CN102607464A - Auxiliary device for large surface shape measurement based on laser tracker and measurement method - Google Patents
Auxiliary device for large surface shape measurement based on laser tracker and measurement method Download PDFInfo
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- CN102607464A CN102607464A CN2012100905508A CN201210090550A CN102607464A CN 102607464 A CN102607464 A CN 102607464A CN 2012100905508 A CN2012100905508 A CN 2012100905508A CN 201210090550 A CN201210090550 A CN 201210090550A CN 102607464 A CN102607464 A CN 102607464A
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Abstract
The invention provides an auxiliary device for large surface shape measurement based on a laser tracker and a measurement method, which can realize fast and efficient detection in the large surface shape measurement of the laser tracker. The auxiliary device mainly comprises a four-wheel-drive trolley and a parallelogram elevating mechanism arranged at the front end of the trolley, wherein one side of the elevating mechanism is arranged on a disc, the disc is arranged on the trolley by four bolts, a reflection target (target mirror described in the following descriptions) of the laser tracker is arranged on the elevating mechanism, the target mirror raises when the trolley moves and is not in contact with a tested surface, and the target mirror descends when in measurement and is in full contact with the tested surface. The space angles of the target mirror and a tracking head are measured in real time, then the target mirror is automatically aligned with the tracking head through changing the gesture of the target mirror, and therefore, the phenomenon of light breaking is not caused, and the measurement efficiency is improved.
Description
Technical field
The present invention relates to the technical field of laser measurement, be specifically related to a kind of servicing unit and measuring method of the large-scale surface shape measurement based on laser tracker.
Background technology
Laser tracker is a kind of checkout equipment of novel large scale and high accuracy three dimensional space coordinate, and for example the T3 tracker finding range of API company can reach 60 meters, and precision can reach micron order, obtains increasing application in large-scale surface shape measurement field.Laser tracker mainly is made up of follower head, measurement target (hereinafter to be referred as the target mirror) and control box.The principle of work of laser tracker does; On impact point, settling a measurement target is the target mirror; The laser beam of sending from follower head is mapped on the target mirror, and the target mirror is with laser beam reflected back follower head, and Returning beam system to be detected receives; Through the twin shaft angle measuring system and the LDMS of instrument, confirm the volume coordinate of impact point with a kind of mode of spherical coordinates then.Present LDMS mainly comprises interference distance measurement and absolute distance measurement dual mode; The laser interference range observation is to utilize the phase method measuring distance; Its precision is high, but after laser beam path is interrupted, must be to the interferometer initial distance of resetting; Be that the target mirror returns initial position and measures again, the efficient of measurement is low.Absolute measurement is to utilize the mistiming computed range that comes and goes the laser light path, as long as light beam picks up the target mirror after blocking-up, just can proceed to measure, and efficiency of measurement is high, but measuring accuracy is not high.In the measuring process; When the target mirror moved, follower head can be adjusted the direction of light beam automatically and come the alignment targets mirror, and (the most frequently used target mirror of Laser Tracking target is ball formula catoptron SMR but require the angle of the laser beam and the target mirror plane of incidence can not surpass certain angle simultaneously; It requires the incident angle offset from perpendicular of light beam on target mirror end face should be above ± 20 °); If exceeded this angle, the target mirror can't return laser beam, the phenomenon of disconnected light promptly occurs.
What produce laser tracker in the world at present mainly is Leica, API, Faro three companies; The laser tracker that they are produced all needs target mirror contact tested surface to measure; Though these companies provide some auxiliary accessories for example standard member, base etc., in concrete measurement, still need manually-operated.For some big profile shape for example the surface shape measurement precision of heavy caliber astronomical optical telescope minute surface can reach submicron order, must adopt the laser tracker interfere type to measure, but the interfere type efficiency of measurement is low, labour intensity greatly, disconnected light easily.Though API company has developed a kind of novel intelligent gauge head now, can connect light automatically, improve efficiency of measurement, also be to use the absolute measurement principle on this technological essence, the precision of measurement is low.
Measure the shortcoming when being applied to big profile shape in order to overcome the laser tracker interfere type; Hope that backup system of design can drive the motion of target mirror; Again can be in measuring process, according to follower head and the variation of space angle separately of target mirror, the attitude realization target mirror of adjustment target mirror is aimed at the automatic of follower head; Effectively prevent disconnected optical phenomenon, can realize quick, the high-acruracy survey of laser tracker big profile shape.
Summary of the invention
The technical matters that the present invention will solve is: a servicing unit and a measuring method based on the large-scale surface shape measurement of laser tracker is provided, make laser tracker fast and effeciently opposite shape measure.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme to be achieved:
A kind of auxiliary measuring method of the large-scale surface shape measurement based on laser tracker, this method is utilized intelligent carriage that carries the target ball of controlled in wireless, realizes that through driving steering wheel the up-down of parallelogram connection-rod realizes the up-down of target ball; Measure target ball and follower head space angle separately through two high-precision three-dimensional angular transducers, change the attitude of target ball then, realization target ball is aimed at the automatic of follower head.
A kind of servicing unit of the large-scale surface shape measurement based on laser tracker, this device comprises target mirror, three-dimensional perspective sensor, support plate, spring, parallelogram elevating mechanism, rope, first steering wheel, second steering wheel, disk, four-wheel drive dolly, the 3rd steering wheel, minor axis, magnetic post; Wherein:
Described four-wheel drive dolly is a drive part, and this drive part directly drives the motion all around that four-wheel is realized dolly through four direct current generators;
Described target mirror, three-dimensional perspective sensor, support plate, spring, parallelogram elevating mechanism, rope, first steering wheel, second steering wheel, minor axis, magnetic post and the 3rd steering wheel are formed elevating mechanism; Described connection parallel-crank mechanism is connected with described rope; Described first steering wheel is connected with described rope; Described the 3rd steering wheel is fixed on the described parallel-crank mechanism stock; Described minor axis is fixed on the motor shaft of described the 3rd steering wheel, and described magnetic post is fixed on the minor axis and both centers keep coaxial, and described target mirror is adsorbed on the described magnetic post; Described support plate is fixed on the described minor axis, and described three-dimensional perspective sensor sticks on the said support plate; Described the 3rd steering wheel drives the rotation of described target ball through described minor axis, and described elevating mechanism is realized the rising and the decline of this elevating mechanism through the rotating of first steering wheel.
Described second steering wheel and described disk are formed turntable mechanism; Described first steering wheel is connected on the described four-wheel drive dolly; Described disk is connected on second steering wheel; Described elevating mechanism is fixed on the disk, and described turntable mechanism realizes the rotating of this turntable mechanism through the rotating of second steering wheel;
All motors, steering wheel are all through same control circuit control.
The principle of the servicing unit based on the large-scale surface shape measurement of laser tracker of the present invention is: a four-wheel drive dolly moves on measurement face in order to carry the target mirror; The front end of dolly is installed a parallelogram elevating mechanism; The target mirror is fixed on the elevating mechanism and is suspended on the place ahead of dolly, and elevating mechanism rises during moving of car, prevents that the target mirror from contacting with measurement face; Elevating mechanism descends during measurement, makes the target mirror fully contact with measurement face; A disk rotating mechanism is installed on the dolly, is cemented in elevating mechanism on the disk; While two miniature three-dimensional angular transducers of installation on follower head and target mirror.In the measuring process, measure follower head and the space angle variation separately of target mirror through angular transducer, the attitude of adjustment target mirror is aimed at target mirror and follower head in real time in measuring process, thereby effectively prevents disconnected optical phenomenon.
The advantage that the present invention compares with prior art is:
1, the control information and the data that the present invention is based on the servicing unit of the large-scale surface shape measurement of laser tracker are transmitted through wireless, measure easily in can realizing in a big way.
2, the servicing unit that the present invention is based on the large-scale surface shape measurement of laser tracker has been realized the quick measurement to tested surface, improves efficiency of measurement.
Description of drawings
Fig. 1 is the structural representation based on the servicing unit of the large-scale surface shape measurement of laser tracker;
Fig. 2 is a device forward direction partial schematic diagram;
Fig. 3 is for realizing the alignment methods rough schematic of target mirror and follower head;
Fig. 4 is the control synoptic diagram of the servicing unit of the large-scale surface shape measurement of laser tracker;
Among the figure, target mirror 1, three-dimensional perspective sensor 2, support plate 3, spring 4, parallelogram elevating mechanism 5, rope 6, first steering wheel 7, second steering wheel 8, disk 9, four-wheel drive dolly 10, the 3rd steering wheel 11, minor axis 12, magnetic post 13, another three-dimensional perspective sensor 14, follower head 15.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Each parts of servicing unit based on the large-scale surface shape measurement of laser tracker shown in Figure 1 are: target mirror 1, three-dimensional perspective sensor 2, support plate 3, spring 4, parallelogram elevating mechanism 5, rope 6, first steering wheel 7, second steering wheel 8, disk 9, four-wheel drive dolly 10, the 3rd steering wheel 11, minor axis 12, magnetic post 13.Among Fig. 1, can be divided into three parts based on the servicing unit physical construction of the large-scale surface shape measurement of laser tracker, first is a drive part, comprises four-wheel drive dolly 10; Second portion is an elevating mechanism, comprises first steering wheel 7, parallelogram elevating mechanism 5; The rope 6 that connects the parallel-crank mechanism 5 and first steering wheel 7; And be fixed on the minor axis 12 on the motor shaft of the 3rd steering wheel 11, and magnetic post 13 is fixed on the minor axis 12, and target mirror 1 is adsorbed on the magnetic post 13; Support plate 3 is fixed on the minor axis 12, and sticks on the three-dimensional perspective sensor 2 on the support plate 3; Third part is a turntable mechanism, comprises second steering wheel 8 that is connected on the four-wheel drive dolly 10, is connected the disk 9 on second steering wheel 8, and is fixed on the elevating mechanism on the disk 9.Drive part directly drives the motion all around that four-wheel is realized dolly through four direct current generators; Realize the rising and the decline of elevating mechanism through the rotating of first steering wheel 7; Realize the rotating of turntable mechanism through the rotating of second steering wheel 8, all motors, steering wheel are all through same control circuit control.
Fig. 2 comprises that for device forward direction partial schematic diagram the 3rd steering wheel 11 is fixed on described parallel-crank mechanism 5 stocks; Described minor axis 12 is fixed on the motor shaft of described the 3rd steering wheel 11; Described magnetic post 13 is fixed on the minor axis 12 and both centers keep coaxial; Described target mirror 1 is adsorbed on the described magnetic post 13, and described support plate 3 is fixed on the described minor axis 12, and described three-dimensional perspective sensor 2 sticks on the said support plate 3; Described the 3rd steering wheel 11 drives the rotation of described target ball 1 through described minor axis 12.
Each parts shown in Figure 3 are: follower head 15, another three-dimensional perspective sensor 14, target mirror 1, three-dimensional perspective sensor 2.The spatial attitude that another three-dimensional perspective sensor 14 is measured follower head 15 changes, and the spatial attitude that three-dimensional perspective sensor 2 is then measured target mirror 1 changes.During system works, the laser beam that follower head 15 sends is mapped on the target mirror 1, and when the target mirror was in position B, target mirror 1 was over against follower head 15, and the laser beam that follower head 15 sends is returned by target mirror 1 former road; After this with the target mirror 1 parallel position C that moves to; Follower head 15 can be followed the trail of target mirror 1 automatically and rotate; The rotational angle that this moment, another three-dimensional perspective sensor 14 recorded follower head 15 is α, still aims at follower head 15 for making target mirror 1, need order about target mirror 1 backward rotation certain angle β.Native system is according to angle beta; Adjust the attitude of target mirror 1 in real time through physical construction; Require α to equate in theory with the β value; But in fact in order to control conveniently, as long as make the absolute value of differential seat angle | alpha-beta | remain within the scope that measuring system requires (such as 5 degree), can realize that target mirror 1 aims at the real-time of follower head 15 automatically.
Each process flow diagram shown in Fig. 4 (1) to (4) is whole control block diagram (1), main control end block diagram (2), follower head control end block diagram (3), dolly control end block diagram (4).System is divided into three control ends (main control end, dolly control end and follower head control end), computing machine and utility appliance handle.The follower head control end sends to main control end with the follower head spatial attitude information real-time ground of gathering, and the dolly control end receives the various instructions of main control end transmission and also makes control corresponding, also feeds back target mirror spatial attitude information simultaneously in real time to main control end; Main control end has two major functions; The one, the dolly control information that computing machine is transmitted sends to the dolly control end; But, calculate the angle that the target mirror need adjust and send to the dolly control end and aim at the automatic of follower head to realize the target mirror through attitude information between the real-time empty that receives follower head and target mirror.Computing machine is used to show the various relevant informations of whole auxiliary measurement system, the input carrier of also controlling as system simultaneously.Handle can become the telechiric device of system as utility appliance.Main control end and follower head control end all adopt wireless communication mode between main control end and the dolly control end, can greatly facilitate the layout of backup system in measure field.To adopt conventional serial communication between main control end and the computing machine, handle then is connected through USB or bluetooth with computing machine.Three control ends closely cooperate, and realize the kinetic measurement of laser tracker opposite shape.
The technology contents that the present invention does not set forth in detail belongs to those skilled in the art's known technology.
Claims (2)
1. the auxiliary measuring method based on the large-scale surface shape measurement of laser tracker is characterized in that: utilize intelligent carriage that carries the target ball of controlled in wireless, realize that through driving steering wheel the up-down of parallelogram connection-rod realizes the up-down of target ball; Measure target ball and follower head space angle separately through two high-precision three-dimensional angular transducers, change the attitude of target ball then, realization target ball is aimed at the automatic of follower head.
2. servicing unit based on the large-scale surface shape measurement of laser tracker, it is characterized in that: this device comprises target mirror (1), three-dimensional perspective sensor (2), support plate (3), spring (4), parallelogram elevating mechanism (5), rope (6), first steering wheel (7), second steering wheel (8), disk (9), four-wheel drive dolly (10), the 3rd steering wheel (11), minor axis (12), magnetic post (13); Wherein:
Described four-wheel drive dolly (10) is a drive part, and this drive part directly drives the motion all around that four-wheel is realized dolly through four direct current generators;
Described target mirror (1), three-dimensional perspective sensor (2), support plate (3), spring (4), parallelogram elevating mechanism (5), rope (6), first steering wheel (7), second steering wheel (8), minor axis (12), magnetic post (13) and the 3rd steering wheel (11) are formed elevating mechanism; Described connection parallelogram elevating mechanism (5) is connected with described rope (6); Described first steering wheel (7) is connected with described rope (6); Described the 3rd steering wheel (11) is fixed on described parallelogram elevating mechanism (5) stock; Described minor axis (12) is fixed on the motor shaft of described the 3rd steering wheel (11); Described magnetic post (13) is fixed on the minor axis (12) and both centers keep coaxial; Described target mirror (1) is adsorbed on the described magnetic post (13), and described support plate (3) is fixed on the described minor axis (12), and described three-dimensional perspective sensor (2) sticks on the said support plate (3); Described the 3rd steering wheel (11) drives the rotation of described target ball (1) through described minor axis (12), and described elevating mechanism is realized the rising and the decline of this elevating mechanism through the rotating of first steering wheel (7);
Described second steering wheel (8) and described disk (9) are formed turntable mechanism; Described first steering wheel (7) is connected on the described four-wheel drive dolly (10); Described disk (9) is connected on second steering wheel (8); Described elevating mechanism is fixed on the disk (9), and described turntable mechanism realizes the rotating of this turntable mechanism through the rotating of second steering wheel (8);
All motors, steering wheel are all through same control circuit control.
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Cited By (6)
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| CN103512511A (en) * | 2013-09-26 | 2014-01-15 | 南京航空航天大学 | Large face automatic measurement method based on laser tracker |
| CN103528538A (en) * | 2013-09-26 | 2014-01-22 | 南京航空航天大学 | Large profile automatic measurement assisting device based on laser tracker |
| CN103926548A (en) * | 2014-04-18 | 2014-07-16 | 中国科学院新疆天文台 | Method for quickly measuring precision of reflection face of radiotelescope |
| CN104406585A (en) * | 2014-11-19 | 2015-03-11 | 中国计量学院 | Laser tracker target ball positioning system based on inertia detection |
| CN107102645A (en) * | 2016-02-22 | 2017-08-29 | 成都飞机工业（集团）有限责任公司 | A kind of aspect adjusting means |
| CN113009454A (en) * | 2021-03-08 | 2021-06-22 | 福建汇川物联网技术科技股份有限公司 | Laser ranging target and ranging method |
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| CN103528538A (en) * | 2013-09-26 | 2014-01-22 | 南京航空航天大学 | Large profile automatic measurement assisting device based on laser tracker |
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| CN103926548A (en) * | 2014-04-18 | 2014-07-16 | 中国科学院新疆天文台 | Method for quickly measuring precision of reflection face of radiotelescope |
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| CN104406585B (en) * | 2014-11-19 | 2017-04-05 | 中国计量学院 | Based on the laser tracker target ball alignment system that inertia is detected |
| CN107102645A (en) * | 2016-02-22 | 2017-08-29 | 成都飞机工业（集团）有限责任公司 | A kind of aspect adjusting means |
| CN107102645B (en) * | 2016-02-22 | 2023-07-21 | 成都飞机工业（集团）有限责任公司 | Aircraft attitude adjusting device |
| CN113009454A (en) * | 2021-03-08 | 2021-06-22 | 福建汇川物联网技术科技股份有限公司 | Laser ranging target and ranging method |
| CN113009454B (en) * | 2021-03-08 | 2023-10-13 | 福建汇川物联网技术科技股份有限公司 | Laser ranging target and ranging method |
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