564 results about "Laser tracker" patented technology

The invention discloses a stress analysis method for bridge incremental launching construction, and particularly relates to the field of stress analysis. According to the method, a mechanical state matrix is generated by combining wavelet noise reduction and Kalman filtering through distributed optical fibers, a piezoelectric force sensor, a vibrating wire stress meter and other equipment and real-time data; a pushing system-temporary support-beam body coupling dynamic mechanical model is established, and a generalized alpha method is adopted for solving and Bayesian optimization calibration parameters are adopted; key parameters are identified on line through a three-level progressive framework, boundary conditions are dynamically updated in combination with a total station and a laser tracker, and supporting rigidity self-adaptive adjustment is achieved through fuzzy PID control. Model confidence evaluation adopts a residual norm-modal confidence criterion-Bayesian update three-level mechanism, finally, stress distribution, support reaction and displacement deviation are calculated based on a correction model, and a safety index, threshold alarm and risk analysis report is generated through a fuzzy comprehensive evaluation method and fed back to a construction control center in real time.

The invention relates to a common-field-of-view-free camera external parameter calibration method and system based on a laser tracker. The method comprises the following steps: firstly, setting a laser tracker and defining a global coordinate system based on calibration of external parameters of a common-field-of-view-free camera of the laser tracker; for each single camera, if no common view exists between the single camera and the tracker, the tracker is transferred to the position with the common view, a temporary calibration plate is arranged, and the pose relation between the temporary calibration plate and the global coordinate system is calculated; when a public view exists, a calibration plate with a target seat is arranged in the public view, a laser tracker is used for measuring coordinates of a target ball, a camera is used for measuring coordinates of a conversion ball, a target ball coordinate system and a conversion ball coordinate system are respectively established and unified, and therefore the pose relation between the camera and the calibration plate and the pose relation between the calibration plate and the global coordinate system are calculated; and finally, obtaining external parameters of the common-field-of-view-free camera by combining all pose relationships. Compared with the prior art, the method has the advantages that the external parameters of the camera can be accurately and efficiently acquired when the camera system without the public view field is processed, the anti-interference capability is strong, the efficiency is high and the like.

The invention belongs to the technical field of measurement and positioning, and particularly relates to an aircraft manufacturing measurement and positioning method, which deeply combines an interference networking measurement method and a space coordinate measurement method of a laser tracker, adopts interference networking to construct a global coordinate system # imgabs0 # by reference control TB points in a small amount of open space, and performs re-system by reference control TB points in an effective distance measurement range. According to the method, an expanded reference ERS point is expanded, a local expanded reference system # imgabs1 # is established to measure and position a local measurement object, the sequence and boundary of global measurement and local measurement in the measurement process according to size chain superposition are defined, and the method has high measurement precision.

The invention provides an attitude measurement camera coordinate system calibration method, apparatus and device, and a storage medium, which can be applied to the technical field of measurement calibration. The method comprises the steps that a calibration plate is constructed, a conversion target seat and at least one reflective mark point are arranged on the calibration plate, the conversion target seat is used for placing a cube-corner prism target ball and a photogrammetry target ball, the cube-corner prism target ball and the photogrammetry target ball are the same in diameter, and the calibration plate is placed at different positions in a view field of an attitude measurement camera; the method comprises the following steps: acquiring three-dimensional coordinates of a cube-corner prism target ball by using a laser tracker, replacing a photogrammetric target ball, shooting an image of a calibration plate by using an attitude measurement camera to obtain the three-dimensional coordinates and a plurality of images of the cube-corner prism target ball in a laser tracker coordinate system, and calculating the three-dimensional coordinates of the cube-corner prism target ball according to the three-dimensional coordinates and the plurality of images of the cube-corner prism target ball in the laser tracker coordinate system. And calibrating a coordinate system of the attitude measurement camera. The extraction precision of the two-dimensional image coordinates of the target spot can be improved, and then the calibration precision of the coordinate system is improved.

The present invention discloses a position error calibration device and a calibration method for an industrial robot. The position error calibration device in the present invention includes a laser ranging component for measuring the three-dimensional coordinates of the target ball at the end of the robot. The laser ranging component includes a laser interferometer, a beam splitter, a two-dimensional position sensitive detector, and a housing; a two-dimensional moving platform for moving the laser ranging component in the X-axis and Y-axis directions. The two-dimensional moving platform includes a lead screw slider module and a grating scale in the X-axis and Y-axis directions; a supporting device for fixing and supporting the two-dimensional moving platform so that it can work stably in three-dimensional space. Compared with a laser tracker, the present invention does not require transformation between a spherical coordinate system and a rectangular coordinate system, thereby avoiding the amplification effect of the angle error of the inner circle grating in the laser tracker. The present invention can directly measure the three-dimensional coordinate values of the reflecting target ball in the measurement coordinate system, has a good calibration effect, and can meet the calibration requirements of industrial robots.

The utility model discloses a height detection tool for a spherical screw, which comprises a laser tracker and a detection sleeve, the detection sleeve is provided with a central blind hole, the spherical screw can be inserted into the central blind hole, and the outer end face of the closed end of the detection sleeve is provided with a ball placing groove for placing a target ball. By using the detection tool, only the first spherical screw needs to be subjected to multi-point measurement, then other spherical screws directly adjust the height according to the coordinates of the target sphere, multi-point measurement does not need to be carried out one by one, time consumption is low, operation is convenient, stability is good, working efficiency is improved, and the problem that the efficiency of detecting the height of the spherical screw is low is solved.

The invention relates to a global measurement field construction method for a complex scene, and the method comprises the steps: fixedly arranging a plurality of target seats which are suitable for the placement of laser reflection target balls of a laser tracker in the scene, and enabling the target seats to serve as visual reference points; laying a laser tracker station; measuring three-dimensional coordinate values of the laser tracker stations and the visual reference point and laser interference ranging values of the laser tracker stations and the visual reference point, and obtaining measurement data of the visual reference point under different laser tracker stations; the method comprises the following steps: constructing a spatial transformation relationship among station coordinate systems of laser trackers, converting measurement data of the laser trackers to a global coordinate system, and constructing a global measurement field; and carrying out adjustment optimization on the obtained global measurement field. According to the method provided by the invention, high-precision measurement field construction oriented to large-size complex-structure parts is realized, the precision and robustness of coordinate calculation are improved, and the problem that traditional measurement field construction in a complex scene is easy to block is effectively solved.

The invention discloses a method and a device for detecting errors of a rotary table and a rotary shaft of an overall measurement light path connected upper rotary shaft type laser tracker, and belongs to the technical field of laser tracking measurement. The device comprises a microscope, a fluorescent microsphere, a substrate and a six-dimensional precision calibration displacement table, the microscope is located above the fluorescent microsphere, and the six-dimensional precision calibration displacement table is located above the substrate. The fluorescent microspheres are fixed on the substrate, and the substrate is fixed on the six-dimensional precise calibration displacement table. By combining the fluorescence microscope with the astigmatism imaging function, the precise displacement table, space coordinate calculation and other operations, the determination of the axis space linear equation of the upper and lower rotary tables of the whole measurement light path connected upper rotary shaft type laser tracker and the detection of the shaft radial runout in a complete rotation period are realized under one coordinate system; a necessary technical foundation is laid for realizing error compensation of the rotary table and the rotary shaft of the rotary shaft type laser tracker connected with an overall measurement light path and improving the tracking precision and the stability of the laser tracker.

A fixed-measurement-point-free pose adjustment and positioning method for large-scale three-dimensional assembly. According to the method, by using a fixed-measurement-point-free mode, the need for the step of arranging measurement points on each plane of a three-dimensional part (3) in the early stage is eliminated, improving the measurement efficiency for the three-dimensional part (3) while mitigating the impact of over-constrained point positions, providing a fixed-measurement-point-free pose adjustment and positioning approach, and ensuring the full-process assembly efficiency for the three-dimensional part (3); moreover, a global coordinate system is established by means of laser trackers (1), improving the measurement precision and ensuring the measurement reliability.

The invention relates to a robot grinding and polishing self-adaptive compensation method based on multi-line laser, and relates to the field of robot positioning precision. According to the technical scheme, online high-resolution measurement of the workpiece is achieved through the multi-line laser scanning sensor, hand-eye parameters are dynamically updated in combination with multi-view calibration and data fusion, the tail end pose of the robot is corrected in real time through the mixed error model fusing MDH kinematics and machine learning, and the grinding and polishing precision and consistency are guaranteed. Wherein the MDH model is responsible for coarse positioning to guarantee interpretability of a kinematic structure, the machine learning model captures nonlinear dynamic errors such as thermal expansion and abrasion, and the MDH model and the machine learning model are combined to achieve self-adaptive real-time compensation of a complex error source. The error compensation precision is improved from the millimeter level to the submillimeter level, the cost of the line laser measurement system is only tens of thousands of yuan, the size is small, installation is easy, and compared with a laser tracker, the cost and the installation difficulty are greatly reduced.

The invention relates to the technical field of optical equipment testing, in particular to a radiation therapy laser positioning system performance testing method, which comprises the following steps of: testing first positioning data of optical positioning equipment in a load state, constructing a body weight-optical response correlation model, and analyzing the body weight-optical response correlation model to obtain static optical equipment testing data; a tester slightly moves along a preset track, a response signal of the laser photosensitive sensor and space coordinates of the laser tracker are collected to generate second optical positioning data, and a motion-optical response coupling model is constructed to analyze the second optical positioning data to obtain dynamic optical equipment test data; a multi-factor deviation prediction model is constructed to analyze optical interference signals, phase detection data and environment temperature and humidity parameters to generate optical equipment compensation parameters, and static optical equipment test data, dynamic optical equipment test data and the optical equipment compensation parameters are analyzed; and calculating and generating an optical calibration scene fitness score, a positioning precision quantization matrix and an optical equipment acceptance reference value comprehensive evaluation report.

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 rotating mirror type laser tracker system calibration method based on kinematics error compensation. Establishing a kinematics relation model with errors of the rotating mirror type laser tracker system in a computer, and further establishing a light path tracking measurement relation model with error compensation of the rotating mirror type laser tracker system; and setting point locations with known nominal length relations for measurement and operation to obtain optimal error parameters, and substituting the optimal error parameters to realize calibration and calibration of the rotating mirror type laser tracker system. The mechanical shafting error and the optical path structure error of the rotating mirror type laser tracker system are subjected to comprehensive modeling, accurate compensation of the errors can be achieved, the space coordinate measurement accuracy of the laser tracker is improved, and the method is suitable for precise measurement of large-size and space pose parameters in the fields of aerospace and high-end equipment manufacturing.

The invention relates to the technical field of oversized component in-situ machining, and discloses an on-site measuring, positioning and machining method for large spherical shell assembly machining, which comprises the following steps: building a rotary arched on-site machining system and establishing a three-dimensional space coordinate system of a large spherical shell assembly; an external laser tracker of the large spherical shell assembly establishes direct connection with a three-dimensional space coordinate system through the transfer station measuring points, and the external laser tracker guides a robot to complete trepanning machining of the large spherical shell assembly; counting the trepanning form of the large spherical shell assembly and carrying out overall machining planning; and performing trepanning processing according to the overall processing plan, and synchronously adopting an iterative sphere center fitting method. According to the technical scheme, the direct relation with the coordinate system is established through the transfer station measuring points, trepanning of the spherical shell is completed, then the influences of different trepanning positions and trepanning shapes under the gravity field are comprehensively considered, overall planning of trepanning is conducted, and the reliability of the machining process of the large spherical shell assembly and the accuracy of a finished product are ensured.

The invention belongs to the technical field of airplane digital assembly, and provides a dynamic and static decoupling labeling data acquisition method for an airplane docking process. According to the method, firstly, an OPC UA protocol unified access layer is constructed based on a KEPServer industrial communication platform, various industrial protocols are compatible, and real-time data convergence and time synchronization of heterogeneous equipment such as a laser tracker, a force sensor and an actuator are achieved; secondly, multi-level structured labels are injected into the original collection data flow through a Telegraf data agent, multivariate data such as assembly process procedure numbers, equipment identity labels and measurement types are associated, and traceable data units with unified labels are formed; and finally, implementing a dynamic-static layered acquisition strategy based on data timeliness characteristics, and performing layered acquisition on dynamic data and static data to form a dynamic and static layered and process-traceable standardized data stream. The method has high engineering practical application value in the technical field of airplane digital assembly.

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 discloses a precision detection and compensation method for an automatic tool setting device, which belongs to the technical field of numerical control machining and comprises the following steps of: calibrating position coordinates of a zero point of a laser tracker in a machine tool coordinate system; moving the machine tool to enable the spindle axis and the zero point of the machine tool tracker to be on the same horizontal plane; obtaining coordinates of a reflector rotation circle center position point d on the automatic tool setting device; setting the zero point of the tracker as f, and rotating a machine tool spindle to enable the axis of the radial motion shaft of the automatic tool setting device to be parallel to the straight line fd; a laser tracker is used for obtaining the distribution rule of mechanical transmission errors on the whole stroke of a radial sliding plate of the automatic tool setting device; and carrying out full-stroke positioning precision and repeated positioning precision compensation on the radial sliding plate of the automatic tool setting device until the movement precision of the radial sliding plate meets the expected precision requirement. According to the method, the measuring laser line of the tracker can be ensured to be coaxial with the measured motion axis to the greatest extent, the influence of the motion error of the rotating shaft of the tracker on the measurement precision is reduced, and high-precision position error measurement and compensation are realized.

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 discloses a laser tracker plant target ball layout evaluation method for aircraft positioning, and belongs to the technical field of aeronautical manufacturing and measurement, and the method comprises the steps: S1, building a three-dimensional space model containing a to-be-measured aircraft and a plant according to the field environment and space size of an operation plant, defining a plant space coordinate system, and determining the position of the aircraft; s2-S4, respectively and correspondingly appointing an aircraft measurement point, a laser detection station and a plant target ball in the three-dimensional model, and determining the positions of the aircraft measurement point, the laser detection station and the plant target ball in a coordinate system; and S5, traversing all the laser detection stations, obtaining four types of indexes including light path accessibility, measurement point envelope, ballimeter relative distance and target ball distribution uniformity, and completing basic rationality judgment, local rationality quantitative evaluation and overall rationality quantitative evaluation of the target ball layout based on the indexes. The objective evaluation of the target ball layout is realized through the multi-dimensional quantitative index, the subjective deviation is reduced, the aircraft positioning precision is guaranteed, and the measurement trial and error cost and the error risk are reduced.

The invention relates to a physical simulation experiment and observation device for CO2 injection and storage. Comprising a model cabin body, a driving system, a CO2 injection module, a regulation and control module and a monitoring system, a modular rock stratum assembly is detachably installed in the model cabin body, and the driving system is connected with the model cabin body and used for driving the modular rock stratum assembly in the model cabin body to achieve three-dimensional translation and inclination angle and tendency adjustment; the CO2 injection module is used for providing CO2 and tracer gas, and the monitoring system is installed in the model cabin and used for collecting strain, pressure, concentration and vibration data of the modular rock stratum assembly in real time; according to the technical scheme, through hydraulic multi-degree-of-freedom driving, in the process, through real-time rechecking of the laser tracker, reconstruction of complex structures such as anticline / fault and the like can be efficiently completed, and inclination angle control is precise; cO2 injection pressure is dynamically adjusted according to a stratigraphic dip angle, an injection module is interconnected with hydraulic driving data, and temperature, pressure and flow are optimized in real time.

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.

The invention discloses a six-degree-of-freedom target positioning and tracking precision calibration system based on laser trackers, which comprises a laser tracker group, a target object and a target ball group, and is characterized in that the target ball group is fixed on the target object, the laser trackers are distributed and fixed around the target object, and laser signal transmission between the laser trackers and the corresponding target balls is ensured; firstly, a target ball is selected as a target, and it is guaranteed that all the laser trackers can collect laser signals of the target ball; and respectively acquiring the positions of the target ball target on the laser trackers, and calculating to obtain the relative position between the laser trackers to complete system calibration. Three laser trackers are arranged to track the corresponding target ball and the moving target object respectively, and measurement data and measurement time of the laser trackers are recorded; calculating the three-dimensional position information of the target ball according to the three-dimensional position measured by the laser tracker and the relative position calibrated by the laser tracker; and calculating three-dimensional position information and attitude information of the target object to realize real-time positioning and tracking of the three-dimensional position information and the three-dimensional angle information of the target object.

The invention discloses a large-span space truss roof sliding construction rail precision control and deviation correction method, and belongs to the technical field of steel structure construction. According to the method, a three-stage closed-loop control system is adopted, wherein in first-stage reference control, high-precision positioning of the pre-buried track is driven by + / -0.5 mm through a BIM model; in the second-stage dynamic monitoring, a multi-source sensor network comprises a laser tracker, a tilt angle sensor and a strain gauge array, track displacement, attitude and stress data are collected in real time, and millimeter-level monitoring is achieved in combination with a Kalman filtering algorithm; a hydraulic servo system is adopted for three-stage active deviation correction, the deviation trend is predicted based on an LSTM neural network, a hydraulic execution mechanism is driven through a fuzzy PID control algorithm, the response time is shorter than 8 seconds, and the deviation correction precision is + / -0.1 mm. According to the method, the construction precision is improved to + / -1.5 mm, the deviation rectifying efficiency is improved by 90%, and the method is suitable for large-span projects such as stadiums and airport terminals.

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 invention discloses a method for calibrating the pose relationship between a robot and a turntable by using a laser tracker, including: Step 1: Divide the robot base into several regions and mark them; Step 2: Fix the laser tracker at a position between the robot base and the turntable. By placing several laser tracker accessories in several regions respectively, collect and record; Step 3: The robot is positioned on the robot base. Place several laser tracker accessories in the robot respectively, collect and record; Step 4: Place the laser tracker accessory at a fixed position on the turntable. By controlling the rotation of the turntable, rotate at intervals of 1 degree each time and record in sequence; Step 5: Change the fixed position of the laser tracker accessory. By controlling the rotation of the turntable, rotate at intervals of 1 degree each time and record in sequence. The present invention uses a laser tracker to calibrate the position relationship between the robot and the turntable, and maximally avoids the calibration errors caused by manual intervention.

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.