CN108489401A - Split type calibration target, calibrating installation and its calibration method with the target - Google Patents
Split type calibration target, calibrating installation and its calibration method with the target Download PDFInfo
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- CN108489401A CN108489401A CN201810563230.7A CN201810563230A CN108489401A CN 108489401 A CN108489401 A CN 108489401A CN 201810563230 A CN201810563230 A CN 201810563230A CN 108489401 A CN108489401 A CN 108489401A
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- taper shank
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of split type calibration targets, match with target mirror when being calibrated to the space length error of indication of laser scanner using laser tracker and are used as measurement target drone, including：Target stand；Target mirror support components support, with taper shank, the connector being arranged on taper shank and the target microscope base for being arranged on connector and being used to be connected with target mirror by magnetic absorption；And target ball component, have strong side taper shank, the three-dimensional adjusting mechanism being arranged on the taper shank of ball side and the target ball being arranged in three-dimensional regulation structure, wherein, taper shank, ball side taper shank are Morse taper shank, which is of the same size and tolerance, and cone is down-set, mohs bush is provided on target stand, the cone of the mohs bush is downward, opening upwards, and mohs bush matches with taper shank and ball side taper shank.The present invention also provides with above-mentioned split type alignment target target calibrating installation and the method calibrated to laser scanner using the calibrating installation.
Description
Technical field
The present invention relates to a kind of calibration targets, and in particular to a kind of split type calibration target and with the split type alignment target
Target calibrating installation and the calibration method that laser scanner is calibrated using the calibrating installation.
Background technology
With the development of science and technology, the major projects such as especially big aircraft manufacturing, digitlization is accurately positioned and is assembled,
The demand of the measurement of large parts accurate three-dimensional, product quality monitoring and reverse-engineering is more and more, laser tracker, laser thunder
Reach, the application of the new spatials coordinate-measuring instrument such as laser 3 d scanner, iGPS it is further extensive.The space ranging of this quasi-instrument
Precision is the premise of the large scale equipments assembly precision such as large parts machining accuracy and automobile, aircraft, wind turbine.
The appearance of three-dimensional laser measuring technique and the acquisition for developing into space three-dimensional information provide completely new technological means.
Three Dimensional Ground laser scanner is as a kind of efficient, accurate and reliable space surveying and mapping technology in mapping, archaeology, building, forestry
It is used widely in equal fields.Its measurement method is similar with laser tracker, but because using non-contact active measurement method,
Can a large amount of sampled points of quick obtaining body surface three dimensional space coordinate, and without using target mirror in measurement process.Closely
Nian Lai can trace calibration, performance verification and measurement with the raising of development and the required precision of three-dimensional laser scanning technique
The demand of property is also continuously increased.
The calibration of laser scanner is broadly divided into radial repeatability, target repeatability, the radial distance error of indication and sky
Between apart from several projects such as the error of indication.The radial distance error of indication refers to along measurement axis direction relative distance measured value and reference
The difference of value.Radial repeatability refers to the repeatability to the radial absolute distance measured value of the same fixed target.Space length indicating value
Error amount measures the target of space different distance and orientation, the measured value of relative distance and the difference of reference value.Target weight
Renaturation refers to the repeatability of target centre coordinate (point) measured value.Wherein, radial repeatability and target repeatability only need one
A individual target can be realized.The calibration of the radial distance error of indication can utilize long guideway baseline, laser interferometer, cooperation
A target on sliding table is realized.The calibration of the space length error of indication is just comparatively more complicated, and needing will be multiple
Target is fixed on a rigid structure, and the centre-to-centre spacing (centre of sphere away from) using the instrument of higher precision grade between any two target
Demarcated, as the reference value of space length, therefore, to the centre-to-centre spacing of fixed target on a rigid structure (centre of sphere away from) into
Rower is fixed, is the important link for establishing laser scanner space length error of indication calibrating installation.
Spherical target is widely used in all kinds of three-dimensional laser scanner measurements due to its symmetry in all directions
In, in order to realize the unification of the converting of Point Cloud of Laser Scanner, different survey station laser scanner measurement coordinate systems.Laser is swept
The spherical target for retouching instrument need to have diffusing characteristic diffuser, generally dull surface, and the centre of sphere can not be measured directly, and generally use is surveyed indirectly
The method of amount obtains sphere centre coordinate.
Most common method is to put on movement in spherical target using laser tracker target mirror, passes through the measurement of laser tracker
Data fit the centre of sphere.But laser tracker is utilized to measure fitting process, ball center's error is by ball surface shape, measurement point
The how many influence of number, and it is time-consuming and laborious.In addition, in order to realize the coordinate unification of laser tracker and laser scanner, so as to
In the performance indicator for evaluating laser scanner with the laser tracker of space ranging precision grade higher an order of magnitude, how to allow
The target of the two is key point with one heart.American National Standard uses integral type target with technical research institute (NIST), by pyramid mirror
It is placed in the center of aluminum hemisphere, is applied while realizing total powerstation and laser scanner.But this method, the first ball of hemisphere
Spending precision will not be very high, second domestic existing processing technology, it is ensured that pyramid mirror and the hemisphere centre of sphere have higher concentricity
It is difficult.
Invention content
The present invention is to solve the above-mentioned problems and carries out, and it is an object of the present invention to provide a kind of split type calibration target and having
The split type alignment target target calibrating installation and the method that laser scanner is calibrated using the calibrating installation.
The present invention provides a kind of split type calibration targets, in the space length using laser tracker to laser scanner
It matches with target mirror when the error of indication is calibrated and is used as measurement target drone, had the feature that, including：Target stand；Target mirror
Support components support, with taper shank, the connector that is arranged on taper shank and be arranged on connector and for by magnetic absorption with
The target microscope base that target mirror is connected；And target ball component, tool strong side taper shank, the three-dimensional adjusting mechanism being arranged on the taper shank of ball side with
And the target ball in three-dimensional regulation structure is set, wherein taper shank, ball side taper shank are Morse taper shank, which has phase
Same size and tolerance, and cone is down-set, and mohs bush is provided on target stand, the cone of the mohs bush is downward, opens
Upwards, mohs bush matches mouth with taper shank and ball side taper shank.
In split type calibration target provided by the invention, it can also have the feature that：Wherein, three-dimensional adjusting mechanism
For disjunctor D translation platform.
In split type calibration target provided by the invention, it can also have the feature that：Wherein, it is located at not on target stand
The lateral surface of the opening of family name's tapered sleeve is provided with external screw thread, and split type calibration target further includes nut, the nut and external screw thread phase
Matching, for rotating up and jacking up taper shank and ball side taper shank.
The present invention also provides a kind of calibrating installation, the space length error of indication for calibrating laser scanner has
Such feature, including：Target mirror；First split type calibration target has the first target stand, the first target mirror support components support and has
First target ball component of the first target ball；Second split type calibration target has the second target stand, the second target mirror support components support and tool
There is the second target ball component of the second target ball；Length provides part, and for carrying, the first split type alignment target is marked with and second is split type
Calibrate target；And laser tracker, it is located at the first target mirror support components support and second for sending out laser and measuring target mirror
Coordinate when target mirror support components support simultaneously obtains the distance between two coordinates value as gauged distance value, the first target ball and the second target
Measurement target drone of the ball as laser scanner, for laser scanner scans obtain the centre of sphere between the first target ball and the second target ball away from
From value, the space length error of indication of laser scanner is obtained to calculate centre of sphere distance value and the difference of gauged distance value,
In, the first split type alignment target is marked with and the second split type split type calibration target calibrated target and be above-mentioned.
In calibrating installation provided by the invention, it can also have the feature that：Wherein, the outer surface of target ball is matt
Spherical surface.
The present invention also provides a kind of calibration method calibrated to laser scanner using above-mentioned calibrating installation,
It is characterized in that, includes the following steps：Step 1, using three coordinate measuring machine to the target mirror of calibrating installation and the first target ball and
Two target balls carry out concentricity correction；First target stand and the second target stand are separately mounted to length and provided on part by step 2；Step
Three, the first target mirror support components support and the second target mirror support components support are mounted on the first target stand and the second target stand respectively；Step
Four, target mirror is placed on the first target microscope base of the first target mirror support components support；Step 5 obtains target using laser tracker measurement
First target co-ordinates value of mirror；Target mirror is removed from the first target mirror support components support and is placed on the second target mirror support group by step 6
On second target microscope base of part；Step 7 is measured using laser tracker and obtains the second target co-ordinates value of target mirror again；Step
Eight, two sets of split type alignment target target centre-to-centre spacing are worth to as normal pitch according to the first target co-ordinates value and the second target co-ordinates
From value；Step 9 is removed the first target mirror support components support and the second target mirror support components support, step 10, respectively by the first target ball group
Part and the second target ball component are mounted on the first target stand and the second target stand；Step 11 is obtained using laser scanner scans
The centre of sphere distance value of first target ball of the first target ball component and the second target ball of the second target ball component；Step 12 calculates the centre of sphere
The difference of distance value and gauged distance value, the space length error of indication of the difference, that is, laser scanner.
In calibration method provided by the invention, it can also have the feature that：Wherein, in step 1, target mirror with
The correction of the concentricity of first target ball includes the following steps：First target mirror support components support is fixed at the first target by step 1-1
On seat, then the first target stand is fixed on the workbench of three coordinate measuring machine；Target mirror is placed on the first target mirror by step 1-2
In support components support, step 1-3 utilizes the coordinate of 5 points on the spherical outer profile of three coordinate measuring engine measurement target mirror；Step 1-
4, according to the coordinate of 5 points on the spherical outer profile of the step 1-3 target mirrors measured, fitting obtains the spherical outer profile of target mirror
Centre coordinate (xj, yj, zj)；The position of step 1-5, the workbench that holding target stand is fixed on three coordinate measuring machine are constant, by first
Target mirror support components support is removed；First target ball component is mounted on the first target stand, utilizes three coordinate measuring engine measurement by step 1-6
The coordinate of 5 points on the outer profile of first target ball of the first target ball component；Step 1-7, the first target measured according to step 1-6
The coordinate of 5 points on the outer profile of ball, fitting obtain the centre coordinate (x of the first target ballq, yq, zq)；Step 1-8, under
Formula calculates the deviation of the centre coordinate of target mirror and the centre coordinate of the first target ball, wherein △x=xq-xj, △y=yq-yj, △z
=zq-zj；Step 1-9 adjusts the first three-dimensional adjusting mechanism in target ball component according to deviation and makes deviation △x、△y、△z
Respectively less than 20 μm；Step 1-10, as deviation △x、△y、△zAt respectively less than 20 μm, the first three-dimensional adjusting mechanism is locked, is completed
The correction of the concentricity of target mirror and the first target ball.
In calibration method provided by the invention, it can also have the feature that：Wherein, target mirror and the second target ball is same
Heart degree aligning step uses the concentricity aligning step of target mirror and the first target ball.
The present invention also provides a kind of calibrating installations, which is characterized in that including：Target mirror；At least three split type alignment targets
Mark, each split type calibration target all have target stand, target mirror support components support and the target ball component with target ball；Length provides
Part, for carrying split type calibration target；And laser tracker, it is located at any one target mirror support components support for measuring target mirror
When centre coordinate, any two target mirror support corresponding with two centre coordinates is obtained according to any two centre coordinate
The distance between component value is used as gauged distance value, to according to the centre of sphere between the gauged distance value and corresponding two target balls
The difference of distance value obtains the space length error of indication of laser scanner, wherein the fission of split type alignment target mark among the above
Formula calibrates target.
The effect of invention
According to split type calibration target according to the present invention because taper shank and ball side taper shank be of the same size with
And the Morse taper shank of tolerance, and the mohs bush having on target stand matches with the Morse taper shank, so, the split type alignment target
Target target mirror support components support and target ball component can accurately be fallen into the mohs bush of target stand by Morse taper shank, be provided accurate
Positioning, have very high repeatability precision.
Calibrating installation according to the present invention, target of the target mirror therein as laser tracker, two split type alignment targets
Target target mirror support components support provides the coordinate position of target mirror, obtains gauged distance value for laser tracker measurement, two target balls supply
Laser scanner measurement centre of sphere distance value, calculates centre of sphere distance value and the difference of gauged distance value can be obtained laser scanner
The space length error of indication.
According to the method calibrated to laser scanner using above-mentioned calibrating installation in the present invention, first to target mirror and
First target ball and the second target ball carry out concentricity correction respectively, directly laser tracker can be utilized to calibrate laser scanner, kept away
Exempted from laser tracker target mirror set foot-point in scanner target ball fitting the centre of sphere time-consuming and laborious mode.And it can be by ensureing target mirror
With the concentricity of target ball so that using laser tracker to the calibration accuracy higher of laser scanner.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention lieutenant colonel's standard apparatus；
Fig. 2 is split type alignment target target structural schematic diagram in the embodiment of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Close accompanying drawings and embodiments to the split type calibration target of the present invention and should with the split type alignment target target calibrating installation and
The corrected calibration method of laser scanner is specifically addressed using the calibrating installation.
Fig. 1 is the structural schematic diagram of the embodiment of the present invention lieutenant colonel's standard apparatus.
As shown in Figure 1, calibrating installation 100 is used to measure the space length error of indication of laser scanner, including first point
The 10, second split type calibration target 20 of body formula calibration target, target mirror 30, length connector 40, laser tracker (are not shown in figure
Show).First split type calibration target 10 is identical as the second split type calibration structure of target 20, with the first split type calibration target
It is described in detail for 10.
Fig. 2 is split type alignment target target structural schematic diagram in the embodiment of the present invention.
As shown in Fig. 2, the first split type calibration target 10 is in the space length using laser tracker to laser scanner
It matches with target mirror 30 when the error of indication is calibrated and is used as measurement target drone, including the first target stand 11, the first target mirror support
Component 12, the first target ball component 13 and nut 14.
As shown in Fig. 2, the upper end of the first target stand 11 be provided with cone downwards, the mohs bush 111 of opening upwards, the first target
The lateral surface that seat 11 is located at the opening of mohs bush 111 is provided with the external screw thread extended vertically.
Nut 14 and the external screw thread of the first target stand 11 match, and are taking out the first target mirror support components support 12 and the first target ball
When component 13, user can rotate up nut 14, convenient for the first target mirror support components support 12 and the first target ball component 13
It takes out.
First target mirror support components support 12 has the first taper shank 121, the first connector 122 and the first target microscope base 123.
First taper shank 121 is Morse taper shank, and the cone of the Morse taper shank is downward, matches with mohs bush 111 and can fall
Enter in mohs bush 111.Since Morse taper shank and 111 matched of mohs bush need to rotate up spiral shell when taking out
Mother 14 is to overcome frictional force to take out Morse taper shank upwards.
The lower end of first connector 122 is fixed on 121 upper end of the first taper shank.
First target microscope base 123 is fixed on the upper end of the first connector 122, and the upper end of the first target microscope base 123 is the conical surface, the cone
Face is connect by magnetic absorption with target mirror 30.
First target ball component 13 is used as the measurement target drone of laser scanner in a calibration process, including the first ball side cone
Handle 131, the first three-dimensional adjusting mechanism 132 and the first target ball 133.
First ball side taper shank 131 is Morse taper shank, and the cone of the Morse taper shank is downward, matches simultaneously with mohs bush 111
It can fall into mohs bush 111.Since Morse taper shank and 111 matched of mohs bush need to revolve upwards when taking out
Turn nut 14 is to overcome frictional force to take out Morse taper shank upwards.First ball side taper shank 131 and the first taper shank 121 are having the same
Tolerance and size.
First three-dimensional adjusting mechanism 132 is the desk-top disjunctor D translation platform of compact, and the desk-top disjunctor three-dimensional of the compact is flat
Mounting hole is arranged at the bottom of moving stage, and the upper end that can be mounted directly to the first ball side taper shank 131 is attached fixation.
The slide construction of the disjunctor D translation platform uses decussation roller guide rail structure, X, Y-direction translating stroke 5mm, Z-direction liter
Stroke 5mm drops.First three-dimensional adjusting mechanism 132 use minimum resolution for the differential head of 0.01mm make platform carry out translation or
Lifting.
First target ball 133 is mounted on the table top of D translation platform, concentric with target mirror 30 under the adjusting of differential head.First
The outer surface of target ball 133 is matt spherical surface.
Target mirror 30 is used when being calibrated to laser scanner using laser tracker as the target of laser tracker.
A diameter of 1.5 inches of the ectosphere of target mirror 30, prism of corner cube is contained in inside.
Length provides part 40 for carrying 10 and second split type calibration target 20 of the first split type calibration target.At this
In embodiment, it is rigid structural member that length, which provides part 40,.
Laser tracker is located at the first target mirror support components support 12 and the second target mirror support components support 22 for measuring target mirror 30
When coordinate position, and then the distance value both obtained is used as gauged distance value, thus obtained with laser scanner scans the
The first target ball 133 in one target ball component 13 is compared with the centre of sphere distance value of the second target ball 233 of the second target ball component 23
Obtain the space length error of indication of laser scanner.
Before being calibrated to laser scanner using calibrating installation 100, first have to split type to target mirror 30 and first
It calibrates the first target ball 133 in target 10 and the second target ball 233 in the second split type target 20 carries out concentricity correction.
Target mirror 30 and the concentricity correction of the first target ball 133 mainly include the following steps that：
First target mirror support components support 12 is fixed at the Mohs of the first target stand 11 by the first taper shank 121 by step 1-1
In tapered sleeve 111, then the first target stand 11 is fixed on the workbench of three coordinate measuring machine.
Target mirror 30 is placed on the first target microscope base 123 of the first target mirror support components support 12 by step 1-2.
Step 1-3 utilizes the coordinate of 5 points on the spherical outer profile of three coordinate measuring engine measurement target mirror 30.
Step 1-4, according to the coordinate of 5 points on the spherical outer profile of the step 1-3 target mirrors 30 measured, fitting obtains target mirror
Centre coordinate (the x of 30 spherical outer profilej, yj, zj)。
The position of step 1-5, the workbench that the first target stand 11 of holding is fixed on three coordinate measuring machine are constant, pass through and rotate spiral shell
Mother 14 jacks up the first taper shank 121, and the first target mirror support components support 12 is removed.
First target ball component 13 is mounted on the mohs bush of the first target stand 11 by the first ball side taper shank 131 by step 1-6
In 111, the coordinate of 5 points on the outer profile of the first target ball 133 of the first target ball of three coordinate measuring engine measurement component 13 is utilized.
Step 1-7, according to the coordinate of 5 points of the outer profile of step 1-6 the first target balls 133 measured, fitting obtains the
Centre coordinate (the x of one target ball 133q, yq, zq)。
Step 1-8 calculates the deviation of the centre coordinate of target mirror 30 and the centre coordinate of the first target ball 133 according to the following formula,
Wherein, △x=xq-xj, △y=yq-yj, △z=zq-zj。
Step 1-9 passes through the differential head in the first three-dimensional adjusting mechanism 132 in the first target ball component 13 according to deviation
Adjust the position of the first target ball 133 so that deviation △x、△y、△zRespectively less than 20 μm.
Step 1-10, as deviation △x、△y、△zAt respectively less than 20 μm, the first three-dimensional adjusting mechanism 132 is locked, is completed
The correction of the concentricity of target mirror 30 and the first target ball 133.
The aligning step of the concentricity of second target ball 233 of target mirror 30 and the second split type calibration target 20 uses target mirror 30
With the concentricity aligning step of the first target ball 133.
The calibration steps that calibrating installation 100 after being corrected using concentricity calibrates laser scanner includes following step
Suddenly：
Step 1, by the first target stand 11 and the second target stand 21 it is spaced apart provided 40 on part mounted on length.
First target mirror support components support 12 is mounted on the mohs bush of the first target stand 11 by the first taper shank 121 by step 2
In 111.
Second target mirror support components support 22 is mounted on the mohs bush of the second target stand 21 by the second taper shank 221 by step 3
In 211.
Target mirror 30 is placed on the first target microscope base 123 of the first target mirror support components support 12 by step 4.
Step 5 obtains the first target co-ordinates value of target mirror 30 using laser tracker measurement.
Step 6 removes target mirror 30 from the first target microscope base 123 of the first target mirror support components support 12, is then placed within
On second target microscope base 223 of two target mirror support components supports 22.
Step 7 is measured using laser tracker and obtains the second target co-ordinates value of target mirror 30 again.
Step 8 is worth to target mirror 30 according to the first target co-ordinates value and the second target co-ordinates and is located at the first target microscope base
123 and sphere centre coordinate when the second target microscope base 223, and then obtain the centre-to-centre spacing of two centre ofs sphere, i.e. gauged distance value.
In the present embodiment, it in measurement standard distance value, adjusts the position of laser tracker and ensures the logical of target mirror 30
Unthreaded hole face laser tracker always so that when target mirror 30 is located at the first target microscope base 123 and the second target microscope base 223 in target mirror 30
Heart line is overlapped with the emergent ray of laser tracker.
Step 9, by the first target mirror support components support 12 and the second target mirror support components support 22 respectively from the first target stand 11 and second
Target stand 21 is removed.
First target ball component 13 and the second target ball component 23 are mounted on the first target stand 11 and the second target by step 10 respectively
On seat 21.
Step 11 obtains the first target ball 133 and the second target ball of the first target ball component 13 using laser scanner scans
Centre of sphere distance value between second target ball 233 of component 23.
Step 12, calculate centre of sphere distance value and gauged distance value difference, the difference for laser scanner space away from
From the error of indication.
In the present embodiment, in the calibrating installation 100 that is used in the calibration of laser scanner, including the first split type school
The 10, second split type calibration target 20 of quasi- target, target mirror 30, length provide part 40 and laser tracker, in practical applications,
Calibrating installation may include target mirror, N number of split type calibration target, for carry split type alignment target target length provide part and
Laser tracker, wherein N >=3.
Including the calibration method of N number of split type alignment target target calibrating installation is：Pass through above-mentioned concentricity correction side first
Method carries out concentricity correction to target mirror and each split type alignment target target target ball successively, N number of after then correcting concentricity
Split type alignment target target target stand is mounted at the different location on length connector simultaneously, by each split type alignment target target
Target microscope base support components support is connect with corresponding target stand, and laser tracker is utilized to measure target mirror in each microscope base support group later
Coordinate position when the target microscope base of part.
Select any two target as one group of measurement pair, according to target mirror the coordinate position of two targets distance difference
Obtain gauged distance value.Then the target mirror support components support of two targets is removed, changes the corresponding target ball component of each target into, profit
With the target ball in two target ball components of laser scanner measurement, the centre of sphere distance value of two target balls is obtained, calculates the centre of sphere distance
The difference of value and gauged distance value.
And so on, two different targets of reselection calculate two targets of the measurement centering as another group of measurement pair
Between centre of sphere distance value and gauged distance value difference, until obtaining all arbitrary targets two-by-two in N number of split type target
The difference of centre of sphere distance value and gauged distance value between mark, numerical value is maximum for laser scanner in these differences measured
The space length error of indication.
For example, when split type alignment target target number is four, four split type calibration targets are denoted as A, B, C, D respectively,
The difference of the centre of sphere distance value and gauged distance value between A and B is measured first, then, measures obtain between A and C, A successively
The difference of centre of sphere distance value and gauged distance value between between D, B and C, B and D and between C and D, most
Afterwards, the maximum space length error of indication for laser scanner of numerical value in these differences measured.
The error analysis calibrated to laser scanner about calibrating installation using the present invention is as follows：
Forming the error component that gauged distance value introduces using calibrating installation includes：Laser tracker range error, laser
Centralized positioning error, laser scanner target ball surface shape error, target mirror and the scanning target ball concentricity of tracker target mirror,
Mohs bores resetting error and the deviation of the laser tracker target mirror centre of sphere and Mohs axis of cone line.
Wherein, the purely radial ranging of laser tracker error after wavelength compensation is better than 10-6L, L are gauged distance, when
When gauged distance is 3m, it is 3 μm that laser tracker, which demarcates the error introduced when gauged distance,.
The centralized positioning precision of high-precision laser tracker target mirror is 0.0001 inch, as 2.54 μm in the market.Swash
Photoscanner target ball surface shape error is 15 μm.Laser can be tracked by the method for three coordinate measuring machine and optical alignment
The centre coordinate difference at instrument target mirror center and scanning target ball center is adjusted within 35 μm.The then split type alignment target target center
Positioning accuracy (target mirror center and target ball outer profile concentricity) is up to 0.05mm.
The resetting error of Morse taper shank can be measured by three coordinate machine and be obtained.Laser tracker target mirror is placed on not
On family name's taper shank, installation target stand is fixed on the workbench of three coordinate machine, obtains target by way of the fitting of three coordinate sampling sites every time
The centre of sphere three-dimensional coordinate of mirror measures the sphere centre coordinate of target mirror after dismounting Morse taper shank is repeated several times, and it is fixed that available Mohs cone repeats
Position error, maximum value are 10 μm.
When Morse taper shank being fitted into the mohs bush of target stand, due to the circumferential nature of Morse taper shank, each Morse taper shank
When being fitted into identical axial position in mohs bush, it can not ensure with the relative position of target stand circumferentially identical.Cause
This also can introduce error when the target mirror centre of sphere of laser tracker and Morse taper shank axis are there are when deviation providing gauged distance.
The error can guarantee by mechanical processing within 10 μm.
Finally, the calibrating installation constituted using the split type calibration target, the uncertainty of the gauged distance provided, in 3m
In long range, 0.1mm can be reached.
The effect of embodiment
According to the split type calibration target in the present embodiment because taper shank and ball side taper shank be of the same size and
The Morse taper shank of tolerance, and mohs bush matches with the Morse taper shank, so, the split type alignment target target target mirror support group
Part and target ball component can accurately be fallen into the mohs bush of target stand by Morse taper shank, provide accurate positioning, be had very
High repeatability precision.
According to the calibrating installation in the present embodiment, target of the target mirror therein as laser tracker, two split type schools
The target mirror support components support of quasi- target provides the coordinate position of target mirror, and gauged distance value, two targets are obtained for laser tracker measurement
Ball calculates centre of sphere distance value and the difference of gauged distance value can be obtained laser scanning for laser scanner measurement centre of sphere distance value
The space length error of indication of instrument.
According to the method calibrated to laser scanner using above-mentioned calibrating installation in the present embodiment first to target
Mirror and the first target ball and target mirror and the second target ball carry out concentricity correction respectively, directly laser tracker can be utilized to calibrate laser
Scanner avoids the time-consuming and laborious mode of laser tracker target mirror sampling site fitting centre of sphere in scanner target ball.And it can lead to
Cross the concentricity for ensureing target mirror and target ball so that using laser tracker to the calibration accuracy higher of laser scanner.
In addition, by optical alignment, the split type alignment target target centralized positioning error is realized within 0.05mm, than
Centralized positioning precision ± 0.01 inch (± 0.25mm) high about an order of magnitude of the scanning ball of target microscope base can be matched in the market, more
Add and is suitable as laser scanner calibration standard device.
In addition, target ball component is mounted on standard rod, you can form portable laser calibration of scanner standard, solution
The certainly scene of laser scanner and outdoor long range calibration problem.
In addition, in the present embodiment, using nut as the jacking mechanism of Morse taper shank so that Morse taper shank is rapider,
More easily it is detached from mohs bush.
Multiple split type calibration targets can be also mounted in three-dimensional large scale spacelab, realize laser radar and laser
The repetition measurement and the space error of indication of scanner are calibrated.
In addition, forming multi-source heterogeneous network using more, a variety of Large-scale Measuring Instruments, large parts digitlization is realized
The in-site measurements applications such as assembly, are one of following large-scale metrology research hotspots.And to realize the benchmark system of a variety of measuring systems
One, it is be unable to do without the application of versatility target or interchangeability target, the split type calibration target and dress calibration method in the present embodiment are easy
It is applied to general target in expansion.
In addition, it includes at least three split type alignment target target calibrating installations to have been also related in the present embodiment, using more
A split type calibration target may be constructed a gauged distance value between arbitrary two groups, show for the space length of laser scanner
The calibration of value error provides more data references.
The above embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (9)
1. a kind of split type calibration target is carrying out school using laser tracker to the space length error of indication of laser scanner
It matches with target mirror and is used as measurement target drone on time, which is characterized in that including：
Target stand；
Target mirror support components support is used in combination with taper shank, the connector being arranged on the taper shank and setting on the connector
In the target microscope base being connected with the target mirror by magnetic absorption；And
Target ball component, tool strong side taper shank, the three-dimensional adjusting mechanism being arranged on the taper shank of the ball side and setting are described three
The target ball in adjustment structure is tieed up,
Wherein, the taper shank, ball side taper shank are Morse taper shank, which is of the same size and tolerance,
And cone is down-set,
It is provided with mohs bush on the target stand, the cone of the mohs bush is downward, opening upwards,
The mohs bush matches with the taper shank and ball side taper shank.
2. split type calibration target according to claim 1, it is characterised in that：
Wherein, the three-dimensional adjusting mechanism is disjunctor D translation platform.
3. split type calibration target according to claim 1, it is characterised in that：
Wherein, the lateral surface of the opening on the target stand positioned at the mohs bush is provided with external screw thread,
The split type calibration target further includes nut, which matches with the external screw thread, for rotating up and jacking up
The taper shank and ball side taper shank.
4. a kind of calibrating installation, the space length error of indication for calibrating laser scanner, which is characterized in that including：
Target mirror；
First split type calibration target, with the first target stand, the first target mirror support components support and with the first target of the first target ball
Ball component；
Second split type calibration target, with the second target stand, the second target mirror support components support and with the second target of the second target ball
Ball component；
Length provides part, is marked with and the second split type calibration target for carrying the described first split type alignment target；And
Laser tracker is located at the first target mirror support components support and described for sending out laser and measuring the target mirror
Coordinate when two target mirror support components supports simultaneously obtains the distance between two coordinates value as gauged distance value, the first target ball and second
Measurement target drone of the target ball as the laser scanner obtains first target ball and described for the laser scanner scans
Centre of sphere distance value between two target balls, the difference to calculate the centre of sphere distance value and the gauged distance value obtain described sharp
The space length error of indication of photoscanner,
Wherein, the described first split type alignment target is marked with and the second split type calibration target is to appoint in claims 1 to 3
Split type calibration target described in meaning one.
5. calibrating installation according to claim 4, it is characterised in that：
Wherein, the outer surface of the target ball is matt spherical surface.
6. a kind of method that calibrating installation using described in claim 4 calibrates laser scanner, which is characterized in that packet
Include following steps：
Step 1 carries out the target mirror of the calibrating installation with the first target ball and the second target ball using three coordinate measuring machine concentric
Degree correction；
First target stand and the second target stand are separately mounted to length and provided on part by step 2；
First target mirror support components support and the second target mirror support components support are mounted on the first target stand and the second target stand by step 3 respectively
On；
Target mirror is placed on the first target microscope base of the first target mirror support components support by step 4；
Step 5 obtains the first target co-ordinates value of the target mirror using laser tracker measurement；
The target mirror is removed from the first target mirror support components support and is placed on the second target mirror support components support by step 6
On second target microscope base；
Step 7 is measured using laser tracker and obtains the second target co-ordinates value of the target mirror again；
Step 8 is worth to two sets of split type alignment targets according to the first target co-ordinates value and second target co-ordinates
Target centre-to-centre spacing is as gauged distance value；
Step 9 removes the first target mirror support components support and the second target mirror support components support,
First target ball component and the second target ball component are mounted on the first target stand and the second target stand by step 10 respectively；
Step 11 obtains the first target ball of the first target ball component and second target using the laser scanner scans
The centre of sphere distance value of second target ball of ball component；
Step 12 calculates the difference of the centre of sphere distance value and the gauged distance value, the sky of the difference, that is, laser scanner
Between apart from the error of indication.
7. calibration method according to claim 6, it is characterised in that：
Wherein, in step 1, the target mirror and the correction of the concentricity of first target ball include the following steps：
The first target mirror support components support is fixed on first target stand by step 1-1, then by first target stand
It is fixed on the workbench of the three coordinate measuring machine；
The target mirror is placed in the first target mirror support components support by step 1-2,
Step 1-3 utilizes the coordinate of 5 points on the spherical outer profile of target mirror described in the three coordinate measuring engine measurement；
Step 1-4, according to the coordinate of 5 points on the spherical outer profile of the step 1-3 target mirrors measured, fitting obtains described
Centre coordinate (the x of the spherical outer profile of target mirrorj, yj, zj)；
Step 1-5 keeps the position that the target stand is fixed on the workbench of the three coordinate measuring machine constant, by first target
Mirror support components support is removed；
The first target ball component is mounted on first target stand, utilizes the three coordinate measuring engine measurement institute by step 1-6
State the coordinate of 5 points on the outer profile of the first target ball of the first target ball component；
Step 1-7, according to the coordinate of 5 points of the outer profile of step 1-6 first target balls measured, fitting obtains described the
Centre coordinate (the x of one target ballq, yq, zq)；
Step 1-8 calculates the deviation of the centre coordinate of the target mirror and the centre coordinate of first target ball according to the following formula,
In, △x=xq-xj, △y=yq-yj, △z=zq-zj；
Step 1-9 adjusts the first three-dimensional adjusting mechanism in the target ball component according to the deviation and makes the deviation
△x、△y、△zRespectively less than 20 μm；
Step 1-10, as the deviation △x、△y、△zAt respectively less than 20 μm, first three-dimensional adjusting mechanism is locked, is completed
The correction of the target mirror and the concentricity of first target ball.
8. calibration method according to claim 7, it is characterised in that：
Wherein, the target mirror and the concentricity aligning step of the second target ball use the concentricity of the target mirror and first target ball
Aligning step.
9. a kind of calibrating installation, the space length error of indication for calibrating laser scanner, which is characterized in that including：
Target mirror；
At least three split type calibration targets, each split type calibration target including target stand, target mirror support components support and
Target ball component with target ball；
Length provides part, for carrying the split type calibration target；And
Laser tracker, for measuring the centre coordinate when target mirror is located at any one of target mirror support components support, according to
Any two centre coordinate obtains the distance between any two target mirror support components support corresponding with two centre coordinates value
As gauged distance value, to be obtained according to the difference of the centre of sphere distance value between the gauged distance value and corresponding two target balls
The space length error of indication of the laser scanner,
Wherein, the split type alignment target is designated as the split type calibration target described in any one of claims 1 to 3.
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