CN108332708B - Automatic detection system and detection method for laser level meter - Google Patents
Automatic detection system and detection method for laser level meter Download PDFInfo
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- CN108332708B CN108332708B CN201810270383.2A CN201810270383A CN108332708B CN 108332708 B CN108332708 B CN 108332708B CN 201810270383 A CN201810270383 A CN 201810270383A CN 108332708 B CN108332708 B CN 108332708B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention provides an automatic detection system of a laser level meter, which comprises: the vertical detection station is used for detecting vertical laser lines, and a pentaprism is arranged on the station to deflect the vertical laser lines into horizontal laser lines; the horizontal detection station is used for detecting horizontal laser lines; the optical collimator is internally provided with an objective lens and a reticle, the objective lens is opposite to the reticle in position, and a laser line passes through the objective lens and then is projected on the reticle; the camera is used for collecting laser images on the reticle; the camera is connected with the computer, and the computer is used for analyzing and calculating images acquired by the camera. The technical scheme of the invention can automatically and accurately measure the angles of the vertical laser line and the horizontal laser line emitted by the laser level meter, greatly shortens the test time, improves the efficiency, simultaneously realizes the measurement of the vertical laser line and the horizontal laser line by a set of optical collimator and a camera, reduces the cost and reduces the space arrangement of the detection equipment.
Description
Technical Field
The invention belongs to the fields of optical detection, machine vision and the like, and particularly relates to automatic detection equipment and a detection method for detecting an emergent laser line of a laser level.
Background
The laser level meter can emit laser rays, project the laser rays on a target object, generate horizontal or vertical lines for reference, and has wide application in the fields of engineering, construction, decoration and the like. The angle of the laser beam emitted by the laser level meter is the angle formed by the laser beam and the horizontal plane or the vertical plane of the emitting point, is an important index for measuring the precision of the laser level meter, and is usually used as a final inspection item on a laser level meter production line to ensure that the product has qualified quality after being processed and assembled. At present, the laser level gauge produced at home is judged by a mode of artificial naked eye observation, the accuracy and repeatability are difficult to be ensured, and the detection efficiency is quite low.
The optical collimator is a measuring instrument for measuring by utilizing the principle of auto-collimation of light, can convert angle measurement into linear measurement, and is widely used for measuring accuracy such as small angle, flatness, parallelism and the like. The angle of the emergent laser line of the laser level meter is measured by utilizing the optical collimator, so that the measuring accuracy can be greatly improved. The machine vision is to convert the target into a digital image signal by an image pickup device, and acquire the characteristics of the target according to the information such as pixel distribution, morphology, brightness, color and the like, so as to judge the target. The machine vision is used for replacing the manual vision, so that the automation degree of the mass repeated industrial production process can be improved. The machine vision technology is widely applied in the fields of industrial manufacturing and intelligent detection. If the machine vision technology can be applied in the detection process of the laser level meter, the detection precision and efficiency can be greatly improved, so that further research on the technology is necessary.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a system for detecting laser lines exiting a laser level using an optical collimator and a machine vision system.
To achieve the above and other related objects, the present invention provides an automatic laser level detection system, comprising: the vertical detection station is used for placing a laser level to be detected, and a pentaprism is arranged on the vertical detection station and can deflect a vertical laser line into a horizontal laser line so as to detect the vertical laser line; the horizontal detection station is used for placing a laser level to be detected and detecting horizontal laser lines; the optical collimator is internally provided with an objective lens and a reticle, the objective lens is opposite to the reticle in position, the pentaprism and the laser line emergent point of the laser level to be measured on the level detection station are positioned at the same height with the axis of the optical collimator, and a horizontal laser line is projected on the reticle after passing through the objective lens; the camera is used for collecting laser images on the reticle; the computer is used for analyzing and calculating the image acquired by the camera to obtain the emergent angle of the laser line.
Preferably, a turntable is arranged on the horizontal detection station.
Preferably, the turntable is connected with the first up-down position adjusting mechanism.
Preferably, the pentaprism is connected with a second up-down position adjusting mechanism.
Preferably, the vertical detection station and the horizontal detection station are respectively provided with a positioning pin which is matched with a positioning hole at the bottom of the laser level to be detected.
The invention also discloses a detection method adopting the automatic detection system of the laser level meter, which comprises the following steps:
1) Height adjustment: adjusting the installation height of the pentaprism and the installation height of the turntable, and ensuring that the center of the emergent surface of the pentaprism and the position of the emergent point of the laser line of the tested laser level meter placed at the level detection station are positioned at the same height as the axis of the optical collimator;
2) Calibrating a camera: according to the reticle image acquired by the camera, standard scales are arranged on the reticle, and a computer calculates the actual physical length corresponding to a single pixel point according to the actual physical length among a plurality of scales and the number of the pixel points, and the actual physical length is recorded as k.
3) Device calibration: placing a standard laser level meter at a level detection station, starting the standard laser level meter, and automatically recording laser center line pixel coordinates of a reticle laser image acquired by a camera at the moment as a reference point by a computer after the emergent level laser line is stable, wherein the reference point is recorded asy 0 ；
4) Horizontal laser line detection: placing the laser level to be detected at a horizontal detection station, starting the laser level to be detected, and after the horizontal laser line emitted by the laser level to be detected is stable, automatically recording the laser center line pixel coordinates of the reticle laser image acquired by the camera at the moment by a computer as followsy 1 According to the principle of geometrical optics, there arek|y 1 -y 0 | = f’tanβSo that the angle of emission of the horizontal laser lineβThe calculation formula of (2) is as follows:β= arctan[k|y 1 -y 0 |/f’]wherein k is the actual physical length corresponding to a single pixel point;f’is the focal length of the optical collimator objective lens, if the emergent angle isβAt an angle ofIf the threshold value is within the range, the horizontal laser line emitted by the laser level to be measured is qualified;
5) Vertical laser line detection: placing the laser level to be tested in a vertical detection station, starting the laser level to be tested, waiting until the emitted vertical laser line is stable, measuring the deflection angle of the laser line which is refracted by the pentaprism and the horizontal plane, wherein the deflection angle is the emergent angle of the vertical laser line according to the refraction principle of the pentaprism, and according to the calculation method in the step 4), if the emergent angle is within the threshold range, the vertical laser line emitted by the laser level to be tested is considered to be qualified.
Preferably, in the step 4), the horizontal laser line segment detection is required, when the horizontal laser line segment detection is performed, the turntable is rotated to a position where the laser level is opposite to the optical collimator, and the angle of the horizontal laser line emitted by the laser level at the position is measured according to the step 4); then the turntable is rotated clockwise to a 45-degree position, and the angle of the horizontal laser line emitted by the laser level meter at the position is measured; finally, the turntable is rotated anticlockwise to a position of-45 degrees, and the angle of the horizontal laser line emitted by the laser level meter at the position is measured; and comprehensively comparing angles obtained by the three positions, and if the three angles are all within a specified threshold range and the angle difference of the three angles is within the specified threshold range, considering that the horizontal laser line emitted by the laser level to be measured is qualified.
Preferably, the computer firstly needs to judge the effective width of the laser when calculating the position of the central pixel, removes invalid noise points, binarizes the image, and fits an effective rectangular area of the laser line pixel according to an algorithm, so as to obtain the central line pixel coordinate of the laser line.
As described above, the laser level automatic detection system and the detection method of the invention have the following beneficial effects: the technical scheme of the invention can automatically and accurately measure the angles of the vertical laser line and the horizontal laser line emitted by the laser level meter, greatly shortens the test time, improves the efficiency, simultaneously realizes the measurement of the vertical laser line and the horizontal laser line by a set of optical collimator and a camera, reduces the cost and reduces the space arrangement of the detection equipment.
Drawings
FIG. 1 is a schematic diagram of a test system according to an embodiment of the present invention.
FIG. 2 is a schematic view of light rays when performing equipment calibration according to an embodiment of the present invention.
Fig. 3 is a schematic view of light rays when performing laser line detection according to an embodiment of the invention.
1. A pentaprism; 2. a vertical detection station; 3. a horizontal detection station; 4. a turntable; 5. an optical collimator; 6. a camera; 7. a computer; 8. a second up-down position adjusting mechanism; 9. a first up-down position adjusting mechanism; 10. a standard level; 11. an objective lens; 12. a reticle; 13. the laser level to be measured.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
Please refer to fig. 1, 2, 3. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
As shown in fig. 1, the present invention provides an automatic laser level detection system, which includes: the device comprises a vertical detection station 2, a horizontal detection station 3, an optical collimator 5, a camera 6 and a computer 7.
The vertical detection station 2 is used for placing a laser level to be detected, the pentaprism 1 is arranged on the vertical detection station 2, and the pentaprism 1 can deflect a vertical laser line into a horizontal laser line. The pentaprism 1 is connected to a second vertical position adjusting mechanism 8, and the height of the pentaprism 1 can be adjusted by the second vertical position adjusting mechanism 8.
The pentaprism 1 is a commonly used optical element having an optical characteristic of deflecting incident light by 90 ° in a main section. The vertical laser line emitted by the laser level meter is deflected by 90 degrees after being refracted by the pentaprism 1, is converted into a horizontal laser line, enters the optical collimator and is detected, and the deflection angle of the refracted laser line and the horizontal plane can be measured. The deflection angle is the outgoing angle of the perpendicular laser line according to the refraction principle of the pentaprism. After the pentaprism 1 is used, a set of optical collimator and a camera are adopted, so that the vertical laser line and the horizontal laser line emitted by the laser level meter can be detected successively, the cost is reduced, and the space arrangement of the whole detection equipment is also reduced.
The horizontal detection station 3 is used for placing a laser level to be detected, the horizontal detection station 3 is also provided with a rotary table 4, the laser level to be detected is placed on the rotary table 4, and the rotary table 4 can drive the laser level to be detected to rotate. The turntable 4 is connected with a first up-down position adjusting mechanism 9, and the turntable 4 can be driven to move up and down through the first up-down position adjusting mechanism 9, so that the laser level to be measured can be driven to move up and down.
The vertical detection station 2, the horizontal detection station 3 and the optical collimator 5 are arranged in a straight line in parallel front and back. An objective lens 11 and a reticle 12 are provided in the optical collimator 5, and the objective lens 11 is positioned opposite to the reticle 12. The laser beam is refracted after passing through the objective lens 11 and finally becomes a component on the reticle 12. In the detection process, the output points of the laser lines of the pentaprism 1 and the laser level to be detected on the level detection station are positioned at the same height with the axis of the optical collimator. In order to be able to accurately position, the vertical detection station 2 and the horizontal detection station 3 are respectively provided with a positioning pin for positioning the laser level to be detected.
The optical collimator 5 is used for receiving the vertical laser line which is emitted by the laser level instrument and is refracted by the pentaprism and the horizontal laser line which is directly emitted.If the laser line emergent angle forms a slight deflection angle with the horizontal plane, the optical collimator deflects the received laser line and images the laser line on a reticle in the instrument. The basic principle of an optical collimator is an auto-collimation method, which is generally used for precisely measuring small-angle displacement of a measured piece. The outgoing laser line of the external laser level passes through the objective lens of the optical collimator and finally is imaged on the reticle. Calibration is required before measurement using a standard level, and the outgoing laser line can be considered to be completely parallel to the optical collimator axis. Laser rays emitted by the standard level instrument are imaged on the optical collimatorOA point, which is a reference point. In the measuring process, if the measured laser level forms a slight deflection angle with the horizontal planeβPost-imaging by an optical collimatorO’Where it is located. By measuringOO’The distance can be used for calculating the angle of the emergent laser line of the laser level to be measured by utilizing the geometrical optics principle of the optical collimatorβThereby judging whether the test is qualified.
The camera 6 is installed at the tail of the optical collimator 5, and the camera 6 is used for collecting laser images on the reticle 12. The camera 6 is connected with a computer 7, and the computer 7 is used for analyzing and calculating images acquired by the camera 6.
The camera 6 is arranged at the tail part of the optical collimator and can collect images on the reticle of the optical collimator in real time. The camera is a monochrome black-and-white camera, an Ethernet interface, and has high pixels and high frame rate. The camera 6 uploads the acquired image to the computer 7. Because the images of the laser lines are stacked in a dot shape, the images are bright in the middle and dark at two sides, and the edges are multi-noise points, a series of processing is needed to be carried out on the images, firstly, the effective width of the laser needs to be judged as to which noise points are, invalid noise points are removed, and then binarization is carried out on the images. And fitting an effective rectangular area of the laser line pixel points according to an algorithm, so as to obtain the central line pixel coordinates of the laser line. And respectively obtaining the pixel coordinates of the central lines of the laser line images of the standard level instrument and the laser level instrument to be measured, calculating the coordinate difference of the standard level instrument and the laser line images of the laser level instrument to be measured, and converting the coordinate difference into a real distance to calculate the angle of the laser line emitted by the laser level instrument to be measured.
The method for detecting by adopting the automatic laser level meter detection system comprises the following steps:
1) Height adjustment: adjusting the installation height of the pentaprism and the installation height of the turntable, and ensuring that the center of the emergent surface of the pentaprism and the position of the emergent point of the laser line of the tested laser level meter placed at the level detection station are positioned at the same height as the axis of the optical collimator;
2) Calibrating a camera: according to the reticle image acquired by the camera, standard scales are arranged on the reticle, and a computer calculates the actual physical length corresponding to a single pixel point according to the actual physical length among a plurality of scales and the number of the pixel points, and records the actual physical length ask。
3) Device calibration: placing a standard laser level meter at a level detection station, starting the standard laser level meter, and automatically recording laser center line pixel coordinates of a reticle laser image acquired by a camera at the moment as a reference point by a computer after the emergent level laser line is stable, wherein the reference point is recorded asy 0 ；
4) Horizontal laser line detection: placing the laser level to be detected at a horizontal detection station, starting the laser level to be detected, and after the horizontal laser line emitted by the laser level to be detected is stable, automatically recording the laser center line pixel coordinates of the reticle laser image acquired by the camera at the moment by a computer as followsy 1 According to the principle of geometrical optics, there arek|y 1 -y 0 | = f’tanβTherefore, the calculation formula of the emission angle beta of the horizontal laser line is as follows:β= arctan[k|y 1 -y 0 |/f’]wherein, the method comprises the steps of, wherein,kthe actual physical length corresponding to a single pixel point;f 'is the focal length of the optical collimator objective lens, if the emergent angle isβIf the angle is within the threshold range, the horizontal laser line emitted by the laser level to be measured is considered to be qualified;
5) Vertical laser line detection: placing the laser level to be tested in a vertical detection station, starting the laser level to be tested, waiting until the emitted vertical laser line is stable, measuring the deflection angle of the laser line which is refracted by the pentaprism and the horizontal plane, wherein the deflection angle is the emergent angle of the vertical laser line according to the refraction principle of the pentaprism, and according to the calculation method in the step 4), if the emergent angle is within the threshold range, the vertical laser line emitted by the laser level to be tested is considered to be qualified.
6) For a horizontal inspection station, since the horizontal laser lines are distributed in a horizontal direction for a long period, the light that can enter the optical collimator at each measurement is only a small section in the horizontal direction of the laser lines, and such measurement results are not representative and general. The turntable is rotated to drive the measured laser level to rotate, so that the emitted horizontal laser line can enter the optical collimator in a segmented manner for measurement, and the most accurate measurement result can be obtained. In order to shorten the measurement time, three representative rotation angles of 0 °,45 ° and-45 ° are generally taken for measurement. For the vertical detection station, only one section of the vertical laser line can be refracted through the pentaprism, so that the length of the laser line refracted through the pentaprism is limited, and the laser line does not need to be detected in a segmented mode on the vertical detection station. In the sectional detection process of the horizontal detection station, the turntable is rotated to a position, which is opposite to the optical collimator, of the laser level, namely a 0-degree position, and then the angle of a horizontal laser line emitted by the laser level at the position is measured according to the step 4); then the turntable is rotated clockwise to a 45-degree position, and the angle of the horizontal laser line emitted by the laser level meter at the position is measured; finally, the turntable is rotated anticlockwise to a position of-45 degrees, and the angle of the horizontal laser line emitted by the laser level meter at the position is measured; and comprehensively comparing angles obtained by the three positions, and if the three angles are all within a specified threshold range and the angle difference of the three angles is within the specified threshold range, considering that the horizontal laser line emitted by the laser level to be measured is qualified.
The technical scheme of the invention can automatically and accurately measure the angles of the vertical laser line and the horizontal laser line emitted by the laser level meter, greatly shortens the test time, improves the efficiency, simultaneously realizes the measurement of the vertical laser line and the horizontal laser line by a set of optical collimator and a camera, reduces the cost and reduces the space arrangement of the detection equipment. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (4)
1. A laser level automatic detection system, comprising:
the vertical detection station is used for placing a laser level to be detected and measuring vertical laser lines, and is provided with a pentaprism which can deflect the vertical laser lines into horizontal laser lines;
the horizontal detection station is used for placing a laser level to be detected and measuring horizontal laser lines;
the optical collimator is internally provided with an objective lens and a reticle, the objective lens is opposite to the reticle in position, and the pentaprism and the laser line emergent point of the laser level to be measured on the level detection station are positioned at the same height with the axis of the optical collimator;
the camera is used for collecting images on the reticle;
the computer is connected with the camera and is used for analyzing and calculating images acquired by the camera to obtain an emergent angle of a laser line;
the horizontal detection station is provided with a rotary table, and the rotary table is connected with a first upper and lower position adjusting mechanism; the pentaprism is connected with a second up-down position adjusting mechanism.
2. The laser level automatic detection system according to claim 1, wherein: and the vertical detection station and the horizontal detection station are respectively provided with a locating pin which is matched with a locating hole at the bottom of the laser level to be detected.
3. The automatic detection method for the automatic detection of the laser level meter is characterized by comprising the following steps of:
1) Height adjustment: adjusting the installation height of the pentaprism and the installation height of the turntable, and ensuring that the center of the emergent surface of the pentaprism and the position of the emergent point of the laser line of the tested laser level meter placed at the level detection station are positioned at the same height as the axis of the optical collimator;
2) Calibrating a camera: according to a reticle image acquired by a camera, standard scales are arranged on the reticle, and a computer calculates the actual physical length corresponding to a single pixel point according to the actual physical length among a plurality of scales and the number of the pixel points, and marks the actual physical length as k;
3) Device calibration: placing a standard laser level meter at a level detection station, starting the standard laser level meter, and automatically recording laser center line pixel coordinates of a reticle laser image acquired by a camera at the moment as a reference point by a computer after the emergent level laser line is stable, wherein the reference point is recorded asy 0 ；
4) Horizontal laser line detection: placing the laser level to be detected at a horizontal detection station, starting the laser level to be detected, and after the horizontal laser line emitted by the laser level to be detected is stable, automatically recording the laser center line pixel coordinates of the reticle laser image acquired by the camera at the moment by a computer, and recording as followsy 1 According to the principle of geometrical optics, there arek|y 1 -y 0 | = f’ tanβTherefore, the calculation formula of the emission angle beta of the horizontal laser line is as follows:β = arctan[k|y 1 -y 0 |/f’]wherein, the method comprises the steps of, wherein,kthe actual physical length corresponding to a single pixel point;f’is the focal length of the optical collimator objective lens, if the emergent angle isβIf the horizontal laser line is within the threshold range, the horizontal laser line emitted by the laser level to be measured is considered to be qualified;
5) Vertical laser line detection: placing the laser level to be tested in a vertical detection station, starting the laser level to be tested, waiting until the emitted vertical laser line is stable, measuring the deflection angle of the laser line which is refracted by the pentaprism and the horizontal plane, wherein the deflection angle is the emission angle of the vertical laser line according to the refraction principle of the pentaprism, and according to the calculation method in the step 4), if the emission angle is within the threshold range, the vertical laser line emitted by the laser level to be tested is considered to be qualified;
in the step 4), the horizontal laser line segment detection is needed, 3 angles are selected when the horizontal laser line segment detection is carried out, the turntable is rotated to the position where the laser level faces the optical collimator, and the angle of the horizontal laser line emitted by the laser level at the position is measured according to the step 4); then the turntable is rotated clockwise to a 45-degree position, and the angle of the horizontal laser line emitted by the laser level meter at the position is measured; finally, the turntable is rotated anticlockwise to a position of-45 degrees, and the angle of the horizontal laser line emitted by the laser level meter at the position is measured; and comprehensively comparing angles obtained by the three positions, and if the three angles are all within a specified threshold range and the angle difference of the three angles is within the specified threshold range, considering that the horizontal laser line emitted by the laser level to be measured is qualified.
4. The automatic detection method for automatic detection of laser level according to claim 3, wherein: when calculating the position of the central pixel, the computer firstly needs to judge the effective width of the laser, remove invalid noise points, binarize the image, and fit an effective rectangular area of the laser line pixel point according to an algorithm, so as to obtain the central line pixel coordinate of the laser line.
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| CN2465179Y (en) * | 2001-02-27 | 2001-12-12 | 武汉大学 | Automatic error detector for laser instrument |
| JP2007248214A (en) * | 2006-03-15 | 2007-09-27 | Yunitekku:Kk | Horizontal angle measuring method and position measuring method |
| CN102109331A (en) * | 2010-11-30 | 2011-06-29 | 中国科学院光电技术研究所 | Laser planeness detector |
| CN105423958A (en) * | 2015-12-08 | 2016-03-23 | 中国航空工业集团公司洛阳电光设备研究所 | Multi-optical-axis parallelism detection apparatus and method |
| CN107462227A (en) * | 2017-07-17 | 2017-12-12 | 北京航天控制仪器研究所 | A kind of leveling and horizontal error test equipment |
| CN107726975A (en) * | 2017-09-20 | 2018-02-23 | 大连理工大学 | A kind of error analysis method of view-based access control model stitching measure |
| CN208187381U (en) * | 2018-03-29 | 2018-12-04 | 苏州凌创瑞地测控技术有限公司 | Laser leveler automatic checkout system |
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