatically adjusted, time and labor are saved, and light spot dispersion caused by different postures of the target lens can be offset from the source.

Description

Technical Field

[0001] This utility model belongs to the field of optical calibration technology, specifically relating to a parallel attitude adjustment robot and a composite mirror optical intelligent calibration system. Background Technology

[0002] Cosmic rays are high-energy charged particles originating from outer space, discovered in 1912 by Austrian physicist Hess through a balloon experiment. To delve deeper into the fundamental principles of cosmic ray origin, a large-scale, ultra-high-energy gamma-ray source stereo-tracking telescope is needed, with angular resolution being a key performance indicator. Angular resolution is directly related to the performance of the optical system, especially since such telescopes have large mirror areas, ranging from tens to hundreds of square meters, requiring the assembly of numerous smaller mirrors. This places even higher demands on the optical system.

[0003] Currently, the pointing adjustment of the sub-mirrors of composite mirror telescopes mainly relies on parallel mechanisms. However, due to the late start of research on composite mirror telescopes in China, the sub-mirror arrays of composite mirror telescopes in China still adopt the traditional manual adjustment method. This method is difficult to adjust, time-consuming and labor-intensive, and not conducive to long-term maintenance. More importantly, it cannot fundamentally offset the light spot dispersion caused by different telescope orientations.

[0004] The pointing calibration of sub-mirrors in composite mirror telescopes is a crucial step in achieving accurate telescope detection, and currently, the "starlight method" is mainly used. The starlight calibration process involves installing a white diffuser plate close to the front of the telescope's imaging probe, and placing a camera at the center of the telescope's reflector, pointing towards the imaging probe. When the telescope points to a bright star, the distribution of light spots on the white plate can be captured by the camera. The pointing of the sub-mirrors is then adjusted so that all the light spots converge at the target position. When adjusting the pointing of the sub-mirrors using parallel robots and light spot position feedback, accurately and quickly obtaining the pose information of the sub-mirrors at each moment using the light spot position information is particularly critical. Therefore, there is an urgent need to propose an algorithm that uses light spot position information to calculate the pose of the sub-mirrors to solve the pointing calibration problem of composite mirror telescope sub-mirrors. Utility Model Content

[0005] Therefore, the purpose of this utility model is to provide a parallel attitude adjustment robot and a splicing mirror optical intelligent adjustment system, which can automatically adjust the attitude of the target lens in the target device.

[0006] The technical solution of this utility model is as follows:

[0007] Firstly, the device includes a base and three attitude adjustment branches arranged in a triangle. The first end of each attitude adjustment branch is connected to the base, and the second end is connected to the target lens via a fixed plate. Each attitude adjustment branch includes a fixed branch and two moving branches. The two moving branches are telescopically mounted on the base to change the tilt of the target lens relative to the base.

[0008] As an optional solution, all three attitude adjustment branches are provided with a first spherical hinge assembly, one of the motion branches is provided with a pivot shaft, and the other motion branch is provided with a second spherical hinge assembly.

[0009] As an optional embodiment, the two motion branches are respectively a first motion branch and a second motion branch. The fixed branch includes two first links, which are connected by a first spherical hinge assembly. The first motion branch includes three second links, which are connected sequentially by the first spherical hinge assembly and the pivot shaft. The second motion branch includes three third links, which are connected sequentially by the first spherical hinge assembly and the second spherical hinge assembly.

[0010] As an optional solution, the motion chain includes a power drive module and a ball screw mechanism, wherein the power drive module drives the motion chain to extend and retract through the ball screw mechanism.

[0011] As an optional solution, the three fixing plates are arranged in an equilateral triangle, with the center point of the equilateral triangle coinciding with the center point of the target lens.

[0012] As an optional solution, the motion chain is connected to the base or the ball screw mechanism via a connecting flange.

[0013] As an optional solution, the power drive module includes a housing and a worm gear reducer, a coupling, and a stepper motor located within the housing. The stepper motor and the worm gear reducer are connected by the coupling, and the worm gear reducer is connected by the ball screw mechanism.

[0014] As an optional solution, all three attitude adjustment branches are provided with a first spherical hinge assembly, and both of the motion branches are provided with a second spherical hinge assembly.

[0015] Secondly, this utility model also provides a splicing mirror optical intelligent adjustment system, including a number of target lenses and a number of the above-mentioned parallel attitude adjustment robots, wherein the fixing disk of the attitude adjustment branch is connected to the target lenses.

[0016] As an optional solution, an adjustment mechanism is also included, comprising a panel, a laser emitter, a camera, and a controller; the panel is fixedly mounted on the main body of the device; the laser emitter is mounted on the main body of the device and fixed relative to the target lens, and the laser emitter is used to emit light towards the light-incident surface of the target lens, the target lens being used to project the light onto the panel to form a light spot on the panel; the camera is fixedly mounted on the panel and is used to acquire an image of the panel; the controller is used to control the extension and retraction of the attitude adjustment branch and drive the target lens to move, thereby adjusting the attitude of the target lens.

[0017] As an alternative, when the target lens is a lens, the target lens is located between the laser emitter and the panel, and the camera is located on the side of the panel closer to the target lens.

[0018] As an optional solution, when the target lens is a reflector, the laser emitter and the panel are respectively located on the side of the light incident surface close to the target lens, and the camera is located on the side of the panel close to the target lens.

[0019] The beneficial effects of this utility model are:

[0020] The parallel orientation adjustment robot and the intelligent optical calibration system for splicing mirrors provided by this utility model can automatically adjust the orientation of the target lens in the target device, greatly reducing the difficulty of adjustment, saving time and effort, and can offset the light spot dispersion caused by different orientations of the target lens from the source. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This diagram illustrates the structure of the parallel attitude adjustment robot provided in Embodiment 1 of the present invention. Figure 1 ;

[0023] Figure 2 This diagram illustrates the structure of the parallel attitude adjustment robot provided in Embodiment 1 of the present invention. Figure 2 ;

[0024] Figure 3 This diagram illustrates another structural schematic of the three attitude adjustment branches of the parallel attitude adjustment robot provided in Embodiment 1 of this utility model.

[0025] Figure 4 This diagram shows a schematic of the power drive module of the parallel posture adjustment robot provided in Embodiment 1 of this utility model;

[0026] Figure 5 This diagram illustrates the structure of the intelligent optical calibration system for spliced ​​mirrors provided in Embodiment 2 of this utility model.

[0027] Figure 6 This invention provides a flowchart illustrating the calculation of the position of the center point of the optical spot in the intelligent optical calibration system for spliced ​​mirrors provided in Embodiment 2 of this invention.

[0028] Figure 7 A schematic diagram of the moving coordinate system and the static coordinate system provided in Embodiment 2 of this utility model is shown;

[0029] Figure 8 A schematic diagram showing the positional relationship between the target lens and the panel provided in Embodiment 2 of this utility model is shown;

[0030] Figure 9 Another schematic diagram showing the positional relationship between the target lens and the panel provided in Embodiment 2 of this utility model is shown;

[0031] Figure 10 The diagram shows a posture adjustment process of an adjustment mechanism provided in Embodiment 2 of this utility model.

[0032] icon:

[0033] 100-Target Lens;

[0034] 310 - Base; 311 - Fixed plate; 312 - Connecting flange; 313 - First spherical hinge assembly; 314 - Ball screw mechanism; 315 - Screw bushing; 317 - Bearing rotating pair; 318 - Second spherical hinge assembly; 319 - Pivot shaft;

[0035] 320 - Power drive module; 321 - Worm gear reducer; 322 - Coupling; 323 - Stepper motor; 324 - Housing. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0037] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the present invention. However, those skilled in the art will recognize that the technical solutions of the present invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., may be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the present invention.

[0038] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0039] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0040] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0041] Example 1:

[0042] Please refer to Figure 1 , Figure 2 As shown, Embodiment 1 of this utility model provides a parallel attitude adjustment robot for adjusting the attitude of the target lens 100 of the target device.

[0043] The parallel attitude adjustment robot mainly consists of a base 310 and three attitude adjustment branches. The base 310 is used to connect with the main body of the target device, and the three attitude adjustment branches are distributed in a triangle on the base 310 and are used to connect with the target lens 100.

[0044] The shape and structure of the base 310 are not limited, such as a block structure or a rectangular structure, and it mainly serves as a support. In this embodiment, the base 310 adopts a triangular structure.

[0045] Of the three attitude adjustment branches, one is a fixed branch, and the other two are motion branches. The two motion branches are defined as the first motion branch and the second motion branch, respectively.

[0046] Of course, in other embodiments, all three attitude adjustment branches can be motion branches.

[0047] Each attitude adjustment branch includes a fixed plate 311 and a first spherical hinge assembly 313. The fixed plate 311 and the first spherical hinge assembly 313 are connected to each other. The connection method between the two is not limited, such as welding, bonding, or connection through a connecting flange 312.

[0048] The shape of the fixing plate 311 is not limited, and it can be a round plate, a square plate, a triangular plate, etc. It is mainly used to connect with the target lens 100. The connection method between the fixing plate 311 and the target lens 100 is not limited, such as vacuum adsorption, bonding, etc.

[0049] The three attitude adjustment branches' fixing disks 311 are arranged in an equilateral triangle, with the center point of the equilateral triangle coinciding with the center point of the target lens 100. Of course, in other embodiments, the three fixing disks 311 can also be arranged in an isosceles triangle or a non-isosceles triangle.

[0050] In this embodiment, the first and second motion branches are retractably mounted on the base 310.

[0051] Specifically, in this embodiment, both the first and second motion chains include a ball screw mechanism 314, a power drive module 320, and a bearing rotary pair 317. The power drive module 320 drives the first and second motion chains to extend and retract via the ball screw mechanism 314.

[0052] The ball screw mechanism 314 mainly consists of a lead screw and a lead screw bushing 315. The lead screw can rotate around its own center line. The lead screw bushing 315 is sleeved on the lead screw. Furthermore, the lead screw and the base 310 or the lead screw and other structures slide together, so that when the lead screw rotates around its own center line, it can drive the lead screw bushing 315 to move along the axial direction of the lead screw.

[0053] The motion chain is connected to the ball screw mechanism 314, that is, the motion chain is connected to the lead screw sleeve 315 of the ball screw mechanism 314. The connection method is not limited, for example, the two can be connected through the connecting flange 312. Specifically, in this embodiment, the second link of the first motion chain is connected to the lead screw sleeve 315 of the corresponding ball screw mechanism 314, or the third link of the second motion chain is connected to the lead screw sleeve 315 of the corresponding ball screw mechanism 314. The first and second motion chains can also limit the lead screw sleeve 315. That is, because the second and third links cannot rotate around their own center line, the lead screw sleeve 315 can be restricted from rotating with the lead screw, so that the lead screw sleeve 315 can only move along the axial direction of the lead screw and cannot rotate with the lead screw.

[0054] In this embodiment, the first motion chain is rotatably mounted on the base 310 via a bearing rotary joint 317, and the second motion chain is connected to the base 310 via a fixed bushing. Of course, in other embodiments, the spherical hinges of the two motion chains can also be connected to the base 310 via fixed bushings. This arrangement allows the axis of the ball screw mechanism to shift to a certain extent, thus preventing motion interference between the three adjusting chains.

[0055] Furthermore, in some embodiments, the structure of the attitude adjustment chain and the connection method between the attitude adjustment chain and the base 310 or the target lens 100 can also adopt other solutions, for example: please combine Figure 3 As shown, the first motion chain is provided with a pivot shaft 319, and the second motion chain is provided with a second spherical hinge assembly 318.

[0056] Of course, in the above scheme, both the first and second motion chains are provided with the second spherical hinge assembly 318, or the second spherical hinge assembly 318 can be replaced with a universal joint, etc.

[0057] Specifically, the fixed branch includes two first links connected by a first spherical hinge assembly 313; the first moving branch includes three second links connected sequentially by the first spherical hinge assembly 313 and a pivot shaft 319; the second moving branch includes three third links connected sequentially by the first spherical hinge assembly 313 and a second spherical hinge assembly 318.

[0058] The structure of the first spherical hinge assembly 313 and the second spherical hinge assembly 318 can refer to the prior art. The first spherical hinge assembly 313 and the second spherical hinge assembly 318 are mainly divided into two parts that are hinged to each other.

[0059] In this system, the first link of the fixed branch is directly connected to the base 310, and the connection method is not limited, such as welding, connection with flange 312, etc.; one of the second links of the first moving branch is indirectly connected to the base 310, that is, the two are connected through ball screw mechanism 314, and the second link is connected to the corresponding screw bushing 315; one of the third links of the second moving branch is indirectly connected to the base 310, that is, the two are connected through ball screw mechanism 314, and the third link is connected to the corresponding screw bushing 315.

[0060] Two moving chains can move actively, and the fixed chain can move accordingly. Of course, when any one moving chain is actively adjusted, the other moving chain and the fixed chain can also move accordingly, thereby changing the tilt of the target lens 100 relative to the base 310. For example, assuming the target lens 100 is parallel to the base 310 in the initial state, when the first moving chain extends or retracts, the lengths of both ends of the first moving chain can be changed, and the second moving chain and the fixed chain move accordingly, thereby causing the target lens 100 to tilt appropriately.

[0061] The style of the power drive module 320 is not limited, as long as it can drive the ball screw mechanism 314 to rotate.

[0062] Please combine Figure 4 As shown, the power drive module 320 includes a housing 324 and a worm gear reducer 321, a coupling 322, and a stepper motor 323 located within the housing 324. The stepper motor 323 and the worm gear reducer 321 are connected via the coupling 322. The worm gear reducer 321 is connected to a ball screw mechanism 314. The input end of the worm gear reducer is fixedly connected to the coupling 322, and the output end of the worm gear reducer is coaxially fixedly connected to the lead screw of the ball screw mechanism 314. By adopting the above configuration, a large transmission ratio can be achieved, and a large output torque can be obtained while providing self-locking, effectively ensuring the stability of the target lens 100's attitude and avoiding disturbances in the target lens 100's attitude caused by its weight or external negative influences.

[0063] The working method of the parallel attitude-adjusting robot provided in this embodiment is as follows:

[0064] When it is necessary to adjust the attitude of the target lens 100, the extension and retraction of the two kinematic chains must first be calculated.

[0065] Then, one of the corresponding motion chains is controlled to work, and its stepper motor 323 works. The stepper motor 323 drives the worm gear reducer through the coupling 322. The worm gear reducer drives the lead screw to rotate, and the lead screw bushing 315 moves along the axial direction of the lead screw, so that the first spherical hinge assembly 313 and the fixed plate 311 extend or retract by a preset amount. During this process, another motion chain can work synchronously or follow the movement, and the fixed chain follows the movement.

[0066] To control the operation of another kinematic chain, the working steps are as described above.

[0067] After the orientation of the target lens 100 is adjusted, continue to check whether the adjustment is in place. If the adjustment is not in place, the above steps need to be repeated.

[0068] Example 2:

[0069] Please refer to Figure 5 As shown, Embodiment 2 of this utility model provides an intelligent optical calibration system for spliced ​​mirrors, which is mainly used for intelligent optical calibration of spliced ​​mirrors that form sub-mirrors of a telescope.

[0070] The composite mirror optical intelligent adjustment system includes an adjustment mechanism, several target lenses 100, and several parallel attitude adjustment robots as described above. The fixed disk 311 of the attitude adjustment branch is connected to the target lenses 100.

[0071] The design of the main body of the device and the target lens 100 is not limited and can refer to existing technologies, which will not be elaborated here. The structure of the parallel attitude adjustment robot can refer to the technical solution in Embodiment 1. The adjustment mechanism is mainly used to control the action of the parallel attitude adjustment robot, thereby realizing the adjustment of the attitude of the target lens 100.

[0072] Specifically, the calibration mechanism includes the panel, laser emitter camera, and controller.

[0073] The laser emitter is disposed on the main body of the device and fixed relative to the target lens 100. The laser emitter is used to emit light to the light-incident surface of the target lens 100, and the target lens 100 is used to project the light onto the panel to form a light spot on the panel.

[0074] The camera is fixedly mounted on the panel and is used to capture images of the panel.

[0075] The controller, connected to both the power drive assembly and the camera, receives images from the panel and controls the power drive assembly to move the target lens 100 based on these images, thereby adjusting the orientation of the target lens 100.

[0076] The controller stores spot reference point information. This spot reference information indicates the spot information of the light emitted by the laser emitter projected onto the panel when the target lens 100 is calibrated. The controller can obtain attitude adjustment information for the target lens 100 based on the spot reference information and the panel image, and control the power drive component to move the target lens 100 to adjust its attitude based on the attitude adjustment information.

[0077] By employing the aforementioned intelligent optical calibration system for spliced ​​mirrors, a laser beam is emitted towards the target lens 100 using a spot imaging acquisition component. When the target lens 100 projects the laser beam onto the panel, an image of the panel is acquired. Based on this panel image and preset spot reference information, the controller can very accurately calculate the attitude error of the target lens 100. This enables high-precision adjustment of the position and angle of the target lens 100 according to the attitude error, and the adjustment process requires no manual intervention, reducing the possibility of human error and improving work efficiency.

[0078] Furthermore, the aforementioned intelligent optical calibration system for splicing mirrors can be applied to various application scenarios requiring precise positioning and attitude control, such as optical instruments, precision measuring equipment, and medical equipment, demonstrating excellent versatility and scalability.

[0079] With the above settings, a large transmission ratio can be achieved while providing self-locking, effectively ensuring the stability of the target lens 100's attitude and avoiding disturbances in the attitude of the target lens 100 caused by the weight of the target lens 100 or external negative influences.

[0080] In one possible implementation, if the target lens 100 is a lens, the target lens 100 is located between the laser emitter and the panel, and the camera is located on the side of the panel closer to the target lens 100.

[0081] In another possible implementation, if the target lens 100 is a reflector, the laser emitter and the panel are located on the side of the light incident surface close to the target lens 100, and the camera is located on the side of the panel close to the target lens 100.

[0082] The target equipment can be large astronomical telescopes, laser measurement equipment, and other high-precision opto-mechatronic devices. These devices can be applied in the medical field, industrial field, etc.

[0083] In one possible embodiment of this utility model, the target device is a composite mirror telescope, and the target lens 100 is a telescope sub-lens. In this case, the target lens 100 is a reflector.

[0084] The controller can be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 410 can integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. Configuration can be made according to actual requirements.

[0085] When the controller obtains attitude adjustment information for the target lens 100 based on the light spot reference information and the panel image, it can specifically perform image recognition on the panel image to obtain light spot recognition information. The attitude adjustment information for the target lens 100 is obtained based on the light spot reference information and the light spot recognition information.

[0086] The spot recognition information may include the location of the spot's center point. It may also include the spot's size and shape.

[0087] Specifically, when the controller performs image recognition on the panel image to obtain spot recognition information, it can preprocess the image using classic image processing methods such as threshold segmentation and edge detection. The preprocessed image can then be fitted with the center of a circle using contour analysis or least squares to determine the location of the spot's center point. Alternatively, a spot recognition model can be used to identify spots on the panel image, obtaining spot information including the location of the spot's target point. The spot recognition model is trained based on multiple training samples, which include sample spot images and corresponding sample labels indicating the location of the sample spot's target point.

[0088] The aforementioned attitude adjustment information may include the target lens 100 in the world coordinate system (X). W ,Y W Z W The rotation angle under X, (θ,φ,ψ), where θ (around X) W (Axis rotation): This indicates that the target lens 100 rotates around its center of mass and is aligned with the world coordinate system X. W The angle of rotation of the axes that coincide; (around Y) W (Axis rotation): This indicates that the target lens 100 rotates around its center of mass and is aligned with the world coordinate system Y. W The angle of rotation of the axes coinciding with each other; ψ (around Z) W (Axis rotation): This indicates that the target lens 100 rotates around its center of mass and is aligned with the world coordinate system Z. WThe angle of rotation of the axes that coincide.

[0089] The aforementioned attitude adjustment information may also include the target lens 100's position in the world coordinate system (X... W ,Y W Z W The distances that need to be moved in three directions.

[0090] For example, taking the three attitude adjustment branches of this invention as having equal distances from their connection points to the target lens 100 to the center point of the target lens 100, and the distances between the connection points of every two attitude adjustment branches and the target lens 100 as equal, and the power drive assembly also including a base 310, which is fixedly mounted on the main body of the device, with the first ends of the attitude adjustment branches respectively fixedly mounted on the base 310, and the target lens 100 specifically being a reflective lens, specifically used to reflect the light emitted by the laser emitter onto the panel to form a light spot, as an example:

[0091] Among them, such as Figure 6 As shown, before adjusting the mirror attitude, camera calibration is performed first, based on the world coordinate system (X). W ,Y W Z W ) and camera coordinate system (X) C ,Y C Z C The relationship between ) and the camera coordinate system (X) C ,Y C Z C The relationship between the image coordinate system (x, y) and the pixel coordinate system (u, v) is used to establish the world coordinate system (X). W ,Y W Z W The transformation relationship between the pixel coordinate system (u,v) and the pixel coordinate system is determined to complete the camera calibration. Subsequently, the panel image acquired by the camera is uploaded to the controller and preprocessed, binarized and filtered in sequence. Finally, the position coordinates S(x0,y0) of the center point of the light spot in the panel image in the pixel coordinate system and the coordinates in the world coordinate system are calculated by the least squares circle fitting method.

[0092] Please see Figure 7If the three attitude adjustment branches include a first attitude adjustment branch, a second attitude adjustment branch, and a third attitude adjustment branch, and a static coordinate system (X, Y, Z) is established with the connection position of the first attitude adjustment branch and the base 310 as the origin, and a dynamic coordinate system (x, y, z) is established with the connection position of the first attitude adjustment branch and the target lens 100 as the origin, and the distance between any two connection positions of the attitude adjustment branches and the target lens 100 is equal and r, and the distance between any two connection positions of the attitude adjustment branches and the base 310 is also equal and R, that is, r = R. In this case, the connection positions of the first attitude adjustment branch, the second attitude adjustment branch, and the third attitude adjustment branch with the base 310 are B1, B2, and B3, respectively, where:

[0093]

[0094] The unit vector n of the rotation axis of the revolute joint R =[0,1,0] T The pose of the moving platform is represented using Euler angles:

[0095] R = R X (α)R Y (β)R Z (γ). Wherein, α, β and γ are the attitude angles of the moving platform expressed in Euler angles, where α is the angle of clockwise rotation about the x-axis of the moving coordinate system, β is the angle of clockwise rotation about the y-axis of the moving coordinate system, and γ is the angle of clockwise rotation about the z-axis of the moving coordinate system.

[0096] The origin of the moving platform's coordinates can be represented using a static coordinate system as: O = [l1sinα, 0, l1cosα] T In the moving coordinate system, the connection positions of each drive telescopic rod and the target lens 100 are represented as follows:

[0097] In a static coordinate system, the controller can utilize formula b. i =Rb′ i +p, (i=1,2,3), then obtain the parametric expressions of the connection positions b1, b2, b3 between the target lens 100 and each drive telescopic rod in the static coordinate system. Three constraint equations are established using the closed-loop vector method: |b1B1|=S2+l1, |b3B3|=S3 (S2 and S3 are constants). Since the rotation axis of the revolute joint is perpendicular to b3B3, Rcosβsinγ=0. When l1 is constant, from the inverse kinematics: given α and β, l2 and l3 can be obtained. That is, the final heights of the second and third attitude adjustment branches.

[0098] Subsequently, if the target lens 100 is initially parallel to the light spot panel, assume that a ray emitted from the center of the target lens 100 travels a distance d to the perpendicular panel. Establish a Cartesian coordinate system (x1, y1) and a polar coordinate system (ρ, γ) (ρ≥0) on the panel. At this point, we have x1=ρcosγ, y1=ρsinγ, x1 2 +y1 2 =ρ 2 By establishing optical geometric relationships, the mirror attitude deflection angle is θ, where: φ = π - γ; at this time, as Figure 8 As shown, the orientation of the target lens 100 can be expressed by φ and θ. According to the inverse kinematics algorithm, the orientation of the target lens 100, i.e., the mirror orientation of the target lens 100, can be represented by vector M: At this point, a mapping relationship can be established between (α, β) and (θ, φ).

[0099] Then we can find α = arctan(cosφtanθ).

[0100] Subsequently, a mapping relationship is established between the position coordinates (ρ, γ) of the light spot and the Euler angles (α, β).

[0101] Thus, the orientation of the target lens 100 is determined based on the position of the midline point of the light spot in the light spot image.

[0102] It is worth mentioning that, in real-world scenarios, the initial orientation of the target lens 100 is not parallel to the light spot panel, such as... Figure 9 L represents the horizontal distance between the coordinate plane parallel to the panel in the static coordinate system and the center point of the panel. The initial orientation of the target lens 100 is known, i.e., the center point of the target lens 100 points towards the center of the panel and is parallel to the world coordinate system X. W The axis is at an angle σ, relative to the world coordinate system Y. W The angle between the axes is φ. First, adjust the orientation of the target lens 100 to make it parallel to the panel. Calculate the position of the pointing spot S(x0,y0) on the panel. At this time, θ′=σ (θ′ is the angle between the adjusted target lens 100's mirror pointing direction and the initial target lens 100's mirror pointing direction), x0=H sinσcosφ′, y0=H sinσsinφ′ (φ′ is the line connecting the adjusted target lens 100's mirror pointing point S(x0′,y0′) and the initial target lens 100's mirror pointing point S(x0,y0), and the line connecting the two points in the world coordinate system Y. WThe angle between the axes is given by H, where H is the distance between the center point of the target lens 100 and the center point of the light spot. Then, an x′-y′ coordinate system is established with S(x0,y0) as the origin. The coordinates of the light spot center point defined by the x′-y′ coordinate system can then be used as input parameters to calculate the attitude of the target lens 100.

[0103] Please see Figure 10 During the specific calibration, the controller first obtains the reference center point (x0, y0) from the σ, H and spot reference information of the target lens 100. Then, it adjusts the second and third drive telescopic rods to adjust the attitude of the target lens 100 so that it is parallel to the panel. After calibration based on the above telescopic length, the updated reference center point (x0′, y0′) is obtained. The specific extension lengths (l2′, l3′) of the second and third drive extension rods are calculated by analyzing the mirror attitude based on the panel image and combining it with the inverse kinematics algorithm. The controller sends corresponding instructions to adjust the lengths of the two kinematic branches and records the adjusted mirror attitude (θ, φ) of the target lens 100. Then, it is determined whether the center point (x1′, y1′) of the light spot in the panel image has moved to the reference center point (x0′, y0′). If the center point of the light spot in the panel image has not moved to the reference center point (x0′, y0′), the mirror attitude (θ, φ) of the target lens 100 at this time is returned, and the error value of the light spot center point is calculated based on the center point (x1′, y1′) of the light spot in the panel image and the updated reference center point (x0′, y0′). The controller receives the center point error value s of the light spot, and combines s with (θ, The specific extension lengths of the second and third drive extension rods when the mirror attitude of the target lens 100 is parallel to the light spot panel are corrected and adjusted. The mirror attitude adjustment is repeated until the reflected light moves to the position in the light spot reference information, and the adjustment is completed.

[0104] Example 3:

[0105] Embodiment 3 of the present invention also provides a target device, which includes a target lens 100 and a composite mirror optical intelligent adjustment system as described above.

[0106] The target equipment can be a large astronomical telescope, laser measurement equipment, or other high-precision opto-mechatronics integrated equipment.

[0107] In one embodiment of this utility model, the target device includes a telescope, and the target lens 100 includes a telescope sub-lens, which is a reflector.

[0108] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A parallel pose adjustment robot for adjusting a pose of a target lens, characterized by, The parallel posture adjusting robot comprises a base and three posture adjusting chains in a triangular distribution, the first ends of the posture adjusting chains are connected with the base, the second ends are connected with target lenses through fixing discs, the posture adjusting chains comprise a fixed chain and two movable chains, the two movable chains are arranged in the base to change the inclination of the target lenses relative to the base.

2. The parallel pose adjustment robot according to claim 1, characterized in that, The three posture adjusting chains are provided with first spherical hinge assemblies, one of the movable chains is provided with a pivot shaft, and the other movable chain is provided with a second spherical hinge assembly.

3. The parallel pose-benching robot according to claim 2, characterized in that, The two movable chains are a first movable chain and a second movable chain, the fixed chain comprises two first connecting rods connected through the first spherical hinge assembly, the first movable chain comprises three second connecting rods connected through the first spherical hinge assembly and the pivot shaft in sequence, and the second movable chain comprises three third connecting rods connected through the second spherical hinge assembly in sequence.

4. The parallel pose-benching robot of claim 1, wherein, The movable chains further comprise a power driving module and a ball screw mechanism, the power driving module drives the movable chains to stretch and retract through the ball screw mechanism.

5. The parallel alignment robot of claim 4, wherein, The power driving module comprises a shell, a worm gear reducer, a shaft coupling and a stepping motor in the shell, the stepping motor and the worm gear reducer are drivingly connected through the shaft coupling, and the worm gear reducer is drivingly connected with the ball screw mechanism.

6. The parallel pose-bottling robot of claim 1, wherein, The three posture adjusting chains are provided with first spherical hinge assemblies, and the two movable chains are provided with second spherical hinge assemblies.

7. The parallel pose-bottling robot of claim 1, wherein, The three fixing discs are in an equilateral triangle distribution, and the center point of the equilateral triangle coincides with the center point of the target lens.

8. A split mirror optical smart tuning system, characterized in that, The parallel posture adjusting robot comprises a base and three posture adjusting chains in a triangular distribution, the first ends of the posture adjusting chains are connected with the base, the second ends are connected with target lenses through fixing discs, the posture adjusting chains comprise a fixed chain and two movable chains, the two movable chains are arranged in the base to change the inclination of the target lenses relative to the base.

9. The split-field mirror optical intelligent tuning system of claim 8, wherein, The three posture adjusting chains are provided with first spherical hinge assemblies, one of the movable chains is provided with a pivot shaft, and the other movable chain is provided with a second spherical hinge assembly.

10. The split-field mirror optical intelligent tuning system of claim 9, wherein, The two movable chains are a first movable chain and a second movable chain, the fixed chain comprises two first connecting rods connected through the first spherical hinge assembly, the first movable chain comprises three second connecting rods connected through the first spherical hinge assembly and the pivot shaft in sequence, and the second movable chain comprises three third connecting rods connected through the second spherical hinge assembly in sequence. The movable chains further comprise a power driving module and a ball screw mechanism, the power driving module drives the movable chains to stretch and retract through the ball screw mechanism. The power driving module comprises a shell, a worm gear reducer, a shaft coupling and a stepping motor in the shell, the stepping motor and the worm gear reducer are drivingly connected through the shaft coupling, and the worm gear reducer is drivingly connected with the ball screw mechanism. The three posture adjusting chains are provided with first spherical hinge assemblies, and the two movable chains are provided with second spherical hinge assemblies. The three fixing discs are in an equilateral triangle distribution, and the center point of the equilateral triangle coincides with the center point of the target lens. The parallel posture adjusting robot comprises a base and three posture adjusting chains in a triangular distribution, the first ends of the posture adjusting chains are connected with the base, the second ends are connected with target lenses through fixing discs, the posture adjusting chains comprise a fixed chain and two movable chains, the two movable chains are arranged in the base to change the inclination of the target lenses relative to the base. The parallel posture adjusting robot comprises a base and three posture adjusting chains in a triangular distribution, the first ends of the posture adjusting chains are connected with the base, the second ends are connected with target lenses through fixing discs, the posture adjusting chains comprise a fixed chain and two movable chains, the two movable chains are arranged in the base to change the inclination of the target lenses relative to the base. When the target lens is a lens, the target lens is located between the laser emitter and the panel, and the camera is located on the side of the panel close to the target lens; when the target lens is a mirror, the laser emitter and the panel are located on the side close to the light incident surface of the target lens, and the camera is located on the side of the panel close to the target lens.

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