CN219511517U - Gesture detection system - Google Patents

Abstract

The present disclosure describes a gesture detection system, which is a gesture detection system for obtaining a gesture of a target, comprising: laser tracker and probe, laser tracker includes: the laser probe comprises a laser emission unit, a first tracking control unit for enabling the laser emission unit to track the probe, and a tracking head angle measuring unit configured to measure the rotation angle of the laser emission unit; the probe includes: the laser beam measuring apparatus includes a target reflecting a laser beam or a divergent beam and having a through hole, a second tracking control unit controlling the target to rotate in two different directions to align the target with the laser emitting unit, and a probe angle measuring unit configured to measure a rotation angle of the target. Thus, the laser emitting unit can be aligned with the probe and the probe can be aligned with the laser emitting unit, so that the direction vector of the laser beam can be represented by the rotation angle of the laser emitting unit or the rotation angle of the target, and the posture of the target can be calculated by establishing an equation.

Description

Gesture detection system

Technical Field

The utility model relates to an intelligent manufacturing equipment industry, in particular to a gesture detection system.

Background

In the precision industry and in the measurement field, when people assemble equipment, the precision instrument is often required to be used for testing an assembled object to improve the assembly precision, and after the equipment is assembled, the machine is also required to be calibrated. When three-dimensional coordinate measurement is performed on a target object or a certain target point on the target object, it is also necessary to measure the posture of the target object or a certain target point, and therefore a posture detection device capable of simultaneously measuring the three-dimensional coordinate and the posture of the target is required.

The commonly used posture detecting apparatus includes a tracking head for emitting and receiving a laser beam and a probe provided at a workpiece and for reflecting the laser beam, measures three-dimensional coordinates of the probe using the laser beam, and acquires a posture of the probe using a light source provided on the probe. For example, chinese patent application No. CN201380056849.4 discloses a method and apparatus for determining the orientation of an object, capturing an image with corresponding capturable light points in the direction of an auxiliary measurement object (i.e. a probe), and deriving the spatial orientation of the auxiliary measurement object from the image position of the captured light points in the image using image analysis. However, in this scheme, it is necessary to capture an image of the light spot with a zoom lens, and when the distance between the probe and the tracking head is too large (for example, more than 30 meters), the accuracy of the image is degraded, and it is difficult to obtain an accurate posture of the probe. Thus, equations can be established by the transformation relation of the direction vector of the laser beam in different coordinate systems and the different coordinate systems, and the pose of the probe is calculated, however, the existing tracking head and probe are not suitable for the method.

Disclosure of Invention

The present disclosure has been made in view of the above-described circumstances, and an object thereof is to provide a posture detection system capable of aligning a laser emitting unit with a probe and simultaneously causing the probe to the laser emitting unit, thereby enabling to represent a direction vector of a laser beam by a rotation angle of the laser emitting unit or a rotation angle of a target and to establish an equation to calculate a posture of a target.

To this end, the present disclosure provides a posture detection system, which is a posture detection system for obtaining a posture of a target, including: the laser tracker with set up in the probe of target, the laser tracker includes: a laser emitting unit configured to emit a laser beam, a first tracking control unit configured to control an emitting direction of the laser emitting unit so that the laser emitting unit tracks the probe, and a tracking head angle measuring unit configured to measure a rotation angle of the laser emitting unit; the probe includes: a target configured to reflect a laser beam or a divergent beam and having a through hole, a second tracking control unit configured to control the target to rotate in two different directions to align the target with the laser emitting unit, and a probe angle measuring unit configured to measure a rotation angle of the target. Under the condition, the first tracking control unit can be used for controlling the laser emission unit to track the probe and further aim at the probe, meanwhile, the tracking head angle measuring unit can be used for measuring the rotation angle of the laser emission unit, and then the direction vector of the laser beam in the coordinate system of the laser tracker device can be obtained based on the rotation angle of the laser emission unit, meanwhile, the second tracking control unit can be used for controlling the target to rotate along two different directions and aim at the laser emission unit, so that the incidence angle range of the laser beam which can be received by the probe can be enlarged. Since the target is aligned with the laser emitting unit, the incidence plane of the laser beam perpendicular to the target, the direction vector of the laser beam in the target coordinate system can be obtained based on the rotation angle of the target.

In addition, in the attitude detection system according to the present disclosure, optionally, the first tracking control unit includes a first rotation mechanism that controls the rotation of the laser emitting unit in a first direction and a second rotation mechanism that controls the rotation of the laser emitting unit in a second direction, the first rotation mechanism includes a first rotation shaft, a first bearing, a first rotation chassis provided to the first rotation shaft, and at least one first support arm provided to the first rotation chassis, the first rotation shaft is provided to a base of the laser tracker through the first bearing, and the second rotation mechanism includes a second rotation shaft that connects to a measurement host and a second bearing that sets the second rotation shaft to the first support arm. In this case, the first rotation chassis disposed at the first rotation shaft can be driven to rotate along the first direction by driving the first rotation shaft to rotate, and then the measurement host disposed at the first support arm and the laser emission unit disposed at the measurement host can be driven to rotate along the first direction. Meanwhile, the two rotating shafts can be utilized to drive the measuring host to rotate along the second direction, and then the second rotating mechanism can be utilized to drive the laser emitting unit positioned on the measuring host to rotate along the second direction.

In addition, in the attitude detection system according to the present disclosure, optionally, the laser tracker includes a tracking head angle measurement unit including a first tracking head angle measurement unit configured to measure a rotation angle of the laser emitting unit rotating in the first direction and a second tracking head angle measurement unit configured to measure a rotation angle of the laser emitting unit rotating in the second direction. In this case, the rotation angle of the laser emitting unit rotating in the first direction and the rotation angle of the laser emitting unit rotating in the second direction can be obtained, and the orientation of the target in the laser tracker device coordinate system can be calculated based on the rotation angle of the laser emitting unit rotating in the first direction and the rotation angle of the laser emitting unit rotating in the second direction.

In addition, in the attitude detection system related to the present disclosure, optionally, the laser tracker includes a first gravity alignment unit configured to acquire a first inclination angle configured to align first direction information acquired by the tracking head angle measurement unit to a target coordinate system, the first direction information including a rotation angle at which the laser emission unit rotates in the first direction and a rotation angle at which the laser emission unit rotates in the second direction. In this case, since the specific position coordinates of the target in the coordinate system of the laser tracker apparatus can be obtained by using the rotation angle of the laser emitting unit rotated in the first direction and the rotation angle rotated in the first direction measured by the tracking head angle measuring unit, the orientation of the target in the target coordinate system can be obtained by aligning the first direction information to the target coordinate system, and the specific coordinates of the target in the target coordinate system can be calculated.

In addition, in the attitude detection system related to the present disclosure, optionally, the laser tracker includes a plurality of laser emitting units, the plurality of laser emitting units includes a first laser emitting unit for absolute ranging and a second laser emitting unit for interference ranging, the first laser emitting unit is configured to emit a first laser beam, the second laser emitting unit is configured to emit a second laser beam, the second laser beam sequentially passes through a beam splitting unit and a reflecting unit and reaches a beam combining unit, an optical path of the first laser beam and an optical path of the second laser beam are coupled through the beam combining unit, and are emitted from the laser tracker, so that the second laser beam reflected by the probe is a second reflected laser beam, the beam splitting unit is configured to receive the second reflected laser beam light and reflect the second reflected laser beam to a first position sensing unit, and the first position sensing unit is configured to receive the second reflected laser beam reflected via the probe to determine whether the laser emitting unit is aligned with the target. In this case, the measurement position of the absolute ranging module and the measurement position of the interference ranging module can be made to coincide, and the position coordinates of the target can be obtained by utilizing the cooperation of the absolute ranging module and the interference ranging module.

In addition, in the posture detection system related to the present disclosure, optionally, the laser tracker includes a light emitting unit configured to emit a divergent light beam, and a target capturing unit configured to receive the divergent light beam reflected via the probe, and the first tracking control unit is configured to control the posture of the laser emitting unit based on the divergent light beam acquired by the target capturing unit to align the laser emitting unit to the target. In this case, the target capturing unit can quickly obtain the divergent light beam reflected by the target and containing the positional information of the target by the divergent light beam emitted from the light emitting unit, whereby the preliminary position of the target can be determined, and the posture of the laser emitting unit is controlled by the first tracking control unit so that the laser beam emitted from the laser emitting unit approaches the target and performs preliminary capturing.

In addition, in the attitude detection system according to the present disclosure, optionally, the second tracking control unit includes a third rotation mechanism that controls rotation of the target in a third direction and a fourth rotation mechanism that controls rotation of the target in a fourth direction, the third rotation mechanism including a third rotation shaft, a third rotation chassis, and at least one third support arm provided to the third rotation chassis, the target being provided to the third support arm. In this case, the third support arm can be rotated about the third rotation axis by the rotation of the third rotation axis, and the target can be rotated about the third rotation axis by the rotation of the third support arm.

In addition, in the posture detection system related to the present disclosure, optionally, the probe angle measurement unit includes a first probe angle measurement unit configured to measure a rotation angle of the target rotating in the third direction and a second probe angle measurement unit configured to measure a rotation angle of the target rotating in the fourth direction. In this case, the rotation angle of the target rotating in the third direction and the rotation angle of the target rotating in the fourth direction can be obtained, and the direction vector of the laser beam in the target coordinate system can be calculated based on the rotation angle of the target rotating in the third direction and the rotation angle of the target rotating in the fourth direction.

In addition, in the attitude detection system according to the present disclosure, optionally, the probe includes a probe mount that sets the probe to the target and a second gravity alignment unit that is set to the probe mount, the second gravity alignment unit being configured to acquire a second inclination angle of the probe, the second inclination angle being configured to calculate a conversion relationship between a target coordinate system and a target coordinate system, the second gravity alignment unit including a first inclinometer and a second inclinometer, an installation direction of the first inclinometer being perpendicular to an extension direction of a rotation shaft of the third rotation mechanism, an installation direction of the second inclinometer being parallel to an extension direction of a rotation shaft of the fourth rotation mechanism, and an installation direction of the first inclinometer being perpendicular to an installation direction of the second inclinometer. In this case, since the sensitive axis of the second gravity alignment unit is matched with the rotation axis of the second tracking control unit, it is possible to simplify the transformation formulas of the target coordinate system and the target coordinate system, to improve the calculation speed, and to improve the accuracy of measurement.

In addition, in the attitude detection system according to the present disclosure, optionally, the target includes a prism layer, an intermediate layer, and a reference layer, the intermediate layer being disposed between the prism layer and the reference layer, a mirror having a cutout being provided at the prism layer, a small hole plate having a through hole being provided at the intermediate layer, and a second position sensing unit being provided at the reference layer, the second position sensing unit being configured to receive the laser beam passing through the through hole. In this case, whether the target is aligned with the laser emitting unit can be determined based on the second spot formed by the laser beam on the photosurface of the second position sensing unit.

According to the present disclosure, there is provided a posture detection system capable of causing a probe to pair a laser emitting unit while causing the laser emitting unit to align with the probe, thereby being capable of expressing a direction vector of a laser beam using a rotation angle of the laser emitting unit or a rotation angle of a target and establishing an equation to calculate a posture of the target.

Drawings

Embodiments of the present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings.

Fig. 1 is a schematic view showing an application scenario of a gesture detection system according to an example of the present disclosure.

Fig. 2 is a perspective view illustrating a laser tracker according to an example of the present disclosure.

Fig. 3 is a schematic diagram showing an optical structure of a measurement host according to an example of the present disclosure.

Fig. 4 is a schematic plan view showing a laser tracker according to an example of the present disclosure.

Fig. 5 is a schematic diagram showing a first plane, a first direction, an axis of a first rotation shaft, a second plane, a second direction, and an axis of a second rotation shaft to which examples of the present disclosure relate.

Fig. 6 is a schematic diagram illustrating a probe of a gesture detection system according to an example of the present disclosure.

Fig. 7 is a schematic diagram showing a third plane, a third direction, an axis of a third rotation shaft, a fourth plane, a fourth direction, and an axis of a fourth rotation shaft according to an example of the present disclosure.

FIG. 8 is a cross-sectional schematic diagram illustrating the M-M' position in FIG. 6 of a probe of the gesture detection system in accordance with examples of the present disclosure.

Fig. 9 is a schematic cross-sectional view showing the target and the fourth rotation axis of the gesture detection system of the example of the present disclosure in the N-N' position in fig. 6.

FIG. 10 is a schematic cross-sectional view illustrating the O-O' position in FIG. 6 of a target of the gesture detection system in accordance with examples of the present disclosure.

Detailed Description

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, in this disclosure, such as a process, method, system, article, or apparatus that comprises or has a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include or have other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. All methods described in this disclosure can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context.

The present disclosure relates to a gesture detection system for obtaining a gesture of a target, including a laser tracker and a probe disposed at the target.

In some examples, the laser tracker may include a laser emitting unit configured to emit a laser beam, a first tracking control unit configured to control an emission direction of the laser emitting unit so that the laser emitting unit tracks a probe, and a tracking head angle measurement unit configured to measure a rotation angle of the laser emitting unit, in which case the first tracking control unit can be used to control the laser emitting unit to track the probe and thus align the probe, while the rotation angle of the laser emitting unit can be measured by the tracking head angle measurement unit and thus a direction vector of the laser beam in a coordinate system of the laser tracker device can be obtained based on the rotation angle of the laser emitting unit.

In some examples, the probe may include a target configured to reflect a laser beam or a divergent beam and having a through hole, a second tracking control unit configured to control rotation of the target in two different directions to align the target with the laser emitting unit, and a probe angle measurement unit configured to measure a rotation angle of the target. In this case, the second tracking control unit can be used to control the target to rotate in two different directions and align with the laser emission unit, so that not only can the incidence angle range of the laser beam which can be received by the probe be enlarged, but also the direction vector of the laser beam in the target coordinate system can be obtained based on the rotation angle of the target because the target is perpendicular to the incidence plane of the target when the target is aligned with the laser emission unit.

In some examples, equations can be established using the directional vector of the laser beam in the laser tracker device coordinate system, the directional vector of the laser beam in the target coordinate system, and the transformation relationship between the different coordinate systems, whereby the pose of the probe can be calculated, and thus the pose of the target can be obtained.

In some examples, the pose of the target may refer to three pose angles (i.e., euler angles) of the target in space. In other words, the gesture detection system may be used for spatial gesture measurement of the target, which corresponds to the spatial gesture of the target, which may be represented by euler angles of the target, which may include yaw angle, pitch angle, and roll angle.

In some examples, the roll angle and pitch angle of the target may be obtained first, and then the yaw angle of the target may be calculated based on the roll angle and pitch angle of the target.

In some examples, the alignment of the laser tracker (or laser emitting unit) to the target (or probe) may be understood in such a way that when the target is able to receive the laser beam emitted by the laser tracker and at least a portion of the laser beam passes through the through-hole, the laser tracker may be considered to be aligned to the target (or probe). When the laser tracker is provided with a first position sensing unit, a light spot formed by the laser beam reflected by the target on the first position sensing unit is positioned at a first preset zero point, and the laser tracker can be considered to be aligned to the target (or the probe). In some examples, the laser tracker may also be considered to be aligned with the target (or probe) when at least a portion of the laser beam forms a second spot at a second position sensing unit of the target.

In some examples, the alignment of the target (or probe) to the laser tracker (or laser emitting unit) may be understood in such a way that when the laser beam is perpendicular to the plane of incidence of the target, the target (or probe) may be considered to be aligned to the laser tracker (or laser emitting unit). When the target is provided with the second position sensing unit, a light spot formed by the laser beam reflected by the target on the second position sensing unit is positioned at a second preset zero point, and the target (or the probe) can be considered to be aligned with the laser tracker (or the laser emission unit).

In addition, descriptions of orientations, such as "front", "back", etc., are included with respect to the present disclosure. For a laser tracker or other components or units (e.g., a laser emitting unit, a target capturing unit, or a light emitting unit, etc.) disposed on the laser tracker, "front" may refer to a direction from the laser tracker to the target when the laser tracker is aligned with the target; "rear" may refer to the direction from the target to the laser tracker when the laser tracker is aligned with the target. For a target or other component or unit disposed on the target (e.g., a via or a second position sensing unit, etc.), "front" may refer to the direction from the target to the laser tracker when the target is aligned with the laser tracker; "rear" may refer to the direction from the laser tracker pointing toward the target when the laser tracker is aligned with the target.

Fig. 1 is a schematic view showing an application scenario of a gesture detection system according to an example of the present disclosure. Fig. 2 is a schematic perspective view showing the laser tracker 1 according to the example of the present disclosure.

Fig. 3 is a schematic diagram showing an optical structure of the measurement host 11 according to an example of the present disclosure. Fig. 4 is a schematic plan view showing the laser tracker 1 according to the example of the present disclosure. Fig. 5 is a schematic diagram showing a first plane S1, a first direction D1, an axis A1 of the first rotation shaft 1311, a second plane S2, a second direction D2, and an axis A2 of the second rotation shaft 1321 according to an example of the present disclosure.

In some examples, referring to fig. 1, the laser tracker 1 may be provided independently of the probe 2 when using the gesture detection system. In some examples, the laser tracker 1 may be disposed on the ground and the probe 2 may be disposed on the target. In this case, the spatial position of the probe 2 can be captured by the laser tracker 1 provided on the ground.

In some examples, referring to fig. 2, the laser tracker 1 may include a measurement host 11, and the measurement host 11 may include a housing and a cavity configured to house the components. In some examples, the cavity may be an interior chamber formed by the housing. In this case, the case can be used to protect the member. In some examples, the components disposed in the interior chamber may include at least one of the laser emitting unit 12, the first position sensing unit 116, and the target capturing unit 15.

In some examples, referring to fig. 3, the housing may include a light-transmitting port and a window sheet 115 disposed at the light-transmitting port. In this case, the laser beam can be emitted and received through the light-transmitting port, and thus the spatial position of the probe 2 can be acquired.

In some examples, referring to fig. 3, the laser tracker 1 may include a laser emitting unit 12, and the laser emitting unit 12 may be configured to emit a laser beam. In some examples, the laser emitting unit 12 may be a helium-neon laser or a solid state laser.

In some examples, the laser beam emitted from the laser emitting unit 12 may be emitted to the window 115 through an optical element such as the reflecting unit 111 or the beam combining unit 112, and emitted from the measurement host 11 at the window 115. In some examples, the laser beam emitted by the laser emitting unit 12 may also be coupled to an optical fiber and emitted through the optical fiber to a plurality of optical elements and finally to the window 115.

In some examples, the reflection unit 111 may change the propagation direction of the light beam by reflection. In some examples, the reflecting unit 111 may be a mirror. In some examples, the beam combining unit 112 may reflect or refract the light beam. In some examples, dichroic Mirrors (Dichroic Mirrors).

In some examples, the laser tracker 1 may include a plurality of laser emitting units 12. Specifically, the plurality of laser emitting units 12 may include a first laser emitting unit for absolute ranging and a second laser emitting unit for interferometric ranging. In other words, the laser tracker 1 may include an absolute ranging module 113 and an interferometric ranging module 114. In this case, the absolute ranging module 113 and the interference ranging module 114 can be used together to obtain the position coordinates of the target 21, thereby improving the measurement accuracy. Meanwhile, the interferometric ranging module 114 has a faster ranging speed than measuring the distance with only the absolute ranging module 113, and thus can also increase the measuring speed. In some examples, the absolute ranging module 113 and the interferometric ranging module 114 may be used to obtain the distance from the mechanical zero point of the laser tracker 1 to the center of the pyramid, and then calculate the position coordinates of the target according to the angle of rotation of the laser tracker 1 obtained by the tracking head angle measurement unit.

In some examples, the first laser emitting unit may be configured to emit a first laser beam, and the second laser emitting unit may be configured to emit a second laser beam, and an optical path of the first laser beam and an optical path of the second laser beam may be coupled by the beam combining unit 112. Specifically, the transmitted light of the first laser beam at the beam combining unit 112 and the reflected light of the second laser beam at the beam combining unit 112 may be combined and commonly emitted from the measurement host 11. In this case, since the first laser beam and the second laser beam are combined, the measurement position of the absolute ranging module 113 (the position where the first laser beam is reflected at the target 21) and the measurement position of the interference ranging module 114 (the position where the second laser beam is reflected at the target 21) can be overlapped, and further, the accuracy of measuring the position coordinates of the target 21 can be improved.

In some examples, referring to fig. 2, the laser tracker 1 may include a first tracking control unit 13, and the first tracking control unit 13 may be configured to control the emission direction of the laser emission unit 12 to cause the laser emission unit 12 to track the probe 2.

In some examples, referring to fig. 4 and 5, the first tracking control unit 13 may include a first rotation mechanism 131 that controls the rotation of the laser emitting unit 12 in the first direction D1. In this case, the laser emitting unit 12 can be controlled to rotate in the first direction D1 using the first rotation mechanism 131 to track the target 21 in the first direction D1.

In some examples, referring to fig. 4 and 5, the first tracking control unit 13 may include a second rotation mechanism 132 that controls rotation of the laser emitting unit 12 in the second direction D2. In this case, the laser emitting unit 12 can be controlled to rotate in the second direction D2 using the second rotation mechanism 132 to track the target 21 in the second direction D2.

In some examples, referring to fig. 5, rotation of the laser emitting unit 12 in the first direction D1 may refer to rotation of the laser emitting unit 12 in a first plane S1, the first plane S1 being perpendicular to the first rotation axis 1311, at which time the laser emitting unit 12 may rotate about the first rotation axis 1311. In some examples, the first plane S1 may be a horizontal plane. In other words, the first rotation axis 1311 may be perpendicular to the horizontal plane when the laser emitting unit 12 rotates in the first direction D1. In some examples, the laser emitting unit 12 rotates in a horizontal plane, and the first rotation axis 1311 may also be referred to as a horizontal rotation axis.

In some examples, referring to fig. 5, rotation of the laser emitting unit 12 in the second direction D2 may mean that the laser emitting unit 12 may rotate within a second plane S2, the second plane S2 being perpendicular to the second rotation axis 1321, the second plane S2 being non-coincident with and non-parallel to the first plane S1, at which time the laser emitting unit 12 may rotate about the second rotation axis 1321, wherein the first rotation axis 1311 may be perpendicular to the second rotation axis 1321. In some examples, the second plane S2 may be a vertical plane, and the second rotation axis 1321 may also be referred to as a pitch rotation axis when the laser emitting unit 12 rotates within the vertical plane.

It should be noted that, due to possible processing errors and assembly errors, the parallel, perpendicular or intersecting positional relationship referred to herein does not define that two objects must be in perfect parallel, perpendicular or intersecting positional relationship without errors, but rather that two objects can be considered to be in parallel, perpendicular or intersecting positional relationship within a certain error range.

In some examples, the axis A1 of the first rotation shaft 1311 may intersect the axis A2 of the second rotation shaft 1321 (see fig. 5). In some examples, where the first rotational axis 1311 is a horizontal rotational axis and the second rotational axis 1321 is a pitch rotational axis, the axis of the horizontal rotational axis may intersect the axis of the pitch rotational axis. In this case, the intersection point of the horizontal rotation axis and the pitch rotation axis can be used as the origin of the coordinate system of the laser tracker device, so that the calculation can be simplified, the calculation speed can be increased, the occurrence of calculation errors can be reduced, and the calculation accuracy can be improved.

In some examples, the laser tracker device coordinate system may be a coordinate system with an intersection point of the axis A1 of the first rotation shaft 1311 and the axis A2 of the second rotation shaft 1321 as an origin, a direction of the axis A1 of the first rotation shaft 1311 as a Z-axis direction, a direction of the axis A2 of the second rotation shaft 1321 as a Y-axis direction, and a direction perpendicular to the axis A1 of the first rotation shaft 1311 and the axis A2 of the second rotation shaft 1321 as an X-axis direction.

In some examples, referring to fig. 4, the first rotation mechanism 131 may include a first rotation shaft 1311, a first bearing, a first rotation chassis 1313, and at least one first support arm 1312 disposed to the first rotation chassis 1313. In some examples, measurement host 11 may be disposed on first support arm 1312. In some examples, first rotation mechanism 131 may include two first support arms 1312, and measurement host 11 may be disposed between first support arms 1312.

In some examples, the first rotation mechanism 131 may control the measurement host 11 to rotate in the first direction D1 to rotate the laser emitting unit 12 located within the measurement host 11 in the first direction D1. In some examples, the first rotating chassis 1313 may be disposed to the first rotating shaft 1311, and the first rotating shaft 1311 may be disposed to the base 16 of the laser tracker 1 by a first bearing. In this case, the first rotation shaft 1311 is driven to rotate, so that the first rotation chassis 1313 provided on the first rotation shaft 1311 can be driven to rotate in the first direction D1, and the measurement host 11 provided on the first support arm 1312 and the laser emission unit 12 located on the measurement host 11 can be driven to rotate in the first direction D1.

In some examples, the second rotation mechanism 132 may be provided to the first support arm 1312 of the first rotation mechanism 131 and may drive the second rotation shaft 1321 to rotate in the second direction D2.

In some examples, the second rotation mechanism 132 may be coupled to the measurement host 11. In this case, the laser emitting unit 12 located at the measuring host 11 can be driven to rotate in the second direction D2 by the second rotation mechanism 132. In some examples, the second rotation mechanism 132 may include a second rotation shaft 1321 connected to the measurement host 11 and a second bearing that sets the second rotation shaft 1321 to the first support arm 1312. In this case, the measuring host 11 can be rotated in the second direction D2 by the two rotation shafts, and the laser emitting unit 12 located in the measuring host 11 can be rotated in the second direction D2 by the second rotation mechanism 132.

In some examples, the first tracking control unit 13 may be configured to control the pose of the laser emitting unit 12 based on the sensed information acquired by the first position sensing unit 116 to align the laser emitting unit 12 with the target 21. Specifically, in the first position sensing unit 116, if the first light spot is far from the first preset zero point, it may be considered that the laser emitting unit 12 is not aligned with the target 21, and the posture adjustment manner of the laser emitting unit 12 may be calculated based on the relative position between the first light spot and the first preset zero point. In this case, the first tracking control unit 13 can be made to control the laser emitting unit 12 to track the target 21 based on the calculation result, and at the same time, since the accuracy of the first position sensing unit 116 is high, fine aiming of the attitude detection system can be achieved.

In some examples, the first tracking control unit 13 may be configured to control the pose of the laser emitting unit 12 based on the divergent light beam acquired by the target capturing unit 15 to align the laser emitting unit 12 to the target 21. Specifically, the light emitting unit 14 (described later) may emit a divergent light beam, and after the divergent light beam is reflected by the target 21, the target capturing unit 15 may receive the divergent light beam reflected by the target 21 and preliminarily determine whether the laser emitting unit 12 is aligned with the target 21 based on the position of the centroid of the spot of the divergent light beam reflected by the target 21, that is, the laser tracker 1 preliminarily captures the target 21. In this case, it can be quickly determined whether the laser emitting unit 12 captures the target 21, and further, the direction of the laser beam emitted by the laser emitting unit 12 can be quickly controlled so that the laser beam gradually approaches the target 21.

In some examples, the first tracking control unit 13 may also be any person or object capable of changing the posture of the laser emitting unit 12, and in particular, the manner of changing the posture of the laser emitting unit 12 may be automatic or manual.

In some examples, referring to fig. 3, the laser tracker 1 may also include a first position sensing unit 116, the laser beam reflected by the probe 2 may be referred to as a reflected laser beam, the first laser beam reflected by the probe 2 may be referred to as a first reflected laser beam, the second laser beam reflected by the probe 2 may be referred to as a second reflected laser beam, and the first position sensing unit 116 may be configured to receive the laser beam reflected by the probe 2.

In some examples, referring to fig. 3, the second laser beam may sequentially pass through the beam splitting unit 117 and the reflecting unit 111 and reach the beam combining unit 112. In some examples, the light splitting unit 117 may be configured to receive the second reflected laser beam light and reflect the second reflected laser beam to the first position sensing unit 116. In this case, it is possible to receive the second reflected laser beam and acquire the spot position of the second reflected laser beam using the first position sensing unit 116.

In some examples, the first position sensing unit 116 may have a photosurface, and after the first position sensing unit 116 receives the reflected laser beam, it may be determined whether the laser emitting unit 12 is aligned with the probe 2 based on a first spot formed by the reflected laser beam on the photosurface of the first position sensing unit 116.

In some examples, the first position sensing unit 116 may record the position of the first light spot at the photosurface of the first position sensing unit 116. In this case, the posture adjustment manner of the laser emitting unit 12 can be calculated based on the position of the first light spot on the light-sensitive surface of the first position sensing unit 116. In some examples, the attitude adjustment of the laser emitting unit 12 may be determined based on a relative position between the first light spot and a first preset zero of the first position sensing unit 116, which may be located at the position of the first light spot when the laser emitting unit 12 is aligned with the target 21. In this case, the laser beam reflected by the target 21 can be continuously aligned with a fixed point or servo zero point (i.e., a first preset zero point) in the first position sensing unit 116. It should be noted that, the relative position between the first light spot and the first preset zero point of the first position sensing unit 116 may refer to the position of the first light spot relative to the first preset zero point.

In some examples, the first position sensing unit 116 may be used for fine targeting of the gesture detection system, which may refer to the laser emitting unit 12 being aimed at the target 21 with a higher accuracy. In some examples, fine targeting may refer to receiving the laser beam reflected by the target 21 with the first position sensing unit 116, and determining whether the laser emitting unit 12 is aligned with the target 21 with higher accuracy based on the position of the first spot formed by the laser beam reflected by the target 21 at the first position sensing unit 116, and controlling the pose of the laser emitting unit 12 based on the position of the first spot. In this case, since the first position sensing unit 116 receives the laser beam reflected by the target 21 while having high accuracy and sensitivity itself, the laser emitting unit 12 can be controlled to align and track the target 21 in real time with high accuracy.

In some examples, the first position sensing unit 116 may be a position sensor (Position Sensitive Detector, PSD) or CCD (charge coupled device) camera.

In some examples, referring to fig. 3, the laser tracker 1 may include a light emitting unit 14 and a target capturing unit 15, the light emitting unit 14 may be configured to emit a divergent light beam, and the target capturing unit 15 may be configured to receive the divergent light beam reflected via the probe 2. In this case, the target capturing unit 15 can quickly obtain the divergent light beam reflected by the target 21 containing the positional information of the target 21 by the divergent light beam emitted from the light emitting unit 14, thereby enabling determination of the preliminary position of the target 21, and control the posture of the laser emitting unit 12 by the first tracking control unit 13 to bring the laser beam emitted from the laser emitting unit 12 close to the target 21 and perform preliminary capturing.

In some examples, referring to fig. 5, the target capturing unit 15 may be disposed on a surface of the housing, the target capturing unit 15 may also be disposed in an inner cavity formed by the housing, and a light passing hole or lens assembly 118 may be disposed in the housing to allow the divergent light beam reflected by the target 21 to pass through.

In some examples, the light emitting unit 14 may be an LED lamp, and the target capturing unit 15 may be a CMOS photosensitive element, for example, a CMOS image sensor. In other examples, the light emitting unit 14 may be a CCD photosensitive element.

In some examples, the light spot formed by the divergent light beam on the target capturing unit 15 may be made to be a target capturing light spot, the posture adjustment manner of the laser emitting unit 12 is calculated based on the relative position between the target capturing light spot and the target capturing zero point, the target capturing zero point may be located at the position of the target capturing light spot formed by each light emitting unit 14 when the laser emitting unit 12 is aligned with the target 21, and the relative position between the target capturing light spot and the target capturing zero point may refer to the position of the target capturing light spot with respect to the target capturing zero point.

In some examples, referring to fig. 3, the lens assembly 118 may be disposed in front of the target capture unit 15. Thus, the diverging beam reflected by the target can pass through the lens assembly 118 and form a target capture spot on the target capture unit 15, and after focusing through the lens assembly 118, a clear target capture spot can be formed on the target capture unit 15. In some examples, the direction of the optical axis of the lens assembly 118 may be the same as the direction in which the laser beam exits the measurement host 11.

In some examples, the laser tracker 1 may comprise a tracking head angle measurement unit, which may be configured to measure the rotation angle of the laser emitting unit 12 under the control of the first tracking control unit 13. In this case, the rotation angle of the laser emitting unit 12 can be obtained, and the spatial position of the target 21 can be calculated based on the rotation angle of the laser emitting unit 12 and the distance between the laser emitting unit 12 and the target 21.

In some examples, the tracking head angle measurement unit may include a first tracking head angle measurement unit configured to measure a rotation angle of the laser emitting unit 12 rotating in the first direction D1. In some examples, the tracking head angle measurement unit may further include a second tracking head angle measurement unit configured to measure a rotation angle of the rotation of the laser emitting unit 12 in the second direction D2. In this case, the rotation angle of the laser emitting unit 12 in the first direction D1 and the rotation angle of the laser emitting unit in the second direction D2 can be obtained, and thus the position of the target 21 in the laser tracker device coordinate system can be calculated based on the rotation angle of the laser emitting unit 12 in the first direction D1 and the rotation angle of the laser emitting unit in the second direction D2, and in combination with the distance of the target 21 acquired by the distance measuring module (e.g., the absolute ranging module 113 and/or the interferometric ranging module 114), a specific position coordinate of the target 21 in the laser tracker device coordinate system can be calculated and obtained.

In some examples, the laser tracker 1 may include a first gravitational alignment unit, which in some examples may be configured to align the first direction information acquired based on the tracking head angle measurement unit to a target coordinate system. In some examples, the first direction information may include a rotation angle at which the laser emitting unit 12 rotates in the first direction D1 and a rotation angle at which it rotates in the second direction D2. In some examples, the first gravity alignment unit may be used as the first inclination angle by measuring the inclination angle of the laser tracker 1, the measurement host 11, the laser emitting unit 12, or the first plane S1 with respect to the horizontal plane. In other words, the first gravity alignment unit may be configured to acquire a first inclination angle, and the first inclination angle may be configured to align the first direction information acquired by the tracking head angle measurement unit to the target coordinate system. Wherein alignment may refer to computing a representation of a vector in one coordinate system based on the vector in another coordinate system by means of a coordinate transformation. In this case, since the specific position coordinates of the target 21 in the laser tracker device coordinate system can be obtained by using the rotation angle of the laser emitting unit 12 rotated in the first direction D1 and the rotation angle of the laser emitting unit rotated in the first direction D1 measured by the tracking head angle measuring unit, the orientation of the target 21 in the target coordinate system can be obtained by aligning the first direction information to the target coordinate system, and further the specific coordinates of the target 21 in the target coordinate system can be calculated.

In some examples, the target coordinate system may be a coordinate system established based on a direction of gravity, e.g., in an orthogonal axis of the target coordinate system, the Z-axis may be parallel to the direction of gravity and the X-axis and Y-axis may be perpendicular to the direction of gravity. In this case, the spatial positions of the respective coordinate systems can be aligned to the target coordinate system based on the relationship of the different coordinate systems (for example, the laser tracker device coordinate system and the target coordinate system) and the gravity, in the actual process, it is necessary to calculate the yaw angle of the target using the transformation relationship between the direction vectors of the laser beam in the different target coordinate systems and the direction vectors of the different target coordinate systems, while it is difficult to directly obtain the transformation relationship of the laser tracker device coordinate system and the target coordinate system, align the first direction information to the target coordinate system, and express the transformation relationship between the target coordinate system and the target coordinate system using the second inclination angle, an equation about the direction vectors of the laser beam can be established, and the yaw angle can be further solved by the equation.

In some examples, the alignment of the first direction information to the target coordinate system may also be referred to as gravity alignment of the first direction information.

In some examples, taking the example that the first gravity alignment unit may include two single-axis accelerometers, and the axes of sensitivity of the two single-axis accelerometers are orthogonal, the first gravity alignment unit may include a single-axis accelerometer a and a single-axis accelerometer b, wherein the axes of sensitivity of the single-axis accelerometer a and the single-axis accelerometer b may be in the same plane, the plane in which the axes of sensitivity of the single-axis accelerometer a and the single-axis accelerometer b lie may be perpendicular to the first rotation axis 1311, the axes of sensitivity of the single-axis accelerometer a may be parallel to the second rotation axis 1321, and the axes of sensitivity of the single-axis accelerometer b may be perpendicular to the second rotation axis 1321. In this case, since the sensitive axis of the first gravity alignment unit is matched with the rotation axis of the first tracking control unit 13, it is possible to simplify the conversion formulas of the laser tracker device coordinate system and the target coordinate system, improve the calculation speed, and improve the measurement accuracy. In some examples, the first gravity alignment unit may be provided in the first rotation mechanism 131. In some examples, the first gravity alignment unit may be provided at other locations of the laser tracker 1, for example, the first gravity alignment unit may be provided at the bottom of the measurement host 11, among other locations.

Fig. 6 is a schematic diagram showing a probe 2 of the posture detection system to which the examples of the present disclosure relate. Fig. 7 is a schematic diagram showing a third plane S3, a third direction D3, an axis A3 of a third rotation shaft 2311, a fourth plane S4, a fourth direction D4, and an axis A4 of a fourth rotation shaft 2321 according to an example of the present disclosure. Fig. 8 is a schematic cross-sectional view showing the position M-M' in fig. 6 of the probe 2 of the posture detection system according to the example of the present disclosure. Fig. 9 is a schematic cross-sectional view showing the target 21 and the fourth rotation axis 2321 of the posture detection system in the N-N' position in fig. 8, to which the example of the present disclosure relates. FIG. 10 is a schematic cross-sectional view illustrating the O-O' position in FIG. 6 of a target of the gesture detection system in accordance with examples of the present disclosure.

In some examples, referring to fig. 6, the probe 2 can include a target 21 and a probe mount 22. In some examples, the target 21 may be used to reflect a light beam and the probe mount 22 may be configured to mount the probe 2 to a target. In this case, the probe 2 can be fixed to the target by the probe mount 22, and the probe 2 can be interlocked with the target, so that the position and posture of the target 21 can be determined based on the light beam (including the laser beam and the divergent light beam) reflected by the target 21, and the position and posture of the target can be determined based on the position and posture of the target 21.

In some examples, the targets 21 may have through holes 2122 (see fig. 9). In some examples, the through hole 2122 may be configured to detect whether the laser beam emitted by the laser emitting unit 12 is emitted to the second position sensing unit 2131 of the target 21 (see fig. 9).

In some examples, the target 21 may comprise a three-layer structure. Specifically, the target 21 may include a prism layer 211, an intermediate layer 212, and a reference layer 213 (see fig. 10). In some examples, the intermediate layer 212 may be disposed between the prism layer 211 and the reference layer 213.

In some examples, referring to fig. 10, the prism layer 211 may be provided with a mirror 2111 having a cutout. The notched mirror 2111 can be a solid pyramid prism, a hollow pyramid prism, or a hollow optical retroreflector. In this case, the laser beam can be returned to the laser tracker 1 in a direction opposite to the incident direction, and thus the distance from the mechanical zero point of the laser tracker 1 to the center of the pyramid, that is, the distance between the laser emitting unit 12 and the target 21 can be measured. In some examples, the mechanical zero point may refer to an origin of a laser tracker device coordinate system, the pyramid center may be the origin of a target coordinate system, in other words, the laser tracker device coordinate system may be established with the mechanical zero point as the origin, and the target coordinate system may be established with the pyramid center as the origin.

In some examples, the mechanical zero point may refer to an intersection of the first rotation axis 1311 and the second rotation axis 1321, thereby enabling simplified operation.

In some examples, the pyramid center may refer to the vertex V of the mirror 2111 with the notch. For example, the vertex V of the mirror may refer to the vertex V of the corner cube in fig. 10. In some examples, the position coordinates of the target 21 may refer to position coordinates of the center of the pyramid.

In some examples, referring to fig. 10, the plane of the kerf Sc may be parallel to the plane of incidence Si, which may refer to the plane of incidence of the laser beam on the mirror 2111 having the kerf, where the kerf is formed. In this case, at least a part of the incident laser beam is allowed to be projected to the rear second position sensing unit 2131 through the vertex V.

In some examples, the hollow pyramid prism may be formed as a two-by-two perpendicular combination of three planar mirrors. In this case, the direction of the outgoing light ray can be parallel to the direction of the incoming light ray after the incoming light beam is reflected in sequence by the three plane mirrors.

In some examples, referring to fig. 10, with the optical axis of the hollow pyramid prism being the optical axis Ao of the target 21, the through hole 2122 may be located on the optical axis Ao of the target 21. In this case, when the laser beam emitted from the laser emitting unit 12 is incident along the optical axis Ao of the hollow pyramid prism, that is, when the target 21 is aligned with the laser emitting unit 12, the laser beam can pass through the through hole 2122 and a specific spot can be formed at a specific position (for example, a second preset zero point described later) behind the through hole 2122, and thus it can be determined whether the target 21 is aligned with the laser emitting unit 12 according to whether there is a spot at the specific position behind the through hole 2122.

In some examples, a small hole plate 2121 (see fig. 9 and 10) may be provided in the intermediate layer 212, and a through hole 2122 may be provided in the small hole plate 2121. In some examples, the through hole 2122 located in the aperture plate 2121 may also be located at the vertex V of the notched mirror 2111. In some examples, the through-holes 2122 may be disposed on the aperture plate 2121 on the optical axis Ao of the hollow pyramid prism, and the through-holes 2122 may be oriented on the optical axis Ao of the hollow pyramid prism.

In some examples, the size of the through hole 2122 may be smaller than the cross-sectional size of the laser beam, in which case at least a portion of the laser beam can be passed through the through hole 2122 and reach the reference layer 213 after passing through hole 2122 to form a second spot.

In some examples, referring to fig. 10, the target 21 may include a filter 2123, and the filter 2123 may be disposed between the aperture plate 2121 and the second position sensing unit 2131. In this case, light outside a specific wavelength range (for example, the wavelength of the laser beam formed by the laser emitting unit 12) can be filtered, thereby improving the detection accuracy of the laser beam orientation.

In some examples, the reference layer 213 may be provided with a second position sensing unit 2131, and the second position sensing unit 2131 may be configured to receive the laser beam passing through the through hole 2122.

In some examples, the second position sensing unit 2131 may have a photosurface, and in some examples, the photosurface of the second position sensing unit 2131 may be parallel to the plane of the slit Sc. In some examples, the photosurface of the second position sensing unit 2131 may be parallel to the plane of incidence Si. In some examples, the photosurface of the second position sensing unit 2131 may be perpendicular to the optical axis Ao of the target 21. In this case, since the light sensing surface is perpendicular to the two axes of the target coordinate system, the position of the second spot acquired by the second position sensing unit 2131 can be used to represent the posture of the target 21, and the calculation can be simplified.

In some examples, after the second position sensing unit 2131 receives the laser beam passing through the through hole 2122, it may be determined whether the target 21 is aligned with the laser emitting unit 12 based on a second spot formed by the laser beam on the photosurface of the second position sensing unit 2131.

In some examples, the second position sensing unit 2131 may record the position of the second light spot at the photosurface of the second position sensing unit 2131. In this case, the posture of the target 21 and the posture adjustment manner of the target 21 can be calculated based on the position of the second light spot on the light-sensing surface of the second position sensing unit 2131. Compared with the calculation mode that a plurality of light emitting devices are required to be arranged on the probe 2 in the prior art, the positions of the plurality of light emitting devices in the space are acquired by utilizing the gesture camera and the zoom optical lens arranged on the laser tracker 1, and the gesture of the target 21 is calculated based on the positions of the plurality of light emitting devices in the space, compared with the calculation mode that the gesture of the target 21 is calculated by using the second position sensing unit 2131, the gesture of the target 21 and the gesture adjustment mode of the target 21 do not need to be arranged on the probe 2, and the gesture camera and the zoom optical lens are not required to be arranged on the laser tracker 1, so that the manufacturing cost and the design cost can be effectively reduced, and the situation that the gesture of the target 21 is low in measurement precision due to the fact that the gesture camera and the zoom optical lens are difficult to focus because of the target 21 is too far is avoided.

In some examples, the pose adjustment of the target 21 may be determined based on the relative position between the second light spot and a second preset zero point of the second position sensing unit 2131, which may be located at the position of the second light spot when the target 21 is aligned with the laser emitting unit 12.

In some examples, the second position sensing unit 2131 is a position sensor (Position Sensitive Detector, PSD) or CCD (charge coupled device) camera.

In some examples, referring to fig. 8, the probe 2 may include a second tracking control unit, which may be configured to control the pose of the target 21 based on the sensed information acquired by the second position sensing unit 2131 to align the target 21 with the laser emitting unit 12. In this case, the target 21 can be driven by the second tracking control unit to align the target 21 with the laser emitting unit 12.

In some examples, referring to fig. 7 and 8, the second tracking control unit may include a third rotation mechanism 231 that controls rotation of the target 21 in a third direction D3. In this case, the rotation of the target 21 in the third direction D3 can be controlled by the third rotation mechanism 231 to track the laser tracker 1 in the third direction D3.

In some examples, referring to fig. 7 and 8, the second tracking control unit may include a fourth rotation mechanism 232 that controls rotation of the target 21 in a fourth direction D4. In this case, the target 21 can be controlled to rotate in the fourth direction D4 by the fourth rotation mechanism 232 to track the laser tracker 1 in the fourth direction D4.

In some examples, referring to fig. 7, rotation of the target 21 in the third direction D3 may refer to rotation of the target 21 in a third plane S3, the third plane S3 being perpendicular to the third rotation axis 2311, where the target 21 may rotate about the third rotation axis 2311.

In some examples, when the probe 2 is mounted to the target, with the surface of the target on which the probe mount 22 is mounted being the mounting surface, the third plane S3 may be parallel to the mounting surface. In other words, the third plane S3 is associated with a surface of the target on which the probe mount 22 is mounted as a mounting surface, and when the posture of the target is changed, the third plane S3 may also be changed, and when the target 21 rotates in the third direction D3, the third rotation axis 2311 may be perpendicular to the mounting surface.

In some examples, referring to fig. 7, rotation of the target 21 in the fourth direction D4 may mean that the target 21 may rotate within the fourth plane S4, the fourth plane S4 is not coincident with and parallel to the third plane S3, and the fourth plane S4 is perpendicular to the fourth rotation axis 2321, and the target 21 may rotate about the fourth rotation axis 2321.

In some examples, the fourth plane S4 may be a plane perpendicular to the slit plane Sc (or the photosurface of the second position sensing unit 2131), in other words, the fourth rotation axis 2321 may be parallel to the slit plane Sc (or the photosurface of the second position sensing unit 2131). In some examples, when the probe 2 is mounted to the target, with the surface of the target on which the probe mount 22 is mounted being the mounting surface, the fourth plane S4 may be perpendicular to the mounting surface. In other words, the fourth plane S4 is associated with a surface on the target for mounting the probe mount 22 as a mounting surface, and when the posture of the target is changed, the fourth plane S4 may also be changed, and when the target 21 rotates in the fourth direction D4, the fourth rotation axis 2321 may be parallel to the mounting surface.

In some examples, the third rotation axis 2311 may be perpendicular to the fourth rotation axis 2321. In other words, the third plane S3 may be perpendicular to the fourth plane S4.

In some examples, the axis A3 of the third rotation shaft 2311 may intersect the axis A4 of the fourth rotation shaft 2321, and an intersection of the axis A3 of the third rotation shaft 2311 and the axis A4 of the fourth rotation shaft 2321 may be taken as an origin of the target coordinate system. In this case, the calculation can be simplified, the calculation speed can be increased, the occurrence of calculation errors can be reduced, and the accuracy of calculation can be improved.

In some examples, the target coordinate system may be a coordinate system having an intersection point of the axis A3 of the third rotation shaft 2311 and the axis A4 of the fourth rotation shaft 2321 as an origin, a direction of the axis A3 of the third rotation shaft 2311 as a Z-axis direction, a direction of the axis A4 of the fourth rotation shaft 2321 as a Y-axis direction, and a direction perpendicular to the axis A3 of the third rotation shaft 2311 and the axis A4 of the fourth rotation shaft 2321 as an X-axis direction.

In some examples, the axis A3 of the third rotation shaft 2311 may intersect the axis A4 of the fourth rotation shaft 2321, and an intersection of the axis A3 of the third rotation shaft 2311 and the axis A4 of the fourth rotation shaft 2321 may be disposed at the vertex V of the mirror 2111 having the cutout. In this case, the calculation can be simplified, the calculation speed can be increased, the occurrence of calculation errors can be reduced, and the accuracy of calculation can be improved.

In some examples, referring to fig. 8, the third rotation mechanism 231 may include a third rotation shaft 2311, a third rotation chassis 2313, and at least one third support arm 2312 provided to the third rotation chassis 2313, and the target 21 may be provided to the third support arm 2312. In some examples, the third rotation mechanism 231 may include two third support arms 2312, and the target 21 may be disposed between the two third support arms 2312. In some examples, a third rotation mechanism 231 may be provided to the probe mount 22, and the third rotation mechanism 231 may include a third rotation shaft 2311, a third bearing 2314 mated with the third rotation shaft 2311, and a third support arm 2312 coupled to the third rotation shaft 2311. In this case, the third support arm 2312 can be rotated about the third rotation axis 2311 by the rotation of the third rotation axis 2311, and the target 21 can be rotated about the third rotation axis 2311 by the third support arm 2312.

In some examples, the third rotation mechanism 231 may control rotation of the target 21 in the third direction D3. In some examples, the third rotating chassis 2313 may be disposed to the third rotating shaft 2311, and the third rotating shaft 2311 may be disposed to the probe mount 22 through a third bearing 2314. In this case, the third rotation mechanism 231 can rotate by driving the third rotation shaft 2311 and driving the third rotation chassis 2313 provided on the third rotation shaft 2311 to rotate in the third direction D3, and thus can drive the target 21 provided on the third support arm 2312 to rotate in the third direction D3.

In some examples, the fourth rotation mechanism 232 may be provided to the third support arm 2312 of the third rotation mechanism 231 and be capable of driving the fourth rotation shaft 2321 to rotate in the fourth direction D4.

In some examples, the fourth rotation axis 2321 may be linked with the target 21. In this case, the target 21 can be driven to rotate in the fourth direction D4 by the fourth rotation mechanism 232. In some examples, the fourth rotation mechanism 232 may include a fourth rotation shaft 2321 that connects the target 21 and places the target 21 on the third support arm 2312, a fourth bearing 2322 that mates with the fourth rotation shaft 2321. In this case, the fourth rotation shaft 2321 is provided to the third support arm 2312 by the fourth bearing 2322, and further, the third support arm 2312 can be rotated about the third rotation shaft 2311 with the fourth rotation shaft 2321 and the target 21 provided to the fourth rotation shaft.

In some examples, the second tracking control unit may be configured to control the pose of the target 21 based on the sensed information acquired by the second position sensing unit 2131 to align the target 21 with the laser emitting unit 12. Specifically, in the second position sensing unit 2131, if the second light spot is far from the second preset zero point, it is considered that the target 21 is not aligned with the laser emitting unit 12, and the posture adjustment method of the target 21 can be calculated based on the relative position between the second light spot and the second preset zero point. In this case, the second tracking control unit can be caused to control the target 21 to reversely track the laser emission unit 12 based on the calculation result, and the relative position between the second light spot and the second preset zero point may refer to the position of the second light spot with respect to the second preset zero point.

In some examples, the second tracking control unit may be composed of a third rotation mechanism 231 and a fourth rotation mechanism 232. In this case, the target 21 can be controlled to rotate in two directions, the second tracking control unit composed of the third rotation mechanism 231 and the fourth rotation mechanism 232 can reduce the manufacturing cost and the design cost, and at the same time, in the case where the second tracking control unit is composed of the third direction D3 rotation and the fourth rotation mechanism 232, the target 21 can be controlled to be aligned with the laser emitting unit 12, and the attitude of the target 21 can also be obtained based on the calculation.

In some examples, the second tracking control unit may also be any person or object capable of changing the pose of the target 21, in particular, the manner of changing the pose of the target 21 may be automatic or manual.

In some examples, referring to fig. 8, the probe 2 may include a probe angle measurement unit, which may be configured to measure the rotation angle of the target 21 under the control of the second tracking control unit. In this case, the rotation angle of the target 21 can be obtained by the probe angle measurement unit, whereby the positional relationship between the posture of the target 21 and the posture of the probe 2 can be determined based on the rotation angle of the target 21, and the rotation angle of the target 21 with respect to the probe 2 can be obtained, and the spatial posture of the target can be calculated based on the rotation angle of the probe 2. In the process of rotating the target 21 by the second tracking control unit, that is, the process of controlling the target 21 to rotate relative to the probe mount 22, the posture of the probe 2 may be the posture of the probe mount 22 in the probe 2, and since the probe mount 22 is mounted on the target, the movement pattern of the probe mount 22 is synchronized with the movement pattern of the target, and thus the posture of the probe 2 may be the posture of the target. Meanwhile, since the target 21 is continuously aligned with the laser emitting unit 12 under the control of the second tracking control unit, the posture of the target 21 may be changed in synchronization with the direction vector of the laser beam. In other words, the rotation angle of the target 21 with respect to the probe 2 is acquired, that is, the change in the direction vector of the laser beam with respect to the target is acquired.

In some examples, referring to fig. 8, the probe angle measurement unit may include a first probe angle measurement unit 24 configured to measure a rotation angle of the target 21 rotating in the third direction D3 and a second probe angle measurement unit 25 configured to measure a rotation angle of the target 21 rotating in the fourth direction D4. In this case, the rotation angle of the target 21 in the third direction D3 and the rotation angle of the target in the fourth direction D4 can be obtained, and the direction vector of the laser beam in the target coordinate system can be calculated based on the rotation angle of the target 21 in the third direction D3 and the rotation angle of the target in the fourth direction D4.

In some examples, the probe angle measurement unit includes a grating disk and a reading head disposed on a rotating shaft. For example, the first probe angle measurement unit 24 may include a first probe grating disk 241 provided to the third rotation shaft 2311 and a first probe reading head 242 obtaining a rotation angle of the target 21 rotated in the third direction D3 based on the first probe grating disk 241. The second probe angle measurement unit 25 may include a second probe grating disk 251 provided to the fourth rotation shaft 2321 and a second probe reading head 252 obtaining a rotation angle of the target 21 rotated in the fourth direction D4 based on the second probe grating disk 251. In this case, the rotation angle of the third rotation axis 2311 or the fourth rotation axis 2321 can be measured by the probe angle measurement unit to calculate the direction vector of the laser beam in the target coordinate system.

In some examples, referring to fig. 8, the probe 2 may include a second gravitational alignment unit 26, the second gravitational alignment unit 26 may be configured to acquire a pose of the target, and in some examples, the second gravitational alignment unit 26 may be used to acquire at least one euler angle of the target. In some examples, the second gravity alignment unit 26 may be used to obtain pitch and roll angles of the target.

In some examples, the second gravitational alignment unit 26 may be configured to align the second direction information acquired based on the probe angle measurement unit to the target coordinate system. The second direction information acquired by the probe angle measurement unit may include a rotation angle at which the target 21 rotates in the third direction D3 and a rotation angle at which it rotates in the fourth direction D4.

In some examples, referring to fig. 8, a second gravity alignment unit 26 may be provided to the probe mount 22. In this case, since the probe mount 22 is mounted to the target, kept relatively stationary with respect to the target, the second gravity alignment unit 26 can be rotated without rotation of the target 21, can be kept stationary with respect to the target, and thus can measure the inclination angle of the target. In addition, compared to the scheme in which the second gravity alignment unit 26 is disposed on the target 21, that is, the scheme in which the second gravity alignment unit 26 is driven to rotate by the third rotation mechanism 231 or the fourth rotation mechanism 232, the dynamic response requirement of the second gravity alignment unit 26 can be reduced, so that the measurement accuracy of the second gravity alignment unit 26 can be improved, and the calculation process can be simplified.

In some examples, the second gravitational alignment unit 26 may be configured to calculate a transformation relationship between the target coordinate system and the target coordinate system by measuring an angle of inclination of the probe mount 22 or the third plane S3 with respect to the horizontal plane as a second angle of inclination. In this case, the direction vector of the laser beam in the laser tracker device coordinate system can be correlated with the direction vector of the laser beam in the target coordinate system. Meanwhile, since most parts of the probe 2, except the rotatable target 21, remain relatively stationary with the probe mount 22, the inclination angle of the probe mount 22 or the third plane S3 with respect to the horizontal plane may also refer to the inclination angle of the probe 2 with respect to the horizontal plane, and since the probe mount 22 is mounted to the target, the inclination angle of the probe mount 22 with respect to the horizontal plane may also be the inclination angle of the target with respect to the horizontal plane, for example, the pitch angle and roll angle of the target with respect to the horizontal plane may be the pitch angle and roll angle of the target. Meanwhile, since the transformation relationship between the target coordinate system and the target coordinate system can be obtained by using the euler angles (including pitch angle and roll angle and yaw angle) of the target, the yaw angle of the target can be calculated with the coordinates in the laser tracker device coordinate system, the direction vector of the laser beam in the target coordinate system, the pitch angle of the target and the roll angle of the target being known.

In some examples, taking the example that the second gravity alignment unit 26 includes two single-axis inclinometers, and the sensitive axes of the two single-axis inclinometers are orthogonal, the second gravity alignment unit 26 may include a first inclinometer 26a and a second inclinometer 26b, wherein the sensitive axes of the first inclinometer 26a and the second inclinometer 26b may be in the same plane, the plane in which the sensitive axes of the first inclinometer 26a and the second inclinometer 26b lie may be perpendicular to the third rotation axis 2311, the sensitive axis of the first inclinometer 26a may be parallel to the fourth rotation axis 2321, and the sensitive axis of the second inclinometer 26b may be perpendicular to the fourth rotation axis 2321. In other words, the second gravity alignment unit 26 may include a first inclinometer 26a and a second inclinometer 26b, the installation direction of the first inclinometer 26a may be perpendicular to the extension direction of the rotation axis of the third rotation mechanism 231, the installation direction of the second inclinometer 26b may be parallel to the extension direction of the rotation axis of the fourth rotation mechanism 232, and the installation direction of the first inclinometer 26a may be perpendicular to the installation direction of the second inclinometer 26 b. In this case, since the sensitive axis of the second gravity alignment unit 26 is matched with the rotation axis of the second tracking control unit, it is possible to simplify the transformation formulas of the target coordinate system and the target coordinate system, to improve the calculation speed, and to improve the accuracy of measurement. Meanwhile, the second inclination angle measured by the first inclinometer 26a can be made the pitch angle of the probe mount 22 (target), and the second inclination angle measured by the second inclinometer 26b can be made the roll angle of the probe mount 22 (target).

In some examples, the direction vector of the laser beam may satisfy:

wherein,,representing the direction vector of the laser beam in the target coordinate system, is->The transformation relation between the target coordinate system and the target coordinate system can be obtained by the inclination angle of the probe relative to the horizontal plane. />The direction vector representing the laser beam in the target coordinate system can be obtained by the rotation angle of the target 21.

Wherein,,the direction vector representing the laser beam in the coordinate system of the laser tracker device can be obtained by the rotation angle of the laser emitting unit 12,/v>The transformation relationship between the laser tracker device coordinate system and the target coordinate system is represented and can be obtained by the inclination angle of the laser tracker 1 with respect to the horizontal plane.

In some examples, the gesture detection system may also establish the equation by other means, for example, the gesture detection system may comprise a gesture measurement unit, wherein the gesture measurement unit may be provided independently of the laser tracker 1 and the target 21, and the gesture measurement unit may be configured to determine the gesture of the laser emitting unit 12 and the gesture of the target, thereby enabling to determine the target coordinate system and the laser tracker device coordinate system, and thereby enabling to determine a transformation equation between the target coordinate system and the laser tracker device coordinate system based on the gesture of the laser emitting unit 12 and the gesture of the target 21. In other words, the attitude detection system may be configured not to provide the first gravity alignment unit and the first gravity alignment unit 26, and obtain a conversion formula between the target coordinate system and the laser tracker device coordinate system by the attitude measurement unit, and establish an equation based on the direction vector of the laser beam in the target coordinate system, the direction vector of the laser beam in the laser tracker device, and the conversion formula.

While the disclosure has been described in detail in connection with the drawings and examples, it is to be understood that the foregoing description is not intended to limit the disclosure in any way. Modifications and variations of the present disclosure may be made as desired by those skilled in the art without departing from the true spirit and scope of the disclosure, and such modifications and variations fall within the scope of the disclosure.

Claims (10)

1. A posture detection system for obtaining a posture of a target, characterized by comprising:

a laser tracker and a probe arranged on the target,

the laser tracker includes: a laser emitting unit configured to emit a laser beam, a first tracking control unit configured to control an emitting direction of the laser emitting unit so that the laser emitting unit tracks the probe, and a tracking head angle measuring unit configured to measure a rotation angle of the laser emitting unit;

the probe includes: a target configured to reflect a laser beam or a divergent beam and having a through hole, a second tracking control unit configured to control the target to rotate in two different directions to align the target with the laser emitting unit, and a probe angle measuring unit configured to measure a rotation angle of the target.

2. The gesture detection system of claim 1,

the first tracking control unit comprises a first rotating mechanism for controlling the laser emission unit to rotate along a first direction and a second rotating mechanism for controlling the laser emission unit to rotate along a second direction, wherein the first rotating mechanism comprises a first rotating shaft, a first bearing, a first rotating chassis and at least one first supporting arm, the first rotating shaft is arranged on the first rotating chassis, the first rotating shaft is arranged on a base of the laser tracker through the first bearing, and the second rotating mechanism comprises a second rotating shaft connected with a measuring host machine and a second bearing for arranging the second rotating shaft on the first supporting arm.

3. The gesture detection system of claim 2,

the laser tracker includes a tracking head angle measurement unit including a first tracking head angle measurement unit configured to measure a rotation angle of the laser emitting unit rotating in the first direction and a second tracking head angle measurement unit configured to measure a rotation angle of the laser emitting unit rotating in the second direction.

4. The gesture detection system of claim 2,

the laser tracker comprises a first gravity alignment unit, wherein the first gravity alignment unit is configured to acquire a first inclination angle, the first inclination angle is configured to align first direction information acquired by the tracking head angle measurement unit to a target coordinate system, and the first direction information comprises a rotation angle of the laser emission unit rotating along the first direction and a rotation angle of the laser emission unit rotating along the second direction.

5. The gesture detection system of claim 1,

the laser tracker comprises a plurality of laser emission units, wherein the plurality of laser emission units comprise a first laser emission unit used for absolute ranging and a second laser emission unit used for interference ranging, the first laser emission unit is configured to emit a first laser beam, the second laser emission unit is configured to emit a second laser beam, the second laser beam sequentially passes through a beam splitting unit and a reflecting unit and reaches a beam combining unit, the light path of the first laser beam and the light path of the second laser beam are coupled through the beam combining unit and are emitted from the laser tracker, the second laser beam reflected by the probe is made to be a second reflected laser beam, the beam splitting unit is configured to receive the light of the second reflected laser beam and reflect the second reflected laser beam to a first position sensing unit, and the first position sensing unit is configured to receive the second reflected laser beam reflected by the probe so as to judge whether the laser emission unit is aligned with the target.

6. The gesture detection system of claim 1,

the laser tracker includes a light emitting unit configured to emit a divergent light beam, and a target capturing unit configured to receive the divergent light beam reflected via the probe, the first tracking control unit being configured to control a posture of the laser emitting unit based on the divergent light beam acquired by the target capturing unit to align the laser emitting unit to the target.

7. The gesture detection system of claim 1,

the second tracking control unit comprises a third rotating mechanism for controlling the target to rotate along a third direction and a fourth rotating mechanism for controlling the target to rotate along a fourth direction, the third rotating mechanism comprises a third rotating shaft, a third rotating chassis and at least one third supporting arm arranged on the third rotating chassis, and the target is arranged on the third supporting arm.

8. The gesture detection system of claim 7,

the probe angle measurement unit includes a first probe angle measurement unit configured to measure a rotation angle of the target rotating in the third direction and a second probe angle measurement unit configured to measure a rotation angle of the target rotating in the fourth direction.

9. The gesture detection system of claim 7,

the probe comprises a probe mounting seat for setting the probe on the target and a second gravity alignment unit for setting the probe mounting seat, wherein the second gravity alignment unit is configured to acquire a second inclination angle of the probe, the second inclination angle is configured to calculate a transformation relation between a target coordinate system and the target coordinate system, the second gravity alignment unit comprises a first inclinometer and a second inclinometer, the mounting direction of the first inclinometer is perpendicular to the extending direction of a rotating shaft of the third rotating mechanism, the mounting direction of the second inclinometer is parallel to the extending direction of the rotating shaft of the fourth rotating mechanism, and the mounting direction of the first inclinometer is perpendicular to the mounting direction of the second inclinometer.

10. The gesture detection system of claim 1,

the target comprises a prism layer, an intermediate layer and a reference layer, wherein the intermediate layer is arranged between the prism layer and the reference layer, the prism layer is provided with a reflecting mirror with a notch, the intermediate layer is provided with a small pore plate with a through hole, the reference layer is provided with a second position sensing unit, and the second position sensing unit is configured to receive a laser beam passing through the through hole.