【作者】 赵树忠；

【导师】 张国雄；

【作者基本信息】 天津大学 ， 测试计量技术及仪器， 2007， 博士

【摘要】 近年来,在工业、国防等领域中出现了越来越多的大尺度三维坐标测量需求,为此人们研制出了各种测量系统。在这些测量系统中,基于多边法的激光跟踪三维坐标测量系统以其高精度、大范围、柔性、动态、现场测量、自标定、丢光信息自恢复等一系列优点受到了人们的重视。在国家自然科学基金委员会的资助下(项目编号59875064),我们研制了一种四路激光跟踪三维坐标测量系统。本论文主要围绕提高系统三维坐标测量精度这一问题进行了研究,所完成的主要工作及创造性研究包括:1.对国内外三维坐标测量技术特别是激光跟踪三维坐标测量技术的发展与现状进行了广泛的调查研究,分析了四路激光跟踪三维坐标测量系统的工作原理以及主要功能特点,介绍了系统主要组成部分的设计思想。2.设计了第II代、第III代基于独立式双轴驱动原理的拨杆支承式单转镜跟踪机构,通过原理、结构、工艺等方面的改进,使跟踪机构的精度得到了提高。3.设计了基于独立式双轴驱动原理的半球支承式单转镜跟踪机构。选用形状精度很高的标准钢球制作半球并为镜面偏心、光斑位置设置了调节装置,有利地保证了跟踪机构的精度。4.提出了对猫眼光学误差进行测量,继而根据测量结果在自标定及坐标测量过程中对其进行修正的思想,研究出一种简单实用的猫眼光学误差的测量方法、相应的测量数据处理方法以及在自标定和三维坐标测量时对猫眼光学误差进行修正的方法。5.对系统的三维坐标测量精度进行了全面、细致的分析,分析了各种误差因素对系统三维坐标测量精度的影响。6.对自标定及三维坐标测量过程中的系统布局进行了进一步的研究,通过仿真对比得到了一种使系统参数误差更小的自标定方案。对跟踪范围受限情况下的系统布局进行了研究。7.针对有关研究内容进行了相应的实验和仿真。更多还原

【Abstract】 In recent years, more and more 3D coordinate measurement requirements have appeared in the fields such as industry, national defense, etc, therefore various kinds measuring systems have been developed. Among these systems, more and more attentions have been paid to the laser tracking 3D coordinate measuring system based on multi-lateration principle for its advantages such as high accuracy, large measuring range, flexibility, dynamic measurement, in-situ measurement, self-calibration, lost information recovery. With the financial support from the National Natural Science Foundation of China (project contract No. 59875064), a four-beam laser tracking 3D coordinate measuring system has been developed by our research group.In this dissertation, a study on the enhancement of the coordinate measurement accuracy of the system is carried on. The main work and creative research fulfilled in the dissertation include:1. Extensive investigations on the progress and status quo both at home and aboard about 3D coordinate measuring techniques, especially about laser tracking 3D coordinate measuring techniques, are carried out. Working principle and main functional characteristics of the four-beam laser tracking 3D coordinate measuring system are analyzed. Design considerations of the main subassemblies of the system are introduced.2. The 2nd and 3rd generations of the folk-supporting tracking mechanism with a single tracking mirror and two independent drives are designed. By improving the principle, structures and techniques, the accuracy of the tracking mechanism is enhanced.3. A hemisphere-supporting tracking mechanism with a single tracking mirror and two independent drives is designed. A steel ball which has high form accuracy is used to produce the hemisphere and components to adjust the mirror eccentricity and the position of the laser spot is configured. These measures enhance the accuracy of the tracking mechanism significantly.4. The idea that measuring optical error of the cat’s eye retro-reflector and then compensating it in the process of self-calibration and coordinate measurement according to the measured result is proposed. A simple and practical measuring method to measure the optical error of the cat’s eye and associated data processing method, a method to correct the optical error of the cat’s eye in the process of self-calibration and coordinate measurement, are proposed.5. An overall and detail analysis for various error factors which affect the 3D coordinate measurement accuracy of the system is carried out.6. Further studies on system arrangements of self-calibration and 3D coordinate measurement are carried out. Through simulation and comparison, a new self-calibration plan is proposed which can make errors of systematic parameters smaller. Based on above, system arrangements when tracking range is limited is studied.7. Corresponding experiments and simulations are done according to associated studies.更多还原