376 results about "Laser tracker" patented technology

The invention provides an elevator guide rail digital installation method based on a laser tracker and a motion capture system, which comprises the following steps that: A1, a shaft global coordinate system is constructed, a shaft local measurement network is formed, and a lifting operation platform is provided with a guide structure matched with an installed guide rail; a2, after multiple sets of target ball space coordinate data are collected, the conversion relation between a motion capture camera array coordinate system and a laser tracker coordinate system is calculated through an optimization method based on rigid body distance constraint; a3, through a coordinate transformation and projection correction algorithm, the installation position data of the elevator guide rail support is converted into a two-dimensional projection image, and the two-dimensional projection image is projected to the well wall face through projection equipment; a4, acquiring three-dimensional coordinate data of the installed guide rail reflection marker through the motion capture camera array, and calculating a deviation matrix of an actual installation position and the design model so as to correct the installation deviation of the guide rail; and A5, the steps A2 to A4 are executed again to install the next section of guide rail, and the benchmark accumulative error is eliminated through recalibration.

The invention belongs to the technical field of aircraft assembly measurement, and particularly relates to an aircraft assembly tool measurement field measurement reference point spacing laser tracker measurement method, which comprises the following steps of: calibrating and constructing a distance measurement coordinate system by adding an alignment measurement point to be combined with a reference measurement point and utilizing an absolute distance measurement function of a laser tracker; and a multi-degree-of-freedom precision adjustment structure of the articulated arm robot is utilized to position the laser tracker on an epitaxial line of the reference measurement points, so that the high-precision measurement of the distance between the two reference measurement points is realized, the networking measurement error of the laser interferometer can be corrected in a high-precision manner, and the high-precision measurement of a large aircraft assembly site is realized.

The invention discloses a mechanical arm tail end posture constraint path optimization method based on constraint manifold. A discrete constraint manifold point set which is high in posture precision, robust in singular point, uniform in space distribution and constrained in kinematics is generated based on a Monte Carlo method, a weighted damping pseudo-inverse method, an attenuation type learning rate gradient descent iteration method and voxel density optimization; based on measurement of a laser tracker, the relation between static environment information and a target point relative to a mechanical arm base coordinate system is constructed; a coarse path is obtained through a sampling method, and a feasible path on a constraint manifold meeting attitude constraint and having no collision is generated based on a search strategy of Euler distance difference + maximum joint angle variation + collision detection + index reconstruction criterion; and in combination with a multi-target weighted CHOMP algorithm, the feasible path is optimized into a collision-free and smooth path which meets the requirements of attitude constraint and kinematics constraint. According to the method, the problems of insufficient consideration of attitude constraint, low efficiency, local convergence and the like of traditional path planning are solved.

The invention relates to the technical field of fusion reactors, and discloses an assembly tool and an assembly method of a divertor, a box body is positioned and mounted on the assembly tool through a first positioning surface, a second positioning surface and a third positioning surface; through the first reference surface and the second reference surface, a reference coordinate system is set during assembly and detection of the target plate, and the target plate is detected and adjusted by taking the reference coordinate system as a reference, so that the profile tolerance of the target plate conforms to an error allowable range; therefore, it is guaranteed that the divertor obtained through assembling of the assembling tool has enough assembling precision; by the adoption of the assembling tool, the box body is installed on the assembling tool, then the target plate and the box body are preliminarily positioned, a reference coordinate system is established in cooperation with a laser tracker, the actual contour of the target surface of the target plate is obtained, the target plate is correspondingly adjusted, the assembling precision is improved, and normal work of a divertor is effectively guaranteed; and the normal cooling work of the cooling channel can be ensured through the leak detection test.

The application discloses a rotating mirror type binocular vision laser tracking light break recovery system and method. The system comprises a rotating mirror type laser tracker and a binocular vision module, two cameras in the binocular vision module are symmetrically installed on both sides of a laser beam, and camera visual axes and a laser optical axis are reflected to a working area through a rotating mirror of the tracker. The method comprises the following steps: a virtual imaging plane model in which the camera visual axes and the laser optical axis are coincident is constructed in advance; after the light break occurs, an infrared illumination light source of a vision system is modulated, frame difference images of modulation wave crests and troughs are acquired and processed, a current position of a target mirror and a predicted light break recovery rotation angle are obtained, and error compensation is performed on the current position and the predicted light break recovery rotation angle; and corresponding motors are driven to rotate according to the compensated light break recovery rotation angle, so that the laser beam is re-aligned to the target mirror. The application reduces the coaxial installation difficulty of a vision system of a rotating mirror type laser tracker, and improves the target mirror recognition rate and the light break recovery servo angle accuracy in a large range of complex environments.

The invention relates to the technical field of welding robots, and discloses large component gantry type robot welding equipment and a welding method.The large component gantry type robot welding equipment comprises a gantry rack, the gantry rack achieves X / Y / Z three-direction movement, and a six-axis robot is installed at the vertical moving end of the gantry rack; an electric arc welding gun, three-dimensional laser vision sensors, a grinding machine and a high-speed camera are installed at the tail end of the six-axis robot, and the two three-dimensional laser vision sensors correspond to the electric arc welding gun and the grinding machine correspondingly. A three-dimensional laser tracker is fixedly connected to the middle section of a cross beam of the gantry rack; a placing platform is arranged in the middle of the lower end of the gantry rack, a central controller is installed on the gantry rack, the central controller is connected with the gantry rack, the six-axis robot and the three-dimensional laser tracker through an EtherCAT bus, and the central controller carries a digital twin module, a welding expert database and a deformation prediction model. And manual welding is not needed, so that the working efficiency is improved.

The invention discloses a large-size spacecraft dynamic six-degree-of-freedom pose high-precision measurement method, solves the problems of shielding failure, low measurement precision and the like in large-size spacecraft dynamic tail end target support measurement, belongs to the technical field of spacecraft dynamic measurement, and is mainly suitable for large-size spacecraft tail end antenna dynamic working conditions. For example, the three laser trackers are adopted for cooperative work, a synchronous trigger sends a unified trigger signal to all the laser trackers, and it is ensured that the three trackers collect three-dimensional coordinate data of a target point at the strict same moment. And finally realizing six-degree-of-freedom pose high-precision measurement of the large-size spacecraft motion tail end target bracket by combining a tracker space station planning strategy of a non-coplanar optimization algorithm of a minimum position precision attenuation factor and utilizing a dynamic six-degree-of-freedom pose resolving algorithm fused with measurement data based on a space target coordinate obtained by synchronous triggering.

A MARKIII cargo containment system cargo hold size measuring method comprises the steps that a cargo hold is divided into 10 faces and 16 angular points in total, laser trackers are arranged at the centers of the bow face and the stern face, a plurality of target balls are arranged in the three faces corresponding to each angular point, the laser trackers are used for detecting the target points in the three faces corresponding to the angular points, and after detection is finished, the cargo hold size is measured through the target balls. According to the method, the planes can be created in polyworks software, after the three planes corresponding to the angular points are created, coordinates of intersection points formed by intersection of the three planes are three-dimensional coordinates of the current angular points, and three-dimensional coordinates of the 16 angular points are obtained through measurement in sequence. And inputting the three-dimensional coordinates of the angular points into EXCEL to directly obtain the lengths of line segments and diagonals of the cargo hold. According to the method disclosed by the invention, the number of times of measurement is reduced from original 64 times to 16 times and is reduced by 75%. And the labor hour is reduced, 20 persons are required to measure for 2 days in the original method, 5 persons are required to measure for 1 day in the method, and the labor hour is reduced by 87.5%. The measurement precision is improved, and calculation errors are avoided.

The present application relates to a kind of robot system high-precision hand-eye calibration method.The present application includes by planning multiple random robot poses;During the process of running robot pose, the coordinate values of target ball points are measured by laser tracker, end effector tool coordinate system is constructed, and is converted to robot base coordinate system, and the measured rotation matrix and displacement vector are calculated.Combined with theoretical rotation matrix and displacement vector, the pose compensation is realized by the rotation operator and the translation operator of trace adjustment, and the robot target posture and displacement are adjusted;After compensation, the measured pose is repeatedly measured, residual error is calculated, and it is used as the compensation value of next iteration, until residual error meets preset precision threshold or reaches maximum iteration number.Finally, the pose of calibration plate in 3D camera coordinate system and the corresponding relationship of robot theoretical pose are recorded, for completing robot hand-eye calibration process.The method improves calibration accuracy, meets high-precision machining and assembly requirements.

The invention discloses a long groove workpiece geometric quantity rapid measurement method based on multiple target stations, and the implementation process of the method comprises the steps: installing an industrial robot, the tail end of which is additionally provided with a structured light sensor, on a ground rail or hanger rail system, and achieving the long-distance movement along the axial direction of a workpiece; a plurality of target stations are arranged on the side of the track, and coordinate systems of the target stations are subjected to global coordinate system unification through a laser tracker; in the segmented parking measurement process of the robot, synchronously collecting the profile of the section of a workpiece and the feature point data of an adjacent target station, and converting the coordinates of the section of the workpiece into a global coordinate system by using a pre-established conversion relation between a target station coordinate system and the global coordinate system; through fusion of scanning data of multiple target stations, a global measurement model containing three-dimensional coordinates of complete workpiece feature points is finally constructed. According to the scheme, the technical problem of unification of multi-station coordinates in a large-scale measurement scene is effectively solved, and the detection efficiency of the geometric parameters of the large-scale long-groove workpiece is remarkably improved.

The invention relates to a laser tracker rotary table shafting deformation measurement system and method, and belongs to the technical field of instrument measurement and calibration. The system comprises a pitching driving bearing module which is internally provided with a bearing frame; the pitching driving bearing module is used for driving the bearing frame to perform pitching motion; the position acquisition module is used for acquiring position data of the laser tracker turntable shaft system in real time; the monitoring module is connected with the pitching driving bearing module and used for collecting measurement displacement data of a preset monitoring area of the bearing frame; the calculation module is connected with the monitoring module and used for calculating the total deformation angle of the bearing frame according to the measured displacement data; and the measurement result output module is respectively connected with the position acquisition module and the calculation module and is used for comparing the total deformation angle with a threshold value and combining the position data to obtain a measurement result of the laser tracker rotary table shafting. According to the invention, the error detection precision and resolution are improved, and the field adaptability and arrangement flexibility are improved.

The invention provides a digital twinning-based large component installation and measurement integrated online regulation and control method and system, and belongs to the technical field of intelligent manufacturing and digital twinning, and the method comprises the steps: carrying out the preprocessing of an original three-dimensional model of a large component, and carrying out the boundary point recognition, folding cost calculation and iteration simplification of the original three-dimensional model; constructing a multi-sensor measurement network, performing global coordinate system calibration and multi-sensor data fusion of the large component assembly scene, and constructing a digital twinborn model of the large component assembly scene; discretizing the digital twin model into a three-dimensional grid map, integrating global coordinate system data information, and performing dynamic path planning and collision detection; and comparing the actual pose of the large component measured by the laser tracker with the target pose of the large component of the digital twin model in real time, and when the deviation exceeds a threshold value, triggering a regulation and control mechanism to carry out real-time pose adjustment and closed-loop feedback control. According to the invention, closed loop of measurement, debugging and assembly of large components is realized, and the assembly efficiency and quality are improved.

In order to solve the technical problems that a conventional reflector antenna electrical axis direction calibration method is relatively complex and the error is relatively large when the conventional reflector antenna electrical axis direction calibration method is applied to a reflector antenna of which a mechanical axis is not easy to determine, the invention provides a reflector antenna electrical axis direction calibration method. A reference point tool coordinate system measured by a laser tracker and a reference point tool coordinate system tested by a photogrammetry camera are used as transfer, an incidence relation between an antenna coordinate system and a plane scanning frame coordinate system is established, and finally, the plane scanning frame coordinate system is obtained by combining the measured electric axis direction under the plane scanning frame coordinate system. And the electric axis direction under the antenna coordinate system can be obtained. The mechanical axis of the antenna does not need to be tested, a reference mirror is not needed, only one laser tracker and one photogrammetry camera are needed for testing, the testing method is simpler, the testing efficiency is higher, for the antenna of which the mechanical axis is not easy to determine, errors caused by fitting of the mechanical axis are avoided, and the testing precision is improved. The electric axis obtained by the method is more accurate in pointing.

The invention discloses a large-view-field camera light calibration method and system based on polynomial fitting, and the method comprises the steps: setting a measurement target on a camera and a calibration plate rigid tool, building a fixed connection coordinate system, directly measuring the pose between the coordinate systems through employing a laser tracker and other external high-precision equipment, and achieving the decoupling of a pose error and an image algorithm. The method comprises the following steps of: acquiring a plurality of calibration plate images, performing global polynomial curved surface fitting on sparse feature angular points of each image, and establishing continuous analytic mapping from pixels to a three-dimensional space; and carrying out spatial straight line fitting on a plurality of three-dimensional points corresponding to the same pixel to obtain an accurate light equation of the pixel. Calibration results are stored based on a camera target seat coordinate system, and direct migration and use can be achieved only by re-measuring the conversion relation between the coordinate system and a world coordinate system during actual measurement. The method is suitable for any complex imaging system, and has the advantages of high precision, strong universality, good robustness, outstanding engineering practicability and the like.

The invention relates to a binocular vision-based ultra-large on-orbit structure pose three-dimensional measurement method. The method comprises the following steps of: constructing two groups of vision measurement terminals; establishing a global measurement terminal, and establishing a reference coordinate system; obtaining the three-dimensional coordinates of the mark point and the three-dimensional coordinates of the target ball under the coordinate system W2; respectively calculating the position of a mark point on the target tool by each group of vision measurement terminals, and converting coordinate systems of the two groups of vision measurement terminals into a coordinate system W2 according to the known position of the mark point; calibrating the coordinate system W2 and the reference coordinate system; the two groups of vision measurement terminals obtain coordinates of a target point and convert the coordinates to a coordinate system W2; and measuring the vibration center of the target ball by using a laser tracker, obtaining the three-dimensional coordinates of the target ball under the reference coordinate system, calculating the conversion relation between the coordinate system W2 and the reference coordinate system, and further obtaining the coordinates of the target point of the target under the reference coordinate system. According to the method, the limitation of three-dimensional pose measurement in a large-scale and complex environment in a traditional method is overcome.

The invention provides an embedded part group precision control method for wind tunnel construction, and belongs to the technical field of wind tunnel construction, and the method comprises the steps: building an initial control network, dividing embedded part groups in a segmented manner, and determining the position of an optimal control point through an iteration experiment method and a graph theory network model; establishing an error propagation mathematical model to describe a measurement error propagation rule, performing control point position optimization calculation by applying a double-layer game optimization algorithm and a cross subwolf optimization algorithm, calculating three-dimensional coordinates of the embedded part by combining a resection method and a forward intersection method, and implementing real-time monitoring and dynamic adjustment of the laser tracker; and finally, overall precision verification is carried out through the total station and the laser scanner, and the technical problem that accumulated error propagation is difficult to effectively control in the installation process of the wind tunnel embedded part group is solved.

The invention discloses an automatic welding process combining laser scanning with visual inspection. The process specifically comprises four working procedures of laser scanning before welding, automatic wire feeding, automatic welding and online tracking detection in welding. The specific implementation effects of each process are as follows: the pre-welding laser line scanner scans a weldment by emitting a laser beam to extract three-dimensional information of the weldment, so that a welding route is conveniently planned, and a walking route is fed back to the control cabinet; the control system can receive an instruction to control the driving system to carry out an automatic welding process, so that the welding gun reaches a specified position to carry out automatic welding; in the welding process, the infrared laser tracker dynamically tracks the welding gun, corrects the walking route and guides the compound eye camera to conduct visual inspection so as to judge the welding quality, and the machining targets that components at the welding seam connecting position are uniform, and the welding seam surface is high in quality and low in defect are achieved.

The invention belongs to the technical field of precision ray machine installation and adjustment, and relates to a method and system for measuring the size of a trimming pad of a large complex ray machine system, and the method comprises the steps: building a global coordinate system through a laser tracker, and measuring the position of a target module installation end face corresponding to a main ray machine system in the global coordinate system before a target module is installed in the ray machine system. And after the target module is assembled and adjusted in place, measuring the position of the mounting surface of the target module in the global coordinate system by using a laser tracker. The thickness of the trimming pad can be obtained by calculating the normal angles and distances of the two modules under the global coordinate system, the multi-module trimming pad in a large complex optical-mechanical system can be accurately measured by adopting the method, and the assembling and adjusting quality and the assembling and adjusting efficiency are improved.

The invention provides a multi-laser tracker pose measurement method based on composite constraint, and belongs to the technical field of laser measurement, and the method comprises the steps: employing a preset laser tracker, building a pose measurement system, obtaining an instrument coordinate system, building a world coordinate system, setting a target plane, and setting a preset number of target balls to obtain a pose measurement result; constructing to obtain a target coordinate system; according to the pose measurement system, the laser trackers are used for tracking the target ball, the target ball coordinates of the target ball under the instrument coordinate systems of the laser trackers are measured, the coordinate systems of the target ball coordinates are unified to a world coordinate system based on coordinate system transformation, and to-be-solved system parameters are obtained; and constructing a composite constraint, constructing an optimal equation set based on an optimization algorithm, solving system parameters to be solved, obtaining a measurement pose, and completing pose measurement of the multiple laser trackers. According to the invention, the problems of small measurement range, low precision and large demand on the number of observation stations in a multilateral method in a traditional pose measurement method are solved.

The invention discloses an installation method and installation equipment for a steel coil trolley track. The installation method comprises the steps that measurement data of a rolling line datum point are obtained through a laser tracker arranged at a target position, and measurement data of a plurality of peripheral position points in the middle of a mandrel are obtained through the laser tracker arranged at the target position; establishing a three-dimensional coordinate system according to the measurement data of the rolling line datum point; performing circle fitting according to the measurement data of the plurality of peripheral position points, and determining the center point coordinate of the central part of the mandrel in the three-dimensional coordinate system according to the fitting result; and target position coordinates used for installing the steel coil trolley track are determined in the three-dimensional coordinate system according to the center point coordinates, and the steel coil trolley track is installed according to the target position coordinates. The technical problems that an existing method for installing the steel coil trolley track is large in error, tedious in operation and long in installation time consumption are solved.

A large field of view camera light ray calibration method and system based on polynomial fitting, the method is that the camera and the calibration board rigid tooling are respectively provided with measurement targets, a fixed connection coordinate system is established, and an external high-precision device such as a laser tracker is used to directly measure the pose between the coordinate systems, and the decoupling of the pose error and the image algorithm is realized. A plurality of calibration board images are collected, a global polynomial curved surface fitting is respectively performed on the sparse feature corner points of each image, a continuous analytical mapping of pixels to three-dimensional space is established, and then a plurality of three-dimensional points corresponding to the same pixel are subjected to spatial straight line fitting, so that the accurate light ray equation of the pixel is obtained. The calibration result is stored based on the camera target seat coordinate system, and when actually measuring, only the conversion relationship between the coordinate system and the world coordinate system needs to be measured again, so that the calibration result can be directly migrated and used. The application is suitable for any complex imaging system, and has the advantages of high precision, strong universality, good robustness and outstanding engineering practicability.

The present application belongs to the technical field of wind tunnel test, and discloses a method for adjusting the loading center of a force applying device of a half-model balance calibration system. The method comprises establishing a balance calibration center; comparing the size of the balance to calculate the displacement amount; adjusting the target position of the normal force applying point; and adjusting the target position of the lateral force applying point. The method takes the initial position state of the reference balance at the initial stage of the construction of the half-model balance calibration system as the reference, uses a laser tracker to determine that the loading center of the force applying device coincides with the calibration center of the initial balance, and records the original positions of the force applying points. During subsequent calibration, the size of the balance to be calibrated and the reference balance is iteratively calculated to obtain the target positions of the force applying points, and then the grating ruler and laser interferometer measurement and manual adjustment by the staff are used to adjust the force applying points to the target positions, so that the balance calibration center of the balance to be calibrated coincides with the loading center of the force applying device, and the calibration data accuracy of the balance to be calibrated is ensured.

The application discloses a coaxial folding and reflecting type infrared cryogenic optical system and a mounting, adjusting and testing method thereof. The optical system is composed of a main optical system, a main system support frame, a rear optical path infrared lens group, an infrared lens group lens seat and a rear optical path mounting bottom plate. In order to improve the adjusting precision and simplify the adjusting freedom, precise adjusting equipment such as an interferometer, a laser tracker, a centering instrument and a theodolite is adopted, the main optical system and the rear optical path infrared lens group are first adjusted as independent units and then are precisely integrated and tested. In order to reduce the testing period and cost of the cryogenic optical system, a testing compensation lens is inserted into the cryogenic optical path, so that the cryogenic optical system can be imaged and tested and the image quality can be evaluated in a normal temperature and pressure environment. The method has the advantages of simple principle, high precision, short period and low cost and is suitable for the mounting, adjusting and testing of the coaxial folding and reflecting type infrared cryogenic optical system.

The application discloses a kind of antenna profile rapid measurement system real-time calibration method, comprising: each laser tracker respectively to each control point is aimed at ranging, the distance value of each laser tracker center and each control point is obtained, create space sphere, obtain the accurate coordinate of each control point;Antenna profile rapid measurement system is photographed to the control point and the measured mark point of measured antenna imaging, the image point coordinate of control point and the image point coordinate of the measured mark point of measured antenna are obtained;Based on control point collinear condition equation and the preset measurement camera internal parameter, the position and posture of control point relative to control field coordinate system are obtained according to the image point coordinate of control point and the image point coordinate of the measured mark point of measured antenna;According to profile measurement point collinear equation and the position and posture of control point relative to control field coordinate system, the position and posture of the measured mark point of measured antenna are obtained.The application improves the measurement accuracy and reliability of antenna profile rapid measurement system.

The invention discloses a high-precision control method for optical parameters of an off-axis spliced sub-lens of a primary lens of a large astronomical telescope, and belongs to the field of advanced optical manufacturing and detection. According to the method, precise adjustment of a detection light path is achieved through different diffraction function areas of computer generated holography (CGH), and high-precision control over the curvature radius and the off-axis amount of an off-axis sub-mirror is achieved by combining distance measurement of a laser tracker and angle measurement of a theodolite. The method specifically comprises three stages of inspection light path coarse adjustment, fine adjustment and light path parameter measurement and processing, optical element space attitude adjustment is guided through a diffraction reference point of the CGH, and finally off-axis sub-mirror surface shape and optical parameter information are obtained. According to the invention, the problem of installation and adjustment precision in the detection of the large off-axis aspheric reflector can be effectively solved, and reliable technical support is provided for the manufacturing of the primary mirror and the spliced secondary mirror of the astronomical telescope.

The invention provides a visual guidance method and system for a large rocket cabin milling robot, and the method comprises the steps: 1, constructing a visual measurement system which comprises a hybrid robot, an area array structured light camera, a visual target, a target ball base, a product installation platform and a laser tracker, completing the system calibration, enabling the visual target to be installed on the target ball base, and enabling the visual target to be installed on the target ball base; the target ball base is fixed on the product mounting platform, and the laser tracker is used for calibrating the position of the target ball base; 2, collecting an image of a visual target through the area array structured light camera, analyzing the coordinates of the target, and resolving the relative pose of the robot relative to a product mounting platform, so as to determine the position of a theoretical cutting point according to a product design model; and 3, the area array structured light camera is used for collecting the three-dimensional shape of the surface of the to-be-machined product, the normal direction of the to-be-machined surface is calculated, and the direction of the tool is corrected according to the normal direction.

The application discloses a positioning method of a six-degree-of-freedom motion platform control center, and through correction of two errors of a position error of a sensor-bound control center and a real control center and a six-degree-of-freedom motion platform world coordinate system and a laser tracker world coordinate system error, the accuracy of finding a world coordinate system and an actual control center can be improved, a measurement model is constructed in combination with a laser tracker and T-MAC and other hardware devices, and calibration of the six-degree-of-freedom motion platform can be well completed. After measurement errors are corrected and eliminated, real-time platform control values are provided in a motion state of the platform, measurement values are acquired in real time through a relatively fixed T-MAC hardware device, and real-time dynamic calibration can be completed through comparison between the two. The method has high accuracy and efficiency, and can be widely applied to the six-degree-of-freedom motion platform.

This invention provides a method for calibrating the parameters of a measuring device for an orifice valve in a nuclear power plant's main feedwater system. The method includes: a process for calibrating the straightness of a telescopic rod, including horizontally placing the telescopic rod, installing a reflecting prism at its end, tracking the center of the reflecting prism with a laser tracker, and calculating the straightness of the telescopic rod; a process for calibrating the stepper motor's step distance accuracy, including measuring and statistically analyzing the step distance accuracy with a laser tracker; a process for calibrating the servo motor's rotation accuracy, including mounting a reflecting prism on the servo motor's rotation axis, controlling the prism's rotation, and statistically analyzing the rotation accuracy; a process for calibrating the repeatability accuracy of a distance measuring sensor, including installing a distance measuring sensor at the end of the telescopic rod and statistically analyzing the repeatability accuracy; a process for calibrating the distance measuring sensor's center position compensation parameters, including calibrating the compensation parameters using standard pipe fittings; and a process for calibrating the pipe's inner diameter measurement accuracy, including adding the measured distance value to the compensation parameters for correction, scanning and measuring standard pipe fittings, and statistically analyzing the pipe's inner diameter measurement accuracy.

The invention discloses a multifunctional radiotherapy calibration device, a positioning system and a calibration method.The multifunctional radiotherapy calibration device comprises a laser tracker target ball assembly, a calibration device body with supporting plate orthogonal scribed lines and a cubic die body with die body orthogonal scribed lines, and the calibration device body and the cubic die body are each provided with a plurality of target ball positioning holes; the target ball positioning holes in the cubic die body are respectively formed in the central positions of all surfaces of the cubic die body; the verification device body is provided with a surface positioning structure which is used for performing surface matching positioning with the cubic die body in the X direction, the Y direction and the Z direction, and a target ball center positioning hole is formed in the orthogonal point of the orthogonal scribed lines of the supporting plate. The method can realize the coincidence of the central point of a treatment area on a treatment bed board and the treatment central point of a beam port, the line width of a laser positioning system, the perpendicularity of orthogonal laser lines and the central point position of the laser positioning system, and the image guide range, geometric position relation and central point position of an image guide radiotherapy system. And quickly checking whether the axes of the two groups of X-ray beams are coplanar or not.

The application relates to a multi-mirror-based reflective omnidirectional vision three-dimensional measurement system, which realizes monocular three-dimensional measurement by combining camera image feature extraction with depth data, and belongs to the field of vision measurement. The system mainly comprises an image acquisition module, a reflection module, a distance measurement module, an image processing and three-dimensional reconstruction module and a supporting and fixing mechanism. The reflection module reflects omnidirectional 360-degree measurement target light into a camera, the image acquisition module images the reflected light, obtains omnidirectional images and transmits the images to a computer, the distance measurement module obtains depth data of a measurement target to the system and transmits the data to the computer, the image processing and three-dimensional reconstruction module in the computer carries out noise reduction and feature extraction operations on the images, three-dimensional measurement is realized in combination with the depth data, the modules are connected through the supporting and fixing mechanism, and the reflective omnidirectional vision three-dimensional measurement system is formed. The system calibrates internal and external parameters with the aid of a laser tracker, and uses the calibrated internal and external parameters to realize high-precision three-dimensional measurement of a measurement target point. The measurement result can be used for quality evaluation of surface development of a large weak-texture structure and vibration feedback suppression, and has important significance for mechanical manufacturing and the national defense industry.