CN100533175C - Measuring method and device based on electromagnetic and laser composite tracking - Google Patents
Measuring method and device based on electromagnetic and laser composite tracking Download PDFInfo
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- CN100533175C CN100533175C CNB2007100674714A CN200710067471A CN100533175C CN 100533175 C CN100533175 C CN 100533175C CN B2007100674714 A CNB2007100674714 A CN B2007100674714A CN 200710067471 A CN200710067471 A CN 200710067471A CN 100533175 C CN100533175 C CN 100533175C
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Abstract
The invention discloses a measure method and the device based on the compound track of the electromagnetism and the laser. It includes the electromagnetism track azimuth leading and the laser track accurate measurement. When the laser track system losses the laser in the measurement or before the first measurement, the electromagnetism track can find the rough position of the object reflector in the measurer in the accurate range according to the electromagnetic field theory because the electromagnetism has the big range and no barrier for human body. Then it transfers the result to the laser track system which can search the object reflector quickly to get the accurate position of the detected point by the absolute ranging, interferometric incremental ranging, the measuring the corner by the angle sensor and the radius compensation arithmetic. The invention can solve the problem of the complex operation and low measurement efficient by the laser loss.
Description
Technical field
The present invention relates to a kind of measuring method and device based on electromagnetism and laser composite tracking.
Background technology
The demand of large-sized precision measurement in recent years significantly increases along with the development of the important engineerings such as manufacturing of digitizing shipbuilding, the development of large-scale aircraft, ultra-large type power station equipment.At present, laser tracking measurement system is the main tool of large-scale metrology, and its precision in 5m reaches 25 μ m, effectively measures diameter and surpasses 120m (LaserTrackerII, API, 2005), is applied to space orientation and large curved surface widely and measures.The disadvantage of laser tracking system is that measuring process can not be lost light, if lose light, target mirror need come back to Bird's Nest, and measurement must restart.So in measuring process, the staff needs moving target catoptron slowly,, all can lose light if translational speed is too fast, the moment shake takes place or human body has stopped laser.Though the laser tracker of API company latest version has the light of losing continued access function, its search procedure lacks directiveness, and it is very slow to lose light continued access speed.So laser tracking measurement efficient is lower and measuring process is loaded down with trivial details.Electromagnetism follow the tracks of have fast, on a large scale, to the unscreened characteristics of human body, but the precision of its tracking measurement is not high, range measurement accuracy is about 2mm, angle-measurement accuracy is about 0.5 ° (FASTRAK, Polhemus, 2005), is applied to virtual reality widely.The advantage of electromagnetism tracking and Laser Tracking will be fully merged in the present invention, and the result who follows the tracks of with electromagnetism is that Laser Tracking plays guiding function, improve the efficiency of measurement of Laser Tracking.
Summary of the invention
The purpose of this invention is to provide a kind of measuring method and device based on electromagnetism and laser composite tracking.
The technical solution adopted for the present invention to solve the technical problems is:
One, based on the measuring method of electromagnetism laser composite tracking
Comprise that electromagnetism is followed the tracks of bearing directing and Laser Tracking is accurately measured two parts; When laser tracking system is lost light or first the measurement in measuring process before, electromagnetism follow the tracks of utilize its on a large scale, to the unscreened characteristics of human body, according to Theory of Electromagnetic Field, in electromagnetism is followed the tracks of the accuracy rating that can reach, find the rough locus of target mirror on the measuring appliance, and measurement result is passed to laser tracking system; The result that laser tracking system is followed the tracks of with electromagnetism is guidance, searches target mirror, and surveys function and radius compensation algorithms such as corner by absolute measuring distance, the range finding of interferometric method increment, angular transducer, calculates accurate locus, measured point.
Described electromagnetism is followed the tracks of the orientation bootup process: electromagnetic tracking system utilizes three axial coils emission low frequency magnetic field, with the three-axle magnetic field detector that is fixed on the measuring appliance, survey the change information in magnetic field, utilize the coupled relation between Electromagnetic Launching signal and the induced signal, in electromagnetism is followed the tracks of the accuracy rating that can reach, calculate the orientation of magnetic field detectors; According to known geometric relationship between each magnetic field detectors and the target mirror on the measuring appliance, calculate the locus at target mirror center, and pass to computing machine, by computing machine measurement result is passed to laser tracking system again.
The accurate measuring process of described Laser Tracking: the measurement result that laser tracking system is followed the tracks of electromagnetism is transformed under the device coordinate system of self, and the motor on the driving follower head, the result that laser beam is followed the tracks of with electromagnetism is the center, by the spiral trajectory motion, target mirror is searched for; After finding target mirror, the absolute range finder module of laser tracking system utilization obtains the absolute distance between follower head center and the target mirror center; Laser tracking system begins surveying work then, it utilizes laser interference system, obtain the variable in distance amount between the target mirror and follower head center in the measuring process, utilize the horizontal angle and the angle of pitch of angular transducer record follower head, in conjunction with the absolute distance value, calculate the locus at target mirror center again; After the processing of gained measurement data through the radius compensation algorithm, obtain the accurate coordinates value of measured point, and show measurement result on computers; If in the laser tracking measurement process, lose optical phenomenon, then follow the tracks of the orientation bootup process from newly turning back to electromagnetism.
Two, a kind of measurement mechanism based on electromagnetism and laser composite tracking
Comprise measuring appliance, electromagnetic tracking system and laser tracking system; Wherein:
1) measuring appliance: the measuring appliance handle is oval, in the measuring appliance handle power supply is installed, and the measuring appliance handle end is equipped with alarm lamp and operate as normal pilot lamp; Spherical target mirror is positioned at the measuring appliance bottom, and the axial line of three magnetic field detectors place axles is crossed the centre of sphere of target mirror, and the distance between three magnetic field detectors and the target mirror centre of sphere is known;
2) electromagnetic tracking system: comprise electromagnetic launcher, three magnetic field detectors, electromagnetism tracking control system and Control Software; Three magnetic field detectors are installed on the measuring appliance, are linked to each other by cable between measuring appliance and the electromagnetism tracking control system, and Control Software is installed on computers; All connect between electromagnetic launcher, electromagnetism tracking control system and the computing machine with cable;
3) laser tracking system: comprise target mirror, laser tracking head, Laser Tracking control system and Control Software; Target mirror is installed in the bottom of measuring appliance, and Control Software is installed on computers; All connect between laser tracking head, Laser Tracking control system and the computing machine with cable; Measuring appliance is controlled its duty by starting switch, and the top is equipped with electromagnetic signal processor and electromagnetic signal interface; Three magnetic field detectors are positioned on the intermediate shaft of measuring appliance, and press straight line, equidistantly distribution;
The beneficial effect that the present invention has is:
Utilize electromagnetism follow the tracks of fast, on a large scale, to the unscreened characteristics of human body, can realize losing the light continued access in the laser tracking measurement process fast, make the target mirror can be with arbitrary speed conversion measuring position.So based on the measuring method of electromagnetism and laser composite tracking, guaranteeing under the constant prerequisite of Laser Tracking precision, solving in the laser tracking measurement process owing to lose photoconduction and caused complex operation, problem that efficiency of measurement is low.
Description of drawings
Fig. 1 is based on the measuring appliance structural representation of electromagnetism and laser composite tracking;
Fig. 2 is based on the measuring system annexation synoptic diagram of electromagnetism and laser composite tracking;
Fig. 3 is that follower head is sought target mirror process synoptic diagram with spiral trajectory;
Fig. 4 is based on the measuring method process flow diagram of electromagnetism and laser composite tracking.
Among the figure: 1, measuring appliance, 2, the electromagnetic signal interface, 3, starting switch, 4, the electromagnetic signal processor, 5, magnetic field detectors, 6, the measuring appliance handle, 7, power supply, 8, alarm lamp, 9, the operate as normal pilot lamp, 10, target mirror, 11, laser tracking head, 12, the Laser Tracking control system, 13, electromagnetic launcher, 14, cable, 15, the electromagnetism tracking control system, 16, computing machine, 17, laser, 18, electromagnetic field, 19, tested curved surface.
Embodiment
As shown in Figure 1, measuring appliance 1 is by starting switch 3 its duties of control, and measuring appliance 1 top is equipped with electromagnetic signal processor 4 and electromagnetic signal interface 2.Three magnetic field detectors 5 are positioned on the intermediate shaft of measuring appliance 1, and press straight line, equidistantly distribution, and magnetic field detectors 5 is made of three groups of independently mutually orthogonal coil winding, and they all have lead to be connected with electromagnetic signal processor 4.Measuring appliance handle 6 is oval, and power supply 7 is installed in the measuring appliance handle 6, and measuring appliance handle 6 ends are equipped with alarm lamp 8 and operate as normal pilot lamp 9.Spherical target mirror 10 is positioned at the measuring appliance bottom, and the axial line of three magnetic field detectors 5 place axles is crossed the centre of sphere of target mirror 10, and the distance between three magnetic field detectors 5 and the target mirror centre of sphere is known.After measuring beginning, at first start measuring appliances by starting switch 3, if measuring appliance 1 is intact, operate as normal pilot lamp 9 bright green glows then.Operator's handheld meter handle 6 makes target mirror 10 contact with tested curved surface 19.The electromagnetic signal that magnetic field detectors 5 detects is delivered to electromagnetic signal processor 4 by lead, carries out pre-service, finishes the back and passes to electromagnetism tracking control system 15 by electromagnetic signal interface 2.When measuring appliance 1 breaks down or power supply 7 when not enough, operate as normal pilot lamp 9 goes out and alarm lamp 8 bright flicker ruddiness.When measured when being metal curved surface, the electromagnetic field that the electromagnetic field that electromagnetic launcher 13 generates and metal cause can mutual interference mutually, thereby influence the shape in transmitter magnetic field, makes the bigger error of measurement generation.Among the present invention, the design of measuring appliance 1 makes between magnetic field detectors 5 and the tested curved surface 19 at intervals, thereby has avoided the generation than mistake.
As shown in Figure 2, the present invention includes electromagnetic tracking system, laser tracking system and measuring appliance 1 three parts.The electromagnetic tracking system that the present invention uses is the LaserTracker II of U.S. API company as the FASTRAK steady arm (POLH02) of Polhemus company, laser tracking system.Electromagnetic tracking system is made up of electromagnetic launcher 13, magnetic field detectors 5, electromagnetism tracking control system 15 and Control Software.Wherein three magnetic field detectors 5 are installed on the measuring appliance 1, are linked to each other by cable 14 between measuring appliance 1 and the electromagnetism tracking control system 15, and Control Software is installed on the computing machine 16.All connect between electromagnetic launcher 13, electromagnetism tracking control system 15 and the computing machine 16 with cable.Laser tracking system is made up of target mirror 10, laser tracking head 11, Laser Tracking control system 12 and Control Software.Wherein target mirror is installed in the low side of measuring appliance, and Control Software is installed on computers.All use cable 14 to connect between laser tracking head 11, Laser Tracking control system 12 and the computing machine 16.
Can cause the generation in secondary magnetic field owing to exchange the magnetic field that changes, magnetic field model be distorted, so the present invention adopts the single flow electromagnetic tracking system.As shown in Figure 2, electromagnetic launcher 13 is made up of the coil of three groups of quadratures.By the control program in the electromagnetic control system 15, transmitter makes each group coil timesharing produce the dc electromagnetic field 18 in a burst length periodically successively with three groups of transmitting coils of direct-current drive.In each time zone, the magnetic field detectors 5 on the electromagnetic launcher 13 all records corresponding magnetic field data.The 4th time interval arranged afterwards again, and transmitter is not worked, and three emission shafts all do not produce pulse direct current magnetic field, record environmental magnetic field in this time period magnetic field detectors.Measuring appliance 1 measured Magnetic Field is handled the back through electromagnetic signal processor 4 and is delivered to electromagnetic control system 15 by cable.Since magnetic field detectors 5 also by independently, three groups of mutually orthogonal coil winding constitute, so each magnetic field detectors obtains totally 4 groups of 12 data in measuring period.Wherein last group is the environmental magnetic field data, and its excess-three group data minus decyclization border magnetic field data promptly obtains corresponding respectively to the Magnetic Field of three of transmitters, therefrom can try to achieve the orientation of magnetic field detectors 5 with respect to electromagnetic launcher 13.Operation program in the electromagnetic control system 15 utilizes the coordinate figure of two electromagnetic probes 5 just can solve the straight-line equation of measuring appliance 1 intermediate shaft, utilize the known location relation between electromagnetic probe 5 and the target mirror 10, can calculate the position at target mirror 10 centers, the coordinate figure of the 3rd electromagnetic probe participates in computing as redundant points, to improve measuring accuracy.Because the range accuracy of electromagnetic location is about 2mm, angle-measurement accuracy is about 0.5 °, and the subsidiary interference that environmental magnetic field is arranged in the measuring process, so electromagnetic location is a coarse localization.Then, the result that computing machine 16 is followed the tracks of electromagnetism passes to Laser Tracking control system 12, result according to the electromagnetism tracking, motor on the Laser Tracking control system 12 driving laser follower heads 11, the result that its emitted laser 17 light beams are followed the tracks of with electromagnetism is the center, by spiral trajectory motion (as Fig. 3), target mirror 10 is searched for, to find target mirror apace.After finding, the absolute range measurement system of laser tracking system utilization, measure the absolute distance S between target mirror 10 centers and follower head 11 centers, in measuring process subsequently, utilize the variation delta S of laser interference system measuring distance, utilize the level angle α and the angle of pitch β of measurement of angle sensor record follower head 11, and the result is passed to Control Software on the computing machine 16.Control Software is that initial point is set up spherical coordinates with follower head 11 centers, calculates the position at target mirror center by (1) formula.
L=S+ Δ S wherein
Control Software utilizes the radius compensation algorithm computation to go out the position of measured point then, and shows result of calculation on computers.
As shown in Figure 3, the result of Laser Tracking control system 12 according to electromagnetic location described---some O is guidance, the motor on the driving laser follower head 11, making its emitted laser 17 is the center with an O, by the spiral trajectory motion, to find target mirror fast.
Based on the measuring method process flow diagram of electromagnetism and laser composite tracking, as shown in Figure 4.Before measuring for the first time, earlier system is carried out preheating, the position of device parameter and electromagnetic launcher 13, laser tracking head 11 is calibrated accurately.Electromagnetic tracking system starts then, launch low frequency magnetic field by electromagnetic launcher 13 to measuring appliance 1 direction, magnetic field detectors 5 on the measuring appliance 1 is surveyed the induced signal at this place, and result of detection is passed to electromagnetic signal processor 4, pass through electromagnetic signal interface 2 after the pre-service, pass to electromagnetism tracking control system 15 and carry out calculation process, then to be delivered to Laser Tracking control system 12 by computing machine 16, the result that Laser Tracking control system 12 is followed the tracks of with electromagnetism is guiding, motor on the driving laser follower head 11, the result that laser beam is followed the tracks of with electromagnetism is the center, by the spiral trajectory motion, target mirror is searched for, to find target mirror apace.After finding, the absolute range finder module of laser tracking system utilization obtains the absolute distance at follower head center and target mirror center.Laser tracking system begins surveying work then, it utilizes laser interference system, obtain the variable in distance amount between the target mirror and follower head in the measuring process, utilize the level angle and the angle of pitch of angular transducer record follower head, in conjunction with the absolute distance value, calculate the exact position at target mirror center by Laser Tracking control system 12 again.Then Control Software converses the exact position of measured point by the radius compensation algorithm.At this moment, do not finish, then continue to measure,, then turn back to the electromagnetism tracing process in case lose light by laser tracking system if measure also.
Claims (4)
1. the measuring method based on electromagnetism and laser composite tracking is characterized in that: comprise that electromagnetism is followed the tracks of bearing directing and Laser Tracking is accurately measured two parts; When laser tracking system is lost the light time in measuring process, electromagnetism follow the tracks of utilize its on a large scale, to the unscreened characteristics of human body, according to Theory of Electromagnetic Field, in electromagnetism is followed the tracks of the accuracy rating that can reach, find the rough locus of target mirror on the measuring appliance, and measurement result is passed to laser tracking system; The result that laser tracking system is followed the tracks of with electromagnetism is guidance, searches target mirror, and surveys corner function and radius compensation algorithm by absolute measuring distance, the range finding of interferometric method increment, angular transducer, calculates accurate locus, measured point.
2. a kind of measuring method according to claim 1 based on electromagnetism and laser composite tracking, it is characterized in that: described electromagnetism is followed the tracks of the orientation bootup process and is: electromagnetic tracking system utilizes three axial coils emission low frequency magnetic field, with the three-axle magnetic field detector that is fixed on the measuring appliance, survey the change information in magnetic field, utilize the coupled relation between Electromagnetic Launching signal and the induced signal, in electromagnetism is followed the tracks of the accuracy rating that can reach, calculate the orientation of magnetic field detectors; According to known geometric relationship between each magnetic field detectors and the target mirror on the measuring appliance, calculate the locus at target mirror center, and pass to computing machine, by computing machine measurement result is passed to laser tracking system again.
3. a kind of measuring method according to claim 1 based on electromagnetism and laser composite tracking, it is characterized in that: the accurate measuring process of described Laser Tracking is: the measurement result that laser tracking system is followed the tracks of electromagnetism is transformed under the device coordinate system of self, and the motor on the driving follower head, the result that laser beam is followed the tracks of with electromagnetism is the center, by the spiral trajectory motion, target mirror is searched for; After finding target mirror, the absolute range finder module of laser tracking system utilization obtains the absolute distance between follower head center and the target mirror center; Laser tracking system begins surveying work then, it utilizes laser interference system, obtain the variable in distance amount between the target mirror and follower head center in the measuring process, utilize the horizontal angle and the angle of pitch of angular transducer record follower head, in conjunction with the absolute distance value, calculate the locus at target mirror center again; After the processing of gained measurement data through the radius compensation algorithm, obtain the accurate coordinates value of measured point, and show measurement result on computers; If in the laser tracking measurement process, lose optical phenomenon, then follow the tracks of the orientation bootup process from newly turning back to electromagnetism.
4. the measurement mechanism based on electromagnetism and laser composite tracking is characterized in that: comprise measuring appliance (1), electromagnetic tracking system and laser tracking system; Wherein:
1) measuring appliance (1) is: measuring appliance handle (6) is equipped with power supply (7) for oval in the measuring appliance handle (6), measuring appliance handle (6) end is equipped with alarm lamp (8) and operate as normal pilot lamp (9); Spherical target mirror (10) is positioned at measuring appliance (1) bottom, and the axial line of three magnetic field detectors (5) place axle is crossed the centre of sphere of target mirror (10), and the distance between three magnetic field detectors (5) and target mirror (10) centre of sphere is known;
2) electromagnetic tracking system: comprise electromagnetic launcher (13), described three magnetic field detectors (5), electromagnetism tracking control system (15) and Control Software; Three magnetic field detectors (5) are installed on the measuring appliance (1), are linked to each other by cable between measuring appliance (1) and the electromagnetism tracking control system (15), and Control Software is installed on the computing machine (16); All connect between electromagnetic launcher (13), electromagnetism tracking control system (15) and the computing machine (16) with cable;
3) laser tracking system: comprise described target mirror (10), laser tracking head (11), Laser Tracking control system (12) and Control Software; Target mirror (10) is installed in the bottom of measuring appliance (1), and Control Software is installed on the computing machine (16); All connect between laser tracking head (11), Laser Tracking control system (12) and the computing machine (16) with cable; Measuring appliance (1) is controlled its duty by starting switch (3), and the top is equipped with electromagnetic signal processor (4) and electromagnetic signal interface (2); Three magnetic field detectors (5) are positioned on the intermediate shaft of measuring appliance (1), and press straight line, equidistantly distribution.
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| CNB2007100674714A CN100533175C (en) | 2007-03-13 | 2007-03-13 | Measuring method and device based on electromagnetic and laser composite tracking |
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| CNB2007100674714A CN100533175C (en) | 2007-03-13 | 2007-03-13 | Measuring method and device based on electromagnetic and laser composite tracking |
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| CN100533175C true CN100533175C (en) | 2009-08-26 |
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| CN102927909B (en) * | 2012-11-05 | 2015-02-25 | 河南理工大学 | Laser beam fast automatic positioning tracking measurement method and device |
| CN103115612B (en) * | 2013-01-25 | 2015-11-25 | 爱佩仪中测（成都）精密仪器有限公司 | In conjunction with digital Photogrammetric System and the combined type measured target of laser tracking technology |
| CN114088012B (en) * | 2022-01-20 | 2022-04-15 | 杭州思看科技有限公司 | Compensation method and device of measuring device, three-dimensional scanning system and storage medium |
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