CN-121977446-A - Dynamic calibration system and method for laser tracker based on synchronous trigger

CN121977446ACN 121977446 ACN121977446 ACN 121977446ACN-121977446-A

Abstract

The invention discloses a dynamic calibration system and a dynamic calibration method for a laser tracker based on a synchronous trigger, which can change parameters such as the movement distance, angle, direction or speed of a target ball, synchronously trigger the laser tracker and other acquisition equipment to acquire data, and improve the accuracy of the dynamic calibration result of the laser tracker; the system comprises a laser tracker calibration device and a data synchronous triggering and collecting system, wherein the laser tracker calibration device comprises a longitudinal track generating device and a two-dimensional plane track generating device, the two-dimensional plane track generating device comprises a vertical linear track generator and an angle generator, the vertical linear track generator is movably arranged on the longitudinal track generating device, the angle generator is movably arranged on the vertical linear track generator, a target ball which is arranged opposite to the laser tracker is arranged on the angle generator, and the data synchronous triggering and collecting system is used for synchronously triggering the laser tracker and a displacement measuring component to collect data.

Inventors

HU CHANGAN
LI JIANGANG
LI WANZE
LEI LIHUA
LV FEI
ZHAO YU
PENG DEKUN
HUO HAIE

Assignees

中国测试技术研究院

Dates

Publication Date: 20260505
Application Date: 20260226

Claims (10)

1. The laser tracker dynamic calibration system based on the synchronous trigger is characterized by comprising a laser tracker calibration device and a data synchronous triggering and collecting system, wherein the laser tracker calibration device comprises a longitudinal track generation device (1) and a two-dimensional plane track generation device (2), the two-dimensional plane track generation device (2) comprises a vertical linear track generator (21) and an angle generator (22), the vertical linear track generator (21) is movably arranged on the longitudinal track generation device (1), the angle generator (22) is movably arranged on the vertical linear track generator (21), a target ball (3) is arranged on the angle generator (22), and the target ball (3) and the laser tracker (4) are oppositely arranged; The data synchronous triggering and collecting system comprises a synchronous trigger and a data collecting module, wherein the synchronous trigger is used for synchronously triggering a laser tracker (4) and a displacement measuring component to collect data, and the data collecting module of the laser tracker (4) and the displacement measuring component respectively obtain a measured value and a reference value of the position of a target ball (3) in response to synchronous triggering signals to collect data.
2. The laser tracker dynamic calibration system based on synchronous triggers according to claim 1, wherein the longitudinal track generating device (1) comprises a platform (11), a first guide rail (12) and a first sliding table (13) are arranged at the top of the platform (11), the first guide rail (12) is arranged along the length direction of the platform (11), the first sliding table (13) is slidably arranged on the first guide rail (12), and the vertical linear track generator (21) is vertically arranged at the top of the first sliding table (13).
3. The dynamic calibration system of a laser tracker based on synchronous triggers according to claim 2, wherein the vertical linear track generator (21) comprises a stand column (210), the stand column (210) is vertically arranged at the top of the first sliding table (13), a second guide rail (211) is arranged in the height direction of the stand column (210), the second guide rail (211) is arranged on the front side surface of the stand column (210), a moving platform (212) is further arranged on the stand column (210), the moving platform (212) is movably arranged on the second guide rail (211), and the angle generator (22) is arranged on the moving platform (212).
4. The dynamic calibration system of a synchronous trigger-based laser tracker according to claim 3, wherein the angle generator (22) comprises a rotating platform (220), the rotating platform (220) is mounted on the front side of the moving platform (212), a rotating arm (222) is mounted on a rotating disc (221) on the rotating platform (220), a third guide rail (223) is mounted on the rotating arm (222) in the length direction, the third guide rail (223) is arranged on the front side of the rotating arm (222), a second sliding table (224) is further mounted on the rotating arm (222), and the second sliding table (224) is slidably arranged on the third guide rail (223).
5. The synchronous trigger-based laser tracker dynamic calibration system according to claim 4, wherein the longitudinal trajectory generating device (1) further comprises a first grating reading system (14), the first grating reading system (14) comprising a first grating (141) and a first grating reading head (142), the first grating (141) being arranged on the platform (11) and along the length direction of the platform (11), the first grating reading head (142) being arranged on the first sliding table (13), the first grating reading head (142) being adapted to measure the movement displacement of the first sliding table (13); The vertical linear track generator (21) further comprises a second grating reading system (213), the second grating reading system (213) comprises a second grating (2130) and a second grating reading head (2131), the second grating (2130) is arranged on the upright post (210) and along the height direction of the upright post (210), the second grating reading head (2131) is arranged on the mobile platform (212), and the second grating reading head (2131) is used for measuring the motion displacement of the mobile platform (212); The angle generator (22) further comprises a third grating reading system (225), the third grating reading system (225) comprises a third grating (2250) and a third grating reading head (2251), the third grating (2250) is arranged on the rotating arm (222) and along the length direction of the rotating arm (222), the third grating reading head (2251) is arranged on the second sliding table (224), the third grating reading head (2251) is used for measuring the movement displacement of the second sliding table (224), and the angular displacement of the rotating disc (221) is measured through a circular grating.
6. The dynamic calibration system of a synchronous trigger-based laser tracker according to claim 4, wherein the longitudinal track generating device (1) further comprises a first transmission system, the first transmission system comprises a first power device and a first transmission mechanism, the first transmission mechanism comprises a first rack (15) and a first gear, the first rack (15) is arranged at the top of the platform (11) and is arranged along the length direction of the platform (11), the first rack (15) is meshed with the first gear, the first gear is connected with an output shaft of the first power device, and the first power device is arranged on the first sliding table (13); the vertical linear track generator (21) further comprises a second transmission system, and the second transmission system comprises a second power device; The angle generator (22) further comprises a third transmission system comprising a second transmission system comprising a third power device; The two-dimensional plane track generating device (2) is further provided with a rotating structure which is used for enabling the two-dimensional plane track generating device (2) to rotate by 90 degrees relative to the longitudinal track generating device (1).
7. The synchronous trigger based laser tracker dynamic calibration system according to claim 5 or 6, further comprising a laser interference etalon set (6) comprising a laser interferometer (61), an interference mirror set (62) and a mirror set (63), the mirror set (63) being arranged on a first slide table (13), the interference mirror set (62) being arranged on a platform (11), the laser interferometer (61) being arranged on the platform (11) or the ground, the interference mirror set (62) and the mirror set (63) being arranged opposite, the interference mirror set (62) being located between the laser interferometer (61) and the mirror set (63).
8. The dynamic calibration system of a synchronous trigger-based laser tracker of any one of claims 1 to 7, wherein the synchronous trigger comprises a core control module, a network switching module, a multi-channel synchronous triggering module, a power module, and a man-machine interaction module; The core control module is respectively connected with the network switching module, the multipath synchronous triggering module, the power module and the man-machine interaction module, and is used for receiving user instructions, processing data and coordinating the work of each module; The network switching module is connected with the core control module and the controlled equipment, and is used for configuring and modifying the IP address of the controlled equipment and guaranteeing the stability and high speed of data transmission; the multi-channel synchronous triggering module comprises a signal generator circuit and a multi-channel synchronous output interface, wherein the signal generator circuit is connected with the multi-channel synchronous output interface, and the multi-channel synchronous output interface is connected with corresponding controlled equipment; the man-machine interaction module carries out man-machine interaction by adopting an upper computer, and is provided with keys and a display screen; the power module is used for supplying power, monitoring the voltage information of the power module in real time through the control module, calculating the residual electric quantity, sending the electric quantity information to the man-machine interaction module, displaying the residual electric quantity information on a display screen of the man-machine interaction module, and sending out a prompt when the electric quantity of the power module is lower than a preset value.
9. A dynamic calibration method of a laser tracker based on a synchronous trigger, characterized in that the dynamic calibration system of the laser tracker based on the synchronous trigger according to any one of claims 1 to 8 is adopted, and the dynamic calibration method of the laser tracker based on the synchronous trigger comprises the following steps: S1, powering on a laser tracker calibration device, starting a laser tracker (4) and preheating; s2, starting data acquisition software to enable the longitudinal track generating device (1) and the two-dimensional plane track generating device (2) to be located at the initial position, setting parameters of a synchronous trigger, including pulse and frequency parameters, determining sampling frequencies of the laser tracker (4) and the displacement measuring component, enabling the laser tracker (4) to acquire initial measurement values of the position of the target ball (3), and enabling the displacement measuring component to acquire initial reference values; S3, controlling the longitudinal track generating device (1) and/or the two-dimensional plane track generating device (2) according to different tracks of the target ball (3), and enabling the laser tracker (4) and the displacement measuring component to acquire data to obtain corresponding measured values and reference values; S4, analyzing the measured value obtained by the measurement of the laser tracker (4) and the reference value obtained by the measurement of the displacement measurement component to obtain a dynamic calibration result of the laser tracker (4).
10. The dynamic calibration method of a laser tracker based on a synchronous trigger according to claim 9, wherein when the laser tracker (4) is calibrated dynamically in the lateral direction, the position of the two-dimensional plane track generating device (2) on the longitudinal track generating device (1) is adjusted, the two-dimensional plane track generating device (2) is rotated by 90 degrees, the position of the laser tracker (4) relative to the longitudinal track generating device (1) is adjusted, the laser tracker (4) is positioned on the left side or the right side of the longitudinal track generating device (1), and the laser tracker (4) is calibrated dynamically in the lateral direction in the same way as S1-S4.

Description

Dynamic calibration system and method for laser tracker based on synchronous trigger Technical Field The invention relates to the technical field of instrument calibration, in particular to a laser tracker dynamic calibration system and method based on a synchronous trigger. Background In the fields of modern industrial manufacturing, aerospace, scientific research detection and the like, the high-precision measurement demand of the large-size space geometric quantity is increasingly urgent, and the laser tracker is widely applied to the high-precision measurement of the large-size space geometric quantity as a portable high-precision large-size measurement instrument integrating various advanced technologies. The laser tracker can automatically identify and track the target, and is widely applied to measurement of the movement track of an object, so that dynamic calibration of the laser tracker (calibration of distance, angle and speed parameters of the laser tracker in a movement state of the target) is particularly important, and the dynamic calibration result is related to whether the laser tracker meets the requirement of measurement accuracy or not. The calibration of the existing laser tracker mainly adopts a calibration method specified in JF1242-2010, wherein the calibration method mainly comprises the calibration of point-to-point length indication errors, distance indication errors, dynamic limiting speeds, dynamic indication errors, dynamic indication fluctuation and other parameters, when the distance calibration is carried out, a target ball is in a static state (equivalent to static calibration), when the dynamic calibration is carried out, the relative distance between the laser tracker and a circular track generator is a fixed value, the laser tracker is perpendicular to the plane of a track circle, and the calibration of the laser tracker in the working range (such as 80 m) and the working state (such as various curves or curved surfaces) of the laser tracker cannot be well carried out. The circular track generator is structurally designed by the standard circular track generating device disclosed by publication No. CN 110500956B and the multifunctional multi-target circular motion standard device disclosed by publication No. CN 114485503A, but targets in the circular track generator are fixed, and only circular motion can be performed by the targets, so that the circular track generator is limited to calibration of smaller angles in a single track of a fixed position, and the angle tracking capability of the laser tracker cannot be reflected well. Publication number CN109764806a discloses a "dynamic and static calibration device and dynamic and static calibration method for a laser tracker", wherein although two-dimensional calibration is achieved by using the dynamic and static calibration device, the distance between the laser tracker and the dynamic and static calibration device is fixed, and calibration within a fixed distance and a small angle can only be achieved due to a small radius of the trajectory circle. In summary, the dynamic calibration mode of the existing laser tracker has the problems of single calibration track, single calibration distance or single calibration direction, and the like, the measurement precision of the laser tracker under different tracks, different distances, different angles or different speeds can not be well calibrated, and in addition, various devices can be used for synchronously acquiring data in the dynamic calibration process of the laser tracker, and when the data acquisition of the laser tracker and other acquisition devices are not synchronous, the accuracy of the calibration result can be influenced. Disclosure of Invention At least one of the purposes of the invention is to provide a dynamic calibration system and method for a laser tracker based on a synchronous trigger aiming at solving the problems of the prior art, which can change the parameters such as the movement distance, angle, direction or speed of a target ball, expand the calibration range of the dynamic parameters of the laser tracker, synchronously trigger the laser tracker and other acquisition equipment to acquire data, and improve the accuracy of the dynamic calibration result of the laser tracker. In order to achieve the above object, the present invention adopts a technical scheme including the following aspects. The laser tracker dynamic calibration system based on the synchronous trigger comprises a laser tracker calibration device and a data synchronous triggering and collecting system, wherein the laser tracker calibration device comprises a longitudinal track generation device and a two-dimensional plane track generation device, the two-dimensional plane track generation device comprises a vertical linear track generator and an angle generator, the vertical linear track generator is movably arranged on the longitudinal track generation device, the angle generator is