CN114485445A - Large-scale structure space deformation measuring device and method with reference beams capable of being transmitted in nonlinear obstacle crossing manner - Google Patents
Large-scale structure space deformation measuring device and method with reference beams capable of being transmitted in nonlinear obstacle crossing manner Download PDFInfo
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- CN114485445A CN114485445A CN202111671881.6A CN202111671881A CN114485445A CN 114485445 A CN114485445 A CN 114485445A CN 202111671881 A CN202111671881 A CN 202111671881A CN 114485445 A CN114485445 A CN 114485445A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/167—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by projecting a pattern on the object
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Abstract
The invention relates to a large-scale structure space deformation measuring device and method with reference beams capable of being transmitted across obstacles in a nonlinear manner, and the large-scale structure space deformation measuring device comprises a space reference emission unit and a space pose measuring unit, wherein the space reference emission unit and the space pose measuring unit adopt split type structural design, the flexibility of the device is increased, and the expansibility based on a serial structure is stronger; the space reference transmitting unit is matched with the space pose measuring unit to realize measurement reference transmission, and can be used for measuring the space deformation of a large-scale structure under the condition that the measurement reference and the measurement end are obstructed by an obstacle; the image sensor and the image receiving screen are fixed in position, so that the problem that the system measurement precision is reduced along with the measurement distance in the traditional space deformation measurement technology based on photogrammetry is solved.
Description
Technical Field
The invention belongs to the technical field of space deformation measurement based on laser and machine vision, and particularly relates to a large-scale structure space deformation measurement device and method with reference beams capable of being transmitted across obstacles in a nonlinear mode.
Background
The spatial deformation measurement technology based on laser and machine vision is widely applied to occasions such as large-scale structure spatial deformation measurement and large-scale structure health monitoring.
At present, the common space deformation measuring equipment comprises measuring equipment such as a laser tracker, a total station, a monocular or binocular photogrammetric instrument and the like. The laser tracker, the total station and other equipment are high in price and low in measurement speed; the measuring accuracy of the monocular or binocular photography measuring instrument is reduced along with the increase of the measuring range, and the large-size space high-accuracy measurement cannot be realized; and the measuring light paths of the laser tracker, the total station, the monocular or binocular photogrammetric instrument are all easily influenced by obstacles, and the obstacle-crossing measurement cannot be realized under the condition that the measuring datum and the measuring point are not in sight.
Therefore, in the field of large-scale structural space deformation measurement and large-scale structural health monitoring, a large-scale structural space deformation measuring device which is cheap, has high measurement precision and can transmit a reference measuring beam across obstacles in a nonlinear manner is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a large-scale space structure deformation measuring device with reference beams capable of being transmitted across obstacles in a nonlinear mode, which is used for large-scale structure space deformation measurement and large-scale structure health monitoring.
The technical problem to be solved by the invention is realized by the following technical scheme:
the utility model provides a large-scale structure space deformation measuring device that reference beam can nonlinear obstacle-crossing transmission which characterized in that: comprises a space reference emission unit and a space pose measurement unit,
the space reference emission unit comprises an installation base, a cross line laser generator, a laser range finder, a positioning reference table, a V-shaped positioning table and a light transmission window, wherein the laser range finder and the V-shaped positioning groove are fixedly installed on the installation base;
the space pose measuring unit comprises an installation base, a laser spectroscope, a plane reflector A, a plane reflector B, a plane reflector C, a laser receiving screen A, a laser receiving screen B, an image sensor A and an image sensor B, wherein a plurality of positioning edges are arranged in the installation base as positioning end faces, the laser spectroscope and the positioning edges are arranged at 45 degrees, the plane reflector A is arranged at the rear end of the laser spectroscope and arranged at 45 degrees with the positioning edges, the plane reflector B is arranged in parallel with the plane reflector A and arranged at 45 degrees with the positioning edges, the plane reflector C is perpendicular to the plane reflector B and arranged at 45 degrees with the positioning edges, the laser receiving screen A and the laser receiving screen B arranged on the installation base are used for receiving cross light spot images and imaging to provide target images for the image sensor A and the image sensor B, and a cross line laser incident window and a laser ranging target plane are arranged on the front end face of the mounting base.
And the cross laser generator of the space reference emission unit adopts cross line structure light as reference light beams to provide space pose measurement reference.
And the space reference emission unit is fixedly connected to the upper surface of the space pose measuring unit, the space reference emission unit and the space pose measuring unit form a reference beam transfer unit, the space pose measuring unit can measure horizontal displacement, vertical displacement, yaw angular displacement, pitch angular displacement and roll angular displacement relative to a reference beam, and the space six-degree-of-freedom deformation measurement can be realized by combining a laser range finder in the space reference emission unit.
And the laser receiving screen A and the laser receiving screen B are both made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with nano diffuse reflection coatings.
Moreover, a mechanical shell is arranged on the mounting base; and a mechanical shell is arranged on the mounting base.
A large-scale structure space deformation measuring method capable of realizing nonlinear obstacle-crossing transmission of reference beams is characterized in that: the method comprises the following steps:
1) measurement and installation preparation: connecting the space reference emission unit with an industrial personal computer, tightly installing the space reference emission unit on a triangular bracket, placing the triangular bracket on a stable ground near a measurement space, and opening a cross line laser generator and a laser range finder of the space reference emission unit; the space pose measuring unit and the space reference transmitting unit are fastened and installed to form a reference beam transmission unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam transmission unit is arranged at a position near an obstacle; placing a space pose measuring unit at a position near a measured point; opening the industrial personal computer, and opening the image sensors A and B of all the space pose measurement units in the device to ensure that the cross light spot of the cross light laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light-transmitting window;
2) establishing a space reference emission coordinate system: in the space reference emission unit, the projection direction of the center of the cross line laser is taken as the X axis of a coordinate system, the intersection point of a distance measurement reference surface of a laser range finder and the X axis is taken as a coordinate origin O, an axis which passes through the origin in the plane of the cross line transverse axis and is vertical to the X axis is taken as a Y axis, an axis which passes through the coordinate origin and is vertical to the XOY plane is taken as a Z axis, and the space reference emission coordinate system conforming to the right-hand rule is established;
3) establishing a coordinate system of the space pose measuring unit: in the space pose measuring unit, an edge along the laser incidence direction is taken as an X axis, the intersection point of an adjacent edge close to a window and the edge is taken as an original point, the direction which passes through the original point and is vertical to an installation reference plane is taken as a Z axis, and a straight line which passes through the original point and is vertical to an XOY plane is taken as a Y axis to establish a coordinate system of the space pose measuring unit;
4) laser transmission and reflection light path: after the incident cross line structure light acts through the laser spectroscope, one part of the incident cross line structure light is reflected and then projected to the laser receiving screen A, the other part of the incident cross line structure light penetrates through the laser spectroscope and then is reflected through the plane reflector and then projected to the laser receiving screen B, a virtual image is formed on the receiving screen A through the laser spectroscope, the virtual image is formed on the receiving screen B through a plane mirror group light path, namely, after the incident cross line structure light passes through a measuring light path, the two groups of machine vision measuring systems form a parallel and opposite mode, the planes where the virtual image of the receiving screen A and the virtual image of the receiving screen B are perpendicular to the X axis, and the position relation is fixed;
5) setting a virtual image plane of a laser receiving screen A as A, setting a virtual image plane of a laser receiving screen B as B, and setting a plane equation as x in a coordinate system of a space pose measuring unit1The plane is x ═ x2After the cross light spot images on the two screens collected by the image sensor A, B are processed by the measurement software, the position of the center of the cross light spot in the two-dimensional coordinate system of the image sensor A, B can be obtained, the central point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, the central point of the cross light spot on the virtual image plane of the laser receiving screen B is set as B, the spatial position of the cross light spot in the coordinate system of the spatial pose measurement unit can be obtained after calibration conversion, and the coordinate A is set as (x coordinate)1，y1，z1) And B coordinate is (x)2，y2，z2) The gradient of the cross axis of the cross line on the plane can be obtained by measuring by a machine vision system, and can be also obtained by processing by measuring software, and is set as k;
6) measuring horizontal and vertical displacement: the center of a cross light spot of cross structured light on a virtual image plane of a laser receiving screen A is used as a reference for measuring horizontal and vertical displacement, and the coordinate of a point A at an initial moment is set as (x)1，y1，z1) The coordinate of the point A after the pose change is (x)1’，y1’，z1’)，
Horizontal displacement of Δ y ═ y1'-y1；
Vertical displacement Δ z ═ z1'-z1；
7) Measuring yaw angle, pitch angle and roll angle: setting the coordinate of the point A at the initial moment before the pose changes as (x)1，y1，z1) The slope of the cross light spot horizontal axis in the virtual image plane (7-3) is k; let the B point coordinate be (x)2，y2，z2) At the moment, the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis is
The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis
After the posture is changed, the coordinate of the point A is (x)1，y1’，z1'), the slope of the transverse axis of the cross-shaped light spot in the virtual image plane (7-3) is k'; let the B point coordinate be (x)2，y2’，z2') and the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis at the moment is
The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis
Then:
the yaw angular displacement delta alpha is alpha 2-alpha 1;
pitching angular displacement delta beta is beta 2-beta 1;
the roll angular displacement Δ θ is arctank' -arctank.
Therefore, the space pose measuring unit can realize the space six-degree-of-freedom deformation measurement relative to the cross reference light beam by combining the distance measuring function of laser distance measurement along the transmission direction of the cross reference light beam.
The invention has the advantages and beneficial effects that:
1. the space deformation measuring device of the large structure, which can transmit the reference beam in a nonlinear obstacle crossing manner, has the advantages that the space reference emission unit and the space pose measuring unit adopt a split structure, and the flexibility of the device is improved.
2. According to the large-scale structure space deformation measuring device with the reference beam capable of being transmitted across obstacles in a nonlinear mode, the image sensor and the image receiving screen are fixed in position, and the problem that the system measurement accuracy is reduced along with the measuring distance in the traditional space coordinate measuring technology based on photogrammetry is solved.
3. The large-scale structure space deformation measuring device with the reference beam capable of being transmitted across obstacles in a nonlinear mode has strong expansibility based on a serial structure, and can achieve obstacle-crossing measurement of a measurement reference.
4. The large-scale structure space deformation measuring device based on the nonlinear obstacle-crossing transmission of the reference light beam has the advantages of simple structure and low price, and can effectively solve the problem of high price of a laser tracker and the like.
5. According to the large-scale structure space deformation measuring device capable of realizing nonlinear obstacle-crossing transmission based on the reference light beam, the laser fixing pressing plate is fixedly mounted at one end of the V-shaped positioning groove, five-point positioning of the laser shell can be realized, and the axial positioning precision of the laser generator in the V-shaped groove is ensured.
6. The large-scale structure space deformation measuring device with the reference beam capable of being transmitted across obstacles in a nonlinear mode adopts the cross line structure light to generate the space pose measuring reference, and can realize the measurement of space six-degree-of-freedom deformation by combining the laser range finder.
7. The large-scale structure space deformation measuring device with the reference beam capable of being transmitted across obstacles in a nonlinear mode is characterized in that a mechanical shell is arranged on an installation base and used for protecting internal key equipment from dust, moisture, impact and the like.
8. According to the large-scale structure space deformation measuring device with the reference beam capable of being transmitted across obstacles in a nonlinear mode, the laser receiving screen and the laser receiving screen B are both made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with the nanometer diffuse reflection coating, so that the cross-shaped light spots can be clearly imaged on the screen and can be clearly collected by the image sensor through the screen.
Drawings
FIG. 1 is a schematic structural diagram of a spatial reference transmitter unit according to the present invention;
FIG. 2 is a schematic structural diagram of a spatial pose measurement unit according to the present invention;
FIG. 3 is a schematic view of the apparatus for measuring spatial deformation without obstruction according to the present invention;
FIG. 4 is a schematic diagram of the spatial reference transmit coordinate system establishment according to the present invention;
FIG. 5 is a schematic diagram of the coordinate system of the spatial pose measurement unit itself according to the present invention;
FIG. 6 is a schematic view of a measuring optical path according to the present invention;
FIG. 7 is a schematic diagram of a reference beam cross-obstacle transmission spatial deformation measurement apparatus according to the present invention;
FIG. 8 is a schematic view of the displacement and angle measurement process of the present invention.
Description of the reference numerals
1-1, a reticle laser generator; 1-2, laser range finder; 1-3, positioning a reference table; 1-4, V-shaped positioning grooves; 1-5, fixing a pressing plate by a laser; 1-6, a light-transmitting window; 1-7, mounting a base; 1-8, a mechanical housing;
2-1, a laser beam splitter; 2-2, a plane mirror A; 2-3, a plane mirror B; 2-4, a plane mirror C; 2-5, a laser receiving screen A; 2-6, laser receiving screen B; 2-7, image sensor a; 2-8, image sensor B; 2-9, laser ranging target plane; 2-10, a reticle laser incidence window; 2-11, positioning the edge; 2-12, mounting a base; 2-13, a mechanical housing;
3-1, a spatial reference transmitting unit; 3-2, a spatial pose measuring unit; 3-3, industrial personal computer
4-1, transmitting an origin of a coordinate system by a space reference; 4-2 space reference emission coordinate system X axis; 4-3, emitting a Y axis of a coordinate system by a spatial reference; 4-4, transmitting a Z axis of a coordinate system by using a space reference;
5-1, measuring the self coordinate system X axis of the space pose measuring unit; 5-2, measuring the self coordinate system Y axis of the space pose measuring unit; 5-3, the space pose measuring unit self coordinate system origin; 5-4, measuring the self coordinate system Z axis of the space pose measuring unit;
6-1, incident reticle structured light; 6-2, receiving a virtual image plane A formed by the screen A through the laser spectroscope; 6-3, forming a virtual image by the image sensor A through the laser beam splitter; 6-4, a virtual image plane B is formed by the receiving screen B through the optical path of the plane mirror group; 6-5, forming a virtual image by the image sensor B through an optical path of the plane mirror group;
7-1, a reference beam transfer unit; 7-2, a first rangefinder signal line; 7-3, a second rangefinder signal line; 7-4, a first image sensor signal line; 7-5, a second image sensor signal line; 7-6, a third image sensor signal line; 7-7, a fourth image sensor signal line;
8-1, a spatial reference emission coordinate system; 8-2, a coordinate system of the space pose measuring unit.
Detailed Description
The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.
The utility model provides a large-scale structure space deformation measuring device that reference beam can nonlinear obstacle-crossing transmission which characterized in that: comprises a space reference emission unit 3-1 and a space pose measurement unit 3-2,
the space reference emission unit comprises an installation base 1-7, a cross laser generator 1-1, a laser range finder 1-2, a positioning reference table 1-3, a V-shaped positioning table 1-4 and a light-transmitting window 1-6, wherein the laser range finder and the V-shaped positioning groove are fixedly installed on the installation base, the positioning reference table comprises two positioning end faces which are parallel to each other and vertical to the installation reference face, one edge of the laser range finder is installed in contact with one positioning end face, the cross laser generator is installed on the V-shaped positioning groove in a positioning mode, one face of the V-shaped positioning groove is installed in contact with the positioning end face, the light-transmitting window is arranged at the front end of the installation base, a laser fixing pressing plate 1-5 is fixedly installed at one end of the V-shaped positioning groove, and five-point positioning of a laser shell can be realized, ensuring the axial positioning precision of the laser generator in the V-shaped groove;
the space pose measuring unit comprises an installation base 2-12, a laser spectroscope 2-1, a plane reflector A2-2, a plane reflector B2-3, a plane reflector C2-4, a laser receiving screen A2-5, a laser receiving screen B2-6, an image sensor A2-7 and an image sensor B2-8, wherein a plurality of positioning edges 2-11 are arranged in the installation base as positioning end faces, the laser spectroscope and the positioning edges are arranged at 45 degrees, the plane reflector A is arranged at the rear end of the laser spectroscope and arranged at 45 degrees with the positioning edges, the plane reflector B and the plane reflector A are arranged in parallel and arranged at 45 degrees with the positioning edges, the plane reflector C and the plane reflector B are arranged at 45 degrees vertically and arranged at 45 degrees with the positioning edges, and the laser receiving screen A and the laser receiving screen B arranged on the installation base are used for receiving cross spot images and forming a cross spot image Like providing target images for the image sensor A and the image sensor B, the front end face of the mounting base is provided with a cross line laser incidence window 2-10 and a laser ranging target plane 2-9.
A cross laser generator of the space reference emission unit adopts cross line structure light as reference light beams to provide space pose measurement reference.
The space reference emission unit is fixedly connected to the upper surface of the space pose measuring unit, the space reference emission unit and the space pose measuring unit form a reference light beam transfer unit 7-1, the space pose measuring unit can measure horizontal displacement, vertical displacement, yaw angular displacement, pitch angular displacement and roll angular displacement relative to a reference light beam, and the space six-degree-of-freedom deformation measurement can be realized by combining a laser range finder in the space reference emission unit.
Laser receiving screen A, laser receiving screen B are transparent ya keli board and make, just the outside of laser receiving screen A, laser receiving screen B is scribbled and has been plated nanometer diffuse reflection coating, guarantees that the cross facula is clear formation of image on the screen and sees through the screen and can be clearly gathered by image sensor.
A mechanical shell 1-8 is arranged on a mounting base of the space reference transmitting unit; and the installation base of the space pose measurement unit is provided with mechanical shells 2-13 for protecting internal key equipment from dust, moisture, impact and the like.
A large-scale structure space deformation measuring method capable of realizing nonlinear obstacle-crossing transmission of reference beams is characterized in that: the method comprises the following steps:
1) measurement and installation preparation: connecting the space reference emission unit with an industrial personal computer 3-3, tightly installing the space reference emission unit on a triangular bracket, placing the triangular bracket on a stable ground near a measurement space, and opening a cross line laser generator and a laser range finder of the space reference emission unit; the space pose measuring unit and the space reference transmitting unit are fastened and installed to form a reference beam transmission unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam transmission unit is arranged at a position near an obstacle; placing a space pose measuring unit at a position near a measured point; opening the industrial personal computer, and opening the image sensors A and B of all the space pose measurement units in the device to ensure that the cross light spot of the cross light laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light-transmitting window;
2) establishing a space reference emission coordinate system: in the space reference emission unit, the projection direction of the center of the cross line laser is taken as the X axis 4-2 of a space reference emission coordinate system, the intersection point of a distance measurement reference plane of a laser range finder and the X axis of the space reference emission coordinate system is taken as the original point O4-1 of the space reference emission coordinate system, the axis which passes through the original point in the plane of the cross line transverse axis and is vertical to the X axis of the space reference emission coordinate system is taken as the Y axis 4-3 of the space reference emission coordinate system, the axis which passes through the original point O of the space reference emission coordinate system and is vertical to the XOY plane is taken as the Z axis 4-4 of the space reference emission coordinate system, and the space reference emission coordinate system 8-1 conforming to the right hand rule is established;
3) establishing a coordinate system of the space pose measuring unit: in the space pose measuring unit, one edge along the incident direction of laser is taken as an X axis 5-1 of a self coordinate system of the space pose measuring unit, the intersection point of an adjacent edge close to a window and the edge is taken as an original point 5-3 of the self coordinate system of the space pose measuring unit, the direction which passes through the original point of the self coordinate system of the space pose measuring unit and is vertical to an installation reference surface is taken as a Z axis 5-4 of the self coordinate system of the space pose measuring unit, and a straight line which passes through the original point of the self coordinate system of the space pose measuring unit and is vertical to an XOY plane is taken as a Y axis 5-2 of the self coordinate system of the space pose measuring unit, so that a self coordinate system 8-2 of the space pose measuring unit is established;
4) laser transmission and reflection light path: after an incident cross line structured light 6-1 is acted by a laser spectroscope, one part of the incident cross line structured light is reflected and then projected to a laser receiving screen A, the other part of the incident cross line structured light penetrates through the laser spectroscope and is reflected by a plane reflector in sequence and then projected to a laser receiving screen B, the receiving screen A passes through a virtual image plane A6-2 formed by the laser spectroscope, an image sensor A passes through the laser spectroscope to form a virtual image 6-3, the receiving screen B passes through a virtual image plane B6-4 formed by a plane mirror set light path, the image sensor B passes through the plane mirror set light path to form a virtual image 6-5, namely after passing through a measuring light path, two groups of machine vision measuring systems form a parallel and opposite mode, planes of the virtual image of the receiving screen A and the virtual image of the receiving screen B are both vertical to an X axis, and the position relation is fixed;
5) setting the virtual image plane of the laser receiving screen A (2-5) as (7-4), and setting the plane equation as x-x in the coordinate system of the space pose measuring unit1The plane is x ═ x2After the cross light spot images on the two screens collected by the image sensor A, B are processed by the measurement software, the position of the center of the cross light spot in the two-dimensional coordinate system of the image sensor A, B can be obtained, the central point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, the central point of the cross light spot on the virtual image plane of the laser receiving screen B is set as B, the spatial position of the cross light spot in the coordinate system of the spatial pose measurement unit can be obtained after calibration conversion, and the coordinate A is set as (x coordinate)1，y1，z1) And B coordinate is (x)2，y2，z2) The gradient of the cross axis of the cross line on the plane can be obtained by measuring by a machine vision system and can be also obtained by processing by measuring software, and the gradient is set as k;
6) measuring horizontal and vertical displacement: the center of a cross light spot of cross structured light on a virtual image plane of a laser receiving screen A is used as a reference for measuring horizontal and vertical displacement, and the coordinate of a point A at an initial moment is set as (x)1，y1，z1) The coordinate of the point A after the pose change is (x)1’，y1’，z1’)，
Horizontal displacement of Δ y ═ y1'-y1；
Vertical displacement Δ z ═ z1'-z1；
7) Measuring yaw angle, pitch angle and roll angle: setting the coordinate of the point A at the initial moment before the pose changes as (x)1，y1，z1) The slope of the cross light spot transverse axis in the virtual image plane is k; let the B point coordinate be (x)2，y2，z2) At the moment, the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis is
The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis
After the posture is changed, the coordinate of the point A is (x)1，y1’，z1'), the slope of the cross-shaped light spot transverse axis in the virtual image plane is k'; let the B point coordinate be (x)2，y2’，z2') and the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis at the moment is
The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis
Then:
the yaw angular displacement delta alpha is alpha 2-alpha 1;
pitching angular displacement delta beta is beta 2-beta 1;
the roll angular displacement Δ θ is arctank' -arctank.
Therefore, the space pose measuring unit can realize the space six-degree-of-freedom deformation measurement relative to the cross reference light beam by combining the distance measuring function of laser distance measurement along the transmission direction of the cross reference light beam.
The invention discloses a method for explaining the obstacle-crossing transmission principle of a measuring reference beam, which comprises the following steps:
connecting the space reference emission unit with an industrial personal computer, fixedly installing the space reference emission unit on a triangular bracket, placing the triangular bracket on a stable ground near a measurement space, and opening a cross line laser generator and a laser range finder of the space reference emission unit; the space pose measuring unit and the space reference transmitting unit are fastened and installed to form a reference beam transmission unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam transmission unit is arranged at a position near an obstacle; placing a space pose measuring unit at a position near a measured point; ensuring that the cross line structured light of the space reference transmitting unit is clearly imaged on a laser receiving screen A and a laser receiving screen B of a space pose measuring unit in the reference beam transmission unit; and clear imaging of the cross line structured light of the space reference emission unit in the reference beam transfer unit on a receiving screen A and a receiving screen B of the space pose measurement unit at the position of the measured point is ensured.
When the reference beam transmission unit does not generate pose change, the spatial pose measurement reference based on the reticle structured light can directly transmit the light beam through the reference in the reference beam transmission unit, and the nonlinear obstacle-crossing transmission is carried out to the spatial pose measurement unit of the position of the measured point, so that the spatial deformation measurement of the position of the measured point relative to the reticle reference light beam is realized;
when the position and pose of the reference beam transmission unit are changed, the reference transmission beams in the space reference emission unit in the reference transmission unit are changed in the same position and pose, so that a space deformation measurement error is introduced into the space position and pose measurement unit at the position of a measured point; the spatial pose measurement unit in the reference beam transfer unit can measure the spatial six-degree-of-freedom pose change of the reference beam transfer unit relative to the measurement reference beam, and because the spatial pose measurement coordinate system and the spatial reference emission coordinate system in the reference beam transfer unit have fixed and known relation, the position change of the cross light spot of the reference transfer beam at the position of the measured point can be easily calculated through known geometric knowledge, so that the position change can be compensated in the spatial pose measurement unit of the measured point, and the large-scale structural spatial deformation measurement of the nonlinear obstacle crossing transfer of the reference beam can be realized.
The laser range finder of the space reference emission unit transmits the ranging signals among the industrial personal computer, the reference light beam transmission unit and the space reference emission unit through a first range finder signal line 7-2 and a second range finder signal line 7-3; the space pose measuring unit transmits image signals among the industrial personal computer, the space pose measuring unit and the reference beam transmission unit through a first image sensor signal line 7-4, a second image sensor signal line 7-5, a third image sensor signal line 7-6 and a fourth image sensor signal line 7-7.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (6)
1. The utility model provides a large-scale structure space deformation measuring device that reference beam can nonlinear obstacle-crossing transmission which characterized in that: comprises a space reference emission unit and a space pose measurement unit,
the space datum emission unit comprises a mounting base, a crossline laser generator, a laser range finder, a positioning datum table, a V-shaped positioning table and a light-transmitting window, the laser range finder and the V-shaped positioning groove are fixedly mounted on the mounting base, the positioning datum table comprises two positioning end faces which are parallel to each other and perpendicular to the mounting datum face, one edge of the laser range finder is installed in contact with one positioning end face, the crossline laser generator is installed on the V-shaped positioning groove in a positioning mode, one face of the V-shaped positioning groove is installed in contact with the positioning end face, and the light-transmitting window is arranged at the front end of the mounting base;
the space pose measuring unit comprises an installation base, a laser spectroscope, a plane reflector A, a plane reflector B, a plane reflector C, a laser receiving screen A, a laser receiving screen B, an image sensor A and an image sensor B, wherein a plurality of positioning edges are arranged in the installation base as positioning end faces, the laser spectroscope and the positioning edges are arranged at 45 degrees, the plane reflector A is arranged at the rear end of the laser spectroscope and arranged at 45 degrees with the positioning edges, the plane reflector B is arranged in parallel with the plane reflector A and arranged at 45 degrees with the positioning edges, the plane reflector C is perpendicular to the plane reflector B and arranged at 45 degrees with the positioning edges, the laser receiving screen A and the laser receiving screen B arranged on the installation base are used for receiving cross light spot images and imaging to provide target images for the image sensor A and the image sensor B, and a cross line laser incident window and a laser ranging target plane are arranged on the front end face of the mounting base.
2. The device for measuring the spatial deformation of a large structure, wherein the reference beam can be transmitted across the obstacle in a nonlinear way, according to claim 1, is characterized in that: the cross laser generator of the space reference emission unit adopts cross line structure light as reference light beams to provide space pose measurement reference.
3. The apparatus of claim 1, wherein the reference beam is transmitted nonlinearly across the obstacle, and the apparatus is characterized in that: the space reference emission unit is fixedly connected to the upper surface of the space pose measuring unit, the space reference emission unit and the space pose measuring unit form a reference light beam transfer unit, the space pose measuring unit can measure horizontal displacement, vertical displacement, yaw angular displacement, pitch angular displacement and roll angular displacement relative to a reference light beam, and the space six-degree-of-freedom deformation measurement can be realized by combining a laser range finder in the space reference emission unit.
4. The device for measuring the spatial deformation of a large structure, wherein the reference beam can be transmitted across the obstacle in a nonlinear way, according to claim 1, is characterized in that: the laser receiving screen A and the laser receiving screen B are both made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with nano diffuse reflection coatings.
5. The device for measuring the spatial deformation of a large structure, wherein the reference beam can be transmitted across the obstacle in a nonlinear way, according to claim 1, is characterized in that: a mechanical shell is arranged on the mounting base; and a mechanical shell is arranged on the mounting base.
6. A large structure space deformation measurement method capable of realizing nonlinear obstacle crossing transmission of reference beams according to any one of claims 1 to 5, characterized by comprising the following steps: the method comprises the following steps:
1) measurement and installation preparation: connecting the space reference emission unit with an industrial personal computer, tightly installing the space reference emission unit on a triangular bracket, placing the triangular bracket on a stable ground near a measurement space, and opening a cross line laser generator and a laser range finder of the space reference emission unit; the space pose measuring unit and the space reference transmitting unit are fastened and installed to form a reference beam transmission unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam transmission unit is arranged at a position near an obstacle; placing a space pose measuring unit at a position near a measured point; opening the industrial personal computer, and opening the image sensors A and B of all the space pose measurement units in the device to ensure that the cross light spot of the cross light laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light-transmitting window;
2) establishing a space reference emission coordinate system: in the space reference emission unit, the projection direction of the center of the cross line laser is taken as the X axis of a coordinate system, the intersection point of a distance measurement reference surface of a laser range finder and the X axis is taken as a coordinate origin O, an axis which passes through the origin in the plane of the cross line transverse axis and is vertical to the X axis is taken as a Y axis, an axis which passes through the coordinate origin and is vertical to the XOY plane is taken as a Z axis, and the space reference emission coordinate system conforming to the right-hand rule is established;
3) establishing a coordinate system of the space pose measuring unit: in the space pose measuring unit, an edge along the laser incidence direction is taken as an X axis, the intersection point of an adjacent edge close to a window and the edge is taken as an original point, the direction which passes through the original point and is vertical to an installation reference plane is taken as a Z axis, and a straight line which passes through the original point and is vertical to an XOY plane is taken as a Y axis to establish a coordinate system of the space pose measuring unit;
4) laser transmission and reflection light path: after the incident cross line structure light acts through the laser spectroscope, one part of the incident cross line structure light is reflected and then projected to the laser receiving screen A, the other part of the incident cross line structure light penetrates through the laser spectroscope and then is reflected through the plane reflector and then projected to the laser receiving screen B, a virtual image is formed on the receiving screen A through the laser spectroscope, the virtual image is formed on the receiving screen B through a plane mirror group light path, namely, after the incident cross line structure light passes through a measuring light path, the two groups of machine vision measuring systems form a parallel and opposite mode, the planes where the virtual image of the receiving screen A and the virtual image of the receiving screen B are perpendicular to the X axis, and the position relation is fixed;
5) setting a virtual image plane A of a laser receiving screen A and a virtual image plane B of a laser receiving screen B, and setting a plane equation as x-x in a coordinate system of a space pose measuring unit1The plane is x ═ x2After the cross light spot images on the two screens collected by the image sensor A, B are processed by the measurement software, the position of the center of the cross light spot in the two-dimensional coordinate system of the image sensor A, B can be obtained, the central point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, the central point of the cross light spot on the virtual image plane of the laser receiving screen B is set as B, the spatial position of the cross light spot in the coordinate system of the spatial pose measurement unit can be obtained after calibration conversion, and the coordinate A is set as (x coordinate)1，y1，z1) And B coordinate is (x)2，y2，z2) The gradient of the cross axis of the cross line on the plane can be obtained by measuring by a machine vision system, and can be also obtained by processing by measuring software, and is set as k;
6) measuring horizontal and vertical displacement: the center of a cross light spot of cross structured light on a virtual image plane of a laser receiving screen A is used as a reference for measuring horizontal and vertical displacement, and the coordinate of a point A at an initial moment is set as (x)1，y1，z1) The coordinate of the point A after the pose change is (x)1’，y1’，z1’)，
Horizontal displacement of Δ y ═ y1'-y1；
Vertical displacement Δ z ═ z1'-z1；
7) Yaw, pitchAngle and roll angle measurement: setting the coordinate of the point A at the initial moment before the pose changes as (x)1，y1，z1) The slope of the cross light spot horizontal axis in the virtual image plane (7-3) is k; let the B point coordinate be (x)2，y2，z2) At the moment, the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis is
The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis
After the posture is changed, the coordinate of the point A is (x)1，y1’，z1'), the slope of the cross-shaped light spot transverse axis in the virtual image plane is k'; let the B point coordinate be (x)2，y2’，z2') and the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis at the moment is
The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis
Then:
the yaw angular displacement delta alpha is alpha 2-alpha 1;
pitching angular displacement delta beta is beta 2-beta 1;
the roll angular displacement Δ θ is arctank' -arctank.
Therefore, the space pose measuring unit can realize the space six-degree-of-freedom deformation measurement relative to the cross reference light beam by combining the distance measuring function of laser distance measurement along the transmission direction of the cross reference light beam.
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