Laser tracking pose measurement target device and method, hidden point measurement device

Abstract

The application provides a laser tracking pose measurement target device, which is applied to the technical field of geometry measurement and comprises a boss-shaped target cavity, a reflector support, an optical retroreflector, at least two pairs of characteristic point light sources and at least one diffuse reflection sheet. The application also provides a six-degree-of-freedom laser tracking pose measurement method and a hidden point measurement device, which can be combined with a laser tracker to realize space three-dimensional coordinate measurement, three-dimensional attitude angle measurement and hidden point position measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geometric measurement testing, and in particular to a laser tracking pose measurement target device and method and a hidden point measurement device. BACKGROUND

[0002] With the development of manufacturing industry, the requirements for industrial manufacturing and measurement are also increasing. From realizing three-dimensional coordinate measurement to six-degree-of-freedom measurement, to high-precision six-degree-of-freedom measurement, large high-end equipment precision manufacturing and assembly put forward higher and higher requirements for space pose accurate measurement. Laser tracker is a kind of high-end general super large size space geometric quantity precision measurement instrument. The instrument adopts high-precision ranging and angle measurement technology, precise laser tracking technology and visual attitude measurement technology to realize real-time tracking and high-precision pose measurement of space dynamic target. It can not only realize high-precision three-dimensional measurement of geometric size and form error of large parts, but also can realize three-dimensional attitude measurement of measured target workpiece, and can provide measurement reference for assembly and inspection of large parts.

[0003] The existing research results for six-degree-of-freedom pose measurement include a pose measurement method using two-dimensional PSD as a measurement element. This system depends too much on the measurement accuracy of PSD and is easily affected by the nonlinear error of PSD. Or a pose measurement system is designed based on the automatic guiding system of a shield tunneling machine by combining a total station, a pinhole prism, an inclination sensor and an industrial camera. The internal pinhole prism of the cooperative target of this system leads to a large reduction of laser return energy, which reduces the signal-to-noise ratio of the measurement light and makes the anti-interference ability worse. Or a method of integrating photoelectric position sensor (PSD) and monocular vision fusion for pose measurement is used with a total station as a base station. The feature points of the cooperative target use reflective sheets, and the ambient light has a great influence on the camera pose measurement result, which leads to a decrease in the pixel extraction accuracy of the picture and affects the measurement accuracy. It can be seen that the existing pose measurement methods and cooperative targets are not suitable for tracking pose measurement of a laser tracker. SUMMARY

[0004] In view of the above problems, the present application provides a laser tracking pose measurement target device and method and a hidden point measurement device.

[0005] In a first aspect of the present application, a laser tracking pose measurement target device is provided, comprising:

[0006] a boss-shaped target cavity 106 having a boss upper surface and a boss lower surface;

[0007] a reflector support 105 arranged at the center of the boss of the target cavity 106;

[0008] an optical retroreflector 103 arranged on the reflector support 105;

[0009] At least two pairs of feature point light sources 101 are arranged on the upper surface and the lower surface of the convex platform, and each pair of the feature point light sources 101 is symmetrically distributed with respect to the center of the optical retroreflector 103.

[0010] At least one diffuse reflection sheet 102 is arranged at the light outlet position of each feature point light source 101.

[0011] In an embodiment of the present application, the device further comprises:

[0012] At least two columns 104 are detachably arranged at a pair of corner positions on the upper surface of the convex platform and are symmetrically distributed with respect to the center of the optical retroreflector 103.

[0013] The top surface of each column 104 is provided with the feature point light source 101 and the diffuse reflection sheet 102.

[0014] In an embodiment of the present application, the number of the feature point light sources 101 arranged on the upper surface of the convex platform is two pairs, and one pair of the feature point light sources 101 is arranged at another pair of corner positions.

[0015] In an embodiment of the present application, the number of the feature point light sources 101 arranged on the lower surface of the convex platform is two pairs, and each pair of the feature point light sources 101 is symmetrically distributed with respect to the center of the optical retroreflector 103.

[0016] In an embodiment of the present application, the device further comprises:

[0017] A wireless power supply module 110 is electrically connected to the light source power supply circuit board 108, and the wireless power supply module 110 is arranged in the target cavity 106.

[0018] The light source power supply circuit board 108 is electrically connected to the feature point light source 101, and the light source power supply circuit board 108 is arranged in the target cavity 106.

[0019] A power switch 107 is electrically connected to the feature point light source 101 and the wireless power supply module 110, and the power switch 107 is arranged on the side surface of the target cavity 106.

[0020] In an embodiment of the present application, the convex part of the target cavity 106 is trapezoidal.

[0021] In an embodiment of the present application, a mechanical adapter 111 is arranged on the side surface of the target cavity 106, and the mechanical adapter 111 is used for connecting a hidden point measurement probe.

[0022] In an embodiment of the present application, the optical retroreflector 103 is a hollow reflective target sphere.

[0023] In a second aspect of the present application, a laser tracking pose measurement target device is provided, comprising:

[0024] A hidden point measurement device, characterized in that, comprising:

[0025] The laser tracking pose measurement target device 100, the quick release 303 and the probe stylus 305 as described in the first aspect;

[0026] The mechanical adapter 111 of the laser tracking pose measurement target device 100 is connected with the quick release 303, and the quick release 303 is connected with the probe stylus 305.

[0027] In a third aspect of the present application, a six-degree-of-freedom laser tracking pose measurement method is provided, applied to the laser tracking pose measurement target device and the laser tracker as described in the first aspect, the laser tracker emits laser to the laser tracking pose measurement target device, and the method comprises:

[0028] Obtaining the azimuth angle and the elevation angle of the laser tracker, and the distance between the laser tracker and the laser tracking pose measurement target device;

[0029] According to the distance, the azimuth angle and the elevation angle, calculating the spatial position of the laser tracking pose measurement target device in the coordinate system of the laser tracker;

[0030] Obtaining the pixel coordinates of all feature point light sources in the laser tracking pose measurement target device in the laser tracker;

[0031] According to the pixel coordinates of all feature point light sources in the laser tracker, obtaining the conversion matrix of all feature point light sources in the coordinate system of the laser tracker;

[0032] According to the conversion matrix, calculating the attitude angle of the laser tracking pose measurement target device.

[0033] The laser tracking pose measurement target device provided by the present application comprises a boss-shaped target cavity having a boss upper surface and a boss lower surface, a reflector support arranged at the center position of the boss of the target cavity, an optical retroreflector arranged on the reflector support, at least two pairs of feature point light sources arranged on the boss upper surface and the boss lower surface, and each pair of feature point light sources is symmetrically distributed with respect to the center of the optical retroreflector, and at least one diffuse reflection sheet, each of which is installed at the light outlet position of a feature point light source. It can be matched with a laser tracker to realize spatial three-dimensional coordinate and attitude angle measurement. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 The schematic diagram illustrates a cross-sectional structure of a laser tracking pose measurement target device according to an embodiment of the present invention.

[0036] Figure 2 This schematic diagram illustrates a three-dimensional structure of a laser tracking pose measurement target device according to an embodiment of the present invention.

[0037] Figure 3 This schematically illustrates the distribution of feature point light sources in a laser tracking pose measurement target device according to an embodiment of the present invention; and

[0038] Figure 4 The schematic diagram illustrates a hidden point measuring device according to an embodiment of the present invention.

[0039] Figure 5 This illustration schematically shows a six-degree-of-freedom laser tracking pose measurement principle according to an embodiment of the present invention.

[0040] Figure 6 The illustration shows a flowchart of a six-degree-of-freedom laser tracking pose measurement method according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 101-Feature point light source; 102-Diffuse reflector; 103-Optical retroreflector; 104-Column; 105-Reflector support; 106-Target cavity; 107-Power switch; 108-Light source power supply circuit board; 110-Wireless power supply module; 111-Mechanical adapter; 302-Handle; 303-Quick disassembly component; 304-Extension rod; 305-Probe head; 100-Six-degree-of-freedom measuring device; 200-Laser tracker. Detailed Implementation

[0043] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the embodiments and the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work before each implementation are within the scope of protection of the present application.

[0044] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. The terms "comprise", "contain", and the like used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0045] In the present application, unless otherwise explicitly specified and limited, the terms "mount", "connect", "connect", "fix", and the like should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected or can communicate with each other; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted to have meanings consistent with the context of the specification, and should not be interpreted in an idealized or overly formal manner.

[0047] It should be noted that in the drawings or description, similar or identical parts use the same figure number to represent that they have the same or similar parts, and the parts have the same or similar functions in each embodiment. The same parts will not be described below when describing an adjustable image acquisition device in each embodiment, and only the differences between each embodiment will be described in detail. In addition, the implementation not shown or described in the drawings is the form known to those skilled in the art. In addition, although this document can provide examples of parameters including specific values, it should be understood that the parameters do not need to be exactly equal to the corresponding values, but can be approximately equal to the corresponding values within an acceptable error tolerance or design constraint.

[0048] In the description of the present application, it should be noted that the terms "directly above", "directly below", "two ends", "two sides" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation.

[0049] In the following, examples will be provided to illustrate the embodiments of the present application in detail. The advantages and effects of the present application will be more apparent from the content of the present application. The accompanying drawings described herein are simplified and used as examples. The number, shape and size of the components shown in the drawings can be modified according to actual conditions, and the configuration of the components can be more complex. Other aspects of the present application can also be practiced, and various changes and adjustments can be made without departing from the spirit and scope of the present application.

[0050] Figures 1-3 The structural schematic diagram of a laser tracking pose measurement target device according to an embodiment of the present application is shown. It can be understood that, Figures 1-3 The structure of the laser tracking pose measurement target device and its components in the above-mentioned embodiment is only schematic and is used to help those skilled in the art understand the technical content of the present application, but does not mean that the implementation of the present application is limited thereto. According to actual needs, the layout, shape, etc. of the laser tracking pose measurement target device and its components can be adaptively adjusted.

[0051] Figure 1 The cross-sectional structural schematic diagram of a laser tracking pose measurement target device according to an embodiment of the present application is shown. Figure 2 The three-dimensional structural schematic diagram of a laser tracking pose measurement target device according to an embodiment of the present application is shown.

[0052] As Figure 1 shown, in the present embodiment, the laser tracking pose measurement target device includes a target cavity 106 in the form of a boss, having a boss upper surface and a boss lower surface; a reflector support 105 arranged at the center position of the boss of the target cavity 106; an optical retroreflector 103 arranged on the reflector support 105; at least two pairs of feature point light sources 101 arranged on the boss upper surface and the boss lower surface, and each pair of the feature point light sources 101 is symmetrically distributed with respect to the center of the optical retroreflector 103; and at least one diffuse reflection sheet 102, each of which is mounted at the light outlet position of a feature point light source 101.

[0053] The target cavity 106 is a closed cavity, realizing sealing of internal elements. The feature point light source 101, the optical retroreflector 103 and the reflector support 105 and other elements can be sealed in the target cavity 106. The diffuse reflection sheet 102 can be fixed on the target cavity 106 by opening a through hole on the target cavity 106, and the optical retroreflector 103 can be fixed in the target cavity 106 by opening a through hole on the target cavity 106 and receiving the laser emitted by the laser tracker through the through hole.

[0054] The feature point light source 101 is used for visual detection of a target, for example, a laser tracker. The number of feature point light sources 101 is the same as the number of second mounting holes, one feature point light source 101 is installed in one second mounting hole, and the feature point light source 101 can select an LED light source in the near-infrared band of 850 nm, which is physically isolated from the measurement light of the laser tracker, thereby improving the detection signal-to-noise ratio of the attitude measurement camera in the laser tracker.

[0055] The diffuse reflection sheet 102 is installed at the light outlet position of the feature point light source 101, which can be used to improve the light intensity uniformity of the feature point light source 101, facilitate image processing of the attitude measurement camera in the laser tracker, and improve the pixel extraction accuracy of the feature point light source 101. On the other hand, it can also serve as a protective function to prevent external touching from causing surface wear of the feature point light source.

[0056] The optical retroreflector 103 is installed on the reflector support 105 and fixed to the center of the boss of the target cavity 106 in an embedded manner, used for returning the laser emitted by the laser tracker to realize spatial coordinate measurement.

[0057] The reflector support 105 can adopt a separate structure, facilitating flexible disassembly of the optical retroreflector 103, and realizing replacement of different specifications of the optical retroreflector 103 according to different application scenarios. The reflector support 105, the optical retroreflector 103 and the shell of the target cavity 106 can adopt high-precision tolerance matching, so as to ensure that the replaced optical retroreflector 103 has small deviation relative to the center position of the target, and is stable and reliable.

[0058] In the present application, the number of feature point light sources 101 is not specifically limited, and can be increased according to the requirement of attitude angle measurement accuracy, so as to ensure that the upper surface and the lower surface of the boss are both provided with feature point light sources 101, and each pair of the feature point light sources 101 is symmetrically distributed relative to the center of the optical retroreflector 103.

[0059] In an embodiment of the present application, the laser tracking pose measurement target device further comprises: at least two columns 104, which are detachably installed at opposite positions of the upper surface of the boss and are symmetrical relative to the optical retroreflector 103; and the feature point light source 101 and the diffuse reflection sheet 102 are installed on the top surface of the at least two columns 104.

[0060] The column 104 is detachably connected with the shell of the target cavity 106, for supporting the feature point light source 101 and the diffuse reflection sheet 102, realizing the spatial three-dimensional distribution of the feature point light source 101, that is, the feature point light source 101 on the upper surface of the boss and the feature point light source 101 on the lower surface of the boss cooperate with the feature point light source 101 on the column 104 to realize the spatial three-dimensional distribution of the feature point light source 101, effectively improving the recognition degree of the visual imaging feature points and improving the pose calculation accuracy.

[0061] Please refer to Figure 3 , Figure 3 The distribution of the feature point light source of the laser tracking pose measurement target device provided by the embodiment of the application is schematically shown.

[0062] As Figure 3 shown, the number of the feature point light source 101 arranged on the upper surface of the boss is two pairs, and one pair of the feature point light source 101 is arranged at the other pair of corner positions. The number of the feature point light source 101 arranged on the lower surface of the boss is two pairs, and the two pairs of the feature point light source 101 are distributed at the four corners of the lower surface of the boss, and each pair of the feature point light source 101 is symmetrically distributed relative to the optical retroreflector 103.

[0063] Specifically, from left to right and then from top to bottom, it is divided into P1, P2, P3, P4, P5, P6, P7, P8, P9 and P10, P1, P4, P7 and P10 are arranged at the four corners of the lower surface of the boss respectively, P2, P3, P5, P6, P8 and P9 are arranged on the two sides of the upper surface of the boss respectively, P1, P2, P4, P5, P6, P7, P9 and P10 are embeddedly installed in the target cavity 106, and P3 and P8 are installed on the column.

[0064] It can be understood that Figure 3 the distribution of the feature point light source 101 shown is only one kind of schematic, and those skilled in the art can make other adaptive changes without departing from the spirit of the application. For example, only four feature point light sources P2, P3, P8 and P9 are arranged on the upper surface of the boss, and two feature point light sources P5 and P6 are removed.

[0065] In an embodiment of the present application, the laser tracking pose measurement target device further comprises: a wireless power supply module 110, which is electrically connected with the light source power supply circuit board 108, and is arranged in the target cavity 106; a light source power supply circuit board 108, which is electrically connected with the feature point light source 101, and is arranged in the target cavity 106; and a power switch 107, which is electrically connected with the feature point light source 101 and the wireless power supply module 110, and is arranged on the side surface of the target cavity 106.

[0066] It can be understood that the power switch 107 is used for turning on and off the feature point light source 101, and the light source power supply circuit board 108 and the power supply module 110 are used for supplying power to the feature point light source 101, so as to ensure that the voltage and power of the feature point light source 101 are stable.

[0067] In an embodiment of the present application, the protruding part of the target cavity 106 is in a trapezoidal shape, and cooperates with the stand 104 to realize the spatial three-layer distribution of the feature point light source 101, so as to effectively improve the recognition degree of the visual imaging feature points and improve the pose calculation accuracy.

[0068] In an embodiment of the present application, the bottom surface of the target cavity 106 is provided with a positioning hole, which is used for fixing a measured object, so as to realize the six-degree-of-freedom pose measurement of the measured object.

[0069] In an embodiment of the present application, the side surface of the target cavity 106 is provided with a mechanical adapter 111, which is used for connecting a hidden point measurement probe, and based on the fusion of the spatial pose angle and coordinate information, the spatial position of the probe is calculated, so as to realize the hidden point measurement function of the laser tracker.

[0070] In an embodiment of the present application, the optical retroreflector 103 is a hollow reflective target ball, so as to overcome the problem of additional optical path difference and translation error caused by the corner cube prism to the incident light.

[0071] Please refer to Figure 4 , Figure 4 The structure schematic diagram of the hidden point measurement device provided by an embodiment of the present application is schematically shown.

[0072] As shown in Figure 4 , the hidden point measurement device comprises Figure 1 or Figure 2 the laser tracking pose measurement target device 100, the quick dismounting part 303 and the probe probe head 305, the mechanical adapter 111 of the laser tracking pose measurement target device 100 is connected with the quick dismounting part 303, and the quick dismounting part 303 is connected with the probe probe head 305.

[0073] Optionally, a threaded hole can be designed on the bottom plate of the laser tracking pose measurement target device 100 for installing the handle 302 to realize handheld measurement of the target.

[0074] Optionally, the hidden point measurement device further comprises an extension rod 304, the quick release member 303 is stably connected with the mechanical adapter 111 of the laser tracking pose measurement target device 100, and the installation of the extension rod 304 and the probe probe head 305 is realized. The extension rod 304 is preferably made of hollow carbon fiber material, which reduces the weight while improving the rigidity of the component, and the probe probe head 305 is preferably a ruby hard probe head.

[0075] Please refer to Figure 5 and Figure 6 , Figure 5 The embodiment of the application illustrates a six-degree-of-freedom laser tracking pose measurement principle diagram, Figure 6 The embodiment of the application illustrates a six-degree-of-freedom laser tracking pose measurement principle diagram,

[0076] As Figure 5 shown, the laser tracker 200 emits laser to the laser tracking pose measurement target device 100, and the laser tracker 200 emits laser to the optical retroreflector center 103 of the laser tracking pose measurement target device 100. The optical retroreflector 103 returns the incident light to the original path to realize distance measurement. The azimuth angle and the pitch angle of the laser tracker 200 are obtained by the grating encoder of the turntable of the laser tracker 200. The vision measurement camera of the laser tracker 200 detects the ten feature point light sources 101 of the laser tracking pose measurement target device 100 to obtain the pixel coordinates of the feature point light sources 101 in the laser tracker.

[0077] As Figure 6 shown, the six-degree-of-freedom laser tracking pose measurement method comprises operations S610 to S650.

[0078] In operation S610, the azimuth angle and the pitch angle of the laser tracker, and the distance between the laser tracker and the laser tracking pose measurement target device are obtained.

[0079] In operation S620, according to the distance, the azimuth angle and the pitch angle, the spatial position of the laser tracking pose measurement target device in the laser tracker coordinate system is calculated.

[0080] In operation S630, the pixel coordinates of all feature point light sources in the laser tracking pose measurement target device in the laser tracker are obtained.

[0081] In operation S640, a conversion matrix of all the feature point light sources in the coordinate system of the laser tracker is obtained according to the pixel coordinates of the feature point light sources in the laser tracker.

[0082] In operation S650, the attitude angle of the laser tracking pose measurement target device is calculated according to the conversion matrix.

[0083] Specifically, based on the distance, azimuth angle and pitch angle, the spatial position (x, y, z) of the laser tracking pose measurement target device 100 in the coordinate system of the laser tracker 200 is calculated according to the polar coordinate principle. The feature point light source 101 of the laser tracking pose measurement target device 100 is detected by the visual measurement camera of the laser tracker 200, the pixel coordinates of the feature point light source 101 in the visual measurement camera are obtained, and the conversion matrix of all the feature point light sources 101 in the coordinate system of the laser tracker 200 is calculated based on the monocular vision algorithm. For example, the conversion matrix of the 10 feature point light sources 101 shown in FIG. 10 can be represented as: Figure 3

[0084]

[0085] wherein it is assumed that the azimuth angle of the laser tracking pose measurement target device 100 relative to the laser tracker 200 is θ, the pitch angle is φ, and the roll angle is w, and the coordinate system is rotated in the order of "Z-axis-X-axis-Y-axis". According to formula (1), the attitude angle of the laser tracking pose measurement target device 100 can be calculated, i.e.:

[0086] θ = -arcsin(r 23 )

[0087]

[0088]

[0089] Combined with the spatial position (x, y, z) of the laser tracking pose measurement target device 100 in the coordinate system of the laser tracker 200, the six-degree-of-freedom information (x, y, z, α, β, γ) of the laser tracking pose measurement target device 100 can be obtained.

[0090] ​​In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, and are merely intended for the convenience of describing the present application and simplifying the description, and thus cannot be construed to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed or operated in a particular orientation, and thus cannot be construed as limiting the present application. Throughout the drawings, the same elements are denoted by the same or similar reference numerals. When it can cause confusion in understanding the present application, the conventional structures or configurations will be omitted. Also, the shapes, sizes, positional relationships of the components in the drawings do not reflect the true size, scale and actual positional relationships.

[0091] Similarly, to simplify the present application and to help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure or description of a related group. The description referring to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Rather, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0092] In addition, the terms "first", "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified. In addition, the word "one" or "an" before an element does not exclude the presence of a plurality of such elements.

[0093] Those skilled in the art can understand that the features described in various embodiments and / or claims of the present application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present application. In particular, the features described in various embodiments and / or claims of the present application can be combined and / or combined in various ways without departing from the spirit and teachings of the present application. All such combinations and / or combinations fall within the scope of the present application.

[0094] The above detailed description of the specific embodiments of the present application, the purpose, technical solutions and beneficial effects of the present application are further described in detail, and it should be understood that the above description is only a specific embodiment of the present application and is not used to limit the present application. Although the present application has been shown and described with reference to specific exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made to the present application without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents. Therefore, the scope of the present application should not be limited to the above embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A laser tracking position measurement target device, characterized by, The device comprises: a boss-shaped target cavity (106) having a boss upper surface and a boss lower surface; a reflector support (105) arranged at the center of the boss of the target cavity (106) and detachably mounting optical retro-reflectors of different sizes; an optical retro-reflector (103) arranged on the reflector support (105) and receiving measuring laser of a laser tracker through a through hole at the top of the target cavity (106); at least two pairs of feature point light sources (101) arranged on the boss upper surface and the boss lower surface, and each pair of the feature point light sources (101) is symmetrically distributed relative to the optical retro-reflector (103); at least one diffuse reflection sheet (102) mounted at the light outlet position of each feature point light source (101); at least two columns (104) detachably mounted at the opposite diagonal positions of the boss upper surface of the target cavity (106) and symmetrically relative to the optical retro-reflector (103), and the top surface of each column (104) is mounted with the feature point light source (101) and the diffuse reflection sheet (102), wherein the feature point light sources (101) on the boss upper surface of the target cavity (106) and the feature point light sources (101) on the boss lower surface of the target cavity (106) cooperate with the feature point light sources (101) on the column (104) to realize the spatial three-dimensional distribution of the feature point light sources (101).

2. The laser tracking position measurement target device of claim 1, wherein, The number of the feature point light sources (101) arranged on the boss upper surface is two pairs, and one pair of the feature point light sources (101) is arranged at the other diagonal position.

3. The laser tracking position measurement target device of claim 1, wherein, The number of the feature point light sources (101) arranged on the boss lower surface is two pairs, and each pair of the feature point light sources (101) is symmetrically distributed relative to the center of the optical retro-reflector (103).

4. The laser tracking position measurement target device of claim 1, wherein, The device further comprises: a wireless power supply module (110) electrically connected with a light source power supply circuit board (108), and arranged in the target cavity (106); the light source power supply circuit board (108) electrically connected with the feature point light source (101), and arranged in the target cavity (106); a power switch (107) electrically connected with the feature point light source (101) and the wireless power supply module (110), and arranged on the side surface of the target cavity (106).

5. The laser tracking position measurement target device of claim 1, wherein, The protruding part of the target cavity (106) is trapezoidal.

6. The laser tracking position measurement target device of claim 1, wherein, A mechanical adapter (111) is arranged on the side surface of the target cavity (106) and used for connecting a hidden point measuring probe.

7. The laser tracking position measurement target device of claim 1, wherein, The optical retro-reflector (103) is a hollow corner reflector.

8. A hidden point measurement device, characterized by, The device comprises: the laser tracking pose measurement target device (100), the quick dismounting member (303) and the probe head (305) according to any one of claims 1 to 7. The mechanical interface (111) of the laser tracking pose measurement target device (100) is connected with the quick release part (303), and the quick release part (303) is connected with the probe stylus (305).

9. A six degree of freedom laser tracking position measurement method applied to the laser tracking position measurement target device of any one of claims 1 to 7, the laser tracker emits laser to the laser tracking position measurement target device, characterized in that, The method comprises: obtaining the azimuth angle and the elevation angle of the laser tracker, and the distance between the laser tracker and the laser tracking pose measurement target device; calculating the spatial position of the laser tracking pose measurement target device in the laser tracker coordinate system according to the distance, the azimuth angle and the elevation angle; obtaining the pixel coordinates of all feature point light sources in the laser tracking pose measurement target device in the laser tracker; obtaining the conversion matrix of all feature point light sources in the laser tracker coordinate system according to the pixel coordinates of all feature point light sources in the laser tracker; calculating the attitude angle of the laser tracking pose measurement target device according to the conversion matrix.

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