59 results about "Laser tracker" patented technology

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 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 utility model relates to an external trigger control device for a laser tracker, comprising: a power switch; a power conversion module; a first relay, the coil of which is connected in the output circuit of the power conversion module; and a second relay, wherein the external trigger signal is connected in series with the coil of the second relay. One end of the series connection is connected to one end of a first wire through a normally closed switch of the first relay and to the positive terminal of a DC power supply through a normally open switch of the first relay. The other end of the series connection is connected to the other end of the first wire through a normally closed switch of the first relay and to the negative terminal of the DC power supply through a normally open switch of the first relay. The switching signal of the normally open switch of the second relay is input to the external trigger port of the tracker controller. When the external trigger signal is a dry contact signal, the power switch is turned on; when the external trigger signal is a DC signal, the power switch is turned off. This utility model meets the needs of different types of external trigger signals, ensuring versatility and flexibility of use.

The present application belongs to the field of automatic welding technology, and specifically relates to a grid piece intelligent welding system and method based on visual positioning, which comprises a six-axis robot, a welding gun, a laser tracker, a line-scan camera and a control system. The welding gun is installed at the end of the robot, the laser tracker is connected to the welding gun through a mounting bracket, and the line-scan camera is connected to the robot body through a mounting bracket. The line-scan camera is used for global scanning and coarse positioning of the grid piece, obtaining overall point cloud data of the workpiece, and identifying assembly deformation and macroscopic weld direction; the laser tracker is used for local high-precision scanning and fine positioning of the weld. The control system fuses two levels of visual information, automatically plans a smooth welding trajectory without collision, corrects the path deviation caused by assembly error or thermal deformation in real time, and automatically matches the welding process parameters. The present application significantly improves the welding precision, consistency and production efficiency, and is suitable for flexible production of multiple varieties and small batches of grid pieces.

The utility model discloses a laser tracker target ball, including the spheroid, the spheroid has the cavity, be equipped with the opening of the intercommunication cavity on the spheroid, the opening place threaded connection has the compression circle, is equipped with the lens seat and cubic angle retroreflector in the cavity, and the compression circle is equipped with the sheath between the lens seat. The utility model discloses a laser tracker target ball, cubic angle retroreflector and lens seat are fixed after preliminary calibration, and after being loaded into the target ball inside, it is convenient to adjust the relative spatial relation. After product is completed, optical and physical structure are relatively stable, and the ability that resists external interference is strong. Compression circle structure design is reasonable, and cooperate sheath, play the role of reinforcing the internal structure of spheroid, form protection to cubic angle retroreflector again, improve the service life of target ball. Spheroid and base adopt magnetic attraction force connection, and the installation dismounting is convenient, promotes work efficiency and guarantees the measuring accuracy.

This utility model discloses a horizontal adjustment device for a laser tracker. The horizontal adjustment device includes: a first component, a second component, and a third component connected sequentially from bottom to top; a first rotating component, which is rotatable; a first helical fitting component, connected to the second component and cooperating with the first rotating component, which can move up and down when the first rotating component rotates, causing the second and third components to swing up and down relative to the horizontal plane about a first direction as an axis; a second rotating component, which is rotatable; and a second threaded fitting component, cooperating with the second rotating component and connected to the second component, which is movable relative to the second component in the height direction, and can move up and down relative to the second component when the second rotating component rotates, causing the third component to swing up and down relative to the horizontal plane about a second direction as an axis, wherein the second direction is perpendicular to the first direction. The horizontal adjustment device for a laser tracker proposed in this utility model can quickly and conveniently level the laser tracker.

This application relates to a method, apparatus, and measurement system for dynamic measurement of assembly data. The measurement system includes a moving crossbeam and multiple calibration targets, with a 3D scanner and a laser tracker mounted on the moving crossbeam. The method includes: controlling the moving crossbeam to move to a measurement pose; positioning multiple calibration targets using the laser tracker to construct a geodetic coordinate system and tracking and determining the real-time pose of the 3D scanner in the geodetic coordinate system; controlling the 3D scanner to move and scan to obtain reference point cloud data and key area point cloud data of the assembly workpiece, and establishing the point cloud correlation between the two, establishing a workpiece coordinate system based on the reference point cloud data; based on the workpiece coordinate system, real-time pose, and point cloud correlation, mapping the key area point cloud data to the geodetic coordinate system and performing error correction; and generating an assembly deviation map based on the deviation between the corrected actual measurement data and the expected measurement data. This method can improve the cycle time efficiency and assembly accuracy pass rate of a pulsed assembly production line.

The application provides a robot positioning compensation system based on real-time feedback of mechanical arm end coordinates, the robot comprising a mechanical arm and an end effector, the end effector being arranged at the end of the mechanical arm; the positioning compensation system comprising a target ball, a laser tracker, a computer and a controller, the target ball being arranged on the end effector, a closed-loop control system being formed among the mechanical arm, the laser tracker, the computer and the controller; the laser tracker being used for detecting the coordinates of the target ball in real time and sending the coordinates to the computer, the computer being used for converting the coordinates of the target ball into the spatial coordinates of the mechanical arm and sending the spatial coordinates to the controller; the controller being used for generating a corresponding compensation signal according to the spatial coordinates and sending the compensation signal to the mechanical arm, and the mechanical arm moving to a set position according to the compensation signal.

The application relates to the technical field of laser trackers, and particularly discloses an AI-driven laser tracker assembly precision positioning system, which comprises a laser tracker main body, a rotating shaft, a laser tracking head, a first sliding groove and a horizontal detection mechanism; the left and right ends of the rotating shaft are rotatably arranged in the middle parts of the left and right sides of the inner cavity of the laser tracker main body through bearings; the rotating shaft is connected with a driving motor of the laser tracker main body through a shaft coupling; the laser tracking head is fixedly arranged in the middle part of the outer wall of the rotating shaft; the shaft center of the laser tracking head is the same as the shaft center of the rotating shaft; the first sliding groove is arranged in the left middle part of the laser tracking head in the front-rear direction; and the horizontal detection mechanism is arranged at the right rear end of the laser tracking head. The device constructs a redundant monitoring channel independent of an electronic system, realizes hardware-level overspeed protection against electromagnetic interference, provides online calibration capability of an absolute horizontal reference, and significantly improves the measurement reliability and safety of the laser tracker in a complex environment.

This invention provides a method, device, electronic device, and storage medium for error compensation in a dual-drive feed machine tool. The method includes: designing orthogonal experiments based on the three cutting elements to generate multiple sets of machining conditions; constructing a grating ruler calibration model using a laser tracker, synchronously acquiring multi-axis command trajectories and actual trajectories, calculating the actual positions of the dual-drive axes, and calculating three types of errors; constructing a multivariate nonlinear regression model of the three cutting elements and the three types of errors, solving the model coefficients using the least squares method after logarithmic linearization, and optimizing to a preset accuracy by introducing interaction terms between the three cutting elements; substituting the new three cutting elements into the optimized model to calculate the predicted values ​​of the three types of errors; performing independent position compensation for each axis based on the predicted independent following error values, and then correcting the synchronization deviation based on the predicted dual-drive synchronization error values ​​to generate a collaborative compensation trajectory. This invention improves the accuracy of error calculation and the adaptability to working conditions.

The application provides a kind of aircraft inertial navigation system mounting bracket installation precision measurement method, belongs to the field of aircraft inertial navigation installation.Solve the problem that inertial navigation system is located in the aircraft interior, cannot be directly measured.It includes the following steps: using two laser trackers to measure standard measurement plate and the measured aircraft, establish the coordinate system of standard measurement plate and aircraft;Using inertial angle measuring instrument to measure the standard measurement plate and the datum plane on the inertial navigation system mounting bracket tooling, obtain the coordinate system of standard measurement plate and inertial navigation system mounting bracket;Through coordinate conversion, the three-axis angle deviation of the coordinate system of inertial navigation system mounting bracket and the measured aircraft is solved by test computer software, and adjustment suggestions are given, which is mainly used for measuring the inertial navigation system in the aircraft.

The embodiment of the application provides an A-frame mounting method, comprising: positioning a ship body base of the A-frame horizontally by using a laser tracker, and controlling a horizontal deviation of an upper surface within 0.01 mm; measuring parallelism of the base by using a diagonal line connection mode of a flange bolt hole, and completing base assembly positioning; assembling the A-frame body and the ship body base into a whole, mounting a crossbeam in place, and pre-tightening a support leg of the A-frame and a flange lock screw of the ship body base to 70%; completing space coordinate measurement of an axis pin end and a harrow nest marker pole O corresponding to each of the first laser tracker, the second laser tracker and the third laser tracker, and adjusting the A-frame base by taking the O point as a coordinate origin; converting three measurement data to space coordinates with the harrow nest marker pole O as the coordinate origin, and fitting to realize coaxiality of multiple pin shafts; and connecting the base to a base reinforcing elbow plate by using a 7-shaped clamp after completing assembly positioning.

This invention discloses a method for aligning the axis and spline during the flexible assembly process of a parallel platform. The method includes the following steps: S1, using a target ball to calibrate the end face of the low-voltage turbine shaft tooling and the end face of the compartment tooling to determine the reference coordinates of the end face of the low-voltage turbine shaft tooling and the end face of the compartment tooling; S2, establishing a predetermined distance between the bottom of the low-voltage turbine shaft and the top of the compartment, and using this position as the reference position; S3, using a laser tracker to measure the position of each target point at the reference position, moving the parallel platform to obtain the positions of the end face of the low-voltage turbine shaft tooling and the end face of the compartment tooling; establishing a low-voltage turbine shaft coordinate system {D} and a compartment coordinate system {C}; S4, correcting based on the actual measurement results to obtain the homogeneous transformation matrix between the low-voltage turbine shaft coordinate system {D} and the compartment coordinate system {C}, and adjusting the compartment axis according to the homogeneous transformation matrix; S5, using impedance control during the contact between the spline and the spline groove, rotating the compartment to align the spline inside the engine with the spline groove at the end of the low-voltage turbine shaft.

This invention discloses a combined measurement method consisting of a laser tracker and a binocular camera. The laser tracker measures the spatial coordinates of multiple target spheres, whose spatial distribution configurations have different lengths along all three axes. The coordinates of the measurement points are fitted into a spatial rectangular coordinate system to obtain the target sphere tool coordinate system. Coordinate axes with different directional accuracies are determined sequentially, with the X-axis representing the axis of highest accuracy. The homogeneous transformation matrix of the coordinate system is determined. A combined measurement system consisting of the laser tracker and the binocular camera is established, and error compensation is used within the combined measurement system to improve the overall system error and enhance the measurement system's accuracy. This improves the numerical stability of the coordinate system fitting, reducing uncertainty in the error aggregation stage from the source; it suppresses the leverage amplification effect of error in specific directions, controlling the growth trend of error during transmission. The two methods work together to achieve systematic suppression of error transmission throughout the entire process.

The invention relates to a laser tracker based measuring system with an inertial measurement unit, in particular to a laser tracker based measuring system with a measuring aid having an inertial measurement unit (IMU). The measuring system is designed for determining the coordinates of surface points scanned by means of the measuring aid.

This invention discloses a dynamic grasping and positioning compensation method for a mobile robotic arm based on an IMU and a hand-eye system. This method establishes a precise pose transfer relationship through "robotic arm and camera extrinsic parameter calibration, and cart and robotic arm coordinate system calibration," reusing the vehicle-mounted IMU and the depth camera at the robotic arm's end (facing the target object). During cart movement, the depth camera detects the target object's distance in real time. When the target object enters the preset optimal grasping range, the method fuses IMU dynamic offset data and initial visual positioning data in real time, combined with a rigid connection structure to ensure structural stability and compensate for pose deviations caused by cart movement. This invention eliminates the need for external positioning equipment, significantly reducing hardware costs compared to laser tracker solutions. In uniform speed or micro-vibration scenarios of 0.1–0.3 m / s, it can be used for automatic loading and unloading in vapor chamber processes, with a robotic arm end-effector positioning deviation ≤0.8 mm and a dynamic grasping success rate of ≥90% for small targets. It is suitable for dynamic scenarios without infrastructure, such as laboratory sample transport and desktop workpiece grasping.

This invention discloses a device and method for measuring the spatial pose guidance accuracy of a robot vision system, relating to the field of robot guidance technology. The device includes a calibration flange mounted on a multi-degree-of-freedom motion platform. Three identical cylinders—a first cylinder, a second cylinder, and a third cylinder—are arranged on the end face of the calibration flange. The laser tracker and vision system can easily fit and identify the characteristic centers of the three cylinder end face circles on the calibration flange. Based on the identified end face circle features, the vision system guides the end effector of a robot tool to the corresponding position. The laser tracker measures the actual pose of the robot tool end effector after guidance, thus accurately measuring the spatial pose guidance accuracy of the robot vision system.

The utility model provides a kind of full-automatic path searching equipment of laser tracker, it relates to a kind of laser tracker path searching equipment technical field.The utility model includes measuring frock main part, frock walking mechanism, spring support arm mechanism, measuring device rotary telescopic and fixed mechanism and equipment hoisting point, frock walking mechanism includes first frock walking mechanism and second frock walking mechanism, first frock walking mechanism is arranged in the upper end of measuring frock main part, second frock walking mechanism is arranged in the lower end of measuring frock main part, the right end of measuring frock main part is provided with equipment hoisting point, while, the right side end of measuring frock main part is provided with measuring device rotary telescopic and fixed mechanism, the upper end of measuring device rotary telescopic and fixed mechanism is provided with spring support arm mechanism.The utility model is in the process of laser tracker measurement pipe wall, stable walking is carried out in the inside of pipe wall, detects pipe wall data on specified detection point.

The application discloses a machine tool assembly system with laser tracker detection, which comprises a transfer trolley, an instrument head and a targeting assembly, the instrument head is arranged on the transfer trolley in a liftable mode, and the instrument head and the targeting assembly cooperate to perform tracking detection, and the machine tool assembly system further comprises: a mounting groove arranged at the upper end of the transfer trolley; a reference sleeve arranged in the mounting groove, wherein a telescopic first sleeve, a second sleeve and a third sleeve are sequentially arranged in the reference sleeve, and the instrument head is fixedly arranged at the upper end of the third sleeve; and a pneumatic assembly. The first sleeve, the second sleeve and the third sleeve are sequentially elongated in an inflation mode, and the first sleeve, the second sleeve and the third sleeve are reversely contracted in a deflation mode, so that the height of the instrument head is adjusted, and the lifting process is stable; in addition, the first sleeve, the second sleeve and the third sleeve have small overall weight after being elongated in the inflation mode, so that the gravity center of the system is not excessively increased.

This disclosure relates to a six-dimensional tracking and measurement system and method based on visual active tracking. The measurement system includes a probe, a laser tracker, and a computing center. The probe includes: a target base, a target rotating seat rotatable along a first rotation direction, multiple feature marker structures disposed on the target rotating seat and capable of emitting or reflecting light beams, and a target disposed on the target rotating seat and rotatable along a second rotation direction. The laser tracker includes: a tracker base, a rotatable aiming unit that emits a laser beam, and an attitude camera linked to the aiming unit. The computing center is used to calculate the first attitude information of the target rotating seat relative to the attitude camera, and to calculate the target attitude information of the target base relative to the tracker base based on the first rotation angle, the third rotation angle, and the fourth rotation angle. Thus, the attitude information of the target rotating seat can be obtained through the attitude camera, thereby obtaining the attitude information of the target base.

The utility model provides a kind of full-automatic angle adjustment mounting seat of laser tracker, it relates to a kind of laser tracker technical field.The utility model includes support seat, support seat is provided with cradle, corner speed reducer and take electromagnetic clutch servo motor, cradle is provided with instrument fixing seat, corner speed reducer and take electromagnetic clutch servo motor are arranged at the right end of support seat, and the output end of take electromagnetic clutch servo motor is connected with corner speed reducer, the output shaft of corner speed reducer is connected with pivot, pivot is arranged in support seat and pivot is connected with cradle.The utility model is used for fixing laser tracker during laser tracker measurement process, and can manually control laser tracker measurement direction, and cradle can rotate ±140 ° by servo motor control.

This invention discloses a measurement system and method for large-size aircraft parts, belonging to the technical field of digital measurement. The system includes a part scanning mechanism, a positioning and measuring mechanism, and a laser tracker. The part scanning mechanism includes a measuring terminal, and the positioning and measuring mechanism includes a gantry positioner and a binocular measuring unit. Several positioning and measuring mechanisms are symmetrically arranged on the left and right sides of the part's measurement range, and a part scanning mechanism is arranged on the front or rear side. The positioning and measuring mechanism is used to locate the measuring terminal based on the binocular vision positioning principle. The laser tracker is used to measure the spatial coordinates of the center of the target ball placed on the target base and the ground target to obtain the coordinate system transformation relationship between the binocular measuring unit and the gantry positioner, as well as the coordinate system transformation relationship between the gantry positioner and the global coordinate system. This invention achieves precise measurement of large-size parts and accurate positioning of measurement data, effectively improving measurement efficiency and accuracy.

This invention discloses a method for mutual aiming and measurement of laser trackers in hidden areas, belonging to the field of large-space precision measurement technology. The invention deploys a reference tracker in the visible area and the tracker under test in the hidden area. The tracker under test drives a target sphere to perform spherical motion, while the reference tracker collects data from spherical sampling points. A robust Taubin sphere center fitting algorithm is used to fit the rotation center coordinates of the tracker under test, completing self-calibration. Finally, coordinate system transformation achieves measurement and coordinate unification in the hidden area. The robust Taubin sphere center fitting algorithm of this invention introduces robust estimation concepts, effectively suppressing the influence of abnormal data on the fitting results through weighted iterative optimization of the objective function. This invention completely solves the technical problems of not being able to deploy a common visible point and achieve coordinate system unification in hidden / narrow areas, significantly improving the accuracy and robustness of sphere center fitting, and meeting the collimation requirements of high-end devices such as particle accelerators.

This application discloses a method for detecting the repeatability of a quick-change device, comprising: setting at least three non-collinear measurement points on both the robot side and the tool side, and pairing them one-to-one; measuring the first spatial coordinates of each point using a laser tracker in the locked state, using the laser tracker's measurement coordinate system as a preset rectangular coordinate system, and calculating the first relative spatial relationship between each pairing point as a reference relative relationship; executing at least one disengagement-engagement cycle, keeping the robot's posture unchanged after each engagement and lock, and measuring the second spatial coordinates of each point again to calculate the second relative spatial relationship in the current state; comparing the second relative spatial relationship with the reference relative relationship to obtain the relative deviation, which is the repeatability deviation of the quick-change device itself after eliminating the robot's own positioning error; and evaluating the repeatability based on the relative deviation. This application can effectively separate the quick-change device's own error from the robot's own error, and has high measurement accuracy and is easy to operate.

Embodiments of the present application disclose a pose calibration method for a multi-robot space measurement system. In a specific embodiment, the method comprises establishing a measurement platform coordinate system; establishing a transmitting and receiving device coordinate system, a first and a second pose measurer coordinate system; establishing a laser tracker coordinate system, obtaining a first to third coordinate conversion relationship; establishing a first and a second robot coordinate system, obtaining a first and a second robot default tool coordinate, calculating a fourth and a fifth coordinate conversion relationship; obtaining a sixth to ninth coordinate conversion relationship, performing user coordinate calibration according to the first to ninth coordinate conversion relationship, and performing tool coordinate calibration; controlling the tool coordinate of the robot to make a specified trajectory motion in the measurement platform coordinate system; obtaining a tenth and an eleventh coordinate conversion relationship, calculating the actual pose of the robot according to the first to eleventh coordinate conversion relationship, and performing pose deviation compensation according to the deviation between the actual pose of the robot and the theoretical pose of the robot.