CN105203131B - Laser tracker turns station method - Google Patents
Laser tracker turns station method Download PDFInfo
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- CN105203131B CN105203131B CN201510680999.3A CN201510680999A CN105203131B CN 105203131 B CN105203131 B CN 105203131B CN 201510680999 A CN201510680999 A CN 201510680999A CN 105203131 B CN105203131 B CN 105203131B
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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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- General Physics & Mathematics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a kind of laser tracker to turn station method, and it includes step：S1, fixation turn station indicator point, so that the erect-position of laser tracker first and the second erect-position can measure and each turn station indicator point；S2, measure and fixed each turn the distance between station indicator point value L；S3, the erect-position of laser tracker first measure to each station indicator point that turns, and obtain each coordinate value X for turning station indicator point relative laser tracker1；Observation in S4, step S2 neutralization procedures S3 measures adjustment optimization, obtains optimal valueWithS5, laser tracker is transferred to the second erect-position；S6, laser tracker measure in the second erect-position to each station indicator point that turns, and obtain each coordinate value X for turning station indicator point relative laser tracker2；Observation in S7, step S2 neutralization procedures S6 measures adjustment optimization, obtains optimal valueWithS8 is to optimal valueWithIndex point registration is carried out, tries to achieve the spin matrix R and translation vector T between erect-position, improve laser tracker turns station precision.
Description
Technical field
The present invention relates to large parts alignment measurement technical field, more particularly to a kind of laser tracker to turn station method.
Background technology
Laser tracker is a kind of large scale high precision measuring instrument, is widely used in the alignment measurement neck of large parts
Domain.In large parts assembling, because part dimension is big, far measuring distance, laser tracker can not be completed in an erect-position
Whole measurement tasks, at this moment just need to carry out turn station of laser tracker.Typically matched somebody with somebody using index point at the station that turns of laser tracker
Accurate method.Fix several and turn station indicator point, laser tracker indicates to these respectively in the first erect-position and the second erect-position
Point is measured, and index point registration is carried out to the coordinate value that measures to obtain twice, try to achieve spin matrix between two erect-positions and
Translation vector.
But use the above method there is middle laser tracker turn station precision it is low the problem of.
In addition it is numerous to influence the factor of laser tracker turn station precision, all quantity, space layout and survey for turning station indicator point
Accuracy of measurement etc..In large parts assembling, measurement range is big, distance is remote, and special component shape is easily to laser tracker
Measurement light cause to block, this setting for all turning station indicator point to laser tracker brings very big difficulty, it is difficult to increase turn station
The quantity of index point optimizes its layout, so as to reduce turn station precision of laser tracker.
The content of the invention
In view of problem present in background technology, it is an object of the invention to provide a kind of laser tracker to turn station method,
It can solve the problems, such as that it is low to turn station precision for laser tracker in large parts assembling process.
To achieve these goals, the invention provides a kind of laser tracker to turn station method, and it includes step：S1, thing
First fixation turns station indicator point, and the number for turning station indicator point is n, and n >=4 and n turn station indicator point and form 3-D solid structure, with
Laser tracker is set to measure each turn of station in the second erect-position being transferred into fixed the first erect-position and laser tracker
Index point；S2, measure each of fixation in advance and turn the distance value L of station indicator point between any two, obtain altogetherIndividual redundant observation
Value；S3, laser tracker measure in the first fixed erect-position to each station indicator point that turns, and obtain each turning station indicator point phase
To the three-dimensional coordinate measurement value X of laser tracker1, 3n necessary observations are obtained altogether；Measured in S4, step S2It is individual more
The 3n necessary observations measured in remaining observation and step S3 form redundant measurement, to theseIndividual observation is surveyed
Adjustment optimization is measured, obtains best observed valuesWithS5, laser tracker is transferred to the second erect-position；S6, laser tracker
Each station indicator point that turns is measured in the second erect-position, obtains each three-dimensional coordinate for turning station indicator point relative laser tracker
Measured value X2, 3n necessary observations are obtained altogether；Measured in S7, step S2Measured in individual excess observation and step S6
The necessary observations of 3n form redundant measurements, to theseIndividual observation measures adjustment optimization, measures flat
Best observed values are obtained after difference optimizationWithS8, to what is obtained in the first fixed erect-position and the second erect-position being transferred into
Best observed valuesWithIndex point registration is carried out, tries to achieve the spin matrix R and translation vector T between two erect-positions, so as to complete
Turn station into laser tracker from the first erect-position to the second erect-position.
Beneficial effects of the present invention are as follows：
Turn station method in the laser tracker of the present invention, to measure in advance it is each turn station indicator point between any two away from
The each three-dimensional coordinate for turning station indicator point relative laser tracker measured respectively from value L and in the first erect-position and the second erect-position
Measured value X1、X2Adjustment optimization is measured, obtains best observed valuesWithImprove the measurement accuracy for turning station indicator point；
The best observed values that will be obtainedWithCarry out index point registration and try to achieve the spin matrix R between two erect-positions and be translated towards
T is measured, so as to improve turn station precision of laser tracker.
Brief description of the drawings
Fig. 1 is the schematic diagram for turning station method according to the laser tracker of the present invention, illustrate only turn between two erect-positions
Stand, for the sake of clarity, in figure arrow, which indicates, turns station direction；
Fig. 2 is that second turn of station (can also continue to carry out repeatedly turning station, be not limited to accompanying drawing) is carried out on the basis of Fig. 1
Schematic diagram, for the sake of clarity, in figure arrow indicate turn station a direction.
Wherein, description of reference numerals is as follows：
1 turn of station indicator point
L is each to turn the distance value of station indicator point between any two
2 laser trackers
3 turns of station racks
31 rod members
The erect-positions of A first
The erect-positions of B second
Embodiment
Station method is turned according to the laser tracker of the present invention to describe in detail with reference to the accompanying drawings.
Referring to figs. 1 to Fig. 2, turning station method according to the laser tracker of the present invention includes step：S1, it is fixed in advance to turn station mark
Will point 1, turn the number of station indicator point 1 as n, n >=4 and n turn station indicator point 1 and form 3-D solid structure so that laser with
Track instrument 2 can measure in fixed the first erect-position A and laser tracker 2 in the second erect-position B being transferred into each turns station indicator
Point 1；S2, measure each of fixation in advance and turn the distance value L of station indicator point 1 between any two, obtain altogetherIndividual excess observation；
S3, laser tracker 2 measure in the first fixed erect-position A to each station indicator point 1 that turns, and obtain each turning station indicator point 1
The three-dimensional coordinate measurement value X of relative laser tracker 21, 3n necessary observations are obtained altogether；Measured in S4, step S2
The 3n necessary observations measured in individual excess observation and step S3 form redundant measurement, to theseIndividual observation is entered
Row measurement adjustment optimizes, and obtains best observed valuesWithS5, laser tracker 2 is transferred to the second erect-position B；S6, laser
Tracker 2 measures in the second erect-position B to each station indicator point 1 that turns, and obtains each turning the relative laser tracker of station indicator point 1
2 three-dimensional coordinate measurement value X2, 3n necessary observations are obtained altogether；Measured in S7, step S2Individual excess observation and
The 3n necessary observations measured in step S6 form redundant measurement, to theseIt is excellent that individual observation measures adjustment
Change, best observed values are obtained after measuring adjustment optimizationWithAnd S8, in the first fixed erect-position A and to be transferred
To the obtained best observed values of the second erect-position BWithIndex point registration is carried out, tries to achieve the spin matrix between two erect-positions
R and translation vector T, turn station from the first erect-position A to the second erect-position B so as to complete laser tracker 2.
In the laser tracker of the present invention turn station method, each turn station indicator point 1 between any two to what is measured in advance
Distance value L and each turn the three of the relative laser tracker 2 of station indicator point 1 what the first erect-position A and the second erect-position B were measured respectively
Dimension coordinate measured value X1、X2Adjustment optimization is measured, obtains best observed valuesWithImprove the survey for turning station indicator point 1
Accuracy of measurement；The best observed values that will be obtainedWithCarry out index point registration and try to achieve the spin matrix R between two erect-positions and
Translation vector T, so as to improve turn station precision of laser tracker.
In one embodiment, referring to figs. 1 to Fig. 2, in step sl, station indicator point is turned by turning station rack 3 to fix in advance
1, it is the truss structure being formed by connecting by multiple rod members 31 to turn station rack 3, and each station indicator point 1 that turns is located at two rod members 31 for turning station rack 3
Between junction and n >=4, be placed on by the way that station rack 3 will be turned near the first erect-position A and the second erect-position B, so that laser tracker
2 fixed the first erect-position A and laser tracker 2 the second erect-position B being transferred into can measure it is each turn station indicator point 1,
So as to which fixation turns station indicator point 1 in advance；In step s 2, measure it is fixed in advance it is each turn station indicator point 1 between any two away from
From the length that value L is each rod member 31 for turning station rack 3.In the present invention, when using when turning station rack 3 of truss structure, station rack 3 is turned
Small volume, turn station indicator point 1 and be relatively concentrated in the range of a very little, when being measured to turning station indicator point 1, do not allow
Easily 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 it is all turn station indicator point and measure when, easily blocked by large parts.
In one embodiment, as n=4, the number of rod member 31 is 6, thus turns station rack 3 and forms three-dimensional tetrahedral truss knot
Structure, it is now the minimum truss structure of simplest achievable volume, so that when being measured to turning station indicator point 1, less
Easily blocked by large parts.
In one embodiment, turn station rack 3 to be made by changing insensitive material to environmental factor, so that each turn station indicator point
The distance between 1 does not change with environmental change substantially.Further, environmental factor may include temperature and humidity, but not only limit
In this way, other environmental factors can also bring certain influence.Environmental factor is changed insensitive material can be carbon fiber or
Person's invar, but also not only limit in this way, can also be other materials insensitive to environmental factor change.
In one embodiment, in step sl, measure each of fixation in advance and turn station indicator 1 distance value between any two of point
L precision is within 5 μm.Can use three-coordinates measuring machine measure it is fixed in advance it is each turn station indicator point 1 between any two away from
It is certainly unlimited in this way, can also use other methods and instrument to measure from value L.
In one embodiment, referring to figs. 1 to Fig. 2, the erect-position is at least two, when the erect-position (reference more than two
Fig. 2, it is in fig. 23 erect-positions) when, the second erect-position B (i.e. the erect-position on Fig. 2 right side) having been transferred to is newly defined as
The first fixed erect-position A, next erect-position to be transferred is newly defined as to the second erect-position B (i.e. stations on Fig. 2 top to be transferred
Position), the repeat step S1 to step S8 between the first erect-position A and the second erect-position B redefined, the rest may be inferred, and institute is worked as in realization
The transfer of all erect-positions when stating erect-position more than two.
Finally supplement as follows：
First, measurement adjustment is a kind of existing theory, is a kind of method commonly used in mapping science.It is built upon redundancy
On the basis of observation, because there is redundancy observation, contradiction will be produced between each observation, measurement adjustment is exactly according to certain
Principle (i.e. weighting matrix), this contradiction value is distributed into each observation with least square method, with realize to observation
Optimization, so as to reduce the precision of High Accuracy Observation value, while improves the precision of low precision observation value.Each turn of station mark herein
The distance value L (i.e. each rod member length) of will point 1 between any two is high-acruracy survey, each to turn the relative laser tracker 2 of station indicator point 1
Three-dimensional coordinate measurement value X1、X2It is low precision measure, measured adjustment causes each relative laser of station indicator point 1 that turns to track
The three-dimensional coordinate measurement value X of instrument 21、X2Precision increase.
Second, index point registration is also existing theory, and optimal spin matrix R and translation are found by least square method
Vector T so that distance is minimum between two group mark point measured values after registered.That is the expression formula of this distance isWherein n is the quantity of index point.
Claims (9)
1. a kind of laser tracker turns station method, it is characterised in that including step：
S1, in advance fixation turn station indicator point (1), and the number for turning station indicator point (1) is n, and n >=4 and n turn station indicator point (1)
Formed 3-D solid structure so that laser tracker (2) in fixed the first erect-position (A) and laser tracker (2) to be transferred
To the second erect-position (B) can measure and each turn station indicator point (1)；
S2, measure each of fixation in advance and turn the distance value L of station indicator point (1) between any two, obtain altogetherIndividual redundant observation
Value；
S3, laser tracker (2) measure in fixed the first erect-position (A) to each station indicator point (1) that turns, and obtain each turn
The three-dimensional coordinate measurement value X of station indicator point (1) relative laser tracker (2)1, 3n necessary observations are obtained altogether；
Measured in S4, step S2The 3n necessary observations measured in individual excess observation and step S3 form redundancy and surveyed
Amount, to theseIndividual observation measures adjustment optimization, obtains best observed valuesWith
S5, laser tracker (2) is transferred to the second erect-position (B)；
S6, laser tracker (2) measure in the second erect-position (B) to each station indicator point (1) that turns, and obtain each turning station indicator
The three-dimensional coordinate measurement value X of point (1) relative laser tracker (2)2, 3n necessary observations are obtained altogether；
Measured in S7, step S2The 3n necessary observations measured in individual excess observation and step S6 form redundant measurement,
To theseIndividual observation measures adjustment optimization, and best observed values are obtained after measuring adjustment optimizationWith
S8, to the best observed values obtained in fixed the first erect-position (A) and the second erect-position (B) being transferred intoWithEnter
Line flag point registration, tries to achieve the spin matrix R and translation vector T between two erect-positions, so as to complete laser tracker (2) from the
One erect-position (A) turns station to the second erect-position (B).
2. laser tracker according to claim 1 turns station method, it is characterised in that
In step sl, station indicator point (1) is turned by turning station rack (3) to fix in advance, it is by multiple rod members (31) to turn station rack (3)
The truss structure being formed by connecting, each junction for turning station indicator point (1) and being located between two rod members (31) for turning station rack (3) and n >=
4, it is placed on by the way that station rack (3) will be turned near the first erect-position (A) and the second erect-position (B), so that laser tracker (2) is fixed
First erect-position (A) and laser tracker (2) the second erect-position (B) being transferred into can measure it is each turn station indicator point (1), from
And fixation turns station indicator point (1) in advance；
In step s 2, it is to turn station rack (3) to measure each distance value L of station indicator point (1) between any two that turns fixed in advance
The length of each rod member (31).
3. laser tracker according to claim 2 turns station method, it is characterised in that during n=4, rod member (31) number is 6,
Thus turn station rack (3) and form three-dimensional tetrahedral truss structure.
4. laser tracker according to claim 2 turns station method, it is characterised in that turns station rack (3) by environmental factor
Change insensitive material to be made, so that each the distance between station indicator point (1) that turns does not change with environmental change substantially.
5. laser tracker according to claim 4 turns station method, it is characterised in that environmental factor includes temperature and wet
Degree.
6. laser tracker according to claim 4 turns station method, it is characterised in that environmental factor is changed insensitive
Material is carbon fiber or invar.
7. laser tracker according to claim 1 turns station method, it is characterised in that in step sl, measures solid in advance
Fixed each precision for turning the distance value L of station indicator point (1) between any two is within 5 μm.
8. laser tracker according to claim 7 turns station method, it is characterised in that in step sl, using three coordinates
Measuring instrument measures each of fixation in advance and turns the distance value L of station indicator point (1) between any two.
9. laser tracker according to claim 1 turns station method, it is characterised in that the erect-position is at least two, when
When the erect-position is more than two, the second erect-position (B) having been transferred to is newly defined as to fixed the first erect-position (A), will be next
Individual erect-position to be transferred is newly defined as the second erect-position (B) to be transferred, in the first erect-position (A) redefined and the second erect-position
(B) repeat step S1 to step S8 between, the rest may be inferred, realizes the transfer of all erect-positions when the erect-position is more than two.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510680999.3A CN105203131B (en) | 2015-10-20 | 2015-10-20 | Laser tracker turns station method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510680999.3A CN105203131B (en) | 2015-10-20 | 2015-10-20 | Laser tracker turns station method |
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| CN105203131B true CN105203131B (en) | 2017-12-05 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105823417B (en) * | 2016-03-21 | 2018-06-22 | 北京航空航天大学 | A kind of method for turning station precision based on photogrammetric raising laser tracker |
| CN109341746B (en) * | 2018-12-10 | 2020-11-17 | 中国航空工业集团公司北京长城计量测试技术研究所 | Three-dimensional standard device for multi-system cooperative measurement and 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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| CN202361986U (en) * | 2011-12-06 | 2012-08-01 | 江西洪都航空工业集团有限责任公司 | Horizontal laser measuring system for airplanes |
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| CN104331542A (en) * | 2014-08-12 | 2015-02-04 | 清华大学 | Painting robot position planning method for large-scale free-form surface |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7917242B2 (en) * | 2007-10-26 | 2011-03-29 | The Boeing Company | System, method, and computer program product for computing jack locations to align parts for assembly |
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| CN202361986U (en) * | 2011-12-06 | 2012-08-01 | 江西洪都航空工业集团有限责任公司 | Horizontal laser measuring system for airplanes |
| CN104331542A (en) * | 2014-08-12 | 2015-02-04 | 清华大学 | Painting robot position planning method for large-scale free-form surface |
| CN104315983A (en) * | 2014-10-16 | 2015-01-28 | 天津大学 | Method for increasing coordinate measurement field accuracy through space multi-length constraint |
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