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对于一台激光跟踪仪对多个测量点进行测量的问题,提出了一种视觉引导激光跟踪测量方法。摄像机固定于激光跟踪仪顶部,随之旋转对测量范围内激光跟踪仪反射器进行定位,引导激光跟踪仪激光投射到反射器上。标定摄像机与激光跟踪仪相对姿态,用平面圆孔靶标。激光跟踪仪和摄像机同时测量圆孔靶标,将两个坐标系下对应三维点数组进行均值化处理,变为两个坐标系下对应的向量组,向量组之间的转换关系,即激光跟踪仪与摄像机之间的旋转矩阵。再根据两坐标系下对应的任一点的三维坐标,求解两坐标系的平移矢量。此标定算法把对两个坐标系之间的旋转矩阵的求解,通过Cayley变换,转换为对与转换矩阵相对应的三维向量的求解,求解过程简单稳定。实验结果表明,靶标摆放50次,测量误差小于1 mm。把校准结果应用到实际测量中,激光跟踪仪可快速准确地将激光束投射到反射球中。此方法操作简单,稳定性强,具有很高的实用价值。
For a laser tracker measuring multiple measurement points, a vision-guided laser tracking measurement method is proposed. The camera is fixed to the top of the laser tracker and is rotated to position the laser tracker reflector within the measurement range and direct the laser tracker laser onto the reflector. Calibration camera and laser tracker relative attitude, with a flat hole target. The laser tracker and the camera measure the circular hole targets at the same time, and the corresponding three-dimensional point arrays in the two coordinate systems are averaged to become the corresponding vector groups and the conversion relationships between the vector groups in the two coordinate systems, that is, the laser tracker The rotation matrix with the camera. Then according to the two-coordinate system corresponding to any point of the three-dimensional coordinates, to solve the two-coordinate translation vector. The calibration algorithm transforms the solution of the rotation matrix between the two coordinate systems into the solution of the three-dimensional vector corresponding to the transformation matrix through the Cayley transformation. The solving process is simple and stable. The experimental results show that the target is placed 50 times and the measurement error is less than 1 mm. Applying the calibration results to the actual measurement, the laser tracker projects the laser beam quickly and accurately into the reflective sphere. This method is simple, stable, with high practical value.