CN106595654A - Continuous tracking measurement method and device for laser tracking measurement system - Google Patents
Continuous tracking measurement method and device for laser tracking measurement system Download PDFInfo
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Abstract
本发明公开了一种激光跟踪测量系统连续跟踪测量方法及装置，引入惯性测量装置，利用最优估计算法对激光跟踪测量值和惯性测量值进行融合优化，得到惯性测量装置当前位置和姿态的最优估计值，并估计误差系数；若目标保持锁定状态，激光跟踪测量系统不断估计并修正累积误差；当光路中断目标丢失时，惯性测量装置利用中断前一刻位置和姿态的最优测量值和误差系数继续测量，连续输出自身位置和姿态测量值；根据惯性测量装置坐标系到目标坐标系的转换关系，计算合作靶标当前的位置，并反馈至激光跟踪测量系统进行自动瞄准，恢复跟踪测量；惯性测量装置的输出填补光路中断期间的测量数据。本发明实现复杂现场环境下自动跟踪定位功能。
The invention discloses a continuous tracking measurement method and device for a laser tracking measurement system. An inertial measurement device is introduced, and an optimal estimation algorithm is used to fuse and optimize the laser tracking measurement value and the inertial measurement value to obtain the current position and attitude of the inertial measurement device. The optimal estimated value and estimated error coefficient; if the target remains locked, the laser tracking measurement system continuously estimates and corrects the cumulative error; when the optical path is interrupted and the target is lost, the inertial measurement device uses the optimal measured value and error of the position and attitude at the moment before the interruption The coefficient continues to measure, and continuously outputs its own position and attitude measurement values; according to the conversion relationship between the inertial measurement device coordinate system and the target coordinate system, calculate the current position of the cooperative target, and feed it back to the laser tracking measurement system for automatic aiming, and resume tracking measurement; The output of the measurement device fills in the measurement data during the interruption of the optical path. The invention realizes the function of automatic tracking and positioning in complex field environment.
Description
技术领域technical field
本发明涉及精密测量方法与技术领域，尤其涉及一种激光跟踪测量系统连续跟踪测量方法及装置。The invention relates to the field of precision measurement methods and technologies, in particular to a continuous tracking measurement method and device for a laser tracking measurement system.
背景技术Background technique
激光跟踪测量系统具有测量精度高、量程覆盖范围大(从一米至上百米)、布局灵活、操作方便及自动化程度高等优点，是目前现场大尺寸精密测量最常用的一类仪器。例如，激光跟踪仪在汽车、航空、航天及其他精密制造领域中发挥着重要作用；全站仪已成为桥梁隧道盾构及船舶制造中的关键设备。激光跟踪测量系统通过测量多个基准点或六自由度(6D)传感器获得被测目标的精确位置和姿态信息，为大型部件对接与装配、大型建筑结构安装、工业机器人与移动机器人等运载平台动态跟踪、大型盾构机自动导向等关键问题提供技术支撑。相比于其他仪器，该类测量设备的显著优势在于能够实时跟踪被测目标，实现自动化连续测量，在现场环境下能够大幅提高测量效率，节省人力和时间。但是，其显著缺点在于在测量过程中必须保证通视性，光路不允许中断。在目标连续运动过程中，光路一旦被遮挡而中断即丢失目标，不能继续跟踪，必须手动瞄准后才能继续跟踪测量。在实际使用中，频繁丢失目标会造成数据缺失并严重影响测量效率。The laser tracking measurement system has the advantages of high measurement accuracy, large range coverage (from one meter to hundreds of meters), flexible layout, convenient operation and high degree of automation. It is currently the most commonly used type of instrument for large-scale precision measurement on site. For example, laser trackers play an important role in automobiles, aviation, aerospace and other precision manufacturing fields; total stations have become key equipment in bridge tunnel shield and shipbuilding. The laser tracking measurement system obtains the precise position and attitude information of the measured target by measuring multiple reference points or six-degree-of-freedom (6D) sensors. Provide technical support for key issues such as tracking and automatic guidance of large shield machines. Compared with other instruments, the significant advantage of this type of measuring equipment is that it can track the measured target in real time, realize automatic continuous measurement, greatly improve the measurement efficiency in the field environment, and save manpower and time. However, its significant disadvantage is that visibility must be guaranteed during the measurement process, and the optical path is not allowed to be interrupted. During the continuous movement of the target, once the optical path is blocked and interrupted, the target will be lost, and the tracking cannot be continued, and the tracking and measurement can only be continued after manual aiming. In actual use, frequent loss of targets will cause data loss and seriously affect measurement efficiency.
针对这一问题，各个仪器制造厂商也陆续开发了自动跟踪锁定目标的功能，使激光跟踪测量系统在丢失目标后能够自动搜寻到目标的位置并将激光束对准目标进行跟踪。但是，从丢失目标到再次捕获期间的测量数据将会缺失。另一方面，其搜索能力有限(一般为30°左右)，且为螺旋式搜索，具有一定的盲目性，难以在极短时间内快速寻找到目标。另外，当在跟踪路径上存在较长时间遮挡或目标运动速度较快(如工业机器人携带6D传感器高速运动)的情况下，目标很快超出搜索范围，自动跟踪锁定功能即失效。In response to this problem, various instrument manufacturers have also successively developed the function of automatically tracking and locking the target, so that the laser tracking measurement system can automatically search for the position of the target after losing the target and track the laser beam at the target. However, measurement data from the time the target is lost until it is recaptured will be missing. On the other hand, its search ability is limited (generally about 30°), and it is a spiral search, which has a certain degree of blindness, and it is difficult to quickly find the target in a very short time. In addition, when there is a long-term occlusion on the tracking path or the target moves at a high speed (such as an industrial robot carrying a 6D sensor moving at high speed), the target will soon exceed the search range, and the automatic tracking and locking function will fail.
通常测量现场环境比较复杂，通视条件差，现场人员及设施，以及被测目标自身位姿变化均可能在动态跟踪过程中构成遮挡因素。尤其在执行大型复杂测量任务时，测量设备距被测目标较远，现场人员众多，指挥调度困难，光路上任何人员遮挡均会造成中断，无法实现连续测量。另一方面，激光跟踪测量系统在远距离搜索能力较弱，难以自动锁定目标，不得不手动将激光束瞄准目标处，严重影响测量效率。Usually the measurement site environment is relatively complex, with poor visibility conditions, on-site personnel and facilities, and changes in the pose of the measured target itself may constitute blocking factors during the dynamic tracking process. Especially when performing large-scale and complex measurement tasks, the measurement equipment is far away from the target to be measured, and there are many people on site, making it difficult to command and dispatch. Any obstruction of personnel on the optical path will cause interruption, and continuous measurement cannot be realized. On the other hand, the laser tracking measurement system is weak in long-distance search ability, it is difficult to automatically lock the target, and the laser beam has to be aimed at the target manually, which seriously affects the measurement efficiency.
总之，目前激光跟踪测量系统在环境复杂的测量现场条件下尚不能很好地解决连续跟踪测量问题。因此，解决激光跟踪测量系统在复杂现场环境中，自身跟踪锁定功能失效情况下自动跟踪问题，不仅能够填补缺失测量数据，而且能够大幅提高测量效率，实现全自动连续跟踪测量，提高该类仪器设备在现场测量应用中的灵活性和适应性。In short, the current laser tracking measurement system cannot solve the problem of continuous tracking measurement well under the complex measurement site conditions. Therefore, to solve the problem of automatic tracking of the laser tracking measurement system in the complex field environment when its own tracking and locking function fails, it can not only fill in the missing measurement data, but also greatly improve the measurement efficiency, realize fully automatic continuous tracking measurement, and improve the quality of such instruments and equipment. Flexibility and adaptability in field measurement applications.
发明内容Contents of the invention
本发明提供了一种激光跟踪测量系统连续跟踪测量方法及装置，本发明将激光跟踪测量和惯性测量两类设备的测量结果统一到同一基准下，并对惯性测量装置的累积误差进行有效修正，实现复杂现场环境下自动跟踪定位功能，详见下文描述：The invention provides a continuous tracking measurement method and device for a laser tracking measurement system. The invention unifies the measurement results of laser tracking measurement and inertial measurement equipment under the same benchmark, and effectively corrects the cumulative error of the inertial measurement device. Realize the function of automatic tracking and positioning in complex on-site environments, see the following description for details:
一种激光跟踪测量系统连续跟踪测量方法，所述测量方法包括以下步骤：A laser tracking measurement system continuous tracking measurement method, the measurement method comprises the following steps:
惯性测量装置根据自身更新算法测得其自身相对于初始坐标系的位置和姿态；The inertial measurement device measures its own position and attitude relative to the initial coordinate system according to its own update algorithm;
激光跟踪测量系统测量合作靶标，并通过坐标系转换得到惯性测量装置相对于初始坐标系的位置和姿态；The laser tracking measurement system measures the cooperative target, and obtains the position and attitude of the inertial measurement device relative to the initial coordinate system through coordinate system conversion;
利用最优估计算法对两个测量值进行融合优化，得到惯性测量装置当前位置和姿态的最优估计值，并估计惯性测量装置的误差系数；Using the optimal estimation algorithm to fuse and optimize the two measured values, obtain the optimal estimated value of the current position and attitude of the inertial measurement device, and estimate the error coefficient of the inertial measurement device;
若目标保持锁定状态，激光跟踪测量系统不断估计并修正惯性测量装置的累积误差；If the target remains locked, the laser tracking measurement system continuously estimates and corrects the cumulative error of the inertial measurement device;
当光路中断目标丢失时，惯性测量装置利用中断前一刻位置和姿态的最优测量值和误差系数继续测量，连续输出自身位置和姿态测量值；When the optical path is interrupted and the target is lost, the inertial measurement device continues to measure using the optimal measurement value and error coefficient of the position and attitude immediately before the interruption, and continuously outputs its own position and attitude measurement values;
根据惯性测量装置坐标系到目标坐标系的转换关系，计算合作靶标当前的位置，并反馈至激光跟踪测量系统进行自动瞄准，恢复跟踪测量；Calculate the current position of the cooperative target according to the conversion relationship from the inertial measurement device coordinate system to the target coordinate system, and feed it back to the laser tracking measurement system for automatic aiming, and resume tracking measurement;
惯性测量装置的输出填补光路中断期间的测量数据。The output of the inertial measurement unit fills in the measurement data during the interruption of the optical path.
其中，所述测量方法还包括：Wherein, the measurement method also includes:
将惯性测量装置刚性联接于被测目标上，定义惯性测量装置的坐标系；Rigidly connect the inertial measurement device to the measured target, and define the coordinate system of the inertial measurement device;
将合作靶标固定在被测目标上，以合作靶标的自身结构建立目标坐标系，并标定由惯性测量装置坐标系到目标坐标系的转换关系。The cooperative target is fixed on the measured target, the target coordinate system is established with the cooperative target's own structure, and the conversion relationship from the inertial measurement device coordinate system to the target coordinate system is calibrated.
其中，所述测量方法还包括：Wherein, the measurement method also includes:
在初始位置定义惯性测量装置初始坐标系；定义激光跟踪测量系统自身的坐标系为激光跟踪测量坐标系，并标定初始坐标系与激光跟踪测量坐标系的转换关系。Define the initial coordinate system of the inertial measurement device at the initial position; define the coordinate system of the laser tracking measurement system itself as the laser tracking measurement coordinate system, and calibrate the conversion relationship between the initial coordinate system and the laser tracking measurement coordinate system.
本发明利用惯性测量装置辅助激光跟踪测量系统在光路中断后自动捕获目标，涉及的方法及装置具备如下有益效果：The present invention uses the inertial measurement device to assist the laser tracking measurement system to automatically capture the target after the optical path is interrupted, and the method and device involved have the following beneficial effects:
1、取代手动瞄准方式，节省激光跟踪测量系统恢复跟踪测量的时间，大幅提高测量效率；1. Replace the manual aiming method, save the time for the laser tracking measurement system to resume tracking measurement, and greatly improve the measurement efficiency;
2、在激光跟踪系统丢失目标无法测量的短暂时间内，惯性测量装置的输出能够提供足够精度的测量数据，保证测量结果的连续性和完整性；2. In the short period of time when the laser tracking system loses the target and cannot measure, the output of the inertial measurement device can provide measurement data with sufficient accuracy to ensure the continuity and integrity of the measurement results;
3、使激光跟踪测量系统在复杂测量现场环境中仍具备自动跟踪测量能力，增强其在现场测量中的灵活性和适应性。3. Make the laser tracking measurement system still have the ability of automatic tracking measurement in the complex measurement site environment, and enhance its flexibility and adaptability in the field measurement.
附图说明Description of drawings
图1为一种激光跟踪测量系统连续跟踪测量方法的流程图；Fig. 1 is a flow chart of a continuous tracking measurement method for a laser tracking measurement system;
图2为本发明所涉及的测量装置的一个实施例的示意图；Fig. 2 is the schematic diagram of an embodiment of the measuring device involved in the present invention;
图中：101：激光跟踪测量系统的一个典型实施例——激光跟踪仪；102：合作靶标的一种实施例——6D传感器；103：惯性测量单元；104：工业机器人。In the figure: 101: a typical embodiment of a laser tracking measurement system—a laser tracker; 102: an embodiment of a cooperative target—a 6D sensor; 103: an inertial measurement unit; 104: an industrial robot.
图3为本发明所涉及的测量方法的示意图。Fig. 3 is a schematic diagram of the measurement method involved in the present invention.
图中：201：位姿最优估计值；202：障碍物；203：位姿惯性测量值；In the figure: 201: optimal estimated value of pose; 202: obstacle; 203: measured value of pose inertia;
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，下面对本发明实施方式作进一步地详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below.
实施例1Example 1
为达到上述目的，本发明实施例利用激光跟踪测量系统与惯性测量装置同步测量，激光跟踪测量系统在光路中断，自身自动跟踪锁定功能失效情况下，利用惯性测量装置继续自主测量目标的位置和姿态信息补充缺失数据，并反馈给激光跟踪测量系统，控制其重新对准目标进行跟踪测量。In order to achieve the above purpose, the embodiment of the present invention utilizes the laser tracking measurement system and the inertial measurement device for synchronous measurement. The laser tracking measurement system uses the inertial measurement device to continue to autonomously measure the position and attitude of the target when the optical path is interrupted and its own automatic tracking and locking function fails. The information supplements the missing data and feeds back to the laser tracking measurement system to control it to re-align the target for tracking measurement.
激光跟踪测量系统和惯性测量装置两类性能互补的测量仪器。激光跟踪测量系统能够持续稳定输出高精度测量结果，但是必须保证通视条件。Laser tracking measurement system and inertial measurement device are two types of measuring instruments with complementary performance. The laser tracking measurement system can continuously and stably output high-precision measurement results, but the condition of visibility must be guaranteed.
相比之下，惯性测量装置上电后即自主工作，不受外部环境影响。但是该类测量设备存在累积误差问题，尤其是易于集成的小体积、低成本的惯性测量单元，长时间工作会产生较大测量误差。另一方面，两类测量仪器测量各自的目标信息，前者测量合作目标位置，后者测量自身位姿。In contrast, IMUs work autonomously when powered on and are not affected by the external environment. However, this type of measurement equipment has the problem of cumulative error, especially the small-volume, low-cost inertial measurement unit that is easy to integrate, and it will produce large measurement errors after working for a long time. On the other hand, the two types of measuring instruments measure their own target information, the former measures the position of the cooperative target, and the latter measures its own pose.
本发明实施例的关键是将两类设备的测量结果统一到同一基准下，并对惯性测量装置的累积误差进行有效修正，实现复杂现场环境下自动跟踪定位功能。The key to the embodiments of the present invention is to unify the measurement results of the two types of equipment under the same benchmark, and effectively correct the cumulative error of the inertial measurement device, so as to realize the automatic tracking and positioning function in complex field environments.
一种激光跟踪测量系统连续跟踪测量方法，参见图1，该测量方法包括以下步骤：A continuous tracking measurement method of a laser tracking measurement system, referring to Fig. 1, the measurement method comprises the following steps:
11：惯性测量装置根据自身更新算法测得其自身相对于初始坐标系的位置和姿态；激光跟踪测量系统测量合作靶标，并通过坐标系转换得到惯性测量装置相对于初始坐标系的位置和姿态；11: The inertial measurement device measures its own position and attitude relative to the initial coordinate system according to its own update algorithm; the laser tracking measurement system measures the cooperative target, and obtains the position and attitude of the inertial measurement device relative to the initial coordinate system through coordinate system conversion;
12：利用最优估计算法对两个测量值进行融合优化，得到惯性测量装置当前位置和姿态的最优估计值，并估计惯性测量装置的误差系数；若目标保持锁定状态，激光跟踪测量系统不断估计并修正惯性测量装置的累积误差；12: Use the optimal estimation algorithm to fuse and optimize the two measured values to obtain the optimal estimated value of the current position and attitude of the inertial measurement device, and estimate the error coefficient of the inertial measurement device; if the target remains locked, the laser tracking measurement system will continue to Estimating and correcting the cumulative error of the inertial measurement unit;
13：当光路中断目标丢失时，惯性测量装置利用中断前一刻位置和姿态的最优测量值和误差系数继续测量，连续输出自身位置和姿态测量值；13: When the optical path is interrupted and the target is lost, the inertial measurement device continues to measure using the optimal measurement value and error coefficient of the position and attitude immediately before the interruption, and continuously outputs its own position and attitude measurement values;
14：根据惯性测量装置坐标系到目标坐标系的转换关系，计算合作靶标当前的位置，并反馈至激光跟踪测量系统进行自动瞄准，恢复跟踪测量；14: Calculate the current position of the cooperative target according to the conversion relationship from the coordinate system of the inertial measurement device to the target coordinate system, and feed it back to the laser tracking measurement system for automatic aiming, and resume tracking measurement;
15：惯性测量装置的输出填补光路中断期间的测量数据。15: The output of the IMU fills in the measurement data during the interruption of the optical path.
其中，在步骤11之前，该测量方法还包括：Wherein, before step 11, the measurement method also includes:
将惯性测量装置刚性联接于被测目标上，定义惯性测量装置的坐标系；Rigidly connect the inertial measurement device to the measured target, and define the coordinate system of the inertial measurement device;
将合作靶标固定在被测目标上，以合作靶标的自身结构建立目标坐标系，并标定由惯性测量装置坐标系到目标坐标系的转换关系。The cooperative target is fixed on the measured target, the target coordinate system is established with the cooperative target's own structure, and the conversion relationship from the inertial measurement device coordinate system to the target coordinate system is calibrated.
其中，在步骤11之前，该测量方法还包括：Wherein, before step 11, the measurement method also includes:
在初始位置定义惯性测量装置初始坐标系；定义激光跟踪测量系统自身的坐标系为激光跟踪测量坐标系，并标定初始坐标系与激光跟踪测量坐标系的转换关系。Define the initial coordinate system of the inertial measurement device at the initial position; define the coordinate system of the laser tracking measurement system itself as the laser tracking measurement coordinate system, and calibrate the conversion relationship between the initial coordinate system and the laser tracking measurement coordinate system.
综上所述，本发明实施例通过上述步骤11-步骤15将两类设备的测量结果统一到同一基准下，并对惯性测量装置的累积误差进行有效修正，实现复杂现场环境下自动跟踪定位功能。In summary, the embodiment of the present invention unifies the measurement results of the two types of equipment under the same benchmark through the above steps 11 to 15, and effectively corrects the cumulative error of the inertial measurement device, so as to realize the automatic tracking and positioning function in complex field environments .
实施例2Example 2
下面结合具体的图1、图2和图3对实施例1中的方案进行详细介绍，详见下文描述：Below in conjunction with specific Fig. 1, Fig. 2 and Fig. 3, the scheme in embodiment 1 is introduced in detail, see the following description for details:
21：将惯性测量装置刚性联接于被测目标上，定义惯性测量装置的坐标系；21: Rigidly connect the inertial measurement device to the target to be measured, and define the coordinate system of the inertial measurement device;
22：将合作靶标固定在被测目标上，以合作靶标的自身结构建立目标坐标系，并标定由惯性测量装置坐标系到目标坐标系的转换关系；22: Fix the cooperative target on the measured target, establish the target coordinate system with its own structure, and calibrate the conversion relationship from the inertial measurement device coordinate system to the target coordinate system;
23：在被测目标开始运动前，在初始位置定义惯性测量单元初始坐标系，简称初始坐标系；定义激光跟踪测量系统自身的坐标系为激光跟踪测量坐标系，并标定初始坐标系与激光跟踪测量坐标系的转换关系；23: Before the measured target starts to move, define the initial coordinate system of the inertial measurement unit at the initial position, referred to as the initial coordinate system; define the coordinate system of the laser tracking measurement system itself as the laser tracking measurement coordinate system, and calibrate the initial coordinate system and laser tracking The conversion relationship of the measurement coordinate system;
24：被测目标运动时，在没有遮挡的情况下，惯性测量装置与激光跟踪测量系统同步测量；24: When the measured target is moving, under the condition of no occlusion, the inertial measurement device and the laser tracking measurement system measure synchronously;
其中，惯性测量装置根据状态更新算法(状态更新算法为本领域技术人员所公知，本发明实施例对此不做赘述)测得其自身相对于初始坐标系的位置和姿态；激光跟踪测量系统测量合作靶标，并通过坐标系转换得到惯性测量装置相对于初始坐标系的位置和姿态；Among them, the inertial measurement device measures its own position and attitude relative to the initial coordinate system according to the state update algorithm (the state update algorithm is well known to those skilled in the art, and the embodiment of the present invention will not repeat it); the laser tracking measurement system measures Cooperate with the target, and obtain the position and attitude of the inertial measurement device relative to the initial coordinate system through coordinate system conversion;
25：利用最优估计算法对两个系统测量值进行融合优化，得到惯性测量装置当前位置和姿态的最优估计值，并估计惯性测量装置的误差系数；若目标保持锁定状态，激光跟踪测量系统不断估计并修正惯性测量装置的累积误差；25: Use the optimal estimation algorithm to fuse and optimize the measured values of the two systems to obtain the optimal estimated value of the current position and attitude of the inertial measurement device, and estimate the error coefficient of the inertial measurement device; if the target remains locked, the laser tracking measurement system Continuously estimate and correct the cumulative error of the IMU;
其中，最优估计算法可以为：卡尔曼滤波算法、互补滤波算法等。采用最优估计算法对测量值进行融合优化的步骤为本领域技术人员所公知，本发明实施例对此不做赘述，且对最优估计算法不做限制，只要能实现上述功能的算法均可。Wherein, the optimal estimation algorithm may be: a Kalman filter algorithm, a complementary filter algorithm, and the like. The steps of using the optimal estimation algorithm to fuse and optimize the measured values are well known to those skilled in the art, and the embodiments of the present invention will not repeat this, and there is no limit to the optimal estimation algorithm, as long as the algorithm can realize the above functions .
26：当光路中断目标丢失时，惯性测量装置利用中断前一刻位置和姿态的最优测量值和误差系数继续测量，连续输出自身位置和姿态测量值；26: When the optical path is interrupted and the target is lost, the inertial measurement device continues to measure using the optimal measurement value and error coefficient of the position and attitude immediately before the interruption, and continuously outputs its own position and attitude measurement values;
其中，惯性测量装置经过误差系数修正，在有限时间内仍然能够保持足够精度。Among them, the inertial measurement device can still maintain sufficient accuracy within a limited time after being corrected by the error coefficient.
27：根据得到的由惯性测量装置坐标系到目标坐标系的转换关系，计算合作靶标当前的位置，并反馈至激光跟踪测量系统进行自动瞄准，恢复跟踪测量；另一方面，惯性测量装置的输出填补光路中断期间的测量数据。27: Calculate the current position of the cooperative target according to the transformation relationship obtained from the coordinate system of the inertial measurement device to the target coordinate system, and feed it back to the laser tracking measurement system for automatic aiming and resume tracking measurement; on the other hand, the output of the inertial measurement device Fill in the measurement data during the interruption of the optical path.
综上所述，本发明实施例通过上述步骤21-步骤27将两类设备的测量结果统一到同一基准下，并对惯性测量装置的累积误差进行有效修正，实现复杂现场环境下自动跟踪定位功能。In summary, the embodiment of the present invention unifies the measurement results of the two types of equipment under the same benchmark through the above steps 21 to 27, and effectively corrects the cumulative error of the inertial measurement device, so as to realize the automatic tracking and positioning function in complex field environments .
实施例3Example 3
本发明实施例提供了一种激光跟踪测量系统连续跟踪测量装置，该测量装置用于实施实施例1和2中的测量方法，参见图2和图3。An embodiment of the present invention provides a continuous tracking measurement device of a laser tracking measurement system, which is used to implement the measurement methods in Embodiments 1 and 2, see FIG. 2 and FIG. 3 .
为使本发明实施例的目的、技术方案和优点更加清楚，下面以激光跟踪仪对工业机器人(以下简称机器人)高速跟踪为例对本发明实施方式作进一步地详细描述。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the implementation of the present invention will be further described in detail by taking the high-speed tracking of an industrial robot (hereinafter referred to as a robot) by a laser tracker as an example.
机器人在高精度柔性加工与装配，自动取件、搬运、上料等过程中对定位精度均有严格的要求。本发明实施例能够对机器人进行高速连续跟踪测量，实现其精密定位。Robots have strict requirements on positioning accuracy in the process of high-precision flexible processing and assembly, automatic picking, handling, and loading. The embodiments of the present invention can perform high-speed continuous tracking measurement on the robot to realize its precise positioning.
本发明实施例适用于所有激光跟踪测量设备对任何运动载体六自由度测量。The embodiment of the present invention is applicable to the six-degree-of-freedom measurement of any moving carrier by all laser tracking and measuring equipment.
下面结合图2和图3对实施例中的方案进行详细介绍，详见下文描述：Below in conjunction with Fig. 2 and Fig. 3, the solution in the embodiment is introduced in detail, see the following description for details:
所采用的激光跟踪测量系统具体为一台激光跟踪仪101及其附属的6D传感器102。所采用的惯性测量装置为一个惯性测量单元103。The laser tracking measurement system adopted is specifically a laser tracker 101 and its attached 6D sensor 102 . The inertial measurement device used is an inertial measurement unit 103 .
将惯性测量单元103与6D传感器102均连接到机器人104末端法兰上，在机器人104高速运动过程中两者始终保持刚性固定连接关系。定义惯性测量单元103的坐标系为I。Both the inertial measurement unit 103 and the 6D sensor 102 are connected to the end flange of the robot 104, and the two always maintain a rigid and fixed connection relationship during the high-speed movement of the robot 104. The coordinate system defining the inertial measurement unit 103 is I.
定义6D传感器102的坐标系为目标坐标系Q，标定由惯性测量单元103坐标系到目标坐标系的旋转矩阵和平移向量 Define the coordinate system of the 6D sensor 102 as the target coordinate system Q, and calibrate the rotation matrix from the inertial measurement unit 103 coordinate system to the target coordinate system and translation vector
根据上述坐标系转换关系计算得到惯性测量单元103在目标坐标系下的位置同时得到6D传感器102的原点在惯性测量单元103坐标系下的坐标，记作 Calculate the position of the inertial measurement unit 103 in the target coordinate system according to the above-mentioned coordinate system conversion relationship Simultaneously obtain the coordinates of the origin of the 6D sensor 102 in the inertial measurement unit 103 coordinate system, denoted as
在机器人104开始运动前，在初始位置定义惯性测量单元103初始时刻坐标系I0，简称初始坐标系，并标定初始坐标系与激光跟踪仪101坐标系T的旋转矩阵和平移向量 Before the robot 104 starts to move, define the initial coordinate system I 0 of the inertial measurement unit 103 at the initial position, referred to as the initial coordinate system, and calibrate the rotation matrix between the initial coordinate system and the laser tracker 101 coordinate system T and translation vector
机器人104运动过程中，在没有遮挡的情况下，惯性测量单元103与激光跟踪仪101同步测量。前者根据更新算法测得其自身相对于初始坐标系的位置为和姿态矩阵后者通过测量6D传感器102得到由目标坐标系到激光跟踪仪101坐标系的旋转矩阵和平移向量并根据标定结果，通过坐标转换关系得到惯性测量单元103相对于初始坐标系I0的位置为和姿态矩阵 During the movement of the robot 104, the inertial measurement unit 103 and the laser tracker 101 measure synchronously under the condition of no occlusion. According to the update algorithm, the former measures its own position relative to the initial coordinate system as and pose matrix The latter obtains the rotation matrix from the target coordinate system to the laser tracker 101 coordinate system by measuring the 6D sensor 102 and translation vector And according to the calibration result, the position of the inertial measurement unit 103 relative to the initial coordinate system I0 is obtained through the coordinate conversion relationship as and pose matrix
将激光跟踪仪101的测量值与惯性测量单元103的测量值代入最优估计算法，计算惯性测量单元103自身位姿的最优估计值如图3中201所示，并估计惯性测量单元103的误差系数D*。若目标保持锁定状态，激光跟踪仪101不断估计并修正惯性测量单元103的累积误差。The measured value of the laser tracker 101 measured with the inertial measurement unit 103 Substituting the optimal estimation algorithm to calculate the optimal estimated value of the inertial measurement unit 103's own pose As shown by 201 in FIG. 3 , the error coefficient D * of the inertial measurement unit 103 is estimated. If the target remains locked, the laser tracker 101 continuously estimates and corrects the accumulated error of the inertial measurement unit 103 .
当跟踪过程中光线被障碍物202遮挡，光路中断目标丢失时，惯性测量单元103利用中断前一刻的最优估计值以及误差系数D*(-)继续保持自主测量，连续输出自身位置和姿态的测量值如图3中203所示。惯性测量单元103经过误差系数修正，在有限时间内仍然能够保持位置精度。When the light is blocked by an obstacle 202 during the tracking process and the target is lost due to the interruption of the optical path, the inertial measurement unit 103 uses the optimal estimated value at the moment before the interruption And the error coefficient D * (-) continues to maintain independent measurement, and continuously outputs the measured value of its own position and attitude As shown in 203 in FIG. 3 . The inertial measurement unit 103 is corrected by the error coefficient, and can still maintain the position accuracy within a limited time.
根据标定结果及坐标系转换关系，计算6D传感器102原点在激光跟踪仪101坐标系下的坐标：Calculate the coordinates of the origin of the 6D sensor 102 in the coordinate system of the laser tracker 101 according to the calibration result and the coordinate system conversion relationship:
将6D传感器102原点的坐标反馈至激光跟踪仪101的控制系统，一方面控制激光束自动瞄准目标，实现了跟踪功能，另一方面，惯性测量单元103的输出填补光路中断期间的测量数据。The coordinates of the origin of the 6D sensor 102 are fed back to the control system of the laser tracker 101. On the one hand, the laser beam is controlled to automatically aim at the target to realize the tracking function. On the other hand, the output of the inertial measurement unit 103 fills in the measurement data during the interruption of the optical path.
综上所述，本发明实施例通过上述装置将两类设备的测量结果统一到同一基准下，并对惯性测量装置的累积误差进行有效修正，实现复杂现场环境下自动跟踪定位功能。To sum up, the embodiment of the present invention unifies the measurement results of the two types of equipment under the same benchmark through the above-mentioned device, and effectively corrects the cumulative error of the inertial measurement device, so as to realize the automatic tracking and positioning function in a complex field environment.
本发明实施例对各器件的型号除做特殊说明的以外，其他器件的型号不做限制，只要能完成上述功能的器件均可。In the embodiments of the present invention, unless otherwise specified, the models of the devices are not limited, as long as they can complete the above functions.
本领域技术人员可以理解附图只是一个优选实施例的示意图，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of a preferred embodiment, and the serial numbers of the above-mentioned embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
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Application publication date: 20170426 |