KEYWORDS: Laser scanners, 3D scanning, Point clouds, Laser marking, 3D imaging standards, Data modeling, Cameras, Scanners, Imaging systems, Analytical research
In order to improve the accuracy of scanner measurement standard apparatus, a scanner measurement optimization method based on cluster analysis is proposed in the paper. The method firstly constructs a marker point layout with redundant information on the basis of the traditional scanner measurement of standard apparatus, and collects the measurement information of standard apparatus under this layout by a 3D laser scanner, and then optimizes the initial marker point layout by using a weight-based optimization strategy for the measurement results, and then performs the re-fitting of the length parameter of the standard apparatus under the optimized layout, and outputs the final standard apparatus measurement Finally, based on this optimization scheme, an experimental analysis of a 38.1 mm standard ball is carried out and compared with the CMM method with higher accuracy, which verifies that the optimized layout has an important impact on improving the measurement accuracy of the standard ball. The optimization method provides a new calibration scheme for realizing the quantity and value traceability of high-precision large-size 3D laser scanner, which is of good practicality and certain guiding significance.
Aiming at the motion control algorithm of 5-axis industrial robot, this paper establishes a suitable position error analysis model for a KUKA 2700 robot. Based on the variable relationship between the end error of the robot and the parameters of each joint, an approximate compensation method using error mapping is designed based on computer software and numerical simulation tools, which realized the compensation of the position error of the robot and improved the positioning accuracy of the robot. This method is also suitable for error compensation of other mechanism types of robots, and has important application value in robot precision control.
In order to improve the accuracy of the traditional laser tracking interferometric length measurement method and make the traceability of the datum ruler more reliable, a datum ruler measurement optimization method under multi-attitude is proposed in the paper. The method firstly constructs a multi-attitude datum ruler layout on the basis of traditional laser tracking interferometric length measurement, and collects the measurement information in different datum ruler directions under the layout by a laser tracker, and then adopts the weight-based optimization strategy to optimize the combination of measurement data, and then outputs the measurement results and carries out the analysis of the error source and the evaluation of the uncertainty, and finally conducts experimental analysis on the datum ruler with an accuracy of 1000mm based on the optimization scheme. Finally, based on this optimization scheme, an experimental analysis is carried out on the 1000mm datum ruler, and compared with the CMM method with higher accuracy, the En value is 0.1, which verifies the reasonableness of the uncertainty assessment, and it is found through experimental comparisons that the reference lengths output from the measurement optimization scheme with multiple postures are more reliable than those with single postures. The optimization method provides a new calibration scheme for achieving the traceability of the measurement value of high-precision large-size reference ruler, which has good practicality and certain guiding significance.
Due to the excellent dynamic measurement capability of laser tracker, a combination of multiple laser trackers has the possibility of synchronously and dynamically measuring multiple targets. However, there is still an issue that measurement data from multiple laser trackers must be unified not only on the spatial coordinate system but also on the time reference. This paper studies a dynamic combined measurement method of multiple laser trackers. Firstly, the methods of the coordinate frames alignment, the time references unification and the uncertainty evaluation are studied. Secondly, the hardware and software designs of the dynamic combined measurement system are introduced in detail. Finally, the dynamic combined measurement of multiple laser trackers was applied to the test of the master-slave control delay time of the master-slave control RA equipment, and the experimental results demonstrate its feasibility.
In order to improve the robustness of the traditional laser tracking interferometry method and make the calibration results of the one-dimensional standard more accurate and reliable, a laser tracking interferometry calibration optimization method in multiple attitudes is proposed in this paper. The method firstly constructs a multi-stance 1D standard layout based on the traditional laser tracking interferometric length measurement, and collects measurement information under different attitudes by laser tracker, then uses a weight-based calibration result optimization strategy to optimize the combination of measurement data, and then outputs the calibration results and performs error source analysis and uncertainty assessment. The experimental analysis was carried out and compared with the CMM method, and the En value was 0.1, which verified the reasonableness of the uncertainty assessment, and the comparison with the measurement results of the CMM method showed that the calibration optimization scheme for multiple poses was more reliable than that for single poses. The optimized method provides a new calibration scheme for realizing the quantity traceability of high-precision one-dimensional standard, which has good practicality and certain guiding significance.
High precision photoelectric angle encoder is a key component of intelligent angle measuring with strategic significance. A special fixture and adjustment measurement method is proposed, which can effectively solve many problems such as eccentricity, tower difference error and rotation interference caused by the direct fixation of rotating shaft (mover) and driving shaft during measurement. An automatic calibration system is also setup, which can realize many measurement schemes, such as direct calibration of turntable, polyhedral prism calibration and permutation comparison calibration. The measurement accuracy of the system is verified by comparison experiments and repeatability experiments. The measurement uncertainty of the optimal angular division error can reach 0.15 "(k = 2).
KEYWORDS: Calibration, Interferometers, Data fusion, Detection and tracking algorithms, Testing and analysis, Visualization, Systems modeling, Standards development, Reliability, Manufacturing equipment
A traceable accuracy test method of multi-instrument cooperative measurement system is studied. Here a precise angle dividing table and a linear guide with a laser interferometer are used as standards to test the cooperative measurement’s external parameters. And the coordinates of common points and uncommon points are tested by the scale bars. This testing method is illustrated with a cooperative measurement system composed of two laser trackers. It is obvious that this method can intuitively test the accuracy of the multi-instrument cooperative measurement’s external parameters and coordinates. This method is not restricted by the measurement principle, the data fusion algorithm and the measurement targets of the cooperative system, and it is suitable for various non-fixed layout cooperative measurement system.
Nowadays most commercial measurement software only indirectly evaluates the accuracy of the cooperative measurement and lacks intuitiveness. Therefore an accuracy evaluation method of the cooperative measurement is studied so that the transformation parameters’ error and the final results’ error in the cooperative measurement are directly quantified. And customized software is developed which is used to quickly and easily evaluate and visually display the accuracy of the cooperative measurement in the industrial field. Finally an experiment with two laser trackers is conducted to prove the accuracy evaluation method and the software of cooperative measurement. It is obvious that the accuracy evaluation method is feasible and the accuracy evaluation software is user-friendly
Most 3D body scanners adopt a structure with multiple scanning sensors on the fixed frame to perform synchronous scanning from multiple directions of the human body. The position and attitude parameters of the multiple scanning sensors are the key to determining the 3D model stitching, and they are often calibrated when the scanner is installed. Any changes in these parameters of sensors will make model stitching errors and affect scanning accuracy. This paper studies a method for judging faults of 3D body scanner based on standard sphere. By scanning a standard sphere and observing the splicing deformation of the 3D model, it can determine whether the scanner's structure has changed, and identify which sensor has moved or rotated. Then the user can be guided to choose the appropriate calibration steps to compensate the scanner. Experiments prove that this method is a quick and effective intermediate check method of the 3D body scanner.
KEYWORDS: Standards development, Laser scanners, Calibration, Spherical lenses, Prisms, 3D metrology, Optical spheres, 3D acquisition, 3D scanning, Data centers
The spherical target is the standardization target of the laser scanner performance evaluation commonly used by international metrology institutions. How to obtain the spherical center coordinates of the target by using a higher precision class instrument is an important prerequisite for realizing the spatial performance calibration of the laser scanner. A split target set is proposed, which can be concentric with the laser scanner target by machining and adjusting. The extended uncertainty of the reference distance formed by the split target sets can reach 0.07 mm under the effective length of 3 m, which can be effectively applied to the spatial distance indication error calibration of the laser scanner.
To ensure the traceability of coordinate measurements made by large-scale measurement instrument, the direct evaluation based on three dimensional coordinates has been a new trend instead of the traditional verification by the measurement of lengths. This paper proposes a general large-scale coordinate evaluation manner and studies some key technical problems in detail. Firstly, a three dimensional reference standard is established and multilateration is applied to ensure direct traceability of the reference values to a length standard. Secondly, the coordinate reference values and their uncertainties after transformation are calculated. Thirdly, the Measuring Capacity Index ( Cm ) is calculated and some strategies for increasing Cm are recommended. Finally, the evaluation process is demonstrated with several experiments.
Accurate and traceable reference coordinates in three-dimensional space is the key and difficult point for coordinate calibration of large-scale measurement instruments such as laser tracker and iGPS. This paper studies the application of multilateration with laser tracker in establishing reference coordinates. First, a reference coordinate network is established, which has good spatial scalability and is compatible with multiple targets. Then, multilateration with laser tracker is applied to calibrate the reference coordinate network. And the basic principle, measurement uncertainty evaluation and tracker layout optimization are studied in detail. So that the reference coordinates are traced to the laser interference. Finally, through the repeatability test, length test, and coordinate test, it is shown that the reference coordinates satisfy their measurement uncertainty range and can be used for coordinate calibration of the large-scale measurement instruments.
The network geometry strongly influences the performance of the distributed system, i.e., the coverage capability, measurement accuracy and overall cost. Therefore the network placement optimization represents an urgent issue in the distributed measurement, even in large-scale metrology. This paper presents an effective computer-assisted network placement optimization procedure for the large-scale distributed system and illustrates it with the example of the multi-tracker system. To get an optimal placement, the coverage capability and the coordinate uncertainty of the network are quantified. Then a placement optimization objective function is developed in terms of coverage capabilities, measurement accuracy and overall cost. And a novel grid-based encoding approach for Genetic algorithm is proposed. So the network placement is optimized by a global rough search and a local detailed search. Its obvious advantage is that there is no need for a specific initial placement. At last, a specific application illustrates this placement optimization procedure can simulate the measurement results of a specific network and design the optimal placement efficiently.
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