CN110763141A - Precision verification method and system of high-precision six-degree-of-freedom measurement system - Google Patents

Precision verification method and system of high-precision six-degree-of-freedom measurement system Download PDF

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CN110763141A
CN110763141A CN201910808888.4A CN201910808888A CN110763141A CN 110763141 A CN110763141 A CN 110763141A CN 201910808888 A CN201910808888 A CN 201910808888A CN 110763141 A CN110763141 A CN 110763141A
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laser
target
coordinate system
camera
laser tracker
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CN110763141B (en
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蔡娅雯
刘杰
张庆君
齐亚琳
刘久利
尹建凤
梁健
于松柏
张和芬
任晶晶
王静
丁健
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Beijing Institute of Spacecraft System Engineering
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Beijing Institute of Spacecraft System Engineering
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

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Abstract

A precision verification method and a precision verification system of a high-precision six-degree-of-freedom measurement system are suitable for the measurement precision verification of a long-distance high-precision six-degree-of-freedom measurement system. Aiming at a combined six-degree-of-freedom measuring system of a laser range finder and a digital camera, the invention calibrates the laser direction and the camera step by using a high-precision laser tracker and a target system within a 60m long-length range, establishes a highly reliable conversion relation of a measuring coordinate system between the laser range finder and the digital camera, further performs measurement precision verification of the high-precision six-degree-of-freedom measuring system, can synchronously verify submillimeter-level displacement measurement precision and angular-second-level triaxial angle measurement precision, and further solves the urgent requirement of precision verification of the high-precision long-distance six-degree-of-freedom measuring system.

Description

Precision verification method and system of high-precision six-degree-of-freedom measurement system
Technical Field
The invention relates to a precision verification method and a precision verification system for a high-precision six-degree-of-freedom measurement system, which are suitable for the measurement precision verification of a long-distance high-precision six-degree-of-freedom measurement system.
Background
The long-distance six-degree-of-freedom measurement system is suitable for various scenes, including single-satellite double-antenna baseline measurement, multi-satellite formation baseline measurement, laser radar ranging, high-precision assembly and the like. The requirements of the application scenes on the measurement accuracy are higher and higher, and the requirements on the accuracy verification platform are correspondingly greatly improved.
The measurement information of the six-degree-of-freedom measurement system comprises three-dimensional displacement information (delta x, delta y, delta z) and three-dimensional angle information (theta x, theta y, theta z), and the six-degree-of-freedom synchronous measurement can avoid synchronous errors caused by environmental changes and is convenient to adjust and install. At present, a combined measurement scheme of a laser range finder and a digital camera is generally adopted in a high-precision long-distance six-degree-of-freedom synchronous measurement system, a femtosecond optical comb laser and a high-resolution camera can be adopted to obtain micron-grade displacement measurement precision and angular-second-grade angle measurement precision under the condition of a ten-meter-grade, a hectometer-grade or even longer distance, in order to verify the high-precision six-degree-of-freedom measurement system, an existing precision verification platform cannot meet precision verification requirements or distance verification requirements, and therefore a six-degree-of-freedom precision verification method which is higher in precision and suitable for the longer distance needs to be designed.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method and the system for verifying the precision of the high-precision six-degree-of-freedom measurement system overcome the defects of the prior art, and adopt an efficient precision verification means under a remote condition to meet the precision verification requirements of the large-range and high-precision six-degree-of-freedom measurement system.
The technical solution of the invention is as follows: a precision verification system of a high-precision six-degree-of-freedom measurement system comprises a laser tracker, an optical platform, a calibration plate, a target plate, a target seat support tool, a laser range finder and a camera;
the optical platform is provided with a one-dimensional guide rail, and the target holder supporting tool is arranged on the one-dimensional guide rail and can move along the one-dimensional guide rail; the laser range finder and the camera are positioned at one end of the optical platform, the other end of the optical platform is provided with a calibration plate, a target plate and a target seat supporting tool, the target seat is adhered to the target seat supporting tool and the target plate, the target is arranged on the target seat, the calibration plate is provided with a calibration plate pin hole point group and a calibration plate LED for calibration, and the target plate is provided with a target plate pin hole point group and a target plate LED for calibration; the laser tracker is arranged beside the optical platform.
The precision verification method realized by the precision verification system of the high-precision six-degree-of-freedom measurement system comprises the following steps of:
calibrating the laser direction and the laser origin coordinate of the laser range finder by using the laser tracker, completing the calibration of the laser range finder, and obtaining the vector representation L of the laser direction under the coordinate system of the laser tracker and the coordinate L of the laser origin coordinate under the coordinate system of the laser tracker
Figure BDA0002184456430000021
Measuring the calibration plate by using the laser tracker and the camera simultaneously to obtain the conversion relation between the coordinate system of the laser tracker and the coordinate system of the camera phase surface, completing the calibration of the camera and obtaining the coordinate of the laser origin
Figure BDA0002184456430000022
Coordinates in the camera phase coordinate system
Figure BDA0002184456430000023
And a representation of the laser direction in a camera phase plane coordinate system;
measuring the target board by using the laser tracker to obtain a rotation matrix R of the target board coordinate system relative to the laser tracker coordinate systemL'And a position vector TL'(ii) a Measuring the target plate by using the combination of the camera and the laser range finder to obtain a rotation matrix R of the target plate coordinate system relative to the camera phase plane coordinate systemC'And a position vector TC'(ii) a Moving the target plate for a plurality of times, repeatedly using the laser tracker to measure the target plate after each movement and using the camera and the laser range finder to combine to measure the target plate to obtain a rotation matrix R of the relative movement amount of the target plate measured by the laser trackerLAnd a position vector TLThe rotation matrix R of the relative movement amount of the target plate is obtained by the combination measurement of the camera and the laser range finderCAnd a position vector TC(ii) a Respectively subtracting the rotation angle and the position vector of the combined measurement of the laser tracker, the camera and the laser range finder to obtain a group of position measurement errors and angle measurement errors; the rotation angles are obtained from corresponding rotation matrices;
moving the target plate to the (N + 1) th position, and repeatedly acquiring position measurement errors and angle measurement errors of the position i and the position i +1 to obtain N groups of position measurement errors and angle measurement errors; obtaining relative measurement precision according to the N groups of position measurement errors and angle measurement errors;
judging whether the relative measurement precision meets the precision requirement; if yes, the verification is successful; otherwise, the verification fails.
Further, the method for calibrating the laser direction and the laser origin coordinate of the laser range finder by using the laser tracker comprises the following steps:
adjusting the light emitting direction of the laser range finder, the position of the target holder supporting tool on the one-dimensional guide rail and the target holder pasting position, collimating laser emitted by the laser range finder, and adjusting according to the moving amount of the target holder supporting tool and the output value of the laser range finder to enable the light emitting direction of the laser to be consistent with the moving direction of the one-dimensional guide rail;
fixedly adhering the target holder to a target holder adhering position of a target holder supporting tool, wherein the target holder adhering position is marked as A1; fixing a laser tracker at a position D-1m away from a laser range finder;
moving a target seat supporting tool on the one-dimensional guide rail to a position about D meters away from the laser range finder;
measuring the distance from A1 to the laser light outlet by using a laser range finder, and measuring the coordinate value of A1 in the coordinate system of the laser tracker by using the laser tracker;
respectively moving the target seat supporting tool to distances D +2m, D +4m, D +6m, …, D +36m and D +38m from the laser range finders along the one-dimensional guide rail, respectively recording the distances as A2, A3, A4, …, A19 and A20, and measuring coordinate values of A2-A20 points in a laser tracker coordinate system by using the laser tracker; wherein m is rice;
fitting A1-A20 into a straight line according to coordinate values of A1-A20 in a laser tracker coordinate system, establishing a ray in the direction of the straight line by taking A1 as a starting point according to the distance between A1-A20 and a laser range finder, obtaining a vector representation L of the ray in the laser tracker coordinate system, and obtaining a vector representation L of the ray starting point in the laser tracker coordinate system and coordinates of the ray starting point in the laser tracker coordinate system
Figure BDA0002184456430000031
The vector expression L of the laser direction in the laser tracker coordinate system and the coordinates of the laser light outlet in the laser tracker coordinate system
Figure BDA0002184456430000032
Further, the method for simultaneously measuring the calibration plate by using the laser tracker and the camera comprises the following steps:
s31, placing the calibration board at a distance camera Dm, and fixing the laser tracker at a distance D-1m from the laser range finder;
s32, acquiring a calibration board pin hole point group on the calibration board and coordinate values of the calibration board LEDs under a calibration board coordinate system;
s33, the camera measures the calibration board LED on the calibration board to obtain the relation between the calibration board coordinate system and the camera phase plane coordinate system
Figure BDA0002184456430000041
PCAnd
Figure BDA0002184456430000042
respectively representing the coordinates of the point P in the camera phase system and the coordinates of the point P in the calibration system; under the same calibration plate position, 4 calibration plate pin hole point groups on the calibration plate are measured by using the laser tracker to obtain the relation between the laser tracker coordinate system and the calibration plate coordinate system
Figure BDA0002184456430000043
PLIs the coordinate of the point P under the coordinate system of the laser tracker; thus obtaining a group of conversion relations between the laser tracker coordinate system and the camera phase plane coordinate system;
s34, sequentially placing the movable calibration plates at M positions, and repeating S33-S34 to obtain the conversion relation between the coordinate system of the M groups of laser trackers and the coordinate system of the camera phase plane; the conversion relation between the coordinate system and the phase plane system of the laser tracker can be obtained by averaging;
and S35, calculating to obtain the indication of the laser direction and the laser light outlet in the camera phase plane coordinate system.
Further, the conversion relationship between the laser tracker coordinate system and the camera phase plane coordinate system is as follows: pC＝RCLPL+TCL(ii) a Wherein R isCLAnd TCLRespectively rotation matrix and position vector of the laser tracker coordinate system relative to the camera phase plane coordinate system, PCAnd PLThe coordinates of the point P in the camera phase plane coordinate system and the laser tracker coordinate system, respectively.
Further, the laser direction and the laser light outlet are expressed in a camera phase plane coordinate system as follows: laser origin coordinate
Figure BDA0002184456430000044
Converted to the coordinate system of the camera phase plane
Figure BDA0002184456430000045
The vector L is represented as R in the phase plane coordinate systemCLL。
Further, a method of measuring a target board using a laser tracker, and a method of measuring a target board using a camera in combination with a laser range finder are:
s41, placing the target plate at a position D-1m away from the laser range finder Dm, and fixing the laser tracker;
s42, acquiring target board pin holes on a target board and coordinates of target board LEDs under the target board coordinates;
s43, aligning the target to the laser direction of the laser range finder, placing the target on a target seat, and fixing the target seat on a target board;
s44, measuring the target board pin hole point group on the target board under the posture by using the laser tracker, combining the coordinates of the target board pin hole point group under the target board coordinate system, and calculating to obtain the rotation matrix of the target board coordinate system relative to the laser tracker coordinate system
Figure BDA0002184456430000051
And position vector
Figure BDA0002184456430000052
S45, measuring the target board LED and the target on the target board under the gesture by using the combination of the camera and the laser range finder, and calculating to obtain a rotation matrix of the target board coordinate system relative to the camera phase plane coordinate system by combining the coordinates of the target board LED under the target board coordinate system
Figure BDA0002184456430000053
And position vector
Figure BDA0002184456430000054
S46, moving the target board to the next position, repeating S43-S45 to obtain the rotation matrix of the next position
Figure BDA0002184456430000055
And position vector
Figure BDA0002184456430000056
S47, a set of position measurement errors and angle measurement errors is obtained from the rotation matrix and the position vector at the two positions.
Further, the position measurement error is represented by Ti L-Ti CObtaining, from the rotation matrix, the angle measurement errorAnd
Figure BDA0002184456430000058
subtracting the obtained three-axis rotation angles to obtain the three-axis rotation angle; wherein, Ti CAnd Ti LRespectively, the relative movement position vector R of the target plate from the position i to the position i +1 measured by the laser tracker and the combined measurement of the camera and the laser range finderCAnd RLAnd the rotation matrixes are respectively obtained by measuring by the laser tracker and relatively moving the target plate from the position i to the position i +1 by combined measurement of the camera and the laser range finder.
Further, the rotation matrix and the position vector of the target plate at the position i +1 relative to the position i measured by the combination of the camera and the laser range finder are respectivelyAnd
Figure BDA00021844564300000510
the rotation matrix and the position vector of the target plate measured by the laser tracker at the position i +1 relative to the position i are respectively
Figure BDA00021844564300000511
And
further, the relative measurement precision is an average value of the N sets of position measurement errors and angle measurement errors.
Compared with the prior art, the invention has the advantages that:
aiming at a combined six-degree-of-freedom measuring system of a laser range finder and a digital camera, a high-precision laser tracker and a target system are used for calibrating a laser direction and the camera step by step within a large length range of 60m, a conversion relation of a measuring coordinate system between the high-reliability laser range finder and the digital camera is established, and then the measuring precision verification of the high-precision six-degree-of-freedom measuring system is carried out, the submillimeter-level displacement measuring precision and the angle-second-level triaxial angle measuring precision can be synchronously verified, so that the urgent requirement of the precision verification of the high-precision long-distance six-degree-of-freedom measuring system is met.
Drawings
FIG. 1 is a schematic diagram of a baseline measurement system of the camera-laser rangefinder of the present invention;
(in the figure, BS: spectroscope; L: lens; filter: band-pass filter; PSD: two-dimensional position sensor; PD: photodetector)
FIG. 2 is a schematic diagram of a six-degree-of-freedom measurement system precision verification platform according to the present invention;
FIG. 3 is a flow chart of the accuracy verification of the six-degree-of-freedom measurement system of the present invention;
FIG. 4 is a graph showing the results of a laser direction fitting line according to the present invention;
FIG. 5 is a six-degree-of-freedom measurement attitude error of the present invention;
FIG. 6 is a six degree of freedom measurement position error of the present invention.
Detailed Description
As shown in fig. 1 and 2, a precision verification system of a high-precision six-degree-of-freedom measurement system comprises a high-precision laser tracker, a large-length ultrastable marble platform, a calibration plate, a target plate, a laser range finder and a digital camera combined six-degree-of-freedom measurement system. 5 coordinate systems are defined, including a laser range finder coordinate system SRS, a camera phase plane coordinate system CCS, a laser tracker coordinate system LRS, a calibration board coordinate system ACS and a target board coordinate system WCS. The origin of the laser range finder coordinate system SRS is a laser light outlet, the Ys axis is the laser light direction, the Xs axis is parallel to the table top direction as shown in the figure, and the Zs axis is determined by the right-hand rule; the CCS coordinate origin of the camera phase plane coordinate system is the phase plane origin, the Yc axis is the optical axis direction and is parallel to the Ys axis, the Xc axis is parallel to the Xs axis, and the Zc axis is determined by the right-hand rule; the WCS origin of the target plate coordinate system is the center of the uppermost target, the Yw axis is parallel to the Ys axis, the Xw axis is parallel to the Xs axis, and the Zw axis is determined by a right-hand rule; the ACS origin of the calibration plate coordinate system is the center of the target at the upper left corner, the Ya axis is parallel to the Ys axis, the Xa axis is parallel to the Xs axis, and the Za axis is determined by the right-hand rule.
The baseline measuring system of the camera combined laser range finder adopts a femtosecond optical comb laser and a high-resolution camera respectively. The femtosecond optical comb laser adopts a double-optical comb distance measuring mechanism and tracks the target through a tracking servo device. The camera detects the active target, the high-precision light spot positioning technology is adopted to obtain the six-degree-of-freedom information of the target, the detection capability of the camera to the depth direction is weak, the six-degree-of-freedom detection precision of the target can be greatly improved after laser ranging information is fused, the ranging precision can reach the micron level, and the angle measurement precision can reach the arc second level.
The precision verification method of the high-precision six-degree-of-freedom measurement system comprises the following steps as shown in FIG. 3:
1. laser direction calibration of laser range finder
Fixing a target seat supporting tool of a laser range finder target on a one-dimensional guide rail;
fixing a six-degree-of-freedom measurement system;
adjusting the light emitting direction of a collimator of the laser range finder, the position of the tool on the guide rail and the sticking position of the target holder, collimating the laser, and adjusting according to the movement amount of the guide rail and the output value of the laser range finder to enable the light emitting direction of the laser to be consistent with the movement direction of the one-dimensional guide rail;
fixedly adhering the target holder to a support tool, which is marked as A1; fixing a laser tracker at a position D-1m away from a laser range finder;
moving the tool on the one-dimensional guide rail to a position about D meters away from the laser range finder;
calculating the A1 distance by using a laser range finder;
the laser tracker measures the three-dimensional coordinate value of the point A1 in the coordinate system of the laser tracker;
moving the target seat supporting tool to the laser range finder by about the distances of D +2m (A2), D +4m (A3), D +6m (A4), …, D +36m (A19) and D +38m (A20) along a one-dimensional guide rail, and measuring three-dimensional coordinate values of A2-A20 points under a laser tracker coordinate system by using the laser tracker;
fitting A1-A20 into a straight line, establishing a ray containing a starting point and a direction according to a distance value measured by a laser range finder, and establishing a relation between the ray and a coordinate system of the laser tracker, wherein the relation comprises a vector representation L of the laser direction under the coordinate system of the laser tracker and a coordinate of a laser light outlet under the coordinate system of the laser tracker
Figure BDA0002184456430000071
2. Camera calibration
Placing the calibration plate at a distance Dm from the camera, wherein the laser tracker has the same position as that in the step 1;
providing a pin hole on the calibration plate and a coordinate value of the LED under an ACS coordinate system of the calibration plate;
the camera measures an LED target Z1 on the calibration plate to obtain the relation between the coordinate system of the calibration plate and the coordinate system of the camera phase plane
Figure BDA0002184456430000072
(
Figure BDA0002184456430000073
PCAnd
Figure BDA0002184456430000074
respectively the coordinates of the point P in the camera phase system and the coordinates of the point P in the calibration system), under the same calibration plate position, 4 target hole point groups on the calibration plate are measured by the laser tracker, so that the relation between the coordinate system of the laser tracker and the coordinate system of the calibration plate can be obtained
Figure BDA0002184456430000081
(
Figure BDA0002184456430000082
PLAs the coordinate of the point P in the coordinate system of the laser tracker), and further calculating to obtain the relation between the coordinate system of the laser tracker and the coordinate system of the camera phase plane
Figure BDA0002184456430000083
Figure BDA0002184456430000084
Sequentially placing the mobile camera calibration plates at a plurality of positions (the sight line direction moves about M positions), and repeating the steps to obtain a group of calibration plates
Figure BDA0002184456430000085
The conversion relation (R) between the coordinate system and the phase system of the laser tracker can be obtained by averagingCL，TCL)(PC＝RCLPL+TCL)；
And calculating to obtain a relative relation among the laser vector, the origin and the camera phase plane coordinate system as follows:
laser origin coordinateConvert to under the camera system
Figure BDA0002184456430000087
The vector L is represented as R in the phase plane coordinate systemCLL。
3. Six-degree-of-freedom measurement system precision verification
S31, placing the target board at a position where the laser Dm is away from the target board, wherein the position of the laser tracker is the same as that of the laser tracker in the step 1;
s32, providing the pin holes on the target board and the coordinates of the LEDs under the TCS coordinates of the target board;
s33, aligning the laser range finder target to the laser light emitting direction, moving the laser range finder target to the vicinity of the target plate, placing the laser target on the target seat, fixing the target seat on the target plate at the position N1, and measuring the distance K1 by using the laser range finder;
s34, measuring the target hole point group Z1 on the target plate under the posture by using the laser tracker, and calculating the coordinate system of the target plate relative to the coordinate system of the laser tracker
Figure BDA0002184456430000088
(
Figure BDA00021844564300000810
Is the coordinate of point P in the target plate coordinate system);
s35, measuring a target hole point group Z1 on the target board under the posture by using a camera and a laser range finder, and calculating to obtain the coordinate system of the target board relative to the phase plane system
Figure BDA00021844564300000811
Figure BDA00021844564300000812
S36, sequentially placing the movable target plates at the next position, and repeating the steps 3-5 to obtain the target plateAnd
Figure BDA00021844564300000814
the following formula can be obtained:
Figure BDA00021844564300000815
Figure BDA0002184456430000091
s37, from
Figure BDA0002184456430000092
Andposition measurement errors and angle measurement errors can be obtained;
s38, moving the target plate to the N +1 th position, repeating S36-S37, and moving the target plate to the N +1 th position. And (3) subtracting the position vector and the rotation angle measured by the position i, the position i +1, the laser tracker and the six-degree-of-freedom measuring system respectively to obtain the relative variation of the two positions.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Taking a 60m six-degree-of-freedom measurement system as an example, the three-axis displacement measurement precision is verified to reach sub-millimeter, and the three-axis angle measurement precision reaches 30 arc seconds. The laser tracker selects an American API T3 tracker, the measurement precision of the laser tracker can reach 5 microns through calibration, a test platform selects a large-length standard laboratory of China metrology science research institute 80m, the guide rail stroke of the laboratory is 80 meters, the integral straightness is better than 0.2mm, and the laser tracker is provided with a 40-path temperature monitoring system.
The precision verification method of the high-precision six-degree-of-freedom measurement system comprises the following steps:
1. laser direction calibration of laser range finder
Fixing a target seat supporting tool of a laser range finder target on a one-dimensional guide rail;
fixing a six-degree-of-freedom measurement system;
adjusting the light emitting direction of a collimator of the laser range finder, the position of the tool on the guide rail and the sticking position of the target holder, collimating the laser, and adjusting according to the movement amount of the guide rail and the output value of the laser range finder to enable the light emitting direction of the laser to be consistent with the movement direction of the one-dimensional guide rail;
fixedly adhering the target holder to a support tool, which is marked as A1; fixing the laser tracker at a position about 59 meters away from the laser range finder;
moving the tool on the one-dimensional guide rail to a position about 60 meters away from the laser range finder;
calculating the A1 distance by using a laser range finder;
the laser tracker measures the three-dimensional coordinate value of the point A1 in the coordinate system of the laser tracker;
moving the target seat supporting tool to the laser range finder by the distances of about 62m (A2), 64m (A3), 66m (A4), …, 96m (A19) and 98m (A20) along a one-dimensional guide rail, and measuring three-dimensional coordinate values of points A2-A20 in a laser tracker coordinate system by using a laser tracker;
fitting A1-A20 to form a straight line, establishing a ray containing a starting point and a direction according to the distance value measured by the laser range finder, and establishing the relation between the ray and the coordinate system of the laser tracker as shown in FIG. 4, wherein the vector representation L of the laser direction under the coordinate system of the laser tracker is [ -0.9739946,0.2265710, -1.6645434e-6 [ -0.9739946,0.2265710]Coordinates of the laser light outlet under the coordinates of the laser tracker
Figure BDA0002184456430000101
The unit is meter.
2. Camera calibration
Placing the calibration plate at a position 60m away from the camera, wherein the position of the laser tracker is the same as that in the step 1;
providing coordinate values of 4 pin holes and 9 LEDs on a camera calibration plate under a calibration plate coordinate system ACS;
measuring 9 LED targets Z1 on the calibration plate by the camera to obtain the relation between the coordinate system of the calibration plate and the coordinate system of the camera phase plane
Figure BDA0002184456430000103
Under the same calibration plate position, 4 target hole point groups on the calibration plate are measured by the laser tracker, so that the relation between the laser tracker coordinate system and the camera calibration plate coordinate system can be obtained
Figure BDA0002184456430000104
Further calculation can obtain the relation between the coordinate system of the laser tracker and the coordinate system of the camera phase plane
Figure BDA0002184456430000105
The mobile camera calibration plates are sequentially placed at a plurality of positions (the sight line direction moves about N positions), and are heavyRepeating the above steps to obtain a group
Figure BDA0002184456430000106
The conversion relation between the coordinate system and the phase system of the laser tracker can be obtained by averaging
Figure BDA0002184456430000107
RCL＝[0.22353058920157600,0.97461822376470400,-0.01201140084517410；
0.00426934479164517,0.01134380496800610,0.99992645626016100；
0.97468283046326500,-0.22356538715158800,-0.00162529762765457]
TCL＝[568.1943,-1550.2238,-59842.5696]
And calculating to obtain the relative relation between the laser vector, the origin and the camera phase plane coordinate system:
laser origin coordinate
Figure BDA0002184456430000108
Convert to under the camera systemThe vector L is represented as R in the phase plane coordinate systemCLL＝[-0.21675,-0.94670,0.23825]。
3. Six-degree-of-freedom measurement system precision verification
Placing the target plate at a position 60m away from the laser, wherein the position of the laser tracker is the same as that in the step 1;
providing coordinates of 4 pin holes on the target board and 4 LEDs under the target board coordinate TCS;
aligning a target of a laser range finder with the light emitting direction of laser, moving the target to the vicinity of a target plate, placing the laser target on a target seat, fixing the target seat on the target plate at the position N1, and measuring the distance K1 by using the laser range finder;
measuring a target hole point group Z1 on the target plate under the attitude by using the laser tracker, and calculating the coordinate system of the target plate relative to the coordinate system of the laser tracker
Figure BDA0002184456430000112
Obtaining target plate coordinate system relative to camera coordinate system using camera fused laser range finder data
Figure BDA0002184456430000113
Moving the target plate to be sequentially placed at the next position, and repeating the steps 3-5 to obtain the target plate
Figure BDA0002184456430000114
And
Figure BDA0002184456430000115
the following formula can be obtained:
Figure BDA0002184456430000117
Figure BDA0002184456430000118
byAnd
Figure BDA00021844564300001110
position measurement errors and angle measurement errors can be obtained;
the target board moves to the 35 th position, and repeats S6-S7 for 35 positions. The position i is subtracted from the position i +1, and the position vector and the rotation angle measured by the laser tracker and the six-degree-of-freedom measurement system are respectively subtracted to obtain the relative variation of the two positions, so that the attitude error and the position error of the six-degree-of-freedom measurement system can be obtained as shown in fig. 5 and 6 respectively. The three-axis position measurement precision and the three-axis angle measurement precision obtained by averaging are respectively (0.1mm,0.12mm and 0.11mm) and (8.91 ', 12.16 ', 7.12 '), and the requirement of system precision is met.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (10)

1. A precision verification system of a high-precision six-degree-of-freedom measurement system is characterized by comprising a laser tracker, an optical platform, a calibration plate, a target plate, a target seat support tool, a laser range finder and a camera;
the optical platform is provided with a one-dimensional guide rail, and the target holder supporting tool is arranged on the one-dimensional guide rail and can move along the one-dimensional guide rail; the laser range finder and the camera are positioned at one end of the optical platform, the other end of the optical platform is provided with a calibration plate, a target plate and a target seat supporting tool, the target seat is adhered to the target seat supporting tool and the target plate, the target is arranged on the target seat, the calibration plate is provided with a calibration plate pin hole point group and a calibration plate LED for calibration, and the target plate is provided with a target plate pin hole point group and a target plate LED for calibration; the laser tracker is arranged beside the optical platform.
2. An accuracy verification method implemented by an accuracy verification system based on the high-accuracy six-degree-of-freedom measurement system according to claim 1, characterized by comprising the steps of:
calibrating the laser direction and the laser origin coordinate of the laser range finder by using the laser tracker, completing the calibration of the laser range finder, and obtaining the vector representation L of the laser direction under the coordinate system of the laser tracker and the coordinate L of the laser origin coordinate under the coordinate system of the laser tracker
Figure FDA0002184456420000011
Measuring the calibration plate by using the laser tracker and the camera simultaneously to obtain the conversion relation between the coordinate system of the laser tracker and the coordinate system of the camera phase surface, completing the calibration of the camera and obtaining the coordinate of the laser origin
Figure FDA0002184456420000012
Coordinates in the camera phase coordinate systemAnd a representation of the laser direction in a camera phase plane coordinate system;
measuring the target board by using the laser tracker to obtain a rotation matrix R of the target board coordinate system relative to the laser tracker coordinate systemL'And a position vector TL'(ii) a Measuring the target plate by using the combination of the camera and the laser range finder to obtain a rotation matrix R of the target plate coordinate system relative to the camera phase plane coordinate systemC'And a position vector TC'(ii) a Moving the target plate for a plurality of times, repeatedly using the laser tracker to measure the target plate after each movement and using the camera and the laser range finder to combine to measure the target plate to obtain a rotation matrix R of the relative movement amount of the target plate measured by the laser trackerLAnd a position vector TLThe rotation matrix R of the relative movement amount of the target plate is obtained by the combination measurement of the camera and the laser range finderCAnd a position vector TC(ii) a Respectively subtracting the rotation angle and the position vector of the combined measurement of the laser tracker, the camera and the laser range finder to obtain a group of position measurement errors and angle measurement errors; the rotation angles are obtained from corresponding rotation matrices;
moving the target plate to the (N + 1) th position, and repeatedly acquiring position measurement errors and angle measurement errors of the position i and the position i +1 to obtain N groups of position measurement errors and angle measurement errors; obtaining relative measurement precision according to the N groups of position measurement errors and angle measurement errors;
judging whether the relative measurement precision meets the precision requirement; if yes, the verification is successful; otherwise, the verification fails.
3. The method for verifying the precision of the high-precision six-degree-of-freedom measurement system according to claim 1, wherein the method for calibrating the laser direction and the laser origin coordinates of the laser range finder by using the laser tracker comprises the following steps:
adjusting the light emitting direction of the laser range finder, the position of the target holder supporting tool on the one-dimensional guide rail and the target holder pasting position, collimating laser emitted by the laser range finder, and adjusting according to the moving amount of the target holder supporting tool and the output value of the laser range finder to enable the light emitting direction of the laser to be consistent with the moving direction of the one-dimensional guide rail;
fixedly adhering the target holder to a target holder adhering position of a target holder supporting tool, wherein the target holder adhering position is marked as A1; fixing a laser tracker at a position D-1m away from a laser range finder;
moving a target seat supporting tool on the one-dimensional guide rail to a position about D meters away from the laser range finder;
measuring the distance from A1 to the laser light outlet by using a laser range finder, and measuring the coordinate value of A1 in the coordinate system of the laser tracker by using the laser tracker;
respectively moving the target seat supporting tool to distances D +2m, D +4m, D +6m, …, D +36m and D +38m from the laser range finders along the one-dimensional guide rail, respectively recording the distances as A2, A3, A4, …, A19 and A20, and measuring coordinate values of A2-A20 points in a laser tracker coordinate system by using the laser tracker; wherein m is rice;
fitting A1-A20 into a straight line according to coordinate values of A1-A20 in a laser tracker coordinate system, establishing a ray in the direction of the straight line by taking A1 as a starting point according to the distance between A1-A20 and a laser range finder, obtaining a vector representation L of the ray in the laser tracker coordinate system, and obtaining a vector representation L of the ray starting point in the laser tracker coordinate system and coordinates of the ray starting point in the laser tracker coordinate system
Figure FDA0002184456420000021
The vector expression L of the laser direction in the laser tracker coordinate system and the coordinates of the laser light outlet in the laser tracker coordinate system
Figure FDA0002184456420000031
4. The method for verifying the accuracy of the high-accuracy six-degree-of-freedom measurement system according to claim 1, wherein the method for simultaneously measuring the calibration plate by using the laser tracker and the camera comprises the following steps:
s31, placing the calibration board at a distance camera Dm, and fixing the laser tracker at a distance D-1m from the laser range finder;
s32, acquiring a calibration board pin hole point group on the calibration board and coordinate values of the calibration board LEDs under a calibration board coordinate system;
s33, the camera measures the calibration board LED on the calibration board to obtain the relation between the calibration board coordinate system and the camera phase plane coordinate systemPCAnd
Figure FDA0002184456420000036
respectively representing the coordinates of the point P in the camera phase system and the coordinates of the point P in the calibration system; under the same calibration plate position, 4 calibration plate pin hole point groups on the calibration plate are measured by using the laser tracker to obtain the relation between the laser tracker coordinate system and the calibration plate coordinate systemPLIs the coordinate of the point P under the coordinate system of the laser tracker; thus obtaining a group of conversion relations between the laser tracker coordinate system and the camera phase plane coordinate system;
s34, sequentially placing the movable calibration plates at M positions, and repeating S33-S34 to obtain the conversion relation between the coordinate system of the M groups of laser trackers and the coordinate system of the camera phase plane; the conversion relation between the coordinate system and the phase plane system of the laser tracker can be obtained by averaging;
and S35, calculating to obtain the indication of the laser direction and the laser light outlet in the camera phase plane coordinate system.
5. The method for verifying the accuracy of the high-accuracy six-degree-of-freedom measurement system according to claim 4, wherein the conversion relationship between the laser tracker coordinate system and the camera phase plane coordinate system is as follows: pC＝RCLPL+TCL(ii) a Wherein R isCLAnd TCLRespectively the laser tracker coordinate system with respect to the camera phaseRotation matrix and position vector of a planar coordinate system, PCAnd PLThe coordinates of the point P in the camera phase plane coordinate system and the laser tracker coordinate system, respectively.
6. The method for verifying the precision of the high-precision six-degree-of-freedom measurement system according to claim 5, wherein the laser direction and the laser light outlet are expressed in a camera phase plane coordinate system as follows: laser origin coordinate
Figure FDA0002184456420000034
Converted to the coordinate system of the camera phase plane
Figure FDA0002184456420000035
The vector L is represented as R in the phase plane coordinate systemCLL。
7. The method for verifying the precision of the high-precision six-degree-of-freedom measurement system according to claim 1, wherein the method comprises the following steps: the method for measuring the target board by using the laser tracker and the method for measuring the target board by using the combination of the camera and the laser range finder are as follows:
s41, placing the target plate at a position D-1m away from the laser range finder Dm, and fixing the laser tracker;
s42, acquiring target board pin holes on a target board and coordinates of target board LEDs under the target board coordinates;
s43, aligning the target to the laser direction of the laser range finder, placing the target on a target seat, and fixing the target seat on a target board;
s44, measuring the target board pin hole point group on the target board under the posture by using the laser tracker, combining the coordinates of the target board pin hole point group under the target board coordinate system, and calculating to obtain the rotation matrix of the target board coordinate system relative to the laser tracker coordinate system
Figure FDA0002184456420000041
And position vector
Figure FDA0002184456420000046
S45, measuring the target board LED and the target on the target board under the gesture by using the combination of the camera and the laser range finder, and calculating to obtain a rotation matrix of the target board coordinate system relative to the camera phase plane coordinate system by combining the coordinates of the target board LED under the target board coordinate systemAnd position vector
Figure FDA0002184456420000047
S46, moving the target board to the next position, repeating S43-S45 to obtain the rotation matrix of the next position
Figure FDA0002184456420000043
And position vector
Figure FDA0002184456420000044
S47, a set of position measurement errors and angle measurement errors is obtained from the rotation matrix and the position vector at the two positions.
8. The method for verifying the accuracy of a high-accuracy six-DOF measurement system according to claim 7, wherein the position measurement error is represented by Ti L-Ti CObtaining, from the rotation matrix, the angle measurement error
Figure FDA0002184456420000045
And Ri CSubtracting the obtained three-axis rotation angles to obtain the three-axis rotation angle; wherein, Ti CAnd Ti LRespectively, the relative movement position vector R of the target plate from the position i to the position i +1 measured by the laser tracker and the combined measurement of the camera and the laser range finderCAnd RLRespectively for laser tracker measurement and camera and laserThe range finder combines a rotation matrix of relative movement of the target plate measured from position i to position i + 1.
9. The method for verifying the accuracy of the high-accuracy six-degree-of-freedom measurement system according to claim 8, wherein: the rotation matrix and the position vector of the target plate at the position i +1 relative position i measured by the combination of the camera and the laser range finder are respectively
Figure FDA0002184456420000051
And
Figure FDA0002184456420000052
the rotation matrix and the position vector of the target plate measured by the laser tracker at the position i +1 relative to the position i are respectively
Figure FDA0002184456420000054
And
Figure FDA0002184456420000053
10. the method for verifying the precision of the high-precision six-degree-of-freedom measurement system according to claim 1, wherein the method comprises the following steps: and the relative measurement precision is the average value of the N groups of position measurement errors and angle measurement errors.
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