An integrated system for tracking and scanning measurement, a method for tracking and scanning measurement, and a platform

Abstract

The present invention discloses an integrated system for tracking and scanning measurement, a method and a platform for tracking and scanning measurement. In the tracking measurement mode, the control device controls the laser emission source to emit ranging laser towards the contact laser tracking device, and controls the two-dimensional angle measuring driving device and the laser ranging device to drive the contact laser tracking device to track the set 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 ranging laser towards the non-contact laser scanning device, and controls the two-dimensional angle measuring driving device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanned point cloud data. The present invention can achieve high-precision tracking coordinate measurement and high-efficiency scanning measurement through one instrument, significantly improving the detection efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of metrology and testing in manufacturing, and particularly relates to a tracking and scanning measurement integration system, a tracking and scanning measurement method, and a platform. Background Art

[0002] The assembly accuracy and the contour accuracy of equipment are key factors to ensure the quality of high-end equipment such as aircraft, missiles, and ships, and to ensure stealth, aerodynamic, and hydrodynamic performance. And an accurate measurement system is one of the key means to ensure the assembly accuracy of equipment and the overall contour accuracy of the whole machine. For example, in the manufacturing, inspection, and spatial positioning processes such as the assembly and docking of large parts, the assembly of space detector payloads, the high-precision positioning of unmanned aerial vehicles, and the calibration of robots, advanced measurement means are required to measure the spatial position and attitude.

[0003] Currently, for the measurement of large equipment components, in view of the characteristics of each measurement area, in order to obtain high-precision and high-efficiency measurement, it is necessary to combine the characteristics of each measurement device and use targeted measurement devices to measure each measurement area. For example, a high-precision large-size laser tracker can perform contact precise measurement on the area to be measured, but it requires the operation of holding a target ball, and the measurement speed is slow. While a lidar scanner can perform large-area and high-efficiency scanning on the measurement area, but the non-contact measurement accuracy is relatively low during station transfer. In addition, since it does not have the function of tracking coordinate measurement, it cannot be applied to the attitude 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, it is usually necessary to use different measurement devices to perform on-site measurement on the same large equipment. Since each measurement device uses its own measurement coordinate system, the coordinate points after measurement need to be converted by common points to obtain the coordinate point data under the same coordinate. It can be seen that the existing measurement devices cannot meet the requirements of high-precision tracking measurement of the component assembly feature points of large equipment and high-precision and rapid on-site measurement of the overall contour of the whole machine. Summary of the Invention

[0004] The object of the present invention is to provide a tracking and scanning measurement integration system, a tracking and scanning measurement method, and a platform, which can achieve high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement to meet the requirements of rapid on-site measurement of the component assembly feature points and the overall contour of the whole machine of large equipment.

[0005] In order to achieve the above object, one aspect of the present invention provides a tracking and scanning measurement integration system, including:

[0006] A laser tracking and scanning integrator, including a contact laser tracking device, a non-contact laser scanning device, a laser ranging 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 ranging device and the laser emission source;

[0007] A two-dimensional angle measuring and driving device for driving the contact laser tracking device, the non-contact laser scanning device, and the laser ranging device;

[0008] A tracking cooperation target for moving on the surface to be measured in a manner of contacting the surface to be measured according to a set movement strategy;

[0009] A control device is connected to both the laser tracking and scanning integrated instrument and the two-dimensional angle measuring and driving device. In the tracking coordinate measurement mode, it controls the laser emission source to emit ranging laser to the contact laser tracking device, and controls the two-dimensional angle measuring and driving 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, it controls the laser emission source to emit ranging laser to the non-contact laser scanning device, and controls the two-dimensional angle measuring and driving device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanned point cloud data.

[0010] Another aspect of the present invention provides a tracking and scanning measurement method, characterized in that the above-mentioned tracking and scanning measurement integrated system is used for tracking and scanning measurement, and this tracking and scanning measurement method includes:

[0011] In the tracking coordinate measurement mode, control the laser emission source to emit ranging laser to the contact laser tracking device, and control the two-dimensional angle measuring and driving 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;

[0012] In the scanning measurement mode, control the laser emission source to emit ranging laser to the non-contact laser scanning device, and control the two-dimensional angle measuring and driving device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanned point cloud data.

[0013] Another aspect of the present invention provides a tracking and scanning measurement platform, including the above-mentioned tracking and scanning measurement integrated system and a computing and processing device, and the computing and processing device is connected to the tracking and scanning measurement integrated system to obtain coordinate data and scanned point cloud data from the tracking and scanning measurement integrated system.

[0014] The tracking and scanning measurement integration system, tracking and scanning measurement method and platform according to the above aspects of the present invention can achieve high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement to meet the on-site rapid measurement requirements of the component assembly feature points and the overall machine 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 the point cloud data of rapid scanning and tracking measurement under the same coordinates. Later, these point cloud data can be directly processed for three-dimensional modeling without the need for coordinate conversion as in the prior art. Therefore, high-precision tracking coordinate measurement and high-efficiency scanning measurement can be simply, quickly and completely realized by one instrument, significantly improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts:

[0016] Figure 1 Structural schematic diagram of the tracking and scanning measurement integration system according to the embodiment of the present invention;

[0017] Figure 2 Principle schematic diagram of the laser tracking and scanning integrator according to the embodiment of the present invention;

[0018] Figure 3 Structural schematic diagram of the visual tracking module according to the embodiment of the present invention;

[0019] Figure 4 Structural schematic diagram of the laser tracking and scanning integrator according to the embodiment of the present invention;

[0020] Figure 5 Explosion schematic diagram of the pitch and yaw drive mechanism according to the embodiment of the present invention;

[0021] Figure 6 Explosion schematic diagram of the scanner housing according to the embodiment of the present invention;

[0022] Figure 7 Explosion schematic diagram of the horizontal rotation drive mechanism according to the embodiment of the present invention;

[0023] Figure 8 Flow schematic diagram of the tracking and scanning measurement method according to the embodiment of the present invention;

[0024] Figure 9 Structural schematic diagram of the tracking and scanning measurement platform according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will, in conjunction with the accompanying drawings, clearly and completely describe the technical solutions of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0026] See Figure 1 and Figure 2 , Figure 1 is a schematic structural diagram of a tracking and scanning measurement integration system 100 provided by an embodiment of the present invention. Figure 2 is a schematic structural diagram of a laser tracking and scanning integrator 4 provided by an embodiment of the present invention. The tracking and scanning measurement integration system 100 includes: a support frame 1, a mounting housing 2, a two-dimensional angle measurement driving device 3, a laser tracking and scanning integrator 4, a tracking cooperation target 45, and a control device 5.

[0027] Among them, the mounting housing 2 is mounted on the support frame 1, the two-dimensional angle measurement driving device 3 is mounted inside the mounting housing 2. The laser tracking and scanning integrator 4 includes a contact laser tracking device 41, a non-contact laser scanning device 42, a laser ranging device 43, and a laser emission source 44. Both the contact laser tracking device 41 and the non-contact laser scanning device 42 are connected to the laser ranging device 43 and the laser emission source 44. The two-dimensional angle measurement driving device 3 is used to drive the contact laser tracking device 41, the non-contact laser scanning device 42, and the laser ranging device 43. The tracking cooperation target 45 is used to move on the surface to be measured 200 in a measurement manner 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 integrator 4 and the two-dimensional angle measurement driving device 3. In the tracking coordinate measurement mode, it controls the laser emission source 44 to emit ranging laser to the contact laser tracking device 41, and controls the two-dimensional angle measurement driving device 3 and the laser ranging device 43 to drive the contact laser tracking device 41 to track the tracking cooperation target 45 in real time according to the optical ranging signal fed back by the contact laser tracking device 41, so as to obtain the coordinate data of the contact point between the tracking cooperation target 45 and the surface to be measured 200 in real time; in the scanning measurement mode, it controls the laser emission source 44 to emit ranging laser to the non-contact laser scanning device 42, and controls the two-dimensional angle measurement driving device 3 and the laser ranging device 43 to drive the non-contact laser scanning device 42 to scan the surface to be measured 200 to obtain scanned point cloud data.

[0028] In this embodiment, the support frame 1 can be a tripod, and the mounting housing 2 is mounted on the support frame 1.

[0029] In some embodiments, the tracking cooperation target 45 may be a corner cube target ball, which may be a target ball or a target mirror. However, it is not limited thereto. 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, the tracking cooperation target 41 may be any structure. For ease of understanding, the tracking cooperation target 45 in the following embodiments will be described using a corner cube target ball.

[0030] When the contact laser tracking device 41 is measuring, the corner cube target ball moves on the surface 200 to be measured in accordance with a set movement strategy in a manner of contacting the surface 200 to be measured. The contact laser tracking device 41 and the laser ranging device 43 cooperate to obtain the coordinate data of the surface 200 to be measured in the target coordinate system in real time by tracking the corner cube target ball. The set movement strategy may be a strategy determined according to the shape of the surface 200 to be measured.

[0031] In this embodiment, the set movement strategy may be that the corner cube target ball moves automatically in accordance with the movement strategy, or may be that the corner cube target ball is held by hand and moves in accordance with the movement strategy. This embodiment does not limit this.

[0032] The coordinate data in this embodiment can be understood as the contact point cloud data obtained by tracking the cooperation target 45.

[0033] When the non-contact laser scanning device 42 is measuring, the laser emission source 44 is activated to scan the surface 200 to be measured in accordance with a specified scanning strategy, and the scanned point cloud data of the surface 200 to be measured in the target coordinate system is obtained in real time. The specified scanning strategy may be a strategy determined by the control device 5 according to the shape of the surface 200 to be measured and the measurement distance.

[0034] In actual use, in the tracking coordinate measurement mode of the control device 5, the corner cube target ball can move on the surface 200 to be measured in a measurement mode of contacting the surface 200 to be measured by means of a mechanical arm or by hand in accordance with a set movement strategy. The control device 5 activates the laser emission source 44 to emit ranging laser light to the contact laser tracking device 41. After the contact laser tracking device 41 processes the optical signal of the ranging laser light, it is incident on the corner cube target ball 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 contact laser tracking device 41 to track the corner cube target ball in real time according to the ranging signal to obtain the 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 of the control device 5, the laser emission source 44 is activated so that the ranging laser light emitted by the laser emission source 44 is incident on the non-contact laser scanning device 42 for optical signal processing and then incident on the surface 200 to be measured 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 200 to be measured to obtain the scanned point cloud data in the target coordinate system.

[0035] In some embodiments, the control device 5 can be externally connected to a host to receive control instructions sent by the host and send the measured contact point cloud data and scanned point cloud data to the host, so that the host can perform three-dimensional modeling on the equipment based on the scanned point cloud data and the contact point cloud data to achieve high-precision assembly.

[0036] In this embodiment, the contact laser tracking device 41 and the non-contact laser scanning device 42 share the same laser ranging device 43, laser emission source 44, two-dimensional angle measurement driving device 3, and control device 5. These components are highly integrated in the installation housing 2 to form a tracking and scanning measurement integration system. The tracking and scanning measurement integration system has a simple structure and is convenient for installation and disassembly. 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 in the same coordinate system, which enables the point cloud data measured in the same coordinate system to achieve high-precision assembly and high-efficiency assembly. In addition, the contact laser tracking device 41 can achieve on-site large-size high-precision contact coordinate measurement, and the non-contact laser scanning device 42 can achieve high-precision fast and complete scanning measurement. In this way, both high-precision fast and complete scanning and large-size high-precision scanning can be achieved, so as to solve the contradiction that existing trackers cannot perform fast non-contact scanning measurement and lidars cannot perform high-precision tracking coordinate measurement, and realize fast, complete, high-precision scanning and tracking measurement through one instrument, significantly improving the detection efficiency and meeting the on-site high-precision fast measurement requirements of the component assembly feature points and the overall machine contour within the specified measurement accuracy range.

[0037] When applying the tracking and scanning measurement integration system provided by this embodiment, its 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.

[0038] In some embodiments, determining whether the surface 200 to be measured requires the tracking coordinate measurement mode or the scanning measurement mode can be confirmed manually, or the control device 5 can obtain the measurement mode sent by other electronic devices, or the control device 5 is provided with a trained measurement mode determination model, and according to the taken picture of the area to be measured, output the measurement mode corresponding to the area to be measured. This embodiment does not limit this.

[0039] In some embodiments, such as Figure 1As shown in the figure, the installation housing 2 includes a scanner housing 21 and a regulation housing 22. The laser tracking scanner integrator 4 is installed within the scanner housing 21, and the two-dimensional angle measuring drive device 3 is installed within the regulation housing 22. The scanner housing 21 and the regulation 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 regulation housing 22 is placed in the middle part of the tripod.

[0040] In some embodiments, the tracking cooperation target 45 is a corner cube target ball. The contact laser tracking device 41 includes: a visual tracking module 411 and a first lens assembly 412. The first lens assembly 412 is disposed on the light incident side of the laser ranging device 43. Among them, the laser ranging device 43 and the visual tracking module 411 are both installed within the scanner housing 21 and are electrically connected to the control device 5.

[0041] The control device 5 is used to, in the tracking coordinate measurement mode, turn on the laser emission source 44, the laser ranging device 43, and the visual tracking module 411, determine the position information of the corner cube target ball according to the captured image fed back by the visual tracking module 411, and send the position information of the corner cube target ball to the two-dimensional angle measuring drive device 3, so as to control the two-dimensional angle measuring drive device 3 to drive the laser ranging device 43 to move according to the position information of the corner cube target ball, so that the ranging laser emitted by the laser emission source 44 and subjected to optical signal processing by the first lens assembly 412 is incident into the corner cube target ball. During the movement of the corner cube target ball, the incident ranging laser is reflected by the corner cube target ball and then enters the laser ranging device 43.

[0042] The laser ranging device 43 is used to measure the absolute distance value between the corner cube target ball and the present laser ranging device 43 at the current moment according to the received ranging laser, and send the absolute distance value at the current moment to the control device 5.

[0043] In this embodiment, the contact laser tracking device 41 points to the tracking cooperation target 45, uses the laser ranging device 43 to perform position feedback on the corner cube target ball, realizes the measurement of the absolute distance of the tracking cooperation target 45, and drives the laser ranging device 43 to perform adaptive adjustment of the horizontal angle and the pitch angle through the two-dimensional angle measuring drive device 3 according to the position deviation and the distance feedback amount measured by the laser ranging device 43, realizes the tracking measurement of the corner cube target ball, and finally the measurement result is transmitted to the host for data processing.

[0044] In this embodiment, the visual tracking module 411 can track the position information of the corner cube target ball in real time, and then feedback the captured image in real time, so as to determine the position information of the corner cube target ball.

[0045] In some embodiments, the contact laser tracking device 41 further includes: a position sensing tracker 431; a first lens assembly 412 disposed on the light incident side of the position sensing tracker 431. 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 ranging laser after processing is reflected by the corner cube target ball and then enters the first lens assembly 412, and the ranging laser after another part of the ranging laser passes through the first lens assembly 412 forms an interference signal and enters the position sensing tracker 431.

[0046] The position sensing tracker 431 is configured to measure the position of the light spot formed by the interference signal, and determine the two-dimensional position offset value of the corner cube target ball and the first lens assembly 412 at the current moment relative to the previous moment in the target coordinate system.

[0047] The control device 5 is electrically connected to the position sensing tracker 431, and is configured to perform adaptive adjustment of 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 realize the tracking measurement of the corner cube target ball by adjusting the two-dimensional position offset value, obtain the horizontal angle value and the pitch angle value measured by the two-dimensional angle measuring driving device 3, and determine the coordinate data of the surface 200 to be measured in the target coordinate system based on the absolute distance values, the horizontal angle values, and the pitch angle values at different moments obtained.

[0048] In this embodiment, the first lens assembly 412 is named only for the convenience of distinguishing from the lens assemblies in the context before and after, and is not used to limit a certain lens assembly.

[0049] 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 of the corner cube 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 measuring driving 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 realize the tracking measurement of the corner cube 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 at different moments obtained.

[0050] In some embodiments, the first lens assembly 412 includes a tracking collimator 4121, a tracking beam splitter 4122, and a tracking filter 4123. The ranging laser emitted by the laser emission source 44 is focused into a parallel light signal by the tracking collimator 4121 and then enters the tracking beam splitter 4122. A part of the ranging laser of the parallel light signal is reflected into the corner cube target ball after being processed by the tracking beam splitter 4122 and the tracking filter 4123. After being reflected by the corner cube target ball, it enters the tracking filter 4123 and the tracking beam splitter 4122 in sequence, and forms an interference light signal with another part of the ranging laser passing through the tracking beam splitter 4122 and enters the position sensing tracker 431.

[0051] In this embodiment, the tracking collimator 4121 is named only for the convenience of distinguishing it from the fiber collimator in the following text, and is not used to define a certain fiber collimator.

[0052] The tracking collimator 4121 can collimate the light to the required diameter or spot size, while reducing the divergence angle of the light beam to ensure that the light propagates in a parallel state.

[0053] The tracking collimator 4121 processes the ranging laser emitted by the laser emission source 44 and outputs a parallel light signal. After the parallel light signal enters the tracking beam splitter 4122, it is divided into two laser signals. One laser signal is reflected into the corner cube target ball after entering the tracking beam splitter 4122, and after being reflected by the corner cube target ball, it enters the tracking beam splitter 4122 again, and forms an interference light signal with another laser signal passing through the tracking beam splitter 4122 and enters the position sensing tracker 431, so that the position sensing tracker 431 further processes the incident interference light signal.

[0054] In some embodiments, the non-contact laser scanning device 42 includes a scanning vision module 421 and a second lens assembly 422. The second lens assembly 422 is disposed on the incident light side of the laser ranging device 43.

[0055] 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.

[0056] The scanning vision module 421 plans the scanning path for 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.

[0057] The laser ranging device 43 is further used to measure the absolute distance value between the surface 200 to be measured and the second lens assembly 422 during the scanning process, and send the absolute distance value to the control device 5.

[0058] The control device 5 is further configured to control the two-dimensional angle measuring and driving device 3 to drive the scanning vision module 421 to scan the area to be measured according to the scanning path planning strategy based on the absolute distance value, so as to perform light energy convergence through the focusing of the second lens assembly 422 to adapt to scans at different distances.

[0059] In this embodiment, the second lens assembly 422 is only named for the convenience of distinguishing it from the previous lens assembly, and is not used to limit a certain lens assembly.

[0060] The technical solution provided in this embodiment can adapt to scans at different distances through focusing, can automatically achieve precise laser scanning, and obtain more accurate point cloud data.

[0061] 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 during the scanning process of the second lens assembly 422, the absolute distance value between the surface 200 to be measured in the area to be measured and the second lens assembly 422 is determined, and then the two-dimensional angle measuring and driving device 3 is controlled 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 scans at different distances through focusing, thereby quickly and accurately achieving large-area non-contact scanning.

[0062] In some other embodiments, the second lens assembly 422 includes a second scanning collimator 4221, a zoom lens group 4222, a mirror group 4223, and a scanning filter 4224; the second scanning collimator 4221, the zoom lens group 4222, the mirror group 4223, and the scanning filter 4224 are arranged in sequence according to the entry and exit of the light signal. The second scanning collimator 4221 is close to the laser emission source 44 side, the zoom lens group 4222 is installed on the two-dimensional angle measuring and driving device 3, so that the two-dimensional angle measuring and driving device 3 drives the zoom lens group 4222 to adjust the focal length. The mirror group 4223 is provided on the light exit side of the zoom lens group 4222, and the scanning filter 4224 is close to the mirror group 4223 and is arranged on the light exit side of the mirror group 4223, so that the laser ranging signal processed by the zoom lens group 4222 changes direction through the mirror group 4223 and enters the scanning filter 4224 and then is incident on the area to be measured.

[0063] In this embodiment, the second scanning collimator 4221 is only named for the convenience of distinguishing it from the previous collimator, and is not used to limit a certain collimator.

[0064] The ranging laser emitted by the laser emission source 44 is sequentially incident on the second scanning collimator 4221 and the zoom lens group 4222, and then is reflected and emitted after passing through the mirror group 4223.

[0065] In some embodiments, the tracking and scanning measurement system further includes: an optical fiber switch, which is connected to the laser emission source 44 and electrically connected to the control device 5. The control device 5 is configured to control the optical fiber switch to connect the laser emission source 44 to the first lens assembly 412 in the tracking coordinate measurement mode so as to emit ranging laser to the contact laser tracking device 41, and control the optical fiber switch to connect the laser emission source 44 to the second lens assembly 422 in the scanning measurement mode so as to emit ranging laser to the non-contact laser scanning device 42.

[0066] In some embodiments, as Figure 3 shown, the visual tracking module 411 includes: a telephoto objective lens 4111, a telephoto objective lens retaining ring 4112, a telescope 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 telescope 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 stably mounting in the scanner housing 21 is provided on the outer side surface of the outer lens barrel 4117; the telephoto objective lens 4111 is disposed in the telephoto objective lens retaining ring 4112, the telephoto objective lens retaining ring 4112 is sleeved on the inner lens barrel 4114, the corresponding telescope group 4113, relay lens 4115, and imaging lens group 4116 are sequentially mounted at each boss of the inner lens barrel 4114, and the telescope group 4113 is close to the telephoto objective lens retaining ring 4112. The outer lens barrel 4117 is sleeved outside the inner lens barrel 4114, and an imaging CCD lens group 4118 is mounted at the end of the outer lens barrel 4117 away from the telephoto objective lens 4111 and is mounted in the scanner housing 21 through the groove. In this embodiment, the relay lens 4115 amplifies and relays the optical signal incident from the telescope group 4113 to expand the coverage range, enhance the signal quality, and reduce the transmission delay.

[0067] In other embodiments, as Figure 4 shown, the two-dimensional angle measurement driving device 3 includes a horizontal rotation driving mechanism 31, a horizontal rotation shaft 32, a pitch rotation driving mechanism 33, a pitch rotation shaft 34, a pitch rotation support frame 35, and a scanning device mounting bracket.

[0068] The horizontal rotation drive mechanism 31 is installed inside the regulation housing 22. The output end of the horizontal rotation drive mechanism 31 is connected to the horizontal rotation shaft 32. The execution end of the horizontal rotation shaft 32 is equipped with the scanning device mounting bracket, and the scanning device mounting bracket is installed inside the scanner housing 21. The scanner housing 21 is installed on the pitch rotation support frame 35 to drive the scanner housing 21 to achieve the horizontal rotation movement through the scanning device mounting bracket. The input end of the horizontal rotation drive mechanism 31 is electrically connected to the control device 5 to drive the horizontal rotation shaft 32 to rotate under the control of the control device 5.

[0069] The pitch rotation drive mechanism 33 is installed inside the scanner housing 21 through the pitch rotation support frame 35. The output end of the pitch rotation drive mechanism 33 is connected to the pitch rotation shaft 34, and the pitch rotation shaft 34 is installed on the pitch rotation support frame 35 to drive the laser tracking scanning integrator 4 installed on the pitch rotation shaft 34 through the pitch rotation support frame 35 by the pitch rotation shaft 34 to achieve the pitch rotation movement. The input end of the pitch rotation drive mechanism 33 is electrically connected to the control device 5 to drive the pitch rotation shaft 34 to rotate under the control of the control device 5.

[0070] In this embodiment, the control device 5 drives the horizontal rotation shaft 32 to rotate through the horizontal rotation drive mechanism 31. The horizontal rotation shaft 32 drives the scanner housing 21 on the pitch rotation support frame 35 to achieve the horizontal rotation movement, and further drives the contact laser tracking device 41 and the non-contact laser scanning device 42 inside the scanner housing 21 to achieve the horizontal rotation movement.

[0071] The control device 5 drives the pitch rotation shaft 34 to rotate through the pitch rotation drive mechanism 33, driving the contact laser tracking device 41 and the non-contact laser scanning device 42 inside the scanner housing 21 installed on the pitch rotation support frame 35 to achieve the pitch rotation movement.

[0072] It can be seen that applying the technical solution provided in this embodiment can achieve high-precision rotation of the pitch axis and the horizontal axis, and ensure that the measurement optical center is concentric with the measurement components installed at the rotation intersection of the horizontal rotation shaft 32 and the pitch rotation shaft 34, achieving a high-precision measurement effect.

[0073] In some embodiments, such as Figure 4 and 5 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 compression adjustment ring 336, a gland, a limit mounting plate, a bearing preloading ring, and a mounting cover 339.

[0074] The first angular contact bearing 334 is installed on one side of the pitching rotation shaft 34. The pitching circular grating assembly 333 is installed on the first angular contact bearing 334 and the pitching rotation shaft 34 for measuring the pitching rotation angle of the pitching rotation shaft 34. A bearing preloading ring is sleeved on the other side of the pitching rotation shaft 34 and then connected to the second angular contact bearing 335. The motor mounting seat is installed on the second angular contact bearing 335. The pitching motor rotor 331 is installed on the motor mounting seat. The pitching motor stator 332 is installed on the pitching motor rotor 331 and sleeved on the end of the pitching rotation shaft. The gland 337 is installed on the motor mounting seat in a manner of pressing the pitching motor stator 332. The motor mounting seat is installed on the pitching rotation support frame 35. The bearing preloading ring is sleeved on the pitching rotation shaft 34 and presses the second angular contact bearing 335. The compression adjusting ring 336 is sleeved on the pitching rotation shaft 34 and is pressed and arranged inside the pitching motor rotor. The limit mounting plate is limit-set at the end of the pitching rotation shaft 34. The two mounting covers 339 cover the pitching motor rotor, the pitching motor stator 332, the pitching circular grating assembly 333, the first angular contact bearing 334, the second angular contact bearing 335, the motor mounting seat, the compression adjusting ring 336 and the limit mounting plate and then are installed on the pitching rotation support frame 35.

[0075] In this embodiment, the first angular contact bearing 334 is named only for facilitating the distinction from the angular contact bearings in the context before and after, and is not used to define a certain angular contact bearing. Correspondingly, the second angular contact bearing 335 is named only for facilitating the distinction from the angular contact bearings in the context before and after, and is not used to define a certain angular contact bearing.

[0076] As an embodiment, the pitching circular grating assembly 333 includes a pitching circular grating mounting seat 3331, a pitching circular grating reading head 3332 and a pitching circular grating. The pitching circular grating mounting seat 3331 is installed on the pitching rotation shaft 34. The pitching circular grating is installed on the pitching circular grating mounting seat 3331. The pitching circular grating reading head 3332 is installed on the first angular contact bearing 334 to read the rotation angle of the pitching rotation shaft 34.

[0077] To achieve high-precision rotation, a double high-precision double-contact bearing shafting scheme is adopted, that is, the first angular contact bearing 334 and the second angular contact bearing 335 are installed on the pitch axis mounting seat. The pitch rotation shaft needs to adopt a design where the bearing diameter at one end is larger than the bearing installation diameter at the other end to facilitate through-type installation. At the same time, a small preload is used for preloading to facilitate accuracy improvement. Both the first angular contact bearing 334 and the second angular contact bearing 335 adopt high-precision bearings, and the radial and axial runout of the inner ring are both controlled within the set accuracy range, such as 2.5 μm. On one side of the pitch rotation shaft 34, a pitch circular grating mounting seat 3331 is installed to support and fix the pitch circular grating. The pitch circular grating is installed on the circular grating mounting seat 3152, and the coaxiality of the installation is ensured through precise 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 shaft 34 to measure the angle. On the other side of the pitch rotation shaft 34, a bearing preloading ring is installed. The clearance of the first angular contact bearing 334 can be adjusted by adjusting the outer pressing adjustment ring 336. The pitch motor rotor 331 is installed on the pitch rotation shaft 34, and the pitch motor stator 332 is installed on the motor mounting seat and fixed by a gland 337. The two work together to achieve the motor drive function. The limit mounting plate is installed at one end of the pitch rotation shaft 34 to achieve the function of limiting the rotation angle. In addition, the space requirements for wiring, direct drive torque motor installation, circular grating installation, etc. are also considered, and it is protected by an installation cover after installation.

[0078] In some embodiments, such as Figure 6 shown, the scanner housing 21 includes a pitch upper cover 211 and a pitch 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 pose adjustment block 363.

[0079] The visual tracking module 411 is installed on the pose adjustment block 363. The pose adjustment block 363 is installed on the detachable integrated mounting upper seat 361. Between the detachable integrated mounting upper seat 361 and the detachable integrated mounting lower seat 362, the pitch rotation shaft, the contact laser tracking device 41, and the non-contact laser scanning device 42 are installed. The contact laser tracking device 41 and the non-contact laser scanning device 42 are installed on the pitch rotation shaft 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 is installed at the execution end of the horizontal rotation shaft through the pitch lower cover 212.

[0080] In some embodiments, such as Figure 4 and 7As shown, the horizontal slewing drive mechanism 31 includes a third angular contact bearing 311, a fourth angular contact bearing 312, an intermediate main support seat 313, a bearing retaining ring 314, a horizontal circular grating measuring assembly 315, a horizontal motor stator 316, and a horizontal motor rotor 317.

[0081] Among them, the horizontal slewing shaft 32 is sleeved with the horizontal motor rotor 317. The horizontal motor rotor 317 is installed inside the horizontal motor stator 316. At a set position of the horizontal slewing shaft 32, there is also installed a horizontal circular grating measuring assembly 315 for measuring the rotation angle of the horizontal slewing shaft 32. The horizontal circular grating measuring assembly 315 is close to the horizontal motor rotor 317 and is connected to the horizontal motor stator 316. The third angular contact bearing 311 and the fourth angular contact bearing 312 are sequentially sleeved on the horizontal slewing shaft 32 in a manner 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 assembly 315, the horizontal motor stator 316, and the horizontal motor rotor 317. The bearing retaining ring 314 is sleeved on the horizontal slewing shaft 32 in a manner 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 as to drive the horizontal slewing shaft 32 to rotate through the horizontal motor rotor 317 under the control of the control device 5. The execution end of the horizontal slewing shaft 32 is installed with the scanning device mounting bracket.

[0082] In this embodiment, the third angular contact bearing 311 is only named for the convenience of distinguishing from the angular contact bearings in the context before and after, and is not used to define a certain angular contact bearing. Correspondingly, the fourth angular contact bearing 312 is only named for the convenience of distinguishing from the angular contact bearings in the context before and after, and is not used to define a certain angular contact bearing.

[0083] The bearing retaining ring 314 is sleeved on the horizontal slewing 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 measuring assembly 315.

[0084] 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 installed on the horizontal rotating shaft 32. The horizontal circular grating is installed on the circular grating mounting seat 3152. The reading head mounting seat is installed on the fourth angular contact bearing 312. The horizontal circular grating reading head 3151 is installed on the reading head mounting seat. When the horizontal rotating shaft 32 rotates, it drives the horizontal circular grating 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 the convenient disassembly and assembly of the motor circular grating assembly, 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 through cooperation with the horizontal motor stator 316. The horizontal circular grating is fixedly installed on the circular grating mounting seat 3152 at the bottom of the horizontal rotating shaft 32. The coaxial accuracy of rotation is ensured through precise machining of the circular grating mounting seat 3152. To achieve high-precision horizontal angle measurement, a circular grating is also required as an angle sensor, and the horizontal circular grating reading head 3151 is used for eccentricity correction. As an embodiment, the selected horizontal circular grating can meet the angle measurement requirements of ±0.8″ and has the function of triggering and reading the reference position signal to correct the influence of eccentricity.

[0085] 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. A scanner housing 21 is installed on the scanning device mounting frame. While rotating, the horizontal rotating shaft 32 drives the scanner housing 21 to rotate through the scanning device mounting frame, thereby realizing horizontal rotary motion and pitching rotary motion.

[0086] As another embodiment, the horizontal rotating shaft 32 is a hollow structure. The horizontal rotary drive mechanism 31 further includes a wire groove cover and a wire pressing cover. Among them, the wire groove cover is sleeved outside the horizontal motor rotor 317, fits against the end of the bearing support, and is far from the scanner housing 21. The wire pressing cover covers the end of the horizontal rotating shaft 32 and is close to the scanner housing 21 to route the electronic component lines through the wire pressing cover and the wire groove cover.

[0087] As another embodiment, the horizontal slewing drive mechanism 31 further includes a horizontal guide member 318. The horizontal guide member 318 is a hollow housing structure. A plurality of rolling members are provided at the bosses extending outward from the outer edge of the housing structure. The housing structure is sleeved on the horizontal slewing shaft 32. The rolling members tightly press against the outside of the intermediate main support seat 313 and can rotate independently relative to the intermediate main support seat 313 driven by the horizontal slewing shaft 32. The horizontal guide member 318 in this embodiment can guide the horizontal slewing shaft 32 to rotate independently relative to the intermediate main support seat 313.

[0088] In this embodiment, to reasonably reduce the weight of components, the horizontal slewing shaft 32 is designed with a hollow structure; the horizontal circular grating reading head 3151, the horizontal motor stator 316, and the horizontal guide member 318 are installed on the intermediate main support seat 313 to ensure that the slewing shaft rotates while the related devices are fixed; to ensure the accuracy of the horizontal slewing shaft 32, a combined installation scheme of the third angular contact bearing 311 and the fourth angular contact bearing 312 is adopted, and the bearing stiffness is increased by preloading through the bearing retaining ring 314 installed on the horizontal slewing shaft 32.

[0089] As an embodiment, the horizontal slewing drive mechanism 31 further includes two protective covers 319. The two protective covers 319 are installed on the pitching rotation support frame 35 to protect the horizontal slewing drive mechanism 31 and the cables.

[0090] As Figure 7 shown, the horizontal circular grating reading head 3151 is installed at the bottom of the intermediate main support seat 313 to realize the function of measuring the horizontal reading angle; the horizontal guide member 318 is installed at the top of the horizontal slewing shaft 32 to realize the guiding function by moving along the arc-shaped groove on the intermediate main support seat 313; to realize the wiring of this tracking and scanning measurement integrated system, it is convenient to avoid using slip rings by cable winding, improve the communication quality, and a cable winding space composed of two protective covers 319 is designed at the top. The cable is connected to the related circuits at the bottom through the reserved holes of the pitching shaft mounting seat and the intermediate support seat; a wiring groove cover is installed at the bottom to protect the cables of devices such as the bottom motor circular grating; the pitching shaft mounting seat is installed at the top of the horizontal slewing shaft 32 and is used to install the pitching angle drive and measurement components. A wiring pressing cover is installed at the bottom below it for disassembly and assembly of the wiring. Both the pitching shaft mounting seat and the intermediate main support seat 313 are made of hard aluminum material, quenched and tempered, then rough machined, and precisely machined after natural aging to ensure the structural stability; finally, the coaxial accuracy is ensured through the grinding process.

[0091] In summary, the tracking and scanning measurement integrated system provided by the embodiments of the present invention can highly integrate and share the contact laser tracking device 41 and the non-contact laser scanning device 42 within 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 the point cloud data of fast scanning and tracking measurement under the same coordinates. Later, these point cloud data can be directly subjected to three-dimensional modeling processing without the need for coordinate conversion as in the prior art. It can be seen that the technical solution of the embodiments of the present invention can simply, quickly and completely achieve high-precision scanning and tracking measurement through one instrument, significantly improving the detection efficiency.

[0092] The embodiments of the present invention also provide 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. As Figure 8 shown, the tracking and scanning measurement method includes the following steps:

[0093] Step 101, in the tracking coordinate measurement mode (when it is determined that the surface to be measured 200 requires the tracking coordinate measurement mode), execute Step 102. In the scanning measurement mode (when it is determined that the surface to be measured 200 requires the scanning measurement mode), execute Step 103.

[0094] Step 102, control the laser emission source 44 to emit ranging laser to the contact laser tracking device 41, and control the two-dimensional angle measurement driving device 3 and the laser ranging device 43 to drive the contact laser tracking device 41 to track the tracking cooperation target 45 in real time according to the optical ranging signal fed back by the contact laser tracking device 41, so as to obtain the coordinate data of the contact point between the tracking cooperation target 45 and the surface to be measured 200 in real time.

[0095] Step 103, control the laser emission source 44 to emit ranging laser to the non-contact laser scanning device 42, and control the two-dimensional angle measurement driving device 3 and the laser ranging device 43 to drive the non-contact laser scanning device 42 to scan the surface to be measured 200 to obtain scanning point cloud data.

[0096] In some embodiments, 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 disposed on the light incident side of the laser ranging device 43;

[0097] Among them, in the tracking coordinate measurement mode, the implementation method of realizing Step 102 includes the following steps:

[0098] Turn on the laser emission source 44, the laser ranging device 43, and the visual tracking module 411. Determine the position information of the corner cube target ball based on the captured image fed back by the visual tracking module 411, and send the position information of the corner cube target ball to the two-dimensional angle measuring drive device 3 to control the two-dimensional angle measuring drive device 3 to drive the laser ranging device 43 to move according to the position information of the corner cube target ball, so that the laser emission source 44 emits ranging laser after optical signal processing by the first lens assembly 412 and then enters the corner cube target ball through the laser ranging device 43. During the movement of the corner cube target ball, the incident ranging laser is reflected by the corner cube target ball and then enters the laser ranging device 43;

[0099] Receive the absolute distance value between the corner cube target ball and the present laser ranging device 43 at the current moment measured by the laser ranging device 43 according to the received ranging laser.

[0100] In some other embodiments, the non-contact laser tracking device 41 further includes a position induction tracker 431. The position induction 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 of the tracking cooperation target 45 relative to the previous moment at the current moment in the target coordinate system between the first lens assembly 412;

[0101] Among them, in the tracking coordinate measurement mode, the implementation method of step 102 further includes the following steps:

[0102] Perform adaptive adjustment of 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 induction tracker, so as to realize the tracking measurement of the tracking cooperation target by adjusting the two-dimensional position offset value;

[0103] Obtain the horizontal angle value and the pitch angle value measured by the two-dimensional angle measuring drive device, and determine the coordinate data of the surface to be measured in the target coordinate system based on the absolute distance values, the horizontal angle values, and the pitch angle values at different moments obtained;

[0104] In some other embodiments, the non-contact laser scanning device 42 includes: a scanning vision module 421 and a second lens assembly 422. The second lens assembly 422 is arranged on the light incident side of the laser ranging device 43.

[0105] The scanning vision module 421 is electrically connected to the control device 5; the scanning vision module 421 is used to panoramically photograph the area to be measured and send the photographed area to be measured to the control device 5.

[0106] Among them, the implementation method of step 103 in the scanning measurement mode includes the following steps:

[0107] The control 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.

[0108] According to the absolute distance value between the surface 200 to be measured and the second lens assembly 422 measured by the laser ranging device 43, the two-dimensional angle measuring driving 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 perform light energy convergence through the focusing of the second lens assembly 422 to adapt to scanning at different distances.

[0109] The embodiment of the present invention also provides a tracking and scanning measurement platform, as Figure 9 shown. The tracking and scanning measurement platform includes the tracking and scanning measurement integration system and the calculation and processing device 300 of the above embodiment. The calculation and processing device 300 is connected to the tracking and scanning measurement integration system to obtain coordinate data and scanned point cloud data from the tracking and scanning measurement integration system. The calculation and processing device 300 can establish a three-dimensional model based on the coordinate data and the scanned point cloud data, which can significantly improve the modeling efficiency.

[0110] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. 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: Laser tracking and scanning integrated instrument, including a contact laser tracking device, a non-contact laser scanning device, a laser ranging device and a 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, and in a tracking coordinate measurement mode, controls the laser emission source to emit a distance measurement laser to the contact laser tracking device, and controls the two-dimensional angle measurement drive device and the laser distance measurement device to drive the contact laser tracking device to track the tracking cooperation target in real time according to the optical distance measurement 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 a scanning measurement mode, controls the laser emission source to emit a distance measurement laser to the non-contact laser scanning device, and controls the two-dimensional angle measurement drive device and the laser distance measurement device to drive the non-contact laser scanning device to scan the surface to be measured according to the optical distance measurement signal fed back by the non-contact laser scanning device to obtain scanning point cloud data; 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.

2. The tracking, scanning and measuring integrated system according to claim 1, 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.

3. The tracking, scanning and measuring integrated system according to claim 2, 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.

4. The tracking, scanning and measuring integrated system according to any one of claims 1 to 3, 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.

5. The tracking, scanning and measuring integrated system according to claim 4, 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.

6. The tracking, scanning and measuring integrated system according to claim 4, 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.

7. The tracking, scanning and measuring integrated system according to any one of claims 1 to 3, 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.

8. The tracking, scanning and measuring integrated system according to any one of claims 1 to 3, 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.

9. The tracking, scanning and measuring integrated system according to claim 8, 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.

10. The tracking, scanning and measuring integrated system according to claim 8, 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.

11. The tracking, scanning and measuring integrated system according to claim 8, 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.

12. The tracking, scanning and measuring integrated system according to any one of claims 1 to 3, characterized in that: The tracking cooperation target is a pyramid target ball.

13. A tracking scanning measurement method, characterized in that: The tracking scanning measurement integrated system according to any one of claims 1 to 12 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.

14. The tracking scanning measurement method according to claim 13, 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.

15. The tracking scanning measurement method according to claim 14, characterized in that: The contact laser tracking device further includes: a position sensing tracker; the first lens assembly is arranged on 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 after another part of the distance measuring laser passes through the first lens assembly to form 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 to 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.

16. The tracking scanning measurement method according to claim 14 or 15, 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.

17. 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 12, 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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