Laser line drawing method and system based on laser tracker
Through the laser line drawing method based on laser tracker, the problems of low accuracy, slow speed and safety hazards in the shipbuilding industry are solved, and efficient and accurate laser line drawing is achieved, which improves the operation safety.
Patent Information
- Application Number
- CN202411799925.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-02-25
AI Technical Summary
During the hull construction process in the shipbuilding industry, manual drawing of indicator lines has problems such as low accuracy, slow speed, low efficiency and operational safety hazards.
Using a laser line drawing method based on a laser tracker, the laser tracker measures the position of the cabin and the biaxial laser line drawing gimbal, establishes the relationship between the position to be drawn and the position of the tile, and controls the laser emitter to move in turn and emits laser light to realize non-contact line drawing.
This greatly improves the efficiency and accuracy of line drawing, reduces manual participation, and improves the safety of work.
Smart Images
Figure CN119501307A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of construction measurement, and in particular to a laser line drawing method and system based on a laser tracker. Background Art
[0002] At present, during the shipbuilding process, many positions in the cabin need to be manually marked with indicator lines. Work and some positioning work are carried out according to the indicator lines. The lines are usually marked with tape measures or calipers to assist in positioning, and then connected with a drawing pen. This method has low accuracy, slow speed and low efficiency when working in a large range. In addition, the side or top surface of the cabin is at a high height, so scaffolding is needed for work, which poses a safety hazard to the operation. Summary of the invention
[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a laser marking method based on a laser tracker, which can establish a relationship between the coordinate position of the line to be drawn and the pitch angle and horizontal rotation angle of the dual-axis laser marking gimbal, thereby realizing non-contact marking through the laser transmitter in the dual-axis laser marking gimbal, greatly improving the marking efficiency and accuracy, and the marking process does not require human participation, thereby improving operation safety.
[0004] In order to solve the above technical problems, the present invention proposes the following technical solutions: The present application relates to a laser line drawing method based on a laser tracker, comprising the following: The laser tracker is used to measure multiple positions on the cabin to obtain a cabin coordinate system where the cabin is located; The laser tracker is used to measure the position of the dual-axis laser line drawing gimbal to obtain the gimbal coordinate system of the dual-axis laser line drawing gimbal, wherein the dual-axis laser line drawing gimbal includes a laser emitter and has a horizontal rotation axis and a pitch rotation axis, wherein the horizontal rotation axis can drive the laser emitter to rotate horizontally and the pitch rotation axis can drive the laser emitter to rotate in pitch; Receive the drawing information of the line to be drawn and convert it into the coordinate position of the line to be drawn; According to the conversion relationship between the cabin coordinate system and the gimbal coordinate system, the coordinate position of the line to be drawn is converted into the coordinate position in the gimbal coordinate system; Converting the converted coordinate position into a pitch angle α of the pitch axis and a horizontal rotation angle β of the horizontal axis; According to the pitch angle α and the horizontal rotation angle β, the laser emitter is controlled to move in sequence according to the converted coordinate position and emit laser at the same time to draw a line.
[0005] In some embodiments of the present application, the converted coordinate position (x2, y2, z2) is converted into a pitch angle α and a horizontal rotation angle β, specifically: ; α = arccos(z2 / r); β = arctan (y2 / x2); Wherein, r is the distance between the origin of the gimbal coordinate system and the origin of the gimbal's own spherical coordinate system.
[0006] In some embodiments of the present application, a reference is set on the cabin, and the multiple positions are located on the reference.
[0007] In some embodiments of the present application, the laser tracker measures the horizontal axis, the pitch axis, and the rotation center to establish the gimbal coordinate system.
[0008] Compared with the prior art, the laser line drawing method involved in this application has the following advantages and beneficial effects: A laser tracker is used to track and measure the position of the line to be drawn and the rotation position of the dual-axis laser line drawing gimbal with high precision, and the relationship between the position of the line to be drawn and the rotation position of the gimbal is established to obtain the horizontal rotation angle and pitch angle of the gimbal, thereby driving the gimbal to rotate to the position of the line to be drawn and causing the laser transmitter to emit laser. After the laser is irradiated on the metal surface of the cabin, heat is generated to burn the surface black. When moving from one point to the next, a trace will be left between the points. Multiple points are connected into a line drawing trajectory to complete the automatic high-precision line drawing operation, improve the line drawing efficiency and accuracy, and do not require human participation. The task volume is low and the operation safety is improved.
[0009] Some embodiments of the present application also relate to a laser line drawing system based on a laser tracker, comprising: A laser tracker, which is used in conjunction with a reflective target ball to track and measure and obtain the cabin coordinate system where the cabin is located; A dual-axis laser line drawing gimbal, which includes a laser transmitter and has a horizontal rotation axis and a pitch rotation axis, wherein the horizontal rotation axis can drive the laser transmitter to rotate horizontally and the pitch rotation axis can drive the laser transmitter to rotate in pitch; A processing device for performing the following: Acquire a cabin coordinate system where the cabin is located; Obtain the gimbal coordinate system where the dual-axis laser line drawing gimbal is located; Receive the drawing information of the line to be drawn and convert it into the coordinate position of the line to be drawn; According to the conversion relationship between the cabin coordinate system and the gimbal coordinate system, the coordinate position of the line to be drawn is converted into the coordinate position in the gimbal coordinate system; Converting the converted coordinate position into a pitch angle α of the pitch axis and a horizontal rotation angle β of the horizontal axis; According to the pitch angle α and the horizontal rotation angle β, the laser emitter is controlled to move in sequence according to the converted coordinate position and emit laser at the same time to draw a line.
[0010] In some embodiments of the present application, the converted coordinate position (x2, y2, z2) is converted into a pitch angle α and a horizontal rotation angle β, specifically: ; α = arccos(z2 / r); β = arctan (y2 / x2); Wherein, r is the distance between the origin of the gimbal coordinate system and the origin of the gimbal's own spherical coordinate system.
[0011] In some embodiments of the present application, the processing device uses the laser tracker to measure multiple positions on the cabin, obtains the cabin coordinate system where the cabin is located, sets a reference on the cabin, and the multiple positions are located on the reference.
[0012] In some embodiments of the present application, the laser tracker measures the horizontal axis, the pitch axis, and the rotation center to establish the gimbal coordinate system.
[0013] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0015] Figure 1 A flow chart of a laser line drawing method based on a laser tracker proposed by the present invention; Figure 2 A structural diagram of a laser tracker in a laser line drawing system based on a laser tracker proposed by the present invention; Figure 3 A schematic diagram of the arrangement of a laser tracker and a dual-axis laser line drawing pan / tilt in a laser line drawing system based on a laser tracker proposed by the present invention; Figure 4 A schematic diagram of the trajectory of the coordinate position of the line to be drawn in the laser line drawing method based on a laser tracker proposed by the present invention; Figure 5 A schematic diagram of a line drawing trajectory in a laser line drawing method based on a laser tracker proposed in the present invention; Figure 6 A block diagram of a laser line drawing system based on a laser tracker proposed by the present invention; Reference numerals: 100. Laser tracker; 200. Dual-axis laser line drawing gimbal; 210. Laser transmitter; 220. Horizontal axis; 230. Pitch axis; 300. Cabin; 400. Processing device; 500. Tripod. DETAILED DESCRIPTION
[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.
[0017] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0018] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.
[0019] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.
[0020] In order to achieve efficient and high-precision automatic line drawing on the cabin 300, the present application relates to a laser line drawing method and system based on a laser tracker 100. The laser line drawing system can implement the laser line drawing method. Therefore, in some embodiments of the present application, in combination with the laser line drawing system, see Figure 1, describing the laser line drawing method.
[0021] S1: Acquire the cabin coordinate system T1 where the cabin 300 is located.
[0022] In some embodiments of the present application, it is necessary to draw lines on the surface (eg, side surface, top surface) of the cabin hull 300 , and therefore, it is necessary to obtain the cabin coordinate system T1 where the cabin hull 300 is located.
[0023] If you want to obtain the cabin coordinate system T1, you need to obtain the coordinates of multiple positions on the cabin 300, use the laser tracker 100 to measure and track, and obtain the cabin coordinate system T1.
[0024] In order to ensure the accuracy of acquiring the cabin coordinate system T1 , a reference is set on the cabin 300 , and the multiple positions are set on the reference.
[0025] The benchmark generally refers to the ground plane, facade, reserved positioning holes, etc. on the cabin.
[0026] Reflective target balls (not shown) to be measured and tracked by the laser tracker 100 are arranged at multiple positions of the cabin 300 , so that the laser tracker 100 can measure and track multiple positions.
[0027] The laser tracker 100 coordinate system where the laser tracker 100 is located converts the position data measured in the laser tracker 100 coordinate system into three-dimensional coordinates in the cabin coordinate system T1 through a coordinate system conversion relationship, thereby enabling the laser tracker 100 to measure multiple positions. This technology for measuring and tracking positions is an existing technology and will not be described in detail here.
[0028] When the laser tracker 100 measures and tracks the reflective target sphere, the mirror opening of the reflective target sphere needs to always face the laser tracker 100 to ensure that the laser emitted by the tracking head of the laser tracker 100 hits the reflective target sphere and can be reflected back to the tracking head.
[0029] In some embodiments of the present application, in order to achieve the installation and arrangement of the laser tracker 100, the laser tracker 100 is usually installed through a tripod 500. In order to meet the measurement and tracking requirements at different heights, the tripod 500 has a height adjustment function, and the height of the laser tracker 100 can be adjusted according to the on-site conditions to achieve the best measurement effect.
[0030] In order to quickly install and remove the laser tracker 100, a quick-release base (not shown) is detachably installed (e.g., threadedly connected) on the top of the tripod 500. The top of the quick-release base has a quick clamping device (not shown), and the bottom of the laser tracker 100 is installed on the quick clamping device. In this way, the laser tracker 100 can be easily installed.
[0031] After the laser tracker 100 is installed, the laser tracker 100 can be used to measure and track multiple position information on the cabin 300 .
[0032] S2: Acquire the gimbal coordinate system T2 where the dual-axis laser line drawing gimbal 200 is located.
[0033] In some embodiments of the present application, see Figure 2 The dual-axis laser line drawing platform 200 includes a laser emitter 210, and has a horizontal rotation axis 220 and a pitch rotation axis 230. The horizontal rotation axis 220 can drive the laser emitter 210 to achieve horizontal rotation, and the pitch rotation axis 230 can drive the laser emitter 210 to achieve pitch rotation.
[0034] In some embodiments of the present application, see Figure 3 The dual-axis laser line drawing platform 200 is placed close to the laser tracker 100 and is placed inside the cabin 300 , for example, on the ground plane of the cabin 300 .
[0035] Similar to the tracking measurement of multiple positions on the cabin 300 by the laser tracker 100 , the laser tracker 100 also tracks and measures the dual-axis laser line drawing gimbal 200 .
[0036] Reflective target balls to be measured and tracked by the laser tracker 100 are arranged at multiple positions of the dual-axis laser line drawing platform 200, so that the laser tracker 100 can measure and track the multiple positions.
[0037] The laser tracker coordinate system where the laser tracker 100 itself is located converts the position data measured in the laser tracker coordinate system into three-dimensional coordinates in the pan-tilt coordinate system T2 through the coordinate system conversion relationship, thereby enabling the laser tracker 100 to measure multiple positions. This technology for measuring and tracking positions is an existing technology and will not be described in detail here.
[0038] In some embodiments of the present application, the horizontal rotation axis 220, the pitch rotation axis 230 and the rotation centers of the two rotation axes of the gimbal may be measured to establish the gimbal coordinate system T2 as described above.
[0039] S3: Receive the drawing information of the line to be drawn and convert it into the coordinate position of the line to be drawn.
[0040] If the drawing to be drawn is in CAD format, you can use the commands provided by AUTOCAD to convert the drawing into a series of continuous points. Since the midpoint of the drawing to be drawn is based on the position coordinates of the cabin coordinate system T1, the coordinates of these continuous points are the coordinate positions of the lines to be drawn.
[0041] See also Figure 4 , which shows a series of continuous points after conversion.
[0042] S4: Convert the coordinate position of the line to be drawn into the coordinate position of the gimbal coordinate system T2.
[0043] As described above, according to the measurement software of the laser tracker 100, the conversion relationship between the cabin coordinate system T1 and the laser tracker coordinate system, as well as the conversion relationship between the gimbal coordinate system T2 and the laser tracker coordinate system can be obtained. Therefore, the conversion relationship between the cabin coordinate system T1 and the gimbal coordinate system T2 can also be easily obtained. For example, the conversion relationship includes the rotation matrix M and the translation matrix T.
[0044] According to the conversion relationship between the cabin coordinate system T1 and the gimbal coordinate system T2, the coordinate position of the line to be drawn is converted into the coordinate position under the gimbal coordinate system T2. For example, the coordinate position of the line to be drawn is recorded as (x1, y1, z1), and (x2, y2, z2) is used. T =M*(x1,y1,z1) T +T, you can get the coordinate position (x2, y2, z2) in the gimbal coordinate system T2.
[0045] S5: Convert the converted coordinate position into a pitch angle α of the pitch rotation axis 230 and a horizontal rotation angle β of the horizontal rotation axis 220 .
[0046] In some embodiments of the present application, in order to use the dual-axis laser marking gimbal 200 to draw lines on the cabin 300, it is necessary to know the relationship between the spherical coordinate system in which the gimbal mechanical structure itself is located and the coordinate position after conversion in the gimbal coordinate system. Only in this way can the movement of the horizontal axis 220 and the pitch axis 230 on the dual-axis laser marking gimbal 200 be controlled, thereby driving the laser transmitter head to perform laser marking at the coordinate position corresponding to the line to be drawn.
[0047] The converted coordinate position (x2, y2, z2) is converted into a pitch angle α and a horizontal rotation angle β, and the specific conversion method is as follows: ; α = arccos(z2 / r); β=arctan(y2 / x2).
[0048] Where r is the distance between the origin of the gimbal coordinate system and the origin of the gimbal's own spherical coordinate system.
[0049] S6: Control the laser emitter 210 to move sequentially and emit laser simultaneously to draw a line.
[0050] As shown in the figure, the coordinate positions of the lines to be drawn are a series of continuous points. Therefore, the coordinate positions after conversion (x2, y2, z2) are also a series of continuous points, which correspond to a series of pitch angles α and horizontal rotation angles β.
[0051] When the dual-axis laser marking platform is controlled to rotate horizontally and in elevation in sequence according to a series of pitch angles α and horizontal rotation angles β, the laser emitter 210 is driven to rotate accordingly, and at the same time, the laser emitter 210 points to the surface of the cabin 300 to emit a laser beam corresponding to the coordinate position of the line to be drawn.
[0052] See also Figure 4 When the laser beam is irradiated on the metal surface of the cabin 300, heat will be generated to burn the surface black. When drawing from one point to the next, a trace will be left between the points. Multiple points are connected to form a drawing line track (see Figure 5 ), complete the line drawing operation.
[0053] The laser marking method involved in the present application realizes high-precision non-contact marking operation on the surface of the cabin 300 through the laser tracker 100 for high-precision measurement of the cabin 300 and the dual-axis laser marking gimbal 200, greatly improving the marking efficiency and accuracy. In addition, the laser marking process does not require human participation, which reduces labor intensity and improves operation safety.
[0054] See also Figure 6 Some embodiments of the present application also relate to a laser marking system based on a laser tracker 100, which is used to execute the laser marking method as described above.
[0055] The laser line marking system includes a laser tracker 100 , a dual-axis laser line marking platform 200 and a processing device 400 .
[0056] The processing device 400 communicates with the laser tracker 100 and the dual-axis laser line drawing platform 200 respectively, and is used for processing data, forwarding data, and controlling the horizontal rotation and the pitch rotation of the dual-axis laser line drawing platform 200.
[0057] The processing device 400 can be considered as a computer host loaded with a software program. The software program in the processing device 400 is used to execute the laser marking method as described above, and output the horizontal rotation angle β of the horizontal axis 220 and the pitch angle α of the pitch axis 230 of the dual-axis laser marking platform 200.
[0058] The control system of the present application has the beneficial effects of the above control method, and can achieve high-precision and high-efficiency line drawing work, avoid manual participation, reduce the workload, and improve operation safety.
[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A laser line drawing method based on a laser tracker, characterized in that: These include: The laser tracker is used to measure multiple positions on the cabin to obtain a cabin coordinate system where the cabin is located; The laser tracker is used to measure the position of the dual-axis laser line drawing gimbal to obtain the gimbal coordinate system of the dual-axis laser line drawing gimbal, wherein the dual-axis laser line drawing gimbal includes a laser emitter and has a horizontal rotation axis and a pitch rotation axis, wherein the horizontal rotation axis can drive the laser emitter to rotate horizontally and the pitch rotation axis can drive the laser emitter to rotate in pitch; Receive the drawing information of the line to be drawn and convert it into the coordinate position of the line to be drawn; According to the conversion relationship between the cabin coordinate system and the gimbal coordinate system, the coordinate position of the line to be drawn is converted into the coordinate position in the gimbal coordinate system; Converting the converted coordinate position into a pitch angle α of the pitch axis and a horizontal rotation angle β of the horizontal axis; According to the pitch angle α and the horizontal rotation angle β corresponding to the converted coordinate position, the laser emitter is controlled to move in sequence and emit laser at the same time to draw a line.
2. The laser line drawing method based on a laser tracker according to claim 1, characterized in that: The transformed coordinate position (x2, y2, z2) is converted into a pitch angle α and a horizontal rotation angle β, specifically: ； α = arccos(z2 / r); β = arctan (y2 / x2); Wherein, r is the distance between the origin of the gimbal coordinate system and the origin of the gimbal's own spherical coordinate system.
3. The laser line drawing method based on a laser tracker according to claim 1, characterized in that: A reference is provided on the cabin, and the plurality of positions are located on the reference.
4. The laser line drawing method based on a laser tracker according to claim 1, characterized in that: The laser tracker measures the horizontal rotation axis, the pitch rotation axis and the rotation center to establish the gimbal coordinate system.
5. A laser line drawing system based on a laser tracker, characterized in that: include: A laser tracker, which is used in conjunction with a reflective target ball to track and measure and obtain the cabin coordinate system where the cabin is located; A dual-axis laser line drawing gimbal, which includes a laser transmitter and has a horizontal rotation axis and a pitch rotation axis, wherein the horizontal rotation axis can drive the laser transmitter to rotate horizontally and the pitch rotation axis can drive the laser transmitter to rotate in pitch; A processing device for performing the following: Acquire a cabin coordinate system where the cabin is located; Obtain the gimbal coordinate system where the dual-axis laser line drawing gimbal is located; Receive the drawing information of the line to be drawn and convert it into the coordinate position of the line to be drawn; According to the conversion relationship between the cabin coordinate system and the gimbal coordinate system, the coordinate position of the line to be drawn is converted into the coordinate position in the gimbal coordinate system; Converting the converted coordinate position into a pitch angle α of the pitch axis and a horizontal rotation angle β of the horizontal axis; According to the pitch angle α and the horizontal rotation angle β corresponding to the converted coordinate position, the laser emitter is controlled to move in sequence and emit laser at the same time to draw a line.
6. The laser line drawing system based on a laser tracker according to claim 5, characterized in that: The converted coordinate position (x2, y2, z2) is converted into a pitch angle α and a horizontal rotation angle β, specifically: ； α = arccos(z2 / r); β = arctan (y2 / x2); Wherein, r is the distance between the origin of the gimbal coordinate system and the origin of the gimbal's own spherical coordinate system.
7. The laser line drawing system based on a laser tracker according to claim 5, characterized in that: The processing device uses the laser tracker to measure multiple positions on the cabin to obtain the cabin coordinate system where the cabin is located; A reference is provided on the cabin, and the plurality of positions are located on the reference.
8. The laser line drawing system based on a laser tracker according to claim 5, characterized in that: The laser tracker measures the horizontal rotation axis, the pitch rotation axis and the rotation center to establish the gimbal coordinate system.