JP3826065B2

JP3826065B2 - Radio telescope receiver displacement measurement method, radio telescope receiver position measurement method, and radio telescope receiver drive mechanism

Info

Publication number: JP3826065B2
Application number: JP2002111121A
Authority: JP
Inventors: 淳治高木
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2002-04-12
Filing date: 2002-04-12
Publication date: 2006-09-27
Anticipated expiration: 2022-04-12
Also published as: JP2003307416A

Description

【０００１】
【発明の属する技術分野】
本発明は、電波望遠鏡受信機の変位測定方法、電波望遠鏡受信機の位置測定方法及び電波望遠鏡の受信機駆動機構に係り、さらに詳しくは、望遠鏡の姿勢変化や受信機駆動機構内で受信機の移動が行われる電波望遠鏡において受信機の変位、位置を測定するための測定方法および当該測定を行うことができる電波望遠鏡の受信機駆動機構に関する。
【０００２】
【従来の技術】
図４は、従来の電波望遠鏡の受信機駆動機構の概略構成を示した斜視図である。図中の１は測定基準面、２は受信機台、３は受信機取付部、４は駆動ジャッキ、５は測定系回転方向、６は望遠鏡回転方向、７は測定機器取付部、８は測定機器取付ベース、９は測定機器取付サポート、１０は被測定物、１１は測定距離、１２ａ〜１２ｃ及び１３ａ〜１３ｃは受信機台２の移動方向、１７は３次元カメラ測定システムである。
【０００３】
電波望遠鏡の受信機は、受信機台２の受信機取付部３に取り付けられており、受信機の位置は受信機台２の位置によって決まる。また、受信機台２は、測定基準面１に設置された６本の駆動ジャッキ４により支持されている。このため、測定基準面１に対する受信機の位置は、６本の駆動ジャッキ４により１２ａ〜１２ｃの方向に平行移動させることができ（自由度３）、１３ａ〜１３ｃの方向に回転させることができる（自由度３）。すなわち、受信機台２は指令値に応じて合計６自由度で駆動され受信機駆動機構内で移動、回転する。
【０００４】
図示された受信機駆動機構は、環状の測定基準面１上に構成されている。つまり、受信機駆動機構は、環状面を有する支持基体上に支持されており、受信機駆動機構の基準となる当該支持基体の取付面が測定基準面１である。支持基体は、更に他の系に取り付けられており、望遠鏡の姿勢に応じて測定系回転方向５及び望遠鏡回転方向６に回転駆動される。従って、これに伴って受信機駆動機構全体が回転駆動されることになる。ここで、測定系回転方向５は、環状の測定基準面１の中心軸に関する回転方向であり、望遠鏡回転方向６は、測定基準面に平行な軸に関する回転方向である。
【０００５】
３次元カメラ測定システム１７は、受信機取付部３に取り付けられた測定用のターゲットを様々な角度から撮影し、測定基準面１に対する受信機台２の３次元座標を求めるためのものである。この３次元カメラ測定システム１７を用いれば、受信機の位置を絶対３次元座標として測定することができる。
【０００６】
また、測定機器取付部７には、接触式の変位計（ダイヤルゲージなど）が取り付けられ、受信機台２に取り付けられた被測定物１０との距離１１の変位を測定している。また、測定機器取付部７は、測定機器取付ベース８に取り付けられ、測定機器取付ベース８は、６本の測定機器取付サポート９を介して測定基準面１上で支持されている。
【０００７】
変位計を用いて距離１１を測定することにより、方向１２ａに関する受信機台２の変位を測定することができる。また、被測定物１０の形状や取付位置、変位計取付位置などを異ならせることによって、残る２つの方向１２ｂ，１２ｃに関する受信機台２の変位も測定することができる。このため、当該変位計を用いて測定基準面１に対する受信機台２の変位を測定することができ、受信機駆動機構内の受信機台２の移動や、受信機駆動機構の方向５，６への回転により生ずる変形を測定することができる。
【０００８】
３次元カメラ測定システム１７による３次元座標の測定は、人により多数の角度から撮影を行う必要から時間がかかり、望遠鏡機器室の内部にある受信機について望遠鏡の姿勢が変わるごとに、その位置、変位の測定を行うことは非常に困難である。このため、３次元カメラ測定システム１７により受信機の３次元座標を予め測定するとともに、その後は、この３次元座標に変位計の測定結果を加えることにより、受信機台２の３次元座標が決定される。
【０００９】
【発明が解決しようとする課題】
従来の受信機駆動機構は、上述したとおり、測定基準面１に対する受信機の位置を測定するための３次元カメラ測定システム１７及び変位計を備えた測定系として構成されているため、次の様な種々の問題が生じていた。
【００１０】
まず、変位計により被測定物１０との距離１１を測定し、受信機台２の変位を測定しているため、駆動ジャッキ４により受信機台２を移動させた場合、被測定物１０の形状や取付位置、変位計の種類や取付位置などを変更する必要があるという問題があった。また、受信機台２を移動できる範囲は、受信機台２や被測定物１０が測定機器取付部７と干渉しない範囲に限定されるという問題があった。また、変位計により同時に測定できるのは、方向１２ａ，１２ｂ，１２ｃのいずれかのみであるという問題があった。
【００１１】
また、測定機器取付部７、測定機器取付ベース８、測定機器取付サポート９などが変形することにより生ずる誤差が大きいという問題があった。特に、望遠鏡の姿勢変化により測定系が方向５，６に回転駆動され、重力で変形することによる誤差や温度などの環境変化による誤差が、要求精度に対して無視できないという問題があった。
【００１２】
また、３次元カメラ測定システム１７は、任意の形状からなる測定対象の任意の位置を測定できる方法が採用され、１つの測定には相当の時間を要する。また、測定対象である受信機が姿勢変化する望遠鏡機器室内にあり、３次元カメラ測定システム１７を適用するのは非常に困難であった。このため、３次元カメラ測定システム１７により望遠鏡の姿勢変化に伴う受信機の位置、変位を測定することはできないという問題があった。
【００１３】
本発明は、上記の事情に鑑みてなされたものであり、望遠鏡の姿勢変化による受信機駆動系の変形を高精度かつ短時間で測定することができる電波望遠鏡受信機の位置測定方法を提供することを目的とする。また、望遠鏡の姿勢変化後における受信機の３次元位置を精度よく求めることができる電波望遠鏡受信機の位置測定方法を提供することを目的とする。
【００１４】
また、望遠鏡の姿勢変化による受信機駆動系の変形を高精度かつ短時間で測定することができる電波望遠鏡の受信機駆動機構を提供することを目的とする。また、望遠鏡の姿勢変化後における受信機の３次元位置を精度よく求めることができる電波望遠鏡の受信機駆動機構を提供することを目的とする。さらに、測定基準面の変形による２次元センサの測定誤差を低減することができる電波望遠鏡の受信機駆動機構を提供することを目的とする。また、２次元センサのレンズの微小な変形やレンズ構造のガタにより生ずる測定誤差を抑制することができる２次元センサを備えた電波望遠鏡の受信機駆動機構を提供することを目的とする。
【００１５】
【課題を解決するための手段】
請求項１に記載の本発明による電波望遠鏡受信機の変位測定方法は、受信機を取り付ける受信機台が測定基準面上に駆動ジャッキを介して取り付けられた受信機駆動機構を有するとともに、測定基準面を駆動する電波望遠鏡における受信機の変位測定方法であって、測定基準面上に取り付けられた２次元センサにより受信機台に設けられた被測定部を非接触で測定し、測定基準面に対する受信機の２次元変位を求める。
【００１６】
請求項２に記載の本発明による電波望遠鏡受信機の変位測定方法は、２次元センサを用いて受信機台に設けられた２以上の被測定物の変位を測定し、測定基準面に対する受信機の回転量を求める。
【００１７】
請求項３に記載の本発明による電波望遠鏡受信機の位置測定方法は、受信機を取り付ける受信機台が測定基準面上に駆動ジャッキを介して取り付けられた受信機駆動機構を有するとともに、測定基準面を駆動する電波望遠鏡における受信機の位置測定方法であって、受信機の位置を３次元座標として測定する３次元測定ステップと、測定基準面上に取り付けられた２次元センサにより、受信機台に設けられた被測定部を非接触で測定し、３次元測定ステップにおける測定後の測定基準面に対する受信機の２次元変位を求める２次元測定ステップと、３次元測定ステップの測定結果及び２次元測定ステップの測定結果に基づいて、受信機の位置を求めるステップからなる。
【００１９】
請求項４に記載の本発明による電波望遠鏡受信機の位置測定方法は、２次元測定ステップが、２次元センサを用いて受信機台に設けられた２以上の被測定物の変位を測定し、受信機の回転量を求める。
【００２０】
請求項５に記載の本発明による電波望遠鏡の受信機駆動機構は、測定基準面上に駆動ジャッキを介して取り付けられた受信機台と、受信機台に取り付けられた受信機と、受信機台に設けられた被測定部と、測定基準面上に取り付けられ、測定基準面に対する被測定部の２次元変位を非接触で測定する２次元センサとを備え、測定基準面に対する受信機の２次元変位を測定するように構成される。
【００２１】
請求項６に記載の本発明による電波望遠鏡の受信機駆動機構は、測定基準面上に駆動ジャッキを介して取り付けられた受信機台と、受信機台に取り付けられた受信機と、カメラ撮影により受信機の位置を３次元座標として測定する３次元測定用カメラと、測定基準面に対する受信機の２次元変位を測定する２次元センサとを備え、上記受信機台には、２次元センサの被測定部が設けられ、上記２次元センサは、測定基準面上に取り付けられ、被測定部を非接触で測定するように構成される。
【００２２】
請求項７に記載の本発明による電波望遠鏡の受信機駆動機構は、上記２次元センサは、センサ取付部材を介して測定基準面上に取り付けられるように構成される。
【００２３】
請求項８に記載の本発明による電波望遠鏡の受信機駆動機構は、センサ取付部材が、測定基準面上に支持されたサポートリングと、サポートリングに取り付けられサポートリングを横断するリング連結アームと、サポートリングに接触することなく一端がリング連結アームの中央部に取り付けられたセンサ支持アームからなり、２次元センサが、センサ支持アームの他端側に取り付けられる。
【００２４】
請求項９に記載の本発明による電波望遠鏡の受信機駆動機構は、サポートリングが、２以上のセンサ取付サポートを介して測定基準面上に支持される。
【００２５】
請求項１０に記載の本発明による電波望遠鏡の受信機駆動機構は、２次元センサが、円筒形状のレンズ支持構造体内にレンズ鏡筒とともに収納され、レンズ鏡筒は、２次元センサに取り付けられるとともに、レンズ支持構造体の円形断面上で支持ネジにより支持される。
【００２６】
【発明の実施の形態】
図１は、本発明による電波望遠鏡の受信機駆動機構の概略構成を示した斜視図である。図中の１は測定基準面、２は受信機台、３は受信機取付部、４は駆動ジャッキ、５は測定系回転方向、６は望遠鏡回転方向、１２ａ〜１２ｃ及び１３ａ〜１３ｃは受信機台２の移動方向、１４はセンサ取付サポート、１６は２次元センサ、１７は３次元カメラ測定システムである。
【００２７】
電波望遠鏡の受信機は、受信機台２の受信機取付部３に取り付けられ、受信機台２は、環状の測定基準面１に設置された６本の駆動ジャッキ４により支持されている。このため、測定基準面１に対する受信機の位置は、指令値に応じて駆動ジャッキ４により１２ａ〜１２ｃの方向に平行移動させることができ、１３ａ〜１３ｃの方向に回転させることができる。
【００２８】
また、図示された受信機駆動機構は、環状面を有する支持基体上に支持されており、受信機駆動機構の基準となる当該支持基体の取付面が測定基準面１である。支持基体は、更に他の系に取り付けられており、望遠鏡の姿勢に応じて測定系回転方向５及び望遠鏡回転方向６に回転駆動される。従って、これに伴って受信機駆動機構全体が回転駆動されることになる。
【００２９】
３次元カメラ測定システム１７は、従来の装置と同様、受信機取付部３に取り付けられたターゲットを様々な角度から撮影し、測定基準面１に対する受信機台２の３次元座標を求めるためのものである。この３次元カメラ測定システム１７を用いれば、受信機の位置を絶対３次元座標として測定することができる。
【００３０】
２次元センサ１６は、センサ取付部材（センサ取付サポート１４など）を介して測定基準面１に取り付けられ、受信機台２の下方（測定基準面１側）に設置されている。また、受信機台２の裏面（下面）には、発光体（例えばＬＥＤ）などを用いた２次元センサの被測定物（不図示）が取り付けられている。２次元センサ１６は、被測定物の平面内における変位（２次元変位）を非接触で測定している。受信機台２が測定基準面１に対し変位すれば、それにともなって被測定物も変位するため、被測定物の変位を測定することにより、測定基準面に対する受信機の変位を測定することができる。
【００３１】
ここで、２次元センサ１６が、受信機台２に設けられた被測定物を非接触で測定することによって、従来の受信機駆動機構のように、受信機台２の近くに接触式の変位計を取り付けるための測定機器取付部７を必要とせず、受信機台２の移動範囲を制限することがない。また、接触式の変位計を用いる場合のように、受信機台の移動によって、被測定物の形状や取付位置、変位計の種類や取付位置などを変更する必要がなくなる。
【００３２】
図２は、図１の受信機駆動機構から受信機台２及び駆動ジャッキ４を除外して示した図である。図中の１は測定基準面、１６は２次元センサ、１４はセンサ取付サポート、２４はセンサ支持アーム、２５はサポートリング、２６はリング連結アームである。なお、センサ取付部材は、センサ取付サポート１４、センサ支持アーム２４、サポートリング２５及びリング連結アーム２６により構成される。
【００３３】
４本のセンサ取付サポート１４は、測定基準面１上に概ね等間隔となるように設置されている。これら４本のセンサ取付サポート１４により、１つのサポートリング２５が支持され、サポートリング２５が受信機台２の下方に設置される。このサポートリング２５は環状形状、例えば８角形の環状形状として構成されている。
【００３４】
サポートリング２５には、サポートリング２５の中心部を通ってサポートリング２５を横断させるようにリング連結アーム２６が取り付けられており、リング連結アーム２６の両端をサポートリング２５が支持している。
【００３５】
リング連結アーム２６の中央部には、リング連結アーム２６に直交するように２本のセンサ支持アーム２４が取り付けられ、センサ支持アーム２４の一端をリング連結アーム２６が支持している。センサ支持アーム２４は、サポートリングに接触しないように隙間をあけて設置され、他端側（リング連結アーム２６とは反対側）に２次元センサ１６が取り付けられている。
【００３６】
この様にして、受信機台２を測定基準面１に取り付ける際、２以上（望ましくは３以上）のセンサ取付サポート１４を介して取り付けて、センサ取付部材を多足構造とすることにより、測定系回転方向５へ回転する際に測定基準面１に生ずる微小な変形が２次元センサ１６による測定に与える影響を小さくし、２次元センサ１６の測定精度を向上させることができる。
【００３７】
また、センサ支持アーム２４が、サポートリング２５に接触しないよう離れて配置されることにより、測定基準面１が変形してもその影響をセンサ支持アーム２４が直接受けることがなく、２次元センサ１６による測定に与える影響を小さくし、２次元センサ１６の測定精度を向上させることができる。
【００３８】
また、サポートリング２５を横断するようにリング連結アーム２６を取り付け、その中央部にセンサ支持アーム２４を取り付けているため、測定基準面１の変形がセンサ支持アーム２４に与える影響を小さくすることができ、２次元センサ１６による測定に与える影響を小さくし、２次元センサ１６の測定精度を向上させることができる。
【００３９】
図３は、図１の２次元センサの詳細構成を示した図である。図中の１６は２次元センサ、１８はレンズ鏡筒、１９はレンズ支持構造体、２０は支持ネジ、２１はアーム取付部、２２はアイリス調整窓、２３はアイリス調整部である。
【００４０】
レンズ支持構造体１９は、円筒形状からなり、その内部にレンズ鏡筒１８及び２次元センサ１６が収められている。２次元センサ１６はレンズ支持構造体１９に取り付けられ、２次元センサ１６にレンズ鏡筒１８が取り付けられている。また、レンズ支持構造体１９には４本の支持ネジ２０が設けられており、支持ネジ２０はレンズ支持構造体１９内部において中心側へ向けて螺入され、レンズ鏡筒１８に締結力を加えながら支持している。
【００４１】
また、レンズ鏡筒１８には、アイリス調整部２３が設けられており、レンズ支持構造体１９の外部からアイリス調整部２３にアクセスできるように、レンズ支持構造体１９には、アイリス調整部２３に相当する部分にアイリス調整窓２２が設けてある。
【００４２】
レンズ鏡筒１８は、２次元センサ１６を介してレンズ支持構造体１９に取り付けられるだけでなく、支持ネジ２０によってレンズ支持構造体の円形断面上で支持されている。このため、レンズ支持構造体１９の分だけ剛性が増して変形しにくくなる。また、締め付けにより、レンズ鏡筒１８のガタも抑制することができる。このため、レンズの微小な変形やレンズ構造のガタによって生ずる誤差を抑制し、２次元センサ１６の測定精度を向上させることができる。
【００４３】
次に、本発明による電波望遠鏡受信機の位置測定方法について説明する。まず、受信機台２の受信機取付部３には３次元位置測定用のターゲットが取り付けられる。そして、ある指令値に従って、受信機駆動機構内で駆動ジャッキ４により受信機台２が移動し、受信機台２が指令値に応じた所定の位置にある状態とする。この状態において、３次元カメラ測定システム１７を用いて、ターゲットをカメラ撮影してターゲットの３次元座標を求めて、指令値に対応する受信機台２の位置、姿勢を決定する。
【００４４】
ついで、指令値を異ならせて、受信機台２を受信機駆動機構内で移動させ、受信機台２を異なる位置に移動させた状態で、３次元カメラ測定システム１７を用いてターゲットの３次元座標を求め、当該指令値に対応する受信機台２の位置、姿勢を決定する。この作業を必要回数分だけ行って、受信機台２の各指令値に対応する位置を決定する。
【００４５】
その後、指令値を一定にして、受信機駆動機構を測定系回転方向５及び望遠鏡回転方向６に回転させる。このときの受信機台２の変位を２次元センサ１６を用いて測定する。すなわち、駆動ジャッキ４による受信機台２の移動を行うことなく、受信機駆動機構全体を回転駆動させ、回転駆動にともなって生ずる変位を測定する。
【００４６】
このとき、図１の受信機駆動機構の場合であれば、２次元センサ１６が１２ａ，１２ｃ方向の変位を測定することができる。また、２以上の被測定物を同一の受信機台２の下面の異なる位置に取り付け、各被測定物の変位を測定すれば、これらの変位量に基づいて、２次元センサ１６により測定可能な平面上の回転量（１３ｂ方向の回転量）を測定することができる。なお、受信機駆動機構は、測定しようとする２次元平面に垂直な方向１２ｂには、測定物がほとんど変形しないような構造となっている。
【００４７】
測定系回転方向５及び望遠鏡回転方向６への回転駆動後における受信機台２の測定基準面１に対する３次元座標は、３次元カメラ測定システム１７により回転駆動前の状態における受信機台２の３次元座標を測定しておけば、この３次元座標に２次元センサによる回転駆動後の変位量を加算することによって求められる。
【００４８】
つまり、所定の受信機の位置（参照点）の測定基準面に対する３次元座標を測定するとともに、測定基準面に対する当該参照点からの変位を２次元測定することにより、望遠鏡の姿勢変化後における受信機の３次元位置を高精度かつ短時間で測定することができる。また、短時間で測定できることにより、温度などの環境変化による測定誤差を抑制できるので、さらに高精度で測定することができる。
【００４９】
なお、受信機台２に取付けた被測定物１５を他の構造物に取付けることにより、その構造物の２次元センサー１６に対する変位が測定可能になる。また、二次元センサー１２を測定基準面１から別の位置に設置することで別の軸の変位も測定することが可能となる。
【００５０】
【発明の効果】
本発明による電波望遠鏡受信機の位置測定方法は、２次元センサにより受信機台に設けられた被測定部を非接触で測定し、測定基準面に対する受信機の２次元変位を求めている。このため、望遠鏡の姿勢変化あるいは受信機の移動による受信機の変位を高精度で求めることができる。また、短時間で求めることができる。また、受信機台の移動範囲の制限を緩和し、受信機台の移動により被測定物の取付位置などを変更する必要がない。
【００５１】
本発明による電波望遠鏡受信機の位置測定方法は、受信機の位置を３次元座標として測定した後、受信機の変位を２次元変位として測定し、これらの測定結果に基づいて受信機の位置を求めている。このため、望遠鏡の姿勢変化後あるいは受信機の移動後でも高精度で受信機の位置を求めることができる。また、短時間で求めることができる。
【００５２】
また、本発明による電波望遠鏡の受信機駆動機構は、受信機台に設けられた被測定部と、測定基準面上に取り付けられ、被測定部の２次元変位を非接触で測定する２次元センサとを備え、望遠鏡の姿勢変化あるいは受信機の移動による測定基準面に対する受信機の２次元変位を測定している。このため、受信機の変位を高精度で求めることができる。また、短時間で求めることができる。また、受信機台の移動範囲の制限を緩和し、受信機台の移動により被測定物の取付位置などを変更する必要がない。
【００５３】
また、本発明による電波望遠鏡の受信機駆動機構は、カメラ撮影により受信機の位置を３次元座標として測定する３次元測定用カメラと、測定基準面に対する受信機の２次元変位を測定する２次元センサとを備えている。このため、３次元座標及び２次元変位に基づいて受信機の３次元座標を求めることができ、望遠鏡の姿勢変化後あるいは受信機の移動後でも高精度で受信機の位置を求めることができる。また、短時間で求めることができる。
【図面の簡単な説明】
【図１】本発明による電波望遠鏡の受信機駆動機構の概略構成を示した斜視図である。
【図２】図１の受信機駆動機構から受信機台２及び駆動ジャッキ４を除外して示した図である。
【図３】図１の２次元センサの詳細構成を示した図である。
【図４】従来の電波望遠鏡の受信機駆動機構の概略構成を示した斜視図である。
【符号の説明】
１測定基準面、２受信機台、３受信機取付部、３受信機取付部、
４駆動ジャッキ、５測定系回転方向、６望遠鏡回転方向、
１２ａ〜１２ｃ移動方向、１３ａ〜１３ｃ回転方向、
１４センサ取付サポート、１６２次元センサ、
１７３次元カメラ測定システム、１８レンズ鏡筒、
１９レンズ支持構造体、２０支持ネジ、２２アイリス調整窓、
２３アイリス調整部、２４センサ支持アーム、２５サポートリング、
２６リング連結アーム[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a radio telescope receiver displacement measurement method, a radio telescope receiver position measurement method, and a radio telescope receiver drive mechanism, and more particularly, a change in the attitude of the telescope and a receiver drive mechanism within the receiver drive mechanism. The present invention relates to a measuring method for measuring the displacement and position of a receiver in a moving radio telescope, and a receiver driving mechanism of the radio telescope capable of performing the measurement.
[0002]
[Prior art]
FIG. 4 is a perspective view showing a schematic configuration of a receiver driving mechanism of a conventional radio telescope. In the figure, 1 is a measurement reference plane, 2 is a receiver base, 3 is a receiver mounting portion, 4 is a drive jack, 5 is a rotation direction of a measurement system, 6 is a rotation direction of a telescope, 7 is a mounting portion of a measuring instrument, and 8 is a measurement device. An apparatus mounting base, 9 is a measuring apparatus mounting support, 10 is an object to be measured, 11 is a measurement distance, 12a to 12c and 13a to 13c are moving directions of the receiver base 2, and 17 is a three-dimensional camera measurement system.
[0003]
The receiver of the radio telescope is attached to the receiver mounting portion 3 of the receiver base 2, and the position of the receiver is determined by the position of the receiver base 2. The receiver base 2 is supported by six drive jacks 4 installed on the measurement reference plane 1. For this reason, the position of the receiver relative to the measurement reference plane 1 can be translated in the direction of 12a to 12c by the six drive jacks 4 (degree of freedom 3) and can be rotated in the direction of 13a to 13c. (3 degrees of freedom). That is, the receiver base 2 is driven with a total of six degrees of freedom according to the command value, and moves and rotates within the receiver drive mechanism.
[0004]
The illustrated receiver driving mechanism is configured on an annular measurement reference plane 1. That is, the receiver drive mechanism is supported on a support base having an annular surface, and the mounting surface of the support base that serves as a reference for the receiver drive mechanism is the measurement reference plane 1. The support base is further attached to another system, and is driven to rotate in the measurement system rotation direction 5 and the telescope rotation direction 6 according to the attitude of the telescope. Accordingly, the entire receiver driving mechanism is rotationally driven accordingly. Here, the measurement system rotation direction 5 is a rotation direction with respect to the central axis of the annular measurement reference plane 1, and the telescope rotation direction 6 is a rotation direction with respect to an axis parallel to the measurement reference plane.
[0005]
The three-dimensional camera measurement system 17 is for photographing the measurement target attached to the receiver attachment unit 3 from various angles and obtaining the three-dimensional coordinates of the receiver base 2 with respect to the measurement reference plane 1. If this three-dimensional camera measurement system 17 is used, the position of the receiver can be measured as absolute three-dimensional coordinates.
[0006]
Further, a contact-type displacement meter (a dial gauge or the like) is attached to the measuring device attachment portion 7 to measure the displacement at a distance 11 from the object to be measured 10 attached to the receiver base 2. Further, the measuring device mounting portion 7 is mounted on a measuring device mounting base 8, and the measuring device mounting base 8 is supported on the measurement reference plane 1 via six measuring device mounting supports 9.
[0007]
By measuring the distance 11 using a displacement meter, the displacement of the receiver base 2 with respect to the direction 12a can be measured. Further, the displacement of the receiver base 2 in the remaining two directions 12b and 12c can be measured by making the shape, attachment position, displacement gauge attachment position, etc. of the DUT 10 different. For this reason, the displacement of the receiver base 2 with respect to the measurement reference plane 1 can be measured using the displacement meter, the movement of the receiver base 2 in the receiver driving mechanism, and the directions 5, 6 of the receiver driving mechanism. It is possible to measure the deformation caused by the rotation.
[0008]
The measurement of the three-dimensional coordinates by the three-dimensional camera measurement system 17 takes time because it is necessary to shoot from a number of angles by a person, and each time the position of the telescope changes with respect to the receiver in the telescope device room, the position, It is very difficult to measure the displacement. Therefore, the three-dimensional coordinates of the receiver 2 are determined by measuring the three-dimensional coordinates of the receiver in advance by the three-dimensional camera measurement system 17 and adding the measurement result of the displacement meter to the three-dimensional coordinates thereafter. Is done.
[0009]
[Problems to be solved by the invention]
As described above, the conventional receiver driving mechanism is configured as a measurement system including the three-dimensional camera measurement system 17 and the displacement meter for measuring the position of the receiver with respect to the measurement reference plane 1, so Various problems have arisen.
[0010]
First, since the distance 11 to the object to be measured 10 is measured by a displacement meter and the displacement of the receiver base 2 is measured, when the receiver base 2 is moved by the drive jack 4, the shape of the object to be measured 10 is measured. In addition, there is a problem that it is necessary to change the mounting position, the type of the displacement meter, the mounting position, and the like. Further, there is a problem that the range in which the receiver base 2 can be moved is limited to a range in which the receiver base 2 and the device under test 10 do not interfere with the measuring device mounting portion 7. Further, there is a problem that only one of the directions 12a, 12b, and 12c can be measured simultaneously by the displacement meter.
[0011]
In addition, there is a problem that errors caused by deformation of the measuring device mounting portion 7, the measuring device mounting base 8, the measuring device mounting support 9, and the like are large. In particular, the measurement system is rotationally driven in directions 5 and 6 due to a change in the attitude of the telescope, and there is a problem that errors due to deformation due to gravity and errors due to environmental changes such as temperature cannot be ignored with respect to the required accuracy.
[0012]
The three-dimensional camera measurement system 17 employs a method that can measure an arbitrary position of a measurement object having an arbitrary shape, and one measurement requires a considerable time. Further, the receiver to be measured is in the telescope device room where the attitude changes, and it is very difficult to apply the three-dimensional camera measurement system 17. Therefore, there is a problem that the position and displacement of the receiver accompanying the change in the attitude of the telescope cannot be measured by the three-dimensional camera measurement system 17.
[0013]
The present invention has been made in view of the above circumstances, and provides a position measurement method for a radio telescope receiver capable of measuring a deformation of a receiver drive system due to a change in the attitude of the telescope in a high accuracy and in a short time. For the purpose. It is another object of the present invention to provide a radio telescope receiver position measuring method capable of accurately obtaining the three-dimensional position of the receiver after the change in the attitude of the telescope.
[0014]
Another object of the present invention is to provide a receiver driving mechanism for a radio telescope that can measure the deformation of the receiver driving system due to the change in the attitude of the telescope in a short time with high accuracy. Another object of the present invention is to provide a receiver driving mechanism for a radio telescope that can accurately obtain the three-dimensional position of the receiver after the attitude change of the telescope. It is another object of the present invention to provide a receiver driving mechanism for a radio telescope that can reduce a measurement error of a two-dimensional sensor due to deformation of a measurement reference plane. Another object of the present invention is to provide a receiver driving mechanism for a radio telescope equipped with a two-dimensional sensor capable of suppressing measurement errors caused by minute deformation of the lens of the two-dimensional sensor or rattling of the lens structure.
[0015]
[Means for Solving the Problems]
The radio telescope receiver displacement measuring method according to the first aspect of the present invention includes a receiver drive mechanism in which a receiver base to which a receiver is attached is attached to a measurement reference plane via a drive jack, and a measurement reference A method for measuring a displacement of a receiver in a radio telescope that drives a surface, wherein a part to be measured provided on a receiver base is measured in a non-contact manner by a two-dimensional sensor attached on the measurement reference surface, and the measurement reference surface is measured. Obtain the two-dimensional displacement of the receiver.
[0016]
The radio telescope receiver displacement measuring method according to the present invention as set forth in claim 2 measures the displacement of two or more objects to be measured provided on a receiver base using a two-dimensional sensor, and is a receiver with respect to a measurement reference plane. Find the amount of rotation.
[0017]
According to a third aspect of the present invention, there is provided a radio telescope receiver position measuring method including a receiver drive mechanism in which a receiver base to which a receiver is attached is mounted on a measurement reference plane via a drive jack, and a measurement reference A receiver position measuring method in a radio telescope that drives a surface , comprising: a receiver table comprising a three-dimensional measuring step for measuring the position of the receiver as a three-dimensional coordinate ; and a two-dimensional sensor mounted on a measurement reference plane. A two-dimensional measurement step for measuring a part to be measured provided in a contactless manner and obtaining a two-dimensional displacement of the receiver with respect to a measurement reference plane after the measurement in the three-dimensional measurement step; a measurement result of the three-dimensional measurement step; Based on the measurement result of the measurement step, the method includes a step of determining the position of the receiver.
[0019]
In the radio telescope receiver position measuring method according to the present invention as set forth in claim 4 , the two-dimensional measuring step measures the displacement of two or more objects to be measured provided on the receiver table using a two-dimensional sensor, Obtain the amount of rotation of the receiver.
[0020]
A receiver driving mechanism of a radio telescope according to the present invention as set forth in claim 5 includes a receiver base mounted on a measurement reference plane via a drive jack, a receiver mounted on the receiver base, and a receiver base. And a two-dimensional sensor mounted on the measurement reference plane and measuring the two-dimensional displacement of the measurement section with respect to the measurement reference plane in a non-contact manner. Configured to measure displacement.
[0021]
The radio telescope receiver drive mechanism according to the present invention as set forth in claim 6 is a receiver base mounted on a measurement reference plane via a drive jack, a receiver mounted on the receiver base, and camera photography. A three-dimensional measurement camera that measures the position of the receiver as a three-dimensional coordinate; and a two-dimensional sensor that measures a two-dimensional displacement of the receiver with respect to a measurement reference plane. A measurement unit is provided, and the two-dimensional sensor is mounted on a measurement reference plane and configured to measure the measurement target without contact .
[0022]
The receiver driving mechanism of the radio telescope according to the seventh aspect of the present invention is configured such that the two-dimensional sensor is mounted on a measurement reference plane via a sensor mounting member .
[0023]
The receiver driving mechanism of the radio telescope according to the present invention according to claim 8 , wherein the sensor mounting member is a support ring supported on the measurement reference plane, a ring connecting arm that is mounted on the support ring and crosses the support ring, The two-dimensional sensor is attached to the other end side of the sensor support arm. The sensor support arm has one end attached to the center of the ring connecting arm without contacting the support ring.
[0024]
In the receiver driving mechanism of the radio telescope according to the ninth aspect of the present invention, the support ring is supported on the measurement reference plane via two or more sensor mounting supports.
[0025]
In the receiver driving mechanism of the radio telescope according to the tenth aspect of the present invention, the two-dimensional sensor is housed together with the lens barrel in the cylindrical lens support structure, and the lens barrel is attached to the two-dimensional sensor. The lens support structure is supported by a support screw on the circular cross section.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a perspective view showing a schematic configuration of a receiver driving mechanism of a radio telescope according to the present invention. In the figure, 1 is a measurement reference plane, 2 is a receiver base, 3 is a receiver mounting portion, 4 is a drive jack, 5 is a rotation direction of a measurement system, 6 is a rotation direction of a telescope, and 12a to 12c and 13a to 13c are receivers. The moving direction of the table 2, 14 is a sensor mounting support, 16 is a two-dimensional sensor, and 17 is a three-dimensional camera measurement system.
[0027]
The receiver of the radio telescope is attached to the receiver mounting portion 3 of the receiver base 2, and the receiver base 2 is supported by six drive jacks 4 installed on the annular measurement reference plane 1. For this reason, the position of the receiver with respect to the measurement reference plane 1 can be translated in the direction of 12a to 12c by the drive jack 4 according to the command value, and can be rotated in the direction of 13a to 13c.
[0028]
The illustrated receiver drive mechanism is supported on a support base having an annular surface, and the mounting surface of the support base that serves as a reference for the receiver drive mechanism is the measurement reference plane 1. The support base is further attached to another system, and is driven to rotate in the measurement system rotation direction 5 and the telescope rotation direction 6 according to the attitude of the telescope. Accordingly, the entire receiver driving mechanism is rotationally driven accordingly.
[0029]
The three-dimensional camera measurement system 17 is used for photographing the target attached to the receiver mounting portion 3 from various angles and obtaining the three-dimensional coordinates of the receiver base 2 with respect to the measurement reference plane 1 as in the conventional apparatus. It is. If this three-dimensional camera measurement system 17 is used, the position of the receiver can be measured as absolute three-dimensional coordinates.
[0030]
The two-dimensional sensor 16 is attached to the measurement reference plane 1 via a sensor attachment member (sensor attachment support 14 or the like), and is installed below the receiver base 2 (measurement reference plane 1 side). Further, an object to be measured (not shown) of a two-dimensional sensor using a light emitter (for example, LED) is attached to the back surface (lower surface) of the receiver base 2. The two-dimensional sensor 16 measures the displacement (two-dimensional displacement) in the plane of the object to be measured without contact. If the receiver base 2 is displaced with respect to the measurement reference plane 1, the object to be measured is also displaced accordingly. Therefore, the displacement of the receiver with respect to the measurement reference plane can be measured by measuring the displacement of the object to be measured. it can.
[0031]
Here, when the two-dimensional sensor 16 measures the object to be measured provided on the receiver base 2 in a non-contact manner, the contact-type displacement is close to the receiver base 2 as in the conventional receiver driving mechanism. The measuring device mounting portion 7 for mounting the meter is not required, and the moving range of the receiver base 2 is not limited. Further, as in the case of using a contact-type displacement meter, it is not necessary to change the shape and mounting position of the object to be measured, the type and mounting position of the displacement meter, etc. by moving the receiver base.
[0032]
FIG. 2 is a diagram showing the receiver drive mechanism of FIG. 1 with the receiver stand 2 and the drive jack 4 excluded. In the figure, 1 is a measurement reference plane, 16 is a two-dimensional sensor, 14 is a sensor mounting support, 24 is a sensor support arm, 25 is a support ring, and 26 is a ring connecting arm. The sensor mounting member includes a sensor mounting support 14, a sensor support arm 24, a support ring 25, and a ring connecting arm 26.
[0033]
The four sensor mounting supports 14 are installed on the measurement reference plane 1 so as to be substantially equidistant. One support ring 25 is supported by these four sensor mounting supports 14, and the support ring 25 is installed below the receiver base 2. The support ring 25 is configured as an annular shape, for example, an octagonal annular shape.
[0034]
A ring coupling arm 26 is attached to the support ring 25 so as to cross the support ring 25 through the center of the support ring 25, and the support ring 25 supports both ends of the ring coupling arm 26.
[0035]
Two sensor support arms 24 are attached to the center of the ring connection arm 26 so as to be orthogonal to the ring connection arm 26, and the ring connection arm 26 supports one end of the sensor support arm 24. The sensor support arm 24 is installed with a gap so as not to contact the support ring, and the two-dimensional sensor 16 is attached to the other end side (the side opposite to the ring connecting arm 26).
[0036]
In this way, when the receiver base 2 is attached to the measurement reference plane 1, it is measured by attaching it via two or more (preferably three or more) sensor attachment supports 14 and making the sensor attachment member a multi-leg structure. It is possible to reduce the influence of the minute deformation generated on the measurement reference plane 1 when rotating in the system rotation direction 5 on the measurement by the two-dimensional sensor 16 and to improve the measurement accuracy of the two-dimensional sensor 16.
[0037]
Further, since the sensor support arm 24 is disposed so as not to contact the support ring 25, even if the measurement reference plane 1 is deformed, the sensor support arm 24 is not directly affected by the deformation, and the two-dimensional sensor 16 is not affected. Thus, the measurement accuracy of the two-dimensional sensor 16 can be improved.
[0038]
In addition, since the ring connecting arm 26 is attached so as to cross the support ring 25 and the sensor support arm 24 is attached to the center thereof, the influence of the deformation of the measurement reference plane 1 on the sensor support arm 24 can be reduced. In addition, the influence on the measurement by the two-dimensional sensor 16 can be reduced, and the measurement accuracy of the two-dimensional sensor 16 can be improved.
[0039]
FIG. 3 is a diagram showing a detailed configuration of the two-dimensional sensor of FIG. In the figure, 16 is a two-dimensional sensor, 18 is a lens barrel, 19 is a lens support structure, 20 is a support screw, 21 is an arm mounting portion, 22 is an iris adjustment window, and 23 is an iris adjustment portion.
[0040]
The lens support structure 19 has a cylindrical shape, and the lens barrel 18 and the two-dimensional sensor 16 are accommodated therein. The two-dimensional sensor 16 is attached to the lens support structure 19, and the lens barrel 18 is attached to the two-dimensional sensor 16. The lens support structure 19 is provided with four support screws 20. The support screws 20 are screwed toward the center side inside the lens support structure 19 to apply a fastening force to the lens barrel 18. While supporting.
[0041]
Further, the lens barrel 18 is provided with an iris adjustment unit 23, and the lens support structure 19 includes an iris adjustment unit 23 so that the iris adjustment unit 23 can be accessed from the outside of the lens support structure 19. An iris adjustment window 22 is provided in the corresponding part.
[0042]
The lens barrel 18 is not only attached to the lens support structure 19 via the two-dimensional sensor 16 but also supported on a circular cross section of the lens support structure by a support screw 20. For this reason, the rigidity is increased by the amount of the lens support structure 19 and the deformation becomes difficult. Further, the backlash of the lens barrel 18 can be suppressed by tightening. For this reason, it is possible to suppress errors caused by minute deformation of the lens and backlash of the lens structure, and to improve the measurement accuracy of the two-dimensional sensor 16.
[0043]
Next, a method for measuring the position of the radio telescope receiver according to the present invention will be described. First, a target for three-dimensional position measurement is attached to the receiver attachment portion 3 of the receiver base 2. Then, according to a certain command value, the receiver base 2 is moved by the drive jack 4 in the receiver driving mechanism, and the receiver base 2 is in a predetermined position corresponding to the command value. In this state, the three-dimensional camera measurement system 17 is used to photograph the target to obtain the three-dimensional coordinates of the target, and the position and orientation of the receiver base 2 corresponding to the command value are determined.
[0044]
Next, the command value is changed, the receiver base 2 is moved in the receiver driving mechanism, and the receiver base 2 is moved to a different position. The coordinates are obtained, and the position and orientation of the receiver base 2 corresponding to the command value are determined. This operation is performed as many times as necessary, and the position corresponding to each command value of the receiver base 2 is determined.
[0045]
Thereafter, the command value is kept constant, and the receiver driving mechanism is rotated in the measurement system rotation direction 5 and the telescope rotation direction 6. The displacement of the receiver base 2 at this time is measured using the two-dimensional sensor 16. That is, without moving the receiver stand 2 by the drive jack 4, the entire receiver driving mechanism is rotationally driven, and the displacement caused by the rotational driving is measured.
[0046]
At this time, in the case of the receiver driving mechanism of FIG. 1, the two-dimensional sensor 16 can measure displacement in the 12a and 12c directions. Further, if two or more objects to be measured are attached to different positions on the lower surface of the same receiver stand 2 and the displacement of each object to be measured is measured, it can be measured by the two-dimensional sensor 16 based on these displacement amounts. The amount of rotation on the plane (the amount of rotation in the 13b direction) can be measured. The receiver driving mechanism has a structure in which the measurement object is hardly deformed in the direction 12b perpendicular to the two-dimensional plane to be measured.
[0047]
The three-dimensional coordinates with respect to the measurement reference plane 1 of the receiver stand 2 after being driven to rotate in the measurement system rotation direction 5 and the telescope rotation direction 6 are obtained by the three-dimensional camera measurement system 17 in the state before the rotation drive. If the dimensional coordinate is measured, it can be obtained by adding the displacement amount after rotational driving by the two-dimensional sensor to the three-dimensional coordinate.
[0048]
That is, by measuring the three-dimensional coordinates of the predetermined receiver position (reference point) with respect to the measurement reference plane and measuring the displacement of the measurement reference plane from the reference point two-dimensionally, the reception after the change in the attitude of the telescope is received. The three-dimensional position of the machine can be measured with high accuracy and in a short time. Moreover, since measurement can be performed in a short time, measurement errors due to environmental changes such as temperature can be suppressed, and therefore measurement can be performed with higher accuracy.
[0049]
In addition, by attaching the measurement object 15 attached to the receiver base 2 to another structure, the displacement of the structure with respect to the two-dimensional sensor 16 can be measured. Further, by disposing the two-dimensional sensor 12 at a different position from the measurement reference plane 1, it is possible to measure the displacement of another axis.
[0050]
【The invention's effect】
In the radio telescope receiver position measuring method according to the present invention, a two-dimensional sensor measures a part to be measured provided on a receiver base in a non-contact manner to obtain a two-dimensional displacement of the receiver with respect to a measurement reference plane. Therefore, the displacement of the receiver due to the change in the attitude of the telescope or the movement of the receiver can be obtained with high accuracy. Moreover, it can obtain | require in a short time. Further, the restriction on the movement range of the receiver base is relaxed, and there is no need to change the mounting position of the object to be measured by moving the receiver base.
[0051]
In the radio telescope receiver position measuring method according to the present invention, the receiver position is measured as a three-dimensional coordinate, the receiver displacement is measured as a two-dimensional displacement, and the receiver position is determined based on these measurement results. Looking for. Therefore, the position of the receiver can be obtained with high accuracy even after the attitude change of the telescope or after the receiver is moved. Moreover, it can obtain | require in a short time.
[0052]
In addition, a receiver driving mechanism for a radio telescope according to the present invention includes a part to be measured provided on a receiver base and a two-dimensional sensor that is mounted on a measurement reference plane and measures a two-dimensional displacement of the part to be measured in a non-contact manner. And measuring the two-dimensional displacement of the receiver relative to the measurement reference plane due to the change in the attitude of the telescope or the movement of the receiver. For this reason, the displacement of the receiver can be obtained with high accuracy. Moreover, it can obtain | require in a short time. Further, the restriction on the movement range of the receiver base is relaxed, and there is no need to change the mounting position of the object to be measured by moving the receiver base.
[0053]
Further, the receiver driving mechanism of the radio telescope according to the present invention includes a three-dimensional measuring camera that measures the position of the receiver as three-dimensional coordinates by camera photographing, and a two-dimensional that measures the two-dimensional displacement of the receiver with respect to the measurement reference plane. And a sensor. Therefore, the three-dimensional coordinates of the receiver can be obtained based on the three-dimensional coordinates and the two-dimensional displacement, and the position of the receiver can be obtained with high accuracy even after the attitude change of the telescope or after the movement of the receiver. Moreover, it can obtain | require in a short time.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a schematic configuration of a receiver driving mechanism of a radio telescope according to the present invention.
FIG. 2 is a diagram showing the receiver drive mechanism of FIG. 1 with the receiver stand 2 and the drive jack 4 excluded.
FIG. 3 is a diagram showing a detailed configuration of the two-dimensional sensor of FIG. 1;
FIG. 4 is a perspective view showing a schematic configuration of a receiver driving mechanism of a conventional radio telescope.
[Explanation of symbols]
1 measurement reference plane, 2 receiver stand, 3 receiver mounting section, 3 receiver mounting section,
4 Drive jack, 5 Measurement system rotation direction, 6 Telescope rotation direction,
12a-12c moving direction, 13a-13c rotating direction,
14 sensor mounting support, 16 two-dimensional sensor,
17 3D camera measurement system, 18 lens barrel,
19 Lens support structure, 20 Support screw, 22 Iris adjustment window,
23 Iris adjuster, 24 Sensor support arm, 25 Support ring,
26 Ring connecting arm

Claims

A receiver mount for receiving a receiver has a receiver driving mechanism mounted on a measurement reference plane via a drive jack, and is a receiver displacement measuring method in a radio telescope that drives the measurement reference plane. A method of measuring a displacement of a radio telescope receiver, in which a measurement target provided on a receiver base is measured in a non-contact manner by a two-dimensional sensor attached on the surface to obtain a two-dimensional displacement of the receiver with respect to a measurement reference plane.

2. The radio telescope reception according to claim 1, wherein a displacement of two or more objects to be measured provided on the receiver base is measured using a two-dimensional sensor, and a rotation amount of the receiver with respect to the measurement reference plane is obtained. Displacement measurement method.

A receiver base for mounting a receiver has a receiver driving mechanism mounted on a measurement reference plane via a drive jack, and a receiver position measuring method in a radio telescope that drives the measurement reference plane. In a three-dimensional measurement step, a measurement part provided on the receiver base is measured in a non-contact manner by a three-dimensional measurement step for measuring the position of the three-dimensional coordinates as a three-dimensional coordinate and a two-dimensional sensor attached on the measurement reference plane. A radio wave comprising a two-dimensional measurement step for obtaining a two-dimensional displacement of the receiver relative to a measurement reference plane after measurement , a step for obtaining a position of the receiver based on a measurement result of the three-dimensional measurement step and a measurement result of the two-dimensional measurement step. Telescope receiver position measurement method.

The two-dimensional measurement step measures the displacement of two or more objects to be measured provided on the receiver table using a two-dimensional sensor, and obtains the amount of rotation of the receiver. Radio telescope receiver position measurement method.

A receiver base mounted on a measurement reference plane via a drive jack, a receiver mounted on the receiver base, a part to be measured provided on the receiver base, and a measurement base plane mounted for measurement A receiver driving mechanism for a radio telescope, comprising: a two-dimensional sensor that measures a two-dimensional displacement of a measured portion with respect to a reference plane in a non-contact manner; and measuring a two-dimensional displacement of the receiver with respect to a measurement reference plane.

A receiver base mounted on a measurement reference plane via a drive jack, a receiver mounted on the receiver base, a three-dimensional measurement camera that measures the position of the receiver as three-dimensional coordinates by camera photography, A two-dimensional sensor for measuring a two-dimensional displacement of the receiver with respect to the measurement reference plane, and the receiver base is provided with a part to be measured of the two-dimensional sensor, and the two-dimensional sensor is mounted on the measurement reference plane A receiver driving mechanism for a radio telescope, wherein the measured part is measured in a non-contact manner.

7. The radio telescope receiver drive mechanism according to claim 6, wherein the two-dimensional sensor is mounted on a measurement reference plane through a sensor mounting member .

The sensor mounting member includes a support ring supported on the measurement reference plane, a ring connecting arm attached to the support ring and crossing the support ring, and one end attached to the center of the ring connecting arm without contacting the support ring. 8. The radio telescope receiver drive mechanism according to claim 5, wherein the two-dimensional sensor is attached to the other end side of the sensor support arm .

9. The radio telescope receiver drive mechanism according to claim 8, wherein the support ring is supported on a measurement reference plane via two or more sensor mounting supports .

The two-dimensional sensor is housed in a cylindrical lens support structure together with a lens barrel, and the lens barrel is attached to the two-dimensional sensor and supported by a support screw on a circular cross section of the lens support structure. The receiver driving mechanism for a radio telescope according to claim 9 .