为实现大尺寸范围内的坐标跟踪测量,研制了一种小型激光跟踪测量系统。设计了光机电一体化的机械结构,实现减小系统体积与提高抗干扰能力。设计了系统的光学模块,通过优化基于位置敏感探测器的目标偏差量采集部分的光路,实现目标允许最大偏差量的增大。通过开展位置敏感探测器的标定实验,完成位置敏感探测器的线性区间与偏差比例系数的测量,为跟踪控制算法开发提供了关键参数。进行了跟踪控制模块的设计,并完成跟踪控制算法的开发,实现系统的快速跟踪测量。开发了系统三维可视化测量软件,实现用户对系统与目标的空间位置及运动状态的实时掌控。实验结果表明,系统的跟踪稳定性与位移分辨力分别为20μm和40μm,系统的跟踪速度最高可达480mm/s,加速度最高可达506mm/s2,跟踪距离范围不小于70m,具有三维坐标测量与三维可视化功能,与现有跟踪仪相比具有体积、重量以及测角范围上的优势,具有良好的跟踪性能与应用前景。
Abstract
In order to realize coordinate tracking and measuring in large size range, a small laser tracking and measuring system with small volume and light weight is developed. The mechanical structure of opto-mechatronics is designed. The optical module, mechanical structure and electronic control module are integrated to reduce the volume of the system and improve the anti-interference ability. The optical module of the system is designed, and the maximum allowable deviation of the target is increased by optimizing the optical path of the acquisition part of the target deviation based on the position sensitive detector. Through the calibration experiment of position sensitive detector, the linear interval and deviation ratio coefficient of position sensitive detector are measured, which provides key parameters for the development of tracking control algorithm. The tracking control module is designed, and the tracking control algorithm is developed to realize the fast tracking measurement of the system. The 3D visual measurement software of the system is developed to realize the real-time control of the spatial position and motion state of the system and the target. The experimental results show that the tracking stability and displacement resolution of the system are 20μm and 40μm respectively, the tracking speed of the system can reach up to 480mm/s, the acceleration can reach up to 506mm/s2, the tracking range is no less than 70m, and the system has 3D coordinate measurement and 3D visualization functions. At the same time, compared with the existing tracker, it has the advantages in volume, weight and angle measurement range, and has good tracking performance and application prospects.
关键词
几何量计量 /
激光跟踪;三维坐标测量;三维可视化;跟踪控制;标定 /
大尺寸测量
Key words
geometric metrology /
laser tracking /
3D coordinate measurement /
3D visualization /
tracking control;calibration /
large scale measurement
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
［1］SAHU R K. A Review on Application of Laser Trackerin Precision Positioning Metrology of Particle Accelerators ［J］. Precision Engineering, 2021, 71:232-249.
［2］JIN Z J, KE C S, XIONG R B, et al. Thermal Deformation Compensation of Laser Tracker Relocating in Aircraft Assembly［J］. International Journal of Precision Engineering and Manufacturing, 2020, 21(4): 641-647.
［3］孙安斌, 曹铁泽, 王继虎, 等. 高端装备大型零部件几何尺寸测量技术现状及趋势［J］. 计测技术, 2021, 41(2): 41-50.
SUN A B, CAO T Z, WANG J H, et al. Technological Development Trends of Geometric Dimension Measurements of Large Parts in the High-end Equipment［J］.Metrology & Measurement Technology,2021, 41(2): 41-50.
［4］梁楚彦, 缪东晶, 李建双,等. 多边法坐标测量系统关键布局参数对测量精度影响的研究［J］. 计量学报, 2023, 44(7): 1009-1018.
LIANG C Y, MIAO D J, LI J S, et al. Research on the influence of key layout Parameters on measurement accuracy of multi-lateral coordinate measuring system ［J］. Acta Metrologica Sinica, 2023, 44(7):1009-1018.
［5］陈相君, 古力那尔·祖农, 薛梓, 等. 基于激光跟踪仪的协作机器人标定算法与实验研究［J］. 计量学报, 2021, 42(5): 552-557.
CHEN X J, GULINAR ZUNONG, XUE Z, et al. Calibration algorithm and experimental research of collaborative robot based on laser tracker ［J］. Acta Metrologica Sinica, 2021, 42(5): 552-557.
［6］LIU Y J, ZI B, WANG Z Y, et al. Kinematics Calibration of Spraying Robo based on Laser Tracker［C］//IEEE ICMA 2019. Tianjin, 2019.
［7］王为农, 苏永昌, 任国营. 激光跟踪仪的动态特性研究［J］. 计量学报, 2007, 28(1): 34-36.
WANG W N, SU Y C, REN G Y. Study on dynamic characteristics of laser tracker ［J］. Acta Metrologica Sinica, 2007, 28(1): 34-36.
［8］曹儿方. 激光跟踪仪动态特性研究［D］. 西安: 中国科学院大学(中国科学院西安光精密机械研究所), 2017.
［9］刘永东. 运动目标坐标及姿态激光跟踪测量理论与系统研究［D］. 北京: 清华大学, 1999.
［10］李杏华. 激光跟踪系统的设计［D］. 天津: 天津大学, 2003.
［11］谢驰, 周肇飞, 蔡鹏, 等. 激光跟踪测距方法及其应用的研究［J］. 兵工学报,2007, 28 (11): 1377-1381.
XIE C, ZHOU Z F, CAI P, et al. Research on laser tracking ranging Method and its application ［J］. Acta Ordnance Engineering, 2007, 28 (11): 1377-1381.
［12］张亚娟. 单站式激光跟踪坐标测量系统研究［D］. 天津: 天津大学, 2012.
［13］张逸飞. 激光跟踪仪快速跟踪测量关键技术研究［D］. 哈尔滨: 哈尔滨工业大学, 2015.
［14］吴婷. 激光跟踪仪长距离光束准直及动态测控技术研究［D］. 哈尔滨: 哈尔滨工业大学, 2016.
［15］董登峰, 周维虎, 纪荣祎, 等. 激光跟踪仪精密跟踪系统的设［J］. 光学精密工程, 2016, 24(2): 309-318.
DONG D F, ZHOU W H, JI R Y, et al. Design of precision tracking system for laser tracker ［J］. Optics and Precision Engineering,2016, 24(2): 309-318.
［16］宋辉旭. 高精度激光追踪测量若干关键技术［D］. 北京: 北京工业大学, 2020.
［17］王红智. 相位式激光测距仪自动跟踪技术研究［D］. 哈尔滨: 哈尔滨工业大学, 2021.
基金
国家重点研发计划(2021YFF0600205);中国计量科学研究院基本科研业务费项目(AKYZZ2103)
PDF(831 KB)
