Real-time measurement device and method for dynamic positions and poses

Abstract

The invention discloses a real-time measurement device for dynamic positions and poses. The real-time measurement device for the dynamic positions and poses can be applied to real-time accurate position and pose measurement of a to-be-measured object in a dynamic environment and comprises a datum emission and transmission system, a dual-screen laser imaging system, a binocular visual inspection system and a data processing system, wherein the datum emission and transmission system provides three-dimensional angle datum for position and pose measurement by utilizing cross-line laser and a distance between a measured object and the measurement datum is obtained through combination with a distance measurement function; the dual-screen laser imaging system receives the cross-line laser and performs imaging on receiving screens; the binocular visual inspection system shoots cross-line laser images on the two receiving screens in real time and extracts position information of the cross-line laser center under the image coordinate system and an included angle between the cross horizontal line and a horizontal axis of the image coordinate system; the data processing system comprehensively processes data information of each system and calculates real-time positions and poses of the measured object relative to the measurement datum. The real-time measurement device is high in measurement precision, adjustable in measuring range and precision and suitable for measuring object positions and poses in a vibration environment.

Description

technical field [0001] The invention relates to a dynamic pose real-time measurement system, which can be used for accurate real-time pose measurement of a target to be measured in a dynamic environment. Background technique [0002] Pose measurement is an important part of geometric measurement, including three-dimensional angle measurement and three-dimensional position measurement, which is widely used in precision manufacturing, aerospace, military and communication fields, among which the real-time online measurement technology of dynamic pose is getting more and more attention . At present, there are only measurement systems and methods for measuring variable angles in static environments, mainly as follows: [0003] (1) Based on the dynamic angle measurement method of the Michelson interferometer, when the rotation angle is small, the optical path change and the angle change are approximately linear, and higher precision can be obtained. As the rotation angle increa...

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Problems solved by technology

As the rotation angle increases, the linear relationship is no longer valid, resulting in a sharp increase in various errors, the measurement range is limited to within a few degrees, and the laser interferometer must be prevented from being used in a dry, clean and vibration-free environment

There are problems such as the mutual restriction of measurement accuracy and range, and it cannot adapt to harsh environments such as outdoor strong light, humidity and vibration

[0004] (2) Dual fixed-value angle interferometer angle measurement system can realize high-precision measurement of any angle within the range of 0-360°, and the measurement uncertainty is better than 0.3 arc seconds, but this method has key equipment processing for fixed-value angles Difficult problems, and the system is too complex for practical application

[0005] (3) The method of laser heterodyne interferometry angle measurement system, such as the dual-frequency laser wedge-shaped plate interferometry system designed on the basis of this principle, can measure the rotation angle within the range of 360°, with a resolution of 0.1 arc seconds, to eliminate 90 ° and 270° two dead points, using two sets of optical paths perpendicular to each other, the structure is very complicated, the installation and adjustment of the optical path is difficult, and the practical application is limited

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