Tracking, scanning and measuring integrated system, tracking, scanning and measuring method and platform

Abstract

The invention discloses a tracking scanning measurement integrated system, a tracking scanning measurement method and a tracking scanning measurement platform. A control device controls a laser emission source to emit distance measurement laser to a contact laser tracking device in a tracking measurement mode; according to an optical ranging signal fed back by the contact laser tracking device, the two-dimensional angle measurement driving device and the laser ranging device are controlled to drive the contact laser tracking device to track the set tracking cooperative target in real time so as to acquire coordinate data of a contact point of the tracking cooperative target and the surface to be measured in real time; and in the scanning measurement mode, the laser emission source is controlled to emit distance measurement laser to the non-contact laser scanning device, and the two-dimensional angle measurement driving device and the laser distance measurement device are controlled to drive the non-contact laser scanning device to scan the surface to be measured according to an optical distance measurement signal fed back by the non-contact laser scanning device so as to obtain scanning point cloud data. According to the invention, high-precision tracking coordinate measurement and high-efficiency scanning measurement can be realized through one instrument, and the detection efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manufacturing industry measurement and detection, and in particular relates to a tracking scanning measurement integrated system, a tracking scanning measurement method and a platform. Background Art

[0002] The assembly accuracy and shape contour accuracy of equipment are key factors to ensure the quality of high-end equipment such as aircraft, missiles, and ships, as well as to ensure stealth, aerodynamic, and hydrodynamic performance. Accurate measurement systems are one of the key means to ensure the assembly accuracy of equipment and the shape contour accuracy of the entire machine. For example, advanced measurement methods are required to measure spatial position and posture in the manufacturing, inspection, and space positioning processes such as large-scale component assembly and docking, space probe payload assembly, UAV high-precision positioning, and robot calibration.

[0003] At present, for the measurement of components of large equipment, in order to obtain high-precision and high-efficiency measurement based on the characteristics of each measurement area, it is necessary to combine the characteristics of each measurement equipment and use targeted measurement equipment to measure each measurement area. For example, a high-precision large-size laser tracker can perform contact and accurate measurement of the measurement area, but it requires the operation of holding the target ball and the measurement speed is slow. The laser radar scanner can perform large-area efficient scanning of the measurement area, but the non-contact measurement accuracy is low when the station is transferred. In addition, since it does not have the tracking coordinate measurement function, it cannot be used for posture measurement in the docking state; in order to achieve the effects of high-precision tracking coordinate measurement and high-efficiency scanning measurement at the same time, different measurement equipment is usually required to perform on-site measurement of the same large equipment. Since each measurement equipment uses its own measurement coordinate system, the coordinate points after measurement need to be converted to a common point to obtain the coordinate point data under the same coordinate. It can be seen that the existing measurement equipment cannot meet the needs of high-precision tracking measurement of component assembly feature points of large equipment and high-precision and rapid on-site measurement of the overall shape contour of the whole machine. Summary of the invention

[0004] The purpose of the present invention is to provide a tracking and scanning measurement integrated system, a tracking and scanning measurement method and a platform, which can realize high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement to meet the needs of on-site rapid measurement of component assembly feature points and the overall shape contour of large equipment.

[0005] In order to achieve the above object, one aspect of the present invention provides a tracking scanning measurement integrated system, comprising: A laser tracking and scanning integrated instrument, comprising a contact laser tracking device, a non-contact laser scanning device, a laser distance measuring device and a laser emission source, wherein the contact laser tracking device and the non-contact laser scanning device are both connected to the laser distance measuring device and the laser emission source; A two-dimensional angle measurement driving device, used to drive the contact laser tracking device, the non-contact laser scanning device and the laser distance measuring device; Tracking cooperation targets, used to move on the surface to be measured in a manner of contacting the surface to be measured according to a set movement strategy; A control device is connected to both the laser tracking and scanning integrated instrument and the two-dimensional angle measurement drive device. In the tracking coordinate measurement mode, the control device controls the laser emission source to emit a ranging laser to the contact laser tracking device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the contact laser tracking device to track the tracking cooperation target in real time according to the optical ranging signal fed back by the contact laser tracking device, so as to obtain the coordinate data of the contact point between the tracking cooperation target and the surface to be measured in real time; in the scanning measurement mode, the control device controls the laser emission source to emit a ranging laser to the non-contact laser scanning device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured according to the optical ranging signal fed back by the non-contact laser scanning device to obtain the scanning point cloud data.

[0006] Another aspect of the present invention provides a tracking and scanning measurement method, characterized in that the tracking and scanning measurement is performed using the above-mentioned tracking and scanning measurement integrated system, and the tracking and scanning measurement method includes: In the tracking coordinate measurement mode, the laser emission source is controlled to emit a ranging laser to the contact laser tracking device, and the two-dimensional angle measurement drive device and the laser ranging device are controlled according to the optical ranging signal fed back by the contact laser tracking device to drive the contact laser tracking device to track the tracking cooperation target in real time, so as to obtain the coordinate data of the contact point between the tracking cooperation target and the surface to be measured in real time; In the scanning measurement mode, the laser emission source is controlled to emit a ranging laser to the non-contact laser scanning device, and the two-dimensional angle measurement drive device and the laser ranging device are controlled according to the optical ranging signal fed back by the non-contact laser scanning device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanning point cloud data.

[0007] Another aspect of the present invention provides a tracking, scanning and measuring platform, comprising the above-mentioned tracking, scanning and measuring integrated system and a computing and processing device, wherein the computing and processing device is connected to the tracking, scanning and measuring integrated system to acquire coordinate data and scanning point cloud data from the tracking, scanning and measuring integrated system.

[0008] The tracking and scanning measurement integrated system, tracking and scanning measurement method and platform according to the above aspects of the present invention can realize high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement to meet the needs of on-site rapid measurement of component assembly feature points and the overall shape contour of large equipment; the contact laser tracking device and the non-contact laser scanning device can be highly integrated and shared in the same device under the same laser ranging device and laser emission source to quickly complete high-precision scanning and tracking measurement, and then obtain point cloud data of rapid scanning and tracking measurement under the same coordinates. Later, these point cloud data can be directly processed by three-dimensional modeling without the need for coordinate conversion as in the prior art, so that high-precision tracking coordinate measurement and high-efficiency scanning measurement can be simply, quickly and completely achieved through one instrument, significantly improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. 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 work: Figure 1 A schematic diagram of the structure of a tracking, scanning and measuring integrated system according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the principle of the laser tracking and scanning integrated instrument according to an embodiment of the present invention; Figure 3 is a structural schematic diagram of a visual tracking module according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a laser tracking and scanning integrated instrument according to an embodiment of the present invention; Figure 5 It is an exploded schematic diagram of a pitch and swivel drive mechanism according to an embodiment of the present invention; Figure 6 An exploded schematic diagram of a scanner housing according to an embodiment of the present invention; Figure 7 An exploded schematic diagram of a horizontal rotary drive mechanism according to an embodiment of the present invention; Figure 8 A schematic diagram of a flow chart of a tracking and scanning measurement method according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of the structure of a tracking and scanning measurement platform according to an embodiment of the present invention. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0011] See also Figure 1 and Figure 2 , Figure 1 A schematic diagram of the structure of a tracking, scanning and measuring integrated system 100 provided in an embodiment of the present invention. Figure 2 This is a structural schematic diagram of the laser tracking and scanning integrated instrument 4 provided in an embodiment of the present invention. The tracking, scanning and measuring integrated system 100 includes: a support frame 1, a mounting shell 2, a two-dimensional angle measurement drive device 3, a laser tracking and scanning integrated instrument 4, a tracking cooperation target 45 and a control device 5.

[0012] The mounting shell 2 is mounted on the support frame 1, the two-dimensional angle measurement drive device 3 is mounted in the mounting shell 2, and the laser tracking and scanning integrated instrument 4 includes a contact laser tracking device 41, a non-contact laser scanning device 42, a laser distance measuring device 43 and a laser emission source 44. The contact laser tracking device 41 and the non-contact laser scanning device 42 are both connected to the laser distance measuring device 43 and the laser emission source 44. The two-dimensional angle measurement drive device 3 is used to drive the contact laser tracking device 41, the non-contact laser scanning device 42 and the laser distance measuring device 43. The tracking cooperation target 45 is used to move on the surface to be measured 200 in a measurement mode of contacting the surface to be measured 200 according to a set movement strategy. The control device 5 is connected to both the laser tracking and scanning integrated instrument 4 and the two-dimensional angle measurement drive device 3. In the tracking coordinate measurement mode, the laser emission source 44 is controlled to emit a ranging laser to the contact laser tracking device 41, and the two-dimensional angle measurement drive device 3 and the laser ranging device 43 are controlled according to the optical ranging signal fed back by the contact laser tracking device 41 to drive the contact laser tracking device 41 to track the tracking cooperation target 45 in real time, so as to obtain the coordinate data of the contact point between the tracking cooperation target 45 and the surface 200 to be measured in real time; in the scanning measurement mode, the laser emission source 44 is controlled to emit a ranging laser to the non-contact laser scanning device 42, and the two-dimensional angle measurement drive device 3 and the laser ranging device 43 are controlled according to the optical ranging signal fed back by the non-contact laser scanning device 42 to drive the non-contact laser scanning device 42 to scan the surface 200 to obtain the scanning point cloud data.

[0013] In this embodiment, the support frame 1 may be a tripod, and the mounting shell 2 is mounted on the support frame 1 .

[0014] In some embodiments, the tracking cooperation target 45 may be a pyramid target sphere, which may be a target sphere or a target mirror. However, the tracking cooperation target 41 may be any structure as long as it can receive and reflect laser light and cooperate with the contact laser tracking device 41 to obtain the coordinate data of the surface 200 to be measured in real time. For ease of understanding, the tracking cooperation target 45 in the following embodiments is described as a pyramid target sphere.

[0015] When the contact laser tracking device 41 is measuring, the pyramid target ball moves on the surface to be measured 200 in a manner of contacting the surface to be measured 200 according to a set movement strategy, and the contact laser tracking device 41 and the laser ranging device 43 cooperate to track the pyramid target ball to obtain the coordinate data of the surface to be measured 200 in the target coordinate system in real time. The set movement strategy can be determined according to the shape of the surface to be measured 200.

[0016] In this embodiment, the movement strategy may be set so that the pyramid target ball moves automatically according to the movement strategy, or may be set so that the pyramid target ball moves according to the movement strategy by hand, and this embodiment does not limit this.

[0017] The coordinate data in this embodiment can be understood as contact point cloud data obtained by tracking the cooperative target 45 .

[0018] When measuring, the non-contact laser scanning device 42 starts the laser emission source 44 to scan the surface to be measured 200 according to the specified scanning strategy, and obtains the scanning point cloud data of the surface to be measured 200 in the target coordinate system in real time. The specified scanning strategy can be a strategy determined by the control device 5 according to the shape of the surface to be measured 200 and the measurement distance.

[0019] In actual use, when the control device 5 is in the tracking coordinate measurement mode, the angle cone target ball can be moved on the surface 200 to be measured by a manipulator or handheld method in a measurement method of contacting the surface 200 according to a set movement strategy. The control device 5 starts the laser emission source 44 to emit a ranging laser to the contact laser tracking device 41. The contact laser tracking device 41 processes the ranging laser and then emits it into the angle cone target ball. The laser is then reflected and emitted into the laser ranging device 43 for ranging. The control device 5 controls the two-dimensional angle measurement drive device 3 according to the ranging signal to drive the contact laser tracking device 41 to track the angle cone target ball in real time to obtain coordinate data in the target coordinate system, and determines the contact point cloud data of the surface 200 to be measured according to the coordinate data. In the scanning measurement mode, the control device 5 starts the laser emission source 44 so that the ranging laser emitted by the laser emission source 44 is emitted into the non-contact laser scanning device 42 for optical signal processing, and then is emitted into the surface to be measured 200 and then reflected into the laser ranging device 43 for ranging. The control device 5 controls the two-dimensional angle measurement drive device 3 to drive the non-contact laser scanning device 42 to scan the surface to be measured 200 according to the ranging signal to obtain the scanning point cloud data in the target coordinate system.

[0020] In some embodiments, the control device 5 can be connected to an external host to receive control instructions sent by the external host, and send measured contact point cloud data and scanning point cloud data to the host, so that the host can perform three-dimensional modeling of the equipment based on the scanning point cloud data and contact point cloud data to achieve high-precision assembly.

[0021] In this embodiment, the contact laser tracking device 41 and the non-contact laser scanning device 42 share the same laser distance measuring device 43, laser emission source 44, two-dimensional angle measuring drive device 3 and control device 5. These components are highly integrated in the mounting shell 2 to form a tracking scanning measurement integrated system. The tracking scanning measurement integrated system has a simple structure and is easy to install and disassemble. The contact laser tracking device 41 and the non-contact laser scanning device 42 can obtain the point cloud data of the surface 200 to be measured at the same coordinate, which enables the point cloud data measured at the same coordinate to achieve high-precision assembly and high-efficiency assembly. In addition, the contact laser tracking device 41 can realize on-site large-scale high-precision contact coordinate measurement, and the non-contact laser scanning device 42 can realize high-precision, fast and complete scanning measurement. In this way, both high-precision and complete scanning can be completed quickly, and large-scale high-precision scanning can be achieved, so as to solve the contradiction that the existing tracker cannot perform fast non-contact scanning measurement and the laser radar cannot perform high-precision tracking coordinate measurement, and realize fast, complete and high-precision scanning and tracking measurement through one instrument, significantly improve the detection efficiency, and meet the requirements of high-precision and fast on-site measurement of component assembly feature points and the overall contour of the whole machine within the specified measurement accuracy requirement range.

[0022] By using the tracking, scanning and measuring integrated system provided in this embodiment, the tracking coordinate measurement accuracy can reach 15μm+6μm / m, the scanning measurement accuracy can reach 10μm+10μm / m, and the ranging accuracy can reach 10μm+2.5μm / m.

[0023] In some embodiments, determining whether the surface 200 to be measured needs tracking coordinate measurement mode or scanning measurement mode can be determined through manual confirmation, or the control device 5 can obtain the measurement mode sent by other electronic devices, or the control device 5 can be provided with a trained measurement mode determination model, and the measurement mode corresponding to the area to be measured is output based on the captured picture of the area to be measured. This embodiment does not limit this.

[0024] In some embodiments, Figure 1As shown, the mounting housing 2 includes a scanner housing 21 and a regulating housing 22, the laser tracking scanning integrated instrument 4 is installed in the scanner housing 21, the two-dimensional angle measuring driving device 3 is installed in the regulating housing 22, and the scanner housing 21 and the regulating housing 22 are installed on the support frame 1. In this embodiment, the support frame 1 can be a tripod, the scanner housing 21 is placed on the top of the tripod, and the regulating housing 22 is placed in the middle of the tripod.

[0025] In some embodiments, the tracking cooperation target 45 is a cone target sphere, and the contact laser tracking device 41 includes: a visual tracking module 411 and a first lens assembly 412, and the first lens assembly 412 is arranged on the light incident side of the laser ranging device 43; wherein the laser ranging device 43 and the visual tracking module 411 are both installed in the scanner shell 21 and are electrically connected to the control device 5.

[0026] The control device 5 is used to turn on the laser emission source 44, the laser ranging device 43 and the visual tracking module 411 in the tracking coordinate measurement mode, determine the position information of the corner cone target ball according to the captured image fed back by the visual tracking module 411, and send the corner cone target ball position information to the two-dimensional angle measurement drive device 3, so as to control the two-dimensional angle measurement drive device 3 to drive the laser ranging device 43 to move according to the corner cone target ball position information, so that the ranging laser emitted by the laser emission source 44 and processed by the first lens assembly 412 for optical signal is emitted into the corner cone target ball. During the movement of the corner cone target ball, the injected ranging laser is reflected to the laser ranging device 43 after passing through the corner cone target ball.

[0027] The laser distance measuring device 43 is used to measure the absolute distance value between the pyramid target sphere and the laser distance measuring device 43 at the current moment according to the received distance measuring laser, and send the absolute distance value at the current moment to the control device 5.

[0028] In this embodiment, the contact laser tracking device 41 points to the tracking cooperative target 45, and the laser ranging device 43 is used to provide position feedback on the angle cone target ball to achieve absolute distance measurement of the tracking cooperative target 45. According to the position deviation and distance feedback measured by the laser ranging device 43, the laser ranging device 43 is driven by the two-dimensional angle measurement drive device 3 to perform adaptive adjustment of the horizontal angle and the pitch angle to achieve tracking measurement of the angle cone target ball, and the final measurement result is transmitted to the host for data processing.

[0029] In this embodiment, the visual tracking module 411 can track the position information of the pyramid target sphere in real time, and then feed back the captured image in real time, so as to determine the position information of the pyramid target sphere.

[0030] In some embodiments, the contact laser tracking device 41 also includes: a position sensing tracker 431; a first lens assembly 412 is arranged on the light incident side of the position sensing tracker 431, and the first lens assembly 412 processes the optical signal of the laser emitted from the laser emission source 44, so that a part of the processed ranging laser is emitted into the corner cone target sphere and then reflected to the first lens assembly 412, and another part of the ranging laser is transmitted through the first lens assembly 412 to form an interference signal and is emitted into the position sensing tracker 431.

[0031] The position sensing tracker 431 is used to measure the position of the light spot formed by the interference signal, and determine the two-dimensional position offset value between the pyramid target sphere and the first lens assembly 412 at the current moment relative to the previous moment in the target coordinate system.

[0032] The control device 5 is electrically connected to the position sensing tracker 431, and is used to adaptively adjust the horizontal angle and the pitch angle according to the absolute distance value sent by the laser ranging device 43 and the two-dimensional position offset value sent by the position sensing tracker 431, so as to achieve tracking measurement of the angle cone target sphere by adjusting the two-dimensional position offset value, obtain the horizontal angle value and the pitch angle value measured by the two-dimensional angle measurement drive device 3, and determine the coordinate data of the surface 200 to be measured in the target coordinate system based on the absolute distance value, the horizontal angle value and the pitch angle value obtained at different times.

[0033] In this embodiment, the first lens assembly 412 is named only for the convenience of distinguishing it from the lens assemblies in the preceding and following contexts, and is not used to limit a certain lens assembly.

[0034] The position sensing tracker 431 can measure the position of the light spot formed by the interference signal, and determine the two-dimensional position offset value between the angle cone target ball and the first lens assembly 412 at the current moment relative to the previous moment in the target coordinate system, so that the control device 5 controls the two-dimensional angle measurement drive device 3 to drive the contact laser tracking device 41 to perform adaptive adjustment of the horizontal angle and the pitch angle according to the two-dimensional position offset value, so as to achieve tracking measurement of the angle cone target ball by adjusting the position offset value, and determine the coordinate data of the surface 200 to be measured in the target coordinate system based on the absolute distance values ​​obtained at different moments.

[0035] In some embodiments, the first lens assembly 412 includes a tracking light collimator 4121, a tracking reflector 4122 and a tracking filter 4123. The ranging laser emitted by the laser emission source 44 is focused into a beam of parallel light signal by the tracking light collimator 4121 and then emitted into the tracking reflector 4122. A portion of the ranging laser of the parallel light signal is reflected and emitted into the pyramid target sphere after being processed by the tracking reflector 4122 and the tracking filter 4123. After being reflected by the pyramid target sphere, it is sequentially emitted into the tracking filter 4123 and the tracking reflector 4122, and forms an interference light signal with another portion of the ranging laser that passes through the tracking reflector 4122 and is emitted into the position sensing tracker 431.

[0036] In this embodiment, the tracking light collimator 4121 is named only for the convenience of distinguishing it from the fiber optic collimator described later, and is not used to limit a certain fiber optic collimator.

[0037] The tracking light collimator 4121 can collimate the light to the desired diameter or spot size, while reducing the divergence angle of the light beam to ensure that the light propagates in a parallel state.

[0038] The tracking light collimator 4121 processes the optical signal of the ranging laser emitted from the laser emission source 44 and outputs a beam of parallel light signal. The parallel light signal is incident on the tracking reflector 4122 and is divided into two laser signals. One laser signal is incident on the tracking reflector 4122 and then reflected into the corner cone target sphere. After being reflected by the corner cone target sphere, it is incident on the tracking reflector 4122 again to form an interference light signal with the other laser signal that passes through the tracking reflector 4122 and is incident on the position sensing tracker 431, so that the position sensing tracker 431 can further process the incident interference light signal.

[0039] In some embodiments, the non-contact laser scanning device 42 includes: a scanning vision module 421 and a second lens assembly 422 , and the second lens assembly 422 is disposed on the light incident side of the laser ranging device 43 .

[0040] The scanning vision module 421 is electrically connected to the control device 5 ; the scanning vision module 421 is used to photograph the area to be measured in a panoramic manner and send the photographed area to be measured to the control device 5 .

[0041] The scanning vision module 421 performs scanning path planning on the area to be measured to obtain a scanning path planning strategy, and sends the scanning path planning strategy to the laser ranging device 43 .

[0042] The laser distance measuring device 43 is also used to measure the absolute distance value between the surface to be measured 200 and the second lens assembly 422 during the scanning process, and send the absolute distance value to the control device 5.

[0043] The control device 5 is also used to control the two-dimensional angle measurement drive device 3 according to the absolute distance value to drive the scanning vision module 421 to scan the area to be measured according to the scanning path planning strategy, so as to converge light energy through the focusing of the second lens assembly 422 to adapt to scanning at different distances.

[0044] In this embodiment, the second lens assembly 422 is named only for the convenience of distinguishing it from the lens assembly mentioned above, and is not used to limit a certain lens assembly.

[0045] The technical solution provided in this embodiment can adapt to scanning at different distances by adjusting the focus, and can automatically realize precise laser scanning to obtain more accurate point cloud data.

[0046] The scanning vision module 421 photographs the area to be measured so that the control device 5 can determine the scanning path planning measurement according to the area to be measured, so that the second lens assembly 422 can determine the absolute distance value between the surface to be measured 200 in the area to be measured and the second lens assembly 422 during the scanning process, and then control the two-dimensional angle measurement drive device 3 according to the absolute distance value to drive the scanning vision module 421 to scan the area to be measured according to the scanning path planning strategy, so as to adapt to scanning at different distances through focusing, thereby realizing large-area non-contact scanning quickly and accurately.

[0047] In some other embodiments, the second lens assembly 422 includes a second scanning collimator 4221, a zoom lens group 4222, a reflector group 4223 and a scanning filter 4224; the second scanning collimator 4221, the zoom lens group 4222, the reflector group 4223 and the scanning filter 4224 are arranged in sequence according to the input and output of the light signal, the second scanning collimator 4221 is close to the laser emission source 44, and the zoom lens group 4222 is installed on the two-dimensional angle measurement drive The driving device 3 is on the two-dimensional angle measurement driving device 3, so that the two-dimensional angle measurement driving device 3 drives the zoom lens group 4222 to adjust the focal length. The light-emitting side of the zoom lens group 4222 is provided with the reflecting mirror group 4223, and the scanning filter 4224 is close to the reflecting mirror group 4223 and is arranged on the light-emitting side of the reflecting mirror group 4223, so that the laser ranging signal processed by the zoom lens group 4222 changes direction through the reflecting mirror group 4223 and enters the scanning filter 4224 and then is emitted into the area to be measured.

[0048] In this embodiment, the second scanning collimator 4221 is named only for the convenience of distinguishing it from the collimator mentioned above, and is not used to limit a certain collimator.

[0049] The distance measuring laser emitted by the laser emission source 44 sequentially enters the second scanning collimator mirror 4221 and the zoom lens group 4222 and then enters the reflection mirror group 4223 and then is reflected and emitted.

[0050] In some embodiments, the tracking scanning measurement system also includes: a fiber optic switch, which is connected to the laser emission source 44 and electrically connected to the control device 5, and the control device 5 is used to control the fiber optic switch to connect the laser emission source 44 with the first lens assembly 412 in the tracking coordinate measurement mode, thereby emitting a ranging laser to the contact laser tracking device 41, and to control the fiber optic switch to connect the laser emission source 44 with the second lens assembly 422 in the scanning measurement mode, thereby emitting a ranging laser to the non-contact laser scanning device 42.

[0051] In some embodiments, Figure 3 As shown, the visual tracking module 411 includes: a telephoto objective lens 4111, a telephoto objective lens pressure ring 4112, a telephoto lens group 4113, an inner lens barrel 4114, a relay lens 4115, an imaging lens group 4116, an outer lens barrel 4117 and an imaging CCD (Charge-coupled Device) lens group 4118; wherein, bosses for mounting the telephoto lens group 4113, the relay lens 4115 and the imaging lens group 4116 are sequentially arranged in the inner lens barrel 4114 at a specified distance; a groove for firmly mounting in the scanner housing 21 is arranged on the outer side surface of the outer lens barrel 4117; the telephoto objective lens 4111 is arranged in the telephoto objective lens pressure ring 4112, and the telephoto objective lens pressure ring 4112 is sleeved on the inner lens barrel 4 114, the corresponding telephoto lens group 4113, relay lens 4115 and imaging lens group 4116 are sequentially installed at each boss of the inner lens barrel 4114, and the telephoto lens group 4113 is close to the telephoto objective lens pressing ring 4112, the outer lens barrel 4117 is sleeved on the outer side of the inner lens barrel 4114, and the end of the outer lens barrel 4117 away from the telephoto objective lens 4111 is installed with an imaging CCD lens group 4118, and is installed in the scanner housing 21 through the groove. In this embodiment, the relay lens 4115 amplifies and transfers the optical signal incident from the telephoto lens group 4113 to expand the coverage, enhance the signal quality, and reduce the transmission delay.

[0052] In other embodiments, Figure 4 As shown, the two-dimensional angle measurement drive device 3 includes a horizontal rotation drive mechanism 31, a horizontal rotation axis 32, a pitch rotation drive mechanism 33, a pitch rotation axis 34, a pitch rotation support frame 35 and a scanning device mounting frame.

[0053] The horizontal rotation drive mechanism 31 is installed in the regulating shell 22, and the output end of the horizontal rotation drive mechanism 31 is connected to the horizontal rotation axis 32. The execution end of the horizontal rotation axis 32 is installed with the scanning device mounting frame, and the scanning device mounting frame is installed in the scanner shell 21. The scanner shell 21 is installed on the pitch rotation support frame 35, so as to drive the scanner shell 21 to realize the horizontal rotation movement through the scanning device mounting frame; the input end of the horizontal rotation drive mechanism 31 is electrically connected to the control device 5, so as to drive the horizontal rotation axis 32 to rotate under the control of the control device 5.

[0054] The pitch-swivel drive mechanism 33 is installed in the scanner housing 21 through the pitch-swivel support frame 35, and the output end of the pitch-swivel drive mechanism 33 is connected to the pitch-swivel axis 34. The pitch-swivel axis 34 is installed on the pitch-swivel support frame 35, so that the laser tracking scanning integrator 4 installed on the pitch-swivel axis 34 through the scanning equipment mounting frame can be driven by the pitch-swivel axis 34 to realize pitch-swivel movement; the input end of the pitch-swivel drive mechanism 33 is electrically connected to the control device 5, so as to drive the pitch-swivel axis 34 to rotate under the control of the control device 5.

[0055] In this embodiment, the control device 5 drives the horizontal rotation axis 32 to rotate through the horizontal rotation drive mechanism 31, and the horizontal rotation axis 32 drives the scanner housing 21 on the pitch rotation support frame 35 to achieve horizontal rotation movement, thereby driving the contact laser tracking device 41 and the non-contact laser scanning device 42 in the scanner housing 21 to achieve horizontal rotation movement.

[0056] The control device 5 drives the pitch rotation axis 34 to rotate through the pitch rotation driving mechanism 33, driving the contact laser tracking device 41 and the non-contact laser scanning device 42 installed in the scanner housing 21 on the pitch rotation support frame 35 to achieve pitch rotation movement.

[0057] It can be seen that the application of the technical solution provided in this embodiment can realize high-precision rotation of the pitch axis and the horizontal axis, and ensure that the measurement optical center is concentric with the measurement component installed at the intersection of the horizontal rotation axis 32 and the pitch rotation axis 34, thereby achieving a high-precision measurement effect.

[0058] In some embodiments, Figure 4 and 5 As shown, the pitch rotation drive mechanism 33 includes a pitch motor rotor 331, a pitch motor stator 332, a pitch circular grating assembly 333, a first angular contact bearing 334, a second angular contact bearing 335, a motor mounting seat, a clamping adjustment ring 336, a pressure cover, a limit mounting plate, a bearing pre-pressure ring and a mounting cover 339.

[0059] The first angular contact bearing 334 is installed on one side of the pitch rotation axis 34, and the pitch circular grating assembly 333 is installed on the first angular contact bearing 334 and the pitch rotation axis 34 to measure the pitch rotation angle of the pitch rotation axis 34. The other side of the pitch rotation axis 34 is sleeved with a bearing pre-load ring and connected to the second angular contact bearing 335. The second angular contact bearing 335 is installed with the motor mounting seat, and the motor mounting seat is installed with the pitch motor rotor 331. The pitch motor rotor 331 is installed with the pitch motor stator 332 and is sleeved on the end of the pitch rotation axis. The pressure cover 337 is installed on the motor in a manner of pressing the pitch motor stator 332. The motor mounting seat is installed on the pitch rotation support frame 35, the bearing pre-load ring is sleeved on the pitch rotation axis 34 and presses the second angular contact bearing 335, the pressing adjustment ring 336 is sleeved on the pitch rotation axis 34 and presses in the pitch motor rotor, the limit mounting plate is limit-set at the end of the pitch rotation axis 34, and the two mounting covers 339 cover the pitch motor rotor, the pitch motor stator 332, the pitch circular grating assembly 333, the first angular contact bearing 334, the second angular contact bearing 335, the motor mounting seat, the pressing adjustment ring 336 and the limit mounting plate and are then installed on the pitch rotation support frame 35.

[0060] In this embodiment, the first angular contact bearing 334 is named only for the convenience of distinguishing it from the angular contact bearings in the preceding and following texts, and is not used to limit a certain angular contact bearing. Correspondingly, the second angular contact bearing 335 is named only for the convenience of distinguishing it from the angular contact bearings in the preceding and following texts, and is not used to limit a certain angular contact bearing.

[0061] As an embodiment, the pitch circular grating assembly 333 includes a pitch circular grating mounting base 3331, a pitch circular grating reading head 3332 and a pitch circular grating, wherein the pitch circular grating mounting base 3331 is mounted on the pitch rotating axis 34, the pitch circular grating mounting base 3331 is mounted with the pitch circular grating, and the pitch circular grating reading head 3332 is mounted on the first angular contact bearing 334 to read the rotation angle of the pitch rotating axis 34.

[0062] In order to achieve high-precision rotation, a dual high-precision dual-contact bearing system is installed on the pitch axis mounting seat, namely the first angular contact bearing 334 and the second angular contact bearing 335. The pitch rotation axis needs to adopt a design in which the bearing diameter at one end is larger than the bearing mounting diameter at the other end to facilitate through-type installation. At the same time, a small preload force is used to facilitate improving the accuracy. The first angular contact bearing 334 and the second angular contact bearing 335 are both high-precision bearings, and the radial and axial runout of the inner circle are controlled within the set accuracy range, such as 2.5μm. A pitch circular grating mounting seat 3331 is installed on one side of the pitch rotation axis 34 to support and fix the pitch circular grating. The pitch circular grating is installed on the circular grating mounting seat 3152. The coaxiality of the installation is ensured by precision machining of the circular grating mounting seat 3152. The pitch circular grating reading head 3332 on this side is installed at the end of the pitch rotation axis 34 to achieve angle measurement. A bearing preload ring is installed on the other side of the pitch rotation axis 34. The angle can be measured by adjusting the outer compression adjustment ring 336. The clearance of the first angular contact bearing 334 is adjusted, the pitch motor rotor 331 is installed on the pitch rotation axis 34, the pitch motor stator 332 is installed on the motor mounting seat and fixed by the pressure cover 337, and the two work together to realize the motor driving function; the limit mounting plate is installed at one end of the pitch rotation axis 34 to realize the limit function of the rotation angle; in addition, the space requirements for wiring, direct-drive torque motor installation, circular grating installation, etc. are also considered, and they are protected by the mounting cover after installation.

[0063] In some embodiments, Figure 6 As shown, the scanner housing 21 includes an upper cover 211 and a lower cover 212 , and the scanning device mounting frame includes a detachable integrated mounting upper seat 361 , a detachable integrated mounting lower seat 362 and a posture adjustment block 363 .

[0064] The visual tracking module 411 is installed on the posture adjustment block 363, and the posture adjustment block 363 is installed on the detachable integrated mounting upper seat 361. The pitch rotation axis, the contact laser tracking device 41 and the non-contact laser scanning device 42 are installed between the detachable integrated mounting upper seat 361 and the detachable integrated mounting lower seat 362, and the contact laser tracking device 41 and the non-contact laser scanning device 42 are installed on the pitch rotation axis in a back-to-back manner. The pitch upper cover 211 covers the detachable integrated mounting upper seat 361, and the pitch lower cover 212 covers the detachable integrated mounting lower seat 362. The detachable integrated mounting lower seat 362 passes through the pitch lower cover 212 and is installed at the execution end of the horizontal rotation axis.

[0065] In some embodiments, Figure 4 and 7As shown, the horizontal rotary drive mechanism 31 includes a third angular contact bearing 311, a fourth angular contact bearing 312, an intermediate main support seat 313, a bearing pressure ring 314, a horizontal circular grating measurement assembly 315, a horizontal motor stator 316 and a horizontal motor rotor 317.

[0066] The horizontal rotating shaft 32 is sleeved with the horizontal motor rotor 317, and the horizontal motor rotor 317 is installed in the horizontal motor stator 316. A horizontal circular grating measuring component 315 for measuring the rotation angle of the horizontal rotating shaft 32 is also installed at the set position of the horizontal rotating shaft 32. The horizontal circular grating measuring component 315 is close to the horizontal motor rotor 317 and connected to the horizontal motor stator 316. The third angular contact bearing 311 and the fourth angular contact bearing 312 are sleeved on the horizontal rotating shaft 32 in sequence in a manner of being separated by the intermediate main support seat 313, and are installed in the intermediate main support seat 313 together with the horizontal circular grating measuring component 315, the horizontal motor stator 316 and the horizontal motor rotor 317. The bearing pressure ring 314 is sleeved on the horizontal rotating shaft 32 in a manner of being close to the horizontal motor stator 316 and pressing the third angular contact bearing 311. The horizontal motor stator 316 is electrically connected to the control device 5 so that the horizontal rotating shaft 32 is driven to rotate through the horizontal motor rotor 317 under the control of the control device 5. The execution end of the horizontal rotating shaft 32 is installed with the scanning equipment mounting bracket.

[0067] In this embodiment, the third angular contact bearing 311 is named only for the convenience of distinguishing it from the angular contact bearings in the preceding and following texts, and is not used to limit a certain angular contact bearing. Correspondingly, the fourth angular contact bearing 312 is named only for the convenience of distinguishing it from the angular contact bearings in the preceding and following texts, and is not used to limit a certain angular contact bearing.

[0068] The bearing pressure ring 314 is sleeved on the horizontal rotating shaft 32 and installed in the third angular contact bearing 311 , and can adjust the pressing force and play a positioning role for the horizontal motor stator 316 , the horizontal motor rotor 317 and the horizontal circular grating measurement component 315 .

[0069] As an embodiment, the horizontal circular grating measurement assembly 315 includes a horizontal circular grating reading head 3151, a horizontal circular grating, a reading head mounting seat and a circular grating mounting seat 3152. The circular grating mounting seat 3152 is sleeved and mounted on the horizontal rotating shaft 32. The horizontal circular grating is mounted on the circular grating mounting seat 3152. The reading head mounting seat is mounted on the fourth angular contact bearing 312. The horizontal circular grating reading head 3151 is mounted on the reading head mounting seat. When the horizontal rotating shaft 32 rotates, the horizontal circular grating is driven to rotate. At this time, the rotation angle of the horizontal rotating shaft 32 can be read by the horizontal circular grating reading head 3151. In this embodiment, in order to ensure that the motor circular grating assembly is easy to disassemble and assemble, the horizontal motor rotor 317 and the horizontal circular grating measurement assembly 315 are installed below the horizontal rotating shaft 32. The horizontal motor rotor 317 realizes the horizontal driving function by cooperating with the horizontal motor stator 316. The horizontal circular grating is installed and fixed on the circular grating mounting seat 3152 at the bottom of the horizontal rotating shaft 32. The coaxial accuracy of the rotation is ensured by precision machining of the circular grating mounting seat 3152. In order to achieve high-precision horizontal angle measurement, a circular grating is also required as an angle sensor, and a horizontal circular grating reading head 3151 is used to correct eccentricity. As an embodiment, the selected horizontal circular grating can meet the angle measurement requirements of ±0.8″, and at the same time has a trigger reading function of the reference position signal to correct the influence of eccentricity.

[0070] In this embodiment, the horizontal rotating shaft 32 is sleeved on the third angular contact bearing 311 and the fourth angular contact bearing 312, and can rotate independently relative to the third angular contact bearing 311 and the fourth angular contact bearing 312. The scanner shell 21 is installed on the scanning device mounting frame. When the horizontal rotating shaft 32 rotates, it drives the scanner shell 21 to rotate through the scanning device mounting frame, thereby realizing horizontal rotation movement and pitch rotation movement.

[0071] As another embodiment, the horizontal rotating shaft 32 is a hollow structure, and the horizontal rotating drive mechanism 31 also includes a wiring groove cover and a wiring pressure cover, wherein the wiring groove cover is sleeved on the outside of the horizontal motor rotor 317 and is attached to the end of the bearing support and away from the scanner housing 21, and the wiring pressure cover is covered on the end of the horizontal rotating shaft 32 and is close to the scanner housing 21, so that the electronic components circuit can be routed through the wiring pressure cover and the wiring groove cover.

[0072] As another embodiment, the horizontal rotation drive mechanism 31 further includes a horizontal guide 318, which is a hollow shell structure, and a plurality of rolling elements are provided at the boss extending outward from the outer edge of the shell structure, and the shell structure is sleeved on the horizontal rotation shaft 32, and the rolling elements are pressed against the outer side of the intermediate main support seat 313, and can be independently rotated relative to the intermediate main support seat 313 under the drive of the horizontal rotation shaft 32. The horizontal guide 318 of this embodiment can guide the horizontal rotation shaft 32 to independently rotate relative to the intermediate main support seat 313.

[0073] In this embodiment, in order to reasonably reduce the weight of components, the horizontal rotating shaft 32 adopts a hollow design; the horizontal circular grating reading head 3151, the horizontal motor stator 316, and the horizontal guide 318 are installed on the middle main support seat 313 to ensure that the rotating shaft rotates while the related components are fixed; in order to ensure the accuracy of the horizontal rotating shaft 32, a third angular contact bearing 311 and a fourth angular contact bearing 312 are installed in combination, and the bearing stiffness is increased by pre-tightening the bearing pressure ring 314 installed on the horizontal rotating shaft 32.

[0074] As an embodiment, the horizontal slewing driving mechanism 31 further includes two protective covers 319 , and the two protective covers 319 are installed on the pitch rotation support frame 35 to protect the horizontal slewing driving mechanism 31 and cables.

[0075] like Figure 7 As shown, the horizontal circular grating reading head 3151 is installed at the bottom of the middle main support seat 313 to realize the horizontal reading angle measurement function; the horizontal guide 318 is installed at the top of the horizontal rotating shaft 32, and realizes the guiding function by moving along the arc groove on the middle main support seat 313; in order to realize the wiring of this tracking scanning measurement integrated system, it is convenient to avoid the use of slip rings by cable winding, and improve the communication quality. The top is designed with a cable winding space composed of two protective covers 319. The cable is connected to the bottom related circuit through the pitch axis mounting seat and the reserved hole of the middle support seat; the bottom is installed with a wiring groove cover to protect the cables of the bottom motor circular grating and other devices; the pitch axis mounting seat is installed at the top of the horizontal rotating shaft 32 for installing the pitch angle drive measurement component, and the wiring pressure cover is installed at the bottom below it for disassembly and wiring. The pitch axis mounting seat and the middle main support seat 313 are both made of hard aluminum material after tempering and then rough machining, and precision machining is performed after natural failure to ensure the stability of the structure; finally, the coaxial accuracy is ensured by grinding process.

[0076] In summary, the tracking scanning measurement integrated system provided by the embodiment of the present invention can highly integrate the contact laser tracking device 41 and the non-contact laser scanning device 42 and share them in the same device under the same laser ranging device 43 and laser emission source 44, so as to quickly complete high-precision scanning and tracking measurement, and then obtain point cloud data of rapid scanning and tracking measurement under the same coordinates. These point cloud data can be directly processed by three-dimensional modeling later, without the need for coordinate conversion as in the prior art. It can be seen that the technical solution of the embodiment of the present invention can realize high-precision scanning and tracking measurement simply, quickly and completely through one instrument, and significantly improve the detection efficiency.

[0077] The embodiment of the present invention further provides a tracking and scanning measurement method, which uses the tracking and scanning measurement integrated system described in any of the above embodiments to perform tracking and scanning measurement, such as Figure 8 As shown, the tracking scanning measurement method includes the following steps: Step 101, in the tracking coordinate measurement mode (when it is determined that the surface 200 to be measured needs the tracking coordinate measurement mode), execute step 102, and in the scanning measurement mode (when it is determined that the surface 200 to be measured needs the scanning measurement mode), execute step 103.

[0078] Step 102, controlling the laser emission source 44 to emit a ranging laser to the contact laser tracking device 41, and controlling the two-dimensional angle measurement drive device 3 and the laser ranging device 43 according to the optical ranging signal fed back by the contact laser tracking device 41 to drive the contact laser tracking device 41 to track the tracking cooperation target 45 in real time, so as to obtain the coordinate data of the contact point between the tracking cooperation target 45 and the surface 200 to be measured in real time.

[0079] Step 103, controlling the laser emission source 44 to emit a ranging laser to the non-contact laser scanning device 42, and controlling the two-dimensional angle measurement drive device 3 and the laser ranging device 43 according to the optical ranging signal fed back by the non-contact laser scanning device 42 to drive the non-contact laser scanning device 42 to scan the surface 200 to be measured to obtain scanning point cloud data.

[0080] In some embodiments, the contact laser tracking device 41 includes: a visual tracking module 411 and a first lens assembly 412, wherein the first lens assembly 412 is disposed on the light incident side of the laser ranging device 43; Wherein, in the tracking coordinate measurement mode, the implementation method of step 102 includes the following steps: Turn on the laser emission source 44, the laser distance measuring device 43 and the visual tracking module 411, determine the position information of the pyramid target ball according to the captured image fed back by the visual tracking module 411, and send the position information of the pyramid target ball to the two-dimensional angle measurement driving device 3, so as to control the two-dimensional angle measurement driving device 3 to drive the laser distance measuring device 43 to move according to the position information of the pyramid target ball, so that the laser emission source 44 emits the distance measuring laser after the optical signal is processed by the first lens assembly 412, and then the laser distance measuring device 43 injects it into the pyramid target ball, and in the process of the movement of the pyramid target ball, the injected distance measuring laser is reflected by the pyramid target ball to the laser distance measuring device 43; The absolute distance value between the pyramid target sphere and the laser ranging device 43 at the current moment measured by the laser ranging device 43 according to the received ranging laser is received.

[0081] In some other embodiments, the contact laser tracking device 41 further includes a position sensing tracker 431, and the position sensing tracker 431 is used to measure the position of the light spot formed by the incident ranging laser, and determine the two-dimensional position offset value between the tracking cooperation target 45 and the first lens assembly 412 at the current moment relative to the previous moment in the target coordinate system; Wherein, in the tracking coordinate measurement mode, the implementation method of step 102 further includes the following steps: Adaptively adjust the horizontal angle and the pitch angle according to the absolute distance value sent by the laser ranging device and the two-dimensional position offset value sent by the position sensing tracker, so as to achieve tracking measurement of the tracking cooperation target by adjusting the two-dimensional position offset value; The horizontal angle value and the pitch angle value measured by the two-dimensional angle measurement driving device are obtained, and the coordinate data of the surface to be measured in the target coordinate system are determined according to the absolute distance values, the horizontal angle value and the pitch angle value obtained at different times.

[0082] In some other embodiments, the non-contact laser scanning device 42 includes: a scanning vision module 421 and a second lens assembly 422 , and the second lens assembly 422 is disposed on the light incident side of the laser ranging device 43 .

[0083] The scanning vision module 421 is electrically connected to the control device 5 ; the scanning vision module 421 is used to photograph the area to be measured in a panoramic manner and send the photographed area to be measured to the control device 5 .

[0084] The implementation of step 103 in the scanning measurement mode includes the following steps: The scanning vision module 421 is controlled to perform scanning path planning on the area to be measured to obtain a scanning path planning strategy, and the scanning path planning strategy is sent to the laser ranging device 43 .

[0085] According to the absolute distance value between the surface to be measured 200 and the second lens assembly 422 measured by the laser ranging device 43, the two-dimensional angle measurement drive device 3 is controlled to drive the scanning vision module 421 to scan the area to be measured according to the scanning path planning strategy, so as to converge light energy through the focusing of the second lens assembly 422 to adapt to scanning at different distances.

[0086] The embodiment of the present invention also provides a tracking scanning measurement platform, such as Fig. 9 As shown, the tracking scanning measurement platform includes the tracking scanning measurement integrated system of the above embodiment and a computing and processing device 300, and the computing and processing device 300 is connected to the tracking scanning measurement integrated system to obtain coordinate data and scanning point cloud data from the tracking scanning measurement integrated system. The computing and processing device 300 can establish a three-dimensional model based on the coordinate data and the scanning point cloud data, which can significantly improve the modeling efficiency.

[0087] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A tracking, scanning and measuring integrated system, characterized in that: include: A laser tracking and scanning integrated instrument, comprising a contact laser tracking device, a non-contact laser scanning device, a laser distance measuring device and a laser emission source, wherein the contact laser tracking device and the non-contact laser scanning device are both connected to the laser distance measuring device and the laser emission source; A two-dimensional angle measurement driving device, used to drive the contact laser tracking device, the non-contact laser scanning device and the laser distance measuring device; Tracking cooperation targets, used to move on the surface to be measured in a manner of contacting the surface to be measured according to a set movement strategy; A control device is connected to both the laser tracking and scanning integrated instrument and the two-dimensional angle measurement drive device. In the tracking coordinate measurement mode, the control device controls the laser emission source to emit a ranging laser to the contact laser tracking device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the contact laser tracking device to track the tracking cooperation target in real time according to the optical ranging signal fed back by the contact laser tracking device, so as to obtain the coordinate data of the contact point between the tracking cooperation target and the surface to be measured in real time; in the scanning measurement mode, the control device controls the laser emission source to emit a ranging laser to the non-contact laser scanning device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured according to the optical ranging signal fed back by the non-contact laser scanning device to obtain the scanning point cloud data.

2. The tracking, scanning and measuring integrated system according to claim 1, characterized in that: The contact laser tracking device comprises: a visual tracking module and a first lens assembly, wherein the first lens assembly is arranged on the light incident side of the laser ranging device; The control device is used to determine the position information of the tracking cooperation target according to the captured image fed back by the visual tracking module in the tracking coordinate measurement mode, and send the position information of the tracking cooperation target to the two-dimensional angle measurement drive device, so as to control the two-dimensional angle measurement drive device to drive the laser ranging device to move according to the position information of the tracking cooperation target, so that the ranging laser emitted by the laser emission source and processed by the first lens assembly enters the tracking cooperation target, and during the movement of the tracking cooperation target, the injected ranging laser is reflected to the laser ranging device after passing through the tracking cooperation target; The laser distance measuring device is used to measure the absolute distance value between the tracking cooperation target and the laser distance measuring device at the current moment according to the received distance measuring laser, and send the absolute distance value at the current moment to the control device.

3. The tracking, scanning and measuring integrated system according to claim 2, characterized in that: The contact laser tracking device also includes: a position sensing tracker; The first lens assembly is arranged at the light incident side of the position sensing tracker, and the first lens assembly processes the optical signal of the laser emitted from the laser emission source, so that a part of the distance measuring laser after the processing is emitted into the tracking cooperation target and then reflected to the first lens assembly and another part of the distance measuring laser is transmitted through the first lens assembly to form an interference signal and then emitted into the position sensing tracker; The position sensing tracker is used to measure the position of the light spot formed by the interference signal, and determine the two-dimensional position offset value between the tracking cooperation target and the first lens assembly at the current moment relative to the previous moment in the target coordinate system; The control device is used to adaptively adjust the horizontal angle and the pitch angle according to the absolute distance value sent by the laser ranging device and the two-dimensional position offset value sent by the position sensing tracker, so as to achieve tracking measurement of the tracking cooperation target by adjusting the two-dimensional position offset value, obtain the horizontal angle value and the pitch angle value measured by the two-dimensional angle measurement drive device, and determine the coordinate data of the surface to be measured in the target coordinate system based on the absolute distance value, the horizontal angle value and the pitch angle value obtained at different times.

4. The tracking, scanning and measuring integrated system according to claim 3, characterized in that: The first lens assembly includes a tracking light collimator, a tracking reflector and a tracking filter. The ranging laser emitted by the laser emission source is focused into a beam of parallel light signals by the tracking light collimator and then emitted into the tracking reflector. A portion of the ranging laser of the parallel light signal is reflected and emitted into the tracking cooperation target after being processed by the tracking reflector and the tracking filter. After being reflected by the tracking cooperation target, it is sequentially emitted into the tracking filter and the tracking reflector, and forms an interference light signal with another portion of the ranging laser that passes through the tracking reflector and is emitted into the position sensing tracker.

5. The tracking, scanning and measuring integrated system according to any one of claims 1 to 4, characterized in that: The non-contact laser scanning device comprises: a scanning vision module and a second lens assembly, wherein the second lens assembly is arranged on the light incident side of the laser distance measuring device; The scanning vision module is used to photograph the area to be measured in a panoramic manner and send the photographed area to be measured to the control device; The control device is used to control the scanning vision module to perform scanning path planning on the area to be measured in the scanning measurement mode to obtain a scanning path planning strategy, and send the scanning path planning strategy to the laser ranging device; The laser distance measuring device is also used to measure the absolute distance value between the surface to be measured and the second lens assembly during the scanning process, and send the absolute distance value to the control device; The control device is also used to control the two-dimensional angle measurement drive device according to the absolute distance value to drive the scanning vision module to scan the area to be measured according to the scanning path planning strategy, so as to adapt to scanning of different distances through the focusing of the second lens assembly.

6. The tracking, scanning and measuring integrated system according to claim 5, characterized in that: The second lens assembly includes a second scanning collimator, a zoom lens group, a reflecting lens group and a scanning filter; The second scanning collimator, the zoom lens group, the reflector group and the scanning filter are arranged in sequence according to the input and output of the light signal. The second scanning collimator is close to the laser emission source side. The zoom lens group is installed on the two-dimensional angle measurement driving device so that the two-dimensional angle measurement driving device drives the zoom lens group to focus. The reflector group is provided on the light output side of the zoom lens group. The scanning filter is close to the reflector group and is arranged on the light output side of the reflector group so that the laser ranging signal processed by the zoom lens group changes direction through the reflector group and enters the scanning filter and then is emitted into the area to be measured.

7. The tracking, scanning and measuring integrated system according to claim 5, characterized in that: Also includes: A fiber optic switch connected to a laser emission source, wherein the control device is used to control the fiber optic switch in a tracking coordinate measurement mode to connect the laser emission source to a first lens assembly so as to emit a ranging laser to the contact laser tracking device, and to control the fiber optic switch in a scanning measurement mode to connect the laser emission source to a second lens assembly so as to emit a ranging laser to the non-contact laser scanning device.

8. The tracking, scanning and measuring integrated system according to any one of claims 2 to 4, characterized in that: The visual tracking module comprises: a telephoto objective lens, a telephoto objective lens pressure ring, a telephoto lens group, an inner lens barrel, a relay lens, an imaging lens group, an outer lens barrel and an imaging CCD lens group; Wherein, bosses for mounting the telescope group, the relay lens and the imaging lens group are sequentially arranged in the inner lens barrel at specified distances; The telephoto objective lens is arranged in the telephoto objective lens pressure ring, and the telephoto objective lens pressure ring is sleeved on the inner lens barrel. The corresponding telephoto lens group, relay lens and imaging lens group are installed in sequence at each boss of the inner lens barrel, and the telephoto lens group is close to the telephoto objective lens pressure ring. The outer lens barrel is sleeved on the outer side of the inner lens barrel, and the imaging CCD lens group is installed at the end of the outer lens barrel away from the telephoto objective lens.

9. The tracking, scanning and measuring integrated system according to any one of claims 2 to 4, characterized in that: Also includes: A support frame and a mounting shell mounted on the support frame, wherein the mounting shell includes a scanner shell and a regulating shell, and the laser tracking scanning integrated instrument is mounted in the scanner shell; The two-dimensional angle measurement drive device includes a horizontal rotation drive mechanism, a horizontal rotation axis, a pitch rotation drive mechanism, a pitch rotation axis, a pitch rotation support frame and a scanning device mounting frame; The horizontal rotation drive mechanism is installed in the regulating shell, the output end of the horizontal rotation drive mechanism is connected to the horizontal rotation axis, the execution end of the horizontal rotation axis is installed with the scanning device mounting frame, the scanning device mounting frame is installed in the scanner shell, and the scanner shell is installed on the pitch rotation support frame, so that the scanner shell is driven by the scanning device mounting frame to realize the horizontal rotation movement; the input end of the horizontal rotation drive mechanism can drive the horizontal rotation axis to rotate under the control of the control device; The pitch-swivel drive mechanism is installed in the scanner housing through the pitch-swivel support frame, and the output end of the pitch-swivel drive mechanism is connected to the pitch-swivel axis, and the pitch-swivel axis is installed on the pitch-swivel support frame, so that the laser tracking scanning integrator installed on the pitch-swivel axis through the scanning equipment mounting frame is driven by the pitch-swivel axis to realize pitch-swivel movement; the input end of the pitch-swivel drive mechanism can drive the pitch-swivel axis to rotate under the control of the control device.

10. The tracking, scanning and measuring integrated system according to claim 9, characterized in that: The pitch rotation drive mechanism comprises a pitch motor rotor, a pitch motor stator, a pitch circular grating assembly, a first angular contact bearing, a second angular contact bearing, a motor mounting seat, a clamping adjustment ring, a pressure cover, a mounting cover, a limit mounting plate and a bearing pre-compression ring; The first angular contact bearing is installed on one side of the pitch rotation axis, the pitch circular grating assembly is installed on the first angular contact bearing and the pitch rotation axis to measure the pitch rotation angle of the pitch rotation axis, the other side of the pitch rotation axis is sleeved with a bearing pre-load ring and then connected to the second angular contact bearing, the second angular contact bearing is installed with the motor mounting seat, the motor mounting seat is installed with the pitch motor rotor, the pitch motor rotor is installed with the pitch motor stator and is sleeved on the end of the pitch rotation axis, the pressure cover is installed on the motor mounting seat in a manner of pressing the pitch motor stator The motor mounting seat is installed on the pitch rotation support frame, the bearing pre-load ring is sleeved on the pitch rotation axis and presses the second angular contact bearing, the pressing adjustment ring is sleeved on the pitch rotation axis and presses in the pitch motor rotor, the limit mounting plate is limit-set at the end of the pitch rotation axis, and the two mounting covers cover the pitch motor rotor, the pitch motor stator, the pitch circular grating assembly, the first angular contact bearing, the second angular contact bearing, the motor mounting seat, the pressing adjustment ring and the limit mounting plate and are then installed on the pitch rotation support frame.

11. The tracking, scanning and measuring integrated system according to claim 9, characterized in that: The scanner housing includes an upper cover and a lower cover, and the scanning device mounting frame includes a detachable integrated mounting upper seat, a detachable integrated mounting lower seat and a posture adjustment block; The visual tracking module is installed on the posture adjustment block, and the posture adjustment block is installed on the detachable integrated mounting upper seat. The pitch rotation axis, the contact laser tracking device and the non-contact laser scanning device are installed between the detachable integrated mounting upper seat and the detachable integrated mounting lower seat, and the contact laser tracking device and the non-contact laser scanning device are installed on the pitch rotation axis in a back-to-back manner. The pitch upper cover is covered on the detachable integrated mounting upper seat, and the pitch lower cover is covered on the detachable integrated mounting lower seat, and the detachable integrated mounting lower seat passes through the pitch lower cover and is installed on the execution end of the horizontal rotation axis.

12. The tracking, scanning and measuring integrated system according to claim 9, characterized in that: The horizontal rotary drive mechanism comprises a third angular contact bearing, a fourth angular contact bearing, an intermediate main support seat, a bearing pressure ring, a horizontal circular grating measurement component, a horizontal motor stator and a horizontal motor rotor; Among them, the horizontal rotating shaft sleeve is provided with the horizontal motor rotor, and the horizontal motor rotor is installed in the horizontal motor stator. A horizontal circular grating measuring component for measuring the rotation angle of the horizontal rotating shaft is also installed at the set position of the horizontal rotating shaft. The horizontal circular grating measuring component is close to the horizontal motor rotor and connected to the horizontal motor stator. The third angular contact bearing and the fourth angular contact bearing are sequentially sleeved on the horizontal rotating shaft in a manner of being separated by the intermediate main support seat, and are installed in the intermediate main support seat together with the horizontal circular grating measuring component, the horizontal motor stator and the horizontal motor rotor; the bearing pressure ring is sleeved on the horizontal rotating shaft in a manner of being close to the horizontal motor stator and pressing the third angular contact bearing. The horizontal motor stator can drive the horizontal rotating shaft to rotate through the horizontal motor rotor under the control of the control device; the execution end of the horizontal rotating shaft is installed with the pitch rotation support frame.

13. The tracking, scanning and measuring integrated system according to any one of claims 1 to 4, characterized in that: The tracking cooperation target is a pyramid target ball.

14. A tracking scanning measurement method, characterized in that: The tracking scanning measurement integrated system according to any one of claims 1 to 13 is used to perform tracking scanning measurement, and the tracking scanning measurement method comprises: In the tracking coordinate measurement mode, the laser emission source is controlled to emit a ranging laser to the contact laser tracking device, and the two-dimensional angle measurement drive device and the laser ranging device are controlled according to the optical ranging signal fed back by the contact laser tracking device to drive the contact laser tracking device to track the tracking cooperation target in real time, so as to obtain the coordinate data of the contact point between the tracking cooperation target and the surface to be measured in real time; In the scanning measurement mode, the laser emission source is controlled to emit a ranging laser to the non-contact laser scanning device, and the two-dimensional angle measurement drive device and the laser ranging device are controlled according to the optical ranging signal fed back by the non-contact laser scanning device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanning point cloud data.

15. The tracking scanning measurement method according to claim 14, characterized in that: The contact laser tracking device comprises: a visual tracking module and a first lens assembly, wherein the first lens assembly is arranged on the light incident side of the laser ranging device, and the two-dimensional angle measurement driving device and the laser ranging device are controlled according to the light ranging signal fed back by the contact laser tracking device to drive the contact laser tracking device to track the tracking cooperation target in real time, comprising: Determine the position information of the tracking cooperation target according to the captured image fed back by the visual tracking module; Sending the position information of the tracking cooperative target to the two-dimensional angle measurement driving device, so as to control the two-dimensional angle measurement driving device to drive the laser ranging device to move according to the position information of the tracking cooperative target, so that the laser emission source emits the ranging laser after the optical signal is processed by the first lens assembly and then is emitted into the tracking cooperative target through the laser ranging device, and during the movement of the tracking cooperative target, the emitted ranging laser is reflected into the laser ranging device after passing through the tracking cooperative target; Receive the absolute distance value between the tracking cooperation target and the laser ranging device at the current moment measured by the laser ranging device according to the received ranging laser.

16. The tracking scanning measurement method according to claim 15, characterized in that: The contact laser tracking device further includes: a position sensing tracker; the first lens assembly is arranged at the light incident side of the position sensing tracker, the first lens assembly processes the optical signal of the laser emitted from the laser emission source, so that a part of the distance measuring laser after the processing is emitted into the tracking cooperation target and then reflected to the first lens assembly and the distance measuring laser of another part of the distance measuring laser after passing through the first lens assembly forms an interference signal and is emitted into the position sensing tracker; the position sensing tracker is used to measure the position of the light spot formed by the interference signal, and determine the two-dimensional position offset value between the tracking cooperation target and the first lens assembly at the current moment relative to the previous moment in the target coordinate system; the two-dimensional angle measurement driving device and the laser distance measuring device are controlled according to the optical distance measuring signal fed back by the contact laser tracking device to drive the contact laser tracking device to track the tracking cooperation target in real time, and further includes: Adaptively adjust the horizontal angle and the pitch angle according to the absolute distance value sent by the laser ranging device and the two-dimensional position offset value sent by the position sensing tracker, so as to achieve tracking measurement of the tracking cooperation target by adjusting the two-dimensional position offset value; The horizontal angle value and the pitch angle value measured by the two-dimensional angle measurement driving device are obtained, and the coordinate data of the surface to be measured in the target coordinate system are determined according to the absolute distance values, the horizontal angle value and the pitch angle value obtained at different times.

17. The tracking scanning measurement method according to claim 15 or 16, characterized in that: The non-contact laser scanning device comprises: a scanning vision module and a second lens assembly, wherein the second lens assembly is arranged on the light incident side of the laser ranging device, the scanning vision module is used to photograph the area to be measured in a panoramic manner, and the light ranging signal fed back by the non-contact laser scanning device controls the two-dimensional angle measurement drive device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain the scanning point cloud data, including: Controlling the scanning vision module to perform scanning path planning on the area to be measured to obtain a scanning path planning strategy, and sending the scanning path planning strategy to the laser ranging device; According to the absolute distance value between the surface to be measured and the second lens assembly measured by the laser ranging device, the two-dimensional angle measurement drive device is controlled to drive the scanning vision module to scan the area to be measured according to the scanning path planning strategy, so as to adapt to scanning of different distances through the focusing of the second lens assembly.

18. A tracking and scanning measurement platform, characterized in that: It comprises a tracking, scanning and measuring integrated system and a computing and processing device as described in any one of claims 1 to 13, wherein the computing and processing device is connected to the tracking, scanning and measuring integrated system to obtain coordinate data and scanning point cloud data from the tracking, scanning and measuring integrated system.

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