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Número de publicaciónCN100533175 C
Tipo de publicaciónConcesión
Número de solicitudCN 200710067471
Fecha de publicación26 Ago 2009
Fecha de presentación13 Mar 2007
Fecha de prioridad13 Mar 2007
También publicado comoCN101021564A
Número de publicación200710067471.4, CN 100533175 C, CN 100533175C, CN 200710067471, CN-C-100533175, CN100533175 C, CN100533175C, CN200710067471, CN200710067471.4
Inventores卢科青, 文 王, 陈子辰
Solicitante浙江大学
Exportar citaBiBTeX, EndNote, RefMan
Enlaces externos:  SIPO, Espacenet
Measuring method and device based on electromagnetic and laser composite tracking
CN 100533175 C
Resumen  traducido del chino
本发明公开了一种基于电磁与激光复合跟踪的测量方法和装置。 The present invention discloses a method and apparatus for measuring complex electromagnetic and laser tracking. 包括电磁跟踪方位引导与激光跟踪精确测量两个部分。 Including electromagnetic tracking azimuth guidance with laser tracking to accurately measure two parts. 当激光跟踪系统在测量过程中发生丢光或在初次测量前,电磁跟踪利用其大范围、对人体无遮挡的特点,依据电磁场理论,在电磁跟踪所能达到的精度范围内,迅速找到测量器上目标反射镜的粗略位置,并把测量结果传递给激光跟踪系统。 When the laser tracking system occurred during the measurement discreditable or prior to initial measurement, electromagnetic tracking use of its range, the characteristics of the human body without shelter, according to the electromagnetic theory, electromagnetic tracking can be achieved within the range of accuracy to quickly find measurer coarse position on the target mirror, and the measurement result to the laser tracking system. 激光跟踪系统以电磁跟踪的结果为指导,快速地搜索到目标反射镜,并通过绝对测距、干涉法增量测距、角度传感器测转角等功能及半径补偿算法,计算出被测点的精确位置。 Laser tracking system to track the results of electromagnetic as a guide, quick search of the goals mirror, and by the absolute distance, interference incremental approach distance, angle sensors measure angular functions and radius compensation algorithm to calculate the exact measured point Location. 基于电磁与激光复合跟踪的测量方法,在保证激光跟踪测量精度不变的前提下,解决了激光跟踪测量过程中由于丢光导致操作繁琐、测量效率低下。 Based on measurements of electromagnetic and laser hybrid tracking, to ensure measurement accuracy of laser tracking same premise to solve the laser tracking measurement process due to lead to complicated operation discreditable measure inefficient.
Reclamaciones(4)  traducido del chino
1. 一种基于电磁与激光复合跟踪的测量方法,其特征在于:包括电磁跟踪方位引导与激光跟踪精确测量两个部分;当激光跟踪系统在测量过程中发生丢光时,电磁跟踪利用其大范围、对人体无遮挡的特点,依据电磁场理论,在电磁跟踪所能达到的精度范围内,找到测量器上目标反射镜粗略的空间位置,并把测量结果传递给激光跟踪系统;激光跟踪系统以电磁跟踪的结果为指导,搜索到目标反射镜,并通过绝对测距、干涉法增量测距、角度传感器测转角功能及半径补偿算法,计算出被测点精确的空间位置。 A method based on measuring electromagnetic and laser hybrid track, which comprising: an electromagnetic tracking azimuth guidance and accurate measurement of laser tracking of two parts; when the discreditable laser tracking system occurred during the measurement, using its large electromagnetic tracking range, the characteristics of the human body without shelter, according to electromagnetic theory, electromagnetic tracking can be achieved within the range of accuracy, found roughly mirrors the spatial location of the target on the measuring device and the measurement result to the laser tracking system; laser tracking system electromagnetic tracking results as a guide, the search target mirror, and by the absolute distance, interference incremental approach distance, angle sensors measure angular features and radius compensation algorithm to calculate the exact spatial position of the measured point.
2. 根据权利要求1所述的一种基于电磁与激光复合跟踪的测量方法,其特征在于:所述的电磁跟踪方位引导过程为:电磁跟踪系统利用三轴线圈发射低频磁场,用固定在测量器上的三轴磁场探测器,探测磁场的变化信息,利用电磁发射信号和感应信号之间的耦合关系,在电磁跟踪所能达到的精度范围内,计算出磁场探测器的方位;根据测量器上各个磁场探测器与目标反射镜之间已知的几何关系,计算出目标反射镜中心的空间位置,并传递给计算机,再由计算机把测量结果传递给激光跟踪系统。 2. According to one claim 1, wherein the method based on the measurement of electromagnetic and laser hybrid track, characterized in that: the electromagnetic tracking azimuth guidance process: electromagnetic tracking system uses three-axis coil emitting low frequency magnetic fields, with a fixed measure three-axis magnetic field detector on the changes in the magnetic field information detected by an electromagnetic coupling between the transmit signal and sensor signals, electromagnetic tracking can be achieved within the range of accuracy, the calculated magnetic field detector orientation; according to the measurement device Known between the probe and the target reflector on each magnetic field geometry to calculate the spatial location of the target reflector center and passed to the computer, and then from the computer to the measurement result to the laser tracking system.
3. 根据权利要求1所述的一种基于电磁与激光复合跟踪的测量方法,其特征在于:所述的激光跟踪精确测量过程为:激光跟踪系统把电磁跟踪的测量结果转化到自身的设备坐标系下,并驱动跟踪头上的电机,使激光束以电磁跟踪的结果为中心,按螺旋线轨迹运动,对目标反射镜进行搜索;找到目标反射镜后, 激光跟踪系统利用绝对测距模块,得到跟踪头中心和目标反射镜中心之间的绝对距离;然后激光跟踪系统开始测量工作,它利用激光干涉系统,得到测量过程中目标反射镜与跟踪头中心之间的距离变化量,利用角度传感器记录跟踪头的水平角和俯仰角,再结合绝对距离值,计算出目标反射镜中心的空间位置; 所得测量数据经过半径补偿算法的处理后,得到被测点的精确坐标值,并在计算机上显示测量结果;若在激光跟踪测量过程中发生丢光现象,则从新返回到电磁跟踪方位引导过程。 3. According to one claim 1, wherein the method based on the measurement of electromagnetic and laser hybrid track, characterized in that: the precise laser tracking measurement process as follows: laser tracking system to measure the results of an electromagnetic tracking device coordinates transformed into itself Under the Department, and drive tracking motor head, the laser beam to track the results of electromagnetic center, according to a spiral trajectory, to search for the target reflector; to find the target after a mirror, the laser tracking system using the absolute distance measurement module, obtain the absolute distance and target tracking head center mirror centers; and laser tracking system began survey work, which uses a laser interferometer system, get away from the amount of change during the measurement target mirrors and tracking head centers, the use of an angle sensor recording track head horizontal angle and pitch angle, combined with the absolute distance value to calculate the spatial position of the center of the target reflector; measurement data obtained after treatment radius compensation algorithm to obtain precise coordinates values of measured points, and on the computer display the measurement results; if the laser tracker measurement process occurs discreditable phenomenon, from the new track to return to the electromagnetic bearing the boot process.
4. 一种基于电磁与激光复合跟踪的测量装置,其特征在于:包括测量器(l)、 电磁跟踪系统和激光跟踪系统;其中:l)测量器(l)为:测量器把手(6)为椭圆形,测量器把手(6)内安装有电源(7), 测量器把手(6)末端安装有报警指示灯(8)和正常工作指示灯(9);球形的目标反射镜(10)位于测量器(1)底端,三个磁场探测器(5)所在轴的轴心线过目标反射镜(IO)的球心,且三个磁场探测器(5)和目标反射镜(10)球心之间的距离是已知的;2) 电磁跟踪系统:包括电磁发射器(13)、所述三个磁场探测器(5)、电磁跟踪控制系统(15)和控制软件;三个磁场探测器(5)安装在测量器(1)上,测量器(l)和电磁跟踪控制系统(15)之间由电缆相连,控制软件安装在计算机(16)上;电磁发射器(13)、电磁跟踪控制系统(15)和计算机(16)之间都用电缆连接;3) 激光跟踪系统:包括所述目标反射镜(IO)、激光跟踪头(ll)、激光跟踪控制系统(12)和控制软件;目标反射衛10皮装在测量器(1)的底端,控制软件安装在计算机(16)上;激光跟踪头(ll)、激光跟踪控制系统(12)和计算机(16)之间都用电缆连接;测量器(1)通过启动开关(3)控制其工作状态,顶端安装有电磁信号处理器(4)及电磁信号接口(2);三个磁场探测器(5)位于测量器(1)的中间轴上,且按直线、等间距分布。 4. Based on electromagnetic and laser hybrid tracking measuring apparatus comprising: a measuring device (l), electromagnetic tracking systems and laser tracking system; wherein: l) measuring device (l) is: measuring knob (6) oval, measuring knob (6) is mounted inside the power supply (7), measuring knob (6) are mounted end warning indicator (8) and the normal operation indicator (9); spherical target reflector (10) Located measuring device (1) through the bottom of the target, the three magnetic field detector (5) where the axis of the reflector axis (IO) of the center of the sphere, and the three magnetic field probe (5) and the target reflector (10) the distance between the center of the sphere is known; 2) electromagnetic tracking system: includes an electromagnetic transmitter (13), said three magnetic field detector (5), electromagnetic tracking control system (15), and control software; three field detector (5) is mounted in the measuring device (1), the measuring device is connected by a cable between (l) and electromagnetic tracking control system (15), the control software installed on the computer (16); an electromagnetic transmitter (13), all cable connections between the electromagnetic tracking control system (15) and a computer (16); 3) laser tracking system: including the target reflector (IO), laser tracking head (ll), laser tracking control system (12) and between the laser tracking head (ll), laser tracking control system (12) and a computer (16); control software; the object reflector 10 Leather guard at the bottom of the measurement device (1), the control software installed on the computer (16) cable connectors are used; measuring (1) by actuating the switch (3) to control its operation, top mounted electromagnetic signal processor (4) and electromagnetic signal interface (2); three magnetic field detector (5) is located measurer (1) of the intermediate shaft, and a straight line, equally spaced.
Descripción  traducido del chino

基于电磁与激光复合跟踪的测量方法和装置 Based on the measurement method and apparatus for electromagnetic tracking LASER

技术领域 Technical Field

本发明涉及一种基于电磁与激光复合跟踪的测量方法和装置。 The present invention relates to a method and apparatus for measuring electromagnetic and laser-based composite tracking. 背景技术 Background

近年来大尺寸精密测量的需求随着数字化造船、大型飞行器研制、超大型电站装备的制造等重要工程的发展而显著增加。 In recent years, demand for large-size precision measurement with the development of digital shipbuilding, large aircraft development, large power plant equipment manufacturing and other important projects significantly increased. 目前,激光跟踪测量系统是大 At present, the laser tracker measurement system is large

尺寸测量的主要工具,它在5;«内的精度达25戶,有效测量直径超过120m (Laser Tmckedl, API,2005),被广泛的运用于空间定位及大曲面测量。 The main tool size measurement, it is 5; precision «within reach 25, effectively measuring diameter of more than 120m (Laser Tmckedl, API, 2005), is widely used in spatial orientation and large surface measurement. 激光跟踪系统的最大缺点是测量过程不能丢光,若发生丢光,目标反射镜需重新回到鸟巢, 测量必须重新开始。 The biggest drawback of the laser tracking system is not discreditable measurement process, the event discreditable, target mirrors need to return to the nest, the measurement must be restarted. 所以在测量过程中,工作人员需缓慢的移动目标反射镜, 若移动速度过快、发生瞬间抖动或人体阻挡了激光,都会发生丢光。 Therefore, in the measurement process, the staff need to slow moving target mirror, if moving too fast, the occurrence of jerks or human barrier laser, will take place discreditable. 虽然API 公司最新款的激光跟踪仪具有丢光续接功能,但它的搜索过程缺乏指导性,丢光续接速度很慢。 While the API's latest models of laser tracker has discreditable continued access features, but its search process lacked guidance, discreditable continued access speed is very slow. 所以激光跟踪测量效率较低且测量过程繁琐。 So the lower the efficiency of laser tracker and the measuring process cumbersome. 电磁跟踪具有快速、大范围、对人体无遮挡的特点,但其跟踪测量的精度不高,距离测量精度约为2ww,角度测量精度约为0.5。 Electromagnetic tracking fast, large-scale, the human body without blocking features, but its accuracy is not high tracking and measuring the distance measurement accuracy is about 2ww, angle measurement accuracy is about 0.5. (FASTRAK, Polhemus, 2005),被广泛的运用于虚拟现实。 (FASTRAK, Polhemus, 2005), is widely used in virtual reality. 本发明将充分融合电磁跟踪与激光跟踪的优点,以电磁跟踪的结果为激光跟踪起引导作用,提高激光跟踪的测量效率。 The full integration of the advantages of the present invention is an electromagnetic tracking and laser tracking, results of electromagnetic tracking laser tracking serving as a guide to improve the efficiency of the laser tracking measurements. 发明内容 DISCLOSURE

本发明的目的是提供一种基于电磁与激光复合跟踪的铡量方法和装置。 The purpose of the present invention is to provide a method and apparatus based on the amount of electromagnetic guillotine LASER tracking.

本发明解决其技术问题所采用的技术方案是: The present invention solves the technical problem of the technology used in the program are:

一、基于电磁激光复合跟踪的测量方法 First, based on electromagnetic hybrid laser tracking measurement method

包括电磁跟踪方位引导与激光跟踪精确测量两个部分;当激光跟踪系统在测量过程中发生丢光或初次测量前,电磁跟踪利用其大范围、对人体无遮挡的特点,依据电磁场理论,在电磁跟踪所能达到的精度范围内,找到测量器上目标反射镜粗略的空间位置,并把测量结果传递给激光跟踪系统;激光跟踪系统以电磁跟踪的结果为指导,搜索到目标反射镜,并通过绝对测距、干涉法增量测距、角度传感器测转角等功能及半径补偿算法,计算出被测点精确的空间位 Including electromagnetic tracking azimuth guidance and accurate measurement of laser tracking of two parts; discreditable occurs when a laser tracking system during the measurement or before initial measurements, electromagnetic tracking use of its range, the characteristics of the human body without shelter, according to the electromagnetic theory, electromagnetic Tracking can be achieved within the range of accuracy, to find space for a rough position of the target reflector on the measuring device and the measurement result to the laser tracking system; laser tracking system to track the results of electromagnetic guidance of search of the goals mirror, and by Absolute distance, interference incremental approach distance, angle sensors measure angular functions and radius compensation algorithm to calculate the precise spatial position of the measured point

所述的电磁跟踪方位引导过程:电磁跟踪系统利用三轴线圈发射低频磁场, 用固定在测量器上的三轴磁场探测器,探测磁场的变化信息,利用电磁发射信 The electromagnetic tracking azimuth guidance process: electromagnetic tracking system uses three-axis coil emitting low frequency magnetic fields, fixed on the measuring the three magnetic detectors detect magnetic field changes in the information, the use of electromagnetic emission letter

4号和感应信号之间的耦合关系,在电磁跟踪所能达到的精度范围内,计算出磁场探测器的方位;根据测量器上各个磁场探测器与目标反射镜之间已知的几何关系,计算出目标反射镜中心的空间位置,并传递给计算机,再由计算机把测量结果传递给激光跟踪系统。 On the 4th and inductive coupling between signals, electromagnetic tracking can be achieved within the range of accuracy, calculate the orientation of the magnetic field detector; according to the measuring device is known among the target mirror magnetic field detector geometry, calculate the spatial location of the target reflector center and passed to the computer, and then from the computer to the measurement result to the laser tracking system. ,

所述的激光跟踪精确测量过程:激光跟踪系统把电磁跟踪的测量结果转化到自身的设备坐标系下,并驱动跟踪头上的电机,使激光束以电磁跟踪的结果为中心,按螺旋线轨迹运动,对目标反射镜进行搜索;找到目标反射镜后,激光跟踪系统利用绝对测距模块,得到跟踪头中心和目标反射镜中心之间的绝对距离;然后激光跟踪系统开始测量工作,它利用激光干涉系统,得到测量过程中目标反射镜与跟踪头中心之间的距离变化量,利用角度传感器记录跟踪头的水平角和俯仰角,再结合绝对距离值,计算出目标反射镜中心的空间位置;所得测量数据经过半径补偿算法的处理后,得到被测点的精确坐标值,并在计算机上显示测量结果;若在激光跟踪测量过程中发生丢光现象,则从新返回到电磁跟踪方位引导过程。 The laser tracking precision measurement process: laser tracking system to measure the results of an electromagnetic tracking device under its own transformation into a coordinate system, and drive tracking motor head, the laser beam electromagnetic tracking results as the center, according to the helical path sports, target mirrors search; the mirror to find the target, the laser tracking system using the absolute distance measurement module, to get the absolute head from the track center and between the center of the target mirror; then start measuring laser tracking system work, which uses laser interferometer systems, get the distance and the amount of change in the target tracking mirror head between the center measurement, use angle sensor recording track head horizontal angle and pitch angle, combined with the absolute distance value to calculate the spatial position of the center of the target reflector; Measurement data obtained after treatment radius compensation algorithm to obtain precise coordinates values of measured points and display the measurement results on your computer; if discreditable the phenomenon occurs in the laser tracking measurement process, from the new track to return to the electromagnetic bearing the boot process.

二、 一种基于电磁与激光复合跟踪的测量装置 Second, an electromagnetic tracking and laser measuring devices based on compound

包括测量器、电磁跟踪系统和激光跟踪系统;其中: Including measuring, electromagnetic tracking systems and laser tracking system; wherein:

1) 测量器:测量器把手为椭圆形,测量器把手内安装有电源,测量器把手末端安装有报警指示灯和正常工作指示灯;球形的目标反射镜位于测量器底端, 三个磁场探测器所在轴的轴心线过目标反射镜的球心,且三个磁场探测器和目标反射镜球心之间的距离是已知的; 1) measurement device: measuring knob elliptical, measuring a power supply installed inside the handle, the handle end of the measuring device is mounted and normal operation warning indicator lights; spherical mirror located in the measurement target bottom end, the three magnetic field probe where the axis is the axis through the center of the sphere of the mirror objective, and three magnetic field detectors and target distance between the mirror center of the sphere is known;

2) 电磁跟踪系统:包括电磁发射器、三个磁场探测器、电磁跟踪控制系统和控制软件;三个磁场探测器安装在测量器上,测量器和电磁跟踪控制系统之间由电缆相连,控制软件安装在计算机上;电磁发射器、电磁跟踪控制系统和计算机之间都用电缆连接; 2) electromagnetic tracking system: including electromagnetic launchers, three magnetic field detectors, electromagnetic tracking control system and control software; three magnetic field detector is mounted on the measuring device, connected by a cable between the measuring device and electromagnetic tracking control system, control Software installed on your computer; all cable connections between the electromagnetic emissions, electromagnetic tracking control system and the computer;

3) 激光跟踪系统:包括目标反射镜、激光跟踪头、激光跟踪控制系统和控制软件*,目标反射镜安装在测量器的底端,控制软件安装在计算机上;激光跟踪头、激光跟踪控制系统和计算机之间都用电缆连接;测量器通过启动开关控制其工作状态,顶端安装有电磁信号处理器及电磁信号接口;三个磁场探测器位于测量器的中间轴上,且按直线、等间距分布; 3) laser tracking system: including target mirror, the laser tracking head, laser tracking control system and control software * and the target mirror mounted on the bottom of the measuring device, the control software installed on the computer; laser tracking head, a laser tracking system and between computers with a cable connector; measured by activating the switch control their working conditions, top mounted electromagnetic signal processor and electromagnetic signal interface; three magnetic field detectors measuring device located intermediate shaft, and a straight line, equidistant distribution;

本发明具有的有益效果是: The present invention has the beneficial effects are:

利用电磁跟踪快速、大范围、对人体无遮挡的特点,可实现激光跟踪测量过程中快速的丢光续接,使目标反射镜可以以任意速度变换测量位置。 Using electromagnetic tracking fast, large-scale, the human body without blocking characteristics can be realized during the Laser Tracker quickly discreditable continued access, the target mirror may change at any speed measuring position. 所以基于电磁与激光复合跟踪的测量方法,在保证激光跟踪精度不变的前提下,解决了激光跟踪测量过程中由于丢光导致操作繁琐、测量效率低下的问题。 Therefore, measurement method based on electromagnetic and laser hybrid tracking, to ensure the accuracy of laser tracking the same premise, to solve the problem of laser tracking measurement process leads to complicated operation because the discreditable, low measuring efficiency. 附图说明 Brief Description

图1是基于电磁与激光复合跟踪的测量器结构示意图; 图2是基于电磁与激光复合跟踪的测量系统连接关系示意图; 图3是跟踪头以螺旋线轨迹寻找目标反射镜过程示意图; 图4是基于电磁与激光复合跟踪的测量方法流程图。 Figure 1 is a schematic structural view of an electromagnetic measuring device and laser-based composite tracking; Figure 2 is a composite based on electromagnetic and laser tracking measurement system schematic connection relation; Figure 3 is a spiral trajectory tracking head to find the target reflector schematic process; Figure 4 is a flowcharts are based on measurements of electromagnetic and laser tracking complex.

图中:1、测量器,2、电磁信号接口, 3、启动开关,4、电磁信号处理器, 5、磁场探测器,6、测量器把手,7、电源,8、报警指示灯,9、正常工作指示灯,10、目标反射镜,11、激光跟踪头,12、激光跟踪控制系统,13、电磁发射器,14、电缆,15、电磁跟踪控制系统,16、计算机,17、激光,18、电磁场,19、被测曲面。 FIG: 1, the measurement device 2, the electromagnetic signal interface 3, the start switch 4, an electromagnetic signal processor 5, the magnetic field detector 6, the measurement knob, 7, power, 8, alarm indicator, 9, Working LED, 10, the target mirror 11, the laser tracking head, 12, a laser tracking system, 13 electromagnetic launchers, 14, cable 15, electromagnetic tracking control system, 16 computers, 17 laser, 18 , electromagnetic fields, 19, the measured surface. 具体实施方式 DETAILED DESCRIPTION

如图1所示,测量器1通过启动开关3控制其工作状态,测量器l顶端安装有电磁信号处理器4及电磁信号接口2。 1, measuring 1 by activating switch 3 controls its operation, measuring l top mounted electromagnetic signal processor 4 and electromagnetic signal interface 2. 三个磁场探测器5位于测量器1的中间轴上, 且按直线、等间距分布,磁场探测器5由独立的相互正交的三组线圈绕组构成, 它们与电磁信号处理器4均有导线连接。 Measuring the magnetic field detector 5 is located in the three intermediate shaft 1, and a straight line, are equally spaced, the magnetic field detector 5 is made independent of the three sets of mutually orthogonal coil windings, which are electromagnetic signal processor 4 wire connection. 测量器把手6为椭圆形,测量器把手6内安装有电源7,测量器把手6末端安装有报警指示灯8和正常工作指示灯9。 Measuring knob 6 is elliptical, measuring handle 6 mounted power supply 7, measuring the end handles 6 mounted warning light 8 and 9 normal work light. 球形的目标反射镜10位于测量器底端,三个磁场探测器5所在轴的轴心线过目标反射镜10的球心,且三个磁场探测器5和目标反射镜球心之间的距离是己知的。 Spherical reflector target 10 is measuring the bottom, three axis magnetic field detector 5 where the axis is too hot core target mirror 10, and 5 and the target distance between the mirror Globe three magnetic field detectors It is already known. 领懂开始后,首先通过启动开关3启动测量器,若测量器l完好,则正常工作指示灯9 亮绿光。 Collar understand is started, start by measuring start switch 3, if measuring l intact, normal work light 9 lights green. 操作员手持测量器把手6,使目标反射镜10与被测曲面19接触。 Operator handheld measuring device handle 6, the target mirror 10 in contact with a surface 19. 磁场探测器5探测到的电磁信号通过导线传递到电磁信号处理器4,进行预处理,结束后通过电磁信号接口2传递给电磁跟踪控制系统15。 Magnetic field detector 5 detects the electromagnetic signal transmitted to the electromagnetic signal processor 4, pretreated by wire, control is passed to the electromagnetic tracking system 15 through the end of the electromagnetic signal interface 2. 当测量器1发生故障或电源7 不足时,正常工作指示灯9灭且报警指示灯8亮闪烁红光。 When measuring a malfunction or power supply 7 is insufficient, normal work light 9 is off and the alarm indicator light flashes red 8. 当被测量的是金属曲面时,电磁发射器13生成的电磁场与金属造成的电磁场会相互干扰,从而影响发射器磁场的形状,使测量产生较大的误差。 When measuring the metal surface, the electromagnetic field generated by the electromagnetic transmitter 13 and the metal caused by electromagnetic fields interfere with each other, thus affecting the shape of the magnetic field of the transmitter, cause large errors in the measurement. 本发明中,测量器l的设计使磁场探测器5与被测曲面19之间相隔一定的距离,从而避免了较大误差的产生。 The present invention, the measuring device is designed so that the magnetic field detector l 5 and measured the distance between the surface spaced 19, thus avoiding large errors.

如图2所示,本发明包括电磁跟踪系统、激光跟踪系统和测量器1三部分。 As shown in Figure 2, the present invention includes an electromagnetic tracking system, and the laser tracking system measuring device 1 of three parts. 本发明使用的电磁跟踪系统为Polhemus公司的FASTRAIC定位器(POLH02), 激光跟踪系统为美国API公司的LaserTrackerII。 Electromagnetic tracking system of the present invention is used for the Polhemus company FASTRAIC Locator (POLH02), laser tracking system for the US API's LaserTrackerII. 电磁跟踪系统有电磁发射器13、磁场探测器5、电磁跟踪控制系统15及控制软件组成。 Electromagnetic tracking systems have electromagnetic transmitter 13, the magnetic field detector 5, an electromagnetic tracking system 15 and the control software. 其中三个磁场探测器5安装在测量器1上,测量器1和电磁跟踪控制系统15之间由电缆14相连, 控制软件安装在计算机16上。 Three of the magnetic field detector 5 is mounted on the measuring device 1, the measuring device 1 and the electromagnetic tracking control system is connected by a cable 14 from 15, the control software installed on the computer 16. 电磁发射器13、电磁跟踪控制系统15和计算机16之间都用电缆连接。 Electromagnetic transmitter 13, are connected with the cable between the electromagnetic tracking control system 15 and the computer 16. 激光跟踪系统由目标反射镜10、激光跟踪头ll、激光跟踪控制系统12及控制软件组成。 Laser tracking system by the target mirror 10, the laser tracking head ll, laser tracking system 12 and control software. 其中目标反射镜安装在测量器的低端,控制软件安装在计算机上。 Wherein the target mirror mounted on the lower end of the measurement device, the control software installed on the computer. 激光跟踪头11、激光跟踪控制系统12和计算机16之间都用电缆14连接。 Laser tracking head 11, are used between the laser tracking system 12 and cable 14 is connected to the computer 16.

由于交流变化的磁场会导致二级磁场的产生,使磁场模式发生畸变,所以本发明采用直流式电磁跟踪系统。 Due to changes in the exchange magnetic field can lead to two magnetic fields generated, the magnetic field pattern is distorted, the present invention uses a DC electromagnetic tracking system. 如图2所示,电磁发射器13由三组正交的线圈组成。 As shown in Figure 2, the electromagnetic transmitter 13 is composed of three orthogonal coils. 通过电磁控制系统15中的控制程序,发射器周期性地依次以直流电驱动三组发射线圈,使每一组线圈分时产生一个脉冲时间的直流电磁场18。 Electromagnetic control system 15 via a control program, the transmitter periodically to sequentially transmit coils DC drive three groups, so that each set of coils to generate a pulse time of time-current magnetic field 18. 在每一个时区内,电磁发射器13上的磁场探测器5均测得相应的磁场数据。 The corresponding magnetic field were measured in each time zone data, electromagnetic field detectors 5 launcher on 13. 之后再有第四个时间区间,发射器不工作,三个发射轴均不产生脉冲直流磁场,在这个时间段磁场探测器测得环境磁场。 After again a fourth time interval, the transmitter does not work, three emission axes not produce pulsed DC magnetic field, the magnetic field detector in this time period measured by the ambient magnetic field. 测量器1所测得的磁场信息经过电磁信号处理器4处理后通过电缆传递到电磁控制系统15。 Measuring the magnetic field information of the measured signal processor 1 after the electromagnetic solenoid 4 is transmitted to the processing system 15 via the control cable. 由于磁场探测器5也由独立的、相互正交的三组线圈绕组构成,所以一个测量周期内每一个磁场探测器获得共4组12个数据。 Since the magnetic field detector 5 also by independent, mutually orthogonal coil windings of the three groups, so a measurement period of each magnetic field detector to obtain a total of 4 groups of 12 data. 其中最后一组为环境磁场数据,其余三组数据减去环境磁场数据即得到分别对应于发射器三轴的磁场信息,从中可求得磁场探测器5相对于电磁发射器13的方位。 The last of a group of environmental magnetic field data, and the remaining three sets of data that is obtained by subtracting the ambient magnetic field data field information corresponding to the three axes of the transmitter, which can be obtained with respect to the orientation of the magnetic field detector 5 electromagnetic transmitter 13. 电磁控制系统15中的运算程序利用两个电磁探测器5的坐标值就可以解出测量器1中间轴的直线方程,利用电磁探测器5和目标反射镜10之间的己知位置关系,可以计算出目标反射镜10中心的位置,第三个电磁探测器的坐标值作为冗余点参与运算,以提高测量精度。 Electromagnetic control system 15 operation program coordinates using two electromagnetic detectors 5 can solve the linear equation is a measure of the intermediate shaft, utilizing known positional relationship between the magnetic detector 10 and the target mirror 5, can calculates the position of the center of the target mirror 10, the coordinate value of the third electromagnetic detectors as redundant points involved in computing, in order to improve measurement accuracy. 由于电磁定位的距离精度约为2m加,角度测量精度约为0.5。 Because electromagnetic positioning accuracy is about 2m plus distance, angle measurement accuracy is about 0.5. ,而且测量过程中附带有环境磁场的干扰,所以电磁定位只是一个粗略定位。 , And the measurement process comes with magnetic interference environment, so electromagnetic locate only a rough positioning. 接着,计算机16将电磁跟踪的结果传递给激光跟踪控制系统12,根据电磁跟踪的结果,激光跟踪控制系统12 驱动激光跟踪头11上的电机,使其发射的激光17光束以电磁跟踪的结果为中心,按螺旋线轨迹运动(如图3),对目标反射镜10进行搜索,以快速地找到目标反射镜。 Then, the computer 16 will result electromagnetic tracking control is passed to the laser tracking system 12, according to the results of an electromagnetic tracking, laser tracking control system 12 drives the motor 11 on the laser tracking head, causing it to emit a laser beam 17 with the results of the electromagnetic tracking center, according to a spiral trajectory (Figure 3), the target mirror 10 searches to quickly find the target reflector. 找到后,激光跟踪系统利用绝对测距系统,测量出目标反射镜10中心和跟踪头ll中心之间的绝对距离S,在随后的测量过程中利用激光干涉系统测量距离的变化量A5,利用角度测量传感器记录跟踪头11的水平转角a和俯仰角P,并把结果传递给计算机16上的控制软件。 Once found, the laser tracking system using the absolute distance measurement system, measuring the absolute distance S 10 central objective of mirrors and tracking head ll centers, using a laser interferometer measurement system in the subsequent measurement of the amount of change in the distance A5 using an angle measurement sensors recording track 11 of a first horizontal angle and pitch angle P, and the results transmitted to the control software on the computer 16. 控制软件以跟踪头11中心为原点建立球坐标,按(l)式计算出目标反射镜中心的位置。 Control software to track the origin of the establishment of the first 11 centers spherical coordinates, press (l) formula to calculate the position of the target reflector center. x-丄.sin/9.coso: z =丄• cos /? x- Shang .sin / 9.coso: z = Shang • cos /?

然后控制软件利用半径补偿算法计算出被测点的位置,并在计算机上显示 Then control software uses radius compensation algorithm calculates the position of the measured point, and displayed on the computer

计算结果。 Calculation results.

如图3所示,描述了激光跟踪控制系统12根据电磁定位的结果——点O为指导,驱动激光跟踪头ll上的电机,使其发射的激光17以点0为中心,按螺旋线轨迹运动,以快速的找到目标反射镜。 Figure 3 describes the laser tracking system 12 according to the results of an electromagnetic positioning - the point O as a guide, drive motor ll laser tracking head on, causing it to emit laser 17 as the center point 0, press helical path campaign to quickly find the target reflector.

基于电磁与激光复合跟踪的测量方法流程图,如图4所示。 Based on measurements of electromagnetic and laser tracking complex flow chart shown in Figure 4. 进行初次测量前, 先对系统进行预热,对设备参数及电磁发射器13、激光跟踪头ll的位置进行准确的校准。 Initial measurement ago, the first system to warm up for 13, the position of the laser tracking head ll equipment parameters and electromagnetic transmitter for accurate calibration. 然后电磁跟踪系统启动,由电磁发射器13向测量器1方向发射低频磁场,测量器1上的磁场探测器5探测该处的感应信号,且把探测结果传递给电磁信号处理器4,预处理后通过电磁信号接口2、传递给电磁跟踪控制系统15进行运算处理,然后以通过计算机16传递到激光跟踪控制系统12,激光跟踪控制系统12以电磁跟踪的结果为引导,驱动激光跟踪头ll上的电机,使激光束以电磁跟踪的结果为中心,按螺旋线轨迹运动,对目标反射镜进行搜索,以快速地找到目标反射镜。 Then electromagnetic tracking system startup, the transmitter transmits a low frequency electromagnetic field 13 to the direction measuring device, measuring probe 5 to detect the magnetic field induced signal 1 on the premises, and the results transmitted to the electromagnetic signal processor probe 4, pretreatment After the adoption of the electromagnetic signal interface 2 is transmitted to the electromagnetic tracking system 15 performs arithmetic processing, and then transmitted through the computer 16 to the laser tracking system 12, the laser tracking system 12 to track the results to guide electromagnetic drive laser tracking head ll The motor, the laser beam electromagnetic tracking results as the center, according to a spiral trajectory, the target reflector search to quickly find the target reflector. 找到后,激光跟踪系统利用绝对测距模块,得到跟踪头中心和目标反射镜中心的绝对距离。 Once found, the laser tracking system using the absolute distance measurement module, tracked head center and destination of the absolute distance from the center of the mirror. 然后激光跟踪系统开始测量工作,它利用激光干涉系统,得到测量过程中目标反射镜与跟踪头之间的距离变化量,利用角度传感器记录跟踪头的水平转角和俯仰角,再结合绝对距离值,由激光跟踪控制系统12计算出目标反射镜中心的精确位置。 Then start measuring laser tracking system work, which uses a laser interferometer system, get away from the mirror and trace the change between the head during the measurement target, the use of an angle sensor recording horizontal angle and the pitch angle tracking head, combined with the absolute distance values, laser tracking system 12 to calculate the exact position of the target reflector center. 接着控制软件通过半径补偿算法,换算出被测量点的精确位置。 Then control software radius compensation algorithm, measured in terms of the precise location of the point. 此时,若测量还没结束,则由激光跟踪系统继续测量, 一旦发生丢光,则返回到电磁跟踪过程。 At this point, if the measurement is not over, by the laser tracking system continues to measure, in the event discreditable, it returns to electromagnetic tracking procedure.

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Citas de patentes
Patente citada Fecha de presentación Fecha de publicación Solicitante Título
US2006/0028374 Título no disponible
US440188623 Mar 198130 Ago 1983The Boeing CompanyElectromagnetic beam acquisition and tracking system
Clasificaciones
Clasificación internacionalG01S17/66, G01S13/66
Eventos legales
FechaCódigoEventoDescripción
22 Ago 2007C06Publication
17 Oct 2007C10Request of examination as to substance
26 Ago 2009C14Granted
7 May 2014C17Cessation of patent right