Positioning device

Abstract

The utility model relates to a positioning device which comprises a spherical segment and a target. The target is arranged on the spherical segment; the target is provided with a recognition area; the center of the identification area coincides with the sphere center of the segment. When the positioning device is matched with a scanner for use, a target ball with the same spherical segment diameter as the positioning device can be directly replaced. In this way, the center of the target ball of the laser tracker is directly associated with the coordinates of the target point (namely the center of the recognition area) of the scanner, and therefore the efficiency of coordinate system calibration operation of the laser tracker and the scanner can be improved.

Description

Technical Field

[0001] The utility model belongs to the field of measurement technology, and in particular relates to a positioning device. Background Art

[0002] In the process of aircraft and vehicle R&D and manufacturing, measuring and scanning large areas, such as measuring and scanning aircraft, is an indispensable task in the R&D and manufacturing process. Among them, laser trackers can achieve single measurement work in a very large range (up to tens of meters), but cannot achieve point cloud scanning; scanners can achieve point cloud scanning, but cannot achieve ultra-large space scanning. Combining laser trackers and scanners to achieve large-scale measurement scanning is currently a commonly used method.

[0003] In actual measurement, the coordinate systems of the laser tracker and the scanner are not unified. Before use, the coordinate systems of the laser tracker and the scanner need to be calibrated. In the prior art, when calibrating the coordinate system, the laser tracker is usually used to measure the coordinate values ​​of the arranged target sphere first, and then the scanner is used to scan and detect the coordinate values ​​of the target corresponding to it; then the measured coordinate values ​​of the two are processed and the coordinate system is unified, thereby realizing the calibration of the coordinate systems of the laser tracker and the scanner.

[0004] However, the coordinate system calibration operations of both the laser tracker and the scanner described above are relatively inefficient. Utility Model Content

[0005] The technical problem to be solved by the utility model is: to provide a positioning device for the problem that the operation efficiency of the coordinate system calibration of the laser tracker and the scanner in the prior art is low.

[0006] In order to solve the above problems, on the one hand, an embodiment of the utility model provides a positioning device, including a spherical segment and a target; the target is arranged on the spherical segment; the target has an identification area; the center of the identification area coincides with the center of the spherical segment.

[0007] Optionally, the positioning device further includes a support member; the support member is arranged on the spherical segment, and the target is arranged on the support member.

[0008] Optionally, there are multiple targets, each of which is disposed on the support member; the support member can rotate relative to the spherical segment, so that the center of the identification area of ​​each target can rotate to coincide with the center of the spherical segment.

[0009] Optionally, the recognition area of ​​each target is circular, and the diameter of the recognition area of ​​each target is different.

[0010] Optionally, the positioning device further comprises a locking member, which is arranged on the spherical segment; when the center of the identification area of ​​each target is rotated to coincide with the center of the spherical segment, the locking member can lock the support member.

[0011] Optionally, one of the support member and the locking member is provided with a plurality of first limiting structures, and the number of the first limiting structures is greater than or equal to the number of targets; the other of the support member and the locking member is provided with a second limiting structure; during the rotation of the support member relative to the spherical segment, the second limiting structure can cooperate with each of the first limiting structures in turn; when the second limiting structure cooperates with the first limiting structure, the locking member locks the support member.

[0012] Optionally, the target corresponds to the first limiting structure one by one; when one of the first limiting structures cooperates with the second limiting structure, the center of the identification area of ​​the corresponding target coincides with the center of the spherical segment.

[0013] Optionally, one of the first limiting structure and the second limiting structure is a concave structure, and the other of the first limiting structure and the second limiting structure is a blocking block; when the blocking block is inserted into the concave structure, the first limiting structure cooperates with the second limiting structure; the blocking block is elastic, and when the support member rotates relative to the spherical segment, the blocking block can be subjected to force to produce elastic deformation and move out of the concave structure.

[0014] Optionally, a rotating shaft is provided on one of the spherical segment and the support member, and a mounting hole is provided on the other of the spherical segment and the support member; the rotating shaft is installed in the mounting hole and can rotate around its own axis in the mounting hole to realize the rotation of the support member relative to the spherical segment.

[0015] Optionally, the first limiting structure is arranged on a side of the rotating shaft.

[0016] Optionally, a receiving hole is provided on the top surface of the spherical segment, and the support member and the target are both located in the receiving hole.

[0017] Optionally, the positioning device further includes a fill light, which is disposed on the spherical segment and is used to project light toward the identification area of ​​the target.

[0018] Optionally, the identification area includes a first area and a second area, the second area surrounds the first area; the light reflectivity of the first area is greater than the light reflectivity of the second area; the center of the identification area is located in the first area.

[0019] Optionally, the identification area is circular, the first area is circular, and the second area is annular; the outer diameter of the first area is equal to the inner diameter of the second area.

[0020] In the positioning device provided by the embodiment of the utility model, when the positioning device is used in conjunction with a scanner, a target ball with the same diameter as the target ball can be directly replaced. In this way, the coordinates of the center of the target ball of the laser tracker and the target point (i.e., the center of the identification area) of the scanner are directly associated, thereby improving the efficiency of the coordinate system calibration operation of the laser tracker and the scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a positioning device provided by an embodiment of the utility model;

[0022] Figure 2 This is a view of a laser tracker and a scanner provided in an embodiment of the utility model when used in combination;

[0023] Figure 3 This is a view of the target ball and the ball stand in the prior art when they are used together;

[0024] Figure 4 It is a structural schematic diagram of a ball seat in the prior art;

[0025] Figure 5 It is a structural schematic diagram of a support member of a positioning device provided in one embodiment of the utility model;

[0026] Figure 6 This is a view of the cooperation between the rotating shaft and the locking member of the positioning device provided by one embodiment of the utility model;

[0027] Figure 7 It is a structural schematic diagram of a locking member of a positioning device provided by an embodiment of the utility model;

[0028] Figure 8 It is a schematic diagram of the identification area of ​​the positioning device provided by one embodiment of the utility model.

[0029] Reference numerals:

[0030] 10. Positioning device; 20. Scanner; 30. Laser tracker; 40. Target ball; 50. Ball seat; 501. Spherical hole;

[0031] 1. Ball part; 11. Top surface; 12. Accommodating hole;

[0032] 2. target; 21. identification area; 211. first area; 212. second area;

[0033] 3. Support member; 31. Support plane;

[0034] 4. Rotating shaft;

[0035] 5. Locking member; 51. First connecting portion; 52. Second connecting portion;

[0036] 6. The first limiting structure;

[0037] 7. The second limiting structure;

[0038] 8. Fill light; DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0040] like Figure 1 As shown, in one embodiment, the positioning device 10 includes a spherical segment 1 and a target 2, wherein the target 2 is disposed on the spherical segment 1 and has an identification area 21, the center of which coincides with the center of the spherical segment 1. The scanner 20 is used to scan the identification area 21 for coordinate calibration.

[0041] like Figures 2 to 4 As shown, in the prior art, the target of the laser tracker 30 is the target ball 40, which is an accessory of the laser tracker 30. The accessories of the laser tracker 30 also include a ball seat 50, which has a spherical hole 501, and the diameter of the spherical hole 501 is the same as the diameter of the target ball 40. When working, the ball seat 50 is first fixed on the workpiece to be measured; then the target ball 40 is placed on the ball seat 50, at which time a part of the target ball 40 is located in the spherical hole 501, and the other part is located outside the spherical hole 501; then, the laser tracker 30 can scan the target ball 40 for coordinate measurement.

[0042] In the positioning device 10 provided in this embodiment, the spherical segment 1 is a part of a sphere. When the diameter of the spherical segment 1 is the same as the diameter of the target sphere 40, after the spherical segment 1 is placed on the ball seat 50 (that is, the spherical segment 1 is placed in the spherical hole 501), the center of the spherical segment 1 and the center of the target sphere 40 are at the same coordinate point. At this time, the center of the identification area 21 of the positioning device 10 and the center of the target sphere 40 are at the same coordinate point.

[0043] Therefore, the positioning device 10 provided in this embodiment can directly replace the target ball 40 with the same diameter as the spherical segment 1 when measuring the coordinates of the scanner 20. In this way, the center of the target ball 40 of the laser tracker 30 and the coordinates of the target 2 (i.e., the center of the identification area 21) of the scanner 20 are directly associated, thereby improving the efficiency of the coordinate system calibration operation of the laser tracker 30 and the scanner 20.

[0044] It should be noted that, in the scenario where the relative position between the target 2 and the spherical segment 1 remains fixed, "the center of the identification area 21 coincides with the center of the spherical segment 1" means that the center of the identification area 21 remains coincident with the center of the spherical segment 1. In the scenario where the target 2 can move relative to the spherical segment 1, if the center of the identification area 21 does not move relative to the spherical segment 1, "the center of the identification area 21 coincides with the center of the spherical segment 1" means that the center of the identification area 21 remains coincident with the center of the spherical segment 1. In the scenario where the target 2 can move relative to the spherical segment 1, if the center of the identification area 21 also moves relative to the spherical segment 1, at this time, the center of the identification area 21 can move to coincide with the center of the spherical segment 1, or can move to not coincide with the center of the spherical segment 1. In this scenario, "the center of the identification area 21 coincides with the center of the spherical segment 1" means that the center of the identification area 21 and the center of the spherical segment 1 can move to coincide with each other.

[0045] In actual scenarios, the ball seat 50 is magnetic, and the ball seat 50 can magnetically attract the target ball 40, thereby making the target ball 40 more stably placed on the ball seat 50. In this regard, in one embodiment, the ball part 1 can also be made of a material that can be magnetically attracted by the ball seat 50, such as iron.

[0046] like Figure 1 As shown, in one embodiment, the identification area 21 is a plane and a circle, and the center of the identification area 21 is the center of the circle. Of course, in other embodiments, the identification area 21 may also be other regular shapes, such as a regular polygon.

[0047] In one embodiment, the target 2 may be a patch or a coating, etc. At this time, the target 2 is very thin, but it still has a certain thickness.

[0048] like Figure 1 and Figure 5 As shown, in one embodiment, the positioning device 10 further includes a support member 3; the support member 3 is arranged on the spherical segment 1, and the target 2 is arranged on the support member 3. This can increase the diversity of the installation methods of the target 2 on the spherical segment 1, and facilitate the installation of the target 2 on the spherical segment 1.

[0049] like Figure 5 As shown, a support plane 31 is provided on the support member 3, and the target 2 is arranged on the support plane 31. The surface of the target 2 away from the support plane 31 is the identification area 21. When the target 2 is a patch, it can be bonded to the support plane 31; when the target 2 is a coating, it can be directly coated on the support plane 31.

[0050] like Figure 5As shown, in one embodiment, there are multiple targets 2, and each target 2 is set on a support member 3; the support member 3 can rotate relative to the spherical segment 1, so that the center of the identification area 21 of each target 2 can rotate to coincide with the center of the spherical segment 1. In this embodiment, each target 2 and the support member 3 can move synchronously, and when the support member 3 rotates relative to the spherical segment 1, each target 2 also rotates relative to the spherical segment 1. When in use, the corresponding target 2 can be selected according to actual needs to calibrate the coordinates of the scanner 20, thereby improving the adaptability of the positioning device 10.

[0051] "Multiple" means greater than or equal to two, and the word "multiple" has the same meaning in each embodiment and will not be repeated in the following text.

[0052] For a target 2, when it rotates with the support 3 relative to the spherical segment 1, the center of the identification area 21 of the target 2 can coincide with the center of the spherical segment 1, or can be offset from the center of the spherical segment 1. When the target 2 is needed to calibrate the coordinates of the scanner 20, it only needs to be rotated until the center of the identification area 21 coincides with the center of the spherical segment 1.

[0053] In addition, a plurality of support planes 31 are provided on the support member 3, and one target 2 may be disposed on one support plane 31. In some scenarios, the number of targets 2 may be equal to the number of support planes 31.

[0054] like Figure 5 As shown, in one embodiment, the identification area 21 of each target 2 is circular, and the diameter of the identification area 21 of each target 2 is different. In actual scenarios, different scanning lights have different recognition effects on identification areas 21 of different diameters. For example, blue light can achieve more precise scanning, and the diameter of the corresponding identification area 21 is smaller, usually 3 mm, and red light can achieve a slightly larger range of scanning, and the diameter of the corresponding identification area 21 is larger, usually 6 mm.

[0055] exist Figure 5 In the example shown, the number of targets 2 is three, and the diameters of the corresponding identification areas 21 are 3 mm, 6 mm, and 12 mm, respectively.

[0056] like Figure 1 and Figure 5 As shown, in one embodiment, the support member 3 is provided with a rotating shaft 4, and the spherical segment 1 is provided with a mounting hole; the rotating shaft 4 is installed in the mounting hole and can rotate around its own axis in the mounting hole to realize the rotation of the support member 3 relative to the spherical segment 1. In other embodiments, the support member 3 may be provided with a mounting hole, and the spherical segment 1 may be provided with a rotating shaft 4.

[0057] In addition, the rotating shaft 4 can be installed in the mounting hole through a bearing. Specifically, the rotating shaft 4 is installed in the inner ring of the bearing, and the outer ring of the bearing is installed in the mounting hole. There can be an interference fit between the rotating shaft 4 and the inner ring of the bearing, and there can also be an interference fit between the outer ring of the bearing and the mounting hole.

[0058] like Figure 5 and Figure 6 As shown, in one embodiment, the positioning device 10 also includes a locking member 5, which is arranged on the spherical segment 1; when the center of the identification area 21 of each target 2 rotates to coincide with the center of the spherical segment 1, the locking member 5 can lock the support member 3, so that the relative position of the support member 3 and the spherical segment 1 can be maintained in the current state, making it convenient for the scanner 20 to scan the identification area 21 (the center of the identification area 21 coincides with the center of the spherical segment 1).

[0059] like Figure 6 and Figure 7 As shown, in one embodiment, one of the support member 3 and the locking member 5 is provided with a plurality of first limiting structures 6, the number of the first limiting structures 6 is greater than or equal to the number of the targets 2, and the other of the support member 3 and the locking member 5 is provided with a second limiting structure 7; during the rotation of the support member 3 relative to the spherical segment 1, the second limiting structure 7 can sequentially cooperate with each of the first limiting structures 6; when the second limiting structure 7 cooperates with the first limiting structure 6, the locking member 5 locks the support member 3. When the locking member 5 locks the support member 3, the relative position of the support member 3 and the spherical segment 1 can be kept unchanged.

[0060] The support member 3 is defined to rotate relative to the spherical segment 1 around the first axis, and the first limiting structures 6 are arranged at intervals around the first axis. The first axis is the axis of the rotating shaft 4. In addition, the first limiting structures 6 can be evenly arranged around the first axis.

[0061] In one embodiment, the target 2 corresponds to the first limiting structure 6; when a first limiting structure 6 cooperates with the second limiting structure 7, the center of the identification area 21 of the target 2 corresponding to the first limiting structure 6 coincides with the center of the spherical segment 1. In this embodiment, the number of the first limiting structures 6 and the number of the targets 2 may be the same.

[0062] Of course, in other embodiments, the number of first limiting structures 6 may also be greater than the number of targets 2. In this case, some first limiting structures 6 do not have corresponding targets 2. When these first limiting structures 6 cooperate with the second limiting structures 7, the center of the identification area 21 of each target 2 does not coincide with the center of the spherical segment 1.

[0063] exist Figure 5 and Figure 6 In the example shown, a plurality of first limiting structures 6 are arranged on the support member 3, and a second limiting structure 7 is arranged on the locking member 5. Figure 6 As shown, in one embodiment, the first limiting structure 6 is actually arranged on the side of the rotating shaft 4 .

[0064] like Figure 6 and Figure 7 As shown, in one embodiment, one of the first limiting structure 6 and the second limiting structure 7 is a concave structure, and the other of the first limiting structure 6 and the second limiting structure 7 is a block; when the block is placed in the concave structure, the first limiting structure 6 cooperates with the second limiting structure 7; the block is elastic, and when the support member 3 rotates relative to the spherical segment 1, the block can be subjected to force to produce elastic deformation, so that the block can be moved out of the concave structure. Figure 6 and Figure 7 In the example shown, the first limiting structure 6 is a concave structure, and the second limiting structure 7 is a blocking block.

[0065] In one embodiment, the concave structure is a V-shaped groove, which extends along the first axis. When the block is placed in the concave structure, the two side surfaces of the block are in contact with the two side surfaces of the V-shaped groove in the circumferential direction around the first axis. Of course, in other embodiments, the concave structure may also be a trapezoidal groove, or a tapered hole, etc.

[0066] like Figure 7 As shown, in one embodiment, the locking member 5 includes a first connecting portion 51 and a second connecting portion 52, the first connecting portion 51 and the second connecting portion 52 are connected to form an L-shaped structure, and one end of the first connecting portion 51 away from the second connecting portion 52 is connected to the spherical segment 1, and the second connecting portion 52 is the second limiting structure 7.

[0067] like Figure 1 As shown, in one embodiment, a receiving hole 12 is provided on the top surface 11 of the spherical segment 1, and the support member 3 and the target 2 are both located in the receiving hole 12. This arrangement can effectively prevent the support member 3 and the target 2 from being scratched by foreign objects, thereby increasing the service life of the positioning device 10.

[0068] The spherical segment 1 is the part of the structure left after a sphere is cut off by a plane, and the plane formed on the spherical segment 1 after the plane cuts off the sphere is the top surface 11 of the spherical segment 1. In addition, the center of the spherical segment 1 is located in the receiving hole 12. In this embodiment, the locking member 5 is also installed in the receiving hole 12.

[0069] like Figure 1 As shown, in one embodiment, the positioning device 10 further includes a fill light 8, which is disposed on the spherical part 1 and is used to project light to the identification area 21 of the target 2. When the ambient light is weak or there is interference, the fill light of the fill light 8 can make the identification area 21 easier to be identified by the scanner 20.

[0070] Among them, the fill light 8 can be an LED light, etc. In addition, the fill light 8 can be multiple in number.

[0071] When the spherical segment 1 is provided with a receiving hole 12 , the fill light 8 may also be disposed in the receiving hole 12 , and the fill light 8 may be closer to the top surface 11 than the spherical center.

[0072] like Figure 8 As shown, in one embodiment, the identification area 21 includes a first area 211 and a second area 212, the second area 212 surrounds the outside of the first area 211; the light reflectivity of the first area 211 is greater than the light reflectivity of the second area 212; the center of the identification area 21 is located in the first area 211. This arrangement is more conducive to the scanner 20 to identify the identification area 21.

[0073] like Figure 8 As shown, in one embodiment, in addition to the circular shape of the identification area 21, the first area 211 is also circular, and the second area 212 is annular. In addition, the outer diameter of the first area 211 is equal to the inner diameter of the second area 212.

[0074] In one embodiment, the first region 211 may be white, and the second region 212 may be black.

[0075] It should be understood that the above-mentioned related settings can also be replaced by other methods, such as:

[0076] In other embodiments, the top surface 11 of the spherical segment 1 may not be provided with the receiving hole 12, and the support member 3 may be directly provided on the top surface 11 of the spherical segment 1. In this case, the height of the spherical segment 1 may be smaller than the radius of the spherical segment 1, that is, the center of the spherical segment 1 is located outside the spherical segment 1.

[0077] In other embodiments, the number of the target 2 may also be one. In this case, the support member 3 may not be provided, and the target 2 may be directly provided on the spherical segment 1 .

[0078] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning device, characterized in that: Including ball gap and target; The target is arranged on the spherical segment; The target has a recognition region; The center of the identification area coincides with the center of the spherical segment.

2. The positioning device according to claim 1, characterized in that: The positioning device also includes a support member; The support member is arranged on the spherical segment, and the target is arranged on the support member.

3. The positioning device according to claim 2, characterized in that: There are multiple targets, and each target is arranged on the support member; The support member can rotate relative to the spherical segment, so that the center of the identification area of ​​each target can rotate to coincide with the center of the spherical segment.

4. The positioning device according to claim 3, characterized in that: The recognition area of ​​each target is circular, and the diameter of the recognition area of ​​each target is different.

5. The positioning device according to claim 3, characterized in that: The positioning device further comprises a locking member, and the locking member is arranged on the spherical segment; When the center of the identification area of ​​each target rotates to coincide with the center of the spherical segment, the locking member can lock the supporting member.

6. The positioning device according to claim 5, characterized in that: A plurality of first limiting structures are provided on one of the support member and the locking member, and the number of the first limiting structures is greater than or equal to the number of targets; A second limiting structure is provided on the other of the support member and the locking member; During the rotation of the support member relative to the spherical segment, the second limiting structure can cooperate with each of the first limiting structures in sequence; When the second limiting structure cooperates with the first limiting structure, the locking member locks the supporting member.

7. The positioning device according to claim 6, characterized in that: The target corresponds to the first limiting structure one by one; When one of the first limiting structures cooperates with the second limiting structure, the center of the corresponding identification area of ​​the target coincides with the center of the spherical segment.

8. The positioning device according to claim 6, characterized in that: One of the first limiting structure and the second limiting structure is a concave structure, and the other of the first limiting structure and the second limiting structure is a clamping block; When the clamping block is placed in the concave structure, the first limiting structure cooperates with the second limiting structure; The clamping block is elastic, and when the supporting member rotates relative to the spherical segment, the clamping block can be elastically deformed by force and move out of the concave structure.

9. The positioning device according to claim 6, characterized in that: One of the spherical segment and the supporting member is provided with a rotating shaft, and the other of the spherical segment and the supporting member is provided with a mounting hole; The rotating shaft is installed in the mounting hole and can rotate around its own axis in the mounting hole to realize the rotation of the supporting member relative to the spherical segment.

10. The positioning device according to claim 1, characterized in that: The positioning device also includes a fill light, which is arranged on the spherical segment and is used to project light to the identification area of ​​the target.

11. The positioning device according to claim 1, characterized in that: The identification area includes a first area and a second area, wherein the second area surrounds the first area; The light reflectivity of the first area is greater than the light reflectivity of the second area; The center of the identification area is located in the first region.

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