Method for detecting dynamic accuracy of 6d attitude angle of laser tracker, accuracy detection device, equipment and storage medium

Abstract

The application relates to a 6D attitude angle dynamic precision detection method and device of a laser tracker, computer equipment and a computer readable storage medium, the method comprising the following steps: controlling a rotary table to move, so as to drive a target probe and an angle reflector arranged on the rotary table to move; obtaining attitude angle data measured by the laser tracker tracking the target probe, and obtaining reference rotation angle data measured by an angle measuring device; the angle measuring device measures the reference rotation angle data through mutual cooperation among a laser source, an angle interferometer and the angle reflector; the attitude angle data and the reference rotation angle data are time-aligned; each attitude angle in the attitude angle data is mapped into corresponding target rotation angle to obtain target rotation angle data; and the precision detection result of the laser tracker on the attitude angle is determined according to the difference between the target rotation angle data and the reference rotation angle data. The method can accurately and effectively measure the precision detection result of the laser tracker on the attitude angle.

Description

Technical Field

[0001] This application relates to the field of precision detection technology for laser trackers, and in particular to a method, device, computer equipment, computer-readable storage medium, and computer program product for dynamic precision detection of 6D attitude angles of a laser tracker. Background Technology

[0002] Laser trackers are high-precision three-dimensional coordinate measuring instruments widely used in aerospace, automotive manufacturing, robotics, and large equipment assembly industries. Currently, by using laser trackers in conjunction with 6D (Six-Degree-of-Freedom) probes, such as the Leica spatial attitude probe, the spatial pose of the measured object can be obtained, including spatial coordinates and spatial attitude angles, thus acquiring complete six-degree-of-freedom measurement results. However, a systematic and effective method for accurately detecting attitude angles using laser trackers is still lacking. Summary of the Invention

[0003] Therefore, it is necessary to provide a 6D attitude angle dynamic accuracy detection method, accuracy detection device, computer equipment, computer-readable storage medium, and computer program product for a laser tracker that can accurately and effectively measure attitude angle accuracy.

[0004] In a first aspect, this application provides a method for detecting the dynamic accuracy of a laser tracker's attitude angle in 6D. This method is applied to an accuracy measurement system, which includes a turntable, a laser tracker, an angle measuring device, and a target probe mounted on the turntable. The angle measuring device includes a laser source, an angle interferometer, and an angle reflector mounted on the turntable. The method for detecting the dynamic accuracy of a laser tracker's attitude angle in 6D includes:

[0005] Control the movement of the turntable so that the target probe and the angle reflector mounted on the turntable move accordingly;

[0006] The system acquires attitude angle data measured by the laser tracker tracking the target probe, and acquires reference rotation angle data measured by the angle measuring device; wherein the angle measuring device measures the reference rotation angle data through the cooperation between the laser source, the angle interferometer, and the angle reflector; the attitude angle data and the reference rotation angle data are time-aligned.

[0007] Map each attitude angle in the attitude angle data to the corresponding target rotation angle to obtain the target rotation angle data;

[0008] Based on the difference between the target rotation angle data and the reference rotation angle data, the accuracy detection result of the laser tracker for the attitude angle is determined.

[0009] Secondly, this application also provides a precision detection device, the device comprising:

[0010] The drive module is used to control the movement of the turntable, so as to drive the target probe and angle reflector set on the turntable to move accordingly;

[0011] The acquisition module is used to acquire attitude angle data measured by the laser tracker tracking the target probe, and to acquire reference rotation angle data measured by the angle measuring device; wherein the angle measuring device measures the reference rotation angle data through the cooperation between the laser source, the angle interferometer, and the angle reflector; the attitude angle data and the reference rotation angle data are time-aligned.

[0012] The mapping module is used to map each attitude angle in the attitude angle data to the corresponding target rotation angle to obtain the target rotation angle data;

[0013] The target module is used to determine the accuracy detection result of the laser tracker for the attitude angle based on the difference between the target rotation angle data and the reference rotation angle data.

[0014] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described in the first aspect.

[0015] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0016] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0017] The aforementioned 6D attitude angle dynamic accuracy detection method, accuracy detection device, computer equipment, computer-readable storage medium, and computer program product for laser trackers acquire attitude angle data measured by the laser tracker tracking the target probe, and acquire reference rotation angle data measured by the angle measuring device. Each attitude angle in the attitude angle data is mapped to the corresponding target rotation angle to obtain target rotation angle data. Then, based on the difference between the target rotation angle data and the reference rotation angle data, the accuracy detection result of the laser tracker on the attitude angle is determined. The reference rotation angle data measured by the angle measuring device is used as the actual angular displacement of the target probe, thus avoiding the inclusion of the turntable's own rotation error. Furthermore, the difference between the reference angle data and the target rotation angle data accurately determines the accuracy detection result of the laser tracker on the attitude angle, thereby achieving effective measurement of the laser tracker's attitude angle accuracy and significantly improving the accuracy of the accuracy detection results. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an application environment diagram of a 6D attitude angle dynamic accuracy detection method for a laser tracker in one embodiment;

[0020] Figure 2 This is a flowchart illustrating a 6D attitude angle dynamic accuracy detection method for a laser tracker in one embodiment.

[0021] Figure 3 This is a flowchart illustrating a 6D attitude angle dynamic accuracy detection method for a laser tracker in one embodiment.

[0022] Figure 4 This is a flowchart illustrating a 6D attitude angle dynamic accuracy detection method for a laser tracker in one embodiment.

[0023] Figure 5 This is a flowchart illustrating a 6D attitude angle dynamic accuracy detection method for a laser tracker in one embodiment.

[0024] Figure 6 This is a schematic diagram of a precision measurement system in one embodiment;

[0025] Figure 7 This is a schematic diagram of the target probe structure in one embodiment;

[0026] Figure 8This is a structural block diagram of the accuracy detection device in one embodiment;

[0027] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] The 6D attitude angle dynamic accuracy detection method for laser trackers provided in this application embodiment (or the 6D attitude angle accuracy detection method for laser trackers) can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on a cloud or other network server. Both the terminal and server can be used independently to execute the 6D attitude angle dynamic accuracy detection method for the laser tracker provided in this embodiment. The terminal and server can also be used collaboratively to execute the 6D attitude angle dynamic accuracy detection method for the laser tracker provided in this embodiment. For example, terminal 102 executes: controlling the turntable to move, thereby moving the target probe and angle reflector set on the turntable accordingly; acquiring the attitude angle data measured by the laser tracker tracking the target probe; and acquiring the reference rotation angle data measured by the angle measuring device. The angle measuring device measures the reference rotation angle data through the cooperation of the laser source, angle interferometer, and angle reflector. The attitude angle data and reference rotation angle data are time-aligned. Each attitude angle in the attitude angle data is mapped to the corresponding target rotation angle to obtain the target rotation angle data. Based on the difference between the target rotation angle data and the reference rotation angle data, the accuracy detection result of the laser tracker for the attitude angle is determined. The terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle systems. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0030] In one embodiment, such as Figure 2 As shown, a method for dynamic accuracy detection of 6D attitude angle of a laser tracker is provided. This embodiment uses the application of this method to a computer device as an example for illustration, including steps S202 to S208.

[0031] It should be noted that the attitude angle data and reference rotation angle data described in the 6D attitude angle dynamic accuracy detection method of the laser tracker described below are obtained through methods such as... Figure 6 The accuracy measurement system shown acquires data, which includes a turntable, a laser tracker, an angle measuring device, and a target probe mounted on the turntable. The angle measuring device includes a laser source, an angle interferometer, and an angle reflector mounted on the turntable.

[0032] Step 202: Control the turntable to move so that the target probe and angle reflector mounted on the turntable move accordingly;

[0033] The target probe is mounted on a turntable, and the movement of the turntable is controlled to move the target probe accordingly, thus simulating the actual movement of the target probe. An angle reflector is also mounted on the turntable, and the movement of the turntable synchronously moves the angle reflector.

[0034] In one embodiment, such as Figure 7 As shown, the target probe includes known marker points and a target sphere, the target sphere comprising a cornerstone prism. The laser tracker obtains attitude angle data based on the marker points on the target probe. The laser source in the angle measurement device is used to emit a laser beam, the angle interferometer is used to split and combine the laser beam emitted by the laser source, and the angle reflector is used to reflect the laser beam.

[0035] In one embodiment, such as Figure 6 As shown, the angle interferometer is positioned between the laser source and the angle reflector. The angle reflector and the target probe are mounted on the turntable via a mounting base to ensure that the angle reflector and the target probe are mounted on a rigid structure. This ensures that both have the same actual angular displacement when they move with the turntable, thereby avoiding measurement deviations caused by their relative motion and improving the accuracy of the laser tracker in measuring attitude angles.

[0036] In one embodiment, the angle reflector and / or target probe can also be directly mounted on the turntable surface, for example, by applying adhesive to fix it to the turntable surface. This embodiment does not limit this to the above.

[0037] In one embodiment, the target probe includes a 6D probe, and the angle measuring device includes a laser interferometer; however, this embodiment does not limit the scope of the invention.

[0038] Step 204: Acquire the attitude angle data measured by the laser tracker tracking the target probe, and acquire the reference rotation angle data measured by the angle measuring device; wherein the angle measuring device measures the reference rotation angle data through the cooperation between the laser source, the angle interferometer, and the angle reflector; the attitude angle data and the reference rotation angle data are time-aligned.

[0039] When the turntable is controlled to move, thereby causing the target probe and angle reflector to move accordingly, the laser tracker measures the target probe in real time to obtain the attitude angle data of the target probe during the actual movement process. The angle measuring device measures the reference rotation angle data through the cooperation between the laser source, the angle interferometer and the angle reflector.

[0040] In one embodiment, the angle measuring device emits a laser beam from a laser source, which is then split by an angle interferometer and transmitted to an angle reflector. The angle reflector reflects the laser beam back to the angle interferometer for recombining, and the angle interferometer returns the recombined laser beam to the laser source. The reference rotation angle data of the angle reflector is then measured based on the optical path difference of the laser beam. Since the angle reflector and the target probe are both mounted on the same turntable, their relative positions remain fixed, resulting in identical rotation angles. Therefore, the reference rotation angle data measured by the angle measuring device can serve as a reference benchmark for the actual angular displacement of the target probe, replacing the readings of the turntable's built-in angle encoder. This avoids interference from the turntable's own rotation angle error on accuracy measurement, thereby enabling effective measurement of attitude angles by the laser tracker and improving the accuracy of attitude angle measurement. The timing alignment of the attitude angle data and the reference rotation angle data ensures a one-to-one correspondence between the two sets of data on the same time reference, allowing for accurate comparison and further enhancing the accuracy of attitude angle measurement by the laser tracker.

[0041] It should be noted that the rotational error of the turntable itself mainly originates from mechanical factors such as gear backlash, elastic deformation of the transmission shaft, eccentric installation of the angle encoder, and cumulative drift of multi-stage transmission. However, the angle measuring device uses optical wavelength for tracing, and the optical path does not pass through mechanical transmission. Therefore, the reference rotational data obtained by the device does not contain rotational errors caused by the turntable itself, thus avoiding the mixing of the turntable's own rotational error into the attitude angle accuracy measurement of the laser tracker and improving the accuracy of the laser tracker's attitude angle accuracy measurement.

[0042] For example, the turntable is controlled to move, thereby driving the target probe to move accordingly, and the laser tracker and angle measuring device track and measure the corresponding attitude angle data and reference rotation angle data, wherein at a certain sampling moment, the attitude angle measured by the laser tracker is (α, β, γ) or (α,β,γ) can be understood as Euler angles. The rotation matrix corresponds to different representations of the attitude angle. The specific representation depends on the data output format of the laser tracker. The reference rotation angle measured by the angle measuring device is θ.

[0043] In one embodiment, the turntable reciprocates around its axis, which can be horizontal, vertical, or any predetermined direction. The reciprocating oscillation can be sinusoidal, uniform, or arbitrary; this embodiment does not specifically limit this. The oscillation angle of the turntable is within the effective measurement range of the laser tracker and the angle measuring device, allowing for continuous acquisition of corresponding attitude angle data and reference rotation angle data. This ensures the integrity of both sets of data, avoiding data loss or breaks due to exceeding the effective measurement range of the laser tracker and / or the angle measuring device, providing complete data input for subsequent precision measurements, and improving the accuracy of precision measurements.

[0044] For example, with the starting position as the reference zero point, at the starting position, the laser tracker is directly facing the target probe; the laser source is directly facing the angle reflector, and the angle measured by both is defined as 0°. The swing angle of the turntable around the axis of rotation must not exceed the preset angle threshold, such as 5° or 10°, so that the range of motion of the turntable's reciprocating swing is within the effective measurement range of the laser tracker and the angle measuring device.

[0045] In one embodiment, a support member may be added to adjust the height of the corresponding device. For example... Figure 6 As shown, a first support is set below the turntable to adjust the height of the turntable and the target probe so that the target probe is aligned with the laser tracker. A second support is set below the laser source and the angle interferometer to adjust the height of the laser source and the angle interferometer so that they are aligned with the angle reflector.

[0046] In one embodiment, by controlling the laser tracker and the angle measuring device to perform measurement actions synchronously at the same sampling frequency, the attitude angle data and reference rotation angle data measured by the laser tracker and the angle measuring device are time-aligned, avoiding alignment errors caused by post-event time alignment operations, thereby improving the accuracy of the laser tracker's attitude angle measurement.

[0047] In this embodiment, by sending a trigger signal to the laser tracker and the angle measuring device, the laser tracker and the angle measuring device respond to the trigger signal, synchronously execute measurement actions, and collect data at the same sampling frequency, thereby achieving timing alignment between the attitude angle data and the reference rotation angle data. The trigger signal can be generated by a third-party device or by the laser tracker. When generated by the laser tracker, simply sending the trigger signal to the angle measuring device is sufficient for both the laser tracker and the angle measuring device to respond to the trigger signal, synchronously execute measurement actions, and collect data at the same sampling frequency. This embodiment does not limit this approach.

[0048] Step 206: Map each attitude angle in the attitude angle data to the corresponding target rotation angle to obtain the target rotation angle data;

[0049] The attitude angle measured by the laser tracker represents the attitude or orientation of the target probe in space, while the reference rotation angle measured by the angle measuring device represents the actual rotation angle of the target probe around the axis of the turntable. The two measurement results belong to different dimensions and cannot be directly compared. By mapping the attitude angle to represent the target rotation angle of the target probe around the axis of the turntable, the attitude angle data measured by the laser tracker and the reference rotation angle data measured by the angle measuring device become comparable, thereby realizing the accuracy measurement of the attitude angle of the laser tracker.

[0050] Step 208: Determine the accuracy detection result of the laser tracker for the attitude angle based on the difference between the target rotation angle data and the reference rotation angle data.

[0051] The process involves comparing target angle data with reference angle data to determine angle deviation data, and then using this deviation data to determine the laser tracker's accuracy in measuring the attitude angle. By using reference angle data measured by an angle measuring device as the reference benchmark for the actual angular displacement of the target probe, replacing the angle encoder readings built into the turntable, the interference of the turntable's own angle error on accuracy measurement is avoided. Furthermore, the difference between the reference angle data and the target angle data is used to accurately determine the laser tracker's accuracy in measuring the attitude angle, thus achieving effective measurement of the laser tracker's attitude angle accuracy and significantly improving the accuracy of the accuracy measurement results.

[0052] The aforementioned 6D attitude angle dynamic accuracy detection method for laser trackers acquires attitude angle data measured by the laser tracker tracking the target probe and reference rotation angle data measured by the angle measuring device. It maps each attitude angle in the attitude angle data to the corresponding target rotation angle to obtain target rotation angle data. Then, based on the difference between the target rotation angle data and the reference rotation angle data, it determines the accuracy detection result of the laser tracker for the attitude angle. The reference rotation angle data measured by the angle measuring device is used as the actual angular displacement of the target probe, thus avoiding the inclusion of the turntable's own rotation error. Furthermore, the difference between the reference angle data and the target rotation angle data accurately determines the accuracy detection result of the laser tracker for the attitude angle, thereby achieving effective measurement of the laser tracker's attitude angle accuracy and significantly improving the accuracy of the accuracy detection results.

[0053] In one exemplary embodiment, such as Figure 3 As shown, the 6D attitude angle dynamic accuracy detection method of the laser tracker also includes steps 302 to 304.

[0054] Step 302: Determine the attitude change angle data based on the differences between each attitude angle in the attitude angle data and the target attitude angle; the target attitude angle includes the attitude angle measured by the laser tracker when the target probe is in the initial position.

[0055] In this process, when the turntable is in its initial position, the target attitude angle measured by the laser tracker and the target probe serves as a reference. This step involves subtracting each attitude angle from the target attitude angle in the attitude angle data to obtain the attitude change angle data. This data represents the change in attitude angle relative to the target attitude angle, thereby filtering out attitude angle errors introduced by the installation offset between the laser tracker and the target probe, further improving the accuracy of the precision detection results. The turntable being in its initial position refers to its position before it is driven and after the laser tracker and target probe are aligned.

[0056] Step 304: Map the attitude change angle to the corresponding target rotation angle to obtain the target rotation angle data.

[0057] Among them, the attitude change angle still represents the direction of the target probe in space, while the reference rotation angle measured by the angle measuring device represents the actual rotation angle of the target probe around the axis of the turntable. The two are still measurement results of different dimensions and cannot be directly compared. Therefore, the attitude change angle is mapped to the target rotation angle representing the direction of the target probe around the axis of the turntable, so that the attitude angle data measured by the laser tracker and the reference rotation angle data measured by the angle measuring device are comparable, thereby realizing the attitude angle accuracy measurement of the laser tracker.

[0058] In this embodiment, the attitude change angle data is determined based on the difference between each attitude angle in the attitude angle data and the target attitude angle. This filters out the attitude angle error introduced by the installation offset between the laser tracker and the target probe, thereby improving the accuracy of the precision detection results. The attitude change angle is mapped to the corresponding target rotation angle to obtain the target rotation angle data. This makes the attitude angle data comparable to the reference rotation angle data measured by the angle measuring device, enabling the laser tracker to effectively measure the attitude angle accuracy.

[0059] In one exemplary embodiment, such as Figure 4 As shown, determining the accuracy detection result of the laser tracker for the attitude angle based on the difference between the target rotation angle data and the rotation angle data also includes steps 402 to 404.

[0060] Step 402: Compare the target turning angle data with the reference turning angle data to determine the turning angle deviation data;

[0061] Specifically, the target angle and reference angle measured at the same time in the target angle data and reference angle data are subtracted to obtain the angle deviation data.

[0062] Step 404: Statistically analyze the rotation angle deviation data to obtain the corresponding first statistical result; use the first statistical result as the accuracy detection result of the laser tracker for the attitude angle.

[0063] The first statistical result includes the standard deviation calculated based on the rotation angle deviation data, which is used to quantify the dispersion of the rotation angle deviation relative to its mean. It can accurately reflect the overall fluctuation range of the laser tracker's measurement error of the attitude angle. Using this standard deviation as the accuracy test result can accurately reflect the measurement performance of the laser tracker in measuring the attitude angle, thereby achieving an objective and quantitative evaluation of the dynamic attitude angle measurement accuracy of the laser tracker and improving the accuracy of the accuracy test results.

[0064] In one embodiment, determining the accuracy detection result of the laser tracker on the attitude angle based on the difference between the target angle data and the reference angle data further includes: performing differential processing on the reference angle data to obtain angle motion parameter data, then performing statistical analysis on the angle motion parameter data to obtain the corresponding second statistical result, and finally using the first statistical result and the second statistical result as the accuracy detection result of the laser tracker on the attitude angle.

[0065] The rotational motion parameter data includes angular velocity data and / or angular acceleration data. The angular velocity data is obtained by performing a first-order derivative on the rotational data, and the angular acceleration data is obtained by performing a second-order derivative on the rotational data. Angular velocity characterizes the rotational rate of the target probe around the turntable axis, and angular acceleration characterizes the rate of change of this rate. The second statistical result includes the maximum angular velocity from the angular velocity data and / or the maximum angular acceleration from the angular acceleration data, reflecting the dynamic measurement range of the laser tracker. This maximum angular velocity and / or maximum angular acceleration, along with their standard deviation, are used as the accuracy detection result. This provides a direct reflection of the dynamic measurement range and performance of the laser tracker, enabling an objective and quantitative evaluation of the dynamic attitude angle measurement accuracy of the laser tracker, and improving the accuracy and reliability of the accuracy detection results.

[0066] In one embodiment, the accuracy test results may also include the swing pattern of the turntable, thereby providing more complete test condition information and ensuring the reproducibility and comparability of the accuracy test results.

[0067] For example, the first statistical result is a standard deviation of 0.01°, the second statistical result is a maximum angular velocity of 31.6° / s and a maximum angular acceleration of 202° / s², the turntable swings in a sinusoidal manner, and the accuracy test result of the laser tracker is ≤0.01° (measured under a sinusoidal swing with a maximum angular velocity of 31.6° / s and a maximum angular acceleration of 202° / s²).

[0068] In one embodiment, determining the accuracy detection result of the laser tracker on the attitude angle based on the difference between the target rotation angle data and the reference rotation angle data further includes: performing differential processing on the reference rotation angle data to obtain rotation angle motion parameter data; determining the target time period corresponding to different rotation speed levels based on the magnitude of the rotation angle motion parameter data; and then determining the accuracy detection result of the laser tracker on the attitude angle at different rotation speed levels based on the difference between the target rotation angle data and the reference rotation angle data within each target time period.

[0069] As mentioned earlier, the angular motion parameter data includes angular velocity data and / or angular acceleration data. Here, the reference angular data is divided into target reference angular angle data intervals corresponding to different speed levels, such as low speed, medium speed, and high speed, based on the magnitude of the angular velocity and / or angular acceleration. The time range corresponding to each target reference angular angle data interval is the target time period at the corresponding speed level. Dividing the speed levels based on the reference angular data measured by the angle measuring device, rather than based on the attitude angle data measured by the laser tracker, avoids interference from the laser tracker's own measurement errors, thus achieving accurate division at each speed level. Determining the accuracy detection results at different speed levels yields the angular measurement error distribution of the laser tracker at each speed level, reflecting the law of accuracy change with speed. This enables a comprehensive evaluation of the attitude angle measurement accuracy under dynamic conditions, providing a reference for the use and calibration of the laser tracker under different motion conditions.

[0070] In one embodiment, the rotational motion parameter data and the accuracy detection results of the attitude angle by the laser tracker at different speed levels can be displayed together to intuitively reflect the correspondence between the accuracy detection results and the speed, thereby improving the reliability of accuracy measurement.

[0071] For example, an accuracy-speed curve is constructed with rotational motion parameters such as angular velocity or angular acceleration as the horizontal axis and the accuracy detection results at different speed levels as the vertical axis, so as to intuitively show the trend of the laser tracker's accuracy detection results of attitude angles changing with speed.

[0072] In this embodiment, by comparing the target angle data and the reference angle data, the angle deviation data is determined. The angle deviation data is statistically analyzed to obtain the corresponding first statistical result. The first statistical result is then used as the accuracy detection result of the laser tracker for the attitude angle, thereby achieving an objective and quantitative evaluation of the dynamic attitude angle measurement accuracy of the laser tracker and improving the accuracy of the accuracy detection result.

[0073] In one exemplary embodiment, such as Figure 5 As shown, mapping each attitude angle in the attitude angle data to the corresponding target rotation angle to obtain the target rotation angle data also includes steps 502 to 504.

[0074] Step 502: Decompose each attitude angle in the attitude angle data into the corresponding initial rotation axis direction and the initial rotation angle around the initial rotation axis direction;

[0075] like Figure 7 As shown, the target probe is equipped with multiple marker points. The attitude camera on the laser tracker takes pictures of the target probe to obtain an image containing at least 3 marker points. The attitude angle of the target probe is calculated based on the positional changes between the marker points in the image and known marker points, which is the PnP (Perspective-n-Point) problem.

[0076] In one embodiment, the attitude angle obtained by the laser tracker is generally represented by the attitude matrix R(t). Then, with the initial position as a reference, the attitude R(0) at that moment is recorded, and the corresponding rotation angle is defined as 0°. The attitude change relative to the initial moment is calculated to obtain the relative rotation matrix ΔR(t). This matrix describes the relative rotation of the probe from the initial position to the current moment. The relative rotation matrix is ​​converted into an equivalent axis angle representation using the Rodriguez formula to obtain the total rotation angle, which describes the rotation state of the target probe relative to the initial position.

[0077] For example, for any attitude angle, the trace of the relative rotation matrix ΔR(t), i.e., the sum of the main diagonal elements, is calculated and denoted as trace(ΔR). The initial rotation angle θ is extracted by performing an inverse cosine operation on the trace(ΔR). The difference between the attitude matrix ΔR(t) and its transpose matrix ΔR(t)ᵀ is calculated to obtain the antisymmetric matrix. Based on the proportional relationship between the elements in the antisymmetric matrix and sinθ, the initial rotation axis direction k is extracted. It is a unit direction vector that represents the axial direction of the target probe attitude change in three-dimensional space. The initial rotation axis direction k and the initial rotation angle θ constitute the equivalent axis angle representation of the attitude angle.

[0078] The operation of extracting the initial rotation angle θ by performing an inverse cosine operation on the trace(ΔR) is defined as follows:

[0079]

[0080] Step 504: Based on the relative relationship between the initial rotation axis direction and the turntable axis direction, convert the initial rotation angle into the target rotation angle around the turntable axis direction.

[0081] When the initial rotation axis direction is consistent with the turntable axis direction, the initial rotation angle is the target rotation angle. When the initial rotation axis direction is inconsistent with the turntable axis direction, the initial rotation angle is decomposed along the turntable axis direction to obtain the target rotation angle around the turntable axis direction.

[0082] In one embodiment, mapping each attitude change angle in the attitude change angle data to the corresponding target rotation angle to obtain the target rotation angle data further includes: treating the attitude change angle data as attitude angle data, and performing the above steps 502 to 504 to obtain the target rotation angle data, which will not be elaborated on here.

[0083] In this embodiment, by decomposing each attitude angle in the attitude angle data into the corresponding initial rotation axis direction and the initial rotation angle around the initial rotation axis direction, and then converting the initial rotation angle into the target rotation angle around the rotation axis direction according to the relative relationship between the initial rotation axis direction and the turntable axis direction, the measurement data of the laser tracker and the measurement data of the angle measurement device are unified in terms of physical dimensions and reference, so that the attitude angle data and the reference rotation angle data are comparable, thereby realizing the attitude angle accuracy measurement of the laser tracker.

[0084] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0085] Based on the same inventive concept, this application also provides a precision detection device for implementing the 6D attitude angle dynamic precision detection method of the laser tracker described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more precision detection device embodiments provided below can be found in the limitations of the 6D attitude angle dynamic precision detection method of the laser tracker described above, and will not be repeated here.

[0086] In one embodiment, such as Figure 8 As shown, a precision detection device is provided, comprising a driving module 802, an acquisition module 804, a mapping module 806, and a target module 808, wherein:

[0087] The drive module 802 is used to control the movement of the turntable so that the target probe and angle reflector set on the turntable can move accordingly.

[0088] The acquisition module 804 is used to acquire the attitude angle data measured by the target probe of the laser tracker and the reference rotation angle data measured by the angle measuring device. The angle measuring device measures the reference rotation angle data through the cooperation between the laser source, the angle interferometer and the angle reflector. The attitude angle data and the reference rotation angle data are time-aligned.

[0089] The mapping module 806 is used to map each attitude angle in the attitude angle data to the corresponding target rotation angle to obtain the target rotation angle data;

[0090] The target module 808 is used to determine the accuracy detection result of the laser tracker for the attitude angle based on the difference between the target rotation angle data and the reference rotation angle data.

[0091] In one embodiment, the mapping module 806 further includes: determining attitude change angle data based on the difference between each attitude angle in the attitude angle data and the target attitude angle; the target attitude angle includes the attitude angle measured by the laser tracker when the target probe is in the initial position; mapping each attitude change angle in the attitude change angle data to the corresponding target rotation angle to obtain the target rotation angle data.

[0092] In one embodiment, the target module 808 further includes: comparing the target rotation angle data and the reference rotation angle data to determine the rotation angle deviation data; performing statistics on the rotation angle deviation data to obtain the corresponding first statistical result; and using the first statistical result as the accuracy detection result of the laser tracker for the attitude angle.

[0093] In one embodiment, the target module 808 further includes: performing differential processing on the reference rotation angle data to obtain rotation angle motion parameter data; performing statistics on the rotation angle motion parameter data to obtain a corresponding second statistical result; and using the first statistical result and the second statistical result as the accuracy detection result of the laser tracker on the attitude angle.

[0094] In one embodiment, the target module 808 further includes: performing differential processing on the reference rotation angle data to obtain rotation angle motion parameter data; determining the target time period corresponding to different rotation speed levels based on the magnitude of the rotation angle motion parameter data; and determining the accuracy detection result of the laser tracker on the attitude angle at the corresponding different rotation speed levels based on the difference between the target rotation angle data and the reference rotation angle data in each target time period.

[0095] In one embodiment, the mapping module 806 further includes: decomposing each attitude angle in the attitude angle data into a corresponding initial rotation axis direction and an initial rotation angle around the initial rotation axis direction; and converting the initial rotation angle into a target rotation angle around the rotation axis direction according to the relative relationship between the initial rotation axis direction and the turntable axis direction.

[0096] Each module in the aforementioned precision detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0097] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a 6D attitude angle dynamic accuracy detection method for a laser tracker. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0098] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0099] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0100] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0101] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0102] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for detecting the dynamic accuracy of 6D attitude angles using a laser tracker, characterized in that, The 6D attitude angle dynamic accuracy detection method of the laser tracker is applied to an accuracy measurement system. The accuracy measurement system includes a turntable, a laser tracker, an angle measuring device, and a target probe mounted on the turntable. The angle measuring device includes a laser source, an angle interferometer, and an angle reflector mounted on the turntable. The 6D attitude angle dynamic accuracy detection method of the laser tracker includes: Control the movement of the turntable so that the target probe and the angle reflector mounted on the turntable move accordingly; The system acquires attitude angle data measured by the laser tracker tracking the target probe, and acquires reference rotation angle data around the turntable axis obtained by the angle measuring device; wherein the angle measuring device measures the reference rotation angle data through the cooperation between the laser source, the angle interferometer, and the angle reflector; the attitude angle data and the reference rotation angle data are time-aligned. Each attitude angle in the attitude angle data is decomposed into a corresponding initial rotation axis direction and an initial rotation angle around the initial rotation axis direction; Based on the relative relationship between the initial rotation axis direction and the turntable axis direction, the initial rotation angle is converted into a target rotation angle around the turntable axis direction, and the target rotation angle data is obtained. The target turning angle data and the reference turning angle data are compared to determine the turning angle deviation data; The standard deviation of the rotation angle deviation data was obtained by statistical analysis. The standard deviation is used as the accuracy test result of the laser tracker for the attitude angle.

2. The method according to claim 1, characterized in that, The method further includes: The attitude change angle data is determined based on the differences between each attitude angle in the attitude angle data and the target attitude angle; the target attitude angle includes the attitude angle measured by the laser tracker when the target probe is in the initial position. Each attitude change angle in the attitude change angle data is mapped to the corresponding target rotation angle to obtain the target rotation angle data.

3. The method according to claim 2, characterized in that, The method further includes: Differentiate the reference rotation angle data to obtain rotation motion parameter data; The rotational motion parameter data are statistically analyzed to obtain the corresponding second statistical result; The standard deviation and the second statistical result are used as the accuracy detection result of the laser tracker for the attitude angle.

4. The method according to claim 3, characterized in that, The step of differentiating the reference rotation angle data to obtain the rotation motion parameter data includes: The first derivative of the reference rotation angle data is used to obtain angular velocity data, and / or the second derivative of the reference rotation angle data is used to obtain angular acceleration data.

5. The method according to claim 4, characterized in that, The second statistical result includes the maximum angular velocity in the angular velocity data and / or the maximum angular acceleration in the angular acceleration data.

6. The method according to claim 1, characterized in that, The method further includes: Differentiate the reference rotation angle data to obtain rotation motion parameter data; Based on the magnitude of the rotational motion parameter data, the target time period corresponding to different rotational speed levels is determined; Based on the difference between the target rotation angle data and the reference rotation angle data within each target time period, the accuracy detection result of the laser tracker for the attitude angle is determined at different rotation speed levels.

7. A precision detection device, characterized in that, include: The drive module is used to control the movement of the turntable, so as to drive the target probe and angle reflector set on the turntable to move accordingly; The acquisition module is used to acquire attitude angle data measured by the laser tracker tracking the target probe, and to acquire reference rotation angle data around the turntable axis obtained by the angle measuring device. The angle measuring device measures the reference rotation angle data through the cooperation of a laser source, an angle interferometer, and an angle reflector; the attitude angle data and the reference rotation angle data are time-aligned. The mapping module is used to decompose each attitude angle in the attitude angle data into the corresponding initial rotation axis direction and the initial rotation angle around the initial rotation axis direction; Based on the relative relationship between the initial rotation axis direction and the turntable axis direction, the initial rotation angle is converted into a target rotation angle around the turntable axis direction, and the target rotation angle data is obtained. The target module is used to compare the target turning angle data with the reference turning angle data to determine the turning angle deviation data; The standard deviation of the rotation angle deviation data was obtained by statistical analysis. The standard deviation is used as the accuracy test result of the laser tracker for the attitude angle.

8. A computer device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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