CN101750012A - Device for measuring six-dimensional position poses of object - Google Patents

Device for measuring six-dimensional position poses of object Download PDF

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Publication number
CN101750012A
CN101750012A CN200810229988A CN200810229988A CN101750012A CN 101750012 A CN101750012 A CN 101750012A CN 200810229988 A CN200810229988 A CN 200810229988A CN 200810229988 A CN200810229988 A CN 200810229988A CN 101750012 A CN101750012 A CN 101750012A
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China
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laser
receiver
image
projection panel
measuring
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Chinese (zh)
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罗振军
田永利
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN200810229988A priority Critical patent/CN101750012A/en
Priority to PCT/CN2009/070298 priority patent/WO2010069160A1/en
Publication of CN101750012A publication Critical patent/CN101750012A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/002Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/02Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points

Abstract

The invention discloses a device for measuring six-dimensional position poses of an object, which consists of a laser tracking instrument, a receiver, a computing unit and at least one small-sized laser light emitter, wherein the computing unit and the laser tracking instrument are fixedly arranged on the ground surface; the receiver is arranged on a moving object to be measured; the laser tracking instrument and the receiver communicate with the computing unit; the small-sized laser light emitter is arranged on the laser tracking instrument; a horizontal intersection angle and a pitching intersection angle of the laser tracking instrument are controllable, and the laser tracking instrument is provided with a laser distance measuring instrument; and the laser distance measuring instrument and the small-sized laser light emitter project laser light to a projection panel of the receiver respectively. The laser tracking instrument acquires a three-dimensional position of the receiver, and the computing unit solves three-dimensional postures of the receiver corresponding to a fixed coordinate system on the ground surface according to an azimuth angle of the laser tracking instrument and image data of laser faculae on the projection panel. The device can continuously measure moving objects or static objects in a large space, has the advantages of high precision, quick measuring speed, low cost and convenient arrangement, and can replace an expensive laser tracking instrument for measuring the six-dimensional poses.

Description

A kind of device of Measuring Object six-dimensional pose
Technical field
The present invention relates to measuring technique than object six-dimensional pose in the large space, specifically a kind of laser tracker that utilizes is realized three-dimensional coordinate measurement, the device that utilizes laser beam to generate hot spot and measure by close-up images treatment technology and measuring principle in parallel realization three-dimensional attitude of object on receiver.This needing can be widely used in the occasion of Measuring Object six-dimensional pose, both can measure stationary object, also can measure moving object, can substitute expensive six-dimensional pose Laser Measurement tracker.
Background technology
To the three-dimensional position of moving object (x, y, z) and 3 d pose (α, beta, gamma) carry out high-precision measurement and demand widely arranged in industry member.
In order to measure six-dimensional pose, adopt overall positioning system usually at the object of grand movement.According to the height of measuring accuracy, overall positioning system can be divided into laser tracker, indoor GPS, based on the device of laser navigation method, based on the device of laser beacon method with based on the device of visual processes.Wherein have advantages such as precision height, measuring speed are fast, energy measurement moving object, therefore be most widely used based on the device of laser tracker.
Laser tracker and laser total station all adopt the position angle (normally level angle and pitching corner) of transit survey receptacle (being also referred to as target usually), and adopt distance between stadia surveying receiver and the transit reference point, and the spherical coordinates of receiver is converted to three-dimensional coordinate in the Cartesian coordinates.Wherein the static angle measurement accuracy of transit generally can reach 1 " magnitude (being equivalent to spatial synthesis precision 4.85ppm approximately, wherein 1ppm=1 μ m/m), and the distance accuracy of stadimeter has than big difference according to the difference of ranging technology.Laser tracker adopts built-in laser displacement interferometer (the English IFM of abbreviation) to find range usually, metering system is that increment type is measured, distance accuracy with interior can reaching ± 0.5ppm magnitude, have the high and very high remarkable advantage of measuring accuracy of sample frequency, but device is very expensive at 50m.U.S. Optodyne company adopts laser-Doppler stadimeter (the English LDDM of abbreviation) to find range, and metering system also is that increment type is measured, distance accuracy at 50m with interior can reaching ± 1ppm magnitude.Laser total station is equivalent to the laser tracker of low side, most of laser absolute distance measurement (the English ADM of abbreviation) instrument that adopts is found range, the normally indirect modulation frequency mode of metering system (for example difference frequency is surveyed the phase method), modulation system adopts the modulation of laser wave amplitude usually, the distance accuracy of high-end laser total station can reach ± 0.2mm with interior at 100m, measurement range can reach 1km, and distance accuracy reaches ± 1mm+2ppm in the gamut scope; And the new technology of U.S. NASA adopts the polarization angle modulation system, and the performance of distance accuracy and laser-Doppler stadimeter is more approaching.Stadimeter can also adopt flight time principle range finding, for example the Disto stadimeter of Leica company can reach ± 2mm with interior distance accuracy at 50m, the distance accuracy of the Repetitive-Time-of-Flight technology that U.S. Automated Precision Inc. (being designated hereinafter simply as API) company proposes even can reach 2.5ppm ± 25 μ m.Stadimeter can also be the laser structure optical position sensor that adopts triangle measurement method, be generally used for range at 1000mm with interior high-acruracy survey, the repeatable accuracy of the LK-G series laser displacement sensor of for example Japanese Keyence company can reach below the 2 μ m; This class stadimeter is installed on one or more turning axles usually forms laser scanner.In order to simplify argumentation, below transit, two-freedom turntable and other similar indicator devices are referred to as transit, laser tracker, laser total station, laser scanner and other similar two dimensions or three-dimensional coordinate measuring device are referred to as laser tracker.
Laser tracker only is used to measure the three-dimensional coordinate of receptacle usually, and receptacle adopts the reflection sphere form usually, and the reflection sphere the inside comprises the prism of corner cube that makes the laser retroreflection, and the fixed point of prism of corner cube overlaps with the centre of sphere.If carrying out six-dimensional pose measures then needs special-purpose six-dimensional pose Laser Measurement tracker.
The patent of U.S. API company " Three and five axis laser tracking systems " (U.S. Patent number US4714339) proposes laser tracker is used for five dimension pose measurements the earliest, adopt a kind of plane formula target that allows laser part reflection and part transmission simultaneously, target is installed on the two-freedom turntable, drop point information according to transmitted ray is controlled the two-freedom turntable, to keep the target plane vertical with incident laser, obtain the pitching (Pitch) and deflection (Yaw) the bidimensional pose of target according to the corner of two-freedom turntable, but can not obtain the rolling corner (Roll) of the relative laser beam of target.Though in the precision calibration of numerically-controlled machine and measuring machine, there is multiple six-dimensional pose measuring technique, for example U.S. Pat 5056921, US5064289 and US5363196 etc., these technology all need additional device, therefore can't be applied to laser tracker.The patents of API company " Five-axis; six-axis lasermeasuring system " (U.S. Patent number US 6049377) etc. propose a kind of new target, by spectroscope incident laser is divided into two bundles, a branch of scheme by similar US4714339 is found range, and control two-freedom turntable makes the target plane vertical with incident laser, another bundle obtains two bundle polarized lights by polarization spectroscope, calculates the rolling corner according to the light intensity ratio of two bundle polarized lights.The actual product SmartTRACK of API company has promptly adopted such scheme, and its advantage is the attitude measurement accuracy height, and shortcoming is that receiver need dispose the bigger two-freedom turntable of volume, and weight is bigger.A kind of hand-held 3-D measuring apparatus that the patent of API company " Multi-dimensional measuring system " (U.S. Pat 7230689) proposes has omitted the two-freedom turntable, when measuring the hidden place by artificial adjustment measuring staff attitude so that receiver is vertical substantially with laser, also can obtain receiver six-dimensional pose accurately this moment, and shortcoming is to have increased the adjustment time.
U.S. Leica house journal " Method and device for determining spatial positionsand orientations " (U.S. Patent number US6667798) is by opening aperture at prism of corner cube tip place, and behind aperture, settle image device, measure attitude by laser at the spot on image device, but can not measure the rolling corner.Leica house journal " Measurement system for determiningsix degrees of freedom of an object " (U.S. Patent number US7312862) proposes three kinds of schemes of measuring the rolling corner on above-mentioned patent basis, first kind of scheme is that camera is installed on laser tracker, takes the luminous marker of installing on the receiver; Second kind of scheme is mounting points light source and send scattered beam towards prism of corner cube on the laser tracker, and light is by obtaining extra spot behind the aperture; The third scheme is that the laser structure radiant is installed on the laser tracker, and sends fan plane light towards prism of corner cube, the linear array vision sensor is installed on receiver, but these schemes is not all seen practical application.The shortcoming that adopts prism of corner cube tip place to open aperture is to be difficult to obtain light spot image clearly.
The patent US5229828 of Sweden Geotronics company proposes to utilize the built-in double pendulum device of receiver to measure two inclination angles of receiver and gravity direction, extra on laser tracker a generating laser with the stadimeter parallel axes is installed, its emitted light beams obtains the incident angle of incident laser and receiver by the optical imagery unit on the receiver, further calculates the attitude of receiver according to two inclination angles and incident angle.This scheme is than the easier acquisition of scheme of adopting above-mentioned prism of corner cube to open aperture light spot image clearly, but because the optical imagery unit size is limited, therefore the attitude measurement scope is very little, and because the dynamic measurement precision of double pendulum device corner is lower, therefore whole pose measurement precision can't improve.
The photogrammetry that mainly adopts the actual product T-Probe of Leica company realizes the 3 d pose measurement, promptly above common laser tracker, install high-resolution camera additional, prism of corner cube and a plurality of luminous marker (for example light emitting diode) are installed on receptacle simultaneously, obtain the three-dimensional coordinate of receptacle by laser tracker, and calculate the 3 d pose of receptacle by the digital photogrammetry technology.Though photogrammetry is measuring position and attitude simultaneously, its positional accuracy measurement is more much lower than laser tracker, therefore only gets the attitude measurement numerical value of its acquisition usually.Norway Metronor company has the patent (patent No.: EP0880674 of binocular photogrammetry, and Sweden MEEQ company has the patent (Swedish patent number: SE444530) and the patent (U.S. Patent number: US6131296) of binocular photogrammetry of monocular photogrammetry WO97/14015).The distance of taking in the photogrammetry between thing and the imaging device is generally far, and is therefore very high to the accuracy requirement of the resolution of imaging device and optical system, cause the cost of total system very high, and measuring accuracy is difficult to improve.
(U.S. Patent number: scheme US5305091) is based on parallel connection platform pose measurement principle for the patent " Optical coordinate measuringsystem for large objects " of Canada Oreo Products Inc. company, promptly on wall between surveying work, fix the transit of 6 built-in micro-distancers, and at least two retroeflectors are installed on receiver, each transit has following function, can point to corresponding retroeflector all the time, just can obtain 6 dimension poses of receiver according to the range finding numerical value of 6 stadimeters, not need the corner of accurate surveyor's transit.The advantage of this scheme is to improve the spatial synthesis precision of six-dimensional pose measurement data in theory, and shortcoming is that cost is too high.
At present cost lower, also do not appear in the newspapers based on high precision six-dimensional pose measurement mechanism single laser tracker, that do not need the high resolving power camera system.
Summary of the invention
In order to overcome in the prior art cost height or to need the two-freedom turntable or need deficiencies such as high resolving power camera system, the present patent application is expanded the closely visual processing method that proposes in the prior art to existing laser tracker, can accurately and easily obtain 3 d pose.Adopt the present invention can substitute expensive six-dimensional pose Laser Measurement tracker.
Technical solution of the present invention is as follows:
A kind of device of Measuring Object six-dimensional pose is characterized in that: be made up of calculation processing unit (1), a receiver (2), a laser tracker (3) and at least one generating laser; Calculation processing unit and laser tracker are installed on the fixed bottom boundary; Receiver is installed in the moving object to be measured (4); Laser tracker and receiver and calculation processing unit (1) communication, laser tracker links to each other by laser optical path with receiver, and generating laser links to each other by laser optical path with receiver.
Described laser tracker has one and horizontally rotates degree of freedom and a pitch rotation degree of freedom; Laser tracker comprises the drive unit of its level angle of control and pitching corner, also comprises the corner measuring apparatus of measuring its level angle and pitching corner; At least one laser range finder is installed on the laser tracker.
Described laser range finder is launched laser beam, and described laser range finder is a laser interferometer, or the laser-Doppler stadimeter, or laser absolute distance measurement instrument, or the laser structure optical position sensor.
Described generating laser is installed on the laser tracker usually; Described each generating laser is launched at least one laser beam, described laser beam and laser range finder emitted laser Shu Pinghang.
Described generating laser also can be installed on the two-freedom turntable; Described each generating laser is launched at least one laser beam; Described two-freedom turntable is installed on the laser tracker or fixedly mounts on the ground; Described two-freedom turntable has one and horizontally rotates degree of freedom and a pitch rotation degree of freedom; Described two-freedom turntable comprises the drive unit of its level angle of control and pitching corner, also comprises the corner measuring apparatus of measuring its level angle and pitching corner.
The number of described generating laser is 1 o'clock, generating laser emission line structured light, or emission cross curve structured light, or emission dot matrix structured light.
Described receiver comprises reflection target, at least one projection panel and at least one image-generating unit, and the corresponding at least image-generating unit of each projection panel; Wherein reflecting target is retroreflector, or translucent reflection paster; The shape of projection panel is selected from the plane, or curved surface, or a plurality of planar combination, or the combination of a plurality of curved surfaces; The material of projection panel is the scattering light-passing board, or shaggy scattering reflector; The field range of image-generating unit equates substantially with the size of projection panel.
When the material of projection panel was the scattering light-passing board, described image-generating unit was in the dorsal part or the inside of projection panel, and when the material of projection panel was the scattering reflector, described image-generating unit was in the front side of projection panel.
Described image-generating unit comprises image-forming electron device and the imaging lens between image-forming electron device and projection panel; Wherein the image-forming electron device is selected from Position-Sensitive Detector, charge-coupled image sensor, charge injection device or based on the optical imaging device of complementary metal oxide semiconductor (CMOS).
Described image-generating unit comprises that at least one is directly installed on the lip-deep sensitometry device of projection panel, and the sensitometry device is selected from Position-Sensitive Detector, charge-coupled image sensor, charge injection device or based on the optical imaging device of complementary metal oxide semiconductor (CMOS).
Adopt the method for described measurement device object six-dimensional pose: the three-dimensional position that obtains object by existing Laser Tracking instrument measurement method, be incident upon on the projection panel of receiver by generating laser emission of lasering beam or laser plane, produce laser facula or laser stripe; Set up equation of constraint by in-plant picture catching and visual processes technology and measuring principle in parallel again, find the solution the 3 d pose that equation of constraint obtains object, obtain the six-dimensional pose of object.
The present invention has following characteristics:
1. the three-dimensional position measuring of apparatus of the present invention obtains by laser tracker, so the positional accuracy measurement height.
2. apparatus of the present invention 3 d pose measuring accuracy height and cost is low.The present invention is based on measuring principle in parallel, realize that by the laser structure light more than two 3 d pose measures, compare that receiver does not need the two-freedom turntable with adopting the single laser laser tracker of measuring of connecting, therefore receiver weight alleviates greatly, and cost reduces greatly; The present invention adopts in-plant picture catching and visual processes, distance between projection panel and the image-generating unit has only one of percentage of maximum measurement range or per mille, compare with photogrammetric the learning a skill of visual processes with the seizure of employing remote image, do not need high-resolution vision sensor, and bearing accuracy is higher.
3. the present invention can be easy to be simplified to the three-dimensional pose of object in the measurement plane, and promptly (x y) rotates θ with one dimension to two-dimensional position Z
4. the present invention can install measuring staff or three-dimensional laser scanner on receiver, thereby can the unapproachable place of surveyor's transit emission laser beam.
Description of drawings
Fig. 1 is the synoptic diagram of first example of six-dimensional pose measurement mechanism;
Workflow synoptic diagram when Fig. 2 carries out the 3 d pose measurement for the six-dimensional pose measurement mechanism;
Fig. 3 is the synoptic diagram of second example of six-dimensional pose measurement mechanism;
Fig. 4 is the synoptic diagram of the 3rd example of six-dimensional pose measurement mechanism;
Fig. 5 is the synoptic diagram of the 4th example of six-dimensional pose measurement mechanism.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
Embodiment 1
Be illustrated in figure 1 as first example of the six-dimensional pose measurement mechanism that the present invention proposes, this device is made up of a calculation processing unit 1, a receiver 2 and a laser tracker 3.Laser tracker 3 fixedly mounts on the ground usually.Receiver 2 is by web member or be directly installed in the six-dimensional pose moving object to be measured 4.Receiver coordinate system 20 is O '-X ' Y ' Z ' among the figure, be fixed on the receiver, and global coordinate system 10 is O-XYZ, is fixed on usually on the laser tracker, and the moving object coordinate is O m-X mY mZ m(not shown) is fixed in the moving object 4.Because receiver coordinate system 20 is fixing all the time with respect to the pose of moving object coordinate system, and can obtain by scaling method, the six-dimensional pose of therefore measuring moving object 4 is equivalent to measures the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.Discuss for simplifying, the six-dimensional pose of back indication is measured the six-dimensional pose that all refers to receiver 2 and is measured, because the equivalence fully of the six-dimensional pose of the six-dimensional pose of receiver coordinate system 20 and receiver 2.
Laser tracker 3 has the θ of horizontally rotating VWith pitch rotation θ HTwo rotational freedoms, the level angle of each transit and pitching corner are controlled by drive unit, and the corner value can be measured fast.Drive unit adopts servomotor usually, also can adopt higher piezoelectric ceramic motor of precision and direct drive motor, corner measuring apparatus is installed on the transit, adopts high-precision encoder usually, encoder resolution reaches 0.1, and " magnitude is measured repeatable accuracy and is all reached 1 " magnitude.High-precision stadimeter 30 is housed on the laser tracker 3, adopts laser interferometer or absolute distance measurement instrument usually.Because the commercially produced product of laser tracker (comprising laser total station and laser scanner etc.) is very common, is not described in more detail at this.
Two small- sized generating lasers 31 and 32 additionally are installed on the laser range finder 30 of laser tracker 3.Laser beam 301 of laser range finder emission, generating laser 31 and 32 is all launched a laser beam, is respectively 311 and 321.Generating laser 31 and 32 sensing parallel with the sensing of laser range finder 30 usually, to obtain bigger measurement range.Generating laser 31 and 32 and laser range finder 30 between distance depend on and the measuring accuracy of 3 d pose be typically chosen in 50~100mm.Generating laser 31 and 32 adopts semiconductor laser usually, and wavelength is selected the wave band of red visible light or infrared light usually, and as 635~690nm, the output power of laser instrument is generally the milliwatt level, as 1mW.Generating laser 31 and 32 emitted laser also can be separated by light-splitting device from the light beam of laser range finder 30.In general, laser range finder emitted laser beam diameter is bigger, for example the beam diameter of laser interferometer is in the 25mm magnitude, and the miniature laser transmitter emitted laser beam diameter that the present invention adopts is very little, according to present small semiconductor laser technical merit, in the 10m distance, the diameter of laser beam is usually less than 0.5mm, in the 100m distance, the diameter of laser beam is usually less than 5mm.The present invention requires the miniature laser transmitter to have directional stability preferably, and for example during 1 ° of environment temperature lifting, the variation that laser beam is pointed to is best less than 1 ", adopt common attemperating unit can guarantee the stability that laser beam is pointed to like this.
Receiver 2 mainly comprises a retroreflector 21, a projection panel 22 and an image-generating unit 23.Retroreflector 21 preferably adopts prism of corner cube or 360 degree reflecting prisms, and three vertical planes in the prism of corner cube intersect at cusp P.Retroreflector 21 is embedded in the middle of the projection panel 22.Projection panel 22 in this example be shaped as the plane, the material of projection panel 22 is the material with diffuse transmission performance, for example various trnaslucent materials.Image-generating unit 23 is installed on the rear of projection panel 22 usually, and image-generating unit 23 comprises an imaging lens 231 and an image-forming electron device 232.Image-forming electron device 232 can be common optical imagery devices such as CCD, CMOS.One of the percentage of the maximum measurement range of the normally described device of distance of the size of projection panel 22 and image-generating unit 23 and projection panel 22 magnitude~per mille magnitude; Suppose that present embodiment measurement device scope is 10m, then the projection panel size is not more than 100mm * 100mm, and the distance of image-generating unit and projection panel is within 100mm.Retroreflector 21, projection panel 22 all are fixed on the receiver with image-generating unit 23, so they can be by demarcating accurately acquisition with respect to the position and the attitude of receiver coordinate system 20.
Calculation processing unit 1 links to each other with laser tracker 3 with receiver 2 by communication mode 12,13.Communication mode the 12, the 13rd, wired mode, or wireless mode (comprise by the laser beam of stadimeter and carry out laser communication).
It is to be noted:
1) projection panel 22 adopts the material with diffuse transmission performance in this example, but projection panel 22 also can be the scattering reflector with certain roughness, as typical bright shellfish reflector (Lambertian reflector), this moment, image-generating unit 23 was installed on side the place ahead of projection panel 22 usually.Projection panel 22 can also be can direct imaging sensor devices, common optical imagery devices such as CCD, CMOS and PSD for example, can save image-generating unit 23 in this case, but consider that large-area optical imagery device cost is very high, this scheme is more suitable for the situation of measuring distance less (for example less than 1m).
2) shape of projection panel 22 is planes in this example, but also can be sphere or other curved surfaces.When projection panel 22 adopted flat shape, image-generating unit 23 recommended to adopt the layout based on the Scheimpflug principle, can obtain distinct image on a large scale.Generally include the logical filter glass of band in the imaging lens 231, only allow the laser of the laser wavelength that adopts to pass through, reduce ambient light effects, thereby improve picture quality.
3) adopted two small- sized generating lasers 31 and 32 in this example, but can replace with a laser structure optical transmitting set that can generate dot matrix or laser stripe.In actual applications, have better accuracy and robustness, plural generating laser can be installed, the laser beam that also can allow each two of generating laser emission or more be parallel to each other for making measurement result.
4) synoptic diagram is too crowded to be placed on global coordinate system 10 on the pedestal of laser tracker 3 in order to avoid among Fig. 1, receiver coordinate system 20 is placed on the frame of receiver.Whether the position of above-mentioned coordinate system can conveniently be adjusted according to algorithm.Basic law according to matrixing, above-mentioned coordinate system is carried out translation can not change the 3 d pose of receiver coordinate system 20 with respect to global coordinate system 10, understand in order to simplify to discuss and be convenient to, the initial point O that supposes global coordinate system 10 in this example overlaps with the vertical rotation axis of laser tracker 3 and the intersection point of horizontal rotating shaft, and the initial point O ' of hypothesis receiver coordinate system 20 overlaps with the cusp P of retroreflector 21.
The method that the present invention measures six-dimensional pose of moving object is described below in the lump in conjunction with the groundwork process of described device:
By the position angle of automatic tracking Control step control laser tracker, make laser range finder on the laser tracker point to retroreflector on the receiver all the time, the generating laser emitted laser drops on the projection panel on the receiver simultaneously.As shown in Figure 1, laser range finder 30 is launched laser beam 301, and laser beam 301 is hit retroreflector 21 backs by retroreflection, forms laser beam 302, and laser beam 302 is parallel with laser beam 301 in essence, and enters laser range finder 30.Generating laser 31,32 emitted laser bundle 311,321 respectively drops on the projection panel 22 on the receiver 2, forms corresponding laser facula 312,322.
Obtain the three-dimensional coordinate of initial point in global coordinate system of receiver coordinate system by the laser tracker measuring process.Laser range finder 30 goes out the distance of the cusp P and the laser range finder 30 of retroreflector 21 according to the feature calculation of laser beam 301 and 302, and laser tracker 3 is further according to azimuth angle theta VAnd θ HCalculate the three-dimensional coordinate (X of the cusp P of retroreflector 21 with respect to global coordinate system 10 P, Y P, Z P), this promptly be three-dimensional coordinate in global coordinate system 10 of the initial point O ' of receiver coordinate system 20 (x, y, z).
Matrixing by laser tracker obtains laser range finder and the math equation of generating laser institute emitted laser lines in global coordinate system again.In general, generating laser 31,32 can be demarcated accurately with respect to the relative position and the attitude of laser range finder 30, according to the azimuth angle theta of laser tracker VAnd θ HMeasured value just can obtain the equation of two laser beam 311,321 in global coordinate system 10, according to the basic general knowledge of how much algebraically, the straight line in the space is determined by two ternary once linear equations.The algebraic equation of supposing 311,321 line correspondences of two laser beam is respectively:
a 311 x + b 311 y + c 311 z + d 311 = 0 e 311 x + f 311 y + g 311 z + h 311 = 0
a 321 x + b 321 y + c 321 z + d 321 = 0 e 321 x + f 321 y + g 321 z + h 321 = 0
Wherein: the straight-line equation of subscript 311 expression laser beam 311 correspondences, the straight-line equation of subscript 321 expression laser beam 321 correspondences.Coefficient in the above-mentioned equation only depends on the measurement of azimuth value of laser tracker and the fixed measure of laser tracker.
On the other hand, to the laser facula on the projection panel or laser stripe is taken and Flame Image Process, obtain the pixel coordinate of laser facula or the reflection of laser stripe in image-generating unit by image-generating unit; By the demarcation of image-generating unit being obtained on the image-generating unit in the pixel coordinate each pixel, utilize the one-to-one relationship acquisition laser facula of pixel and receiver coordinate system or laser stripe local coordinate value with respect to the receiver coordinate system with respect to the position of receiver coordinate system.As shown in Figure 1, handle, can obtain the two-dimensional coordinate of laser facula on image-forming electron device 232 by the image that image-forming electron device 232 is taken.According to the pinhole imaging system principle, laser facula and its line between the reflection on the image-forming electron device 232 must be through the lens centers of imaging lens 231.Because projection panel 22, imaging lens 231 and image-forming electron device 232 are fixed with respect to the position of receiver coordinate system 20, therefore there is fixing mapping one by one in laser facula between the two-dimensional coordinate on the image-forming electron device 232 and laser facula are with respect to the three-dimensional coordinate of receiver coordinate system 20, so can obtain the three-dimensional coordinate of these laser faculas with respect to receiver coordinate system 20 by the pinhole imaging system mathematical model; Perhaps adopt direct calibration method,, directly demarcate and note it at the three-dimensional coordinate of corresponding point in receiver coordinate system 20 on the projection panel 22 promptly for each pixel on the image-forming electron device 222.The size of supposing projection panel 22 is 100mm * 100mm, the pel array of image-forming electron device 232 is 1024 pixels * 1024 pixels, the visual field size of image-generating unit 23 equates substantially that with the projection panel size then the vision addressability of image-forming electron device 222 is less than 0.1mm.
Obtain image-generating unit by hypothesis receiver coordinate system with respect to the 3 d pose of global coordinate system again and demarcate the laser facula that obtains or laser stripe overall D coordinates value with respect to global coordinate system.Because receiver coordinate system 20 is three known variables (α, beta, gammas) with respect to the 3 d pose of global coordinate system 10, if a known laser facula A is relative coordinate (X in receiver coordinate system 20 A', Y A', Z A'), can obtain the three-dimensional world coordinates (X of this laser facula in global coordinate system 10 according to following homogeneous coordinate transformation A, Y A, Z A):
Wherein Rot (Z, γ) Rot (X, β) Rot (Z, α) expression then rotate the β angle around X-axis earlier around the Z of global coordinate system axle rotation alpha angle, rotates the γ angle around the Z axle again, (x, y z) represent along vector [x, y, z] translation Trans.Therefore can obtain
X A Y A Z A 1 = r 11 r 12 r 13 x r 21 r 22 r 23 y r 31 r 32 r 33 z 0 0 0 1 X A ′ Y A ′ Z A ′ 1
Wherein,
r 11=cosγcosα-cosβsinαsinγ
r 12=cosγsinα+cosβcosαsinγ
r 13=sinγsinβ
r 21=-sinγcosα-cosβsinαcosγ
r 22=-sinγsinα+cosβcosαcosγ
r 23=cosγsinβ
r 31=sinβsinα
r 32=-sinβcosα
r 33=cosβ
As seen relative coordinate (the X of a given laser facula in receiver coordinate system 20 A', Y A', Z A'), measured simultaneously the three-dimensional coordinate (x of initial point in global coordinate system 10 of receiver coordinate system 20, y, z), then (X, Y Z) are three 3 d pose (α with receiver coordinate system 20 respectively to the world coordinates of this laser facula in global coordinate system 10, beta, gamma) is the function expression of variable.
At last by the synchronous triggering measuring process set up the laser lines in global coordinate system math equation and the restriction relation between the function expression of laser facula world coordinates, find the solution restriction relation and draw the pose of receiver coordinate system with respect to global coordinate system.Because hot spot 312,322 must lay respectively on the straight line of two laser beam 311,312 correspondences, with the function expression of the three-dimensional world coordinates correspondence of two hot spots two equations of the corresponding laser beam of substitution respectively, can obtain to have four equations of three variablees,
a 311 x 312 + b 311 y 312 + c 311 z 312 + d 311 = R ( α , β , γ ) = 0 e 311 x 312 + f 311 y 312 + g 311 z 312 + h 311 = S ( α , β , γ ) = 0
a 321 x 322 + b 321 y 322 + c 321 z 322 + d 321 = T ( α , β , γ ) = 0 e 321 x 322 + f 321 y 322 + g 321 z 322 + h 321 = O ( α , β , γ ) = 0
In above four equations, the world coordinates of supposing laser facula 312 is (x 312, y 312, z 312), the world coordinates of laser facula 322 is (x 322, y 322, z 322), obviously they all are that 3 d pose (α, beta, gamma) with receiver coordinate system 20 is the function expression of variable.
Find the solution the system of equations that above four equations form and to obtain the 3 d pose (α, beta, gamma) of receiver coordinate system 20 with respect to global coordinate system 10.The algorithm of solving equation group can be the classical inferior method of newton-pressgang, various best practice, Homotopy Method and interval analysis method or the like.
In fact, the restriction relation that above-mentioned laser facula must lay respectively on the straight line of laser beam correspondence can adopt other expressions, and for example the distance of hot spot and corresponding laser beam equals zero, and obtains different math equations.Receiver coordinate system 20 also can adopt other equivalently represented methods to represent with respect to the 3 d pose of global coordinate system 10, for example adopts hypercomplex number to represent.
Workflow synoptic diagram when Fig. 2 carries out actual measurement for the six-dimensional pose measurement mechanism comprises the step that synchronous triggering is measured.This workflow makes an explanation at first example, is used for other examples described later but can promote.Concrete workflow is as follows:
Step 101 is fixed on ground with laser tracker 3.Step 102 is fixedly mounted on receiver 2 on the mobile object to be measured.Step 103, the level angle and the pitching corner of adjusting laser tracker 3 laser beam 301 is dropped on the retroreflector 21 of receiver 2, and laser beam 311 and 321 drop on the projection panel 22 of receiver 2.Step 104, calculation processing unit 1 sends trigger pip respectively to laser tracker 3 and receiver 2.Step 105, laser tracker 3 will trigger constantly the three-dimensional coordinate of the measured receiver that obtains 2 (x, y, z) and the position angle (θ of self V, θ H) measured value sends to calculation processing unit 1, meanwhile the image-generating unit 23 of receiver 2 triggers high-speed shutter, catch the light spot image on the projection panel 22, and will calculate the two-dimensional coordinate value of laser facula in image-forming electron device 232 that obtains and send to calculation processing unit 1.Step 106, calculation processing unit 1 calculates the partial 3 d coordinate figure of hot spot with respect to receiver coordinate system 20 according to the two-dimensional coordinate and the good mapping relations of demarcation of hot spot; Calculation processing unit 1 is positioned at restriction relation on the laser straight line according to laser facula, with the math equation of the function expression substitution laser lines correspondence of laser facula in global coordinate system, sets up three attitude parameter (α with receiver 2, β, be four equations of known variables γ), find the solution this four equations, draw the attitude parameter of receiver coordinate system 20 with respect to global coordinate system 10, obtain the six-dimensional pose (x of receiver coordinate system 20, y, z, α, beta, gamma).Step 107, laser tracker 3 is carried out automatic tracking control algorithm.The execution in step that circulates then 104 to step 107 up to finishing measurement.
The flow process brief introduction of the above-mentioned automatic tracking control algorithm that makes laser tracker is as follows, when each the measurement, calculate the current pose of receiver 2 by laser tracker 3, current pose and receiver 2 are drawn the movement velocity of receiver 2 in the difference of last pose when once measuring divided by sampling interval, further infer receiver 2 pose with arrival when next time measuring according to the movement velocity of receiver 2, calculating laser tracker 3 needs the new angle position of arrival, still drop on the retroreflector 21 of receiver 2 with assurance laser beam 301, and.Find the solution the movement velocity of receiver 2 and can also utilize receiver 2 movement locus before, obtain by filtering and Forecasting Methodology.
The method that above-mentioned synchronous triggering measuring method also can adopt continuous coverage and measured value interpolation to combine replaces, be that calculation processing unit 1 needn't send trigger pip to laser tracker 3 and receiver 2, and laser tracker 3 continuous three-dimensional coordinate (x with receiver 2, y, z) and self position angle (θ V, θ H) measured value sends to calculation processing unit 1, receiver 2 also will calculate the two-dimensional coordinate value of laser facula in image-forming electron device 232 that obtains continuously and send to calculation processing unit 1.The time interpolator that data that calculation processing unit 1 basis receives and data arrive goes out the data of certain fixed time, and further the data that go out according to interpolation are set up system of equations and solved the six-dimensional pose of receiver coordinate system 20 in global coordinate system 10.
Positional accuracy measurement of this device and tracking performance depend on the positional accuracy measurement of laser tracker substantially, if azimuthal measuring accuracy of laser tracker is 1 "; when measurement range was 10m, positional accuracy measurement can reach the 0.05mm magnitude, and horizontal tracing speed can reach 3m/s.
And the attitude measurement accuracy of this device can reach following index: be set as the image-forming electron device that picture adopts 1024 pixels * 1024 pixels, taking area is the projection panel of 50mm * 50mm, can obtain to be higher than the resolution of 0.05mm, therefore suppose that the position resolution of hot spot 312 and 322 is 0.05mm.Adopt the present invention program, the shutter time shutter of the transmission delay of trigger pip and image-generating unit can reach 10 μ s magnitudes, and when moving object speed was 1m/s, the measured deviation of image-generating unit was the 0.01mm magnitude.The equivalent redius of the projection panel of known receiver is 25mm, thus attitude measurement accuracy can reach (0.05/25) * (180 °/π)=0.114 °, promptly 0.1 ° of magnitude if adopt 1/10 sub-pix Flame Image Process, can reach 0.01 ° of magnitude.
Embodiment 2
Figure 3 shows that second example of the six-dimensional pose measurement mechanism that the present invention proposes.With first example difference be, the projection panel 22 on the receiver 2 has adopted sphere, and imaging unit 23 is located at the inboard of projection panel; Projection panel 22 is provided with magnetic stand 24; Retroreflector 21 adopts the prism reflection spheres, can be adsorbed on reliably above the magnetic stand 24, and the orientation that the operator can manual adjustments retroreflector 21, above-mentioned two modifications can obtain bigger 3 d pose measurement range.Manual turntable or automatic turntable that certain magnetic stand 24 also can be designed to have one degree of freedom or two degree of freedom.Manually the pivot center of turntable and automatic turntable all passes through the centre of sphere of prism reflection sphere, can keep the invariant position of the centre of sphere of prism reflection sphere with respect to receiver 2.Manually turntable can be selected common high precision rotating disk for use, and automatic turntable drives by mounting rotary electric machine in the rotating shaft of high precision rotating disk, or realizes rotating by the surface of sphere motor direct-drive prism reflection sphere.Because automatic turntable does not need accurately to control the angle of retroreflector and incident laser, only need make retroreflector can receive incident laser, therefore compare with the scheme in the U.S. Pat 6667798, can be easy to realize the lightweight of automatic turntable.
Embodiment 3
Figure 4 shows that the 3rd example of the six-dimensional pose measurement mechanism that the present invention proposes.This example mainly is fit to measurement among a small circle.Stadimeter 30 on the laser tracker 3 is for adopting the structured light position transducer of triangulation, the LK-G500 of optional this Keyence another day company, and measurement range is 250mm-1000mm.Because triangulation is not suitable for measuring high reflecting surface, so replace retroeflector 21 with the reflection paster in this example.Projection panel 22 adopts the scattering light transmissive material in this example, and the part that can make incident laser is by diffuse reflection, and a part is by diffuse transmission, and the diffuse reflection function that therefore reflects paster can be realized by projection panel 22.Projection panel 22 is spheres in this example, but also can be plane or other curved surface.Owing to do not have retroreflector 21, suppose that in this example the initial point O ' of receiver coordinate system 20 is positioned on the framework of image-generating unit 23.Generating laser 304 emitted laser bundles 301 on the stadimeter 30 drop on the projection panel 22, form hot spot 302, part laser is scattered and is back to receive window 303 on the stadimeter 30 along direction 302, and final imaging on the linear array imaging device of stadimeter 30 inside, so laser tracker 3 can calculate the three-dimensional world coordinates (x of hot spot 302 exactly 12, y 12, z 12).In addition two generating lasers 31,32 on the laser tracker 3 emitted laser bundle 311,321 respectively also form hot spot 312,322 respectively on projection panel, so the image that image-generating unit 23 is taken comprises three hot spots 302,312,322.
The computing method of this example are as follows: suppose the six-dimensional pose (x, y, z, α, beta, gamma) of known receiver coordinate system 20, can calculate the world coordinates (x of laser facula 302 according to the pose conversion of receiver 2 302, y 302, z 302), the world coordinates (x of laser facula 312 312, y 312, z 312), the world coordinates (x of laser facula 322 322, y 322, z 322), these all are that obviously they all are that six-dimensional pose with receiver coordinate system 20 is the function expression of known variables.According to the basic thought of setting up equation of constraint in the example 1, the world coordinates that is laser facula should satisfy corresponding straight-line equation, and the hot spot world coordinates that calculates should be consistent with the hot spot world coordinates that laser tracker measures, be not difficult to obtain seven equation of constraint, find the solution six-dimensional pose (x, y that these seven equations can obtain receiver coordinate system 20, z, α, beta, gamma).
The another kind of computing method of this example are: at first the initial point O ' with receiver coordinate system 20 moves to the position that overlaps with laser facula 302 temporarily, at this moment only need to obtain the three-dimensional pose (α that 4 equations can be found the solution receiver coordinate system 20 according to the method for introducing in first example, β, γ), 3 d pose according to receiver coordinate system 20 calculates the numerical value of translation vector in global coordinate system 10 then, thereby the three-dimensional position of initial point O ' when obtaining as yet not translation (x, y, z).
Embodiment 4
Figure 5 shows that the 4th example of the six-dimensional pose measurement mechanism that the present invention proposes.In this example miniature laser transmitter 31,32 no longer is installed on the laser tracker 3, and is mounted on two two-freedom turntables 5,6.The two-freedom turntable adopts the form of transit usually, be that each two-freedom turntable has one and horizontally rotates degree of freedom and a pitch rotation degree of freedom, the drive unit that comprises its level angle of control and pitching corner also comprises the corner measuring apparatus of measuring its level angle and pitching corner.Two-freedom turntable 5,6 is connected with calculation processing unit 1 by communication mode 15,16 respectively, and separately level angle and pitching corner sent to calculation processing unit 1.
Receptacle 2 comprises a retroreflector 21 and two projection panel 22a, 22b, all is fixed on the rigid support 25 corresponding respectively image-generating unit 23a of projection panel 22a, 22b and 23b.Wherein retroreflector 21 and projection panel 22a, 22b can obtain by scaling method with respect to the relative position and the attitude of receptacle coordinate system.Laser tracker 3 is laser beam directive retroreflector 21, and the generating laser 31 on two two-freedom turntables 5,6 and 32 forms laser facula 312 and 322 with laser beam 311,321 projection panel 22a, the 22b of directive correspondences respectively.
The computing method of this embodiment are substantially the same manner as Example 1, promptly carry out three-dimensional position measuring by laser tracker 3, and carry out the 3 d pose measurement according to the constraint that laser facula is positioned on the respective straight.Unique difference is according to the position angle of two-freedom turntable 5,6 and they position and the attitude with respect to laser tracker 3 when being to calculate the straight-line equation of laser beam 311,321, rather than according to the position angle of laser tracker 3.Wherein two free turntables 5,6 can obtain by the external unit direct calibration method or from calibrating procedure with respect to the position and the attitude of laser tracker 3.A kind of direct calibration method is that two-freedom turntable 5,6 and laser tracker 3 are fixedly mounted on the known support of size, perhaps two-freedom turntable 5,6 is fixedly mounted on the laser tracker 3.Then pass through fixedly receptacle 2 from calibrating procedure, and the position angle of increment adjustment two-freedom turntable, realize by solving equation.
The advantage of this embodiment is can obtain very high 3 d pose measuring accuracy owing to distance between projection panel and the retroreflector three is far away.
It is to be noted, though only provided four embodiment of six-dimensional pose measurement mechanism here, but can carry out some conspicuous modifications to obtain more example to the foregoing description, for example laser facula projection of the present invention be combined with the method that shooting at close range method and the cone angle prism among the US7312862 of Leica house journal are opened aperture.
In addition, in above-mentioned example, laser tracker is installed on the fixed bottom boundary, and receiver is installed in the moving object to be measured, but also in laser tracker and the receiver can be installed in the moving object to be measured, and another kind is installed on the fixed bottom boundary.In above-mentioned example, calculation processing unit and laser tracker are as two separate units, but obviously calculation processing unit also can be integrated into laser tracker inside.
It is to be noted that also the present invention is mainly used in six-dimensional pose and measures, but can be easy to be simplified to the three-dimensional pose of object in the measurement plane, promptly (x y) rotates θ with one dimension to two-dimensional position ZConcrete scheme is that the pitch rotation degree of freedom of laser tracker is removed, and only needs a miniature laser transmitter.
The category that the present invention covers comprises: adopt two dimension or three-dimensional position measuring instrument to realize the position measurement of object, adopt the minor diameter laser beam on the receiver projection panel, to generate a plurality of hot spots simultaneously, and representation of laser facula carried out shooting at close range and handle to obtain the local coordinate of hot spot, adopt measuring principle in parallel to carry out equation solution to obtain the relevant programme of object attitude.It is to be noted among the US7312862 of Leica house journal that part-structure and the present invention in the 3rd scheme seem comparatively approximate, but drop on the image-forming electron device after adopting the major diameter laser beam by aperture in this scheme and generate hot spot, the image-forming electron device must be positioned at the rear side of retroreflector; And laser facula drops on the projection panel among the present invention, and projection panel and image-forming electron device can be positioned at next door, rear side or the front side of retroreflector.The measurement to 3 d pose is based on the series connection measuring principle in essence among the US7312862 of Leica house journal in addition, utilize the image-forming electron device behind the aperture to measure two-dimentional pose (being pitching corner and deflection corner) earlier, calculate the rolling corner separately by externally measured device then; And measuring principle in parallel is adopted in the measurement of 3 d pose among the present invention, calculates pitching corner, deflection corner and rolling corner simultaneously.

Claims (11)

1. the device of a Measuring Object six-dimensional pose is characterized in that: be made up of calculation processing unit (1), a receiver (2), a laser tracker (3) and at least one generating laser; Calculation processing unit and laser tracker are installed on the fixed bottom boundary; Receiver is installed in the moving object to be measured (4); Laser tracker and receiver and calculation processing unit (1) communication, laser tracker links to each other by laser optical path with receiver, and generating laser links to each other by laser optical path with receiver.
2. by the described device of claim 1, it is characterized in that: described laser tracker has one and horizontally rotates degree of freedom and a pitch rotation degree of freedom; Laser tracker comprises the drive unit of its level angle of control and pitching corner, also comprises the corner measuring apparatus of measuring its level angle and pitching corner; At least one laser range finder is installed on the laser tracker.
3. by the described device of claim 2, it is characterized in that: described laser range finder is launched laser beam, and described laser range finder is a laser interferometer, or the laser-Doppler stadimeter, or laser absolute distance measurement instrument, or laser structure optical position sensor.
4. by the described device of claim 1, it is characterized in that: described generating laser is installed on the laser tracker; Described each generating laser is launched at least one laser beam, described laser beam and laser range finder emitted laser Shu Pinghang.
5. by the described device of claim 1, it is characterized in that: described generating laser is installed on the two-freedom turntable; Described each generating laser is launched at least one laser beam; Described two-freedom turntable is installed on the laser tracker or fixedly mounts on the ground;
6. by the described device of claim 5, it is characterized in that: described two-freedom turntable has one and horizontally rotates degree of freedom and a pitch rotation degree of freedom; Described two-freedom turntable comprises the drive unit of its level angle of control and pitching corner, also comprises the corner measuring apparatus of measuring its level angle and pitching corner.
7. by claim 4 or 5 described devices, it is characterized in that: the number of described generating laser is 1 o'clock, generating laser emission line structured light, or emission cross curve structured light, or emission dot matrix structured light.
8. by the described device of claim 1, it is characterized in that: described receiver comprises reflection target, at least one projection panel and at least one image-generating unit, and the corresponding at least image-generating unit of each projection panel; Wherein reflecting target is retroreflector, or translucent reflection paster; The shape of projection panel is selected from the plane, or curved surface, or a plurality of planar combination, or the combination of a plurality of curved surfaces; The material of projection panel is the scattering light-passing board, or shaggy scattering reflector; The field range of image-generating unit equates substantially with the size of projection panel.
9. by the described device of claim 8, it is characterized in that: when the material of projection panel is the scattering light-passing board, described image-generating unit is in the dorsal part or the inside of projection panel, and when the material of projection panel was the scattering reflector, described image-generating unit was in the front side of projection panel.
10. by the described device of claim 8, it is characterized in that: described image-generating unit comprises image-forming electron device and the imaging lens between image-forming electron device and projection panel; Wherein the image-forming electron device is selected from Position-Sensitive Detector, charge-coupled image sensor, charge injection device or based on the optical imaging device of complementary metal oxide semiconductor (CMOS).
11. by the described device of claim 8, it is characterized in that: described image-generating unit comprises that at least one is directly installed on the lip-deep sensitometry device of projection panel, and the sensitometry device is selected from Position-Sensitive Detector, charge-coupled image sensor, charge injection device or based on the optical imaging device of complementary metal oxide semiconductor (CMOS).
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