| 唐晓1， 阮少伟1， 高捷1， 王婵媛1， 刘舒阳1， 吴贤欢2， 马俊俊3， 祖洪飞3*.激光跟踪仪测量系统主动靶球装置设计及测试[J].轻工机械,2024,42(1):21-26 |
| 激光跟踪仪测量系统主动靶球装置设计及测试 |
| Design and Test of Active Spherically Mounted Retroreflector Device of Laser Tracker Measuring System |
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| DOI：10.3969/j.issn.1005 2895.2024.01.004 |
| 中文关键词: 激光跟踪仪 激光靶球 对光 断光 STM32单片机 |
| 英文关键词:laser tracker SMR（spherically mounted retroreflector） aligning laser laser interruption STM32 |
| 基金项目:佛山市自筹经费类科技创新项目（2220001005565）；宁波市重点研发计划暨"揭榜挂帅"项目（2023Z135）；宁波市重点研发计划暨"揭榜挂帅"项目(2023Z131）。 |
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| 中文摘要: |
| 针对目前激光跟踪仪测量工作中靶球容易断光、需要人工引导激光的问题，课题组设计出了一种能够自动对光的主动激光靶球(spherically mounted retroreflector，SMR)装置。基于STM32系列单片机实现了控制电路的设计，通过实时检测跟踪仪的转角以及靶球自身的自转角度，能够准确计算出靶球收光口与跟踪仪出射激光之间的偏角，进而控制步进电机带动靶球作相应的旋转实现对光；将主动靶球装置安装在4足机器人上进行了性能测试。研究结果表明使用该主动靶球装置可以有效减少激光跟踪仪断光次数，提高了跟踪仪在机器人在线检测等领域的测量效率，具有良好的实用性。 |
| 英文摘要: |
| Aiming at the problem that the spherically mounted retroreflector(SMR) is easy to break laser in the measurement work of laser tracker and the need of manual laser guidance, a device named active SMR device which can automatically align the laser was designed. The design of the control circuit was realized based on the STM32 series microcontroller. By continuously monitoring the tracking angle of the laser tracker and the self rotation angle of the SMR, the angular deviation between the SMR and the incident laser of the tracker was calculated accurately. Subsequently, the control over the reverse rotation of the SMR was achieved to align the laser. The active SMR device was integrated onto a quadruped robot for performance testing. The research outcomes underscore that the utilization of the proposed active SMR device effectively mitigates times of laser tracker laser interruption, enhances the measurement efficiency of the tracker in fields such as online robot inspection, underscoring its strong feasibility and practical utility. |
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