Six-degree-of-freedom spatial coordinate position and attitude measurement device

Abstract

The invention provides a six-degree-of-freedom spatial coordinate position and attitude measurement device. The six-degree-of-freedom spatial coordinate position and attitude measurement device comprises a laser tracker, an attitude recognition unit and an optical attitude target, wherein the laser tracker is used for quickly tracking a target which moves in the space and is provided with the optical attitude target, aligning the target with a backward reflector on the optical attitude target, obtaining the distance from the laser tracker to the target through a retroreflection light beam, andobtaining azimuth angle and pitch angle information according to the angle measuring device at the same time; and thus, the three-dimensional position coordinates of the target are obtained. The invention has the beneficial effects that the measurement precision of the spatial three-dimensional position and the three-axis attitude angle of the target is improved, and the tracking performance andreliability of the six-degree-of-freedom laser tracker are improved.

Description

technical field [0001] The invention relates to a measuring device, in particular to a six-degree-of-freedom space coordinate position and attitude measuring device. Background technique [0002] A laser tracker is a special type of coordinate measuring device that has the ability to measure the coordinates of a target's three-dimensional position. The basic principle of its coordinate measurement is to fix a cooperative target (retroreflector) at the measured point, and the measuring beam emitted from the interference ranging device reaches the target retroreflector, and then is reflected back by the original path. When the retro-reflector moves, the control system sends a signal to automatically adjust the direction of the beam so that the beam is always aligned with the center of the retro-reflector. The returned measurement beam interferes with the reference beam to obtain the distance to the target. The horizontal and pitch angle encoders of the laser tracker give the ...

AI Technical Summary

Problems solved by technology

[0006] 1. The existing method uses space photogrammetry to measure the three-dimensional coordinates of the space, which requires a lot of equipment and site, and the measurement accuracy is low, and the three-axis attitude of the target cannot be measured

[0007] 2. The existing method uses a separate combination of a laser tracker and a camera for six-degree-of-freedom measurement, which has limitations in the field of view, difficulty in aligning the coordinate system, low precision in coordinate conversion, and poor engineering practicability.

[0008] 3. The existing method uses a hollow form of the retroreflector for attitude measurement, which will lead to a decrease in the performance of the retroreflector, and will have a greater impact on the quality of the returned light beam or the polarization state, which will affect the ranging error of the laser tracker system great influence

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