CN105203131A - Orientation method of laser tracker - Google Patents
Orientation method of laser tracker Download PDFInfo
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- CN105203131A CN105203131A CN201510680999.3A CN201510680999A CN105203131A CN 105203131 A CN105203131 A CN 105203131A CN 201510680999 A CN201510680999 A CN 201510680999A CN 105203131 A CN105203131 A CN 105203131A
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- erect
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention provides an orientation method of a laser tracker. The orientation method comprises the following steps: S1, orientation mark points are fixed, so that the laser tracker can measure the orientation mark points at a first station and a second station; S2, a distance L between the fixed orientation mark points is measured; S3, the laser tracker measures the orientation mark points at the first station, and the coordinate value X1 of each orientation mark point relative to the laser track is obtained; S4, observation vales in the step 2 and the step 3 are subjected to survey adjustment optimization, and optimal values shown in the specification are obtained; S5, the laser tracker is moved to the second station; S6, the laser tracker measures the orientation mark points at the second station, and the coordinate value X2 of each orientation mark point relative to the laser tracker is obtained; S7, observation values in the step 2 and the step 6 are subjected to survey adjustment optimization, and optimal values shown in the specification are obtained; S8, the optimal values shown in the specification are subjected to mark point registration, and a rotation matrix R and a translation vector T between the stations are solved. The orientation accuracy of the laser tracker is improved.
Description
Technical field
The present invention relates to large parts alignment measurement technical field, particularly relate to a kind of laser tracker and turn station method.
Background technology
Laser tracker is a kind of large scale high precision measuring instrument, is widely used in the alignment measurement field of large parts.In large parts assembling, because part dimension is large, far measuring distance, laser tracker cannot complete whole measurement task at an erect-position, at this moment just needs to carry out turning of laser tracker and stands.The method turning the general employing in station monumented point registration of laser tracker.Namely fix several and turn station indicator point, laser tracker is measured these monumented points respectively at the first erect-position and the second erect-position, carries out monumented point registration, try to achieve the rotation matrix between two erect-positions and translation vector to the coordinate figure that twice measurement obtains.
But adopt said method to there is middle laser tracker and turn the low problem of station precision.
In addition the many factors that laser tracker turns station precision is affected, all quantity, space layout and measuring accuracy etc. turning station indicator point.In large parts assembling, measurement range is large, distance, special component shape easily causes the measurement light of laser tracker and blocks, this setting all turning station indicator point to laser tracker brings very large difficulty, very difficult increase turns the quantity of station indicator point or optimizes its layout, thus reduces turn station precision of laser tracker.
Summary of the invention
In view of Problems existing in background technology, the object of the present invention is to provide a kind of laser tracker to turn station method, it can solve laser tracker in large parts assembling process and turn the low problem of station precision.
To achieve these goals, the invention provides a kind of laser tracker and turn station method, it comprises step: S1, fixedly turn station indicator point in advance, the number turning station indicator point is n, n>=4 and n turns station indicator point and forms 3-D solid structure, all to measure respectively turn station indicator point to make laser tracker at the first fixed erect-position and laser tracker at the second erect-position be transferred into; S2, measures in advance fixing each and turns station indicator point distance value L between any two, obtain altogether
individual excess observation; S3, laser tracker turns station indicator point at the first fixed erect-position to each and measures, and obtains the three-dimensional coordinate measurement value X that each turns station indicator point relative laser tracker
1, obtain 3n necessity observe value X altogether
1; S4, records in step S2
3n the necessity observe value X recorded in individual excess observation L and step S3
1form redundant measurement, to these
individual observed reading carries out measurement adjustment optimization, obtains best observed values
with
s5, transfers to the second erect-position by laser tracker; S6, laser tracker turns station indicator point at the second erect-position to each and measures, and obtains the three-dimensional coordinate measurement value X that each turns station indicator point relative laser tracker
2, obtain 3n necessity observe value X altogether
2; S7, records in step S2
3n the necessity observe value X recorded in individual excess observation L and step S6
2form redundant measurement, to these
individual observed reading carries out measurement adjustment optimization, obtains best observed values after carrying out measurement adjustment optimization
with
s8, to the best observed values obtained with the second erect-position be transferred at the first fixed erect-position
with
carry out monumented point registration, try to achieve the rotation matrix R between two erect-positions and translation vector T, thus complete turn station of laser tracker from the first erect-position to the second erect-position.
Beneficial effect of the present invention is as follows:
Turn in the method for station at laser tracker of the present invention, station indicator point distance value L is between any two turned to each recording in advance and record respectively at the first erect-position and the second erect-position each turn the three-dimensional coordinate measurement value X of station indicator point relative laser tracker
1, X
2carry out measurement adjustment optimization, obtain best observed values
with
improve the measuring accuracy turning station indicator point; By the best observed values obtained
with
carry out monumented point registration and the rotation matrix R tried to achieve between two erect-positions and translation vector T, thus improve turn station precision of laser tracker.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that laser tracker according to the present invention turns station method, illustrate only turning between two erect-positions and stands, and for the sake of clarity, in figure, arrow indicates and turns a direction, station;
Fig. 2 carries out the schematic diagram that second time turns station (can also proceed repeatedly to turn station, be not limited to accompanying drawing) on the basis of Fig. 1, and for the sake of clarity, in figure, arrow indicates and turns direction, station.
Wherein, description of reference numerals is as follows:
1 turn of station indicator point
L each turn station indicator point distance value between any two
2 laser trackers
3 turns of station racks
31 rod members
A first erect-position
B second erect-position
Embodiment
Describe laser tracker according to the present invention with reference to the accompanying drawings in detail and turn station method.
Referring to figs. 1 through Fig. 2, laser tracker according to the present invention turns station method and comprises step: S1, fixedly turn station indicator point 1 in advance, the number turning station indicator point 1 is n, n>=4 and n turns station indicator point 1 and forms 3-D solid structure, all to measure respectively turn station indicator point 1 to make laser tracker 2 at the first fixed erect-position A and laser tracker 2 at the second erect-position B be transferred into; S2, measures in advance fixing each and turns station indicator point 1 distance value L between any two, obtain altogether
individual excess observation; S3, laser tracker 2 turns station indicator point 1 at the first fixed erect-position A to each and measures, and obtains the three-dimensional coordinate measurement value X that each turns station indicator point 1 relative laser tracker 2
1, obtain 3n necessity observe value X altogether
1; S4, records in step S2
3n the necessity observe value X recorded in individual excess observation L and step S3
1form redundant measurement, to these
individual observed reading carries out measurement adjustment optimization, obtains best observed values
with
s5, transfers to the second erect-position B by laser tracker 2; S6, laser tracker 2 turns station indicator point 1 at the second erect-position B to each and measures, and obtains the three-dimensional coordinate measurement value X that each turns station indicator point 1 relative laser tracker 2
2, obtain 3n necessity observe value X altogether
2; S7, records in step S2
3n the necessity observe value X recorded in individual excess observation L and step S6
2form redundant measurement, to these
individual observed reading carries out measurement adjustment optimization, obtains best observed values after carrying out measurement adjustment optimization
with
and S8, to the best observed values obtained with the second erect-position B be transferred at the first fixed erect-position A
with
carry out monumented point registration, try to achieve the rotation matrix R between two erect-positions and translation vector T, thus complete turn station of laser tracker 2 from the first erect-position A to the second erect-position B.
Turn in the method for station at laser tracker of the present invention, station indicator point 1 distance value L is between any two turned to each recording in advance and record respectively at the first erect-position A and the second erect-position B each turn the three-dimensional coordinate measurement value X of station indicator point 1 relative laser tracker 2
1, X
2carry out measurement adjustment optimization, obtain best observed values
with
improve the measuring accuracy turning station indicator point 1; By the best observed values obtained
with
carry out monumented point registration and the rotation matrix R tried to achieve between two erect-positions and translation vector T, thus improve turn station precision of laser tracker.
In one embodiment, referring to figs. 1 through Fig. 2, in step sl, in advance fix turn station indicator point 1 by turning station rack 3, turning station rack 3 is the truss-frame structure be formed by connecting by multiple rod member 31, respectively turn the junction of station indicator point 1 between two rod members 31 turning station rack 3 and n >=4, be placed near the first erect-position A and the second erect-position B by station rack 3 will be turned, all to measure at the second erect-position B be transferred at the first fixed erect-position A and laser tracker 2 to make laser tracker 2 and respectively turn station indicator point 1, thus fixedly turn station indicator point 1 in advance; In step s 2, measure in advance fixing each and turn the length that station indicator point 1 distance value L is between any two each rod member 31 turning station rack 3.In the present invention, when adopt truss-frame structure turn station rack 3 time, turn the small volume of station rack 3, turn station indicator point 1 and be relatively concentrated in a very little scope, to turn station indicator point 1 measure time, be not easy to be blocked by large parts.And the station method that turns in background technology needs to arrange in the larger context and more turns station indicator point, laser tracker to all turn station indicator point measure time, easily blocked by large parts.
In one embodiment, as n=4, rod member 31 number is 6, turn station rack 3 thus and form three-dimensional tetrahedral truss-frame structure, now for the most simply the minimum truss-frame structure of volume can be realized, thus to turn station indicator point 1 measure time, more difficultly to be blocked by large parts.
In one embodiment, turn station rack 3 and make by changing insensitive material to environmental factor, substantially do not change with environmental change to make each distance turned between station indicator point 1.Further, environmental factor can comprise temperature and humidity, but not only for so, other environmental factor also can bring certain impact.Insensitive material is changed to environmental factor and can be carbon fiber or invar, but also not only for so, also can be other and insensitive material is changed to environmental factor.
In one embodiment, in step sl, each fixing in advance precision turning station indicator point 1 distance value L is between any two measured within 5 μm.Three-coordinates measuring machine can be adopted to measure in advance fixing each and to turn station indicator point 1 distance value L between any two, certainly not limit so, other method and instrument also can be adopted to measure.
In one embodiment, referring to figs. 1 through Fig. 2, described erect-position is at least two, when described erect-position more than two (with reference to Fig. 2, be 3 erect-positions in fig. 2) time, the the second erect-position B (i.e. the erect-position on the right side of Fig. 2) transferred to is newly defined as the first fixed erect-position A, erect-position to be transferred for the next one is newly defined as the second erect-position B (i.e. the erect-position on the top of Fig. 2) to be transferred, step S1 is repeated to step S8 between the first erect-position A redefined and the second erect-position B, the rest may be inferred, realizes the transfer of all erect-positions when described erect-position is more than two.
Finally supplement as follows:
The first, measurement adjustment is a kind of existing theory, is a kind of method conventional in mapping science.It is based upon on the basis of redundancy observation, because there is redundancy to observe, contradiction will be produced between each observed reading, measurement adjustment is exactly according to certain principle (i.e. weighting matrix), by least square method, this contradiction value is distributed to each observed reading, to realize the optimization to observed reading, thus reduce the precision of High Accuracy Observation value, improve the precision of low precision observation value simultaneously.Each turns station indicator point 1 distance value L between any two (namely each rod member is long) is in this article high-acruracy survey, and each turns the three-dimensional coordinate measurement value X of station indicator point 1 relative laser tracker 2
1, X
2be low precision measure, make each turn the three-dimensional coordinate measurement value X of station indicator point 1 relative laser tracker 2 through measurement adjustment
1, X
2precision increase.
The second, monumented point registration is also existing theory, finds optimum rotation matrix R and translation vector T, make the spacing of two group mark point measured values after registration minimum by least square method.Namely the expression formula of this distance is
wherein n is the quantity of monumented point.
Claims (9)
1. laser tracker turns a station method, it is characterized in that, comprises step:
S1, fixedly turn station indicator point (1) in advance, the number turning station indicator point (1) is n, n >=4 and n turns station indicator point (1) and forms 3-D solid structure, all to measure respectively turn station indicator point (1) to make laser tracker (2) at fixed the first erect-position (A) and laser tracker (2) at the second erect-position (B) be transferred into;
S2, measures in advance fixing each and turns station indicator point (1) distance value L between any two, obtain altogether
individual excess observation;
S3, laser tracker (2) turns station indicator point (1) at fixed the first erect-position (A) to each and measures, and obtains the three-dimensional coordinate measurement value X that each turns station indicator point (1) relative laser tracker (2)
1, obtain 3n necessity observe value X altogether
1;
S4, records in step S2
3n the necessity observe value X recorded in individual excess observation L and step S3
1form redundant measurement, to these
individual observed reading carries out measurement adjustment optimization, obtains best observed values
with
S5, transfers to the second erect-position (B) by laser tracker (2);
S6, laser tracker (2) turns station indicator point (1) at the second erect-position (B) to each and measures, and obtains the three-dimensional coordinate measurement value X that each turns station indicator point (1) relative laser tracker (2)
2, obtain 3n necessity observe value X altogether
2;
S7, records in step S2
3n the necessity observe value X recorded in individual excess observation L and step S6
2form redundant measurement, to these
individual observed reading carries out measurement adjustment optimization, obtains best observed values after carrying out measurement adjustment optimization
with
S8, to the best observed values obtained at fixed the first erect-position (A) and the second erect-position (B) of being transferred into
with
carry out monumented point registration, try to achieve the rotation matrix R between two erect-positions and translation vector T, thus complete turn station of laser tracker (2) from the first erect-position (A) to the second erect-position (B).
2. laser tracker according to claim 1 turns station method, it is characterized in that,
In step sl, in advance fix turn station indicator point (1) by turning station rack (3), turning station rack (3) is the truss-frame structure be formed by connecting by multiple rod member (31), each station indicator point (1) that turns is positioned at junction between two rod members (31) turning station rack (3) and n >=4, be placed near the first erect-position (A) and the second erect-position (B) by station rack (3) will be turned, all to measure at the second erect-position (B) be transferred at fixed the first erect-position (A) and laser tracker (2) to make laser tracker (2) and respectively turn station indicator point (1), thus fixedly turn station indicator point (1) in advance,
In step s 2, measure in advance fixing each and turn station indicator point (1) distance value L between any two for turning the length of each rod member (31) of station rack (3).
3. laser tracker according to claim 2 turns station method, it is characterized in that, during n=4, rod member (31) number is 6, turns station rack (3) thus and forms three-dimensional tetrahedral truss-frame structure.
4. laser tracker according to claim 2 turns station method, it is characterized in that, turn station rack (3) to make by changing insensitive material to environmental factor, substantially do not change with environmental change to make each distance turned between station indicator point (1).
5. laser tracker according to claim 4 turns station method, it is characterized in that, environmental factor comprises temperature and humidity.
6. laser tracker according to claim 4 turns station method, it is characterized in that, changing insensitive material to environmental factor is carbon fiber or invar.
7. laser tracker according to claim 1 turns station method, it is characterized in that, in step sl, measures each fixing in advance precision turning station indicator point (1) distance value L between any two within 5 μm.
8. laser tracker according to claim 7 turns station method, it is characterized in that, in step sl, adopts three-coordinates measuring machine to measure in advance fixing each and turns station indicator point (1) distance value L between any two.
9. laser tracker according to claim 1 turns station method, it is characterized in that, described erect-position is at least two, when described erect-position is more than two, the second erect-position (B) transferred to is newly defined as fixed the first erect-position (A), erect-position to be transferred for the next one is newly defined as the second erect-position (B) to be transferred, step S1 is repeated to step S8 between the first erect-position (A) redefined and the second erect-position (B), the rest may be inferred, realizes the transfer of all erect-positions when described erect-position is more than two.
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| CN201510680999.3A CN105203131B (en) | 2015-10-20 | 2015-10-20 | Laser tracker turns station method |
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| CN201510680999.3A CN105203131B (en) | 2015-10-20 | 2015-10-20 | Laser tracker turns station method |
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| CN105823417A (en) * | 2016-03-21 | 2016-08-03 | 北京航空航天大学 | Method of improving laser tracker station moving precision based on photogrammetry |
| CN109341746A (en) * | 2018-12-10 | 2019-02-15 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of three-dimensional standard of multisystem cooperative calibration |
| CN111958640A (en) * | 2020-08-24 | 2020-11-20 | 哈工大机器人集团股份有限公司 | Double-arm robot testing method and device for multi-base-station laser tracker cooperative station transfer |
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| CN111958640A (en) * | 2020-08-24 | 2020-11-20 | 哈工大机器人集团股份有限公司 | Double-arm robot testing method and device for multi-base-station laser tracker cooperative station transfer |
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