CN111551193B - Laser target targeting method based on precise biaxial turntable - Google Patents
Laser target targeting method based on precise biaxial turntable Download PDFInfo
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- CN111551193B CN111551193B CN202010448669.2A CN202010448669A CN111551193B CN 111551193 B CN111551193 B CN 111551193B CN 202010448669 A CN202010448669 A CN 202010448669A CN 111551193 B CN111551193 B CN 111551193B
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Abstract
The invention discloses a laser target targeting method based on a precise biaxial turntable, which comprises the following steps: the precise biaxial turntable and the to-be-calibrated turntable perform rotary motion together, and a translation conversion matrix from the beam expanding laser coordinate system to the laser target coordinate system is calculated; the beam-expanding laser is used as a calibrated optical reference point and is fixed in front of the biaxial turntable; the laser target to be calibrated and the turntable rotate transversely together, the camera in the laser target shoots incident light of the beam expanding laser and records the spot centroid of the incident light in real time, so that the incident light corresponds to the spot centroid one by one, and the calibration of the transverse axis and the longitudinal axis of the laser target is completed; the method is suitable for completing high-precision laser target calibration under the conditions of short time and small experimental range.
Description
Technical Field
The invention relates to a laser target targeting technology, in particular to a laser target targeting method based on a precise biaxial turntable.
Background
Currently, automatic guidance systems are key components for measuring the position of a shield (TBM), wherein the shield continuously measures the deviation of the shield relative to the axis of a designed tunnel through the automatic guidance system during the tunneling process, and provides the measured data to a main driver, so that the main driver can timely adjust tunneling parameters, and the shield can tunnel accurately along the designed axis all the time.
In order to ensure the precision, stability and reliability of the automatic guiding system, firstly, the absolute pose of the shield machine in the three-dimensional space needs to be determined, six parameters, namely the three-dimensional space coordinate and the three-dimensional pose, wherein the measurement of three line elements (X, Y, Z) is completed by a total station, two of three angle elements, namely the gradient angle and the rolling angle of the shield axis relative to the horizontal plane, are measured by an inclinometer, and the measurement of the third angle element, namely the included angle (deflection angle) of the shield axis and the designed tunnel axis on the horizontal plane, is the key of the whole measuring process, and the measuring result of the included angle can influence the precision, the stability and the reliability of the whole automatic guiding system. According to the yaw angle measuring method, the automatic guiding system adopts a gyroscope method, a double (three) prism method and a laser target method.
However, the main method adopted by the automatic guiding system at present is a laser target method because of the defects of low measurement precision, strong artificial dependence and the like of a gyroscope method and a double (three) prism method. The method for measuring has the advantages of high precision, stable and reliable performance, small required measurement window and the like.
Therefore, the calibration of the laser target becomes the basis of the measurement of the automatic guiding system. The laser target calibration aims to enable the centroid of the light spot to correspond to the incident angle of the light one by one. The relative positions of the camera and the inclinometer are different when each laser target is assembled, so that each laser target needs to be calibrated, and the corresponding relation between the centroid and the angle of the light plate under the assembly is determined. The traditional laser target positioning system based on the one-axis turntable is characterized in that a laser target is firstly placed on a one-dimensional turntable, a total station locks the laser target, the total station is kept motionless, the one-dimensional turntable is rotated, the centroid coordinates correspondingly change, the relation between the centroid coordinates and the turntable rotation angle is recorded, and the calibration of a transverse axis can be completed; the laser target is turned over by 90 degrees, and the step of calibrating the horizontal axis is repeated, so that the calibration of the vertical axis can be completed.
Aiming at the technical problems, how to provide a laser target targeting system with convenience and low repeatability is a long-term requirement of the technicians in the field.
Disclosure of Invention
In order to overcome the defects in the background art, the invention provides a laser target positioning system based on a precise biaxial turntable, which is characterized in that a biaxial turntable is fixed on an optical platform, a laser target to be calibrated is fixed on a tooling of the biaxial turntable, and a beam expanding laser is arranged at the front position; the defect that the rotary table is required to be continuously rotated when the one-dimensional rotary table is used for calibration is effectively overcome, the calibration accuracy is improved, and the calibration efficiency is greatly improved.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the laser target calibration system based on the precise biaxial turntable comprises a beam expanding laser, a high-precision biaxial turntable, a laser target to be calibrated, which is connected with the biaxial turntable, and a calibration terminal, which is connected with the biaxial turntable, wherein the beam expanding laser is fixed at one end of the horizontal diameter of the high-precision biaxial turntable, and an emission port of the beam expanding laser points to one end of a prism of the laser target to be calibrated. The calibration process comprises the following steps:
a. and placing the laser target to be calibrated on a tool connected with the precise biaxial turntable, and reading the inclinometer data and the spot centroid data of the laser target to be calibrated in real time.
b. Leveling the precise biaxial turntable, and enabling the data of the inclinometer of the laser target to be calibrated to be within 0.0010 when the precise biaxial turntable and the laser target perform rotary motion together.
c. Finding the roll center.
d. Calibrating the transverse and longitudinal axes of the laser target.
In step c, the implementation steps for finding the roll center are as follows:
the step of searching the rolling center when calibrating the laser target based on the one-dimensional turntable is as follows:
(1) The center line of the laser target is opposite to the total station: the one-dimensional turntable is adjusted back to the center position, and the total station is moved left and right so that the centroid of the laser target is near 640 (the geometric center of the pixel plane).
(2) Leveling the incident light of the laser target: when the bubble of the total station is leveled, the Z axis of the total station is vertical to the horizontal plane, the total station is lifted to enable the vertical angle of light to be 90 DEG 0'0', and the incident light is parallel to the horizontal plane.
(3) Determining a roll center position: the direction of the laser target is rotated through the one-dimensional turntable, the range finding is carried out by using the total station, the horizontal angle and the vertical angle of the total station are observed, if the one-dimensional turntable is leveled, the vertical angle is kept at 90 DEG 0'0', if the position of the roll center is changed, the horizontal angle is also kept unchanged, if the position of the roll center is not changed, the position of the laser target to be calibrated is required to be adjusted at the moment, and the laser target is finely adjusted back and forth and left and right until the horizontal angle of the total station is kept unchanged.
Determining a roll center based on laser target timing of a precise biaxial turntable:
the roll center of the laser target is different from the geometric center of the pixel plane (difference of 15 pixels maximum) because of the mounting mode. The original calibration mode obtains two mutually perpendicular calibration lines through overturning the laser target, and the intersection point is the center point. When the biaxial turntable is used for calibration, the laser target does not need to be turned over, if the beam expanding laser is perpendicular to the pixel plane, the transverse axis can be calibrated normally, but when the longitudinal axis is calibrated, the biaxial turntable is required to be rotated to the horizontal direction until the centroid U is near 640.
In step c, care should be taken in the implementation process of finding the roll center:
(1) The two-axis turntable leveling and roll center determination process is relatively complex to operate, but can be implemented, and the calibration for all laser targets only needs to be initially adjusted once. The net effect of the adjustment is that the total station horizontal and vertical angles remain unchanged as the laser target rotates on the two-axis turntable, with the vertical angle being 90 deg. 0'0 ".
(2) Because of machining, the position of the triangular surface of the laser target prism can be ensured not to change too much, namely, when the laser target is calibrated after adjustment is finished, the rolling center is not required to be found, but before any laser target is calibrated, whether the two-axis turntable is leveled or not and whether the rolling center is found or not is required to be confirmed. The total station is generally only required to be adjusted.
In the step d, the implementation steps for calibrating the transverse and longitudinal axes of the laser target are as follows: the biaxial turntable automatically rotates for 1 degree each time, the centroid of the light spot is recorded, the laser target transverse axis calibration range is +/-13 degrees, and the laser target transverse axis calibration range is +/-11 degrees.
After the calibration process is finished, after the data of the transverse axis and the longitudinal axis are respectively subjected to cubic spline interpolation, two mutually perpendicular lines are formed, the intersection point of the two lines is the center point (different from the geometric center point of the pixel plane) of the pixel plane in the laser target installation mode, and different installation modes of cameras in the laser target can be used for calibrating different center points.
Compared with the prior art, the invention has the advantages that: the invention discloses a laser target positioning system based on a precise two-axis turntable, which uses the precise two-axis turntable as an angle tracing reference, a beam expanding laser as a length tracing reference, the turntable drives a laser target to be calibrated to rotate, a single stationary optical reference point is used as a reference, and the laser target stores spot centroid data at each rotation position, so that calibration is finally realized. During the calibration process, the laser target to be calibrated is connected with the two-axis turntable by a specific tool, the calibration process is automatically completed by a program without manual intervention, and the laser target can be separated from the two-axis turntable according to application requirements after the calibration is completed. The method is suitable for completing high-precision laser target calibration under the condition of small experimental range.
Drawings
FIG. 1 is a flow chart of a laser targeting method based on a precision biaxial turntable in an embodiment of the invention;
FIG. 2 is a schematic view of the internal structure of a laser target according to an embodiment of the present invention;
FIG. 3 is a schematic view of an initial attitude of a laser target in an embodiment of the present invention;
FIG. 4 is a schematic diagram of the attitude of a laser target at any measurement time in an embodiment of the present invention;
Detailed Description
The basic idea of the invention is that: the three-dimensional target meeting the requirement of large-scale precision equipment is virtually obtained through the two-axis turntable, the beam expanding laser and the inclinometer, an optimal calibration system is further established according to the imaging principle of a camera and the two-axis turntable, a rotation and translation matrix is solved by adopting a space point coordinate conversion method, and then the included angle theta between incidence of light of the laser target at different positions on the two-axis turntable is solved, so that the calibration of the laser target is achieved in one-to-one correspondence with the facula centroid.
The present invention will be further described in detail with reference to the accompanying drawings and the specific examples of the two-axis turntable, the laser target and the beam expanding laser.
As shown in fig. 1, the laser target targeting method based on the precise biaxial turntable mainly comprises the following steps:
step 11: and fixing the laser target to be calibrated and the biaxial turntable as well as the beam expanding laser. The invention aims to obtain the included angle theta between the incidence of light of the beam expanding laser rotating to different positions on a biaxial turntable relative to a laser target, so that the included angle theta corresponds to the centroid of a light spot one by one, and the calculation process of the included angle theta is as follows:
step 111: because the laser target is fixed on the two-axis turntable and can rotate to different positions, the establishment of a coordinate system is also important, and the specific coordinate system establishment and the solving method of the attitude angle are as follows:
step 1111: the origin of the laser target coordinate system is established on the triangular surface of the prism, the Z axis is vertically upwards, the X axis is forwards, and the Y axis meets the right hand rule. The two angles output by the inclinometer are included angles between the X axis and the Y axis of the inclinometer and the horizontal plane respectively. The coordinates of the expanded beam laser define the X-axis forward, the Z-axis vertically upward, and the Y-axis meets the right hand rule.
Step 1112: the initial posture of the laser target is shown in fig. 3, and the posture of the laser target at any measurement time is shown in fig. 4, wherein the initial posture is that the laser target is horizontally placed, namely, is parallel to the XOY plane of the beam expanding laser. ( Note that: the direction of the XY axis of the temporary inclinometer is shown in figure 4 according to the actual situation )
Step 1113: when the initial posture is changed into the posture at any measurement time, the change mode is that the angle is firstly rotated around the Z axis by an angle yaw (azimuth angle), then rotated around the Y axis by an angle pitch (pitch angle), finally rotated around the X axis by an angle roll (roll angle), and when the initial posture is returned from any measurement posture, the opposite change is carried out, the angle is firstly rotated around the X axis by an angle roll, then rotated around the Y axis by an angle pitch, and finally rotated around the Z axis by an angle-yaw. Wherein yaw represents the included angle between the X axis of the laser target and the light in the horizontal plane, pitch can be understood as the included angle between the X axis of the inclinometer and the horizontal plane, and roll can be simply calculated by the numerical value of the inclinometer. The laser target can be changed into a horizontal posture through the numerical value of the inclinometer at any time of use and through reverse rolling and reverse pitching, the real-time light spot position after light incidence can be known through the camera, and the relation between the light spot position and the light incidence angle is required to be established, so that the included angle yaw is obtained.
Step 1114: solving a pitch angle: when the laser target rotates around the Z axis from the initial moment, the numerical value of the inclinometer does not change at all, and after the laser target rotates around the Y axis to form a pitch angle, the included angle between the X axis of the inclinometer and the horizontal plane is changed, and the changed numerical value is the pitch angle. And finally, rotating around the X axis, namely, rotating around the X axis of the inclinometer, wherein the included angle between the X axis of the inclinometer and the horizontal plane cannot be changed, so that the pitch angle is the included angle between the X axis of the inclinometer and the horizontal plane.
Step 1115: calculating a roll angle: a parallel line with the 0X axis intersects with a horizontal plane at a point C along the Y axis, is connected with CD, and is prolonged to intersect with OY' at a point B, and is connected with YB. A and D are the foot drop of X axis and Y axis in the horizontal plane respectively. Rotate around OX from OY' to OY, orthogonalize from the coordinate system:
OX⊥OY’
OX⊥OY
∵OX||YC
∴YC⊥OY’YC⊥OY
YC T surface YBO
∴YC⊥YB
∴ΔYCB～ΔYDB
Further, frizzled YD T horizontal plane
∴YD⊥OB
It is known that: YC T-plane YOB
∴YC⊥OB
OB T face YCB
Delta YBO is a right triangle
Calculating roll angle
From the geometrical relationship in step b:
sin θ＝YD÷YO (1)
cos η＝YD÷YB (2)
Sinroll＝YB÷YO (3)
from formulas (1) (2) (3):
Sinroll＝sin θ÷cos η (4)
therefore, the value of the roll angle roll is:
roll＝arcsin(sinθ÷cos η) (5)
step 1116: and obtaining the azimuth angle according to the roll angle, the pitch angle and the centroid. For the laser target coordinate system at the measurement moment, the laser target coordinate system at the initial moment is gn, the coordinate system gn is obtained by anti-rolling and anti-pitching of the coordinate system gn, and the coordinate system g is obtained by rotating the laser target coordinate system go around the Z axis by an angle of yaw at the initial moment t Therefore, the azimuth angle is the coordinate system g t The angle between the middle X-axis and the light vector.
Coordinate system g n To the coordinate system g t Is provided for the rotation matrix R of (a).
Wherein the transformation matrix is rotated by an angle roll about the X-axis:
a transform matrix in which the angle pitch is rotated around the Y-axis:
so that: r=ry·rx.
Coordinate system g t The light vector (unit vector
OS t ＝R·OS
Solving azimuth
yaw＝-arctan(OS t [1]÷OSt[0])
Step 12: the following specific operation steps of the laser target positioning method based on the biaxial turntable are as follows:
step 121: and placing the laser target on a two-axis turntable fixed support, and reading inclinometer data and facula mass center data (U, V) of the laser target in real time.
Step 122: by adjusting the leveling base, when the laser target rotates on the two-axis turntable, two data of the inclinometer are within 0.0010.
Step 123: searching a rolling center: the roll center of the laser target positioning method based on the precise biaxial turntable is determined through the one-dimensional turntable, and the roll center is generally determined only once.
Step 1231: leveling the laser target on a one-dimensional turntable, wherein the center line of the laser target is opposite to the total station: the one-dimensional turret is returned to the center position (one-dimensional turret scale 180), and the total station is moved left and right so that the centroid U of the laser target is near 640 (the geometric center of the pixel plane).
Step 1232: leveling the incident light of the laser target: when the bubble of the total station is leveled, the Z axis of the total station is vertical to the horizontal plane, the total station is lifted to enable the vertical angle of light to be 90_00000, and the incident light is parallel to the horizontal plane.
Step 1233: determining a roll center position: the direction of the laser target is rotated through the one-dimensional turntable, the range is measured by the total station respectively, the horizontal angle and the vertical angle of the total station are observed, if the one-dimensional turntable is leveled, the vertical angle is kept to be 90_00000, if the position of the roll center is the same, the horizontal angle is kept unchanged, if the horizontal angle is changed, the roll center is not the roll center, at the moment, the screws of the clamping grooves are required to be adjusted, and the laser target is finely adjusted back and forth and left and right until the horizontal angle of the total station is kept unchanged.
Step 124: and (3) placing the laser target calibrated on the one-dimensional turntable on the two-dimensional turntable for leveling, and leveling the beam expanding laser through a leveling base below the beam expanding laser on the leveling two-dimensional turntable according to the determined rolling center on the one-dimensional turntable.
Step 125: the laser target calibration transverse axis moves the beam expanding laser to a position near the mass centers U of 640 and V of 512, so as to ensure that the calibration range is as far as possible at the central position of the pixel plane, and the maximum calibration angle can be realized. And (3) calibrating the transverse axis of the laser target by +/-13 degrees, horizontally rotating the biaxial turntable, adding 1 to the scale value at one time, and recording the centroid of the light spot until the requirement of the transverse axis range is met.
Step 126: the laser target calibration transverse axis moves the beam expanding laser to a position near the mass centers U of 640 and V of 512, so as to ensure that the calibration range is as far as possible at the central position of the pixel plane, and the maximum calibration angle can be realized. And vertically rotating the biaxial turntable by +/-11 degrees in the longitudinal axis calibration range of the laser target, adding 1 to the scale at one time, and recording the centroid of the light spot until the longitudinal axis range requirement is met, thus the calibration of the whole laser target is completed.
Claims (1)
1. A laser target positioning method based on a precise biaxial turntable is characterized in that: the calibration method adopts a beam expanding laser, a two-axis turntable, a laser target to be calibrated, which is connected with the two-axis turntable, and a calibration terminal, which is connected with the two-axis turntable, wherein the beam expanding laser is fixed at one end of the horizontal diameter of the two-axis turntable, and the emission port of the beam expanding laser points to one end of a prism of the laser target to be calibrated, and the calibration process comprises the following steps:
a. placing the laser target on a two-axis turntable fixed support, and reading inclinometer data and spot centroid data (U, V) of the laser target to be calibrated in real time;
b. leveling the precise biaxial turntable, so that the data of the inclinometer of the laser target to be calibrated are all within 0.0010 when the precise biaxial turntable and the laser target perform rotary motion together;
c. searching a rolling center:
in the step c, the implementation steps for searching the rolling center are as follows:
leveling the laser target on a one-dimensional turntable, wherein the center line of the laser target is opposite to the total station: returning the one-dimensional turntable to the central position, and moving the total station left and right to ensure that the mass center U of the laser target is 640;
leveling the incident light of the laser target: when the bubble of the total station is leveled, the Z axis of the total station is vertical to the horizontal plane, the total station is lifted to enable the vertical angle of light to be 90 DEG 0'0', and the incident light is parallel to the horizontal plane;
determining a roll center position: the direction of the laser target is rotated through the one-dimensional turntable, the total station is used for ranging, the horizontal angle and the vertical angle of the total station are observed, if the one-dimensional turntable is leveled, the vertical angle is kept at 90 degrees 0'0', if the position of the roll center is the position, the horizontal angle is kept unchanged, if the horizontal angle is changed, the roll center is not the one, at the moment, the screws of the clamping grooves are required to be adjusted, and the laser target is finely adjusted back and forth and left and right until the horizontal angle of the total station is kept unchanged;
placing the laser target calibrated on the one-dimensional turntable on the two-dimensional turntable for leveling, and leveling the beam expanding laser through a leveling base below the beam expanding laser on the leveling two-dimensional turntable according to the determined rolling center on the one-dimensional turntable;
d. calibrating the transverse and longitudinal axes of the laser target:
the biaxial turntable automatically rotates for 1 degree each time, the centroid of a light spot can be recorded, the calibration range of a transverse axis of a laser target is +/-13 degrees, and the calibration range of a longitudinal axis of the laser target is +/-11 degrees;
the laser target calibration transverse axis moves the beam expanding laser to a position near the mass centers U and V of 640 and 512; the calibrated range is ensured to be at the central position of the pixel plane, and the maximum calibrated angle can be provided;
the laser target cross axis calibration range is +/-13 degrees, the biaxial turntable is horizontally rotated, the scale value is added with 1 at a time, and the centroid of the facula is recorded until the requirement of the cross axis range is met;
the laser target calibrates the longitudinal axis and moves the beam expanding laser to the position near the mass centers U640 and V512, so as to ensure that the calibrated range is at the central position of the pixel plane and the maximum calibrated angle can be achieved;
the laser target longitudinal axis calibration range is +/-11 degrees, the biaxial turntable is vertically rotated, the scale is added with 1 at a time, the light spot centroid is recorded until the longitudinal axis range requirement is met, and the calibration of the whole laser target is completed;
after the calibration process is completed:
respectively performing cubic spline interpolation on the data of the transverse axis and the longitudinal axis to form two mutually perpendicular lines, wherein the intersection point of the two lines is the center point of the pixel plane in the laser target mounting mode;
different center points are defined by different mounting modes of the cameras in the laser target.
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