支持工业以太网接口的激光跟踪仪在线实时测量系统

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Title:

Online real-time measurement system of laser tracker supporting interface of industrial ethernet

作者:

肖文磊, 王翔宇, 张鹏飞, 赵罡

北京航空航天大学 机械工程及自动化学院, 北京 100191

Author(s):

XIAO Wenlei, WANG Xiangyu, ZHANG Pengfei, ZHAO Gang

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

关键词:

激光跟踪仪; 现场总线; 在线; 实时; 嵌入式系统; 自动化控制; 激光应用; 总线传输

Keywords:

laser tracker; fieldbus; on-line; real-time; embedded systems; automation control; laser applications; bus transportation

分类号:

TP271

DOI:

10.11992/tis.201611001

摘要:

激光跟踪仪是常用的大尺寸空间测量设备之一，测量精度高，便携性好，被广泛应用于工业生产过程。目前激光跟踪仪一般通过第三方软件进行控制，测量数据也通过第三方软件离线处理，具有很大的局限性，无法用于实时反馈被测对象的空间坐标信息。基于激光跟踪仪提供的底层用户函数（tracker programming interface，TPI），用户可以自行设计应用程序操作激光跟踪仪。EtherCAT是IEC61158现场总线标准之一，具有极高的稳定性和实时性。结合激光跟踪仪程序开发和EtherCAT从站开发，利用嵌入式系统和EtherCAT从站控制器，从系统的设计到实现，将激光跟踪仪开发成为一个EtherCAT激光跟踪仪从站，实现了激光跟踪仪在现场工业以太网总线中的在线实时测量，扩展了其应用领域，最后实验验证了数据实时性达到了预期的100 ms的周期，并且稳定可靠。

Abstract:

Laser tracker is one of the commonly used coordinate measurement machines(CMM) in large space that has good portability and a high precision, thus it is widely used in industrial production process. However, Laser tracker is usually controlled by the third party software and the measurement data are also processed offline by the third party software, therefore, its application is restrictive and it is hard to feed back the space coordinates of the measured object in real time. Based on tracker programming interface (TPI) provided by the laser tracker providers, users can design customized applications to operate the laser tracker for meeting the specific requirements. EtherCAT is one of the standard IEC61158 fieldbuses, it has extremely high stability and real-timeness. Combining laser tracker program development with the development of EtherCAT slave station, by using the embedded system and EtherCAT Slave Controller (ESC), this paper proposed a new way from design to implementation that makes laser tracker become a EtherCAT laser tracker slave station, the online real-time measurement of laser tracker in fieldbus was realized and the application field was extended. The experiments verified that the data real-timeness reached the expected 100 ms cycle, it was stable and reliable.