一种基于脉冲光时钟同步的自动旋转激光经纬仪系统

Rotary-laser Automatic Theodolites System with Laser Pulse Based Clock Synchronization

旋转自动激光经纬仪(Rotary-laser automatic theodolite,R-LATs)作为一种离散式大尺寸空间测量系统,在大型装备的制造与智能制造场景中有着广阔的应用前景。在分析传统R-LATs系统测量原理的基础上,指出其无法保证整个测量场中多个传感器之间计数时钟的统一,限制其面向动态测量任务的多传感器并行测量能力。为此,设计出基于脉冲光时钟同步的R-LATs架构与测量数学模型,通过向全测量场发射具有可辨识时间戳的同步基准脉冲光,基于对齐具有相同时钟戳的光脉冲实现全部传感器计数时钟的传播与同步。进而为确保同步基准脉冲光机制的简洁可靠,设计出基于等差数列循环编码的同步基准脉冲光工作编码与解码算法。最后通过R-LATs的测量试验的传感器时序脉冲数据分析,证明了基于脉冲光时钟同步R-LATs的有效性。

Rotary-laser automatic theodolite(R-LATs)is a distribute large-scale metrology system,taking promising applications in large-scale manufacturing and smart workshop.In the basis of analyzing the work principle of traditional R-LATs,one can point out the drawback that lacking the clock synchronization for all sensors,limiting the application of R-LATs in dynamic measurement activities.To overcome this limitation,the systematic configuration and measurement model for R-LATs with laser pulse based clock synchronization is developed.With help of emitting the synchronous laser pulse taking distinguishable time stamp,the clocks of all sensors are propagated and synchronized via aligning their pulse with same time stamp.Furthermore,the detail encoding and decoding algorithm of synchronization schema are studied,in which a cyclic arithmetic sequence is taken to enhance its robustness and simplicity.At last,the alignment of time series of all sensors of a measurement experiment is investigated to verify the effectiveness of developed R-LATs with clock synchronization based on laser pulse.