Integrated tracking and scanning measurement system, and tracking and scanning measurement method and platform

Abstract

Disclosed in the present invention are an integrated tracking and scanning measurement system, and a tracking and scanning measurement method and platform. In a tracking measurement mode, a control apparatus controls a laser emission source to emit ranging laser to a contact laser tracking apparatus, and controls, on the basis of an optical ranging signal fed back by the contact laser tracking apparatus, a two-dimensional angle measurement driving apparatus and a laser ranging apparatus to drive the contact laser tracking apparatus to track a set tracking cooperative target in real time, so as to acquire, in real time, coordinate data of a contact point between the tracking cooperative target and a surface to be measured; and in a scanning measurement mode, the control apparatus controls the laser emission source to emit ranging laser to a non-contact laser scanning apparatus, and controls, on the basis of an optical ranging signal fed back by the non-contact laser scanning apparatus, the two-dimensional angle measurement driving apparatus and the laser ranging apparatus to drive the non-contact laser scanning apparatus to scan said surface, so as to acquire scanning point cloud data. The present invention can realize high-precision coordinate tracking measurement and high-efficiency scanning measurement by means of one instrument, thereby significantly improving the measurement efficiency.

Description

A tracking scan measurement integrated system, tracking scan measurement method and platform Technical Field

[0001] This invention belongs to the field of metrology and testing technology in the manufacturing industry, and specifically relates to an integrated tracking scanning measurement system, tracking scanning measurement method and platform. Background Technology

[0002] The assembly precision and overall shape accuracy of equipment are key factors in ensuring the quality of high-end equipment such as aircraft, missiles, and ships, as well as ensuring stealth, aerodynamic, and hydrodynamic performance. Precise measurement systems are one of the key means to guarantee the assembly precision and overall shape accuracy of equipment. For example, advanced measurement methods are required to measure spatial position and attitude during manufacturing, inspection, and space positioning processes such as the assembly and docking of large components, the assembly of space probe payloads, high-precision positioning of UAVs, and robot calibration.

[0003] Currently, for the measurement of components of large equipment, to achieve high-precision and high-efficiency measurements, it is necessary to combine the characteristics of each measuring device and use targeted measuring equipment for each measurement area. For example, a high-precision, large-size laser tracker can perform precise contact measurements of the area to be measured, but it requires hand-held operation of the target ball, resulting in slow measurement speed. A lidar scanner can perform large-area, efficient scanning of the measurement area, but its non-contact measurement accuracy is lower during station transitions. Furthermore, because it lacks tracking coordinate measurement capabilities, it is not suitable for attitude measurement in docking situations. To simultaneously achieve high-precision tracking coordinate measurement and high-efficiency scanning measurement, different measuring devices are usually required for on-site measurement of the same large equipment. Since each measuring device uses its own measurement coordinate system, the measured coordinate points need to be converted to a common point to obtain coordinate point data under the same coordinate system. Therefore, existing measuring equipment cannot meet the requirements for high-precision tracking measurement of component assembly feature points and high-precision, rapid on-site measurement of the overall outline of large equipment. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated tracking and scanning measurement system, method, and platform that can achieve high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement to meet the needs of rapid on-site measurement of component assembly feature points and overall machine outline of large equipment.

[0005] To achieve the above objectives, one aspect of the present invention provides a tracking scanning measurement integrated system, comprising:

[0006] A laser tracking and scanning integrated instrument includes a contact laser tracking device, a non-contact laser scanning device, a laser ranging device, and a laser emission source. The contact laser tracking device and the non-contact laser scanning device are both connected to the laser ranging device and the laser emission source.

[0007] A two-dimensional angle measurement driving device is used to drive the contact laser tracking device, the non-contact laser scanning device, and the laser ranging device;

[0008] Tracking cooperative targets, used to move on the surface to be measured in a manner that makes contact with the surface to be measured in accordance with a set movement strategy;

[0009] The control device is connected to both the laser tracking and scanning integrator and the two-dimensional angle measurement drive device. In the tracking coordinate measurement mode, it controls the laser emission source to emit a ranging laser towards the contact laser tracking device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the contact laser tracking device to track the tracking cooperative target in real time based on the optical ranging signal fed back by the contact laser tracking device, so as to obtain the coordinate data of the contact point between the tracking cooperative target and the surface to be measured in real time. In the scanning measurement mode, it controls the laser emission source to emit a ranging laser towards the non-contact laser scanning device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured based on the optical ranging signal fed back by the non-contact laser scanning device to obtain scanning point cloud data.

[0010] Another aspect of the present invention provides a tracking scan measurement method, characterized in that tracking scan measurement is performed using the aforementioned tracking scan measurement integrated system, the tracking scan measurement method comprising:

[0011] In the tracking coordinate measurement mode, the laser emission source is controlled to emit a ranging laser towards the contact laser tracking device, and the two-dimensional angle measuring drive device and the laser ranging device are controlled according to the optical ranging signal fed back by the contact laser tracking device to drive the contact laser tracking device to track the tracking cooperative target in real time, so as to obtain the coordinate data of the contact point between the tracking cooperative target and the surface to be measured in real time.

[0012] In the scanning measurement mode, the laser emission source is controlled to emit a ranging laser towards the non-contact laser scanning device, and the two-dimensional angle measuring drive device and the laser ranging device are controlled to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanning point cloud data based on the optical ranging signal fed back by the non-contact laser scanning device.

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

[0014] According to the tracking and scanning measurement integrated system, tracking and scanning measurement method and platform of the present invention, high-precision tracking coordinate measurement and high-efficiency non-contact scanning measurement can be realized to meet the needs of rapid on-site measurement of component assembly feature points and overall machine outline of large equipment. It can highly integrate and share contact laser tracking device and non-contact laser scanning device in the same device under the same laser ranging device and laser emission source to quickly complete high-precision scanning and tracking measurement, thereby obtaining point cloud data of rapid scanning and tracking measurement under the same coordinate. In the later stage, these point cloud data can be directly processed for three-dimensional modeling without the need for coordinate transformation as in the prior art. Thus, high-precision tracking coordinate measurement and high-efficiency scanning measurement can be realized simply, quickly and completely with one instrument, which significantly improves the detection efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. 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 effort:

[0016] Figure 1 is a schematic diagram of the integrated tracking scanning measurement system according to an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the principle of the laser tracking scanning integrated instrument according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of the structure of the visual tracking module according to an embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of the structure of the laser tracking scanning integrated instrument according to an embodiment of the present invention;

[0020] Figure 5 is an exploded view of the pitch rotation drive mechanism according to an embodiment of the present invention;

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

[0022] Figure 7 is an exploded view of the horizontal rotary drive mechanism according to an embodiment of the present invention;

[0023] Figure 8 is a flowchart illustrating the tracking and scanning measurement method according to an embodiment of the present invention;

[0024] Figure 9 is a schematic diagram of the structure of the tracking scanning measurement platform according to an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0026] Referring to Figures 1 and 2, Figure 1 is a structural schematic diagram of a tracking scanning measurement integrated system 100 provided in an embodiment of the present invention, and Figure 2 is a structural schematic diagram of a laser tracking scanning integrated instrument 4 provided in an embodiment of the present invention. The tracking scanning measurement integrated system 100 includes: a support frame 1, a mounting housing 2, a two-dimensional angle measurement drive device 3, a laser tracking scanning integrated instrument 4, a tracking cooperative target 45, and a control device 5.

[0027] The mounting housing 2 is mounted on the support frame 1, and the two-dimensional angle measuring drive device 3 is mounted inside the mounting housing 2. The laser tracking and scanning integrated instrument 4 includes a contact laser tracking device 41, a non-contact laser scanning device 42, a laser rangefinder 43, and a laser emission source 44. Both the contact laser tracking device 41 and the non-contact laser scanning device 42 are connected to the laser rangefinder 43 and the laser emission source 44. The two-dimensional angle measuring drive device 3 is used to drive the contact laser tracking device 41, the non-contact laser scanning device 42, and the laser rangefinder 43. The tracking cooperative target 45 is used to move on the surface 200 to be measured according to a set movement strategy in a measurement mode that involves contact with the surface 200 to be measured. The control device 5 is connected to both the laser tracking and scanning integrated instrument 4 and the two-dimensional angle measuring drive device 3. In the tracking coordinate measurement mode, the control laser emission source 44 emits a ranging laser towards the contact laser tracking device 41, and controls the two-dimensional angle measuring drive device 3 and the laser ranging device 43 to drive the contact laser tracking device 41 to track the tracking cooperative target 45 in real time, so as to obtain the coordinate data of the contact point between the tracking cooperative target 45 and the surface to be measured 200 in real time. In the scanning measurement mode, the control laser emission source 44 emits a ranging laser towards the non-contact laser scanning device 42, and controls the two-dimensional angle measuring drive device 3 and the laser ranging device 43 to drive the non-contact laser scanning device 42 to scan the surface to be measured 200 to obtain the scanning point cloud data based on the optical ranging signal fed back by the non-contact laser scanning device 42.

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

[0029] In some embodiments, the tracking target 45 can be a pyramidal target sphere, which can be a target sphere or a target mirror. However, it is not limited to this; as long as it can receive and reflect laser light and cooperate with the contact laser tracking device 41 to acquire the coordinate data of the surface 200 to be measured in real time, the tracking target 41 can have any structure. For ease of understanding, the tracking target 45 in the following embodiments will be described as a pyramidal target sphere.

[0030] During measurement, the contact laser tracking device 41 moves the pyramidal target ball on the surface 200 to be measured in a manner that contacts the surface 200, according to a set movement strategy. The contact laser tracking device 41 and the laser rangefinder 43 cooperate to track the pyramidal target ball and acquire the coordinate data of the surface 200 to be measured in the target coordinate system in real time. The set movement strategy can be determined based on the shape of the surface 200 to be measured.

[0031] In this embodiment, the movement strategy can be set to allow the cone target ball to move automatically according to the movement strategy, or it can be set to allow the cone target ball to move manually according to the movement strategy. This embodiment is not limited to this.

[0032] In this embodiment, the coordinate data can be understood as contact point cloud data obtained by tracking cooperative target 45.

[0033] During measurement, the non-contact laser scanning device 42 activates the laser emission source 44 to scan the surface to be measured 200 according to a specified scanning strategy, and acquires the scanned point cloud data of the surface to be measured 200 in the target coordinate system in real time. The specified scanning strategy can be determined by the control device 5 based on the shape of the surface to be measured 200 and the measurement distance.

[0034] In practical use, in the tracking coordinate measurement mode, the control device 5 can move the cone target ball on the surface to be measured 200 by contacting it with a robotic arm or hand, according to a set movement strategy. The control device 5 starts the laser emission source 44 to emit a ranging laser to the contact laser tracking device 41. After the contact laser tracking device 41 processes the optical signal of the ranging laser, it enters the cone target ball and is reflected into the laser ranging device 43 for ranging. The control device 5 controls the two-dimensional angle measuring drive device 3 to drive the contact laser tracking device 41 to track the cone target ball in real time to obtain the coordinate data in the target coordinate system, and determines the contact point cloud data of the surface to be measured 200 based on the coordinate data. In the scanning measurement mode, the control device 5 activates the laser emission source 44 so that the ranging laser emitted by the laser emission source 44 enters the non-contact laser scanning device 42 for optical signal processing and then enters the surface to be measured 200 and is reflected into the laser ranging device 43 for ranging. The control device 5 controls the two-dimensional angle measuring drive device 3 to drive the non-contact laser scanning device 42 to scan the surface to be measured 200 to obtain the scanning point cloud data in the target coordinate system according to the ranging signal.

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

[0036] In this embodiment, the contact laser tracking device 41 and the non-contact laser scanning device 42 share the same laser ranging device 43, laser emission source 44, two-dimensional angle measurement drive device 3, and control device 5. These components are highly integrated within the mounting housing 2 to form a tracking, scanning, and measurement integrated system. This system has a simple structure and is easy to install and disassemble. The contact laser tracking device 41 and the non-contact laser scanning device 42 can obtain point cloud data of the surface 200 to be measured under the same coordinate system. This allows for high-precision assembly and high-efficiency assembly of the point cloud data measured under the same coordinate system. In addition, the contact laser tracking device 41 can achieve large-size, high-precision contact coordinate measurement on-site, while the non-contact laser scanning device 42 can achieve high-precision, rapid, and complete scanning measurement. This allows for both rapid high-precision complete scanning and large-size high-precision scanning, resolving the contradiction that existing trackers cannot perform rapid non-contact scanning measurement and lidar cannot perform high-precision tracking coordinate measurement. It enables rapid, complete, and high-precision scanning and tracking measurement with a single instrument, significantly improving detection efficiency and meeting the requirements for high-precision, rapid on-site measurement of component assembly feature points and overall machine outline within the specified measurement accuracy range.

[0037] The tracking and scanning measurement integrated system provided in this embodiment can achieve a tracking coordinate measurement accuracy of 15μm+6μm / m, a scanning measurement accuracy of 10μm+10μm / m, and a distance measurement accuracy of 10μm+2.5μm / m.

[0038] In some embodiments, determining whether the surface to be measured 200 needs a tracking coordinate measurement mode or a scanning measurement mode can be done manually, or the control device 5 can acquire a measurement mode sent by other electronic devices, or the control device 5 can have a pre-trained measurement mode determination model built into it, and output the measurement mode corresponding to the area to be measured based on the captured image of the area to be measured. This embodiment does not limit this.

[0039] In some embodiments, as shown in FIG1, the mounting housing 2 includes a scanner housing 21 and a control housing 22. The laser tracking scanning integrator 4 is mounted inside the scanner housing 21, and the two-dimensional angle measuring drive device 3 is mounted inside the control housing 22. The scanner housing 21 and the control housing 22 are mounted on the support frame 1. In this embodiment, the support frame 1 can be a tripod, with the scanner housing 21 placed on top of the tripod and the control housing 22 placed in the middle of the tripod.

[0040] In some embodiments, the tracking target 45 is a cone-shaped target ball, and the contact laser tracking device 41 includes a visual tracking module 411 and a first lens assembly 412, wherein the first lens assembly 412 is disposed on the light-incident side of the laser ranging device 43; wherein the laser ranging device 43 and the visual tracking module 411 are both installed in the scanner housing 21 and electrically connected to the control device 5.

[0041] The control device 5 is used to activate the laser emission source 44, the laser ranging device 43, and the visual tracking module 411 in the tracking coordinate measurement mode. It determines the position information of the cornerstone target ball based on the captured image fed back by the visual tracking module 411, and sends the position information of the cornerstone target ball to the two-dimensional angle measuring drive device 3. Based on the position information of the cornerstone target ball, it controls the two-dimensional angle measuring drive device 3 to move the laser ranging device 43, so that the ranging laser emitted by the laser emission source 44 and processed by the first lens assembly 412 enters the cornerstone target ball. During the movement of the cornerstone target ball, the incoming ranging laser is reflected by the cornerstone target ball and into the laser ranging device 43.

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

[0043] In this embodiment, the contact laser tracking device 41 is pointed at the tracking cooperative target 45, and the laser rangefinder 43 is used to provide position feedback on the cone target ball to realize the absolute distance measurement of the tracking cooperative target 45. Based on the position deviation and distance feedback measured by the laser rangefinder 43, the two-dimensional angle measuring drive device 3 drives the laser rangefinder 43 to adaptively adjust the horizontal angle and pitch angle to realize the tracking measurement of the cone target ball. Finally, the measurement result is transmitted to the host for data processing.

[0044] In this embodiment, the visual tracking module 411 can track the position information of the cone target ball in real time, and then provide real-time feedback of the captured image, thereby determining the position information of the cone target ball.

[0045] In some embodiments, the contact laser tracking device 41 further includes: a position sensing tracker 431; a first lens assembly 412 disposed on the light-incident side of the position sensing tracker 431, the first lens assembly 412 performing optical signal processing on the laser emitted from the laser emission source 44, so that a portion of the processed ranging laser enters the pyramidal target ball and is reflected to the first lens assembly 412, forming an interference signal with another portion of the ranging laser after passing through the first lens assembly 412 and entering the position sensing tracker 431.

[0046] The position sensor tracker 431 is used to measure the position of the light spot formed by the interference signal and determine the two-dimensional position offset between the cone target ball and the first lens assembly 412 in the target coordinate system at the current time relative to the previous time.

[0047] The control device 5 is electrically connected to the position sensor tracker 431 and is used to adaptively adjust the horizontal angle and pitch angle according to the absolute distance value sent by the laser rangefinder 43 and the two-dimensional position offset value sent by the position sensor tracker 431. By adjusting the two-dimensional position offset value, the control device 5 can track and measure the cone target ball, obtain the horizontal angle value and pitch angle value measured by the two-dimensional angle measuring drive device 3, and determine the coordinate data of the surface to be measured 200 in the target coordinate system based on the absolute distance value, the horizontal angle value and the pitch angle value obtained at different times.

[0048] In this embodiment, the first lens assembly 412 is named only for the purpose of distinguishing it from the lens assemblies mentioned in the preceding and following text, and is not intended to limit a specific lens assembly.

[0049] The position sensor tracker 431 can measure the position of the light spot formed by the interference signal and determine the two-dimensional position offset value between the cone target ball and the first lens assembly 412 in the target coordinate system at the current time relative to the previous time. This allows the control device 5 to control the two-dimensional angle measuring drive device 3 to drive the contact laser tracking device 41 to adaptively adjust the horizontal and pitch angles based on the two-dimensional position offset value. By adjusting the position offset value, the tracking and measurement of the cone target ball can be achieved. Based on the absolute distance values ​​obtained at different times, the coordinate data of the surface to be measured 200 in the target coordinate system can be determined.

[0050] In some embodiments, the first lens assembly 412 includes a tracking light collimating lens 4121, a tracking transmission mirror 4122, and a tracking filter 4123. The ranging laser emitted by the laser emission source 44 is focused into a parallel light signal by the tracking light collimating lens 4121 and then enters the tracking transmission mirror 4122. A portion of the ranging laser light signal is processed by the tracking transmission mirror 4122 and the tracking filter 4123 and then reflected into the cornerstone target sphere. After being reflected by the cornerstone target sphere, it enters the tracking filter 4123 and the tracking transmission mirror 4122 in sequence, and forms an interference light signal with another portion of the ranging laser light that passes through the tracking transmission mirror 4122, which then enters the position sensing tracker 431.

[0051] In this embodiment, the tracking light collimator 4121 is only named for the convenience of distinguishing it from the fiber optic collimator mentioned later, and is not intended to limit a specific fiber optic collimator.

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

[0053] The tracking collimating lens 4121 processes the optical signal of the ranging laser emitted from the laser source 44 and outputs a parallel light signal. This parallel light signal is injected into the tracking transmission mirror 4122 and splits into two laser signals. One laser signal is injected into the tracking transmission mirror 4122 and reflected into a corner bevel target sphere. After being reflected by the corner bevel target sphere, it is injected into the tracking transmission mirror 4122 again and forms an interference light signal with the other laser signal that passes through the tracking transmission mirror 4122. This interference light signal is injected into the position sensing tracker 431 so that the position sensing tracker 431 can further process the injected interference light signal.

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

[0055] The scanning vision module 421 is electrically connected to the control device 5; the scanning vision module 421 is used to capture the area to be measured in a panoramic manner and send the captured area to be measured to the control device 5.

[0056] The scanning vision module 421 performs scanning path planning on the area to be measured to obtain a scanning path planning strategy, and sends the scanning path planning strategy to the laser ranging device 43.

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

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

[0059] In this embodiment, the second lens assembly 422 is named only to distinguish it from the lens assembly mentioned above, and is not intended to limit a specific lens assembly.

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

[0061] The scanning vision module 421 captures images of the area to be measured, enabling the control device 5 to determine a scanning path and plan the measurement based on the area. During the scanning process, the second lens assembly 422 determines the absolute distance between the surface to be measured 200 and the second lens assembly 422 in the area to be measured. Based on the absolute distance value, the two-dimensional angle measurement drive device 3 controls the scanning vision module 421 to scan the area to be measured according to the scanning path planning strategy. By adjusting the focus to adapt to scanning at different distances, a large-area non-contact scanning can be achieved quickly and accurately.

[0062] In other embodiments, the second lens assembly 422 includes a second scanning collimating lens 4221, a zoom lens group 4222, a reflecting mirror group 4223, and a scanning filter 4224; the second scanning collimating lens 4221, the zoom lens group 4222, the reflecting mirror group 4223, and the scanning filter 4224 are arranged sequentially according to the light signal input and output, the second scanning collimating lens 4221 is close to the laser emission source 44, and the zoom lens group 4222 is mounted on the two-dimensional goniometer. The two-dimensional angle measuring drive device 3 drives the zoom lens group 4222 to adjust the focal length. The zoom lens group 4222 has the reflecting mirror group 4223 on the light-emitting side. The scanning filter 4224 is close to the reflecting mirror group 4223 and is located on the light-emitting side of the reflecting mirror group 4223, so that the laser ranging signal processed by the zoom lens group 4222 changes direction through the reflecting mirror group 4223 and enters the scanning filter 4224 and then enters the area to be measured.

[0063] In this embodiment, the second scanning collimator 4221 is named only to distinguish it from the collimator mentioned above, and is not intended to limit a specific collimator.

[0064] The ranging laser emitted by the laser source 44 sequentially enters the second scanning collimating lens 4221 and the zoom lens group 4222, then enters the reflecting mirror group 4223 and is reflected out.

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

[0066] In some embodiments, as shown in FIG3, the visual tracking module 411 includes: a telephoto objective lens 4111, a telephoto objective lens retaining ring 4112, a telephoto lens group 4113, an inner lens barrel 4114, a relay lens 4115, an imaging lens group 4116, an outer lens barrel 4117, and an imaging CCD (Charge-coupled Device) lens group 4118; wherein, the inner lens barrel 4114 has protrusions arranged at specified intervals for mounting the telephoto lens group 4113, the relay lens 4115, and the imaging lens group 4116; the outer lens barrel 4117 has a groove on its outer side for securely mounting in the scanner housing 21; the telephoto objective lens 4111 is disposed within the telephoto objective lens retaining ring 4112, and the telephoto objective lens retaining ring 4112 is sleeved on the inner lens barrel 4114. 114. A telescope group 4113, a relay lens 4115, and an imaging lens group 4116 are sequentially mounted on each protrusion of the inner endoscope tube 4114. The telescope group 4113 is located close to the telephoto objective lens retaining ring 4112. An outer endoscope tube 4117 is sleeved on the outside of the inner endoscope tube 4114. An imaging CCD lens group 4118 is mounted on the end of the outer endoscope tube 4117 away from the telephoto objective lens 4111, and is installed inside the scanner housing 21 through the groove. In this embodiment, the relay lens 4115 amplifies and relays the light signal from the telescope group 4113 to expand the coverage area, enhance signal quality, and reduce transmission delay.

[0067] In some other embodiments, as shown in FIG4, the two-dimensional angle measuring drive device 3 includes a horizontal rotation drive mechanism 31, a horizontal rotation shaft 32, a pitch rotation drive mechanism 33, a pitch rotation shaft 34, a pitch rotation support frame 35, and a scanning equipment mounting frame.

[0068] The horizontal rotation drive mechanism 31 is installed inside the control housing 22. The output end of the horizontal rotation drive mechanism 31 is connected to the horizontal rotation shaft 32. The scanning device mounting bracket is installed at the actuating end of the horizontal rotation shaft 32. The scanning device mounting bracket is installed inside the scanner housing 21. The scanner housing 21 is installed on the pitch rotation support frame 35 so that the horizontal rotation movement is achieved by driving the scanner housing 21 through the scanning device mounting bracket. The input end of the horizontal rotation drive mechanism 31 is electrically connected to the control device 5 so that the horizontal rotation shaft 32 is driven to rotate under the control of the control device 5.

[0069] The pitch rotation drive mechanism 33 is mounted inside the scanner housing 21 via the pitch rotation support frame 35. The output end of the pitch rotation drive mechanism 33 is connected to the pitch rotation shaft 34, which is mounted on the pitch rotation support frame 35. The pitch rotation shaft 34 drives the laser tracking scanning integrated instrument 4, which is mounted on the pitch rotation shaft 34 via the scanning equipment mounting frame, to achieve pitch rotation. The input end of the pitch rotation drive mechanism 33 is electrically connected to the control device 5, so that the pitch rotation shaft 34 is driven to rotate under the control of the control device 5.

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

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

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

[0073] In some embodiments, as shown in Figures 4 and 5, 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 base, a clamping adjustment ring 336, a pressure cover, a limiting mounting plate, a bearing preload ring, and a mounting cover 339.

[0074] The first angular contact bearing 334 is mounted on one side of the pitch rotation shaft 34. The pitch circular grating assembly 333 is mounted on the first angular contact bearing 334 and the pitch rotation shaft 34 to measure the pitch rotation angle of the pitch rotation shaft 34. A bearing preload ring is fitted onto the other side of the pitch rotation shaft 34 and then connected to a second angular contact bearing 335. The second angular contact bearing 335 is mounted with a motor mounting base. The motor mounting base is mounted with the pitch motor rotor 331. The pitch motor rotor 331 is mounted with the pitch motor stator 332 and fitted onto the end of the pitch rotation shaft. The pressure cap 337 is mounted on the motor shaft to press the pitch motor stator 332 against it. The motor mounting base is mounted on the pitch rotation support frame 35. The bearing preload ring is sleeved on the pitch rotation shaft 34 and presses against the second angular contact bearing 335. The clamping adjustment ring 336 is sleeved on the pitch rotation shaft 34 and clamped inside the pitch motor rotor. The limiting mounting plate is limited 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 clamping adjustment ring 336, and the limiting mounting plate, and then mount them on the pitch rotation support frame 35.

[0075] In this embodiment, the first angular contact bearing 334 is named for ease of distinction from the angular contact bearings mentioned earlier and later, and is not intended to limit any particular angular contact bearing. Similarly, the second angular contact bearing 335 is named for ease of distinction from the angular contact bearings mentioned earlier and later, and is not intended to limit any particular angular contact bearing.

[0076] As one 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 mounted on the pitch rotation axis 34, and the pitch circular grating is mounted on the pitch circular grating mounting base 3331. The pitch circular grating reading head 3332 is mounted on the first angular contact bearing 334 to read the rotation angle of the pitch rotation axis 34.

[0077] To achieve high-precision rotation, a dual high-precision dual-contact bearing system is adopted, namely a first angular contact bearing 334 and a second angular contact bearing 335, which are mounted on the pitch axis mounting base. The pitch rotation axis needs to be designed with a bearing diameter at one end larger than the mounting diameter at the other end to facilitate through-type installation. At the same time, a small preload is used to improve accuracy. Both the first angular contact bearing 334 and the second angular contact bearing 335 are high-precision bearings, and the radial and axial runout of the inner circle is controlled within the set accuracy range, such as 2.5μm. A pitch circular grating mounting base 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 mounted on the circular grating mounting base 3152. The coaxiality of the mounting is ensured by precision machining of the circular grating mounting base 3152. The pitch circular grating reading head 3332 on this side is installed at the end of the pitch rotation axis 34 to realize the measurement of angle. A bearing preload ring is installed on the other side of the pitch rotation axis 34. The bearing preload ring can be adjusted by adjusting the outer clamping adjustment ring 336. The clearance adjustment of the first angular contact bearing 334 is achieved by mounting the pitch motor rotor 331 on the pitch rotation shaft 34 and the pitch motor stator 332 on the motor mounting base and fixing it with the pressure cover 337. The two work together to achieve the motor drive function. The limit mounting plate is installed at one end of the pitch rotation shaft 34 to achieve the function of limiting the rotation angle. In addition, the space requirements for wiring, direct drive torque motor installation, and circular grating installation are also considered. After installation, it is protected by the mounting cover.

[0078] In some embodiments, as shown in FIG6, the scanner housing 21 includes a tilt upper cover 211 and a tilt lower cover 212, and the scanning device mounting bracket includes a detachable integrated mounting upper base 361, a detachable integrated mounting lower base 362, and a pose adjustment block 363.

[0079] The visual tracking module 411 is mounted on the pose adjustment block 363, which is mounted on the detachable integrated mounting upper seat 361. The pitch rotation axis, the contact laser tracking device 41, and the non-contact laser scanning device 42 are installed between the detachable integrated mounting upper seat 361 and the detachable integrated mounting lower seat 362. The contact laser tracking device 41 and the non-contact laser scanning device 42 are mounted on the pitch rotation axis in a back-to-back manner. The pitch upper cover 211 covers the detachable integrated mounting upper seat 361, and the pitch lower cover 212 covers the detachable integrated mounting lower seat 362. The detachable integrated mounting lower seat 362 passes through the pitch lower cover 212 and is mounted at the execution end of the horizontal rotation axis.

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

[0081] The horizontal rotating shaft 32 is fitted with the horizontal motor rotor 317, which is installed inside the horizontal motor stator 316. A horizontal circular grating measuring component 315 for measuring the rotation angle of the horizontal rotating shaft 32 is also installed at a designated position on the horizontal rotating shaft 32. The horizontal circular grating measuring component 315 is close to the horizontal motor rotor 317 and connected to the horizontal motor stator 316. The third angular contact bearing 311 and the fourth angular contact bearing 312 are sequentially fitted onto the horizontal rotating shaft 32, separated by the intermediate main support 313. The horizontal rotary shaft 32 is mounted on the horizontal circular grating measuring assembly 315, the horizontal motor stator 316, and the horizontal motor rotor 317 within the intermediate main support 313. The bearing pressure ring 314 is sleeved on the horizontal rotary shaft 32 in a manner close to the horizontal motor stator 316 and pressing against the third angular contact bearing 311. The horizontal motor stator 316 is electrically connected to the control device 5 so that, under the control of the control device 5, the horizontal rotary shaft 32 is driven to rotate by the horizontal motor rotor 317. The scanning equipment mounting bracket is installed at the actuating end of the horizontal rotary shaft 32.

[0082] In this embodiment, the name 311 for the purpose of distinguishing it from the angular contact bearings mentioned earlier is not intended to limit any particular angular contact bearing. Similarly, the name 312 for the purpose of distinguishing it from the angular contact bearings mentioned earlier is not intended to limit any particular angular contact bearing.

[0083] The bearing pressure ring 314 is sleeved on the horizontal rotating shaft 32 and installed in the third angular contact bearing 311. It can adjust the clamping force and play a positioning role for the horizontal motor stator 316, the horizontal motor rotor 317 and the horizontal circular grating measuring assembly 315.

[0084] As one embodiment, the horizontal circular grating measurement assembly 315 includes a horizontal circular grating reading head 3151, a horizontal circular grating, a reading head mounting base, and a circular grating mounting base 3152. The circular grating mounting base 3152 is sleeved and installed on the horizontal rotating shaft 32. The horizontal circular grating is installed on the circular grating mounting base 3152. The reading head mounting base is installed on the fourth angular contact bearing 312. The horizontal circular grating reading head 3151 is installed on the reading head mounting base. When the horizontal rotating shaft 32 rotates, it drives the horizontal circular grating to rotate. At this time, the angle of rotation of the horizontal rotating shaft 32 can be read through the horizontal circular grating reading head 3151. In this embodiment, to ensure convenient assembly and disassembly of the motor circular grating assembly, the horizontal motor rotor 317 and the horizontal circular grating measuring assembly 315 are installed below the horizontal rotation shaft 32. The horizontal motor rotor 317 achieves horizontal drive function through cooperation with the horizontal motor stator 316. The horizontal circular grating is mounted and fixed on the circular grating mounting base 3152 at the bottom of the horizontal rotation shaft 32. The coaxial accuracy of the rotation is ensured through precision machining of the circular grating mounting base 3152. To achieve high-precision horizontal angle measurement, a circular grating is also required as an angle sensor, and eccentricity correction is performed using the horizontal circular grating reading head 3151. As an example, the selected horizontal circular grating is one that can meet the angle measurement requirement of ±0.8″ and has a trigger reading function for the reference position signal to correct the influence of eccentricity.

[0085] In this embodiment, the horizontal rotary shaft 32 is sleeved on the third angular contact bearing 311 and the fourth angular contact bearing 312, and can rotate independently relative to the third angular contact bearing 311 and the fourth angular contact bearing 312. The scanner housing 21 is installed on the scanning equipment mounting frame. While the horizontal rotary shaft 32 rotates, it drives the scanner housing 21 to rotate through the scanning equipment mounting frame, thereby realizing horizontal rotary motion and pitch rotary motion.

[0086] In another embodiment, the horizontal rotary shaft 32 has a hollow structure, and the horizontal rotary drive mechanism 31 also includes a wiring trough cover and a wiring cover. The wiring trough cover is sleeved on the outside of the horizontal motor rotor 317 and fits against the end of the bearing support, away from the scanner housing 21. The wiring cover is fitted onto the end of the horizontal rotary shaft 32 and close to the scanner housing 21, so that the electronic component circuits can be routed through the wiring cover and the wiring trough cover.

[0087] In another embodiment, the horizontal rotary drive mechanism 31 further includes a horizontal guide 318, which is a hollow shell structure. Multiple rolling elements are provided at the outwardly extending bosses on the outer edge of the shell structure. The shell structure is sleeved on the horizontal rotary shaft 32, and the rolling elements press tightly against the outer side of the intermediate main support 313, allowing it to rotate independently relative to the intermediate main support 313 under the drive of the horizontal rotary shaft 32. In this embodiment, the horizontal guide 318 can guide the horizontal rotary shaft 32 to rotate independently relative to the intermediate main support 313.

[0088] In this embodiment, to reasonably reduce the weight of the components, the horizontal rotary 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 intermediate main support 313 to ensure that the rotary shaft rotates while the related components are fixed; to ensure the accuracy of the horizontal rotary shaft 32, a combination installation scheme of third angular contact bearing 311 and fourth angular contact bearing 312 is adopted, and the bearing rigidity is increased by pre-tightening the bearing pressure ring 314 installed on the horizontal rotary shaft 32.

[0089] As an example, the horizontal rotation drive mechanism 31 also includes two protective covers 319, which are mounted on the pitch rotation support frame 35 to protect the horizontal rotation drive mechanism 31 and the cables.

[0090] As shown in Figure 7, the horizontal circular grating reading head 3151 is installed at the bottom of the intermediate main support 313 to realize the horizontal reading angle measurement function; the horizontal guide 318 is installed at the top of the horizontal rotary shaft 32, and realizes the guiding function by moving along the arc groove on the intermediate main support 313; in order to realize the wiring of this tracking scanning measurement integrated system, to facilitate the use of slip rings by winding the cable, and to improve the communication quality, a cable winding space composed of two protective covers 319 is designed at the top. The cable is connected to the relevant circuit at the bottom through the pitch axis mounting base and the reserved hole of the intermediate support base; a cable routing groove cover is installed at the bottom to protect the cables of the bottom motor, circular grating and other components; the pitch axis mounting base is installed at the top of the horizontal rotary shaft 32 to install the pitch angle drive measurement component, and a cable routing cover is installed at the bottom below it for disassembly and assembly of the cable. Both the pitch axis mounting base and the intermediate main support 313 are made of hard aluminum material, which is tempered and then rough machined, and then precision machined after natural failure to ensure the stability of the structure; finally, the coaxial accuracy is ensured by the grinding process.

[0091] In summary, the tracking and scanning measurement integrated system provided by this embodiment of the invention can highly integrate the contact laser tracking device 41 and the non-contact laser scanning device 42 within the same device under the same laser ranging device 43 and laser emission source 44, so as to quickly complete high-precision scanning and tracking measurement, thereby obtaining point cloud data of rapid scanning and tracking measurement under the same coordinate system. These point cloud data can then be directly processed for 3D modeling without the need for coordinate transformation as in existing technologies. Therefore, the technical solution of this embodiment of the invention can simply, quickly, and completely achieve high-precision scanning and tracking measurement with a single instrument, significantly improving detection efficiency.

[0092] This invention also provides a tracking scan measurement method, which utilizes the tracking scan measurement integrated system described in any of the above embodiments to perform tracking scan measurements, as shown in FIG8. The tracking scan measurement method includes the following steps:

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

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

[0095] Step 103: Control the laser emission source 44 to emit a ranging laser to the non-contact laser scanning device 42, and control the two-dimensional angle measuring drive device 3 and the laser ranging device 43 to drive the non-contact laser scanning device 42 to scan the surface to be measured 200 to obtain scanning point cloud data according to the optical ranging signal fed back by the non-contact laser scanning device 42.

[0096] In some embodiments, the contact laser tracking device 41 includes: a visual tracking module 411 and a first lens assembly 412, wherein the first lens assembly 412 is disposed on the light-incident side of the laser ranging device 43;

[0097] In the tracking coordinate measurement mode, the implementation of step 102 includes the following steps:

[0098] The laser emission source 44, the laser ranging device 43, and the visual tracking module 411 are activated. The position information of the cornerstone target ball is determined based on the captured image fed back by the visual tracking module 411, and the position information of the cornerstone target ball is sent to the two-dimensional angle measuring drive device 3. The two-dimensional angle measuring drive device 3 is controlled to move the laser ranging device 43 according to the position information of the cornerstone target ball, so that the laser emission source 44 emits a ranging laser that has been processed by the first lens assembly 412 and then enters the cornerstone target ball through the laser ranging device 43. During the movement of the cornerstone target ball, the incoming ranging laser is reflected back into the laser ranging device 43 after passing through the cornerstone target ball.

[0099] The laser ranging device 43 receives the absolute distance between the cone target ball and the laser ranging device 43 at the current moment, measured by the laser ranging device 43 based on the received ranging laser.

[0100] In other embodiments, the contact laser tracking device 41 further includes a position sensing tracker 431, which is used to measure the position of the spot formed by the incident ranging laser and determine the two-dimensional position offset value between the tracking cooperative target 45 and the first lens assembly 412 in the target coordinate system at the current time relative to the previous time.

[0101] In the tracking coordinate measurement mode, the implementation of step 102 also includes the following steps:

[0102] The horizontal and pitch angles are adaptively adjusted based on the absolute distance value sent by the laser ranging device and the two-dimensional position offset value sent by the position sensor tracker, so as to achieve tracking and measurement of the cooperative target by adjusting the two-dimensional position offset value.

[0103] The horizontal angle and pitch angle values ​​measured by the two-dimensional angle measuring drive device are obtained, and the coordinate data of the surface to be measured in the target coordinate system are determined based on the absolute distance values, the horizontal angle values ​​and the pitch angle values ​​obtained at different times.

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

[0105] The scanning vision module 421 is electrically connected to the control device 5; the scanning vision module 421 is used to capture the area to be measured in a panoramic manner and send the captured area to be measured to the control device 5.

[0106] The implementation of step 103 in the scanning measurement mode includes the following steps:

[0107] The control scanning vision module 421 performs scanning path planning on the area to be measured to obtain a scanning path planning strategy, and sends the scanning path planning strategy to the laser ranging device 43.

[0108] Based on the absolute distance between the surface 200 to be measured and the second lens assembly 422 measured by the laser ranging device 43, the two-dimensional angle measuring drive device 3 is controlled to drive the scanning vision module 421 to scan the area to be measured according to the scanning path planning strategy, so as to concentrate light energy through the focusing of the second lens assembly 422 to adapt to scanning at different distances.

[0109] This invention also provides a tracking scan measurement platform, as shown in FIG9. The tracking scan measurement platform includes the tracking scan measurement integrated system and a computing processing device 300 described in the above embodiments. The computing processing device 300 is connected to the tracking scan measurement integrated system to acquire coordinate data and scanned point cloud data from the integrated system. The computing processing device 300 can build a 3D model based on the coordinate data and scanned point cloud data, significantly improving modeling efficiency.

[0110] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, 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 foregoing 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 integrated system, characterized in that, include: A laser tracking and scanning integrated instrument includes a contact laser tracking device, a non-contact laser scanning device, a laser ranging device, and a laser emission source. The contact laser tracking device and the non-contact laser scanning device are both connected to the laser ranging device and the laser emission source. A two-dimensional angle measurement driving device is used to drive the contact laser tracking device, the non-contact laser scanning device, and the laser ranging device; Tracking cooperative targets, used to move on the surface to be measured in a manner that makes contact with the surface to be measured in accordance with a set movement strategy; The control device is connected to both the laser tracking and scanning integrator and the two-dimensional angle measurement drive device. In the tracking coordinate measurement mode, it controls the laser emission source to emit a ranging laser towards the contact laser tracking device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the contact laser tracking device to track the tracking cooperative target in real time based on the optical ranging signal fed back by the contact laser tracking device, so as to obtain the coordinate data of the contact point between the tracking cooperative target and the surface to be measured in real time. In the scanning measurement mode, it controls the laser emission source to emit a ranging laser towards the non-contact laser scanning device, and controls the two-dimensional angle measurement drive device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured based on the optical ranging signal fed back by the non-contact laser scanning device to obtain scanning point cloud data.

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

3. The tracking scanning measuring integrated system of claim 2, wherein, The contact laser tracking device further includes: a position sensing tracker; The first lens assembly is disposed on the light-incident side of the position sensor tracker. The first lens assembly performs optical signal processing on the laser emitted from the laser emission source, so that a portion of the processed ranging laser enters the tracking cooperative target and is reflected to the first lens assembly, forming an interference signal with another portion of the ranging laser after passing through the first lens assembly and entering the position sensor tracker. The position sensor tracker is used to measure the position of the light spot formed by the interference signal and determine the two-dimensional position offset between the tracking cooperative target and the first lens assembly in the target coordinate system at the current time relative to the previous time. The control device is used to adaptively adjust the horizontal and pitch angles based on the absolute distance value sent by the laser rangefinder and the two-dimensional position offset value sent by the position sensor tracker, so as to achieve tracking and measurement of the cooperative target by adjusting the two-dimensional position offset value, obtain the horizontal and pitch angle values ​​measured by the two-dimensional angle measurement drive device, and determine the coordinate data of the surface to be measured in the target coordinate system based on the absolute distance value, the horizontal angle value and the pitch angle value obtained at different times.

4. The tracking scanning measuring integrated system of claim 3, wherein, The first lens assembly includes a tracking light collimating lens, a tracking transmission mirror, and a tracking filter. The ranging laser emitted by the laser source is focused into a parallel light signal by the tracking light collimating lens and then enters the tracking transmission mirror. A portion of the ranging laser light signal is processed by the tracking transmission mirror and the tracking filter and then reflected into the tracking cooperative target. The laser light signal is reflected by the tracking cooperative target and then sequentially enters the tracking filter and the tracking transmission mirror, forming an interference light signal with another portion of the ranging laser light that has passed through the tracking transmission mirror and entering the position sensing tracker.

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

6. The tracking scanning measuring integrated system of claim 5, wherein, The second lens assembly includes a second scanning collimating lens, a zoom lens group, a reflecting mirror group, and a scanning filter; The second scanning collimating lens, the zoom lens group, the reflector group, and the scanning filter are arranged sequentially according to the light signal input and output. The second scanning collimating lens is close to the laser emission source side. The zoom lens group is mounted on the two-dimensional angle measuring drive device so that the two-dimensional angle measuring drive device drives the zoom lens group to focus. The reflector group is provided on the light output side of the zoom lens group. The scanning filter is close to the reflector group and is located on the light output side of the reflector group so that the laser ranging signal processed by the zoom lens group changes direction through the reflector group and enters the scanning filter before being projected into the area to be measured.

7. The tracking scanning measuring integrated system of claim 5, wherein, Also includes: An optical fiber switch is connected to a laser emission source. The control device is used to control the optical fiber switch to connect the laser emission source to the first lens assembly in the tracking coordinate measurement mode, thereby emitting a ranging laser to the contact laser tracking device. In the scanning measurement mode, the control device is used to control the optical fiber switch to connect the laser emission source to the second lens assembly, thereby emitting a ranging laser to the non-contact laser scanning device.

8. The tracking scanning measuring integrated system according to any one of claims 2-4, wherein, The visual tracking module includes: a telephoto objective lens, a telephoto objective lens retaining ring, a telephoto lens group, an inner endoscope tube, a relay lens, an imaging lens group, an outer endoscope tube, and an imaging CCD lens group. The endoscope tube is provided with protrusions at specified intervals for mounting the telescope group, the relay mirror and the imaging mirror group. The telephoto objective is disposed within the telephoto objective retaining ring, which is fitted onto the inner endoscope tube. Corresponding telescope groups, relay lenses, and imaging lenses are sequentially installed on each protrusion of the inner endoscope tube, with the telescope groups close to the telephoto objective retaining ring. The outer endoscope tube is fitted onto the outer side of the inner endoscope tube, and an imaging CCD lens group is installed at the end of the outer endoscope tube away from the telephoto objective.

9. The tracking scanning measuring integrated system according to any one of claims 2-4, wherein, Also includes: A support frame and a mounting housing mounted on the support frame, the mounting housing including a scanner housing and a control housing, the laser tracking scanning integrator being mounted inside the scanner housing; The two-dimensional angle measurement drive device includes a horizontal rotation drive mechanism, a horizontal rotation shaft, a pitch rotation drive mechanism, a pitch rotation shaft, a pitch rotation support frame, and a scanning equipment mounting frame; The horizontal rotation drive mechanism is installed inside the control housing. The output end of the horizontal rotation drive mechanism is connected to the horizontal rotation shaft. The actuating end of the horizontal rotation shaft is equipped with the scanning device mounting bracket, which is installed inside the scanner housing. The scanner housing is mounted on the pitch rotation support frame, so that the horizontal rotation movement is achieved by driving the scanner housing through the scanning device mounting bracket. The input end of the horizontal rotation drive mechanism can drive the horizontal rotation shaft to rotate under the control of the control device. The pitch rotation drive mechanism is mounted inside the scanner housing via the pitch rotation support frame. The output end of the pitch rotation drive mechanism is connected to the pitch rotation shaft, which is mounted on the pitch rotation support frame. The pitch rotation shaft drives the laser tracking scanning integrator, which is mounted on the pitch rotation shaft via the scanning equipment mounting bracket, to achieve pitch rotation movement. The input end of the pitch rotation drive mechanism can drive the pitch rotation shaft to rotate under the control of the control device.

10. The tracking scanning measurement integrated system according to claim 9, characterized in that, The pitch rotation drive mechanism includes a pitch motor rotor, a pitch motor stator, a pitch circular grating assembly, a first angular contact bearing, a second angular contact bearing, a motor mounting base, a clamping adjustment ring, a pressure cover, a mounting cover, a limit mounting plate, and a bearing preload ring. The first angular contact bearing is mounted on one side of the pitch rotation shaft. The pitch circular grating assembly is mounted on the first angular contact bearing and the pitch rotation shaft to measure the pitch rotation angle of the pitch rotation shaft. A bearing preload ring is fitted onto the other side of the pitch rotation shaft, which is then connected to a second angular contact bearing. The second angular contact bearing is fitted with a motor mounting base. The motor mounting base is fitted with the pitch motor rotor. The pitch motor rotor is fitted with the pitch motor stator and is sleeved on the end of the pitch rotation shaft. The pressure cap is installed on the motor mounting base to press the pitch motor stator against it. The motor mounting base is installed on the pitch rotation support frame. The bearing preload ring is sleeved on the pitch rotation shaft and presses against the second angular contact bearing. The clamping adjustment ring is sleeved on the pitch rotation shaft and clamped inside the pitch motor rotor. The limiting mounting plate is limited at the end of the pitch rotation shaft. After the two mounting covers cover the pitch motor rotor, the pitch motor stator, the pitch circular grating assembly, the first angular contact bearing, the second angular contact bearing, the motor mounting base, the clamping adjustment ring, and the limiting mounting plate, they are installed on the pitch rotation support frame.

11. The tracking scanning measurement integrated system according to claim 9, characterized in that, The scanner housing includes an upper tilt cover and a lower tilt cover, and the scanning device mounting bracket includes a detachable integrated mounting upper base, a detachable integrated mounting lower base, and a posture adjustment block; The visual tracking module is mounted on the pose adjustment block, which is mounted on the detachable integrated mounting upper seat. The pitch rotation axis, the contact laser tracking device, and the non-contact laser scanning device are installed between the detachable integrated mounting upper seat and the detachable integrated mounting lower seat. The contact laser tracking device and the non-contact laser scanning device are mounted on the pitch rotation axis in a back-to-back manner. The pitch upper cover is fitted onto the detachable integrated mounting upper seat, and the pitch lower cover is fitted onto the detachable integrated mounting lower seat. The detachable integrated mounting lower seat passes through the pitch lower cover and is mounted at the end of the horizontal rotation axis.

12. The tracking scanning measurement integrated system according to claim 9, characterized in that, The horizontal rotary drive mechanism includes a third angular contact bearing, a fourth angular contact bearing, an intermediate main support seat, a bearing pressure ring, a horizontal circular grating measurement assembly, a horizontal motor stator, and a horizontal motor rotor. The horizontal rotating shaft is fitted with the horizontal motor rotor, which is installed inside the horizontal motor stator. A horizontal circular grating measuring component for measuring the rotation angle of the horizontal rotating shaft is also installed at a set position on the horizontal rotating shaft. The horizontal circular grating measuring component is close to the horizontal motor rotor and connected to the horizontal motor stator. The third angular contact bearing and the fourth angular contact bearing are sequentially fitted on the horizontal rotating shaft, separated by the intermediate main support, and are installed inside the intermediate main support along with the horizontal circular grating measuring component, the horizontal motor stator, and the horizontal motor rotor. The bearing pressure ring is fitted on the horizontal rotating shaft close to the horizontal motor stator and pressing against the third angular contact bearing. Under the control of the control device, the horizontal motor stator can drive the horizontal rotating shaft to rotate through the horizontal motor rotor. The pitch rotation support frame is installed at the actuating end of the horizontal rotating shaft.

13. The tracking scanning measurement integrated system according to any one of claims 1-4, characterized in that, The target of the tracking cooperation is a cone-shaped target ball.

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

15. The tracking scanning measurement method according to claim 14, characterized in that, The contact laser tracking device includes a visual tracking module and a first lens assembly, the first lens assembly being disposed on the light-incident side of the laser ranging device. The step of controlling the two-dimensional angle measuring drive device and the laser ranging device to drive the contact laser tracking device to track the cooperative target in real time based on the optical ranging signal fed back by the contact laser tracking device includes: The location information of the tracking target is determined based on the captured images fed back by the visual tracking module; The position information of the tracking cooperative target is sent to the two-dimensional angle measuring drive device, so as to control the two-dimensional angle measuring drive device to move the laser ranging device according to the position information of the tracking cooperative target. This allows the laser emission source to emit ranging laser light after optical signal processing by the first lens assembly, which then enters the tracking cooperative target through the laser ranging device. During the movement of the tracking cooperative target, the incoming ranging laser light is reflected back into the laser ranging device after passing through the tracking cooperative target. The laser ranging device receives the absolute distance between the tracking cooperative target and the laser ranging device at the current moment, as measured by the laser ranging device based on the received ranging laser.

16. The tracking scanning measurement method according to claim 15, characterized in that, The contact laser tracking device further includes: a position sensor tracker; the first lens assembly is disposed on the light-incident side of the position sensor tracker, the first lens assembly processes the laser emitted from the laser source to make a portion of the processed ranging laser enter the tracking cooperative target and be reflected to the first lens assembly, forming an interference signal with another portion of the ranging laser after passing through the first lens assembly and entering the position sensor tracker; the position sensor tracker is used to measure the position of the light spot formed by the interference signal, and determine the two-dimensional position offset value between the tracking cooperative target and the first lens assembly in the target coordinate system at the current time relative to the previous time; the step of controlling the two-dimensional angle measuring drive device and the laser ranging device to drive the contact laser tracking device to track the tracking cooperative target in real time according to the optical ranging signal fed back by the contact laser tracking device further includes: The horizontal and pitch angles are adaptively adjusted based on the absolute distance value sent by the laser ranging device and the two-dimensional position offset value sent by the position sensor tracker, so as to achieve tracking and measurement of the cooperative target by adjusting the two-dimensional position offset value. The horizontal angle and pitch angle values ​​measured by the two-dimensional angle measuring drive device are obtained, and the coordinate data of the surface to be measured in the target coordinate system are determined based on the absolute distance values, the horizontal angle values ​​and the pitch angle values ​​obtained at different times.

17. The tracking scanning measurement method according to claim 15 or 16, characterized in that, The non-contact laser scanning device includes: a scanning vision module and a second lens assembly, the second lens assembly being disposed on the light-incident side of the laser ranging device; the scanning vision module being used to capture panoramic images of the area to be measured; and the step of controlling the two-dimensional angle measuring drive device and the laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain the scanned point cloud data based on the optical ranging signal fed back by the non-contact laser scanning device, including: The scanning vision module is controlled to perform scanning path planning on the area to be measured to obtain a scanning path planning strategy, and the scanning path planning strategy is sent to the laser ranging device. Based on the absolute distance between the surface to be measured and the second lens assembly measured by the laser rangefinder, the two-dimensional angle measuring drive device is controlled to drive the scanning vision module to scan the area to be measured according to the scanning path planning strategy, so as to adapt to scanning at different distances by adjusting the focus of the second lens assembly.

18. A tracking scanning measurement platform, characterized in that, The system includes the tracking scan measurement integrated system and the computing processing device as described in any one of claims 1-13, wherein the computing processing device is connected to the tracking scan measurement integrated system to acquire coordinate data and scan point cloud data from the tracking scan measurement integrated system.

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