Tracking scanning measurement method and computer device

Abstract

The present invention discloses a tracking scanning measurement method and a computer device. The tracking scanning measurement method is applied to a tracking scanning measurement system, which includes a two-dimensional angle measurement drive device, a contact laser tracker, and a non-contact laser scanner. In a tracking coordinate measurement mode, the tracking scanning device of the contact laser tracker is driven by controlling the two-dimensional angle measurement drive device to track the tracking cooperation target of the contact laser tracker in real time according to a set movement strategy to obtain coordinate data in a target coordinate system; in a scanning measurement mode, the non-contact laser scanner is driven by controlling the two-dimensional angle measurement drive device to scan a surface to be measured according to a set scanning strategy to obtain scanning point cloud data of the surface to be measured in real time in the target coordinate system. The present invention can realize high-precision tracking coordinate measurement and high-efficiency scanning measurement through one instrument, and significantly improve detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing industry measurement and detection, and in particular to a tracking scanning measurement method and computer equipment. 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, according to the characteristics of each measurement area, in order to obtain high-precision and high-efficiency measurement, the existing measurement methods need to combine the characteristics of each measurement equipment and use targeted measurement equipment to measure each measurement area. For example, when using a high-precision large-size laser tracker for measurement, it 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. However, the existing measurement method not only has low measurement efficiency, but also leads to low measurement accuracy. It can be seen that when using existing measurement equipment for measurement, it cannot meet the needs of high-precision tracking measurement of component assembly feature points of large equipment and high-precision and rapid measurement of the overall shape contour on site. Summary of the invention

[0004] The purpose of the present invention is to provide a tracking and scanning measurement method, computer equipment, computer-readable storage medium and computer program product, which can realize high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement to meet the needs of high-precision and rapid on-site measurement of component assembly feature points and overall machine shape contours of large equipment.

[0005] In order to achieve the above-mentioned object, one aspect of the present invention provides a tracking scanning measurement method, which is applied to a tracking scanning measurement system, wherein the tracking scanning measurement system comprises a two-dimensional angle measurement drive device, a contact laser tracker and a non-contact laser scanner, wherein the contact laser tracker comprises a tracking cooperation target and a tracking scanning device, wherein the tracking cooperation target is 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, wherein the tracking scanning device is used to obtain coordinate data of contact points between the tracking cooperation target and the surface to be measured in a target coordinate system in real time by tracking the tracking cooperation target, wherein the non-contact laser scanner is used to scan the surface to be measured according to a set scanning strategy, and obtain scanning point cloud data of the surface to be measured in the target coordinate system in real time; wherein the two-dimensional angle measurement drive device is used to drive the contact laser tracker and the non-contact laser scanner, and the tracking scanning measurement method comprises:

[0006] In the tracking coordinate measurement mode, the two-dimensional angle measurement driving device is controlled to drive the tracking scanning device to track the tracking cooperation target in real time according to the set movement strategy to obtain the coordinate data;

[0007] In the scanning measurement mode, the two-dimensional angle measurement driving device is controlled to drive the non-contact laser scanner to scan the surface to be measured according to the set scanning strategy to obtain the scanning point cloud data in real time.

[0008] Another aspect of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0009] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0010] Another aspect of the present invention provides a computer program product, comprising a computer program, which implements the steps of the above method when executed by a processor.

[0011] According to the tracking and scanning measurement method, computer device, computer-readable storage medium and computer program product of the above aspects of the present invention, the contact laser tracker and the non-contact laser scanner can be integrated into the same device, and point cloud data under the same coordinates can be obtained. The point cloud data obtained can be directly processed for three-dimensional modeling at a later stage, without the need for coordinate conversion to obtain point cloud data under common coordinates as in the prior art. Thus, fast, complete, high-precision scanning and tracking measurement can be achieved by one instrument, significantly improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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:

[0013] Figure 1 A schematic diagram of a flow chart of a tracking and scanning measurement method according to an embodiment of the present invention;

[0014] Figure 2 A schematic diagram of the structure of a tracking and scanning measurement system according to an embodiment of the present invention;

[0015] Figure 3 A schematic diagram of a tracking and scanning measurement system connected to a host computer according to an embodiment of the present invention;

[0016] Figure 4 A schematic diagram of the principles of a contact laser tracker and a non-contact laser scanner according to an embodiment of the present invention;

[0017] Figure 5 A schematic diagram of the coordinate measurement principle of an embodiment of the present invention;

[0018] Figure 6 is a structural schematic diagram of a visual tracking module according to an embodiment of the present invention;

[0019] Figure 7 A schematic diagram of the structure of a contact laser tracker and a non-contact laser scanner according to an embodiment of the present invention;

[0020] Figure 8 It is an exploded schematic diagram of a pitch and swivel drive mechanism according to an embodiment of the present invention;

[0021] Fig. 9 An exploded schematic diagram of a horizontal rotary drive mechanism according to an embodiment of the present invention;

[0022] Fig.10 A structural diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1 , Figure 1FIG. 1 is a flow chart of a tracking scanning measurement method according to an embodiment of the present invention. The tracking scanning measurement method is applied to a tracking scanning measurement system 100. Figure 2 As shown, Figure 2 The figure shows a schematic diagram of the structure of a tracking and scanning measurement system 100 provided in an embodiment of the present invention. The tracking and scanning measurement system 100 also includes a two-dimensional angle measurement drive device 3, a contact laser tracker 4 and a non-contact laser scanner 5. The contact laser tracker 4 at least includes a tracking cooperation target 41 and a tracking scanning device 42. The control device 6 is connected to both the contact laser tracker 4 and the non-contact laser scanner 5.

[0025] In some embodiments, the tracking scanning measurement system 100 includes: a support frame 1, a mounting shell 2, a two-dimensional angle measurement drive device 3, a contact laser tracker 4, a non-contact laser scanner 5 and a control device 6. 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 tracking scanning device 42 is arranged on the mounting shell 2. During measurement, the tracking cooperation target 41 is used to move on the surface to be measured 200 in accordance with the set movement strategy in a manner of contacting the surface to be measured 200. The tracking scanning device 42 obtains the coordinate data of the contact point between the tracking cooperation target 41 and the surface to be measured 200 in the target coordinate system in real time by tracking the tracking cooperation target 41. The non-contact laser scanner 5 is arranged in the mounting shell 2. During measurement, the surface to be measured 200 is scanned according to a specified scanning method, and the scanning point cloud data of the surface to be measured 200 in the target coordinate system is obtained in real time.

[0026] In this embodiment, the support frame 1 may be a tripod, and the mounting housing 2 is mounted on the support frame 1. The tracking cooperation target 41 may be a pyramid target sphere, and the pyramid target sphere may be a target sphere or a target mirror. For ease of understanding, the tracking cooperation target 41 in the following embodiments is described as a pyramid target sphere.

[0027] When the contact laser tracker 4 is measuring, the pyramid target ball moves on the surface 200 to be measured in a manner of contacting the surface 200 according to the set movement strategy, and the tracking scanning device 42 obtains the coordinate data of the surface 200 to be measured in the target coordinate system in real time by tracking the pyramid target ball.

[0028] Based on the tracking scanning measurement system 100 described in the above embodiment, the tracking scanning measurement method includes the following steps:

[0029] Step 101, in the tracking coordinate measurement mode (determining that the surface 200 to be measured needs the tracking coordinate measurement mode), execute step 102, and in the scanning measurement mode (determining that the surface 200 to be measured needs the scanning measurement mode), execute step 103.

[0030] Step 102, start the contact laser tracker 4, and control the two-dimensional angle measurement drive device 3 to drive the tracking scanning device 42 to contact the surface to be measured and track the tracking cooperation target 41 in real time according to the set movement strategy to obtain coordinate data.

[0031] In this embodiment, the set movement strategy may be a strategy determined according to the shape of the surface to be measured 200. The set movement strategy may be that the pyramid target sphere automatically moves according to the movement strategy, or that the pyramid target sphere is moved according to the movement strategy by hand, which is not limited in this embodiment.

[0032] The coordinate data in this embodiment can be understood as contact point cloud data obtained by tracking the cooperative target 41 .

[0033] Step 103, start the non-contact laser scanner 5, and drive the non-contact laser scanner 5 to scan the surface to be measured according to the set scanning strategy by controlling the two-dimensional angle measurement drive device 3 to obtain the scanning point cloud data of the surface to be measured in real time in the target coordinate system.

[0034] In this embodiment, the non-contact laser scanner 5 scans the surface to be measured 200 according to the set scanning strategy during measurement, and obtains the scanning point cloud data of the surface to be measured 200 in the target coordinate system in real time. The set scanning strategy can be a strategy determined by the control device 6 according to the shape of the surface to be measured 200 and the measurement distance.

[0035] In actual use, the control device 6 starts the contact laser tracker 4 and the two-dimensional angle measurement drive device 3 in the tracking coordinate measurement mode. The angle pyramid target ball can be moved on the surface to be measured 200 in a manner of contacting the surface to be measured 200 by a manipulator or handheld mode according to the set movement strategy. The control device 6 drives the tracking scanning device 42 to track the angle pyramid target ball in real time by controlling the two-dimensional angle measurement drive device 3 to obtain coordinate data in the target coordinate system, and determines the contact point cloud data of the surface to be measured 200 according to the coordinate data. In the scanning measurement mode, the control device 6 turns on the laser scanner, and drives the non-contact laser scanner 5 to scan the surface to be measured 200 by controlling the two-dimensional angle measurement drive device 3 to obtain the scanning point cloud data in the target coordinate system, so as to accurately construct and assemble the three-dimensional model using the coordinate data and the scanning point cloud data.

[0036] In some embodiments, Figure 3 As shown, the control device 6 can be externally connected to a host (computer device) 300 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 based on the scanning point cloud data and contact point cloud data to achieve high-precision assembly.

[0037] In this embodiment, the contact laser tracker 4 and the non-contact laser scanner 5 can scan the surface 200 to be measured at the same coordinate to obtain point cloud data, 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 tracker 4 can realize large-scale high-precision contact coordinate measurement on site, and the non-contact laser scanner 5 can realize high-precision, fast and complete scanning measurement, so that both high-precision complete scanning and large-scale high-precision scanning can be completed quickly. This solves the contradiction that the tracker cannot perform fast non-contact scanning measurement and the laser radar cannot perform high-precision tracking coordinate measurement, so as to realize fast, complete and high-precision scanning and tracking measurement through one instrument, significantly improve detection efficiency, and meet the needs of high-precision and fast measurement of component assembly feature points and the overall appearance of aircraft, missiles, ships and other equipment on site.

[0038] In some embodiments, whether to use the tracking coordinate measurement mode or the scanning measurement mode to measure the measurement surface 200 can be selected through manual confirmation, or the control device 6 can obtain the measurement mode requirements sent by other electronic devices, or the control device 6 can be equipped with a trained measurement mode determination model, and output the measurement mode corresponding to the area to be measured based on the captured picture of the area to be measured. This embodiment does not limit this.

[0039] According to the tracking and scanning measurement method of the above embodiment of the present invention, the contact laser tracker and the non-contact laser scanner can be integrated into the same device, and point cloud data under the same coordinates can be obtained, so that the obtained point cloud data can be directly processed for three-dimensional modeling. There is no need to perform coordinate conversion to obtain point cloud data under common coordinates before performing three-dimensional modeling as in the prior art. It can be seen that compared with the prior art, the technical solution provided by the embodiment of the present invention can achieve fast, complete, high-precision scanning and tracking measurement through a single instrument, thereby significantly improving detection efficiency.

[0040] In some embodiments, Figure 2 As shown, the mounting housing 2 includes a scanner housing 21 and an adjusting housing 22, the control device 6, the contact laser tracker 4 and the non-contact laser scanner 5 are all mounted in the scanner housing 21, the two-dimensional angle measuring drive device 3 is mounted in the adjusting housing 22, and the scanner housing 21 and the adjusting housing 22 are mounted 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 adjusting housing 22 is placed in the middle of the tripod.

[0041] In some embodiments, Figure 4As shown, the tracking and scanning device 42 includes: an interference ranging module 421, a target tracking module 422 and a visual tracking module 423; wherein the interference ranging module 421, the target tracking module 422 and the visual tracking module 423 are all installed in the scanner housing 21 and electrically connected to the control device 6.

[0042] The implementation method of controlling the two-dimensional angle measurement driving device to drive the tracking scanning device to contact the surface to be measured in step 102 and to track the cooperative target in real time according to the set movement strategy to obtain coordinate data may include the following steps:

[0043] Step A: start the interferometric ranging module 421 , the target tracking module 422 and the visual tracking module 423 , and determine the position information of the pyramid target ball according to the captured image fed back by the visual tracking module 423 .

[0044] Step B, sending the position information of the corner cone target ball to the two-dimensional angle measurement drive device 3, so as to control the two-dimensional angle measurement drive device 3 to drive the interference ranging module 421 to move according to the position information of the corner cone target ball, so that the ranging laser emitted by the interference ranging module 421 enters the corner cone target ball through the target tracking module 422, and during the movement of the corner cone target ball, the injected ranging laser is reflected to the target tracking module 422 after passing through the corner cone target ball.

[0045] Step C, obtaining the relative distance value between the pyramid target sphere and the target tracking module 422 at the current moment and the position offset value relative to the previous moment in the target coordinate system measured by the target tracking module 422 according to the received ranging laser.

[0046] Step D, controlling the two-dimensional angle measurement driving device 3 to drive the target tracking module 422 to perform adaptive adjustment of the horizontal angle and the pitch angle, so as to achieve tracking measurement of the angle cone target ball by adjusting the position offset value.

[0047] Step E, obtaining the horizontal angle value and the pitch angle value measured by the two-dimensional angle measurement driving device 3, and determining the coordinate data of the surface to be measured in the target coordinate system according to the relative distance values, horizontal angle values ​​and pitch angle values ​​obtained at different times.

[0048] In this embodiment, if Figure 5 As shown, let the center point of the pyramid target be P (x, y, z), and the center of the coordinate system of the contact laser tracker 4 be the dual-axis rotation center O. When the system tracks the upper pyramid target, if the horizontal angle from O to P is The pitch angle is θ, the distance between OP is R, according to the transformation from spherical coordinate system to rectangular coordinate system, we have:

[0049]

[0050] Among them, x is the horizontal coordinate of the coordinate system, y is the vertical coordinate of the coordinate system, and z is the vertical coordinate of the coordinate system.

[0051] In this embodiment, in order to achieve the purpose of high-precision scanning and tracking measurement, the interferometric ranging module 421 uses laser interferometric ranging combined with the target tracking module 422 to achieve high-precision tracking coordinate measurement, so as to achieve tracking coordinate measurement, and perform tracking ranging through feedback from the target tracking module 422. According to experimental detection, the accuracy of the target tracking module 422 can reach ±18μm+8.5μm / m.

[0052] The position feedback of the angle cone target ball is performed through the target tracking module 422, and the absolute distance measurement of the cooperative target is realized through the interference ranging module 421. According to the position deviation and distance feedback measured by the target tracking module 422, the target tracking module 422 is driven by the two-dimensional angle measurement drive device 3 to perform adaptive adjustment of the horizontal angle and the pitch angle, so as to realize the tracking measurement of the angle cone target ball, and the final measurement result is transmitted to the host for data processing.

[0053] As an example, Figure 4 As shown, the target tracking module 422 includes a lens assembly 4221 and a position sensing tracker 4222; the lens assembly 4221 is arranged on the light incident side of the position sensing tracker 4222, and the lens assembly 4221 processes the optical signal of the ranging laser emitted by the interference ranging module 421, so that a part of the ranging laser after processing is emitted into the corner cone target ball and then reflected to the lens assembly 4221 and forms an interference signal with the other part of the ranging laser after passing through the lens assembly 4221 and emitted into the position sensing tracker 4222.

[0054] The position sensing tracker 4222 is used to measure the position of the light spot formed by the incident interference signal, and determine the relative distance value between the corner cone target sphere and the lens assembly 4221 at the current moment in the target coordinate system and the position offset value relative to the previous moment.

[0055] The control device 6 is electrically connected to the position sensing tracker 4222. The implementation method of obtaining the relative distance value between the pyramid target sphere and the target tracking module 422 at the current moment in the target coordinate system and the position offset value relative to the previous moment in step C by the target tracking module 422 according to the received ranging laser may include the following steps:

[0056] The relative distance value between the angle cone target sphere and the lens assembly 4221 at the current moment in the target coordinate system and the position offset value relative to the previous moment are determined by the position sensing tracker 4222 after measuring the position of the light spot formed by the incident ranging laser.

[0057] In step D, the implementation method of controlling the two-dimensional angle measurement driving device 3 to drive the target tracking module 4221 to perform adaptive adjustment of the horizontal angle and the pitch angle may include the following steps:

[0058] The horizontal angle and the pitch angle are adaptively adjusted according to the position offset value, so as to realize the tracking measurement of the angle cone target ball by adjusting the position offset value.

[0059] In this embodiment, the position sensing tracker 4222 can measure the position of the light spot formed by the interference signal, determine the relative distance value between the corner cone target ball and the lens assembly 4221 in the target coordinate system at the current moment and the position offset value relative to the previous moment, so that the control device 6 controls the two-dimensional angle measurement drive device 3 to drive the target tracking module 422 to perform adaptive adjustment of the horizontal angle and the pitch angle according to the position offset value, so as to achieve tracking measurement of the corner 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 relative distance values ​​obtained at different moments.

[0060] In some embodiments, Figure 4 As shown, the target tracking module 422 further includes a filter 4223, which is disposed between the lens assembly 4221 and the position sensing tracker 4222. The filter 4223 of this embodiment can filter out some unnecessary light signals to improve the measurement accuracy.

[0061] In some embodiments, Figure 4 As shown, the lens assembly 4221 includes a first fiber optic collimator 42211 and a beam splitter 42212. The ranging laser emitted by the interference ranging module 421 is focused into a beam of parallel light signal by the first fiber optic collimator 42211 and then incident on the beam splitter 42212. A portion of the parallel light signal of the ranging laser is transmitted through the beam splitter 42212 and incident on the corner cone target sphere, and then reflected and incident on the beam splitter 42212, and forms an interference light signal with another portion of the ranging laser that is transmitted through the beam splitter 42212 and incident on the position sensing tracking module.

[0062] In this embodiment, the first fiber optic collimator 42211 is named only for the convenience of distinguishing it from the fiber optic collimators described later, and is not used to limit a certain fiber optic collimator.

[0063] The first fiber optic collimator 42211 can collimate the light to a desired diameter or spot size, while reducing the divergence angle of the light beam to ensure that the light propagates in a parallel state.

[0064] The beam splitter 42212 can split the ranging laser emitted by the first fiber collimator 42211 into ranging lasers in different directions. One beam passes through the beam splitter 42212 and enters the corner cone target sphere, and then is reflected and enters the beam splitter 42212. The other beam serves as a reference light and passes through the beam splitter 42212 to interfere with the ranging laser reflected and entered into the beam splitter 42212.

[0065] In some embodiments, Figure 4 As shown, the lens assembly 4221 also includes a collimator group 42213, which is arranged between the first fiber collimator 42211 and the beam splitter 42212. The collimator group 42213 is used to expand the parallel light signal emitted by the fiber collimator and then emit it into the beam splitter 42212.

[0066] In this embodiment, the collimator assembly 42213 focuses the diffracted light of the parallel optical fiber emitted by the first optical fiber collimator 42211 onto the beam splitter 42212 to further improve the measurement accuracy.

[0067] In some embodiments, the filter 4223 is a bandpass filter to selectively filter out light of non-target wavelengths, improve the monochromaticity and stability of the laser output, and ensure the normal operation of the laser within a specific wavelength range. In other embodiments, the bandpass filter is a narrowband filter to selectively transmit the optical fiber wavelength of a set wavelength band, thereby improving the purity and stability of the laser.

[0068] In some embodiments, Figure 4 As shown, the interference ranging module 421 includes a helium-neon laser assembly 4211, a second fiber collimator 4212, a beam splitter 4213, a fiber reflector 4214 and a detector 4215; wherein the second fiber collimator 4212 is arranged on the light-emitting side of the helium-neon laser assembly 4211, the beam splitter 4213 is arranged on the light-emitting side of the second fiber collimator 4212, the fiber reflector 4214 and the detector 4215 are respectively arranged on the light-emitting side of the beam splitter 4213; the helium-neon laser assembly 4211 emits The laser signal is focused into a parallel light signal by the second fiber optic collimator 4212 and then emitted into the beam splitter 4213. A part of the ranging laser is emitted into the fiber optic reflector 4214, and another part of the ranging laser is emitted into the beam splitter 4213 through the beam splitter 4213 to form an interference signal with the ranging laser emitted into the beam splitter 4213 by the fiber optic reflector 4214. A part of the ranging laser is emitted into the first fiber optic collimator 42211, and another part of the ranging laser is emitted into the detector 4215. The helium-neon laser assembly 4211 and the detector 4215 are used to be electrically connected to the control device 6.

[0069] The implementation method of turning on the interference ranging module in step A may include the following step A1: Step A1, according to the electrical signal fed back by the detector 4215 after detecting the ranging laser, control whether the helium-neon laser component is turned on to emit a laser signal.

[0070] In this embodiment, the control device 6 controls the He-Ne laser assembly 4211 to turn on or off, and controls the He-Ne laser assembly 4211 to emit a laser signal through the electrical signal fed back by the detector 4215 after detecting the ranging laser.

[0071] In this embodiment, the second fiber optic collimator 4212 is named only for the convenience of distinguishing it from the fiber optic collimators in the preceding and following contexts, and is not used to limit a certain fiber optic collimator.

[0072] The helium-neon laser assembly 4211 has the characteristics of large power output, narrow spectral line width, and long wavelength. The laser emitted by the helium-neon laser assembly 4211 outputs a beam of parallel ranging laser through the second fiber collimator 4212. The ranging laser is divided into two beams of ranging laser through the beam splitter 4213. One beam of ranging laser is reflected by the fiber reflector 4214 and then enters the beam splitter 4213. The other beam of ranging laser passes through the beam splitter 4213 to interfere with the reflected ranging laser and enters the first fiber collimator 42211. The detector 4215 detects the ranging laser and feeds back the electrical signal corresponding to the intensity of the ranging laser when entering the first fiber collimator 42211 to the control device 6 in real time, so that the control device 6 further regulates the laser signal injected by the helium-neon laser assembly 4211 according to the fed-back electrical signal.

[0073] The interference distance measurement module 421 of this embodiment can be combined with the target tracking module 422 to measure the relative distance value at the current moment.

[0074] In some embodiments, Figure 4 As shown, the interference ranging module 421 also includes a first isolator 4216 , which is disposed between the second fiber collimator 4212 and the beam splitter 4213 so that all the ranging lasers emitted by the second fiber collimator 4212 are emitted into the beam splitter 4213 .

[0075] The first isolator 4216 is named only for the convenience of distinguishing it from the isolators in the previous and following contexts, and is not used to limit a particular isolator.

[0076] The first isolator 4216 can further limit the direction of the ranging laser so that the emitted ranging laser can only be transmitted in one direction to the beam splitter 4213 to reduce the energy loss of the ranging laser, and at the same time improve the light wave transmission efficiency by isolating the reflected light.

[0077] In some embodiments, the HeNe laser assembly 4211 includes a HeNe laser, a switching circuit, a heating wire, and a temperature sensor.

[0078] Among them, the helium-neon laser, the switching circuit and the temperature sensor are all electrically connected to the control device 6. The heating wire is wound around the outer side of the helium-neon laser and is electrically connected to the switching circuit. The temperature sensor is attached to the outer side of the helium-neon laser to measure the temperature of the helium-neon laser in real time, and the temperature measurement result is sent to the control device 6 in the form of a temperature electrical signal.

[0079] The implementation method of step A1 may include the following steps: controlling the helium-neon laser to emit a laser signal, and in the process of emitting the laser signal, determining whether to heat the helium-neon laser by using a heating wire by controlling the switch circuit according to the electrical signal fed back by the detector 4215 and the temperature electrical signal sent by the temperature sensor, so as to maintain the temperature of the helium-neon laser within a set range.

[0080] In this embodiment, the heating wire is used to heat the He-Ne laser. The control device 6 can determine whether to turn on the heating wire to heat the He-Ne laser based on the electrical signal fed back by the detector 4215, so that the temperature of the He-Ne laser is kept in a constant temperature state to ensure the performance of the He-Ne laser and output a stable laser signal.

[0081] In some embodiments, Figure 4 As shown, the non-contact laser scanner 5 comprises: a scanning vision module 51 and a frequency sweeping absolute non-contact distance measurement module 52. Both the scanning vision module 51 and the frequency sweeping absolute non-contact distance measurement module 52 are electrically connected to the control device 6.

[0082] The scanning vision module 51 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 6 .

[0083] In the scanning measurement mode, the implementation method of starting the non-contact laser scanner 5 in step 103 and controlling the two-dimensional angle measurement drive device 3 to drive the non-contact laser scanner 5 to scan the surface to be measured according to the set scanning strategy to obtain the scanning point cloud data of the surface to be measured in real time in the target coordinate system may include the following steps:

[0084] Step F, starting the scanning vision module 51 and the scanning frequency absolute non-contact distance measurement module 52 to perform scanning path planning on the area to be measured to obtain a scanning path planning strategy.

[0085] Step G, sending a scanning path planning strategy to the scanning vision module 51, so that the frequency sweeping absolute non-contact distance measurement module 52 measures the absolute distance value between the surface to be measured 200 and the frequency sweeping absolute non-contact distance measurement module 52 during the scanning process, and sends the absolute distance value to the control device 6.

[0086] Step H, according to the absolute distance value, controls the two-dimensional angle measurement driving device 3 to drive the scanning vision module 51 to scan the area to be measured according to the scanning path planning strategy, so as to adapt to scanning at different distances through the focusing lens.

[0087] In this embodiment, the focusing lens can be used to adapt to scanning at different distances, and precise laser scanning can be automatically achieved to obtain more accurate point cloud data.

[0088] The scanning vision module 51 photographs the area to be measured so that the control device 6 can determine the scanning path planning measurement according to the area to be measured, so that the scanning absolute non-contact distance measurement module 52 can determine the absolute distance value between the surface to be measured 200 in the area to be measured and the scanning absolute non-contact distance measurement module 52 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 51 to scan the area to be measured according to the scanning path planning strategy, so as to adapt to scanning at different distances through the focusing lens, thereby realizing large-area non-contact scanning quickly and accurately.

[0089] In some embodiments, Figure 4 As shown, the swept-frequency absolute non-contact distance measurement module 52 includes an external cavity resonant laser 521, a measuring interferometer 522, a first coupler 523, an auxiliary interferometer 524, a collimating mirror 525 and a distance measurement signal processing unit 526.

[0090] A first coupler 523 is placed on the light output side of the external cavity resonant laser 521, a measuring interferometer 522 is provided on one light output side of the first coupler 523, an auxiliary interferometer 524 is provided on the other light output side, the measuring interferometer 522 is electrically connected to a ranging signal processing unit 526, a collimator is provided on the light output side of the measuring interferometer 522, a scanning vision module 51 is provided on the light output side of the collimator; the ranging signal processing unit 526 is electrically connected to the control device 6.

[0091] The ranging signal processing unit 526 is used to control the external cavity resonant laser 521 to emit a laser signal, so that the laser signal is divided into two paths after being processed by the first coupler 523. One optical signal is emitted into the measuring interferometer 522, and after being processed by the measuring interferometer 522, it is emitted to the collimator for focusing processing and then emitted into the scanning vision module 51, and the optical signal fed back by the scanning vision module 51 is subjected to measurement light interference processing, and the processed measurement light interference signal is sent to the ranging signal processing unit 526; the other optical signal enters the auxiliary interferometer 524 for clock interference processing, and the processed clock light interference signal is emitted into the ranging signal processing unit 526.

[0092] The distance measurement signal processing unit 526 is further used to determine an absolute distance value according to the measurement light interference signal and the clock light interference signal, so as to adjust the frequency of the laser signal emitted by the external cavity resonant laser 521 according to the absolute distance value.

[0093] In this embodiment, the first coupler 523 is named only for the convenience of distinguishing it from the couplers described later, and is not used to limit a certain coupler.

[0094] The first coupler 523 can have a good isolation effect on the laser signal input by the external cavity resonant laser 521 and the electrical signal output by the first coupler 523 .

[0095] In this embodiment, the absolute distance between the surface to be measured 200 and the frequency sweeping absolute non-contact distance measurement module 52 is measured by combining the measuring interferometer 522 and the auxiliary interferometer 524 .

[0096] In some embodiments, Figure 4 As shown, the swept-frequency absolute non-contact distance measurement module 52 further includes a second isolator 527 , and the second isolator 527 is disposed between the external cavity resonant laser 521 and the first coupler 523 .

[0097] In this embodiment, the second isolator 527 is named only for the convenience of distinguishing it from the isolators in the preceding and following contexts, and is not used to limit a certain isolator.

[0098] The second isolator 527 can perform bidirectional transmission on the ranging laser coming out of the first coupler 523 .

[0099] In other embodiments, the scanning vision module 51 includes a third fiber optic collimator 511, a zoom lens group 512 and a zoom lens 513; the zoom lens 513, the zoom lens group 512 and the third fiber optic collimator 511 are arranged in sequence according to the input and output of the light signal, the third fiber optic collimator 511 is close to the collimator side, and the zoom lens group 512 is installed on the two-dimensional angle measurement drive device 3, so that the two-dimensional angle measurement drive device 3 drives the zoom lens group 512 to achieve the focal length.

[0100] In this embodiment, the third fiber optic collimator 511 is named only for the convenience of distinguishing it from the fiber optic collimators in the preceding and following contexts, and is not used to limit a certain fiber optic collimator.

[0101] In practical applications, the laser signal from the collimator is injected into the third fiber collimator 511 for processing, and then a beam of parallel distance measuring laser is emitted. The distance measuring laser is injected into the zoom lens group 512. Driven by the two-dimensional angle measurement drive device 3, the distance between the zoom lens group 512 and the zoom lens 513 is changed, so that the optimal focal length can be adjusted according to the distance between the surface 200 to be measured and the zoom lens 513, thereby achieving the purpose of improving the distance measurement accuracy.

[0102] In some embodiments, Figure 4As shown, the measuring interferometer 522 includes a first balanced detector 5221, a second coupler 5222, a first 3dB coupler 5223 and a circulator 5224. The light input port of the second coupler 5222 is arranged at the light output port of the first coupler 523, the first light output port of the second coupler 5222 is arranged at the first light input port of the first 3dB coupler 5223, the second light output port of the second coupler 5222 is arranged at the first light input port of the circulator 5224, the first light output port of the circulator 5224 is aligned with the collimator, the second light input port of the circulator 5224 receives the laser signal emitted by the collimator, the second light output port of the circulator 5224 is arranged at the second light input port of the first 3dB coupler 5223, the light output port of the first 3dB coupler 5223 is arranged at the first balanced detector 5221, and the first balanced detector 5221 is electrically connected to the ranging signal processing unit 526 to send the measuring light interference signal to the ranging signal processing unit 526.

[0103] In this embodiment, the second coupler 5222 is named only for the convenience of distinguishing from the couplers in the preceding and following texts, and is not used to limit a certain coupler. The first optical output port is named only for the convenience of distinguishing from the optical output port in the following text, and is not used to limit a certain optical output port. Accordingly, the second optical output port is named only for the convenience of distinguishing from the optical output port in the following text, and is not used to limit a certain optical output port. The first 3dB coupler 5223 is named only for the convenience of distinguishing from the 3dB coupler in the following text, and is not used to limit a certain 3dB coupler.

[0104] The circulator 5224 performs enhanced amplification processing on the ranging laser emitted from the second coupler 5222 and then injects it into the collimator from another optical fiber port. At the same time, the ranging laser injected from the collimator and the ranging laser injected from the second coupler 5222 are combined in the circulator 5224 to form an interference signal which is input into the first 3dB coupler 5223. In addition, the circulator 5224 can also make the isolation between the non-connected ports greater before inputting into the first 3dB coupler 5223.

[0105] In some embodiments, the auxiliary interferometer 524 includes a third coupler 5241, a second 3dB coupler 5242, a second balanced detector 5243, and an optical interferometer 5244. The light input port of the third coupler 5241 is arranged at the first light output port of the first coupler 523, the light output port of the third coupler 5241 is arranged at the light input port of the second 3dB coupler 5242 through the optical interferometer 5244, the light output port of the second 3dB coupler 5242 is arranged at the light input port of the second balanced detector 5243, and the second balanced detector 5243 is electrically connected to the ranging signal processing unit 526 to send a clock optical interference signal to the ranging signal processing unit 526.

[0106] In this embodiment, the third coupler 5241 is named only for the convenience of distinguishing from the couplers in the preceding and following texts, and is not used to limit a certain coupler. The second 3dB coupler 5242 is named only for the convenience of distinguishing from the 3dB coupler in the preceding text, and is not used to limit a certain 3dB coupler. The second balanced detector 5243 is named only for the convenience of distinguishing from the balanced detector in the preceding text, and is not used to limit a certain balanced detector.

[0107] The second balanced detector 5243 can perform denoising on the ranging laser output by the second 3dB coupler 5242 to improve the sensitivity of the ranging laser.

[0108] In some embodiments, the optical interferometer 5244 may be an MZ (Mach-Zenhder, fiber Mach-Zehnder) interferometer to improve measurement accuracy.

[0109] In some embodiments, Figure 4 As shown, the tracking and scanning measurement system also includes: an optical fiber switch, which connects the frequency sweeping absolute non-contact ranging module 52 and the interference ranging module 421, and is electrically connected to the control device 6. The control device 6 is used to control the optical fiber switch to connect the frequency sweeping absolute non-contact ranging module 52 and the target tracking module 422 after the ranging laser emitted by the interference ranging module 421 to the tracking cooperative target 41 is blocked and the light is cut off in the tracking coordinate measurement mode, and measure the initial value of the absolute distance from the tracking cooperative target 41 to the frequency sweeping absolute non-contact ranging module 52 after the light is cut off and resumed, and correct the relative distance value between the tracking cooperative target 41 and the lens assembly of the target tracking module 422 in the target coordinate system after the light is cut off and resumed through the absolute distance initial value.

[0110] In some embodiments, the scanner shell 21 includes: a control box and a scanner integrated shell, the control box is installed with an auxiliary interferometer 524, a temperature sensor and a control device 6, the remaining components of the contact laser tracker 4 except the temperature sensor and the remaining components of the non-contact scanner 5 except the auxiliary interferometer 524 are all installed in the scanner integrated shell, and the scanner integrated shell is installed on the support frame 1.

[0111] In some embodiments, Figure 4 As shown, the tracking scanning measurement system also includes a constant temperature box 7; the constant temperature box 7 is installed with an auxiliary interferometer 524, which is used to maintain the temperature of the auxiliary interferometer 524. Since the auxiliary interferometer 524 adopts a constant temperature solution and needs to be kept warm and constant temperature, and the size and space of the scanner integrated shell limit its installation, the auxiliary interferometer 524 in the sweep frequency absolute non-contact ranging module 52 and its constant temperature box 7 are installed in the control box.

[0112] In some embodiments, Figure 6As shown, the visual tracking module 423 includes: a telephoto objective lens 4231, a telephoto objective lens pressure ring 4232, a telephoto lens group 4233, an inner lens barrel 4234, a relay lens 4235, an imaging lens group 4236, an outer lens barrel 4237 and an imaging CCD (Charge-coupled Device, charge coupled device) lens group 4238; wherein, bosses for installing a telephoto lens group 4233, a relay lens 4235 and an imaging lens group 4236 are arranged in sequence in the inner lens barrel 4234 at specified distances; a groove for firmly installing in the scanner integrated shell is arranged on the outer side of the outer lens barrel 4237; the telephoto objective lens 4231 is arranged in the telephoto objective lens pressure ring 4232, and the telephoto objective lens pressure ring 4232 is sleeved on the inner lens barrel assembly, and the corresponding telephoto lens group 4233, the relay lens 4235 and the imaging lens group 4236 are installed in sequence at each boss of the inner lens barrel 4234, and the telephoto lens group 4233 is close to the telephoto objective lens pressure ring 4232, and the outer lens barrel 4237 is sleeved on the outer side of the inner lens barrel 4234, and the imaging CCD lens group 4238 is installed at the end of the outer lens barrel 4237 away from the telephoto objective lens 4231, and is installed in the scanner integrated shell through the groove. In this embodiment, the relay mirror 4235 amplifies and relays the optical signal emitted from the telescope group 4233 to expand the coverage, enhance the signal quality, and reduce the transmission delay.

[0113] In other embodiments, Figure 7 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 and a pitch rotation support frame 35.

[0114] Among them, the horizontal rotation drive mechanism 31 is installed in the regulating shell 22, 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 a pitch rotation support frame 35, and the scanner shell 21 is installed on the pitch rotation support frame 35, so as to drive the scanner shell 21 to realize horizontal rotation movement through the pitch rotation support frame 35; the input end of the horizontal rotation drive mechanism 31 is electrically connected to the control device 6.

[0115] The output end of the pitch rotation driving mechanism 33 is installed with a pitch rotation axis 34 and is installed on a pitch rotation support frame 35 . The scanner housing 21 is installed on the pitch rotation support frame 35 . The input end of the pitch rotation driving mechanism 33 is connected to the control device 6 .

[0116] The implementation method of controlling the two-dimensional angle measurement driving device to drive the tracking scanning device to contact the surface to be measured in step 102 and to track the cooperative target in real time according to the set movement strategy to obtain coordinate data may include the following steps:

[0117] The horizontal rotation drive mechanism 31 is controlled to drive the horizontal rotation axis 32 and / or the pitch rotation drive mechanism 33 to drive the pitch rotation axis 34 to rotate so as to drive the tracking scanning device 42 to contact the surface 200 to be measured and track the cooperative target 41 in real time according to the set movement strategy to obtain coordinate data.

[0118] In this embodiment, the control device 6 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 tracker 4 and the non-contact laser scanner 5 in the scanner housing 21 to achieve horizontal rotation movement.

[0119] Based on the above embodiment, the implementation method of controlling the two-dimensional angle measurement drive device in step 103 to drive the non-contact laser scanner to scan the surface to be measured according to the specified scanning strategy to obtain the scanning point cloud data of the surface to be measured in the target coordinate system in real time may include the following steps:

[0120] The horizontal rotation drive mechanism 31 is controlled to drive the horizontal rotation axis 32 and / or the pitch rotation drive mechanism 33 to drive the pitch rotation axis 34 to rotate to drive the non-contact laser scanner 5 to scan the surface 200 to be measured according to the specified scanning strategy to obtain the scanning point cloud data of the surface 200 to be measured in the target coordinate system in real time.

[0121] In this step, the control device 6 drives the pitch rotation axis 34 to rotate through the pitch rotation drive mechanism 33, driving the contact laser tracker 4 and the non-contact laser scanner 5 installed in the scanner housing 21 on the pitch rotation support frame 35 to achieve pitch rotation movement.

[0122] 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.

[0123] In some embodiments, Figure 8 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 337, a limit mounting plate 338, a bearing pre-pressure ring and a mounting cover 339.

[0124] The first angular contact bearing 334 is installed on one side of the pitch rotation shaft 34. The pitch circular grating assembly 333 is installed between the first angular contact bearing 334 and the pitch rotation shaft 34 for measuring the pitch rotation angle of the pitch rotation shaft. A bearing preloading ring is sleeved on the other side of the pitch rotation shaft and then connected to the second angular contact bearing 335. The second angular contact bearing 335 is provided with a motor mounting base. The motor mounting base is provided with a pitch motor rotor. The pitch motor rotor is provided with a pitch motor stator 332 and is sleeved on the end of the pitch rotation shaft. The gland 337 is installed on the motor mounting base in a manner of pressing the pitch motor stator 332. The motor mounting base is installed on the pitch rotation support frame 35. The bearing preloading ring is sleeved on the pitch rotation shaft 34 and presses the second angular contact bearing 335. The pressing adjustment ring 336 is sleeved on the pitch rotation shaft 34 and is pressed and arranged inside the pitch motor rotor. The limit mounting plate 338 is limit-arranged at the end of the pitch rotation shaft 34. 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 base, the pressing adjustment ring 336 and the limit mounting plate 338 and are then installed on the pitch rotation support frame 35. The pitch motor stator 332 is electrically connected to the control device 6.

[0125] The implementation method for realizing the control of the pitch rotation drive mechanism 33 to drive the pitch rotation shaft 34 to rotate may include the following steps: driving the pitch motor stator 332 to drive the pitch rotation shaft 34 to rotate through the pitch motor rotor 331.

[0126] In this embodiment, the first angular contact bearing 334 is named only for the convenience of distinguishing from the angular contact bearings in the context before and after, 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 from the angular contact bearings in the context before and after, and is not used to limit a certain angular contact bearing.

[0127] 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. The pitch circular grating mounting base 3331 is installed on the pitch rotation shaft 34. The pitch circular grating mounting base 3331 is provided with a pitch circular grating. The pitch circular grating reading head 3332 is installed on the first angular contact bearing 334 to read the rotation angle of the pitch rotation shaft 34.

[0128] 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 pre-tightening force is used to facilitate the improvement of accuracy. Both the first angular contact bearing 334 and the second angular contact bearing 335 need to adopt high-precision bearings, and the radial and axial runout of the inner circle must be 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 pitch reading head 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 preload adjustment ring 336 on the outside can be adjusted to achieve the preload adjustment ring 336 on the pitch rotation axis. The first angular contact bearing 334 realizes the gap adjustment, the pitch motor rotor is installed on the pitch rotating shaft 34, the pitch motor stator 332 is installed on the motor mounting seat and fixed by the pressure cover 337, and the two realize the motor driving function through cooperation; the limit mounting plate 338 is installed at one end of the pitch rotating shaft 34 to realize the limit function of the rotation angle; in addition, the wiring, direct drive torque motor installation, circular grating installation and other space requirements must also be considered, and they are protected by the installation cover after installation.

[0129] In some embodiments, Fig. 9 As 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.

[0130] Among them, the horizontal rotating shaft sleeve is provided with a 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 is also installed at the set position of the horizontal rotating shaft. 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 sequentially sleeved on the horizontal rotating shaft 32 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 in a manner of being close to the horizontal motor stator 316 and pressing the third angular contact bearing 311, and the horizontal motor stator 316 is electrically connected to the control device 6. The implementation method of controlling the horizontal rotation drive mechanism 31 to drive the horizontal rotation axis 32 to rotate in the implementation step is: controlling the horizontal motor rotor 317 to drive the horizontal rotation axis to rotate; the execution end of the horizontal rotation axis 32 is installed with a pitch rotation support frame 35.

[0131] 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.

[0132] The bearing pressure ring 314 is sleeved on the horizontal rotating shaft 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 .

[0133] 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 is sleeved and mounted on the horizontal rotary shaft, the horizontal circular grating is mounted on the circular grating mounting seat, the reading head mounting seat is mounted on the fourth angular contact bearing 312, and the horizontal circular grating reading head 3151 is mounted on the reading head mounting seat. When the horizontal rotary shaft 32 rotates, the horizontal circular grating is driven to rotate. At this time, the rotation angle of the horizontal rotary shaft 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 rotary shaft. The horizontal motor rotor 317 realizes the horizontal driving function by cooperating with the horizontal motor stator 316. The circular grating is fixed on the circular grating mounting seat at the bottom of the horizontal rotary shaft. 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 the horizontal circular grating reading head 3151 is used to correct the eccentricity. As an embodiment, the selected horizontal circular grating can meet the angle measurement requirements of ±0.8″ and has a trigger reading function of the reference position signal to correct the influence of the eccentricity.

[0134] In this embodiment, the horizontal rotating shaft 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 pitch rotation support frame 35. When the horizontal rotating shaft rotates, it drives the scanner shell 21 to rotate through the pitch rotation support frame 35, thereby realizing horizontal rotation movement and pitch rotation movement.

[0135] As another embodiment, the horizontal rotating shaft 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 arranged 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 and close to the scanner housing 21, so as to route the electronic component circuits through the wiring pressure cover and the wiring groove cover.

[0136] 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, and the rolling elements are pressed against the outer side of the middle main support seat 313, and can be driven by the horizontal rotation shaft to rotate independently relative to the middle main support seat 313. The horizontal guide 318 of this embodiment can guide the horizontal rotation shaft to rotate independently relative to the middle main support seat 313.

[0137] 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, a combined installation scheme of the top third angular contact bearing 311 and the fourth angular contact bearing 312 is adopted, and the bearing stiffness is increased by pre-tightening the bearing pressure ring 314 installed on the horizontal rotating shaft.

[0138] 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 the cables.

[0139] like Fig. 9 As shown, the horizontal circular grating reading head 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 and scanning measurement 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. 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 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 the grinding process.

[0140] An embodiment of the present invention further provides a computer device, which may be a server, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store operating parameter data of each framework. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps of the method of the embodiment of the present invention are implemented.

[0141] Those skilled in the art will understand that Fig.10The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0142] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method of the embodiment of the present invention are implemented.

[0143] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the method of the embodiment of the present invention when executed by a processor.

[0144] 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 measurement method, characterized in that: Applied to a tracking and scanning measurement system, the tracking and scanning measurement system includes a two-dimensional angle measurement drive device, a contact laser tracker and a non-contact laser scanner, the contact laser tracker includes a tracking cooperation target and a tracking scanning device, the tracking cooperation target is 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, the tracking scanning device is used to obtain the coordinate data of the contact point between the tracking cooperation target and the surface to be measured in a target coordinate system in real time by tracking the tracking cooperation target, and the non-contact laser scanner is used to scan the surface to be measured according to the set scanning strategy, and obtain the scanning point cloud data of the surface to be measured in the target coordinate system in real time; The two-dimensional angle measurement driving device is used to drive the contact laser tracker and the non-contact laser scanner. The tracking scanning measurement method includes: In the tracking coordinate measurement mode, the two-dimensional angle measurement driving device is controlled to drive the tracking scanning device to track the tracking cooperation target in real time according to the set movement strategy to obtain the coordinate data; In the scanning measurement mode, the two-dimensional angle measurement drive device is controlled to drive the non-contact laser scanner to scan the surface to be measured according to the set scanning strategy to obtain the scanning point cloud data in real time. The tracking and scanning device comprises: an interference ranging module, a target tracking module and a visual tracking module; The step of controlling the two-dimensional angle measurement driving device to drive the tracking scanning device to track the tracking cooperation target in real time according to a set movement strategy to obtain the coordinate data includes: Turning on the interferometric ranging module, the target tracking module and the visual tracking module, and determining the position information of the tracking cooperation target according to the captured image fed back by the visual tracking module; The position information of the tracking cooperation target is sent to the two-dimensional angle measurement drive device, so as to control the two-dimensional angle measurement drive device to drive the interference ranging module to move according to the position information of the tracking cooperation target, so that the ranging laser emitted by the interference ranging module is incident on the tracking cooperation target through the target tracking module, and during the movement of the tracking cooperation target, the incident ranging laser is reflected to the target tracking module after passing through the tracking cooperation target.

2. The tracking scanning measurement method according to claim 1, characterized in that: The method of controlling the two-dimensional angle measuring driving device to drive the tracking scanning device to track the tracking cooperation target in real time according to the set movement strategy to obtain the coordinate data also includes: Obtaining the relative distance value at the current moment and the position offset value relative to the previous moment between the tracking cooperation target and the target tracking module measured by the target tracking module according to the received ranging laser; According to the position offset value, the two-dimensional angle measurement driving device is controlled to drive the target tracking module to perform adaptive adjustment of the horizontal angle and the pitch angle, so as to achieve tracking measurement of the tracking cooperation target by adjusting the 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 are determined according to the relative distance values, the horizontal angle value and the pitch angle value obtained at different times.

3. The tracking scanning measurement method according to claim 2, characterized in that: The target tracking module includes a lens assembly and a position sensing tracker; the lens assembly is arranged on the light incident side of the position sensing tracker, and the lens assembly processes the optical signal of the ranging laser emitted by the interference ranging module, so that a part of the ranging laser after processing is emitted into the tracking cooperation target and then reflected to the lens assembly and another part of the ranging laser is transmitted through the lens assembly to form an interference signal and emitted into the position sensing tracker; The obtaining of the relative distance value at the current moment in the target coordinate system between the tracking cooperation target and the target tracking module measured by the target tracking module according to the received ranging laser and the position offset value relative to the previous moment includes: Obtaining the relative distance value at the current moment and the position offset value relative to the previous moment between the tracking cooperation target and the lens assembly in the target coordinate system after the position sensing tracker measures the position of the light spot formed by the incident ranging laser; The controlling the two-dimensional angle measuring driving device to drive the target tracking module to perform adaptive adjustment of the horizontal angle and the pitch angle includes: The horizontal angle and the pitch angle are adaptively adjusted according to the position offset value, so as to achieve tracking measurement of the tracking cooperation target by adjusting the position offset value.

4. The tracking scanning measurement method according to claim 3, characterized in that: The lens assembly includes a first fiber optic collimator, a beam splitter and a collimator group. The ranging laser emitted by the interference ranging module is focused by the first fiber optic collimator into a beam of parallel light signals and then emitted into the beam splitter. A portion of the ranging laser of the parallel light signals passes through the beam splitter and is emitted into the tracking cooperative target, and then is reflected and emitted into the beam splitter, and forms an interference light signal with another portion of the ranging laser that passes through the beam splitter and is emitted into the position sensing tracker; the collimator group is arranged between the first fiber optic collimator and the beam splitter, and the collimator group is used to expand the parallel light signal emitted by the first fiber optic collimator and then emit it into the beam splitter.

5. The tracking scanning measurement method according to claim 4, characterized in that: The interference ranging module includes a helium-neon laser assembly, a second fiber collimator, a beam splitter, a fiber reflector and a detector; wherein the second fiber collimator is arranged on the light-emitting side of the helium-neon laser assembly, the beam splitter is arranged on the light-emitting side of the second fiber collimator, and the fiber reflector and the detector are respectively arranged on the light-emitting side of the beam splitter; the laser signal emitted by the helium-neon laser assembly is focused into a beam of parallel light signals by the second fiber collimator and then emitted into the beam splitter, after which a part of the ranging laser is emitted into the fiber reflector, and another part of the ranging laser is emitted into the first fiber collimator through the beam splitter and the ranging laser emitted into the beam splitter by the fiber reflector to form an interference signal, and another part of the ranging laser is emitted into the detector; the opening of the interference ranging module includes: According to the electrical signal fed back by the detector after detecting the ranging laser, the helium-neon laser component is controlled to be turned on to emit the laser signal.

6. The tracking scanning measurement method according to claim 5, characterized in that: The helium-neon laser assembly comprises a helium-neon laser, a switch circuit, a heating wire and a temperature sensor; The heating wire is wound around the outer side of the helium-neon laser and is electrically connected to the switch circuit. The temperature sensor is attached to the outer side of the helium-neon laser to measure the temperature of the helium-neon laser in real time. The method of controlling whether the He-Ne laser component is turned on to emit a laser signal according to the electrical signal fed back by the detector after detecting the ranging laser comprises: The helium-neon laser is controlled to emit a laser signal, so that during the process of emitting the laser signal, it is determined whether to heat the helium-neon laser by using the heating wire by controlling the switching circuit according to the electrical signal fed back by the detector and the temperature electrical signal sent by the temperature sensor, so as to maintain the temperature of the helium-neon laser within a set range.

7. The tracking scanning measurement method according to any one of claims 2 to 4, characterized in that: The non-contact laser scanner comprises: a scanning vision module and a frequency sweeping absolute non-contact distance measurement module; the scanning vision module is used to photograph the area to be measured in a panoramic manner; The method of controlling the two-dimensional angle measurement driving device to drive the non-contact laser scanner to scan the surface to be measured according to a set scanning strategy to obtain the scanning point cloud data in real time includes: Performing scanning path planning on the area to be measured to obtain a scanning path planning strategy; Sending the scanning path planning strategy to the frequency sweeping absolute non-contact distance measurement module, so that the frequency sweeping absolute non-contact distance measurement module measures the absolute distance value between the surface to be measured and the frequency sweeping absolute non-contact distance measurement module during the scanning process; According to the absolute distance value, the two-dimensional angle measurement driving 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 converge light energy through focusing to adapt to scanning at different distances.

8. The tracking scanning measurement method according to claim 7, characterized in that: The tracking scanning measurement system further includes: an optical fiber switch, wherein the optical fiber switch connects the frequency sweeping absolute non-contact ranging module and the interference ranging module. The tracking scanning measurement method further includes: In the tracking coordinate measurement mode, after the ranging laser emitted by the interference ranging module to the tracking cooperative target is blocked and the light is cut off, the frequency sweeping absolute non-contact ranging module and the target tracking module can be connected by controlling the optical fiber switch, and the initial value of the absolute distance from the tracking cooperative target to the frequency sweeping absolute non-contact ranging module after the light is cut off and resumed is measured. Through the initial value of the absolute distance, the relative distance value between the tracking cooperative target and the lens assembly of the target tracking module in the target coordinate system after the light is cut off and resumed is corrected.

9. The tracking scanning measurement method according to any one of claims 1 to 4, characterized in that: The tracking scanning measurement system also includes a support frame and a mounting shell installed on the support frame, the mounting shell includes a scanner shell and a control shell, and the contact laser tracker and the non-contact laser scanner are both installed in the scanner shell.

10. The tracking scanning measurement method according to claim 9, characterized in that: The two-dimensional angle measurement drive device comprises a horizontal rotation drive mechanism, a horizontal rotation axis, a pitch rotation drive mechanism, a pitch rotation axis and a pitch rotation support frame; the horizontal rotation drive mechanism is installed in the control 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 pitch rotation support frame, and the scanner shell is installed on the pitch rotation support frame, so that the scanner shell is driven by the pitch rotation support frame to realize horizontal rotation movement; The output end of the pitch rotation drive mechanism is equipped with the pitch rotation axis, and is installed on the pitch rotation support frame, so that the scanner housing is driven to achieve pitch rotation movement through the rotation of the pitch rotation axis; The step of controlling the two-dimensional angle measurement driving device to drive the tracking scanning device to track the tracking cooperation target in real time according to a set movement strategy to obtain the coordinate data includes: Control the horizontal rotation drive mechanism to drive the horizontal rotation axis and the pitch rotation drive mechanism to drive the pitch rotation axis to rotate so as to drive the tracking scanning device to track the tracking cooperation target in real time according to the set movement strategy to obtain the coordinate data; The method of controlling the two-dimensional angle measurement driving device to drive the non-contact laser scanner to scan the surface to be measured according to a set scanning strategy to obtain the scanning point cloud data in real time includes: The horizontal rotation drive mechanism is controlled to drive the horizontal rotation axis, and the pitch rotation drive mechanism is controlled to drive the pitch rotation axis to rotate so as to drive the non-contact laser scanner to scan the surface to be measured according to the set scanning strategy to obtain the scanning point cloud data in real time.

11. The tracking scanning measurement method according to any one of claims 1 to 4, characterized in that: The tracking cooperation target is a pyramid target ball.

12. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1-11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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